WO2018090649A1 - 一种多地隙自转向机构 - Google Patents

一种多地隙自转向机构 Download PDF

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Publication number
WO2018090649A1
WO2018090649A1 PCT/CN2017/092329 CN2017092329W WO2018090649A1 WO 2018090649 A1 WO2018090649 A1 WO 2018090649A1 CN 2017092329 W CN2017092329 W CN 2017092329W WO 2018090649 A1 WO2018090649 A1 WO 2018090649A1
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WO
WIPO (PCT)
Prior art keywords
disc
steering
fixed
platform
self
Prior art date
Application number
PCT/CN2017/092329
Other languages
English (en)
French (fr)
Inventor
沈跃
崔业民
刘慧�
张炳南
Original Assignee
江苏大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201611027499.0A external-priority patent/CN106614474B/zh
Priority claimed from CN201710467123.XA external-priority patent/CN107399364B/zh
Application filed by 江苏大学 filed Critical 江苏大学
Priority to GB1908618.0A priority Critical patent/GB2571670B/en
Publication of WO2018090649A1 publication Critical patent/WO2018090649A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
    • A01M7/0053—Mounting of the spraybooms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H7/00—Armoured or armed vehicles
    • F41H7/005—Unmanned ground vehicles, i.e. robotic, remote controlled or autonomous, mobile platforms carrying equipment for performing a military or police role, e.g. weapon systems or reconnaissance sensors

Definitions

  • the invention relates to an unmanned multi-slot self-steering mechanism, and belongs to the field of vehicle-mounted mechanical control applications.
  • the automatic working system similar to intelligent robots has begun to slowly enter people's lives.
  • the intelligent robot walks to some special areas, such as mud, potholes and other places, may slip and trap, the drive wheel can not borrow or simply can not turn, so the demand for multi-gap chassis is more and more urgent.
  • the study of multi-gap walking equipment can fundamentally change the walking mode of the equipment, and realize the automatic control of the walking equipment, which is of great significance for improving the application range of the walking equipment and improving the steering effect of the walking equipment.
  • the invention adopts four-wheel hydraulic drive, and hydraulic steering device is arranged in the middle of the front and rear axles.
  • This hydraulic steering device can only realize two-wheel steering and steering radius. Large, can not guarantee the passability of the walking chassis, so the whole machine can not be applied to a variety of ground clearance requirements.
  • the Chinese patent "Automatic Walking Equipment” with the publication number CN105242675A can control the automatic walking equipment to perform the preset slip reaction action, but does not solve the steering mode of the equipment from the root.
  • a four-wheel independent drive multi-slot self-steering mechanism and control method are designed. The device is controlled by the control device to four wheel hub motors to realize the self-steering of the wheel differential, and the improvement is Synchronously assists the steering component to achieve symmetry of front and rear steering, high control precision, and small turning radius.
  • the object of the present invention is to design a multi-slot self-steering mechanism. It can meet the needs of a variety of complex terrains to a large extent, greatly improve the scope of application of walking equipment and improve the steering effect of walking equipment.
  • a multi-slot self-steering mechanism comprising: a vehicle platform and a self-steering running mechanism; wherein a lower portion of the vehicle platform is provided with two self-steering running mechanisms in the walking direction, and the self-steering running mechanism is composed of a rotating mechanism A tire with a hub motor.
  • the vehicle platform is a frame platform formed by a plurality of profiles; the profile is a square metal pipe, welded into a frame with a plurality of square spaces, and fixed on two spaces disposed at the middle positions of the two ends of the platform Two square metal plates for two swing mechanisms.
  • the slewing mechanism comprises a double row tapered roller bearing, a support column and a damper device in order from top to bottom;
  • the damper device is formed by stacking a plurality of shrapnels of the same width and increasing in length from top to bottom, and finally One piece of shrapnel is thicker than the other pieces of the upper part of the shrapnel.
  • the other shrapnels have the same thickness and a rectangular through hole in the center of the shrapnel.
  • the outer ring or the inner ring of the roller bearing is a whole, and the two inner rings or outer rings are respectively concentrically 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 rectangular metal rod.
  • the metal rod portion passes through the rectangular through hole of the damper device and is fixedly welded to the last piece of the elastic piece, and the two sides of the last piece of the elastic piece are welded and fixed to the body of the hub motor.
  • the slewing mechanism comprises a single row tapered roller bearing, a support column, a shock absorber and a shock absorbing bracket, and the outer ring or the inner ring of the single row tapered roller bearing and the vehicle platform are connected by welding, and the inside of the single row tapered roller bearing
  • the top surface of the ring or the outer ring and the support column are concentrically fixed
  • the shock absorber has three groups, wherein one end of the three sets of shock absorbers are respectively fixed on the symmetric sides and the bottom side of the support column, and the other ends are respectively fixed on the shock absorbing bracket.
  • the shock absorbing bracket is a high-strength square metal frame similar to the width of the vehicle, and the two ends of the damper bracket are fixed to the body of the hub motor.
  • the rotary structure comprises a planar cylindrical bearing, a chassis platform and an axle;
  • the planar cylindrical bearing is composed of a planar cage assembly with a cylindrical roller and a planar washer, and the inner ring of the planar cylindrical bearing passes through the metal plate on the vehicle platform.
  • the hole makes the cylindrical roller of the planar cylindrical bearing contact with the bottom of the platform, the circular groove is opened in the middle of the chassis platform, the left and right sides of the chassis platform have a gradually contracting extension, the planar cage assembly of the planar cylindrical bearing and the chassis platform
  • the circular groove is concentrically fixed, the top of the axle is fixedly connected with the extension of the platform of the chassis, and the bottom of the chassis platform is obtuse, the bottom of the axle and the body of the hub motor are fixed, and the height of the self-steering running mechanism can be selected according to the operation needs. Different height axles.
  • the rotating structure replaces the planar cylindrical bearing by a ball bearing
  • the spherical bearing is installed in the middle of the inner steel ring and the outer steel ring, and the outer ring or the inner ring of the ball bearing is concentrically fixed with the chassis platform, and the ball bearing is fixed.
  • the inner or outer ring and the metal plate of the platform are concentrically fixed.
  • the self-steering running mechanism further includes a synchronous assist steering structure
  • the synchronous assist steering structure includes a connecting member and a braking member
  • the synchronous assist steering structure connects the front and rear swinging mechanisms through the connecting member, and ensures that the front and rear swinging mechanisms rotate the same angle.
  • the synchronous assist steering structure adjusts the angle of the front and rear swing mechanisms by the brake member.
  • the connecting member is a profile with no or small elastic deformation;
  • the braking member is directly connected to the swinging mechanism or directly connected to the connecting member;
  • the brake member When the brake member directly acts on the swing mechanism, the brake member is mounted with a disc brake on the disc, or an electric push rod brake is mounted on the disc;
  • the brake member When the brake member is directly connected to the connecting member, the brake member brakes the rack pulling connector.
  • the connecting member is a synchronous assist steering rod or rope.
  • the synchronous assist steering structure when the disc brake is mounted on the disc, the synchronous assist steering structure includes a disc, a disc brake, a synchronous assist steering rod and a disc, and the bearings of the disc and the swivel structure are concentrically fixed, the disc and the disc brake Installed on the front and rear discs,
  • the disc is slightly larger than the diameter of the disc and is concentrically fixed with the disc.
  • the disc brake is fixed on the platform and assembled with the disc.
  • the slewing mechanism can be fixed at a suitable steering angle to assist the steering rod at both ends and the circle.
  • the specific points on both sides of the disc are connected and rotatable relative to each other. The specific point is determined by the principle that the front and rear swivel mechanisms can rotate synchronously.
  • the synchronous assist steering structure when the disc brake is mounted on the disc, the synchronous assist steering structure includes a disc, a disc brake, a rope and a disc, the disc and the bearing of the swivel structure are concentrically fixed, and the disc and the disc brake are mounted in a circle On the disc, the disc is slightly larger than the diameter of the disc and is concentrically fixed with the disc.
  • the disc brake is fixed on the platform and assembled with the disc.
  • the swing mechanism can be fixed at a suitable steering angle; the rope is two The roots are cross-symmetrically fixed at specific points on both sides of the disc. The specific point is determined by the principle that the two slewing mechanisms can rotate synchronously.
  • the synchronous assist steering structure includes an electric push rod, a synchronous assist steering rod and a disc, and the bearing of the disc and the rotary structure is concentrically fixed, and the outer shell of the electric push rod is fixed
  • the end of the electric push rod is assembled on one side of the disc by the swinging structure, and the end of the electric push rod and the disc can be relatively rotated, and the two ends of the steering rod are synchronously assisted with the specific points on both sides of the disc and It can be rotated relative to each other.
  • the specific point is determined by the fact that the front and rear two slewing mechanisms can rotate synchronously.
  • the slewing mechanism can be fixed at a suitable steering angle by controlling the driving motor of the electric push rod.
  • the synchronous assist steering structure includes an electric push rod, a rope and a disc, the disc and the bearing of the swing structure are concentrically fixed, and the outer shell of the electric push rod is fixed on the vehicle platform
  • the end of the electric push rod is assembled on one side of the disc by the swivel structure, and the end of the electric push rod and the disc are relatively rotatable, and the rope is two, and the cross-symmetry is fixed at a specific point on both sides of the disc.
  • the specific point is determined by the principle that the front and rear two slewing mechanisms can rotate synchronously.
  • the slewing mechanism can be directly controlled at a suitable steering angle.
  • the synchronous assist steering structure when the rack pull connector is braked, includes a return groove, a rope, an active synchronous gear, a driven synchronous gear, a rack, a fixed pulley, a disc, and an assist motor, and a return type
  • the slot is fixed at the middle bottom of the vehicle platform, and the outer casing of the motor is fixed above 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 on the same plane.
