GB2571670A

GB2571670A - Multi-ground-clearance self-steering mechanism

Info

Publication number: GB2571670A
Application number: GB1908618.0A
Authority: GB
Inventors: Shen Yue; Cui Yemin; Liu Hui; Zhang Bingnan
Original assignee: Jiangsu University
Current assignee: Jiangsu University
Priority date: 2016-11-17
Filing date: 2017-07-10
Publication date: 2019-09-04
Anticipated expiration: 2037-07-10
Also published as: GB2571670B; WO2018090649A1; GB201908618D0

Abstract

Disclosed is a multi-ground-clearance self-steering mechanism, comprising a vehicle platform (3), self-steering travelling mechanisms and a control device. The self-steering travelling mechanism consists of two chassis with rotating mechanisms, four tyres with hub electric motors (24), and a synchronous assisted steering structure. The rotating mechanisms realize a rotating action by means of bearings (43; 39; 42; 36), arranged on the vehicle platform (3), together with supporting pillars (44) and damping components (45; 46) at lower ends of the bearings, or the rotating mechanisms realize a rotating action by means of bearings, arranged on the vehicle platform (3), together with chassis platforms (26) and vehicle axles (2) at lower ends of the bearings. The multi-ground-clearance self-steering mechanism uses the control device to control the four hub electric motors to realize self-steering of differentials of vehicle wheels, and has high control precision and a small radius of turning.

Description

Fig. 19

MULTI-GROUND-CLEARANCE SELF-STEERING MECHANISM Technical Field

The invention relates to an unmanned self-steering mechanism with multiple ground clearance, which belongs to the field of vehicle mechanical control application.

Background Technology

With the continuous progress of computer technology and artificial intelligence technology, the automatic working system like intelligent robots has begun to enter people's lives slowly. However, intelligent robots working to some special areas, such as mud, pits, and other places, may slip and trap, driving wheels cannot borrow power or cannot turn at all, so the demand for chassis used by multiple ground clearance is more and more urgent. The study of working equipment with multiple ground clearance can fundamentally change the way of working equipment and realize the automatic control of working equipment. It is of great significance to improve the scope of application of working equipment and the steering effect of working equipment. The Chinese patent High Clearance Self-propelled Boom Sprayer with the application number CN102146756A. The invention adopts four-wheel hydraulic drive. There is a hydraulic steering device in the middle of the front and rear axles. The hydraulic steering device can only realize two-wheel steering, and the steering radius is large, so it cannot guarantee the travel ability of the traveling chassis. Therefore, the whole machine cannot meet the operation requirements of various ground clearances. The Chinese patent Automatic Working Equipment with the application number CN105242675A can control the automatic working equipment to perform the preset slipping reaction action, but it cannot solve the turning mode of the equipment at all. Aiming at the drawbacks of the above kinds of working equipment, a four-wheel independently driven self-steering mechanism with multiple ground clearance and its control method are designed. The equipment is controlled by the control device to four hub motors to realize differential auto-steering of wheels, and the steering components are improved with synchronous assistance to realize the symmetry of forwarding and backward steering, with high control accuracy and small turning radius.

Summary of Invention

The object of the present invention is to design a self-steering mechanism with multiple ground clearance. It can meet the needs of various complex terrain to a large extent, greatly improve the scope of application of working equipment and improve the steering effect of working equipment.

The technical scheme of the present invention is as follows:

The self-steering mechanism with multiple ground clearance, which is characterized in that: It includes vehicle platform and self-steering working mechanism. The lower part of the vehicle platform is sequentially provided with two self-steering working mechanisms along the working direction. The self-steering working mechanism is composed of a rotary mechanism and a tire of a hub motor.

Further, the vehicle platform is a frame platform composed of multiple profiles; The profile is a square metal tube welded into a frame with a plurality of square spaces, and two square metal plates are respectively fixed on the two spaces arranged at the middle positions of the two ends of the platform for placing two self-steering working mechanisms.

Further, the rotary mechanism comprises a double row tapered roller bearing, a support column and a shock absorber from top to bottom; the shock absorber is composed of several shrapnel with the same width and the lengths from top to bottom increasing in turn. The last shrapnel is thicker than the other shrapnel on the upper part. The other shrapnel is of the same thickness and has a rectangular through a hole in the center of the shrapnel. The outer ring or inner ring of the double row tapered roller bearing is an integral whole. The two inner rings or outer rings are respectively coaxially fixed on the top surface of the metal plate and the support column of the vehicle platform.

The upper end of the support column is a cylinder, and the lower end is a cuboid metal bar. The metal bar passes through a rectangular through the hole of the shock absorber and is fixed and welded with the last piece of the projectile. The two sides of the last piece of the projectile are welded and fixed with the fuselage of the hub motor.

Further, the rotary mechanism comprises a single row tapered roller bearing, a support column, a shock absorber, and a shock absorber bracket. The outer ring or inner ring of the single row tapered roller bearing, and the vehicle platform is connected by welding. The inner ring or outer ring of the single row tapered roller bearing, and the top surface of the support column is concentrically fixed. There are three groups of shock absorbers. One end of the three groups of shock absorbers is fixed on the symmetrical sides and bottom sides of the support column, the other end is fixed on both sides and the center of the shock absorber bracket. The shock absorber bracket is a high-strength square metal frame like the vehicle width, and the two ends of the shock absorber bracket are fixed with the fuselage of the hub motor.

Further, the rotary structure comprises a plane cylindrical bearing, a chassis platform, and a vehicle bridge; the plane cylindrical bearing consists of a plane cage assembly with a cylindrical roller and a Plain washer. The inner ring of the plane cylindrical bearing passes through the through hole of the metal plate on the vehicle platform and makes the cylindrical roller of the plane cylindrical bearing contact with the bottom of the vehicle platform. A circular groove is arranged in the middle of the chassis platform, and a progressive contraction extension is arranged on the left and right sides of the chassis platform. The plane cage assembly of the plane cylindrical bearing and the circular groove of the chassis platform are fixed concentrically. The top of the axle is fixed with the extension part of the chassis platform and has a blunt angle with the chassis platform, and the bottom of the axle and the fuselage of the hub motor are fixed. The height of the self-steering working mechanism can select different height axles according to the operation needs.

