340results about How to "Smooth steering" patented technology

The invention provides a steer-by-wire system and a stability control method thereof. The steer-by-wire system comprises a steering wheel module, a front wheel steering module and an ECU electronic control unit, wherein the ECU electronic control unit comprises a variable transmission ratio controller, a fuzzy self-adaptive PID controller and a full state feedback controller. The stability control method is as follows: the variable transmission ratio controller calculates an ideal transmission ratio at the moment according to a steering wheel rotation angle signal and a vehicle speed signal, to obtain an ideal front wheel rotation angle at the moment; the full state feedback controller of an automobile calculates a compensation rotation angle of front wheels according to a yaw rate signal and a lateral acceleration signal of the automobile, to realize the outer ring control of the steer-by-wire system; and finally the fuzzy self-adaptive PID controller is designed, to realize the inner ring control of the steer-by-wire system. The operating stability of the automobile is effectively improved through the coordinated control of inner and outer rings of the steer-by-wire system.

The invention relates to a four-wheel drive steering control method and device. The control method comprises the following steps: acquiring turning radius of a vehicle body of an AGV and speed of onedriving wheel; calculating speeds of other driving wheels according to the turning radius of the vehicle body and speed of one driving wheel acquired, wherein a mathematical expression is described inthe specification, Vout is speed of a front outside driving wheel or a rear outside driving wheel of the AGV, Vin is speed of a front inside driving wheel or a rear inside driving wheel of the AGV, Wand L are distance between an inner driving wheel and an outer driving wheel and distance between a front driving wheel and a rear driving wheel of the AVG, respectively, and R is the turning radiusof the vehicle body; and according to the speeds of all the driving wheels, adjusting the speeds of all the driving wheels accordingly, so as to complete steering. The control method provided by the invention has the advantages that the turning radius of the vehicle body of the AGV and the speed of one driving wheel are acquired in real time, and the speeds of other driving wheels are calculated accordingly and are adjusted, so that steady steering of all the driving wheels is achieved, driving effect is improved, and a rollover phenomenon is avoided.

An elect power steering apparatus includes a motor drive circuit for PWM-driving an electric motor to generate a steering assist torque corresponding to a steering torque. The motor drive circuit includes a bridge circuit formed by a plurality of FETs, and a predrive circuit for driving FETs at a positive potential. Series connected first and second voltage step-up circuits for stepping up a line voltage at two stages are provided in front of the predrive circuit so that the FETs are driven by the predrive circuit with an output voltage from the second voltage step-up circuit supplied to the predrive circuit.

An anti-explosion carrier vehicle for transporting supporting frames or heavy machines in coal mine is composed of front and back machine frames, steering linkwork, diesel engine, hydraulic system, lifting mechanism, clamping unit, admission and exhaust protecting unit, water cooling unit, running mechanism, feeding hopper, and operation control system. The hydraulic drive is used to control running, lifting, clamping and steering. The water, electricity, gas and hydraulic system are controlled in linkage mode. The anti-explosion design is taken.

The invention discloses a self-adaption electronic differential control system which comprises a vehicle controller, an upper computer, two inverters and two driving motors which correspond to two driving wheels. The upper computer is connected with the vehicle control system, the upper machine is connected with two inverters through a controller area network (CAN) bus, and the driving motors are controlled to rotate by the inverters. Difference between slip rate of two driving pulleys is taken as a steering signal of an automobile so as to achieve self-adaption steering and switching. In the process of direct movement, the control system can guarantee that wheel speed is synchronous to vehicle speed, and simultaneously, motor power is changed in a real-time mode along with resisting moment of motion so as to achieve stable motion. In the process of bending movement, a torque control model based on best slip rate is used for revising a torque command in a real-time mode so as to control the slip rate to achieve the best place and stable steering. In addition, the self-adaption steering control based on the slip rate does not need a steering sensor and can save cost.

The invention discloses a tile cartonning device, which comprises a rack body, and is characterized in that a carton conveying rack, a carton placing rack, a carton driving mechanism, a carton erecting device and a tile pushing mechanism are sequentially arranged on the rack body from left to right. The tile cartonning device provided by the invention has the characteristics of reasonable and scientific structure design, reliability in operation, high cartonning efficiency, high cartonning quality and the like.

