52results about How to "Smooth steering" patented technology

The invention belongs to the technical field of automobiles, and particularly discloses an automobile steering torque control method which comprises the following steps: acquiring a vehicle state, and acquiring a steering wheel steering angular rate, a steering wheel steering angle, a vehicle speed and a conventional required torque of a vehicle when determining that the vehicle is in a preset steering working condition based on the vehicle state, according to the steering angle of the steering wheel and the vehicle speed, first correction is carried out on the conventional demand torque to obtain first correction torque, according to the steering angle rate of the steering wheel and the vehicle speed, second correction is carried out on the conventional demand torque to obtain second correction torque, and based on the first correction torque and the second correction torque, the first correction torque and the second correction torque are obtained. And when the third correction torque is within the preset safety torque range, the third correction torque is optimized according to the preset comfort constraint condition, and the steering control correction torque is obtained, so that the vehicle steers based on the steering control correction torque. According to the method, the steering angle and the steering angle rate of the steering wheel are dynamically recognized in real time, the torque is accurately corrected according to the vehicle speed, the stability of the vehicle in the steering process can be remarkably improved, the dynamic adjustment can ensure that the vehicle can keep a stable driving state at various speeds and steering angles, and the driving stability of the vehicle is improved. Therefore, the driving safety and comfort are improved.

The invention discloses a vehicle steer-by-wire redundancy control method, which belongs to the technical field of automobile steering and comprises the following steps: judging whether a current vehicle starts redundancy control or not, when the redundancy control is started to realize steering of the vehicle, enabling wheels to enter a differential steering mode I, judging whether a vehicle steering angle is consistent with a vehicle expected steering angle or not, and if yes, starting a differential steering mode II; if yes, the wheels are kept in the first differential steering mode, if not, whether the current turning angle of the vehicle changes or not is judged, if not, the wheels enter the second differential steering mode, and if yes, the wheels enter the third differential steering mode; and when the wheels enter the differential steering mode I, the differential steering mode II or the differential steering mode III, outputting the optimal left front wheel driving force and the optimal right front wheel driving force in the corresponding steering mode by utilizing the fuzzy sliding mode controller and the lower-layer controller according to the expected steering angle of the vehicle. When the steer-by-wire system loses efficacy or key components in the steering system break down, the automobile can steer stably.

The invention relates to the technical field of vision measurement, in particular to an intelligent concrete test piece size measuring device which comprises a shell, a focusing mechanism is mounted on one side in the shell, the shell is adjustably connected with a scanner through the focusing mechanism, a rotating table is mounted on the other side in the shell, and the rotating table is adjustably connected with the scanner through the focusing mechanism. According to the device, the position of a test piece can be corrected before measurement, the test piece can be dynamically limited in the detection process, the measurement deviation is effectively reduced, the test piece can be pre-measured, mechanical measurement and visual measurement are effectively combined, and the measurement accuracy is improved. The double detection of the test piece is realized, the effectiveness of the alignment and focusing work of the scanner is ensured, the measurement precision is greatly improved, the synchronous detection of multiple groups of concrete test pieces can be realized from two levels of machinery and vision, and the measurement precision is ensured while the measurement efficiency is improved.

The invention discloses a telescopic reducing detection robot which comprises a robot mechanical structure module, a driving module, a telescopic reducing module, a surface defect detection module, an internal defect detection module, a data transmission module and a control module. The detection robot transmits detection data to the upper computer through the data transmission module. The telescopic reducing detection robot solves the problems that an existing pipeline interior detection robot is short in work period, incomplete in pipeline interior defect detection and low in precision, and has the advantages of being high in efficiency and detection precision and saving energy.