Further, the rotary structure is replaced by a ball bearing by a plain cylindrical bearing. The ball bearing is a spherical alloy steel ball installed in the middle of the inner ring and the outer ring of the ball bearing, the outer ring or inner ring of the ball bearing is concentrically fixed with the chassis platform, and the inner ring or outer ring of the ball bearing and the metal plate of the vehicle platform are concentrically fixed.

Further, the self-steering working mechanism also includes a synchronous assisted steering structure, which includes a connecting part and a brake part. The synchronous assisted steering structure connects the front and back rotary mechanisms through the connecting parts and ensures that the front and back rotary mechanisms rotate at the same angle. The synchronous assisted steering structure adjusts the angle of the front and back rotary mechanisms through the brakes.

Further, the connecting member is a profile without or with small elastic deformation, and the brake member is directly connected with the rotary mechanism or directly connected with the connecting member.

When the brake is directly connected with the rotary mechanism, the brake is to install the disc brake on the disc or to install the electric push rod brake on the disc.

When the brake piece is directly connected with the connecting piece, the brake piece is a rack pulling connecting piece for braking.

Further, the connector is asynchronous assist steering rod or a rope.

Further, when the disc brake is installed on the disc, the synchronous assist steering structure includes the disc, the disc brake, the synchronous assist steering rod, and the disc, the disc and the bearing of rotary structure is concentrically fixed, the disc and the disc brake are installed on the front and rear discs, The disc is slightly larger in diameter than the disc and is concentrically fixed with the disc. Disc brake fixed on vehicle platform and assembled with disc, turning mechanism can be fixed at an appropriate turning angle when turning, synchronously assisting the connection and relative rotation of two specific points on both ends of steering rod and on both sides of disc, which determined by the principle that the front and rear rotary mechanisms can rotate synchronously.

Further, when the disc brake is installed on the disc, the synchronous assist steering structure includes the disc, the disc brake, the ropes, and the disc, the disc and the bearing of rotary structure is concentrically fixed, the disc and the disc brake are installed on the front and rear discs, The disc is slightly larger in diameter than the disc and is concentrically fixed with the disc. Disc brake fixed on vehicle platform and assembled with the disc, turning mechanism can be fixed at an appropriate turning angle when turning, The ropes are two and are cross-symmetrically fixed at specific points on both sides of the disc, which determined by the principle that the front and rear rotary mechanisms can rotate synchronously.

Further, when the braked by electric push rod installed on the disc, the synchronous assist steering structure includes the electric push rod, the ropes, and the disc, the disc and the bearing of rotary structure is concentrically fixed, the outer shell of the electric push rod is fixed under the vehicle platform, and the end of the electric push rod is assembled on the side of the disc through the rotary structure. Moreover, the end of the electric push rod and the disc can rotate relatively, synchronously assist the connection of the two ends of the steering rod and the specific points on the two sides of the disc and can rotate relatively. The principle for determining the specific points is that the front and rear rotary mechanisms can rotate synchronously. When steering, the rotary mechanism can be fixed at an appropriate steering angle by controlling the driving motor of the electric push rod.

Further, when the braked by electric push rod installed on the disc, the synchronous assist steering structure includes the electric push rod, the synchronous assist steering rod and the disc, the disc and the bearing of rotary structure is concentrically fixed, the outer shell of the electric push rod is fixed under the vehicle platform, and the end of the electric push rod is assembled on the side of the disc through the rotary structure. Moreover, the end of the electric push rod and the disc can rotate relatively. The ropes are two and are cross-symmetrically fixed at specific points on both sides of the disc, the principle for determining the specific points is that the front and rear rotary mechanisms can rotate synchronously. When steering, the rotary mechanism can be fixed at an appropriate steering angle by controlling the driving motor of the electric push rod.

Further, when braked by the rack pulling connector, the synchronous assistant steering structure includes the return groove, the ropes, the active synchronous gear, the driven synchronous gear, the rack, the fixed pulley, the disc, and the assistant motor. The return groove fixed at the middle and bottom of the vehicle platform, the outer shell of the motor is fixed on the top of the return groove, the output shaft extends into the return groove and is fixed concentrically with the active synchronous gear, and the active synchronous gear and the driven gear mesh in the same plane. Two racks meshing with the active synchronous gear and the driven gear are arranged on the symmetrical sides. Four fixed pulleys are fixed around the bottom of the return groove. Four ropes circumvent the groove of the fixed pulley respectively. One end of the two ropes are fixed at a specific point on both sides of the rotating mechanism, and the other end of the two ropes is fixed at both ends of a rack. With driving by the assist motor and the active synchronous gear, the synchronous rotation of the front and back rotating mechanism is realized by the translation motion pulling connector of two racks.

Further, the self-steering mechanism with multiple ground clearance also includes power supply devices. The power supply device is a power supply device for gasoline power generation. The device is fixed on the vehicle platform, including the gasoline engine, the gasoline engine protection frame, the generator, the three-phase rectifier bridge, the filter capacitor, the battery pack, and the rectifier inverter.

The rotating shaft of the gasoline engine relates to the rotating shaft of the generator. The Generator generates electricity and transforms into single-phase direct current after the three-phase rectifier bridge and filter capacitor rectifier and filter. One part is stored in battery pack; the other part provides stable voltage power supply for the vehicle control unit to control hub motor drive and assist motor drive, another part is converted into three-phase alternating current by rectifying inverters, which provides three-phase alternating current for hub motors and assisting motors.

Further, the self-steering mechanism with multiple ground clearance also includes the control device. The control device includes the embedded vehicle control unit, the speed sensor mounted on the tire, the angle sensor mounted on a rotary mechanism, the hub motor drive, and the assistant motor drive.

The angle sensor and the speed sensor are all connected with the embedded vehicle control unit.

Hub motor drive and assistant motor drive relate to the embedded vehicle control unit through CAN bus; hub motor in the tire is connected with hub motor drive, assisting motor and assistant motor drive.