  • the two sides of the symmetrical ring of the active synchronizing gear and the driven gear are provided with two racks, and four fixed pulleys are respectively fixed around the bottom of the return trough, and the four ropes respectively bypass the grooves of the fixed pulley, wherein One end of the two ropes is fixed at a specific point on both sides of the swing mechanism, and the other ends of the two ropes are respectively fixed at the two ends of one rack, and the two racks are driven by the assisting motor and the active synchronizing gear.
  • the translational movement pulls the connector to achieve synchronous rotation of the front and rear slewing mechanisms.
  • the multi-gap self-steering mechanism further includes a power supply device, and the power supply device is a gasoline power generation device, and the device is fixed on the vehicle platform, including a gasoline engine, a gasoline engine protection frame, a generator, a three-phase rectifier bridge, and a filter.
  • a power supply device is a gasoline power generation device, and the device is fixed on the vehicle platform, including a gasoline engine, a gasoline engine protection frame, a generator, a three-phase rectifier bridge, and a filter.
  • the rotating shaft of the gasoline engine is connected with the rotating shaft of the generator.
  • the generator After the generator generates electricity, it is converted into single-phase direct current after three-phase rectifier bridge and filter capacitor rectification and filtering, and part of it is stored in the battery pack; the other part provides stable voltage power supply for the vehicle control unit.
  • the vehicle control unit controls the hub motor drive and assists the motor drive; and some of the rectifier inverters become three-phase AC power, providing three-phase AC power for the hub motor and the assist motor.
  • the multi-gap self-steering mechanism further includes a control device including an embedded vehicle control unit, a speed sensor disposed on the tire, a rotation angle sensor disposed on the slewing mechanism, a hub motor drive, and assistance motor driven;
  • the rotation angle sensor and the speed sensor are all connected to the embedded vehicle control unit;
  • the hub motor drive and the assisted motor drive are connected to the embedded vehicle control unit via the CAN bus; the hub motor in the tire is connected to the hub motor drive to assist the motor and assist the motor drive.
  • the platform of the vehicle is mainly made up of a rectangular metal frame and is welded by a plurality of square metal pipes.
  • the vehicle platform can be placed with multiple working devices as needed, which can effectively reduce the platform of the vehicle.
  • the weight can also improve the space utilization of the platform, and there are available through holes in the tail of the platform, which can be used for various purposes of the walking device by assembling different functions.
  • the gasoline power generation and power supply device has simple power generation, stable power supply, low noise, small displacement, light weight, low pollution, light and convenient operation and high cost performance. The above features make it stand out among many power supply devices.
  • the new self-steering walking mechanism can select different axle heights according to actual conditions, so that the walking equipment can adapt to the operation of multiple ground gaps; the independent embedded wheel hub motor is used as the power source for the wheel travel, and the hub motor technology is also called For the in-wheel motor technology, its greatest feature is the integration of the power unit, transmission and brakes into the hub, which greatly simplifies the mechanical part of the electric vehicle.
  • the self-steering traveling mechanism with the slewing mechanism as the core is the first. It can use a variety of slewing bearings as the main body of the slewing structure to meet the requirements of the axial and radial forces of the slewing structure in different working environments. The bearings are reduced by rolling.
  • the frictional force during the power transmission during the steering of the walking equipment can greatly improve the transmission efficiency of the mechanical power.
  • the on-board control unit independently controls the differential speed of the four hub motors of the two sets of slewing mechanisms, so that the swing structure is due to both sides.
  • the wheel differential can realize the self-steering of the rotary structure.
  • the walking device of this structure not only has a small turning radius, but also can be turned in situ, and the control precision is high, which ensures the flexibility of the walking of the device and is good at the same time. Control direction is a major innovation in mechanical automated walking equipment.
  • a multi-gap self-steering running mechanism which improves the synchronous assist steering structure by improvement, no matter which synchronous assist steering structure, the purpose is to ensure the synchronous effect of the symmetrical rotation of the front and rear slewing mechanisms, so that the device can Steering with a particularly small turning radius, in the multi-gap working environment, has a great steering advantage, which increases the flexibility of the device and increases the application range of the steering mechanism;
  • the gap self-steering traveling mechanism travels on uneven roads or on slopes, the synchronous assist steering structure can keep the vehicle body in an optimal walking state, preventing the vehicle body from falling and damaging the vehicle equipment.
  • Figure 1 is a schematic view of Embodiment 1 of a self-steering running mechanism
  • FIG. 2 is a schematic view showing a support column of a swing mechanism in Embodiment 1;
  • FIG. 3 is a schematic view of a multi-slot self-steering running mechanism with suspension according to Embodiment 2;
  • Figure 4 is a schematic view of a third embodiment of a high-gap self-steering running mechanism
  • Figure 5 is a schematic structural view of a slewing mechanism of a high-gap self-steering traveling mechanism
  • Figure 6 is a schematic view showing a modification of a high-gap self-steering traveling mechanism
  • Figure 7 is a block diagram of the assembly of the damping linkage
  • Figure 8 is a schematic view of a low-gap self-steering running mechanism
  • Figure 9 is a schematic view of a sixth embodiment of a high-gap self-steering running mechanism
  • Figure 10 is a schematic view of a seventh embodiment of a high-gap self-steering running mechanism
  • Figure 11 is a schematic view of Embodiment 8 of a high-gap self-steering running mechanism
  • Figure 12 is a schematic view of Embodiment 9 of a high-gap self-steering running mechanism
  • Figure 13 is a schematic view of the connecting member and the brake member in the embodiment 9;
  • Figure 14 is a schematic view of a high-gap self-steering intelligent sprayer
  • Figure 15 is a top plan view of a high-gap self-steering intelligent sprayer
  • Figure 16 is a schematic structural view of a sprayer lifting mechanism of a self-steering intelligent sprayer
  • Figure 17 is a schematic structural view of a rotation control member group
  • Figure 18 is a schematic diagram of a multi-gap self-steering intelligent sprayer power system
  • Figure 19 is a flow chart of the multi-slot self-steering intelligent sprayer control device.
  • a multi-slot self-steering mechanism includes a vehicle platform 3 and a self-steering running mechanism; the lower part of the vehicle platform 3 is sequentially provided with two self-steering running mechanisms in the traveling direction, and the self-steering running mechanism is composed of a slewing mechanism and a belt
  • the tire 1 of the hub motor 24 and the synchronous assist steering structure are constructed; the synchronous assist steering structure is a mechanical component that can connect the special points of the front and rear swing mechanisms and ensure that the front and rear swing mechanisms rotate at the same angle, and is supplemented with various types of soft and hard brake control components.
  • the steering of the self-steering traveling mechanism is formed by controlling different rotational speeds of the two sets of hub motors of the front and rear wheels during walking.
  • the self-steering running mechanism is composed of two chassis with a swing mechanism and four tires with a hub motor 24; the swing mechanism is rotated by a bearing provided on the vehicle platform 3 together with a support column at the lower end of the bearing and a shock absorbing member.
  • the action; or the slewing mechanism is effected by a bearing provided on the platform 3 together with the undercarriage platform 26 at the lower end of the bearing and the axle 2.
  • the synchronous assist steering structure includes a connecting member and a brake member, and the synchronous assist steering structure connects the front and rear swing mechanisms through the connecting member, and ensures that the front and rear swing mechanisms rotate the same angle, and the synchronous assist steering structure adjusts the angle of the front and rear swing mechanisms through the brake member.
  • the connecting member is a non-elastic deformation profile; the brake member is directly connected to the swing mechanism or directly connected to the connecting member; when the brake member is directly connected to the swing mechanism, the brake member is on the disc 91.
  • the disc brake is mounted thereon, or the electric push rod 83 is mounted on the disc 91; when the brake member is directly connected to the connecting member, the brake member is braked by the rack pulling connector.
  • the connecting member is a synchronous assist steering rod 76 or a rope 77 (the rope is not limited to a general plastic rope, a hemp rope, a nylon rope, a cotton rope, etc., and includes a long connecting piece such as a cable belt, a belt, a metal rope, and the like. ).
  • the self-steering chassis includes a swing mechanism and a tire 1;
  • the car platform 3 is a metal frame welded by a plurality of square metal pipes and two square metal plates, which can effectively reduce the weight of the platform, and the plurality of square metal pipes are welded into 3 ⁇ 5 square spaces, in the second row.
  • Two square metal plates are fixed in the spaces of the second row and the fourth column, and the spray bar seating groove 4 is respectively welded in front of the vehicle platform 3 and on the left and right sides, and eight stoppers 23 are welded on the bottom of the vehicle platform 3, a through hole 25 through which the fixed central shaft 27 passes is reserved at the tail of the vehicle platform 3;
  • Wheel 1 adopts herringbone agricultural tires, and other tires such as ordinary patternless tires can be selected according to the demand of driving road surface, and hub motor 24 is installed in the hub;
  • the slewing mechanism comprises a double row tapered roller bearing 43, a support column 44 and a damper device 45; the damper device 45 is formed by a plurality of slabs of the same width and length grading, except for the last piece of the slab And the center of the shrapnel has a suitable rectangular through hole, and the outer ring (or inner ring) of the double row tapered roller bearing 43 is a whole.
  • the two inner rings are respectively concentrically fixed on the top surface of the metal plate and the support column 45 of the vehicle platform, and the support column 44 is a metal bar whose upper end is a rectangular parallelepiped at the lower end of the cylinder, and the metal bar portion is cut through
  • the rectangular through hole of the shock device 45 is fixedly welded to the last piece of the elastic piece, and the two sides of the last piece of the elastic piece are welded and fixed to the body of the hub motor 24.
  • the slewing mechanism includes a single row tapered roller bearing 39, a support column 44, a shock absorber 47 and a damper bracket 46.
  • the outer or inner ring of the single row tapered roller bearing 39 and the platform 3 are connected by welding.
  • the inner ring or the outer ring of the single row tapered roller bearing 39 and the top surface of the support column 44 are concentrically fixed, and the shock absorbers 47 have three groups, wherein one ends of the shock absorbers are respectively fixed on the symmetric sides and below of the support column 44, The other ends are respectively fixed on both sides and a central position of the damper bracket 46.
