Steering control device

Abstract

The utility model discloses a steering control device which comprises a rotating body, a fixing body, a fastening assembly and a driving assembly, the rotating body is movably arranged on the fixing body, a fixing base is arranged on the side, away from the fixing body, of the rotating body, and the fixing base is located below spokes of a steering wheel. The fixing body is used for being fixedly arranged below the steering wheel. And the fastening assembly is used for realizing fastening connection between the rotating body and the steering wheel by fastening and connecting the fixing seat and the spokes. And the driving assembly is in transmission connection with the rotating body, so that the rotating body rotates relative to the fixed body under the transmission of the driving assembly to drive the steering wheel to rotate around the rotating shaft. According to the technical scheme, the application range of the steering control device can be widened, batch production of the steering control device is facilitated, and the manufacturing cost of the steering control device is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic control of driving systems, and in particular relates to a steering control device. BACKGROUND

[0002] With the continuous development of the agricultural industry and the increasing emphasis of the country on agriculture, agricultural mechanization has gradually been popularized in some areas of China. Traditional mechanized farming requires a large amount of labor costs, and with the continuous increase of labor costs, automatic driving technology has been applied in the field of agricultural machinery.

[0003] Agricultural machinery is usually not equipped with automatic driving function when it is delivered from the factory, and it needs to be installed with an automatic driving system to have the automatic driving function. The automatic driving system includes a vehicle computer terminal and a steering control device, the steering control device is installed on the steering wheel of the agricultural machinery, and the vehicle computer terminal is electrically connected with the steering control device to control the working of the steering control device, so as to adjust the moving direction of the agricultural machinery.

[0004] The steering control device includes a driving motor and a rotating body, the rotating body is fixedly installed on the rotating shaft of the steering wheel, and then the rotating body is driven to rotate by the driving motor to synchronously drive the steering wheel to rotate, so as to adjust the moving direction of the agricultural machinery.

[0005] However, the specifications of the rotating shafts of the steering wheels in different types of vehicles are different, so that when the steering control device is applied in different types of vehicles, different specifications of rotating bodies need to be used to adapt to different specifications of rotating shafts, resulting in that the application range of the steering control device is small, which is not conducive to the batch production of the steering control device and increases the manufacturing cost of the steering control device. CONTENT OF THE INVENTION

[0006] The main purpose of the present application is to provide a steering control device, which aims to improve the existing steering control device, and when the steering control device is applied in different types of vehicles, different specifications of transmission rings need to be used to adapt to different specifications of rotating shafts, resulting in that the application range of the steering control device is small.

[0007] To achieve the above-mentioned purpose, the steering control device provided by the present application is used to realize automatic driving by controlling the steering wheel to rotate around the corresponding rotating shaft, and the steering control device includes a rotating body, a fixed body, a fastening assembly and a driving assembly, wherein,

[0008] The rotating body is movably arranged on the fixed body, and a fixing seat is arranged on the side of the rotating body away from the fixed body, and the fixing seat is located below the spoke of the steering wheel;

[0009] The fixed body is arranged below the steering wheel;

[0010] The fastening assembly is used to fasten the fixed seat and the spoke, so as to realize the fastening connection between the rotating body and the steering wheel.

[0011] The driving assembly is in transmission connection with the rotating body, so that the rotating body rotates relative to the fixed body under the transmission of the driving assembly, to drive the steering wheel to rotate around the rotating shaft.

[0012] In some embodiments of the present application, the rotating body comprises a transmission ring arranged around the rotating shaft, and the transmission ring is in transmission connection with the driving assembly.

[0013] In some embodiments of the present application, the rotating body further comprises an upper housing arranged around the rotating shaft, and a first side of the upper housing is fixedly provided with the transmission ring, and a second side of the upper housing is fixedly provided with the fixed seat.

[0014] In some embodiments of the present application, the other side of the upper housing is provided with a plurality of the fixed seats, and the plurality of the fixed seats are arranged one by one with a plurality of the spokes of the steering wheel, so that each of the spokes is correspondingly provided with a fixed seat below, and each of the fixed seats is fastened with the corresponding spoke through the fastening assembly.

[0015] In some embodiments of the present application, the fixed seat and the upper housing are integrally formed.

[0016] In some embodiments of the present application, the second side surface of the upper housing is concavely provided with an arc-shaped sliding groove, and the arc-shaped sliding groove is arranged along the circumference of the upper housing, and the fixed seat is fixed at any position of the arc-shaped sliding groove through a screw structure.

[0017] In some embodiments of the present application, the fixed seat is fixed to the upper housing through a screw structure, the fastening assembly comprises a clamping piece, the clamping piece is detachably connected with the fixed seat, and the spoke is clamped between the clamping piece and the fixed seat.

[0018] In some embodiments of the present application, the fixed seat is arranged along the circumference of the upper housing, and the fixed seat is further arranged with two first connecting holes along the circumference of the upper housing, and the clamping piece is threadedly connected with the two first connecting holes through two screw structures respectively.

[0019] In some embodiments of the present application, the fastening assembly comprises a hoop and a pressing plate, one side of the hoop is connected with the fixed seat, the other side of the hoop is detachably connected with the pressing plate, to form a fixed hole for the spoke to pass through, and the pressing plate tightly presses the spoke when the pressing plate is detachably connected with the hoop.

[0020] In some embodiments of the present application, the clamp comprises a first segment, a connecting segment and a second segment arranged in sequence, and one end of the first segment and one end of the second segment away from the connecting segment are detachably connected with the pressing plate to form a fixing hole.

[0021] In some embodiments of the present application, the pressing plate is provided with two through holes along the length direction thereof, and one end of the first segment and one end of the second segment away from the connecting segment are respectively threaded through the two through holes and are threadedly connected with two nuts.

[0022] In some embodiments of the present application, the fixing seat is provided with a second connecting hole, and the connecting segment is threaded through the second connecting hole.

[0023] In some embodiments of the present application, the pressing plate is further provided with a protective pad on the side facing the spoke.