The beneficial effects of the present invention are as follows:

1) A self-steering working mechanism with multiple ground clearance. The platform is mainly composed of rectangular metal frame and welded with multiple square metal tubes. The platform can be equipped with multiple working devices according to demand. It can not only effectively reduce the weight of the platform, but also improve the space utilization of the platform. There are assembled holes at the tail of the vehicle platform, which can realize various uses of working equipment by assembling different functional devices. The use of gasoline power supply device has the following advantages: simple power generation, stable power supply, low noise, small displacement, lightweight, low pollution, light, and convenient operation, and high performance-price ratio. The above characteristics make it stand out in many power supply devices. The new type of self-steering working mechanism can choose different axle heights according to the actual situation, so that the working equipment can adapt to the operation of multiple ground clearances; The independent inlaid hub motor is used as the power source of the wheel, and the hub motor technology is also known as the wheel-mounted motor technology. Its greatest feature is that the power device, transmission device, and brake device are integrated into the wheel together, which can greatly simplify the mechanical part of the electric vehicle. At the same time, the self-steering working mechanism with a revolving mechanism as its core is the first one. It uses a variety of rotary bearings as the main body of the rotary structure, so it meets the requirements of axial and radial forces of rotating structures in different working environments. The bearing reduces the friction force in the process of power transmission of working equipment by rolling mode, which can greatly improve the transmission efficiency of mechanical power and is controlled by vehicle. The unit controls the differential speed of four hub motors driven independently by two groups of revolving mechanisms so that the revolving structure can realize the self-steering of the revolving structure because of the differential speed of the wheels on both sides. The working equipment of this structure not only has very small turning radius, almost turning in situ, but also has high control precision, which ensures the flexibility of the equipment to work, and it has a good direction control. This is a great innovation of mechanical automatic working equipment.

2) A self-steering working mechanism with multiple ground clearance has been improved by adding asynchronous assistant steering structure. Whatever the synchronous assistant steering structure is, the purpose is to ensure the synchronous effect of symmetrical rotation of the front and back rotating mechanisms, so that the equipment can realize steering with a very small turning radius. In the multi-gap operating environment, it has great steering advantages. It improves the flexibility of the equipment and enlarges the application range of the steering mechanism. When the multi-gap self-steering working mechanism runs on uneven road surface or slope, the synchronous assistance steering structure adopted can keep the body in the optimal working state and prevent the body from dumping and damaging the vehicle-borne equipment. Description of Drawings

Figure lisa schematic diagram of embodiment 1 of a self-steering working mechanism.

Figure 2 is a schematic diagram of the support column of the rotary mechanism in embodiment 1.

Figure 3 is a schematic diagram of a self-steering working mechanism with multiple ground clearance using shock absorption in embodiment 2.

Figure 4 is a schematic diagram of embodiment 3 of a self-steering working mechanism with high ground clearance.

Figure 5 is a schematic diagram of the rotary mechanism of a self-steering working mechanism with high ground clearance.

Figure 6 is an improved schematic diagram of a self-steering working mechanism with high ground clearance.

Figure 7 is the assembly block diagram of the damper coordination device.

Figure 8 is a schematic diagram of a self-steering working mechanism with low ground clearance.

Figure 9 is a schematic diagram of embodiment 6 of a self-steering working mechanism with high ground clearance.

Figure 10 is a schematic diagram of embodiment 7 of a self-steering working mechanism with high ground clearance.

Figure 11 is a schematic diagram of embodiment 8 of a self-steering working mechanism with high ground clearance.

Figure 12 is a schematic diagram of embodiment 9 of an auto-steering working mechanism with high ground clearance.

Figure 13 is a schematic diagram of the connectors and brakes in embodiment 9.

Figure 14 is an overall schematic diagram of a self-steering intelligent sprayer with high ground clearance.

Figure 15 is a top view of a self-steering intelligent sprayer with high ground clearance.

Figure 16 is a schematic diagram of the sprayer lifting mechanism of a self-steering intelligent sprayer.

Figure 17 is a schematic diagram of the rotation control unit group.

Figure 18 is a schematic diagram of an intelligent sprayer power system with multiple ground clearance.

Figure 19 is a flow chart of the control device of the intelligent sprayer with multiple ground clearance.

Among them: 1-tire; 2-axle; 3-vehicle platform; 4-spray rod placement groove; 5-end spray rod; 6-main spray rod; 7-drive gear chain; 8-screw rod; 9-gear box; 10-fixed bracket; 11-rotary control motor; 12-wire pair; 13-flange structure; 14-lift control motor; 15-medicine tank; 16-medicine box; 17-rotation angle sensor; 18-water tank; 19-battery group; 20-generator; 21-gasoline engine; 22-gasoline engine Frame; 23-position limiter; 24-hub motor; 25-through hole; 26-chassis platform; 27-fixed central shaft; 28-intemal spray rod; 29-gear rotor A; 30-drive gear; 31-first-order gear; 32-gear box housing; 33-second-order gear; 34-driven gear; 35-nozzle; 36-ball bearing; 37-three-phase bridge; 38-gear rotor B; 39-single row bevel roller bearing; 40-cylinder; Roller; 41-filter capacitor; 42-plane cylindrical bearing; 43-double row tapered roller bearing; 44-support column; 45-shock absorber; 46-spring bracket; 47-shock absorber; 48-rectifier inverter; 49-vehicle control unit; 50-gyroscope; 51-GPS; 52-height sensor; 53-speed sensor; 54-level sensor; 55-pumping flowmeter; 56-nozzle flowmeter; 57-hub motor drive;58-Lift control motor drive; 59-rotary control motor drive; 60-pump motor drive; 61-drug pump motor drive; 62-hybrid pump motor drive; 63-pump; 64-drug pump; 65-hybrid pump; 66-solenoid valve drive; 67-solenoid valve; 68-intemal gear; 69-damper motor; 70-worm; 71-worm; 72-co-drive gear; 73-worm case; 74-disc; 75-disc brake; 76-synchronization; Assist steering rod; 77-rope; 78-screw synchronous steering mechanism; 81-retum groove; 82-fixed pulley; 83-electric push rod; 84-gear synchronous mechanism; 85-active synchronous gear; 86-driven synchronous gear; 87-rack; 88-assistant motor drive; 89-assistant motor; 91-disk.

Embodiments

The working process of a highland gap driverless intelligent crawler sprayer is illustrated with the schematic diagram below.

The self-steering mechanism with multiple ground clearance includes vehicle platform 3 and self-steering working mechanism. The lower part of the vehicle platform 3 is sequentially provided with two self-steering working mechanisms along the working direction. The self-steering working mechanism is composed of a rotary mechanism and a tire 1 of a hub motor 24. Synchronized assisted steering structure to ensure that the front and back rotating mechanism rotates at the same angle by connecting the special point of the front and back rotating mechanism. At the same time, it is supplemented by mechanical components of various soft and hard brake control parts. When working, the steering of the self-steering working mechanism is formed by controlling the different rotational speeds of the front and rear wheel hub motors.