  • the damper bracket 46 is a high-strength square metal frame similar to the vehicle width, and both ends of the damper bracket 46 are fixed to the body of the hub motor 24.
  • the self-steering running mechanism includes a swing mechanism and a tire 1 with a hub motor 24;
  • the slewing structure comprises a planar cylindrical bearing 42, a chassis platform 26 and an axle 2;
  • the planar cylindrical bearing 42 is composed of a planar cage assembly with a cylindrical roller 40 and a planar washer, the inner ring of the planar cylindrical bearing 42 passing through the platform 3
  • the hole makes the cylindrical roller 40 of the planar cylindrical bearing 42 and the bottom of the platform 3 contact, the circular platform groove is opened in the middle of the chassis platform 26, and the left and right sides of the chassis platform 26 have gradually contracting extensions, and the plane of the planar cylindrical bearing 42 is maintained.
  • the frame assembly and the circular groove of the chassis platform 26 are concentrically fixed, the axle 2 is made of metal, and the axle 2 and the chassis platform of the axle 2
  • the extension of 26 is fixed, at an obtuse angle to the chassis platform 26, and the bottom of the axle 2 is fixed to the fuselage of the hub motor 24; since the height of the axle 2 is higher from the ground, the present embodiment is suitable for use in high ground clearance applications.
  • the swivel structure is replaced by a ball bearing 36 in which a spherical alloy ball is mounted between the inner and outer rims, and the outer or inner ring of the ball bearing 36 and the undercarriage platform. 26 concentrically fixed, the inner or outer ring of the ball bearing 36 and the square steel plate of the platform 3 are concentrically fixed. In the embodiment, the inner platform of the vehicle platform 3 and the ball bearing 36 is connected by welding.
  • the inner ring and the inner ring of the ball bearing 36 are welded, and the damping cooperative device and the inner gear are assembled directly above the inner gear; the damping cooperation
  • the device includes a damper motor 69, a worm gear box 73 and a cooperating gear 72; the worm gear box 73 is internally provided with a worm gear 70 and a worm 71, the shaft of the damper motor and the worm 71 are concentrically fixed, the worm 71 and the worm wheel 70 are assembled, the worm wheel 70 and the yoke 70
  • the gear 72 is concentrically fixed; the damping linkage has a self-locking function, and when the tire has a tire off the ground, the worm gear will lock the slewing structure, and the damper motor 69 can be driven by the motor.
  • the vehicle control unit 49 is connected to control the steering of the damper motor to assist the swing structure.
  • the structure is similar to the self-steering running mechanism of Embodiment 3, except that the height of the axle 2 is relatively low.
  • the entire self-steering mechanism is suitable for low ground clearance applications.
  • the synchronous assist steering structure includes a disk 74, a disc brake 75, a synchronous assist steering rod 76, and a disc 91.
  • the disc 91 and the bearing of the swivel structure are concentrically fixed, and the disc 74 and the disc brake 75 are mounted before and after.
  • the disc 74 is slightly larger than the disc 91 and is concentrically fixed with the disc 91.
  • the disc brake 75 is fixed on the platform 3 and assembled with the disc 74.
  • the swing mechanism can be fixed at a suitable position.
  • the steering angle, the synchronous assist steering rod 76 is connected to a specific point on both sides of the disc 91 and is rotatable relative to each other. The specific point is determined by the principle that the front and rear swing mechanisms can rotate synchronously.
  • the synchronous assist steering structure includes a disk 74, a disc brake 75, a string 77, and a disc 91.
  • the disc 91 and the bearing of the swivel structure are concentrically fixed, and the disc 74 and the disc brake 75 are mounted on the disc 91.
  • the disc 74 is slightly larger than the disc 91 and is concentrically fixed with the disc 91.
  • the disc brake 75 is fixed on the platform 3 and assembled with the disc 74.
  • the swing mechanism can be fixed at a proper steering angle;
  • the ropes 77 are two, and are symmetrically fixed at a specific point on both sides of the disk 91. The specific point is determined by the principle that the front and rear two slewing mechanisms can rotate synchronously.
  • the synchronous assist steering structure includes an electric push rod 83, a rope 77 and a disc 91.
  • the disc 91 and the bearing of the swivel structure are concentrically fixed, and the outer casing of the electric push rod 83 is fixed under the vehicle platform 3, and the electric push rod is The end is assembled on the side of the disc 91 by the swivel structure, and the end of the electric push rod and the disc 91 are relatively rotatable.
  • the rope 77 is two, and is symmetrically fixed at a specific point on both sides of the disc 91. The principle of determining the specific point is that the front and rear two slewing mechanisms can rotate synchronously.
  • the slewing mechanism can be directly controlled at a suitable steering angle.
  • the synchronous assist steering structure when the rack pull connector is braked, the synchronous assist steering structure includes a return groove 81, a rope 77, an active synchronous gear 85, a driven synchronous gear 86, a rack 87, and a fixed
  • the pulley 82, the disc 91 and the assisting motor 89 (the assisting motor 89 is a common driving motor), the return groove 81 is fixed at the middle bottom of the platform 3, and the outer casing of the motor 89 is fixed above the returning groove, and the output is
  • the 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 meshing racks 87 are engaged, four fixed pulleys 82 are respectively fixed around the bottom of the returning groove 81, and four ropes 77 respectively surround the grooves of the fixed pulley 82, wherein one ends of the two ropes are fixed on both sides of the rotating mechanism At a specific point, the other ends of the two ropes are respectively fixed at both ends of a rack 87 (a hole may be formed at both ends of the rack and then connected to the rope), in the assist motor 89 and the active synchronizing gear 85. Driven by the translational movement of the two racks 87 to pull the connector before and after Synchronous rotation of the slewing mechanism.
  • the top end of the support post 44 can penetrate the disc 91 and be welded to the disc 91; in the embodiment of Figures 4-8, the chassis platform 26 can serve as a disc for structural simplicity. 91 to achieve its above functions.
  • the four-wheel motor 24 can be independently controlled by the vehicle-mounted control unit 49, and the four-wheel motor 24 can be controlled to have the same rotational speed, thereby realizing straight-line walking of the self-steering mechanism.
  • the rotational speeds of the left and right hub motors 24 are controlled to be different and the same side is the same, and the two self-steering traveling mechanisms are automatically rotated due to the different rotational speeds of the left and right hub motors 24, forming a steering of the self-steering traveling mechanism.
  • the synchronous assist steering structure is added.
  • the connecting members of the synchronous assist steering structure can interact with the two front and rear self-steering traveling mechanisms to achieve the same steering angle, and the brakes of the synchronous assist steering structure can be synchronously assisted. Adjust the angular velocity when steering from the steering mechanism, and brake in time when the angle of the self-steering mechanism is abrupt or out of control.
  • One embodiment of the present invention provides a multi-gap self-steering smart sprayer.
  • the controllable lifting spray device comprises a sprayer lifting mechanism, a spray bar device, a mixing device, a sprayer lifting mechanism of the controllable lifting spray device at the tail of the platform 3;
  • the spray bar device comprises an internal spray Rod 28, main spray
  • the rod 6, the end spray bar 5, the rotation control component group, all the spray bar devices are rigid hollow anti-rust materials, and each spray bar is connected by a hose to form a water passage for spraying the liquid medicine;
  • the mixing device and A power supply device is placed on the vehicle platform 3.
  • the mixing device that can be placed on the platform 3 as needed includes a water tank 18, a medicine box 16, and a liquid medicine tank 15.
  • the water tank 1 and the medicine box 16 are separated, the output medicine liquid is mixed in proportion, and the mixed medicine liquid pre-existing medicine In the liquid tank 15, a liquid medicine is provided for the lifting spray device;
  • the gasoline power generation device includes a gasoline engine 21, a gasoline engine protection frame 22, a generator 20, a three-phase rectifier bridge 37, a filter capacitor 41, a battery pack 19, and a rectification inverter 48.
  • the rotation shaft of the gasoline engine 21 is connected to the rotation shaft of the generator 20.
  • the generator 20 is rectified and filtered by the three-phase rectifier bridge 37 and the filter capacitor 41 to become single-phase direct current, a part of which is stored in the battery pack 19, a part of which supplies a stable voltage power to the control device, and a part of which is converted into a three-phase rectifier inverter 48.
  • the alternating current power provides three-phase alternating current for the hub motor 24, the lift control motor 14, the rotary control motor 11, the pump motor 63, the liquid pump motor 64, the mixed pump motor 65, and the assist motor 89.
  • the plurality of profiles of the platform 3 are square metal tubes, which are welded into 3 ⁇ 5 square spaces, and two square metal plates are respectively fixed in the spaces of the second row and the fourth column of the second row, directly in front of the platform.
  • the boom positioning groove 4 is welded to the left and right sides, and eight stoppers 23 are welded to the bottom of the platform 3, and a through hole 25 through which the fixed central shaft 27 passes is reserved at the tail of the platform 3.
  • the front and left and right sides of the vehicle platform 3 respectively have a spray bar seating groove 4, and eight mechanical stoppers 23 are fixed to the bottom of the vehicle platform 3, and are all connected with the vehicle platform 3 by welding.
  • controllable lifting spray device comprises a sprayer lifting mechanism, a boom device, and a mixing device;
  • the sprayer lifting mechanism is assembled in the through hole 25 of the vehicle platform 3 through the fixed central shaft 27, and includes two parallel " ⁇ " type fixed brackets 10, a fixed central shaft 27, a lifting control motor 14, a transmission tooth chain 7, and a method.