The utility model discloses an electric flat carriage steering device, which relates to the technical field of electric flat carriage steering and is characterized by comprising a flat carriage body, a main universal joint is arranged in the center of the inside of the flat carriage body, and an adjusting frame is movably connected to the surface of the flat carriage body. A reset rubber sleeve is arranged on the edge between the flatcar body and the adjusting frame, the bottom end of the flatcar body is fixedly connected with an annular base, and the bottom end of the annular base is fixedly connected with a contraction ring seat. By means of the flatcar body, the annular base, the contraction ring base, the driving unit, the driving wheels, the connecting blocks, the contraction grooves and the ground-attached ring air bags, more efficient and stable overall steering use operation of the flatcar body can be achieved, and in the actual use process, a worker firstly places objects needing to be transported on the surface of the adjusting frame, and then the objects need to be transported; at the moment, the driving unit and the driving wheels at the bottom of the flatcar body are started to drive the adjusting frame and the articles to integrally move and transport.

The utility model discloses a rice packaging and stacking mechanism, which belongs to the technical field of stacking mechanisms and comprises a bottom plate, a conveying device is arranged in the middle of the upper end of the bottom plate, a supporting frame is arranged on the periphery of the upper end of the bottom plate, a first motor is arranged on the side edge of the supporting frame, and a rotating shaft of the first motor is connected with a first one-way lead screw. An electric push rod stretches out and draws back to drive a toothed plate to move, the toothed plate drives a gear to rotate, a rotating shaft where the gear is located drives a rotating rod to rotate, a supporting block supports a supporting rotating disc, the bearing effect is achieved, falling is avoided, a packaging bag containing plate rotates by 90 degrees, rice packaging bags are rotated by 90 degrees, then stacking is conducted, the structure is simple, steering is stable, and stacking use is convenient. The packaging bag containing plate is of a detachable structure, the clamping blocks are inserted into the clamping grooves, the pin heads of the spring pins are inserted into the pin holes under the action of the springs, rapid installation of the packaging bag containing plate is achieved, the packaging bag containing plate can be replaced, and the stacking requirements of different sizes are met.

The invention relates to the technical field of material conveying, and provides an intelligent self-adaptive adjustment automatic material conveying device which comprises a first supporting frame, a steering mechanism is arranged in the first supporting frame and comprises a first transmission rod, a driving wheel is fixedly connected to the outer portion of one side of the first transmission rod, and a driven wheel is meshed with the rear portion of the driving wheel; the end, away from the driven wheel, of the connecting rod is fixedly connected with a movable frame, the front portion of the movable frame is slidably connected with a protruding column, the bottom end of the protruding column is rotatably connected with a first bevel gear, the upper portion of a second bevel gear is meshed with the bottom of the first bevel gear, and one end of a second transmission rod is fixedly connected to the end, away from the rotating frame, of the second bevel gear. Through the arrangement of the steering mechanism, the orientation of the second conveying belt can be adjusted while the first conveying belt and the second conveying belt are driven to move, so that materials are conveniently stacked in different directions, meanwhile, all parts can be prevented from being obviously impacted in the transmission and steering processes, and the stability during conveying is guaranteed.

The utility model discloses a hinge mechanism of a bowing steering tractor, and particularly relates to the technical field of manufacturing of connecting mechanisms of agricultural machinery tractors, the hinge mechanism comprises a hinge sleeve and a hinge column, the hinge column is movably connected in the hinge sleeve, and an auxiliary device is installed on the side face of the hinge sleeve. The auxiliary device comprises a lubricating unit and a supporting unit, the lubricating unit is installed at the bottom of the hinged sleeve, and the supporting unit is installed on the side face of the hinged sleeve. According to the articulated mechanism of the articulated steering tractor, by starting the oil delivery pump, the oil delivery pump conveys lubricating oil in the lubricating oil tank into the conveying pipe through the connecting pipe, the lubricating oil is further conveyed into the oil conveying ring through the conveying pipe, and the lubricating oil is further conveyed to the oil conveying spray head through the oil conveying ring; and oil is sprayed on the outer surface of the ball bearing through the oil conveying spray head, so that the lubricating effect is better, and steering, rotating and the like are smoother.