The self-steering working mechanism consists of two chassis with rotary mechanism and four tires with hub motor 24. The rotary mechanism is composed of a bearing on the platform 3, a support column at the lower end of the bearing and a shock absorber to realize the rotary action; or the rotary mechanism is composed of a bearing on the platform 3, a chassis platform 26 at the lower end of the bearing and an axle 2 to realize the rotary action.

The synchronous assistant steering structure includes connecting parts and brake parts. The synchronous assistant steering structure connects the front and rear rotary mechanisms through connecting parts and ensures that the front and rear rotary mechanisms rotate at the same angle. The synchronous assistant steering structure adjusts the angle of the front and rear rotary mechanisms through brakes. The connector is a non-elastic deformed profile; the brake parts are directly connected with the rotary mechanism, or directly connected with the connecting parts; when the brake parts are directly connected with the rotary mechanism, the brake is to install disc brake on the disc 91, or to install electric push rod 83 brake on the disc 91; When the brake parts are directly connected with the connecting parts, the brake parts is a rack pulling connecting parts for braking. The connector is asynchronous assistant steering rod 76 or rope 77 (the rope is not limited to general plastic rope, hemp rope, nylon rope, cotton rope, and other types, but also includes long strip connectors such as rope, belt, and metal rope).

Example 1

As shown in Figure 1-2, the self-steering working chassis includes a rotary mechanism and a tire 1;

Vehicle platform 3 is a metal frame welded by multiple square metal tubes and two square metal plates, which can effectively reduce the weight of the vehicle platform. Many square metal tubes are welded into 3X5 square spaces. Two square metal plates are fixed in the second and fourth row of the second column. There are spray rod placement grooves 4 in front of platform 3 and left and right sides respectively, and 8 in the bottom of platform 3. A limit device 23 is provided with a through hole 25 at the tail of the vehicle platform 3 for the fixed central axle 27 to pass through;

Wheel 1 chooses to herringbone agricultural tire, or other tires such as plain pattern tire according to the demand of road surface. Hub motor 24 is installed in the hub;

The rotary mechanism includes double-row tapered roller bearing 43, support column 44 and shock absorber 45. The shock absorber 45 is arranged by several pieces of the projectile with the same width and varying length. Except for the last piece of the projectile is thicker, the other pieces have the same thickness and the center of the projectile has a proper rectangular through the hole. The outer ring (or inner ring) of double-row tapered roller bearing 43 is a whole. Two io inner rings (or outer rings) are coaxially fixed on the top of the metal plate of the vehicle platform and the supporting column 45. The supporting column 44 is a metal rod with the upper end of the cylinder and the lower end of the cylinder as a cuboid. The metal rod part passes through the rectangular through the hole of the shock absorber 45 and is fixed with the last elastic piece. The two sides of the last elastic piece and the fuselage of the hub motor 24 are welded and fixed.

Example 2

As shown in Figure 3, the rotary mechanism includes single row tapered roller bearing 39, support column 44, the shock absorber 47 and shock absorber 46. The outer ring or inner ring of single row tapered roller bearing 39 and vehicle platform 3 are connected by welding. The inner ring or outer ring of single row tapered roller bearing 39 and the top surface of support column 44 are concentrically fixed. There are three groups of the shock absorber 47, one end of which is fixed at support column 4, respectively. The symmetrical side and the lower side of the bracket are fixed at the two sides and the center of the bracket 46. The bracket 46 is a high-strength square metal frame like the vehicle width. The two ends of the bracket 46 are fixed with the fuselage of the hub motor 24.

Example 3

As shown in Figure 4, the self-steering working mechanism comprises a rotary mechanism and a tire 1 with hub motor 24.

The rotary structure includes planar cylindrical bearing 42, chassis platform 26 and axle 2; planar cylindrical bearing 42 is composed of planar cage assembly with cylindrical roller 40 and planar washer. The inner ring of planar cylindrical bearing 42 passes through the hole of platform 3 and makes the cylindrical roller 40 of planar cylindrical bearing 42 contacts with the bottom of platform 3. A circular groove is arranged in the middle of the chassis platform 26, and there are gradually contracting extensions on both sides of the chassis platform 26. The plane cage assembly of the plane cylindrical bearing 42 and the circular groove of the chassis platform 26 are fixed concentrically. The axle 2 is made of metal, the top of the axle 2 is fixed with the extension of the chassis platform 26, which is the obtuse angle to the chassis platform 26, and the bottom of the axle 2 and the fuselage of the hub motor 24 are fixed. Because the height of axle 2 is higher off the ground, this example is suitable for working in high ground clearance.

Example 4

As shown in Figure 5, the rotary structure is replaced by a ball bearing 36 with plane cylindrical bearing 42. Ball bearing 36 is to install spherical alloy steel balls in the middle of the inner ring and outer ring. The outer ring or inner ring of the ball bearing 36 is concentrically fixed with chassis platform 26, and the inner ring or outer ring of the ball bearing 36 and square steel plate of vehicle platform 3 are concentrically fixed. The inner steel rings of the vehicle platform 3 and the ball bearing 36 described in the present embodiment are connected by welding.

As a further improvement of this example, as shown in Figure 6 and Figure 7, the inner ring of internal gear and ball bearing 36 is welded in the rotating structure, and the damping co-actuator and internal gear are assembled directly above the internal gear; the damping co-actuator includes the damping motor 69, the worm gear box 73 and the synchronous gear 72; the worm gear box 73 is internally composed of the worm wheel 70 and the worm 71, and the shaft and the worm 71 of the damping motor are concentric. Fixed, worm 71 and worm 70 are assembled, worm 70 and gear 72 are fixed in concentricity; damping co-action device has a self-locking function. When a tire of the co-rotating rotating structure leaves the ground, worm wheel and worm will lock the rotating structure. At the same time, the above-mentioned damping motor 69 can be connected with the embedded vehicle control unit 49 through the motor drive to control the auxiliary rotating structure steering of the damping motor.

Example 5

As shown in Figure 8, the structure is similar to the self-steering working mechanism in embodiment 3. The difference is that the height of axle 2 is relatively low. This makes the whole self-steering working mechanism suitable for low ground clearance.