  • the blue structure 13, the screw rod 8, the wire pair 12, the apexes of the two " ⁇ " type fixing brackets 10 are connected by a fixed horizontal plate A, and the fixed central axis 27 is provided below the two sides of the fixed horizontal plate A, two pieces " ⁇
  • the type fixing bracket 10 has two through holes of the same size at the upper and lower ends of the upper and lower sides and the fixed transverse plate B, and the screw rod 8 passes through and is fixed by the gear shaft A, the screw rod 8 and the wire pair 12
  • the lift control motor 14 is a DC brushless motor, and the output shaft of the lift control motor 14 is fixed vertically downward through the flange structure 13 in the middle of the fixed cross plate B, and the flange structure 13 has a sum inside.
  • the output shaft of the lifting control motor 14 is concentrically fixed to the rotating shaft B.
  • the outer ring of the rotating shaft B is provided with a gear, the gear and the gear chain B7 are assembled, and the two ends of the driving toothed chain B7 and the rotating shaft A at the top of the screw rod 8 are assembled to lift Controlling the rotation of the motor 14 can control the rotation of the screw 8 to achieve the lifting of the wire pair 12 the goal of;
  • the spray bar device is a five-stage spray bar, including an inner spray bar 28, a main spray bar 6, an end spray bar 5, and a rotating control component group. All the spray bar devices are rigid hollow anti-rust materials, and each spray bar is The hose is connected to form a water passage for spraying the liquid medicine; the inner spray bar 28 of the spray bar device is connected with the wire pair 12, and the two ends of the inner spray bar 28 are respectively the main spray bar 6, and the main spray bar 6 The outer ends of the two ends are respectively the end spray bars 5; the end spray bars 5 and the main spray bars 6, the main spray bar 6 and the inner spray bar 28 are respectively connected by the geared primary shaft 29 and the geared secondary shaft 38; The body of the rotary control motor 11 is fixed to the inner spray bar 28, and only the motor shaft can be rotated, and assembled with the gear box 9 welded to the lower end of the inner spray bar to achieve a certain deceleration effect; in this embodiment, The fixed central shaft 27 and the fixed bracket 10 are connected by welding.
  • the rotation control member group includes a rotation control motor 11, a gear box 9, and a transmission tooth chain A7, and a rotation gear shaft end of the rotation control motor 11 is fixed with a drive gear 30 concentric with the rotation shaft, and extends vertically downward into the gear.
  • the box 9 is assembled with a reduction gear in the gear box 9.
  • a first reduction gear 31 and a secondary reduction gear 33 having a certain reduction ratio the rotation centers of the primary reduction gear 31 and the secondary reduction gear 33 are fixed on the upper and lower walls of the gearbox 9, and the rotation control motor 11 drives the drive gear 30.
  • the gasoline power generation device is fixed on the vehicle platform 3, including a gasoline engine 21, a gasoline engine protection frame 22, a generator 20, a three-phase rectifier bridge 37, a filter capacitor 41, a battery pack 19, and a rectification inverter 48;
  • the rotating shaft of the gasoline engine (21) is connected with the rotating shaft of the generator (20), and the generator 20 generates electricity and is rectified and filtered by the three-phase rectifier bridge 37 and the filter capacitor 41 to become single-phase direct current, and a part is stored in the battery pack 19;
  • the vehicle control unit 49 is provided with a stable voltage power supply, and the vehicle control unit 49 controls the hub motor drive 57, the lift control motor drive 58, the rotary control motor drive 59, the pump motor drive 60, the liquid pump motor drive 61, the mixed liquid pump motor.
  • the drive 62, the solenoid valve drive 66, and the auxiliary motor drive 88; and a part of the rectified inverter 48 become a three-phase alternating current, which is the hub motor 24, the lift control motor 14, the rotary control motor 11, the pump motor 63, the liquid medicine
  • the pump motor 64, the mixed pump motor 65, and the assist motor 89 provide three-phase alternating current.
  • the control device includes an embedded vehicle control unit 49, a gyroscope 50, a GPS 51, a height sensor 52 disposed on the inner spray bar 28, a speed sensor 53 disposed on the tire 1, and a swing mechanism disposed on the swing mechanism.
  • the gyroscope 50, the GPS 51, the rotation angle sensor 17, the height sensor 52, the speed sensor 53, the liquid level sensor 54, the pumping flow meter 55, and the nozzle flow meter 56 are all connected to the embedded vehicle control unit 49;