[0024] In some embodiments of the present application, the steering control device further comprises a rolling support assembly, which is rotatably arranged on the fixed body and is in rolling contact with the transmission ring, so that the transmission ring is movably arranged on the fixed body.

[0025] In some embodiments of the present application, the inner circumferential side of the transmission ring is recessed with an annular groove along the radial direction of the transmission ring, and the rolling support assembly is at least partially accommodated in the annular groove and is in rolling contact with at least the side groove wall of the annular groove close to the steering wheel, so as to rolling support the transmission ring.

[0026] In some embodiments of the present application, the driving assembly is drivingly connected with the transmission ring through the meshing connection of a spur gear.

[0027] In some embodiments of the present application, the outer circumferential side of the transmission ring is provided with a plurality of straight teeth, the straight teeth are arranged along the thickness direction of the transmission ring, and a plurality of the straight teeth are arranged at equal intervals along the circumferential direction of the transmission ring.

[0028] The driving assembly comprises the spur gear, and the spur gear is meshingly connected with a plurality of the straight teeth.

[0029] In some embodiments of the present application, the driving assembly further comprises a first motor, the motor shaft of the first motor is arranged along the thickness direction of the transmission ring, and the spur gear is fixed on the motor shaft of the first motor, so as to synchronously drive the spur gear to rotate when the motor shaft of the first motor rotates.

[0030] In some embodiments of the present application, the driving assembly is drivingly connected with the transmission ring through the meshing connection of a bevel gear.

[0031] In some embodiments of the present application, an inclined surface and a plurality of inclined teeth are arranged on the outer circumferential side of the transmission ring, and the plurality of inclined teeth are arranged on the inclined surface at equal intervals in the circumferential direction of the transmission ring.

[0032] The driving assembly comprises the bevel gear, and the bevel gear is in meshing connection with the plurality of inclined teeth.

[0033] In some embodiments of the present application, the driving assembly further comprises a second motor, a motor shaft of the second motor extends in the radial direction of the transmission ring, and the bevel gear is fixed on the motor shaft of the second motor, so that the bevel gear is driven to rotate synchronously when the motor shaft of the second motor rotates.

[0034] In some embodiments of the present application, the fixed body comprises a lower housing arranged around the rotating shaft, and the lower housing is fixedly arranged below the steering wheel.

[0035] In some embodiments of the present application, the lower housing is provided with an annular accommodating groove, the transmission ring is accommodated in the annular accommodating groove, and the rolling support assembly is rotatably arranged on the bottom wall of the annular accommodating groove and rolls to support the transmission ring.

[0036] In some embodiments of the present application, the fixed body further comprises a mounting portion having a mounting cavity, the mounting portion is arranged adjacent to the annular accommodating groove, and the mounting cavity is arranged in communication with the annular accommodating groove for mounting the driving assembly.

[0037] In some embodiments of the present application, the fixed body further comprises a fixing bracket, the fixing bracket is provided with a fixing connecting portion and a locking portion, the fixing connecting portion is fixedly connected with the lower housing, and the locking portion is used for fixedly connecting with a sleeve below the steering wheel, so that the lower housing is fixedly arranged below the upper housing.

[0038] The present application also provides an automatic driving system, which comprises a vehicle-mounted computer terminal and the steering control device described in any one of the above.

[0039] The vehicle-mounted computer terminal comprises a positioning module and a control module, the positioning module is in communication connection with a positioning system to obtain position information, and the positioning module and the driving assembly are electrically connected with the control module, and the control module controls the working of the driving assembly according to the position information obtained by the positioning module to adjust the moving direction of the agricultural machine.

[0040] The steering control device provided by the application can be installed on a steering wheel of a vehicle such as an agricultural machine, and can be fastened and connected with the spoke through the fastening assembly when installed on the steering wheel, so as to fasten and connect the rotating body and the steering wheel, and when the rotating body rotates relative to the fixed body, the rotating body can transmit the force to the steering wheel through the fixed seat and the fastening assembly, so as to synchronously drive the steering wheel to rotate. Thus, when the driving assembly drives the rotating member to rotate, the rotating body can synchronously drive the steering wheel to rotate through the fixed seat and the fastening assembly, so as to adjust the moving direction of the vehicle such as the agricultural machine. It can be seen that, compared with the prior art, the rotating body of the technical scheme is fastened and connected with the steering wheel through the fastening assembly, and can synchronously drive the steering wheel to rotate through the fastening assembly, and does not need to be adapted to different rotating shafts through the rotating body, so that the application range of the steering control device is improved, the batch production of the steering control device is facilitated, and the manufacturing cost of the steering control device is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical schemes in the embodiments of the application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the drawings shown.

[0042] Figure 1 The overall structure schematic diagram of the steering control device of the application installed on the steering wheel;

[0043] Figure 2 The overall structure schematic diagram of the steering control device of the application installed on the steering wheel; Figure 1 The structure schematic diagram of the steering control device in the application;

[0044] Figure 3 The structure schematic diagram of the steering control device in the application; Figure 2 The enlarged view of A in the application;

[0045] Figure 4 The structure schematic diagram of the steering control device in the application; Figure 2 The partial structure schematic diagram of the steering control device in the application;

[0046] Figure 5 The overall structure schematic diagram of the steering control device of the application installed on the steering wheel;

[0047] Figure 6 The overall structure schematic diagram of the steering control device of the application installed on the steering wheel; Figure 5 The partial sectional view of the steering control device in the application.

[0048] Explanation of reference signs:

[0049] 100, Steering control device; 10, Rotating body; 11, Upper shell; 111, Fixed seat; 1111, First connecting hole; 1112, Second connecting hole; 12, Transmission ring; 121, Annular groove body; 122, Mounting hole; 20, Fixed body; 21, Lower shell; 211, Annular accommodating groove; 22, Mounting part; 30, Fastening assembly; 31, Clamp; 311, First section; 312, Connecting section; 313, Second section; 32, Compression plate; 321, Through hole; 33, Fixed hole; 34, Clamping piece; 40, Driving assembly; 41, Straight gear; 42, First motor; 50, Rolling support assembly; 60, Fixed support; 61, Lock; 611, Locking part; 62, Support frame; 200, Steering wheel; 201, Spoke; 202, Sleeve.