A tool integrated cabinet for rail transit vehicles includes a shell, a pullable support frame, a damping universal roller and a folding seat storage cabin. The support frame is linearly guided through the sliding cooperation of a T-shaped guide rail and a clamping block. The stability of the support frame in a vehicle vibration environment is improved by the antiskid rubber material and damping design of the roller. The inside of the support frame adopts a modular partition structure. A fire extinguisher is fixed through the placement grooves of first and second support plates. The bottom plate cooperates with a guide groove to realize the quick taking and placing of an escape ladder. A groove is internally provided with a slide rail type folding seat storage cabin. The folding seat storage cabin is linked with a storage guide plate through a handle passage to realize the vertical partition management of emergency equipment and auxiliary tools. In addition, the conical self-locking structure and spring elastic pre-tightening mechanism of the plug rod and plug plate can effectively prevent the accidental sliding of the support frame. The combination innovation of the T-shaped guide rail, damping roller and folding cabin integration significantly enhances the safety and convenience of rail transit emergency equipment management.

The invention discloses an agricultural machine, a steering control method and device thereof and a medium, and belongs to the technical field of agricultural machines. The method comprises the following steps: estimating an ideal yaw velocity and an ideal side slip angle of the agricultural machine; the actual yaw velocity and the actual side slip angle of the agricultural machine are obtained; based on a first difference value between the ideal yaw velocity and the actual yaw velocity and a second difference value between the ideal side slip angle and the actual side slip angle, executing a feedback control algorithm to determine a compensation yaw moment of the agricultural machine; and based on the compensation yawing moment, adapting to the current steering working condition and carrying out rear wheel torque optimal distribution for the agricultural machinery. Smooth and stable walking and steering can be achieved, and the problem that the agricultural machine slips due to unreasonable drive torque distribution under the working condition that the adhesive force is very low is solved.

The utility model relates to the technical field of conveying equipment, and provides a magnetic block steering conveying device which comprises a rack, a conveying belt, a discharging track and a steering assembly. The discharging track is arranged in the conveying direction of the conveying belt and located above one end of the conveying belt. The steering assembly comprises a steering plate and a guide piece; the distance between the side, close to the guiding piece, of the steering plate and the guiding piece is smaller than the distance between the side, away from the guiding piece, of the discharging rail and the guiding piece. The guide part comprises a first guide plate and a second guide plate, the first guide plate and the steering plate are arranged in parallel, the second guide plate is arranged at the end, close to the discharging track, of the first guide plate, and the side, close to the discharging track, of the second guide plate is obliquely arranged outwards towards the discharging track. Therefore, the polishing effect of the magnetic block can be ensured as much as possible.

The present invention discloses a three-dimensional parking garage, including a support frame, which includes four support columns and an upper frame assembly. The upper frame assembly is a rectangular frame structure. There are four support columns, which are all vertically arranged and distributed in a rectangular shape, and the upper frame assembly is fixedly arranged on the four support columns. The main points are: it also includes a bearing platform, a lifting mechanism, a lifting drive mechanism, a walking mechanism and a steering mechanism. The lifting mechanism is arranged on the support frame, and the lifting drive mechanism drives the lifting mechanism to move the bearing platform up and down. The steering mechanism is arranged on the support frame, and the walking mechanism is arranged on the support frame, the supporting frame is driven by the walking mechanism to move, and the steering mechanism controls the movement trajectory of the walking mechanism, so as to adjust the supporting frame to be perpendicular or parallel to the road.