Example 6

As shown in Figure 9, the synchronous assisted steering structure includes disc 74, disc brake 75, synchronous assisted steering rod 76 and disc 91, disc 91 and rotary bearing concentric fixing, disc 74 and disc brake 75 are installed on front and rear disc 91, disc 74 is slightly larger than disc 91 and is concentrically fixed with disc 91, disc brake 75 is fixed on platform 3 and assembled with disc 74. When steering, the rotary mechanism can be fixed. At an appropriate steering angle, the steering rod 76 is synchronously assisted to connect specific points on both ends of the steering rod 76 and on both sides of the disc 91 and can rotate relatively. The principle of determining the specific points is that the front and rear rotating mechanisms can rotate synchronously.

Example 7

As shown in Figure 10, the synchronous assisted steering structure includes disc 74, disc brake 75, rope 77 and disc 91, disc 91 and rotary bearing concentric fixing, disc 74 and disc brake 75 are installed on disc 91, disc 74 is slightly larger than disc 91 and is concentrically fixed with disc 91, disc brake 75 is fixed on platform 3 and assembled with disc 74. When steering, the rotary mechanism can be fixed in an appropriate direction. Angle: There are two ropes 77 are cross-symmetrically fixed at a specific point on both sides of the disc 91, and the principle for determining the specific point is that the front and rear rotary mechanisms can rotate synchronously.

Example 8

As shown in Figure 11, the synchronous assisted steering structure includes electric push rod 83, rope 77 and disc 91, the bearing of disc 91 and the rotary structure is concentrically fixed, the outer shell of electric push rod 83 is fixed under vehicle platform 3, the end of the electric push rod is assembled on the side of disc 91 through rotary structure, and the end of electric push rod and disc 91 can rotate relatively. The rope 77 is two, and the rope 77 is fixed symmetrically and crosswise on the disc. At the specific points on both sides of 91, the principle of determining the specific characteristics is that the front and rear rotary mechanisms can rotate synchronously. When steering, the rotary mechanism can be directly controlled at a suitable steering angle by controlling the driving motor of the electric push rod 83.

Example 9

As shown in Figurel2 and Figurel3, when the rack pull connector is braked, the synchronous assist steering structure includes return groove 81, rope 77, active synchronous gear 85, driven synchronous gear 86, rack 87, fixed pulley 82, disc 91 and assistant motor 89 (the assistant motor 89 is a common drive motor), which is fixed at the middle and bottom of platform 3 and helps the outer shell of motor 89 to be fixed. Over the return groove, the output shaft extends into the return groove 81 and is concentrically fixed with the active synchronous gear 85. The active synchronous gear 85 and the driven gear 86 mesh on the same plane. The symmetrical sides of the active synchronous gear 85 and the driven gear 86 are provided with two racks 87 meshings with them. Four fixed pulleys 82 are fixed around the bottom of the return groove 81, and four ropes 77 respectively circumvent the concave of the fixed pulley 82. One end of the two ropes is fixed at a specific point on both sides of the rotating mechanism. The other end of the two ropes is fixed at the two ends of a rack 87 (which can be opened at both ends of the rack and then connected with the rope). With the help of the motor 89 and the active synchronous gear 85, the synchronous rotation of the front and rear rotating mechanism can be realized by the translational motion pulling connectors of the two racks 87.

In the embodiment of Figurel- Figure3, the top of the support column 44 can penetrate the disc 91 and be welded to the disc 91; in the embodiment of Figure4- Figure8, in order to simplify the structure, the chassis platform 26 can act as the disc 91 to achieve the above functions.

In the working process of the device, when the self-steering working mechanism moves, the four hub motors can be independently controlled by the onboard control unit 49, and the four hub motors can be controlled at the same speed, so that the self-steering mechanism can work in a straight line; Controlling the rotational speeds of the left and right hub motors 24 are different and the same on the same side, the two self-steering working mechanisms rotate automatically because of the different rotational speeds of the left and right hub motors 24, forming the steering of the self-steering working mechanism. At the same time, the synchronization assisted steering structure is added. In the steering process, the connecting parts of the synchronization assisted steering structure can make the front and rear two self-steering working mechanisms interact and achieve the same steering angle. The brake parts of the synchronization assisted steering structure can adjust the angular speed of the self-steering working mechanism during steering and can change or lose control of the angle of the self-steering working mechanism. Time braking.

One embodiment of the invention is a self-steering intelligent sprayer with multiple ground clearance.

As shown in Figurel4- Figurel5, the controllable lifting spray device comprises a sprayer lifting mechanism, a spray rod device, and a mixing device. The spray rod device comprises an internal spray rod 28, a main spray rod 6, a terminal spray rod 5 and a rotation control unit group. All spray rod devices are rigid hollow rust resistant materials, and all spray rods are connected by hoses to form a spray water channel. The mixing device and the power supply device are arranged on the vehicle platform 3. The mixing device, which can be placed on the vehicle platform 3 according to needs, comprises a water tank 18, a medicine box 16 and a liquid medicine box 15. The water tank 1 is separated from the medicine box 16, the output liquid is mixed proportionally, and the mixed liquid is pre-stored in the medicine box 15, providing the liquid for the lifting spray device.

The power supply device is a power supply device for gasoline power generation. The device is fixed on the vehicle platform 3, including the gasoline engine 21, the gasoline engine protection frame 22, the generator 20, the three-phase rectifier bridge 37, the filter capacitor 41, the battery pack 19 and the rectifier inverter 48. The rotating shaft of the gasoline engine 21 is connected with the rotating shaft of the generator 20. The Generator 20 generates electricity and transforms into single-phase direct current after three-phase rectifier bridge 37 and filter capacitor 41 rectifier and filter. One part is stored in battery pack 19; the other part provides stable voltage power supply for vehicle control unit 49 to control hub motor drive 57 and assist motor drive 88; Another part is converted into three-phase alternating current by rectifying inverters 48, which provides three-phase alternating current for hub motors 24 and assisting motors 89.

The multiple profiles of the vehicle platform 3 are square metal tubes welded into 3X5 square spaces. Two square metal plates are fixed in the second and fourth columns of the second row. The spray rod placement grooves 4 are welded in the front and left sides of the vehicle platform, 8 limiters 23 are welded at the bottom of the vehicle platform 3, and 25 through holes are reserved at the tail of the vehicle platform 3 for the fixed central axle 27 to pass through. The front and left sides of the vehicle platform 3 are respectively equipped with 4 spray rod grooves and 8 mechanical limiters 23, which are fixed at the bottom of the vehicle platform 3, and are all connected with the vehicle platform 3 by welding.

As shown in Figurel6, the controllable lifting and spraying device comprises a sprayer lifting mechanism, a spray rod device, and a mixing device.