[0050] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments in combination with the accompanying drawings. DETAILED DESCRIPTION

[0051] The technical solutions in the embodiments of the present application will be clearly and completely described in combination with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0052] In the present application, unless otherwise explicitly specified and limited, the terms "connection", "fixation" and the like should be understood in a broad sense, for example, "fixation" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through an intermediate medium; can be internal connection of two elements or interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0053] In addition, the description such as "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the fact that the technical solutions can be realized by those skilled in the art. When the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the scope of protection claimed by the present application.

[0054] The embodiment of the present application provides a steering control device 100, which is used for realizing automatic driving by controlling rotation of a steering wheel 200 around a corresponding rotation shaft, and the steering control device 100 can be used for a vehicle such as an agricultural machine. Figures 1 to 4 In the embodiment of the present application, the steering control device 100 comprises a rotating body 10, a fixed body 20, a fastening assembly 30 and a driving assembly 40.

[0055] The rotating body 10 is movably arranged on the fixed body 20, and a fixing seat 111 is arranged on a side, away from the fixed body 20, of the rotating body 10, and the fixing seat 111 is located below a spoke 201 of the steering wheel 200. The fixed body 20 is arranged below the steering wheel 200.

[0056] The rotating body 10 is movably arranged on the fixed body 20, and when the rotating body 10 moves relative to the fixed body 20, the fixing seat 111 on the rotating body 10 can also move relative to the fixed body 20. The rotating body 10 is movably arranged on the fixed body 20 in various ways. In one implementation, the rotating body 10 is rotatably arranged on the fixed body 20 through a bearing. In another implementation, a plurality of rolling balls are arranged on the fixed body 20 in a rolling manner, and the plurality of rolling balls are in rolling contact with the rotating body 10, so that the rotating body 10 is movably arranged on the fixed body 20 through the plurality of rolling balls. In yet another implementation, the rotating body 10 can be movably abutted with the fixed body 20.

[0057] The fixed body 20 is arranged below the steering wheel 200 in various ways. The fixed body 20 can be directly or indirectly fixedly connected with a sleeve 202 below the steering wheel 200 to be arranged below the steering wheel 200, and the sleeve 202 is mainly used for surrounding protection of the rotation shaft below the steering wheel 200. It can be understood that in the vehicle, a seat is usually arranged near the steering wheel 200, and the fixed body 20 can be directly or indirectly fixedly connected with the seat to be arranged below the steering wheel 200. A heavy base can also be placed in the cockpit, and the fixed body 20 can be directly or indirectly fixedly connected with the base to be arranged below the steering wheel 200.

[0058] The fastening assembly 30 is used for fastening the fixing seat 111 and the spoke 201 to realize fastening connection between the rotating body 10 and the steering wheel 200. The driving assembly 40 is in transmission connection with the rotating body 10, so that the rotating body 10 rotates relative to the fixed body 20 under the transmission of the driving assembly 40 to drive the steering wheel 200 to rotate around the rotation shaft.

[0059] In the present application, the fastening assembly 30 has various forms of arrangement. In one form of arrangement, the fastening assembly 30 is fixedly installed on the fixed seat 111 and detachably fixedly connected with the spoke 201 (for example, the fastening assembly 30 comprises a fixed clamp and a movable clamp, the fixed clamp is fixedly installed on the fixed seat 111, and the movable clamp is detachably connected with the fixed clamp and clamps the spoke 201). In another form of arrangement, the fastening assembly 30 is fixedly installed on the spoke 201 and detachably fixedly connected with the fixed seat 111 (for example, the fastening assembly 30 comprises a locking ring and a locking piece, the locking ring is fixed on the spoke 201, the locking ring is provided with a threaded stud, and the fixed seat 111 is provided with a through hole 321, the threaded stud on the locking ring passes through the through hole 321 and is threadedly connected with the locking piece).

[0060] According to the steering control device 100 provided by the embodiments of the present application, the principle of controlling the rotation of the steering wheel 200 is as follows: the driving assembly 40 drives the rotating body 10 to rotate clockwise, the rotating body 10 drives the steering wheel 200 to rotate clockwise around the rotating shaft through the fastening connection with the steering wheel 200, so as to adjust the moving direction of the agricultural machinery. The driving assembly 40 drives the rotating body 10 to rotate counterclockwise, the rotating body 10 drives the steering wheel 200 to rotate counterclockwise around the rotating shaft through the fastening connection with the steering wheel 200, so as to adjust the moving direction of the agricultural machinery. The rotating body 10 can drive the steering wheel 200 to rotate around the rotating shaft through the spoke 201 and / or the rim of the steering wheel 200.

[0061] The steering control device 100 provided by the present application, through the above structural arrangement, when it is installed on the steering wheel 200 of a vehicle such as agricultural machinery, the fixed seat 111 and the spoke 201 can be fastened and connected through the fastening assembly 30, so as to realize the fastening connection between the rotating body 10 and the steering wheel 200. When the rotating body 10 rotates relative to the fixed body 20, the rotating body 10 can transmit the acting force to the steering wheel 200 through the fixed seat 111 and the fastening assembly 30, so as to synchronously drive the steering wheel 200 to rotate. In this way, when the driving assembly 40 drives the rotating body 10 to rotate, the rotating body 10 can synchronously drive the steering wheel 200 to rotate through the fixed seat 111 and the fastening assembly 30, so as to adjust the moving direction of the vehicle such as agricultural machinery. It can be seen that, compared with the prior art, the rotating body 10 of the technical solution of the present application is fastened and connected with the steering wheel 200 through the fastening assembly 30, and can transmit the acting force to synchronously drive the steering wheel 200 to rotate through the fastening assembly 30, and does not need to adapt to different rotating shafts through the rotating body 10. Therefore, the application range of the steering control device 100 is improved, the batch production of the steering control device 100 is facilitated, and the manufacturing cost of the steering control device 100 is reduced.