The infrared drying oven comprises an oven body with an opening in one side, the interior of the oven body is divided into an upper cavity and a lower cavity through a partition plate, the interior of the upper cavity is in sliding connection with an upper bracket through a first sliding assembly, and the interior of the lower cavity is in sliding connection with a lower bracket through a second sliding assembly. Infrared heaters are respectively arranged at the inner top of the upper cavity and the inner top of the lower cavity, and electric heaters are further mounted in the upper cavity and the lower cavity. When the interior of the box body is initially heated, the electric heater and the infrared heater are synchronously turned on, the infrared heater is mainly used for drying a core material, the electric heater is mainly used for increasing the temperature of the box body, and the two heaters act together, so that the temperature rise speed of the box body is increased, the time required for drying and softening the core material is shortened, and in addition, the heating efficiency is improved. And when the temperature in the box body reaches a required interval, the electric heater is turned off, and only the infrared heater is used for drying the core material, so that the energy consumption is reduced, and the cost is reduced.

The utility model relates to the technical field of beam lifting machines, in particular to a walking mechanism of a beam lifting machine. A pair of walking wheel sets is symmetrically arranged on the two sides of the supporting beam. The walking wheel set is detachably connected with the supporting beam. The walking wheel set comprises a mounting base, a supporting frame and walking wheels, the mounting base is detachably connected with the supporting beam, and the supporting frame is vertically arranged; the upper end of the support frame is rotationally connected with the mounting seat along the axial direction, and the lower end is rotationally connected with the walking wheel along the horizontal direction; a steering mechanism is arranged on the supporting frame and used for being matched with the supporting frame to drive the walking wheels to steer, multiple pairs of walking wheel sets are arranged on the supporting beam in the axial direction at intervals, and a synchronizing mechanism is arranged between the multiple pairs of walking wheel sets and used for synchronizing the steering amplitude of the multiple pairs of walking wheel sets. The synchronizing mechanism is arranged among the multiple pairs of walking wheel sets, under the constraint effect of the synchronizing mechanism, the steering amplitude of each walking wheel can be kept consistent, and finally stable steering of the whole beam lifter is achieved.

This utility model belongs to the field of photovoltaic cleaning robot technology, and discloses a fixed-point steering device, a photovoltaic cleaning robot, and a photovoltaic cleaning robot system. The suction cup assembly of the fixed-point steering device includes a suction cup, a connecting tube, and a gas adapter. The suction cup has suction holes, one end of the connecting tube is connected to the suction cup, and the gas adapter is rotatably connected to the other end of the connecting tube. The gas adapter is used to connect a vacuum pump. The lifting drive assembly is located on the chassis frame and includes a drive component and a floating lifting component. The drive component is located on the chassis frame, and the floating lifting component is connected to the output end of the drive component. The floating lifting component is movably connected to the connecting tube and is used to drive the connecting tube to rise and fall along its own axis. The connecting tube is configured to move relative to the floating lifting component along its own axis. The above-mentioned connecting tube will not drag the drive component when adapting to the concave area of ​​the walking surface, reducing the risk of damage to the drive component, reducing air leakage from the suction cup, and improving steering stability and accuracy.

The utility model relates to the technical field of lifting equipment, in particular to a trolley chassis with a boom type steering structure. A trolley chassis with a boom type steering structure comprises steering wheels used for controlling and driving a trolley to move and steer, power wheels used for controlling and driving the trolley to move and brake, a frame used for installing the steering wheels, the power wheels and a control system assembly of the power wheels, and the steering wheels are controlled to swing through a swing oil cylinder and achieve steering control. The two ends of the swing oil cylinder are connected with the steering wheels on the two sides of the vehicle frame in a control mode and are synchronously controlled in a telescopic mode. The two ends of the two-way oil cylinder are connected with the steering wheels on the two sides of the frame respectively, synchronous stretching and retracting and same-angle steering of the steering wheels on the two sides are achieved through driving of the hydraulic system, the problem that steering is not synchronous due to mechanical gaps, response lag and the like in a traditional multi-motor or multi-steering-engine system is effectively solved, the advancing track of the trolley is more accurate, and the stability is higher. And the stability and the safety during steering are obviously improved.