The invention provides an earthworm-bionic robot capable of flexible steering. The robot includes a robot body, the robot body includes a head, a first trunk part, a middle part, a second trunk part and a tail, the head is connected with the first trunk part through a first telescopic part, and the first trunk part is connected with the middle part through a second telescopic part. According to the robot, a steering engine drives a motion part to rotate, meanwhile, a motion wheel itself also conducts autorotation, combined with tractive force of the steering engine and rotational force of themotion wheel, the head is pushed to move forwards, a first electric push rod cooperatively conducts extension and contraction to pull the middle part, a second electric push rod synchronously conductsextension and contraction to pull the second trunk part and the tail, and therefore the robot conducts lumbricoid wriggle on the ground. The flexibility is good, the robot can smoothly move under complex and harsh terrain environments such as caves, pipelines, tile ruins and hill stones, and meanwhile conduct life detection and other activities.

The present invention provides a transmission mechanism with a caseless differential mechanism for an automotive vehicle to drive four wheels instead of two differential mechanisms of the prior art disposed on the front axle and rear axle. The transmission mechanism of the invention is of a compact structure and a relatively less cost of manufacturing, and makes a clearance between the chassis of the automotive vehicle and the ground increased. The performance of the automotive vehicle equipped with the transmission mechanism of the invention can be improved.

The invention relates to a novel energy-saving differential power-assisted steering system of an electric wheel automobile. The novel energy-saving differential power-assisted steering system of the electric wheel automobile comprises electric wheels, a steering device and a brake device. The brake device comprises a left brake of the left electric wheel, and a right brake of the right electric wheel; the left brake and the right brake are connected with a hydraulic rotary valve through oil ways; the hydraulic rotary valve is connected with a differential distribution valve, a main oil way of the differential distribution valve is connected with an energy accumulator through a normally-open type electromagnetic on-off valve, and a control mechanism of the differential distribution valve is connected with mechanical centrifugation adjusting devices arranged on the left electric wheel and the right electric wheel respectively. The novel energy-saving differential power-assisted steering system of the electric wheel automobile achieves the power-assisted steering effect through a mechanical mode to help the automobile veer stably under the power loss state of the automobile.

The invention discloses a fast steering spherical robot. The fast steering spherical robot comprises eight pairs of spherical surface spherical feet, eight pairs of spherical foot link mechanisms, two spherical foot drive mechanisms, a central spherical wheel frame and a central pendulum bob mechanism, wherein the eight pairs of spherical surface spherical feet are arranged on the two sides in total. The fast steering spherical robot is characterized in that the eight pairs of spherical surface spherical feet are movably connected with the two spherical foot drive mechanisms through the eight pairs of spherical foot link mechanisms respectively, and the two spherical foot drive mechanisms are installed on the two side walls of a central spherical wheel frame body respectively; the central pendulum bob mechanism is fixedly installed in the central spherical wheel frame body; a brushless motor is arranged in the central pendulum bob mechanism to drive the central pendulum bob mechanism to change the center of gravity of the central pendulum bob mechanism, and the robot is controlled to move front and back in the mean axis normal direction; steering engines are arranged in the two spherical foot drive mechanisms respectively, the two spherical foot drive mechanisms change opening and closing angles of the eight pairs of spherical surface spherical feet through the eight pairs of spherical foot link mechanisms, and then left inclination and right inclination of the robot on a mean axis are changed. The robot can smoothly steer in the high-speed advancing process, and is good in flexibility and universal in structure.

The invention discloses a fixed-track round-trip conveying robot. The fixed-track round-trip conveying robot comprises a track and a vehicle body plate; side baffles are welded to the two sides of thevehicle body plate, and an end baffle is welded to one end of the vehicle body plate; a multistage oil cylinder is connected to the end baffle and is connected with a pushing plate; the side bafflesare detachably connected with an unloading plate through bolts, and a plurality of rolling columns are mounted on the vehicle body plate and the unloading plate in a rolling mode correspondingly; a forward plate frame and a backward plate frame are welded to one side of each side baffle, and the lower parts of the forward plate frame and the backward plate frame are each rotatably connected with aset of steering frames ; a storage battery and a gear motor are connected to the two sides of the bottom of the vehicle body plate correspondingly; and a driving wheel frame is welded to the middle position of the bottom of the vehicle body plate and is rotatably matched with a wheel shaft. The fixed-track round-trip conveying robot can automatically run to a work station of the next working process after being started with products being loaded and then return to the work station of the precious working process after automatic unloading, operation is easy, using is convenient, and great convenience for conveying work of the products is provided.

A steering device, including: a steering knuckle rotatably holding a wheel; an electric motor and a speed reducer configured to decelerate rotation of the electric motor, the electric motor and the speed reducer being fixed to a suspension arm; and a joint through which the steering knuckle is supported by the suspension arm in a state in which a kingpin axis is allowed to incline with respect to the suspension arm, the joint coupling the steering knuckle and an output shaft of the speed reducer such that the steering knuckle pivots about the kingpin axis by an operation of the electric motor.