[0062] The specific installation mode of the steering control device 100 provided by the embodiments of the present application has multiple modes. In one installation mode, the steering control device 100 can be assembled in advance, the steering wheel 200 on the agricultural machine is disassembled first, the assembled steering control device 100 is then sleeved into the sleeve 202 below the steering wheel 200, and then the steering wheel 200 is installed back. At this time, the rotating body 10 and the steering wheel 200 can be fastened and connected respectively, and the fixed body 20 can be fixedly arranged below the steering wheel 200. It should be emphasized that, in the process of installation, the rotating body 10 is fastened and connected with the steering wheel 200 through the fastening assembly 30.

[0063] In some other embodiments, the rotating body 10 and the fixed body 20 of the steering control device 100 are both composed of two parts. The driving assembly 40 is fixedly installed on the fixed body 20 of any part. In this way, the rotating body 10 and the fixed body 20 composed of two parts are assembled into complete parts respectively with the sleeve 202 below the steering wheel 200 as an axis, and the assembly process of the steering control device 100 is simultaneously performed. Finally, the rotating body 10 and the steering wheel 200 are fastened and connected respectively, and the fixed body 20 is fixedly arranged below the steering wheel 200. Similarly, in the process of installation, the rotating body 10 is fastened and connected with the steering wheel 200 through the fastening assembly 30.

[0064] In some examples, as shown in Figure 4 , the rotating body 10 includes a transmission ring 12 arranged around the rotating shaft, and the transmission ring 12 is in transmission connection with the driving assembly 40. In this way, the driving assembly 40 and the rotating body 10 are in transmission connection through the transmission ring 12 and the driving assembly 40, so as to improve the stability and reliability of the transmission connection.

[0065] In some examples, as shown in Figure 2 and Figure 4 , the rotating body 10 further includes an upper housing 11 arranged around the rotating shaft. The first side of the upper housing 11 is fixedly provided with the transmission ring 12, and the second side of the upper housing 11 is fixedly provided with a fixing seat 111.

[0066] It can be understood that the first side and the second side are oppositely arranged in the thickness direction of the upper housing 11, that is, the first side is the upper surface of the upper housing 11, and the second side is the lower surface of the upper housing 11. In combination with the above description of the specific installation mode of the steering control device 100, the upper housing 11 and the transmission ring 12 can be formed by two parts.

[0067] In this way, the transmission ring 12 and the fixing seat 111 are respectively located at different sides of the upper housing 11, so that the operation surface of the upper housing 11 is larger, the transmission ring 12 is convenient to install on the upper housing 11, and the fixing seat 111 is convenient to fasten and connect with the spoke 201 through the fastening assembly 30. At the same time, the production and manufacturing of the upper housing 11 are facilitated.

[0068] In some examples, as shown in Figure 4 The transmission ring 12 is provided with a plurality of mounting holes 122 along the thickness direction thereof, and the plurality of mounting holes 122 are also spaced along the circumferential direction of the transmission ring 12. A plurality of screw structures are respectively threaded through the corresponding mounting holes 122 and are screwed to the upper shell 11 to fix the transmission ring 12 to the upper shell 11.

[0069] In the present example, the upper shell 11 is provided with a threaded hole in the vertical direction, which is preferably a blind hole. It should be noted that the plurality of mounting holes 122 can be uniformly spaced along the axial direction of the transmission ring 12, or can not be uniformly spaced. Preferably, the mounting hole 122 is a countersunk hole.

[0070] In this way, the screw structure is threaded through the mounting hole 122 and is screwed to the upper shell 11 in the vertical direction below the transmission ring 12, avoiding direct exposure of the screw structure to the upper surface of the upper shell 11, reducing the probability of corrosion of the screw structure, and thus improving the reliability of the connection between the transmission ring 12 and the upper shell 11.

[0071] Of course, in other examples, the mounting hole 122 can be a threaded hole, and the upper shell 11 is provided with a through hole 321, and the screw structure is threaded through the through hole 321 of the upper shell 11 and is screwed to the mounting hole 122 in the vertical direction above the upper shell 11 to fix the transmission ring 12 to the upper shell 11.

[0072] In some examples, as shown in Figure 1 and Figure 2 The other side of the upper shell 11 is provided with a plurality of fixing seats 111, which are one-to-one corresponding to the plurality of spokes 201 of the steering wheel 200, so that each spoke 201 is provided below with a corresponding fixing seat 111, and each fixing seat 111 is fastened to the corresponding spoke 201 by a fastening assembly 30.

[0073] It can be understood that in most agricultural machinery and other vehicles, the steering wheel 200 usually has three spokes 201, and in some agricultural machinery, the steering wheel 200 has two spokes 201, and in a very small part of agricultural machinery, the steering wheel 200 has more than three spokes 201. In the present application, the number of fixing seats 111 corresponds to the number of spokes 201. For the same reason, the number of fastening assemblies 30 also corresponds to the number of spokes 201.

[0074] In this way, the spoke 201 of the steering wheel 200 is connected to the upper shell 11 through the fastening assembly 30, and when the fastening assembly 30 is loose, the other fastening assemblies 30 can still maintain the normal use of the steering control device 100. In addition, the upper shell 11 is connected to the steering wheel 200 through the plurality of fastening assemblies 30, which can also disperse the force and avoid stress concentration on the individual spoke 201, thereby preventing the spoke 201 from being damaged.

[0075] In some examples, as shown in Figure 2 The fixed seat 111 is integrally formed with the upper shell 11. Specifically, the fixed seat 111 and the upper shell 11 can be integrally formed by casting. In this way, the connection strength of the fixed seat 111 and the upper shell 11 is improved, so that the force of the transmission ring 12 can be better transmitted to the spoke 201, and at the same time, the connection between the upper shell 11 and the fixed seat 111 is prevented from being cracked.

[0076] Considering that the transmission ring 12 transmits a large force through the upper shell 11, the upper shell 11 can be made of a material with high rigidity to improve the strength of the upper shell 11 and prevent the upper shell 11 from being cracked when transmitting the force, thereby improving the service life of the steering control device 100. Specifically, the upper shell 11 can be made of a metal material, such as stainless steel, cast iron, etc.