  • the hub motor 24 in the tire 1 is connected to the hub motor drive 57, the lift control motor 14 is connected to the lift control motor drive 58, the rotary control motor 11 is connected to the rotary control motor drive 59, and the pump 63 and the pump are disposed in the water tank 18.
  • the motor drive 60 is connected, the liquid medicine pump 64 disposed in the medicine box 16 is connected to the liquid medicine pump motor drive 61, and the mixed liquid pump 65 disposed in the chemical tank 15 is connected to the mixed liquid motor pump drive 62, and is disposed on the spray bar.
  • the upper boom solenoid valve 67 is coupled to the solenoid valve drive 47 to assist in the connection of the motor 89 to the assist motor drive 88.
  • the above-mentioned vehicle control unit is disposed near the gasoline power generation device at the front of the vehicle platform, the gyroscope and the GPS are next to the vehicle control unit, and the pump flowmeters are respectively installed at the water outlets of the water tank, the medicine box and the liquid tank, and the height sensor is installed.
  • the speed sensors are installed at the four hub motors respectively.
  • the liquid level sensors are installed in the water tank, the medicine box and the liquid tank respectively.
  • the nozzle flow meter is installed at each nozzle; the gyroscope, GPS, pumping flow meter, height
  • the sensor, the speed sensor, the liquid level sensor, and the nozzle flow meter are all directly connected to the embedded vehicle control unit;
  • Hub motor drive, lift control motor drive, rotary control motor drive, pump motor drive, liquid pump motor drive, hybrid pump motor drive, solenoid valve drive, assist motor drive 88 are all connected to the embedded vehicle control unit via CAN bus ;
  • the hub motor in the tire is connected to the hub motor drive
  • the lift control motor is connected to the lift control motor drive
  • the rotary control motor is connected to the rotary control motor drive
  • the pump is connected to the pump motor drive
  • the liquid pump is connected to the liquid pump motor drive.
  • the mixed liquid pump is connected to the mixed liquid motor pump drive
  • the spray rod electromagnetic valve is connected with the electromagnetic valve drive to assist the motor to assist the motor drive connection.
  • the above control motors are all DC brushless motors.
  • the above tires are made of herringbone agricultural tires, and other tires such as ordinary patternless tires can be selected according to the demand of the road surface.

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Abstract

一种多地隙自转向机构，包括车平台（3）、自转向行走机构、控制装置，自转向行走机构由两个带回转机构的底盘、四个带有轮毂电机（24）的轮胎和同步协助转向结构构成；所述回转机构由设在车平台（3）上的轴承（43；39；42；36）连同轴承下端的支撑柱（44）以及减震部件（45；46）实现回转动作；或者回转机构由设在车平台（3）上的轴承连同轴承下端的底盘平台（26）以及车桥（2）实现回转动作。该多地隙自转向机构由控制装置对四台轮毂电机控制，实现车轮差速的自转向，且控制精度高，转弯半径小。

Description

一种多地隙自转向机构 技术领域
本发明涉及一种无人驾驶多地隙自转向机构，属于车载机械控制应用领域。
背景技术
随着计算机技术和人工智能技术的不断进步，类似于智能机器人的自动工作系统已经开始慢慢的走进人们的生活。然而，智能机器人行走到一些特殊地带，如泥泞处、坑洼等地，可能会打滑并陷住，驱动轮无法借力或根本转不了向，因此对多地隙底盘需求越来越迫切。而研究多地隙行走设备能够从根本上改变设备的行走方式，，实现行走设备的自动控制，对提高行走设备的适用范围和改善行走设备的转向效果具有重要意义。申请公开号为CN102146756A的中国专利《高地隙自走式喷杆喷雾机》，该发明采用四轮液压驱动，前后桥中间设有液压转向装置，此液压转向装置只能实现两轮转向，转向半径大，无法保证行走底盘的通过性，因而整机无法适用多种离地间隙的作业要求。申请公开号为CN105242675A的中国专利《自动行走设备》，能够控制自动行走设备执行预设的打滑反应动作，但没有从根不上解决设备的转向方式。针对以上多种行走设备的弊端，设计了一种四轮独立驱动的多地隙自转向机构及控制方法，设备由控制装置对四台轮毂电机控制，实现车轮差速的自转向，且改进以同步协助转向部件，实现前后转向的对称性，控制精度高，转弯半径小。
发明内容
本发明的目的在于设计一种多地隙自转向机构。能较大程度的满足多种复杂地形的需求，大大提高行走设备的适用范围和改善行走设备的转向效果。
本发明的技术方案为：
一种多地隙自转向机构，其特征在于，包括车平台、自转向行走机构；所述车平台的下部沿行走方向依次设有两个自转向行走机构，所述自转向行走机构由回转机构、带轮毂电机的轮胎构成。
进一步，所述车平台由多根型材拼成的框架平台；所述型材为方形金属管，焊接成带有多个方形空格的框架，在车平台两端中间位置设置的两个空格上分别固定两块方形金属板，用于安置两个回转机构。
进一步，所述回转机构自上而下依次包括双列圆锥滚子轴承、支撑柱和减震装置；减震装置由多个宽度一样、自上而下长度依次变大的弹片叠加而成，最后一块弹片厚度大于其上部的其他弹片，其他弹片厚度相同且弹片的中心有一个长方形通孔，双列圆锥 滚子轴承的外圈或内圈是一个整体，两个内圈或外圈分别同轴心地固定在车平台的金属板和支撑柱的顶面上；
支撑柱上端为圆柱体，下端为长方体的金属棒，金属棒部分穿过减震装置的长方形通孔并和最后一块弹片固定焊接，最后一块弹片的两边和轮毂电机的机身焊接固定。
进一步，所述回转机构包括单列圆锥滚子轴承、支撑柱、避震器和减震支架，单列圆锥滚子轴承的外圈或内圈和车平台通过焊接方式连接，单列圆锥滚子轴承的内圈或外圈和支撑柱的顶面同心固定，避震器共有三组，其中三组避震器的一端分别固定在支撑柱的对称两侧和底侧，另一端分别固定在减震支架的两侧和中心位置，减震支架为一根和车宽相近的高强度方形金属架，减震支架的两端与轮毂电机的机身固定。
进一步，所述回转结构包括平面圆柱轴承、底盘平台和车桥；平面圆柱轴承由带圆柱滚子的平面保持架组件和平面垫圈组成，平面圆柱轴承的内圈穿过车平台上金属板的通孔并使得平面圆柱轴承的圆柱滚子和车平台底部接触，底盘平台中间开有圆形凹槽，底盘平台左右两侧有逐渐收缩的延伸部，平面圆柱轴承的平面保持架组件与底盘平台的圆形凹槽采用同心固定，车桥顶部与底盘平台的延伸部固连，与底盘平台呈钝角，车桥底部和轮毂电机的机身固定，所述自转向行走机构的高度能够根据作业需要选择不同的高度车桥。
进一步，所述回转结构由滚珠轴承代替平面圆柱轴承，滚珠轴承是将球形合金钢珠安装在内钢圈和外钢圈的中间，滚珠轴承的外圈或内圈与底盘平台同心固定，滚珠轴承的内圈或外圈和车平台的金属板同心固定。
进一步，所述自转向行走机构还包括同步协助转向结构，所述同步协助转向结构包括连接件和制动件，同步协助转向结构通过连接件连接前后回转机构，并保证前后回转机构转动相同角度，同步协助转向结构通过制动件调节前后回转机构的角度。
进一步，所述连接件为无或小弹性形变的型材；所述制动件直接与回转机构相连，或者直接与连接件相连；