The lifting mechanism of the sprayer is assembled on the through-hole 25 of the vehicle platform 3 through a fixed central shaft 27, comprising two parallel set “< type fixing bracket 10, a fixed central shaft 27, a lifting control motor 14, a transmission tooth chain 7, a flange structure 13, a wire rod 8, and a wire pair 12, and The vertices of the two type fixing brackets 10 are connected by a fixed transverse plate A, and A fixed central axis 27 is arranged below both sides of the fixed transverse plate A, two'<' type fixing brackets 10 have two through holes of the same size at the upper and lower ends of the upper and lower ends of the fixing transverse plate B, for the screw 8 to pass through and be fixed by the gear shaft A. The wire rod 8 and the wire pair 12 can be replaced by ball screw. The lifting control motor 14 is a DC brushless motor, and the output shaft of the lifting control motor 14 is fixed vertically downward through the flange structure 13. In the middle of the horizontal plate B, the flange structure 13 has a rotating shaft B fixed concentrically with the output axis of the lifting control motor 14, and the outer ring of the rotating shaft B has gears. The gears and the transmission gear chain B7 are assembled. The two ends of the transmission gear chain B7 and the rotating shaft A at the top of the screw rod 8 are assembled, so that the rotation of the lifting control motor 14 can control the rotation of the screw rod 8 and achieve the purpose of 12 liftings of the screw pair.

The spray rod device is a five-stage spray rod, comprising the inner spray rod 28, a main spray rod 6, the end spraying rod 5, the rotation control component group, all the spray rod devices are rigid hollow rustproof materials, and each spray rod is connected by a hose to form a water channel for spraying the liquid medicine; the inner spray rod 28 of the spray rod device is connected with the wire pair 12, and the two ends of the inner spray rod 28 respectively mainly spray rod 6, and the outer sides of the main spray rod 6 are respectively The end spray rod 5, the end spray rod 5 and the main spray rod 6, the main spray rod 6 and the internal spray rod 28 are respectively connected through the first-stage rotary shaft 29 with gears and the second-stage rotary shaft 38 with gears. The rotary control motor 11 fuselage is fixed on the internal spray rod 28, and only the motor rotary shaft can rotate and is assembled with the gearbox 9 welded below the two ends of the internal spray rod to achieve a certain deceleration effect. The fixed central shaft 27 and the fixed support 10 are connected by welding.

As shown in Figure 17, the rotating control unit group includes the rotating control motor 11, the gearbox 9, and the transmission gear chain A7. The rotating control motor 11 has a driving gear 30 fixed at the end of the rotating shaft, which is concentric with the rotating shaft. It extends vertically down into the gearbox 9 and assembles with the decelerating gear in the gearbox 9. There are four gears in the gearbox 9. One is the active gear 30 at the end of the rotating control motor 11. The first one is the driven gear 34 connected with the first stage shaft 29 at the upper end, and the first and second stage deceleration gears 31 and 33 with a certain deceleration ratio. The revolving centers of the first and second stage deceleration gears 31 and 33 are fixed on the upper and lower walls of the gearbox 9. The rotary control motor 11 drives the driving gear 30 to rotate. The driving gear 30 and the first stage deceleration gear 31 mesh with each other. Secondary gear reducer 33 meshes, secondary gear 33 meshes with driven gear 34, driven gear 34 drives primary shaft 29 to rotate; four gears all revolve around the center line of each the gear, the revolving center line of four gears is perpendicular to the center line of internal spray rod 28, and the vertical foot is located on the center line of internal spray rod 28. The two ends of the transmission gear chain A7 are respectively with primary shaft A29 and secondary shaft. The gearbox 9 is welded to the lower end of the inner spray rod 28.

As shown in Figurel8, the power supply device is fixed on the vehicle platform (3), including the gasoline engine (21), the gasoline engine protection frame (22), the generator (20), the three-phase rectifier bridge (37), the filter capacitor (41), the battery pack (19) and the rectifier inverter (48). The rotating shaft of the gasoline engine (21) is connected with the rotating shaft of the generator (20). The Generator (20) generates electricity and transforms into single-phase direct current after the three-phase rectifier bridge (37) and filter capacitor (41) rectifier and filter. One part is stored in battery pack (19); the other part provides stable voltage power supply for the vehicle control unit (49) to control hub motor drive (57) and assist motor drive (88); Another part is converted into three-phase alternating current by rectifying inverters (48), which provides three-phase alternating current for hub motors (24) and assisting motors (89).

As shown in Figurel8, the control device includes the embedded vehicle control unit (49), Gyroscope 50, GPS 51, altitude sensor 52 on internal spray rod 28, speed sensor 53 on tire 1, rotation sensor 17 on rotary mechanism, liquid level sensor 54 on mixing device, pumping flowmeter 55, nozzle flowmeter 56 on spray rod, hub motor drive 57, lifting control motor drive 58, rotary control motor drive 59, pumping Pump motor drive 60, medicine pump motor drive 61, hybrid pump motor drive 62, solenoid valve drive 66, assist motor drive 88;

Gyroscope 50, GPS51, angle sensor 17, height sensor 52, velocity sensor 53, liquid level sensor 54, pumping flowmeter 55, nozzle flowmeter 56 are all connected with the embedded vehicle control unit 49.

Hub motor drive 57, lift control motor drive 58, rotary control motor drive 59, pump motor drive 60, liquid medicine pump motor drive 61, mixed liquid pump motor drive 62, solenoid valve drive 66 and assist motor drive 88 are all connected with the embedded vehicle control unit through CAN bus.

Wheel hub motor 24 in tire 1 is connected with hub motor drive 57, lift control motor 14 is connected with lift control motor drive 58, rotary control motor 11 is connected with rotary control motor drive 59, pump 63 in water tank 18 is connected with pump motor drive 60, drug pump 64 in medicine tank 16 is connected with drug pump motor drive 61, and mixture liquid in medicine tank 15 is connected with drug pump motor drive 61. Pump 65 is connected with the drive 62 of the hybrid liquid motor pump, and jet rod solenoid valve 67 installed on the spray rod is connected with the drive 47 of the solenoid valve, assistant motor 89 and assistant motor 88 to connect.