[0077] In some examples, the second side surface of the upper shell 11 is recessed with an arc-shaped sliding groove, and the arc-shaped sliding groove extends along the circumference of the upper shell 11. The fixed seat 111 is fixed to any position of the arc-shaped sliding groove by a screw structure.

[0078] In this way, the relative position of the fixed seat 111 can be flexibly adjusted within a certain range to adapt to the specific position of the spoke 201, thereby improving the adaptability of the steering control device 100. In addition, when the steering control device 100 is installed, the fixed seat 111 can be flexibly adjusted, thereby facilitating the installation of the steering control device 100.

[0079] In some examples, as shown in Figure 5 and Figure 6 The fixed seat 111 is fixed to the upper shell 11 by a screw structure, and the fastening assembly 30 includes a clamping piece 34. The clamping piece 34 is detachably connected to the fixed seat 111 and clamps the spoke 201 between the clamping piece 34 and the fixed seat 111. In this way, the upper shell 11 and the fixed seat 111 are modularized, and the fixed seat 111 can be easily installed on the upper shell 11. In addition, different types of fixed seats 111 can be replaced according to different spokes 201, which can further improve the adaptability of the fixed seat 111 to the spoke 201.

[0080] In some examples, as shown inFigure 5 and Figure 6 As shown in

[0081] It should be emphasized that when the spoke 201 is usually clamped between the clamping piece 34 and the fixing seat 111, the spoke 201 is also located between the two first connecting holes 1111.

[0082] In some examples, as shown in Figures 1 to 3 The fastening assembly 30 includes a hoop 31 and a pressing plate 32, one side of the hoop 31 is connected with the fixing seat 111, and the other side of the hoop 31 is detachably connected with the pressing plate 32 to form a fixing hole 33 for the spoke 201 to pass through, and the pressing plate 32 is pressed against the spoke 201 when it is detachably connected with the hoop 31.

[0083] In this way, the hoop 31 and the pressing plate 32 are connected to achieve fastening connection of the spoke 201, and the hoop 31 and the pressing plate 32 are detachably connected quickly and conveniently, which can improve the installation efficiency of the steering control device 100.

[0084] In some examples, as shown in Figure 2 and Figure 3 The hoop 31 includes a first segment 311, a connecting segment 312 and a second segment 313 arranged in sequence, and one end of the first segment 311 away from the connecting segment 312 and one end of the second segment 313 away from the connecting segment 312 are detachably connected with the pressing plate 32 to form the fixing hole 33.

[0085] In this way, the first segment 311 and the second segment 313 are detachably connected with the pressing plate 32, so that the pressing plate 32 can better press the spoke 201, thereby better adapting to the spokes 201 of different steering wheels 200 and further improving the adaptability of the steering control device 100.

[0086] In some examples, the first segment 311 and the second segment 313 are arranged in parallel with each other to facilitate the adjustment of the pressing plate 32 along the length direction of the first segment 311 or the second segment 313. Among them, the hoop 31 can be generated by integral casting molding, or can be produced by bending process.

[0087] In some examples, as shown in Figure 3As shown, the pressing plate 32 is provided with two through holes 321 along its length direction, the first segment 311 and the second segment 313 are respectively provided with the two through holes 321, and the two through holes 321 are respectively threaded with the two nuts. In this way, the installation efficiency of the steering control device 100 is further improved, and the tightness of the pressing plate 32 and the spoke 201 can be changed by rotating the nuts.

[0088] In some examples, as shown in Figure 3 As shown, the fixing seat 111 is provided with a second connecting hole 1112, and the connecting segment 312 passes through the second connecting hole 1112. The number of the second connecting hole 1112 can be one, two or more. When the number of the second connecting hole 1112 is two or more, the second connecting hole 1112 is arranged along the circumference of the upper shell 11.

[0089] In this way, after the connecting segment 312 passes through the second connecting hole 1112, the clamp 31 can move flexibly relative to the fixing seat 111, which facilitates the flexible adjustment of the clamp 31 and the connection with the pressing plate 32.

[0090] In some examples, the side of the pressing plate 32 facing the spoke 201 is further provided with a protective pad. In this way, the protective pad can absorb the vibration generated when the vehicle bumps, so that the pressing plate 32 tightly presses the spoke 201, and the protective pad can protect the spoke 201 from being scratched by the pressing plate 32. The protective pad can be made of rubber material.

[0091] In some examples, as shown in Figure 4 As shown, the steering control device 100 further comprises a rolling support assembly 50, which is rotatably arranged on the fixing body 20 and in rolling contact with the transmission ring 12, so that the transmission ring 12 is movably arranged on the fixing body 20. In this way, the rolling contact between the rolling support assembly 50 and the transmission ring 12 can improve the stability of the transmission ring 12 when rotating relative to the lower shell, so that the driving assembly 40 mounted on the lower shell 21 and the transmission ring 12 are more reliably connected in transmission.

[0092] The rolling support assembly 50 can be in rolling contact with the bottom of the rotating body 10 to provide upward support force for the rotating body 10, or the rolling support assembly 50 can extend into the interior of the rotating body 10 to be in rolling contact with the interior of the rotating body 10 to provide upward support force for the rotating body 10.

[0093] Depending on the position of the rolling support assembly 50 in rolling contact with the rotating body 10, the rolling support assembly 50 can be configured in various ways. In some examples, the rolling support assembly 50 includes multiple balls, which roll in contact with the bottom of the rotating body 10. The rotating body 10 may also have a groove on its bottom, with the multiple balls at least partially extending into the groove and rolling against the groove wall. In other examples, the rotating body 10 has a groove on its inner circumference, with the rolling support assembly 50 extending into the groove and rolling against the groove wall. In still other examples, the rotating body 10 may have a groove on its outer circumference, with the rolling support assembly 50 extending into the groove and rolling against the groove wall.