当制动件直接作用在回转机构上时，所述制动件为在圆盘上安装碟刹制动，或者在圆盘上安装电动推杆制动；
当制动件直接与连接件相连时，所述制动件为齿条牵拉连接件进行制动。
进一步，所述连接件为同步协助转向杆或者绳。
进一步，当在圆盘上安装碟刹制动时，所述同步协助转向结构包括碟盘、碟刹、同步协助转向杆和圆盘，圆盘和回转结构的轴承同心固定，碟盘和碟刹安装在前后圆盘上， 碟盘比圆盘直径略大并和圆盘同心固定，碟刹固定在车平台上并和碟盘装配，转向时，可以将回转机构固定在合适的转向角度，同步协助转向杆两端和圆盘两侧上的特定点连接且可以相对转动，该特定点确定的原则是前后两个回转机构能同步旋转。
进一步，当在圆盘上安装碟刹制动时，所述同步协助转向结构包括碟盘、碟刹、绳和圆盘，圆盘和回转结构的轴承同心固定，碟盘和碟刹安装在圆盘上，碟盘比圆盘直径略大并和圆盘同心固定，碟刹固定在车平台上并和碟盘装配，转向时，可以将回转机构固定在合适的转向角度；所述绳为两根，交叉对称固定在圆盘两侧的特定点上，该特定点确定的原则是前后两个回转机构能同步旋转。
进一步，当在圆盘上安装电动推杆制动时，所述同步协助转向结构包括电动推杆、同步协助转向杆和圆盘，圆盘和回转结构的轴承同心固定，电动推杆的外壳固定在车平台下，电动推杆末端通过回转结构装配在圆盘一侧，且电动推杆末端和圆盘之间能够相对转动，同步协助转向杆两端和圆盘两侧上的特定点连接且可以相对转动，该特定点确定的原则是前后两个回转机构能同步旋转，转向时，通过控制电动推杆的驱动电机，可以将回转机构固定在合适的转向角度。
进一步，当在圆盘上安装电动推杆制动时，所述同步协助转向结构包括电动推杆、绳和圆盘，圆盘和回转结构的轴承同心固定，电动推杆的外壳固定在车平台下，电动推杆末端通过回转结构装配在圆盘一侧，且电动推杆末端和圆盘之间能够相对转动，所述绳为两根，交叉对称固定在圆盘两侧的特定点上，该特定点确定的原则是前后两个回转机构能同步旋转，转向时，通过控制电动推杆的驱动电机，能直接控制回转机构在一个合适的转向角度。
进一步，当齿条牵拉连接件进行制动时，所述同步协助转向结构包括回型槽、绳、主动同步齿轮、从动同步齿轮、齿条、定滑轮、圆盘和协助电机，回型槽固定在车平台的中间底部，协助电机的外壳固定在回型槽的上方，输出轴伸入回型槽中，并和主动同步齿轮同心固定，主动同步齿轮和从动齿轮在同一平面上啮合；主动同步齿轮和从动齿轮的对称两侧设有与之啮合的两根齿条，回型槽底部的四周分别固定有四个定滑轮，四根绳分别绕过定滑轮的凹槽，其中两根绳的一端固定在回转机构两侧的特定点上，两根绳的另一端分别固定在一根齿条的两端，在协助电机和主动同步齿轮的带动下，通过两个齿条的平移运动牵拉连接件实现前后回转机构的同步旋转。
进一步，所述的多地隙自转向机构，还包括供电装置，供电装置为汽油发电供电装置，该装置固定在车平台上，包括汽油机、汽油机保护架、发电机、三相整流桥、滤波 电容、电池组、整流逆变器；
汽油机的转轴与发电机的转轴相连接，发电机发电后经过三相整流桥和滤波电容整流滤波后变成单相直流电，一部分存储入电池组；另一部分为车载控制单元提供稳定电压电源，使车载控制单元控制轮毂电机驱动、协助电机驱动；还有一部分经整流逆变器变成三相交流电，为轮毂电机、协助电机提供三相交流电。
进一步，所述的多地隙自转向机构，还包括控制装置，所述控制装置包括嵌入式车载控制单元、设置在轮胎上的速度传感器、设置在回转机构上的转角传感器、轮毂电机驱动、协助电机驱动；
所述转角传感器、速度传感器均与嵌入式车载控制单元相连；
轮毂电机驱动、协助电机驱动均通过CAN总线与嵌入式车载控制单元相连；轮胎内的轮毂电机与轮毂电机驱动相连，协助电机和协助电机驱动相连。
本发明的有益效果是：
1)一种多地隙自转向行走机构，车平台以长方形金属框架为主体，采用多根方形金属管焊接而成，车平台上能根据需要放置多个作业装置，不仅能有效的减轻车平台重量，还能提高车平台的空间利用率，在车平台的尾部留有可装配的通孔，能通过装配不同功能的装置来实现行走设备的多种用途。使用汽油发电供电装置，发电简单，供电平稳，噪音小、排量小、重量轻、污染小，操作轻巧方便且性价比高，以上特点，使其在众多供电装置中脱颖而出。新型的自转向行走机构，可根据实际情况选择不同的车桥高度，使行走设备能适应多地隙的作业；采用独立式的内嵌轮毂电机作为车轮行进的动力来源，轮毂电机技术也被称为车轮内装电机技术，它的最大特点就是将动力装置、传动装置和制动装置都一起整合到轮毂内，能将电动车辆的机械部分大为简化。同时，以回转机构为核心的自转向行走机构属于首创，其可以采用多种回转轴承作为回转结构主体，满足不同作业环境对回转结构轴向力和径向力的要求，轴承以滚动方式来降低行走设备转向时动力传递过程中的摩擦力，能大大提高机械动力的传递效率，由车载控制单元对两组回转机构的四台轮毂电机进行独立驱动的差速控制，使得回转结构由于两侧的车轮差速进而能实现回转结构的自转向，这种结构的行走设备不仅转弯半径极小，几乎可以做到原地转向，而且控制精度高，保证了设备行走的灵活性的同时能很好的控制方向，是机械自动化行走设备的一大创新。
2)一种多地隙自转向行走机构，通过改进增加了同步协助转向结构，无论哪种同步协助转向结构，目的都是保证前后的回转机构能够对称转动的同步效果，使得该设备能 以特别小的转弯半径实现转向，在多地隙的作业环境下，都有着很大的转向优势，提高了该设备的灵活性，增大了该种转向机构的应用范围；所述的多地隙自转向行走机构行驶在路面不平或者坡路上时，所采用的同步协助转向结构能够保持车身处在最佳行走状态，防止车身倾倒而损害车载设备。
附图说明
图1是一种自转向行走机构的实施例1的示意图；
图2是实施例1中回转机构的支撑柱示意图；
图3是实施例2的一种带避震的多地隙自转向行走机构的示意图；
图4是一种高地隙的自转向行走机构的实施例3的示意图；
图5是一种高地隙的自转向行走机构的回转机构的结构示意图；
图6是一种高地隙的自转向行走机构的改进示意图；
图7是阻尼协动装置的装配框图；
图8是一种低地隙的自转向行走机构的示意图；
图9是一种高地隙的自转向行走机构的实施例6的示意图；
图10是一种高地隙的自转向行走机构的实施例7的示意图；
图11是一种高地隙的自转向行走机构的实施例8的示意图；
图12是一种高地隙的自转向行走机构的实施例9的示意图；
图13是实施例9中连接件和制动件的示意图；
图14是一种高地隙的自转向智能喷雾机的整体示意图；
图15是一种高地隙的自转向智能喷雾机的俯视图；
图16是一种自转向智能喷雾机的喷雾机升降机构的结构示意图；
图17是旋转控制部件组的结构示意图；
图18是一种多地隙自转向智能喷雾机电力系统的原理图；
图19是多地隙自转向智能喷雾机控制装置的流程图。
其中：1-轮胎；2-车桥；3-车平台；4-喷杆安置槽；5-末端喷杆；6-主喷杆；7-传动齿链；8-丝杆；9-齿轮箱；10-固定支架；11-旋转控制电机；12-丝副；13-法兰结构；14-升降控制电机；15-药液箱；16-药箱；17-转角传感器；18-水箱；19-电池组；20-发电机；21-汽油机；22-汽油机架；23-限位器；24-轮毂电机；25-通孔；26-底盘平台；27-固定中心轴；28-内喷杆；29-带齿轮的转轴A；30-主动齿轮；31-一级减速齿轮；32-齿轮箱外壳；33-二级减速齿轮；34-从动齿轮；35-喷嘴；36-滚珠轴承；37-三相桥；38-带齿轮的转轴 B；39-单列圆锥滚子轴承；40-圆柱滚子；41-滤波电容；42-平面圆柱轴承；43-双列圆锥滚子轴承；44-支撑柱；45-减震装置；46-弹簧支架；47-避震器；48-整流逆变器；49-车载控制单元；50-陀螺仪；51-GPS；52-高度传感器；53-速度传感器；54-液位传感器；55-抽水流量计；56-喷嘴流量计；57-轮毂电机驱动；58-升降控制电机驱动；59-旋转控制电机驱动；60-抽水泵电机驱动；61-药液泵电机驱动；62-混合泵电机驱动；63-抽水泵；64-药液泵；65-混液泵；66-电磁阀驱动；67-电磁阀；68-内齿轮；69-阻尼电机；70-蜗轮；71-蜗杆；72-协动齿轮；73-蜗轮蜗杆箱；74-碟盘；75-碟刹；76-同步协助转向杆；77-绳；78-丝杆同步转向机构；81-回型槽；82-定滑轮；83-电动推杆；84-齿轮同步机构；85-主动同步齿轮；86-从动同步齿轮；87-齿条；88-协助电机驱动；89-协助电机；91-圆盘。
具体实施方式
下面结合示意图具体说明所发明的一种高地隙无人驾驶智能履带喷雾机的工作过程。
一种多地隙自转向机构，包括车平台3、自转向行走机构；所述车平台3的下部沿行走方向依次设有两个自转向行走机构，所述自转向行走机构由回转机构、带轮毂电机24的轮胎1和同步协助转向结构构成；同步协助转向结构是能连接前后回转机构的特殊点并保证前后回转机构转动相同角度，同时辅之以各类软硬制动控制部件的机械部件。行走时通过控制前、后轮两组轮毂电机的不同转速，形成自转向行走机构的转向。
自转向行走机构由两个带回转机构的底盘和四个带有轮毂电机24的轮胎构成；所述回转机构由设在车平台3上的轴承连同轴承下端的支撑柱以及减震部件实现回转动作；或者回转机构由设在车平台3上的轴承连同轴承下端的底盘平台26以及车桥2实现回转动作。
所述同步协助转向结构包括连接件和制动件，同步协助转向结构通过连接件连接前后回转机构，并保证前后回转机构转动相同角度，同步协助转向结构通过制动件调节前后回转机构的角度。所述连接件为无弹性形变的型材；所述制动件直接与回转机构相连，或者直接与连接件相连；当制动件直接与回转机构相连时，所述制动件为在圆盘91上安装碟刹制动，或者在圆盘91上安装电动推杆83制动；当制动件直接与连接件相连时，所述制动件为齿条牵拉连接件进行制动。所述连接件为同步协助转向杆76或者绳77(该绳不局限于一般的塑料绳、麻绳、尼龙绳、棉绳等种类，还包括索带，皮带，金属绳索等长条状连接件)。
实施例1
如图1-2所示，自转向行走底盘包括回转机构和轮胎1；
车平台3为多根方形金属管和两块方形金属板焊接而成的金属框架，能有效的减轻车平台重量，多根方形金属管焊接成3×5的方形空格，在第二行的第二列和第四列的空格固定两块方形金属板，在车平台3正前方及左右两侧分别焊有喷杆安置槽4，在车平台3的底部焊有8个限位器23，在车平台3的尾部预留有供固定中心轴27穿过的通孔25；
车轮1选用人字花纹农用轮胎，也可根据行驶路面的需求选择普通无花纹轮胎等其他轮胎，在轮毂内装有轮毂电机24；
回转机构包括双列圆锥滚子轴承43、支撑柱44和减震装置45；减震装置45由多个宽度一样、长度渐变的弹片排列而成，除了最后一块弹片较厚以外，其他弹片厚度一样且弹片的中心有一个适当的长方形通孔，双列圆锥滚子轴承43的外圈(或内圈)是一个整体。两个内圈(或外圈)分别同轴心地固定在车平台的金属板和支撑柱45的顶面上，支撑柱44是上端为圆柱体下端为长方体的金属棒，金属棒部分穿过减震装置45的长方形通孔并和最后一块弹片固定焊接，最后一块弹片的两边和轮毂电机24的机身焊接固定。
实施例2