The vehicle control unit is located near the power supply device of gasoline power generation in front of the vehicle platform. The gyroscope and GPS are located next to the vehicle control unit. The pumping flowmeter is installed at the outlet of the water tank, the medicine box, and the medicine liquid box respectively. The height sensor is installed at the bottom of the inner spray rod, the speed sensor is installed at four hub motors, and the liquid level sensor is installed at the water tank, the medicine box, and the medicine liquid tank respectively. In the liquid tank, the nozzle flowmeter is installed at the nozzles; the gyroscope, GPS, pumping flowmeter, height sensor, speed sensor, liquid level sensor, and nozzle flowmeter are all directly connected with the embedded vehicle control unit.

Hub motor drive lifts control motor drive, rotary control motor drive, pump motor drive, liquid medicine pump motor drive, mixed liquid pump motor drive, solenoid valve drive, and assists motor drive 88 are all connected with embedded vehicle control unit through CAN bus.

The wheel hub motor in the tire is connected with the hub motor drive, the lift control motor is connected with the lift control motor drive, the rotary control motor is connected with the rotary control motor drive, the pump is connected with the pump motor drive, the medicine liquid pump is connected with the medicine liquid pump motor drive, the mixture liquid pump is connected with the mixture liquid motor pump drive, the injection rod solenoid valve is connected with the solenoid valve drive to assist the electricity. The machine is connected to assist motor drive.

The above control motors are all DC brushless motors. The above tires are herringbone agricultural tires, and other tires such as plain pattern tires can be selected according to the requirements of the road surface.

In the description of this specification, reference to the terms one example, some examples, illustrative examples, examples or specific examples means that the specific features, structures, materials or features described in connection with the embodiments or examples are included in at least one embodiment or example of the invention. In this specification, the illustrative expression of the above terms does not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or features described may be combined in an appropriate manner in any one or more embodiments or examples.

Although embodiments of the present invention have been shown and described, it is understandable to those skilled in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and purposes of the present invention, the scope of which is defined by the claims and their equivalent

Claims

L· A self-steering mechanism with multiple ground clearance, which is characterized in that: It includes vehicle platform (3) and self-steering working mechanism, the lower part of the vehicle platform (3) is sequentially provided with two self-steering working mechanisms along the working direction, the self-steering working mechanism is composed of a rotary mechanism and a tire (1) of a hub motor (24).
2_X The self-steering mechanism with multiple ground clearance according to claim 1, it characteristics are: The vehicle platform (3) is a frame platform composed of multiple profiles; The profile is a square metal tube welded into a frame with a plurality of square spaces, and two square metal plates are respectively fixed on the two spaces arranged at the middle positions of the two ends of the platform for placing two self-steering working mechanisms.
3> The self-steering mechanism with multiple ground clearance according to claim 1 or 2, it characteristics are: The rotary mechanism comprises a double row tapered roller bearing (43), a support column (44) and a shock absorber (45) from top to bottom; the shock absorber (45) is composed of several shrapnel with the same width and the lengths from top to bottom increasing in turn, the last shrapnel is thicker than the other shrapnel on the upper part, the other shrapnel is of the same thickness and has a rectangular through a hole in the center of the shrapnel, the outer ring or inner ring of the double row tapered roller bearing (43) is an integral whole, the two inner rings or outer rings are respectively coaxially fixed on the top surface of the metal plate and the support column (44) of the vehicle platform (3), the upper end of the support column (44) is a cylinder, and the lower end is a cuboid metal bar, the metal bar passes through a rectangular through the hole of the shock absorber (45) and is fixed and welded with the last piece of the projectile, the two sides of the last piece of the projectile are welded and fixed with the fuselage of the hub motor (24).
4> The self-steering mechanism with multiple ground clearance according to claim 1 or 2, its characteristics are: The rotary mechanism comprises a single row tapered roller bearing (39), a support column (44), a shock absorber (47) and a shock absorber bracket (46), the outer ring or inner ring of the single row tapered roller bearing (39) and the vehicle platform (3) are connected by welding, the inner ring or outer ring of the single row tapered roller bearing (39) and the top surface of the support column (44) are concentrically fixed, there are three groups of shock absorbers (47), one end of the three groups of shock absorbers is fixed on the symmetrical sides and bottom sides of the support column (44), the other end is fixed on both sides and the center of the shock absorber bracket (46), the shock absorber bracket (46) is a high-strength square metal frame like the vehicle width, and the two ends of the shock absorber bracket (46) are fixed with the fuselage of the hub motor (24).
5x The self-steering mechanism with multiple ground clearance according to claim 1 or 2, it characteristics are: The rotary structure comprises a plane cylindrical bearing (42), a chassis platform (26) and a vehicle bridge (2); The plane cylindrical bearing (42) consists of a plane cage assembly with a cylindrical roller (40) and a Plain washer, the inner ring of the plane cylindrical bearing (42) passes through the through hole of the metal plate on the vehicle platform (3) and makes the cylindrical roller (40) of the plane cylindrical bearing (42) contact with the bottom of the vehicle platform (3), a circular groove is arranged in the middle of the chassis platform (26), and a progressive contraction extension is arranged on the left and right sides of the chassis platform (26), the plane cage assembly of the plane cylindrical bearing (42) and the circular groove of the chassis platform (26) are fixed concentrically, the top of the axle (2) is fixed with the extension part of the chassis platform (26) and has a blunt angle with the chassis platform (26), and the bottom of the axle (2) and the fuselage of the hub motor (24) are fixed, the height of the self-steering working mechanism can select different height axles according to the operation needs (2).
6x The self-steering mechanism with multiple ground clearance according to claim 5, its characteristics are: The rotary structure is replaced by a ball bearing (36) by a plane cylindrical bearing (42), the ball bearing (36) is a spherical alloy steel ball installed in the middle of the inner ring and the outer ring of the ball bearing (36), the outer ring or inner ring of the ball bearing (36) is concentrically fixed with the chassis platform (26), and the inner ring or outer ring of the ball bearing (36) and the metal plate of the vehicle platform (3) are concentrically fixed.
7x The self-steering mechanism with multiple ground clearance according to claim 1, its characteristics are: The self-steering working mechanism also includes a synchronous assisted steering structure, which includes a connecting part and a brake part, the synchronous assisted steering structure connects the front and back rotary mechanisms through the connecting parts and ensures that the front and back rotary mechanisms rotate at the same angle, the synchronous assisted steering structure adjusts the angle of the front and back rotary mechanisms through the brakes.
8> The self-steering mechanism with multiple ground clearance according to claim 7, its characteristics are:

the connecting member is a profile without or with small elastic deformation, and the brake member is directly connected with the rotary mechanism or directly connected with the connecting member, when the brake is directly connected with the rotary mechanism, the brake is to install the disc brake on the disc (91) or to install the electric push rod (83) brake on the disc (91), when the brake piece is directly connected with the connecting piece, the brake piece is a rack pulling connecting piece for braking.
9> The self-steering mechanism with multiple ground clearance according to claim 8, its characteristics are: The connector is a synchronous assist steering rod (76) or a rope (77).
10> The self-steering mechanism with multiple ground clearance according to claim 9, it characteristics are: When the disc brake is installed on the disc (91), the synchronous assist steering structure includes the disc (74), the disc brake (75), the synchronous assist steering rod (76) and the disc (91), the disc (91) and the bearing of rotary structure is concentrically fixed, the disc (74) and the disc brake (75) are installed on the front and rear discs (91), The disc (74) is slightly larger in diameter than the disc (91) and is concentrically fixed with the disc (91), disc brake (75) fixed on vehicle platform (3) and assembled with disc (74), turning mechanism can be fixed at an appropriate turning angle when turning, synchronously assisting the connection and relative rotation of two specific points on both ends of steering rod (76) and on both sides of disc (91), which determined by the principle that the front and rear rotary mechanisms can rotate synchronously.

IL The self-steering mechanism with multiple ground clearance according to claim 9, it characteristics are: When the disc brake is installed on the disc (91), the synchronous assist steering structure includes the disc (74), the disc brake (75), the ropes (77) and the disc (91), the disc (91) and the bearing of rotary structure is concentrically fixed, the disc (74) and the disc brake (75) are installed on the front and rear discs (91), The disc (74) is slightly larger in diameter than the disc (91) and is concentrically fixed with the disc (91), disc brake (75) fixed on vehicle platform (3) and assembled with disc (74), turning mechanism can be fixed at an appropriate turning angle when turning, The ropes (77) are two and are cross-symmetrically fixed at specific points on both sides of the disc (91), which determined by the principle that the front and rear rotary mechanisms can rotate synchronously.
12> The self-steering mechanism with multiple ground clearance according to claim 9, it characteristics are: When the braked by electric push rod (83) installed on the disc (91), the synchronous assist steering structure includes the electric push rod (83), the ropes (77) and the disc (91), the disc (91) and the bearing of rotary structure is concentrically fixed, the outer shell of the electric push rod (83) is fixed under the vehicle platform (3), and the end of the electric push rod is assembled on the side of the disc (91) through the rotary structure, moreover, the end of the electric push rod and the disc (91) can rotate relatively, synchronously assist the connection of the two ends of the steering rod (76) and the specific points on the two sides of the disc (91) and can rotate relatively, the principle for determining the specific points is that the front and rear rotary mechanisms can rotate synchronously, when steering, the rotary mechanism can be fixed at an appropriate steering angle by controlling the driving motor of the electric push rod (83).
13 > The self-steering mechanism with multiple ground clearance according to claim 9, it characteristics are: When the braked by electric push rod (83) installed on the disc (91), the synchronous assist steering structure includes the electric push rod (83), the synchronous assist steering rod (76) and the disc (91), the disc (91) and the bearing of rotary structure is concentrically fixed, the outer shell of the electric push rod (83) is fixed under the vehicle platform (3), and the end of the electric push rod is assembled on the side of the disc (91) through the rotary structure, moreover, the end of the electric push rod and the disc (91) can rotate relatively, the ropes (77) are two and are cross-symmetrically fixed at specific points on both sides of the disc (91), the principle for determining the specific points is that the front and rear rotary mechanisms can rotate synchronously, when steering, the rotary mechanism can be fixed at an appropriate steering angle by controlling the driving motor of the electric push rod (83).
14> The self-steering mechanism with multiple ground clearance according to claim 9, it characteristics are: When braked by the rack pulling connector, the synchronous assistant steering structure includes the return groove (81), the ropes (77), the active synchronous gear (85), the driven synchronous gear (86), the rack (87), the fixed pulley (82), the disc (91) and the assistant motor (89), the return groove (81) fixed at the middle and bottom of the vehicle platform (3), the outer shell of the motor (89) is fixed on the top of the return groove, the output shaft extends into the return groove (81) and is fixed concentrically with the active synchronous gear (85), and the active synchronous gear (85) and the driven gear (86) mesh in the same plane, two racks (87) meshing with the active synchronous gear (85) and the driven gear (86) are arranged on the symmetrical sides, four fixed pulleys (82) are fixed around the bottom of the return groove (81), four ropes (77) circumvent the groove of the fixed pulley (82) respectively, one end of the two ropes are fixed at a specific point on both sides of the rotating mechanism, and the other end of the two ropes is fixed at both ends of a rack (87), with driving by the assist motor (89) and the active synchronous gear (85), the synchronous rotation of the front and back rotating mechanism is realized by the translation motion pulling connector of two racks (87).
15 > The self-steering mechanism with multiple ground clearance according to claim 1, its characteristics are: It also includes power supply devices, the power supply device is a power supply device for gasoline power generation, the device is fixed on the vehicle platform (3), including the gasoline engine (21), the gasoline engine protection frame (22), the generator (20), the three-phase rectifier bridge (37), the filter capacitor (41), the battery pack (19) and the rectifier inverter (48), the rotating shaft of the gasoline engine (21) relates to the rotating shaft of the generator (20), the Generator (20) generates electricity and transforms into single-phase direct current after the three-phase rectifier bridge (37) and filter capacitor (41) rectifier and filter, one part is stored in battery pack (19); the other part provides stable voltage power supply for the vehicle control unit (49) to control hub motor drive (57) and assist motor drive (88); Another part is converted into three-phase alternating current by rectifying inverters (48), which provides three-phase alternating current for hub motors (24) and assisting motors (89).
16_x The self-steering mechanism with multiple ground clearance according to claim 1, its characteristics are: It also includes the control device, the control device includes the embedded vehicle control unit (49), the speed sensor (53) mounted on the tire (1), the angle sensor (17) mounted on a rotary mechanism, the hub motor drive (57), and the assistant motor drive (88), the angle sensor (17) and the speed sensor (53) are all connected with the embedded vehicle control unit (49), the hub motor drive (57) and assistant motor drive (88) are connected with embedded vehicle control unit (49) through CAN bus; hub motor (24) in tire (1) is connected with the hub motor drive (57), assisting motor (89) and assistant motor drive (88).