The invention discloses a control system for a disabled person to control a walking vehicle, and belongs to the technical field of disabled person auxiliary vehicle control. The system comprises a left foot control module, a right foot control module, an electric control system and two driving motors for driving a left wheel and a right wheel respectively. The left foot control module is used for receiving deflection operation applied by the left foot of the user and generating a steering control signal; the right foot control module is used for receiving a pressing operation applied by the right foot of the user and generating a speed control signal or a retreating control signal; the electric control system controls the two driving motors to realize steering at differential speed according to the steering control signal, and controls the rotating speed and steering of the motors according to the speed control signal or the retreating control signal so as to realize advancing, retreating and speed regulation of the vehicle. By means of independent separate control of the two feet, the person with the disabled upper limbs can safely and independently control the vehicle, the problem that the person with the disabled upper limbs cannot use a traditional control device due to the defects of the upper limbs is solved, and the device has the advantages of being easy and convenient to control, safe, reliable and high in adaptability.

The utility model belongs to wall -climbing robot technical field especially relates to a kind of negative pressure adsorption wall -climbing robot, including robot body;Culvert component, it is set in robot body, the air inlet of culvert component is opened at the bottom end of robot body, the air outlet of culvert component is opened at the top end of robot body and towards the tail end of robot body;Turbulence component, it is fixedly set at the bottom end of robot body around;Filtering component, it is fixedly set at the bottom end of robot body, and filtering component cover is set in the air inlet of culvert component.The utility model can improve the stability in the process that robot climbs wall.

The utility model provides a self-lubricating steering long rod, and belongs to the technical field of automobile accessories. The problem that an existing automobile steering rod is poor in lubrication is solved. The self-lubricating steering long rod comprises an adjusting seat, the top of the adjusting seat is connected with an input shaft, the left side and the right side of the adjusting seat are connected with a left rod body and a right rod body respectively, the right side of the right rod body and the left side of the left rod body are both sleeved with protective sleeves, and the sides, away from the left rod body, of the protective sleeves and the sides, away from the right rod body, of the protective sleeves are both connected with rotating sleeves. A rotating shaft is movably connected into the rotating sleeve through a bearing, the bottom of the rotating shaft penetrates to the bottom of the rotating sleeve, and an oil injection component is connected to the rear side of the adjusting base. The lubricating device has the advantages of good lubricating effect, long service life and the like.

The present invention relates to a transfer device, including wheels that use rolling friction instead of sliding friction to assist the movement of the transfer device, the wheels including a power wheel for providing power and a steering wheel for steering, the power wheel and the steering wheel jointly bear the weight of the transfer device and cooperate with each other to complete the transfer action. The power wheel includes a first power wheel and a second power wheel that are independent of each other and arranged opposite to each other, and the steering wheel includes a first steering wheel and a second steering wheel that are independent of each other and arranged opposite to each other, wherein the first steering wheel and the second steering wheel are both configured as Mecanum wheels, and the first steering wheel and the second steering wheel are configured in mirror symmetry. The device of the present invention is stable in operation, has strong adaptability to a variety of ground surfaces, can clear ground obstacles by itself, and is reliable to use.

An external cable steering branch device relates to the technical field of external prestressed engineering, which is installed in concrete and comprises a guide sleeve, a branch guide and an external anchor cable; the guide sleeve has a conical outer surface; the branch guide is installed in the guide sleeve, the outer circle of the branch guide is provided with conical chamfers at both ends respectively, an anchor cable guide hole is arranged in the branch guide, and the distribution of the anchor cable guide hole is consistent with the distribution of the anchor hole of the tensioning end anchorage device; the half-cone angle of the conical outer surface of the guide sleeve, the conical chamfer angle of the outer circle of the branch guide at both ends and the deflection angle of the external anchor cable are consistent and are all alpha. During tensioning, the anchor cable drives the branch guide to deflect, the bending steering is realized through the cooperation of the two, and the two do not directly contact the concrete. The utility model can reduce the tensioning friction, protect the anticorrosive coating of the anchor cable, ensure uniform stress of the anchor cable, has simple structure and convenient installation, and is suitable for external prestressed engineering of bridges, buildings and the like.