[0094] In some examples, such as Figure 4 As shown, an annular groove 121 is recessed along the radial direction of the inner circumference of the transmission ring 12. The rolling support assembly 50 is at least partially housed in the annular groove 121 and rolls in contact with at least the side wall of the annular groove 121 near the steering wheel 200 to roll support the transmission ring 12.

[0095] This configuration aims to provide rolling support for the transmission ring 12 through the rolling support assembly 50, while simultaneously guiding the rotation of the transmission ring 12 through the cooperation between the annular groove 121 and the rolling support assembly 50.

[0096] To improve the stability of the rolling support assembly 50 in supporting the transmission ring 12, the rolling support assembly 50 includes at least two rolling support bodies, which are spaced apart circumferentially along the annular groove 121. The rolling support bodies can be evenly or unevenly spaced. For example, when there are three rolling support bodies, two are on the same diameter of the transmission ring 12, and the third is on another diameter, so that the line connecting the three rolling support bodies forms a right-angled triangle. Alternatively, when there are three rolling support bodies, they can be evenly spaced circumferentially along the transmission ring 12, so that the line connecting the three rolling support bodies forms an equilateral triangle.

[0097] In some examples, such as Figure 4 As shown, the rolling support includes a fixed shaft and a rotating wheel. One end of the fixed shaft is fixedly mounted on the fixed body 20, and the other end of the fixed shaft is rotatably mounted on the rotating wheel. The rotating wheel is at least partially housed in the annular groove 121 and rolls in contact with at least one side wall of the annular groove 121 near the steering wheel 200 to roll support the transmission ring 12.

[0098] There are several ways to fix one end of the fixed shaft to the lower housing 21. In one configuration, a blind hole is provided on the fixing body 20, and one end of the fixed shaft is interference-fitted into the blind hole to be inserted and fixed to the lower housing 21. In another configuration, the fixed shaft is welded to the fixing body 20.

[0099] The wheel can be rotatably mounted on a fixed shaft via a bearing, or it can be directly sleeved onto the fixed shaft; these options will not be described in detail here.

[0100] This configuration aims to achieve rolling contact between the rolling support assembly 50 and the side wall of the annular groove 121 near the steering wheel 200 through the rolling support body, so as to provide upward support force to the transmission ring 12 by the rolling support body.

[0101] exist Figure 4 In the example shown, there are six rolling supports, evenly spaced. In other examples, there are eight rolling supports, or even ten; this application does not impose a specific limitation.

[0102] In some examples, such as Figure 4 As shown, the drive assembly 40 is connected to the transmission ring 12 via a meshing connection of a spur gear 41. This configuration aims to improve the transmission efficiency and reliability between the drive assembly 40 and the transmission ring 12.

[0103] In some examples, such as Figure 4 As shown, the outer circumference of the transmission ring 12 is provided with multiple spur teeth, which extend along the thickness direction of the transmission ring 12 and are evenly spaced along the circumference of the transmission ring 12. The drive assembly 40 includes a spur gear 41, which meshes with the multiple spur teeth. This arrangement aims to achieve a transmission connection between the drive assembly 40 and the transmission ring 12 through the meshing connection of the spur gear 41 and the multiple spur teeth, thereby further improving the reliability of the transmission.

[0104] In some examples, such as Figure 4 As shown, the drive assembly 40 also includes a first motor 42, the motor shaft of which extends along the thickness direction of the transmission ring 12. A spur gear 41 is fixed on the motor shaft of the first motor 42 so that when the motor shaft of the first motor 42 rotates, it synchronously drives the spur gear 41 to rotate. This arrangement is intended to facilitate the assembly of the steering control device 100.

[0105] In some examples, the drive assembly 40 is connected to the transmission ring 12 via a bevel gear meshing connection. This configuration aims to improve the transmission efficiency and reliability between the drive assembly 40 and the transmission ring 12.

[0106] In some examples, the outer circumferential side of the transmission ring 12 is provided with a slope and a plurality of bevel teeth, and the plurality of bevel teeth are arranged on the slope at equal intervals in the circumferential direction of the transmission ring 12. The drive assembly 40 comprises a bevel gear, and the bevel gear is in meshing connection with the plurality of bevel teeth. In this way, the drive assembly 40 is in driving connection with the transmission ring 12 through the meshing connection between the bevel gear and the plurality of bevel teeth, so as to further improve the reliability of the transmission.

[0107] In some examples, the drive assembly 40 further comprises a second motor, and the motor shaft of the second motor extends in the radial direction of the transmission ring 12. The bevel gear is fixed on the motor shaft of the second motor, so that the bevel gear is driven to rotate synchronously when the motor shaft of the second motor rotates. In this way, the mounting position of the second motor is located on the same horizontal plane as the transmission ring 12, so as to reduce the thickness of the steering control device 100, thereby reducing the space occupied by the steering control device 100 in the vertical direction of the cockpit.

[0108] In some examples, as shown in Figure 2 and Figure 4 , the fixed body 20 comprises a lower housing 21 arranged around the rotation shaft, and the lower housing 21 is fixedly arranged below the steering wheel 200. In this way, the stability of the drive assembly 40 is improved by arranging the lower housing 21 around the rotation shaft, so as to improve the reliability and stability of the driving connection between the drive assembly 40 and the transmission ring 12.

[0109] Similarly, in combination with the above description of the specific mounting method of the steering control device 100, in some examples, the lower housing 21 is also assembled from two or more components, so as to facilitate the assembly of the steering control device 100.

[0110] In order to further improve the protection level of the steering control device 100, the lower housing 21 can also be made of metal material. Of course, in other examples, the upper housing 11 and the lower housing 21 can also be made of hard plastic and coated with a layer of metal plating on the surface.

[0111] In some examples, as shown in Figure 2 and Figure 4 , the lower housing 21 is provided with an annular accommodating groove 211, and the transmission ring 12 is accommodated in the annular accommodating groove 211. The rolling support assembly 50 is arranged on the bottom wall of the annular accommodating groove 211 and rolls to support the transmission ring 12.