如图3所示，回转机构包括单列圆锥滚子轴承39、支撑柱44、避震器47和减震支架46，单列圆锥滚子轴承39的外圈或内圈和车平台3通过焊接方式连接，单列圆锥滚子轴承39的内圈或外圈和支撑柱44的顶面同心固定，避震器47共有三组，其中避震器的一端分别固定在支撑柱44的对称两侧和下方，另一端分别固定在减震支架46的两侧和中心位置，减震支架46为一根和车宽相近的高强度方形金属架，减震支架46的两端与轮毂电机24的机身固定。
实施案例3
如图4所示，自转向行走机构包括回转机构和带轮毂电机24的轮胎1；
回转结构包括平面圆柱轴承42、底盘平台26和车桥2；平面圆柱轴承42由带圆柱滚子40的平面保持架组件和平面垫圈组成，平面圆柱轴承42的内圈穿过车平台3的通孔并使得平面圆柱轴承42的圆柱滚子40和车平台3底部接触，底盘平台26中间开有圆形凹槽，底盘平台26左右两侧有逐渐收缩的延伸部，平面圆柱轴承42的平面保持架组件与底盘平台26的圆形凹槽采用同心固定，车桥2为金属材质，车桥2顶部与底盘平台 26的延伸部固定，与底盘平台26呈钝角，车桥2底部和轮毂电机24的机身固定；由于车桥2的高度离地面较高，所以本实施例适用于在高地隙的作业场合。
实施例4
如图5所示，回转结构由滚珠轴承36代替平面圆柱轴承42，滚珠轴承36是将球形合金钢珠安装在内钢圈和外钢圈的中间，滚珠轴承36的外圈或内圈与底盘平台26同心固定，滚珠轴承36的内圈或外圈和车平台3的方形钢板同心固定。本实施例中所述车平台3和滚珠轴承36的内钢圈通过焊接方式连接。
作为本实施例的进一步改进，如图6-7所示，回转结构中，将内齿轮和滚珠轴承36的内圈焊接，阻尼协动装置和内齿轮装配在内齿轮的正上方；阻尼协动装置包括阻尼电机69、蜗轮蜗杆箱73和协动齿轮72；蜗轮蜗杆箱73内部为蜗轮70和蜗杆71，阻尼电机的转轴和蜗杆71同心固定，蜗杆71和蜗轮70装配，蜗轮70和协动齿轮72同心固定；阻尼协动装置有自锁功能，在协动的回转结构有一个轮胎离地时，蜗轮蜗杆就会将回转结构锁死，同时，上述阻尼电机69可通过电机驱动同嵌入式车载控制单元49相连，可控制阻尼电机辅助回转结构转向。
实施例5
如图8所示，该结构同实施例3的自转向行走机构相似，其不同之处在于，车桥2的高度比较低。使得整个自转向行走机构适用于低地隙的作业场合。
实施例6
如图9所示，同步协助转向结构包括碟盘74、碟刹75、同步协助转向杆76和圆盘91，圆盘91和回转结构的轴承同心固定，碟盘74和碟刹75安装在前后圆盘91上，碟盘74比圆盘91直径略大并和圆盘91同心固定，碟刹75固定在车平台3上并和碟盘74装配，转向时，可以将回转机构固定在合适的转向角度，同步协助转向杆76两端和圆盘91两侧上的特定点连接且可以相对转动，该特定点确定的原则是前后两个回转机构能同步旋转。
实施例7
如图10所示，同步协助转向结构包括碟盘74、碟刹75、绳77和圆盘91，圆盘91和回转结构的轴承同心固定，碟盘74和碟刹75安装在圆盘91上，碟盘74比圆盘91直径略大并和圆盘91同心固定，碟刹75固定在车平台3上并和碟盘74装配，转向时，可以将回转机构固定在合适的转向角度；所述绳77为两根，交叉对称固定在圆盘91两侧的特定点上，该特定点确定的原则是前后两个回转机构能同步旋转。
实施例8
如图11所示，同步协助转向结构包括电动推杆83、绳77和圆盘91，圆盘91和回转结构的轴承同心固定，电动推杆83的外壳固定在车平台3下，电动推杆末端通过回转结构装配在圆盘91一侧，且电动推杆末端和圆盘91之间能够相对转动，所述绳77为两根，交叉对称固定在圆盘91两侧的特定点上，该特定点确定的原则是前后两个回转机构能同步旋转，转向时，通过控制电动推杆83的驱动电机，能直接控制回转机构在一个合适的转向角度。
实施例9
如图12和图13所示，当齿条牵拉连接件进行制动时，同步协助转向结构包括回型槽81、绳77、主动同步齿轮85、从动同步齿轮86、齿条87、定滑轮82、圆盘91和协助电机89(所述协助电机89为普通的驱动电机)，回型槽81固定在车平台3的中间底部，协助电机89的外壳固定在回型槽的上方，输出轴伸入回型槽81中，并和主动同步齿轮85同心固定，主动同步齿轮85和从动齿轮86在同一平面上啮合；主动同步齿轮85和从动齿轮86的对称两侧设有与之啮合的两根齿条87，回型槽81底部的四周分别固定有四个定滑轮82，四根绳77分别绕过定滑轮82的凹槽，其中两根绳的一端固定在回转机构两侧的特定点上，两根绳的另一端分别固定在一根齿条87的两端(可以在齿条的两端开有孔然后和绳系连)，在协助电机89和主动同步齿轮85的带动下，通过两个齿条87的平移运动牵拉连接件实现前后回转机构的同步旋转。
在图1-3的实施例中，支撑柱44的顶端能够贯穿圆盘91，并和圆盘91焊接连接；在图4-8的实施例中，为了结构简化，底盘平台26可以充当圆盘91来实现其上述功能。
本发明装置的工作过程中，该自转向行走机构行走时，可通过车载控制单元49分别对四个轮毂电机24独立控制转速，控制四个轮毂电机24转速相同，即可实现自转向机构直线行走；控制左右两侧轮毂电机24的转速不同且同侧相同，两个自转向行走机构由于左右轮毂电机24的转速不同而自动旋转，形成自转向行走机构的转向。同时增加同步协助转向结构，自转向行走机构在转向过程中，同步协助转向结构的连接件能使前后两个自转向行走机构相互作用，实现转向角度的一致，同步协助转向结构的制动件能调节自转向行走机构转向时的角速度，并能在自转向行走机构角度突变或失控时及时制动。
本发明的一个实施例给出的是一种多地隙自转向智能喷雾机。
如图14-15所示，可控升降喷雾装置包括喷雾机升降机构、喷杆装置、混药装置，车平台3的尾部安装可控升降喷雾装置的喷雾机升降机构；喷杆装置包括内喷杆28、主喷 杆6、末端喷杆5、旋转控制部件组，所有喷杆装置均为刚性的空心防锈材质，各喷杆间均以软管连接，构成喷雾药液的水路通道；所述混药装置以及供电装置放置在所述车平台3上。可以根据需要放置在车平台3上的混药装置包括水箱18、药箱16、药液箱15，水箱1与药箱16是分离的，输出药液按比例混合，混合的药液预存在药液箱15中，为升降喷雾装置提供药液；
汽油发电供电装置包括汽油机21、汽油机保护架22、发电机20、三相整流桥37、滤波电容41、电池组19、整流逆变器48；汽油机21的转轴与发电机20的转轴相连接，发电机20发电后经过三相整流桥37和滤波电容41整流滤波后变成单相直流电，一部分存储入电池组19，一部分为控制装置提供稳定电压电源，一部分经整流逆变器48变成三相交流电，为轮毂电机24、升降控制电机14、旋转控制电机11、抽水泵电机63、药液泵电机64、混液泵电机65、协助电机89提供三相交流电。
所述车平台3的多根型材为方形金属管，焊接成3×5的方形空格，在第二行的第二列和第四列的空格分别固定两块方形金属板，在车平台正前方及左右两侧分别焊有喷杆安置槽4，在车平台3的底部焊有8个限位器23，在车平台3的尾部预留有供固定中心轴27穿过的通孔25。上述车平台3前方及左右两侧分别有喷杆安置槽4、8个机械限位器23固定于车平台3底部，且均与车平台3通过焊接方式连接。
如图16所示，可控升降喷雾装置包括喷雾机升降机构、喷杆装置、混药装置；
喷雾机升降机构通过固定中心轴27装配在车平台3的通孔25内，包括两块平行设置的“<”型固定支架10、固定中心轴27、升降控制电机14、传动齿链7、法兰结构13、丝杆8、丝副12，所述两块“<”型固定支架10的顶点通过固定横板A连接，固定横板A两侧下方设有固定中心轴27，两块“<”型固定支架10在上下的上末端和固定横板B的两端有两相同大小的通孔，供丝杆8穿过并由有齿轮的转轴A固定，所述丝杆8和丝副12可用滚珠丝杠代替；所述升降控制电机14是直流无刷电机，升降控制电机14的输出轴垂直朝下地通过法兰结构13固定在固定横板B的正中间，法兰结构13内部有和升降控制电机14的输出轴同心固定的转轴B，转轴B外圈带有齿轮，其齿轮和传动齿链B7装配，传动齿链B7的两端和丝杆8顶部的转轴A进行装配，使升降控制电机14旋转能控制丝杆8旋转，达到丝副12升降的目的；
喷杆装置为五段式喷杆，包括内喷杆28、主喷杆6、末端喷杆5、旋转控制部件组，所有喷杆装置均为刚性的空心防锈材质，各喷杆间均以软管连接，构成喷雾药液的水路通道；喷杆装置的内喷杆28和丝副12相连，内喷杆28两端分别为主喷杆6，主喷杆6 的两端外侧分别为末端喷杆5；末端喷杆5和主喷杆6、主喷杆6和内喷杆28分别通过带齿轮的一级转轴29和带齿轮的二级转轴38连接；所述旋转控制电机11机身固定在内喷杆28上，仅电机转轴可以旋转，与焊接在内喷杆两末端下方位置的齿轮箱9装配，达到一定的减速效果；本实施例中，所述固定中心轴27和固定支架10通过焊接连接。
如图17所示，旋转控制部件组包括旋转控制电机11、齿轮箱9、传动齿链A7，所述旋转控制电机11的转轴末端固定有和转轴同心的主动齿轮30，垂直向下伸入齿轮箱9内，与齿轮箱9内的减速齿轮装配，齿轮箱9内共有四个齿轮，一个是旋转控制电机11转轴末端的主动齿轮30，一个是上端连接一级转轴29的从动齿轮34，以及有一定减速比的一级减速齿轮31和二级减速齿轮33，一级减速齿轮31和二级减速齿轮33的旋转中心固定在齿轮箱9上下两壁上，旋转控制电机11带动主动齿轮30转动，主动齿轮30和一级减速齿轮31相啮合，一级减速齿轮31和二级减速齿轮33相啮合，二级减速齿轮33和从动齿轮34相啮合，从动齿轮34带动一级转轴29转动；四个齿轮均绕各齿轮的中心线旋转，四个齿轮的旋转中心线均垂直于内喷杆28的中心线且垂足位于内喷杆28的中心线上，所述传动齿链A7的两端分别与一级转轴A29和二级转轴38配合置于主喷杆上方，齿轮箱9通过焊接连接在内喷杆28的末端下方位置。
如图18所示，汽油发电供电装置固定在车平台3上，包括汽油机21、汽油机保护架22、发电机20、三相整流桥37、滤波电容41、电池组19、整流逆变器48；汽油机(21)的转轴与发电机(20)的转轴相连接，发电机20发电后经过三相整流桥37和滤波电容41整流滤波后变成单相直流电，一部分存储入电池组19；另一部分为车载控制单元49提供稳定电压电源，使车载控制单元49控制轮毂电机驱动57、升降控制电机驱动58、旋转控制电机驱动59、抽水泵电机驱动60、药液泵电机驱动61、混合液泵电机驱动62、电磁阀驱动66、协助电机驱动88；还有一部分经整流逆变器48变成三相交流电，为轮毂电机24、升降控制电机14、旋转控制电机11、抽水泵电机63、药液泵电机64、混液泵电机65、协助电机89提供三相交流电。
如图19所示，控制装置包括嵌入式车载控制单元49、陀螺仪50、GPS51、设置在内喷杆28上的高度传感器52、设置在轮胎1上的速度传感器53、设置在回转机构上的转角传感器17、设置在混药装置中的液位传感器54、抽水流量计55、设置在喷杆上的喷嘴流量计56、轮毂电机驱动57、升降控制电机驱动58、旋转控制电机驱动59、抽水泵电机驱动60、药液泵电机驱动61、混合液泵电机驱动62、电磁阀驱动66、协助电机驱动88；
陀螺仪50、GPS51、转角传感器17、高度传感器52、速度传感器53、液位传感器54、抽水流量计55、喷嘴流量计56均与嵌入式车载控制单元49相连；
轮毂电机驱动57、升降控制电机驱动58、旋转控制电机驱动59、抽水泵电机驱动60、药液泵电机驱动61、混合液泵电机驱动62、电磁阀驱动66、协助电机驱动88均通过CAN总线与嵌入式车载控制单元49相连；