The application relates to the technical field of vehicle control, and discloses a rear-drive vehicle steering control method, a rear-drive vehicle steering control system, a rear-drive vehicle steering controller and a rear-drive vehicle, the method comprising the following steps: when it is determined that the rear-drive vehicle is steering, determining a steering stability state of the rear-drive vehicle according to preset steering stability parameters; when the steering stability state is unstable, determining a steering deviation degree of the rear-drive vehicle according to the preset steering stability parameters; and executing a torque control strategy matched with the steering deviation degree according to the steering deviation degree, so as to reduce the steering deviation of the rear-drive vehicle. The application can determine the steering deviation degree corresponding to different excessive steering degrees according to the preset steering stability parameters, so that different torque control strategies are executed corresponding to different excessive steering degrees, and then the steering deviation of the rear-drive vehicle is reduced through the execution of the progressive torque control strategy corresponding to different excessive steering degrees, the steering process of the driver is more stable, and the stability of vehicle driving is improved.

The invention relates to a three-slit flap type ducted fan power lift augmentation unit and an aircraft. The power lift augmentation unit comprises a ducted fan and an airflow steering assembly. The ducted fan is provided with an air inlet and an air outlet, a main wing and a lower winglet which are in contact with air are formed on the upper portion and the lower portion of an inner duct of the ducted fan respectively, and a containing cavity is formed in the rear end of the main wing. The airflow steering assembly comprises a deflectable front flap, a deflectable middle flap and a deflectable rear flap which are all located at an air outlet of the ducted fan and have a retracted state in the containing cavity and an unfolded state in which the flaps are sequentially deflected out of the containing cavity and are sequentially arranged from top to bottom in the vertical direction; the deflection angles of the front flap, the middle flap and the rear flap are sequentially increased from the retracted state to the unfolded state. According to the aircraft, the lift force conversion efficiency in the vertical lifting stage is improved, the horizontal thrust is greatly reduced, and the vertical lifting stability and speed of the aircraft are remarkably improved.

The application discloses a vehicle and a method and device for controlling the vehicle to turn in place. The method comprises the following steps: in response to a turning-in-place function starting signal of the vehicle, obtaining a driving mode, a vehicle speed, a steering angle and a steering direction of the vehicle; when it is determined that the vehicle meets the turning-in-place function starting condition according to the driving mode, the vehicle speed and the steering angle, determining a target wheel according to the steering direction; and applying a braking force to the target wheel or locking the target wheel to make the vehicle turn in place. Thus, the minimum turning purpose of the vehicle can be achieved, the vehicle can more smoothly complete the turning-in-place, the turning performance of the vehicle is improved, and the problem of personal safety or property safety caused by poor turning performance of the vehicle during vehicle driving is reduced.

The utility model discloses a runner plate subassembly and heat management integration module, runner plate subassembly includes first runner plate and second runner plate, first runner plate has first cavity, second runner plate has second cavity, first runner plate and second runner plate are buckled mutually, first cavity and second cavity enclose to form runner cavity, the runner cavity is equipped with first cavity, second cavity is equipped with second cavity, the runner cavity is equipped with second cavity. The second runner plate is provided with an extension section; the runner cavity comprises a first runner section, a transition section and a second runner section, the second runner section is formed in the extending section, the first runner section and the second runner section are arranged in an included angle mode, the inner wall of the first runner plate comprises a first wall part and an arc-shaped guide wall part, the first wall part forms part of the side wall of the first runner section, and the arc-shaped guide wall part forms part of the side wall of the second runner section. The guide wall part forms part of the side wall of the transition section, the guide wall part is tangentially connected with the first wall part, and the flow area of the transition section in the extension range of the guide wall part is equal. The guide wall part is arranged to guide fluid to turn, the flow area of the transition section does not change suddenly any more, transition of the runner plate is smooth, and the flow resistance performance is better.