[0112] In this way, the transmission ring 12 and the rolling support assembly 50 are surrounded and protected by the annular accommodating groove 211, so as to improve the protection performance of the steering control device 100, reduce the influence of external factors on the transmission ring 12, and improve the service life of the steering control device 100. In addition, since the transmission ring 12 is surrounded and protected, the transmission ring 12 can be made of a material with low strength, thereby reducing the manufacturing cost of the steering control device 100.

[0113] In some examples, as shown in Figure 2 and Figure 4 The fixed body 20 further comprises a mounting portion 22 with a mounting cavity, the mounting portion 22 is arranged adjacent to the annular accommodating groove 211, and the mounting cavity is arranged in communication with the annular accommodating groove 211, so as to mount the driving assembly 40.

[0114] In this way, the driving assembly 40 is protected by the mounting cavity, so as to improve the protection performance of the steering control device 100, avoid the influence of external factors on the steering control device 100, improve the reliability of the transmission connection between the driving assembly 40 and the transmission ring 12, and improve the service life of the steering control device 100.

[0115] Specifically, in an example, the fixed body 20 further comprises a mounting plate and a cover body fixedly connected with the lower shell 21, the mounting plate and the cover body jointly form the mounting cavity, the motor of the driving assembly 40 is fixedly installed on the side of the mounting plate away from the mounting cavity, and the motor shaft of the motor extends into the mounting cavity, the gear of the driving assembly 40 is fixed on the motor shaft and partially accommodated in the mounting cavity, and the gear is engaged with the transmission ring 12 through the communication part of the mounting cavity and the annular accommodating groove 211.

[0116] In another example, the mounting portion 22 comprises a mounting shell, the mounting shell forms the mounting cavity therein, the motor of the driving assembly 40 is fixedly installed in the mounting cavity, the gear of the driving assembly 40 is fixed on the motor shaft and partially accommodated in the mounting cavity, and the gear is engaged with the transmission ring 12 through the communication part of the mounting cavity and the annular accommodating groove 211.

[0117] In some examples, the driving assembly 40 further comprises a gearbox, the motor of the driving assembly 40 is in transmission connection with the gearbox, and the output end of the gearbox is connected with the bevel gear or the spur gear 41 mentioned above, that is, the motor of the driving assembly 40 is connected with the bevel gear or the spur gear 41 through the gearbox, and the bevel gear or the spur gear 41 is engaged with the transmission ring 12. In this way, the output power, torque, etc. of the driving assembly 40 is controlled through the gearbox, so as to improve the controllability of the steering control device 100.

[0118] In some examples, as shown in Figure 1 and Figure 2As shown, the fixing body 20 further comprises a fixing support 60, which is provided with a fixing connecting part and a locking part 611. The fixing connecting part is fixedly connected with the lower shell 21, and the locking part 611 is used for being fixedly connected with the sleeve 202 below the steering wheel 200, so as to fix the lower shell 21 below the upper shell 11.

[0119] In this way, the assembly of the fixing body 20 is facilitated, and the assembly efficiency of the steering control device 100 is improved. Meanwhile, the fixing body 20 is fixedly arranged below the steering wheel 200 through the fixing support 60, the influence of the vibration of the agricultural machinery on the steering control device 100 is reduced, and the reliability of the steering control device 100 is improved.

[0120] In some examples, as shown in Figure 1 and Figure 2 As shown, the fixing support 60 comprises a lock 61 and a support frame 62. One side of the lock 61 is provided with the locking part 611, and the other side of the lock 61 is fixedly connected with the support frame 62. The side of the support frame 62 away from the lock 61 is provided with a connecting hole to form the fixing connecting part. The support frame 62 is fixedly connected with the lower shell through the connecting hole and a screw structure.

[0121] In this way, the assembly of the fixing body 20 is facilitated, and the adaptability of the fixing support 60 to the sleeve 202 is improved through the locking cooperation of the locking part 611 of the lock 61 with the sleeve 202.

[0122] The specific form of the lock 61 is various. The lock 61 can comprise a hoop 31 or two clamping plates and two bolts. When the two clamping plates are clamped on the opposite sides of the sleeve 202, the two clamping plates are fixed through the two bolts, so that the lock 61 is fixed on the circumferential side of the sleeve 202.

[0123] The application further provides an automatic driving system, which comprises a vehicle-mounted computer terminal and the steering control device 100. The specific structure of the steering control device 100 is referred to the above-mentioned embodiments. Since the automatic driving system adopts all the technical solutions of the above-mentioned embodiments, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be described here.

[0124] The vehicle-mounted computer terminal comprises a positioning module and a control module. The positioning module is in communication connection with a positioning system to obtain position information. The positioning module and the driving assembly 40 are electrically connected with the control module. The control module controls the work of the driving assembly 40 according to the position information obtained by the positioning module, so as to adjust the moving direction of the agricultural machinery.

[0125] The positioning system can be a global positioning system (GPS), a Beidou navigation system, etc., which can provide accurate position information for the positioning module, and the control module can accurately determine the specific position of the agricultural machine according to the position information, and can calculate the speed of the agricultural machine according to the change of the position information.

[0126] It can be understood that the control module controls the working of the driving assembly 40 to adjust the moving direction of the agricultural machine, which generally refers to controlling the agricultural machine to move within a preset range, for example, controlling the agricultural machine to move in a designated farmland.

[0127] Of course, in some examples, the vehicle-mounted computer terminal can also communicate with other communication devices to receive information of other devices, to control the working of the driving assembly 40 according to the information, to adjust the moving direction of the agricultural machine, thereby realizing the remote operation of the agricultural machine.

[0128] The above description is only optional embodiments of the present application, and does not limit the patent scope of the present application, and any equivalent structural transformation, direct / indirect application in other related technical fields within the concept of the present application, and the contents of the present application and the drawings are included in the patent protection scope of the present application.