轮胎1内的轮毂电机24与轮毂电机驱动57相连，升降控制电机14与升降控制电机驱动58相连，旋转控制电机11与旋转控制电机驱动59相连，设置在水箱18内的抽水泵63与抽水泵电机驱动60相连，设置在药箱16中的药液泵64与药液泵电机驱动61相连，设置在药液箱15中的混合液泵65与混合液电机泵驱动62相连，设置在喷杆上的喷杆电磁阀67与电磁阀驱动47相连，协助电机89和协助电机驱动88相连。
上述车载控制单元安置于车平台前部的汽油发电供电装置附近，陀螺仪和GPS在车载控制单元旁边，抽水流量计分别安装在水箱、药箱和药液箱的出水口，高度传感器安装在内喷杆底部，速度传感器分别安装在四个轮毂电机处，液位传感器分别安装在水箱、药箱和药液箱内，喷嘴流量计安装在各喷嘴处；陀螺仪、GPS、抽水流量计、高度传感器、速度传感器、液位传感器、喷嘴流量计均与嵌入式车载控制单元直接相连；
轮毂电机驱动、升降控制电机驱动、旋转控制电机驱动、抽水泵电机驱动、药液泵电机驱动、混合液泵电机驱动、电磁阀驱动、协助电机驱动88均通过CAN总线与嵌入式车载控制单元相连；
轮胎内的轮毂电机与轮毂电机驱动相连，升降控制电机与升降控制电机驱动相连，旋转控制电机与旋转控制电机驱动相连，抽水泵与抽水泵电机驱动相连，药液泵与药液泵电机驱动相连，混合液泵与混合液电机泵驱动相连，喷杆电磁阀与电磁阀驱动相连，，协助电机和协助电机驱动相连。
上述控制电机均为直流无刷电机，上述轮胎选用人字花纹农用轮胎，也可根据行驶路面的需求选择普通无花纹轮胎等其他轮胎。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示意性实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
尽管已经示出和描述了本发明的实施例，本领域的普通技术人员可以理解：在不脱 离本发明的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由权利要求及其等同物限定。

Claims (16)

  1. 一种多地隙自转向机构，其特征在于，包括车平台(3)、自转向行走机构；所述车平台(3)的下部沿行走方向依次设有两个自转向行走机构，所述自转向行走机构由回转机构、带轮毂电机(24)的轮胎(1)构成。
  2. 根据权利要求1所述的多地隙自转向机构，其特征在于，所述车平台(3)由多根型材拼成的框架平台；所述型材为方形金属管，焊接成带有多个方形空格的框架，在车平台两端中间位置设置的两个空格上分别固定两块方形金属板，用于安置两个自转向行走机构。
  3. 根据权利要求1或2所述的多地隙自转向机构，其特征在于，所述回转机构自上而下依次包括双列圆锥滚子轴承(43)、支撑柱(44)和减震装置(45)；减震装置(45)由多个宽度一样、自上而下长度依次变大的弹片叠加而成，最后一块弹片厚度大于其上部的其他弹片，其他弹片厚度相同且弹片的中心有一个长方形通孔，双列圆锥滚子轴承(43)的外圈或内圈是一个整体，两个内圈或外圈分别同轴心地固定在车平台(3)的金属板和支撑柱(44)的顶面上；
    支撑柱(44)上端为圆柱体，下端为长方体的金属棒，金属棒部分穿过减震装置(45)的长方形通孔并和最后一块弹片固定焊接，最后一块弹片的两边和轮毂电机(24)的机身焊接固定。
  4. 根据权利要求1或2所述的多地隙自转向机构，其特征在于，所述回转机构包括单列圆锥滚子轴承(39)、支撑柱(44)、避震器(47)和减震支架(46)，单列圆锥滚子轴承(39)的外圈或内圈和车平台(3)通过焊接方式连接，单列圆锥滚子轴承(39)的内圈或外圈和支撑柱(44)的顶面同心固定，避震器(47)共有三组，其中三组避震器的一端分别固定在支撑柱(44)的对称两侧和底侧，另一端分别固定在减震支架(46)的两侧和中心位置，减震支架(46)为一根和车宽相近的高强度方形金属架，减震支架(46)的两端与轮毂电机(24)的机身固定。
  5. 根据权利要求1或2所述的多地隙自转向机构，其特征在于，所述回转结构包括平面圆柱轴承(42)、底盘平台(26)和车桥(2)；平面圆柱轴承(42)由带圆柱滚子(40)的平面保持架组件和平面垫圈组成，平面圆柱轴承(42)的内圈穿过车平台(3)上金属板的通孔并使得平面圆柱轴承(42)的圆柱滚子(40)和车平台(3)底部接触，底盘平台(26)中间开有圆形凹槽，底盘平台(26)左右两侧有逐渐收缩的延伸部，平面圆柱轴承(42)的平面保持架组件与底盘平台(26)的圆形凹槽采用同心固定，车桥 (2)顶部与底盘平台(26)的延伸部固连，与底盘平台(26)呈钝角，车桥(2)底部和轮毂电机(24)的机身固定，所述自转向行走机构的高度能够根据作业需要选择不同的高度车桥(2)。
  6. 根据权利要求5所述的多地隙自转向机构，其特征在于，所述回转结构由滚珠轴承(36)代替平面圆柱轴承(42)，滚珠轴承(36)是将球形合金钢珠安装在内钢圈和外钢圈的中间，滚珠轴承(36)的外圈或内圈与底盘平台(26)同心固定，滚珠轴承(36)的内圈或外圈和车平台(3)的金属板同心固定。
  7. 根据权利要求1所述的多地隙自转向机构，其特征在于，所述自转向行走机构还包括同步协助转向结构，所述同步协助转向结构包括连接件和制动件，同步协助转向结构通过连接件连接前后回转机构，并保证前后回转机构转动相同角度，同步协助转向结构通过制动件调节前后回转机构的角度。
  8. 根据权利要求7所述的多地隙自转向机构，其特征在于，
    所述连接件为无或小弹性形变的型材；所述制动件直接与回转机构相连，或者直接与连接件相连；
    当制动件直接与回转机构相连时，所述制动件为在圆盘(91)上安装碟刹制动，或者在圆盘(91)上安装电动推杆(83)制动；
    当制动件直接与连接件相连时，所述制动件为齿条牵拉连接件进行制动。
  9. 根据权利要求8所述的多地隙自转向机构，其特征在于，所述连接件为同步协助转向杆(76)或者绳(77)。
  10. 根据权利要求9所述的多地隙自转向机构，其特征在于，当在圆盘(91)上安装碟刹制动时，所述同步协助转向结构包括碟盘(74)、碟刹(75)、同步协助转向杆(76)和圆盘(91)，圆盘(91)和回转结构的轴承同心固定，碟盘(74)和碟刹(75)安装在前后圆盘(91)上，碟盘(74)比圆盘(91)直径略大并和圆盘(91)同心固定，碟刹(75)固定在车平台(3)上并和碟盘(74)装配，转向时，可以将回转机构固定在合适的转向角度，同步协助转向杆(76)两端和圆盘(91)两侧上的特定点连接且可以相对转动，该特定点确定的原则是前后两个回转机构能同步旋转。
  11. 根据权利要求9所述的多地隙自转向机构，其特征在于，当在圆盘(91)上安装碟刹制动时，所述同步协助转向结构包括碟盘(74)、碟刹(75)、绳(77)和圆盘(91)，圆盘(91)和回转结构的轴承同心固定，碟盘(74)和碟刹(75)安装在圆盘(91)上，碟盘(74)比圆盘(91)直径略大并和圆盘(91)同心固定，碟刹(75)固定在车平台(3)上并和碟盘(74)装配，转向时，可以将回转机构固定在合适的转向角 度；所述绳(77)为两根，交叉对称固定在圆盘(91)两侧的特定点上，该特定点确定的原则是前后两个回转机构能同步旋转。
  12. 根据权利要求9所述的多地隙自转向机构，其特征在于，当在圆盘(91)上安装电动推杆(83)制动时，所述同步协助转向结构包括电动推杆(83)、同步协助转向杆(76)和圆盘(91)，圆盘(91)和回转结构的轴承同心固定，电动推杆(83)的外壳固定在车平台(3)下，电动推杆末端通过回转结构装配在圆盘(91)一侧，且电动推杆末端和圆盘(91)之间能够相对转动，同步协助转向杆(76)两端和圆盘(91)两侧上的特定点连接且可以相对转动，该特定点确定的原则是前后两个回转机构能同步旋转，转向时，通过控制电动推杆(83)的驱动电机，可以将回转机构固定在合适的转向角度。
  13. 根据权利要求9所述的多地隙自转向机构，其特征在于，当在圆盘(91)上安装电动推杆(83)制动时，所述同步协助转向结构包括电动推杆(83)、绳(77)和圆盘(91)，圆盘(91)和回转结构的轴承同心固定，电动推杆(83)的外壳固定在车平台(3)下，电动推杆末端通过回转结构装配在圆盘(91)一侧，且电动推杆末端和圆盘(91)之间能够相对转动，所述绳(77)为两根，交叉对称固定在圆盘(91)两侧的特定点上，该特定点确定的原则是前后两个回转机构能同步旋转，转向时，通过控制电动推杆(83)的驱动电机，能直接控制回转机构在一个合适的转向角度。
  14. 根据权利要求9所述的多地隙自转向机构，其特征在于，当齿条牵拉连接件进行制动时，所述同步协助转向结构包括回型槽(81)、绳(77)、主动同步齿轮(85)、从动同步齿轮(86)、齿条(87)、定滑轮(82)、圆盘(91)和协助电机(89)，回型槽(81)固定在车平台(3)的中间底部，协助电机(89)的外壳固定在回型槽的上方，输出轴伸入回型槽(81)中，并和主动同步齿轮(85)同心固定，主动同步齿轮(85)和从动齿轮(86)在同一平面上啮合；主动同步齿轮(85)和从动齿轮(86)的对称两侧设有与之啮合的两根齿条(87)，回型槽(81)底部的四周分别固定有四个定滑轮(82)，四根绳(77)分别绕过定滑轮(82)的凹槽，其中两根绳的一端固定在回转机构两侧的特定点上，两根绳的另一端分别固定在一根齿条(87)的两端，在协助电机(89)和主动同步齿轮(85)的带动下，通过两个齿条(87)的平移运动牵拉连接件实现前后回转机构的同步旋转。
  15. 根据权利要求1所述的多地隙自转向机构，其特征在于，还包括供电装置，供电装置为汽油发电供电装置，该装置固定在车平台(3)上，包括汽油机(21)、汽油机保护架(22)、发电机(20)、三相整流桥(37)、滤波电容(41)、电池组(19)、整流逆变器(48)；
    汽油机(21)的转轴与发电机(20)的转轴相连接，发电机(20)发电后经过三相整流桥(37)和滤波电容(41)整流滤波后变成单相直流电，一部分存储入电池组(19)；另一部分为车载控制单元(49)提供稳定电压电源，使车载控制单元(49)控制轮毂电机驱动(57)、协助电机驱动(88)；还有一部分经整流逆变器(48)变成三相交流电，为轮毂电机(24)、协助电机(89)提供三相交流电。
  16. 根据权利要求1所述的多地隙自转向机构，其特征在于，还包括控制装置，所述控制装置包括嵌入式车载控制单元(49)、设置在轮胎(1)上的速度传感器(53)、设置在回转机构上的转角传感器(17)、轮毂电机驱动(57)、协助电机驱动(88)；
    所述转角传感器(17)、速度传感器(53)均与嵌入式车载控制单元(49)相连；
    轮毂电机驱动(57)、协助电机驱动(88)均通过CAN总线与嵌入式车载控制单元(49)相连；轮胎(1)内的轮毂电机(24)与轮毂电机驱动(57)相连，协助电机(89)和协助电机驱动(88)相连。
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