The utility model belongs to industrial dust removal equipment technical field, concretely relates to a front -leaning air -intaking type polishing dust removal workstation, including the body and dust removal mechanism in dust removal cavity of body rear part, the body front part is the work area with polishing platform surface, and dust removal mechanism contains the air inlet grille of front -leaning setting, top air outlet board, dust removal air duct, filter piece and negative pressure fan, dust removal air duct is by the oblique air inlet section of matching with air inlet grille angle, transition section and vertical air outlet section in proper order and is linked to form, and the vertical air outlet section end butt -joints air outlet board, the utility model can smooth guide dust -laden airflow, reduce the turbulence and wind resistance in air duct, improve the collection efficiency to the suspended dust.

The utility model relates to a steering mechanism, a battery stacking device and a battery production system, and a steering flow channel is arranged on a steering platform, so that batteries can circulate in the steering flow channel. Due to the fact that the steering flow channel is bent or twisted on the extending path of the steering flow channel, the placing posture of the battery can be changed under the action of the bent or twisted steering flow channel, the placing posture of the battery entering the input end is different from the placing posture of the output end shaft, and the purpose of battery steering is achieved. According to the design, through the structural design of the steering runner, the swing posture of the battery is automatically changed in the circulation process, the structure is simple, the equipment cost is low, the steering efficiency is high, and the battery production takt is accelerated.

The invention relates to the technical field of automobile test trolleys, in particular to a crash test trolley which comprises a framework, the framework is of a rectangular structure provided with four chamfers, a cover plate is arranged at the top of the framework, and the cover plate and the framework are matched so that the four edges and the four corners of the rectangular structure can be of a slope structure; the linear driving mechanism is arranged at one end close to the framework and comprises a linear driving wheel, and the linear driving wheel is connected with a first servo motor through a belt wheel transmission mechanism; the steering driving mechanism is arranged close to the other end of the framework and comprises a steering wheel, the steering wheel is rotationally arranged on a movable seat, the movable seat is hinged to a fixed seat, the fixed seat is fixedly connected to the framework, and the steering wheel is further connected to a rotating wheel through a transmission rod; the framework and the cover plate form a streamline appearance together, impact force during collision can be obviously reduced, damage is prevented, and the trolley can steer stably when being impacted in the moving process through the steering driving mechanism.

The invention belongs to the technical field of agricultural instruments and provides a tractor steering method and a tractor. The tractor steering method comprises the steps that the specification type of a working accessory dragged by an accessory hanging mechanism in the tractor is obtained; controlling the accessory hanging mechanism to be kept in a locking state matched with the specification type of the working accessory; and controlling the tractor to execute steering operation. Before steering of the tractor, the locking state of the accessory hanging mechanism is kept to be matched with the dragged working accessory, and therefore it is guaranteed that the tractor can steer stably and safely.

The utility model discloses a tracked robot gearbox which comprises a box body, a power input shaft, a left power output shaft, a right power output shaft, a middle shaft, a gear shifting shaft, a left variable speed shaft and a right variable speed shaft are arranged in the box body, and a left planetary reducer and a right planetary reducer are arranged on the left variable speed shaft and the right variable speed shaft respectively. A steering shaft for receiving the torque of the steering motor and a reverse shaft for reversely outputting the torque of the steering shaft are also arranged in the box body, and a steering gear for transmitting the torque to the left planetary reducer or the right planetary reducer is arranged on each of the steering shaft and the reverse shaft; the left variable-speed shaft and the right variable-speed shaft are sleeved with a left steering control gear and a right steering control gear respectively, and the planet carrier transmits torque to the left power output shaft and the right power output shaft respectively. According to the tracked robot gearbox, in the steering process of a robot, power is continuously output to crawlers on the two sides, power of the crawlers on one side cannot be cut off, and the robot steers stably and is good in continuity and high in steering precision.