Claims

1. A steering control device for realizing automatic driving by controlling turning of a steering wheel around a corresponding turning axis, characterized by, The utility model relates to a rotating body, a fixed body, a fastening assembly and a driving assembly, wherein, The rotating body is movably arranged on the fixed body, and a fixing seat is arranged on the side of the rotating body away from the fixed body, and the fixing seat is located below the spoke of the steering wheel; The fixed body is arranged below the steering wheel; The fastening assembly is used for fastening the fixing seat and the spoke to realize the fastening connection between the rotating body and the steering wheel; The driving assembly is in transmission connection with the rotating body, so that the rotating body rotates relative to the fixed body under the transmission of the driving assembly to drive the steering wheel to rotate around the rotating shaft.

2. The steering control device of claim 1, wherein The rotating body comprises a transmission ring arranged around the rotating shaft, and the transmission ring is in transmission connection with the driving assembly.

3. The steering control device of claim 2, wherein The rotating body further comprises an upper housing arranged around the rotating shaft, and a first side of the upper housing is fixedly provided with the transmission ring, and a second side of the upper housing is fixedly provided with the fixing seat.

4. The steering control device of claim 3, wherein The other side of the upper housing is provided with a plurality of fixing seats, and the plurality of fixing seats are arranged one by one corresponding to the plurality of spokes of the steering wheel, so that each spoke is correspondingly provided below with a fixing seat, and each fixing seat is fastened to the corresponding spoke through a fastening assembly.

5. The steering control device of claim 3, wherein The fixing seat and the upper housing are integrally formed.

6. The steering control device of claim 3, wherein The second side surface of the upper housing is concavely provided with an arc-shaped sliding groove, and the arc-shaped sliding groove extends along the circumference of the upper housing, and the fixing seat is fixed to any position of the arc-shaped sliding groove through a screw structure.

7. The steering control device of claim 3, wherein The fixing seat is fixed to the upper housing through a screw structure, the fastening assembly comprises a clamping piece, the clamping piece is detachably connected with the fixing seat, and the spoke is clamped between the clamping piece and the fixing seat.

8. The steering control device of claim 7, wherein The fixing seat extends along the circumference of the upper housing, and the fixing seat is also spaced apart along the circumference of the upper housing and provided with two first connecting holes, and the clamping piece is threadedly connected with the two first connecting holes through two screw structures respectively.

9. The steering control device of claim 1, wherein The fastening assembly comprises a clamp and a pressing plate, one side of the clamp is connected with the fixing seat, the other side of the clamp is detachably connected with the pressing plate to form a fixing hole for the spoke to pass through, and the pressing plate tightly presses the spoke when being detachably connected with the clamp.

10. The steering control device of claim 9, wherein The clamp comprises a first section, a connecting section and a second section arranged in sequence, and one end of the first section away from the connecting section and one end of the second section away from the connecting section are detachably connected with the pressing plate to form the fixing hole.

11. The steering control device of claim 10, wherein The pressing plate is spaced apart along the length direction and provided with two through holes, and one end of the first section away from the connecting section and one end of the second section away from the connecting section respectively pass through the two through holes and are threadedly connected with two nuts.

12. The steering control device of claim 10, wherein, The fixing seat is provided with a second connecting hole, and the connecting section passes through the second connecting hole.

13. The steering control device of claim 9, wherein The side of the pressing plate facing the spoke is further provided with a protective pad.

14. The steering control device of claim 3, wherein The turning control device further comprises a rolling support assembly rotatably arranged on the fixed body and in rolling contact with the transmission ring so as to movably arrange the transmission ring on the fixed body.

15. The steering control device of claim 14, wherein An annular groove is formed on the inner circumferential side of the transmission ring along the radial direction of the transmission ring, and the rolling support assembly is at least partially accommodated in the annular groove and in rolling contact with at least the groove wall on the side close to the steering wheel so as to rolling support the transmission ring.

16. The steering control device of claim 2, wherein The driving assembly is in driving connection with the transmission ring through meshing connection of a spur gear.

17. The steering control device of claim 16, wherein The outer circumferential side of the transmission ring is provided with a plurality of straight teeth, which are arranged along the thickness direction of the transmission ring and are equidistantly arranged along the circumferential direction of the transmission ring. The driving assembly comprises the spur gear, and the spur gear is in meshing connection with the plurality of straight teeth.

18. The steering control device of claim 17, wherein, The driving assembly further comprises a first motor, and the motor shaft of the first motor is arranged along the thickness direction of the transmission ring, and the spur gear is fixed on the motor shaft of the first motor so as to synchronously drive the spur gear to rotate when the motor shaft of the first motor rotates.

19. The steering control device of claim 2, wherein The driving assembly is in driving connection with the transmission ring through meshing connection of a bevel gear.

20. The steering control device of claim 19, wherein, The outer circumferential side of the transmission ring is provided with a slope and a plurality of bevel teeth, and the plurality of bevel teeth are equidistantly arranged on the slope along the circumferential direction of the transmission ring. The driving assembly comprises the bevel gear, and the bevel gear is in meshing connection with the plurality of bevel teeth.

21. The steering control device of claim 20, wherein, The driving assembly further comprises a second motor, and the motor shaft of the second motor is arranged along the radial direction of the transmission ring, and the bevel gear is fixed on the motor shaft of the second motor so as to synchronously drive the bevel gear to rotate when the motor shaft of the second motor rotates.

22. The steering control device of claim 14, wherein, The fixed body comprises a lower housing arranged around the rotating shaft, and the lower housing is fixedly arranged below the steering wheel.

23. The steering control device of claim 22, wherein, The lower housing is provided with an annular accommodating groove, the transmission ring is accommodated in the annular accommodating groove, the rolling support assembly is rotatably arranged on the bottom wall of the annular accommodating groove and rolling supports the transmission ring.

24. The steering control device of claim 23, wherein, The fixed body further comprises a mounting portion with a mounting cavity, the mounting portion is arranged adjacent to the annular accommodating groove, and the mounting cavity is arranged in communication with the annular accommodating groove for mounting the driving assembly.

25. The steering control device of claim 23, wherein, The fixed body further comprises a fixed support provided with a fixed connecting portion and a locking portion, the fixed connecting portion is in fixed connection with the lower housing, and the locking portion is in fixed connection with the sleeve below the steering wheel so as to fixedly arrange the lower housing below the upper housing.

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