An electric power steering system and a return device thereof

Abstract

The application relates to the technical field of automobile steering return, in particular to an electric power-assisted steering system and a return device thereof, which comprises a return device, the return device comprises a steering rod, an adjusting mechanism arranged on the steering rod and a return mechanism arranged on the adjusting mechanism; the adjusting mechanism comprises a containing part arranged on the steering rod and an adjusting part arranged on the steering rod; the return mechanism comprises a return part arranged on the adjusting part and a force storage part arranged on the return part; the setting of the return device facilitates better driving of the steering rod to reset; when the moving distance of the steering rod is too long, multiple force storage parts can simultaneously assist the steering rod, the quick resetting of the steering rod is facilitated, the setting of the driving part facilitates better driving of the inserted block in the side groove to separate from the side groove, the movement track of the steering rod is translation, and the resetting of the return device is facilitated.

Description

Technical Field

[0001] This invention relates to the field of automotive steering return technology, and in particular to an electric power steering system and its return device. Background Technology

[0002] In the handling performance of an EPS (Electric Power Steering) system, a crucial performance requirement is the return-to-center capability of the steering system. During vehicle operation, after the driver finishes steering, the return-to-center torque should automatically return the steering wheel to the center position. Driving experience shows that this return-to-center capability is weaker at low speeds than at high speeds. This is primarily because the frictional torque between the tires and the road surface is higher at low speeds and lower at high speeds. The result is that high-speed steering returns to center easily, while low-speed steering requires more effort. In an EPS system, an electric motor can provide auxiliary return-to-center torque. At low speeds, it primarily generates assist torque to quickly return the steering wheel to the center position, while at high speeds, it prevents the steering wheel from wobbling in the center position.

[0003] Existing self-centering devices are difficult to adjust the self-centering range as needed before installation, so we designed an electric power steering system and its self-centering device. Summary of the Invention

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0005] In view of the problem that the self-aligning device in the above or existing technology is difficult to adjust the self-aligning amplitude as needed before installation, the present invention is proposed.

[0006] Therefore, the object of the present invention is to provide an electric power steering system and its return-to-center device.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an electric power steering system, comprising: acquiring input torque signal, vehicle speed signal, and steering wheel angle signal; calculating torque change rate based on input torque signal and preset value; calculating vehicle speed change rate based on vehicle speed and preset value; calculating current change rate based on input torque and preset value; and calculating return-to-center parameters. The electric power steering system assists the vehicle in returning to center through a return-to-center device.

[0008] As a preferred embodiment of the electric power steering system of the present invention, the system process is as follows: input torque sensor parameter verification and limiting, torque change rate calculated based on input torque, vehicle speed change rate calculated based on vehicle speed, current calculated based on input torque, and return-to-center parameter calculated.

[0009] As a preferred embodiment of the electric power steering system of the present invention, the system is characterized by comprehensive compensation through preset values ​​and multiple acquisition modules.

[0010] The beneficial effects of the electric power steering system of the present invention are as follows: The present invention obtains the return-to-center assistance for different driving conditions by inputting information such as vehicle speed, angle, and torque, and after comprehensive calculation by multiple calculation modules, it better meets the requirements of rapid low-speed return-to-center and high-speed driving stability. By modifying the calibration data, it can be adapted to the use of different vehicle models and shorten the development cycle.

[0011] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a return-to-center device, comprising a return-to-center device, the return-to-center device comprising a steering rod, an adjustment mechanism disposed on the steering rod, and a return-to-center mechanism disposed on the adjustment mechanism; the adjustment mechanism comprising a receiving component disposed on the steering rod, and an adjustment component disposed on the steering rod; the return-to-center mechanism comprising a return-to-center component disposed on the adjustment component, and a power-storing component disposed on the return-to-center component.

[0012] As a preferred embodiment of the return-to-center device of the present invention, the accommodating component includes an accommodating groove disposed on the steering rod, a placement groove disposed on the accommodating groove, a storage tube disposed in the placement groove, and a drive handle disposed on the storage tube.

[0013] As a preferred embodiment of the return device of the present invention, the adjusting component includes a side groove disposed on the storage cylinder, an insert block disposed on the side groove, a crossbar disposed on the insert block, an insertion block and an inner groove disposed on the crossbar, a positioning member disposed on the crossbar, a driving member disposed on the inner groove, and an external member disposed on the driving member.

[0014] In a preferred embodiment of the return-to-center device of the present invention, the positioning component includes a positioning rod disposed on the crossbar, a positioning seat disposed on the positioning rod, and a support spring disposed between the positioning seat and the crossbar, wherein the positioning seat is fixedly connected to the steering rod; the driving component includes a bottom rod disposed on the inner groove, an outer rod and a top block disposed on the bottom rod, wherein the top block is adapted to the insertion block; the external component includes a housing disposed on the steering rod and a side groove disposed on the housing, wherein the side groove is adapted to the outer rod.

[0015] In a preferred embodiment of the return-to-center device of the present invention, the return-to-center component includes a connecting strap disposed on the storage tube, a shell disposed on the connecting strap, a base plate disposed at the bottom of the shell, and a toothed sleeve disposed on the shell, wherein the base plate is in contact with the shell.

[0016] As a preferred embodiment of the return-to-center device of the present invention, the power storage component includes an external component disposed on the periphery of the gear sleeve and an internal component disposed inside the external component; the external component includes a gear cover disposed on the gear sleeve and a shaft disposed inside the gear cover.

[0017] In a preferred embodiment of the return-to-center device of the present invention, the built-in components include a stop plate and a power storage component disposed on the base plate, a fixing strip plate disposed on the inner wall of the toothed cover, an arc rod disposed on the fixing strip plate, a top cover disposed on the arc rod, an arc-shaped spring disposed between the top cover and the fixing strip plate, and a side rod disposed at the end of the arc rod away from the top cover, the side rod being adapted to the stop plate; the power storage component includes a ring box disposed on the shaft, a spring-loaded spring and a wedge block disposed inside and outside the ring box respectively, the spring-loaded spring being connected to the shaft, and the wedge block being adapted to the top cover.

[0018] The beneficial effects of the return-centering device of the present invention are as follows: The return-centering device facilitates better resetting of the steering rod. When the steering rod moves too far, multiple accumulators can simultaneously assist the steering rod, facilitating its rapid resetting. The drive mechanism facilitates better disengagement of the insert block from the side groove. The steering rod's trajectory is translational, which facilitates the resetting of the return-centering device. Regardless of whether the steering rod moves to the left or right, the steering angle of the return-centering device remains the same. There are three ring boxes, and the initial angle of each ring box increases sequentially from bottom to top. This ensures that when the steering rod moves the first distance, only one spring in the ring box is active. When it moves to the second distance, the resetting force increases. When it moves to the third distance, the resetting force reaches its maximum, thus enabling faster resetting speed. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of an electric power steering system.

[0021] Figure 2 This is a schematic diagram of the overall structure of the alignment device.

[0022] Figure 3 This is a schematic diagram of the adjustment mechanism of the return-to-center device.

[0023] Figure 4 This is a schematic diagram of the drive component structure of the return-to-center device.

[0024] Figure 5 This is a schematic diagram of the alignment component of the alignment device.

[0025] Figure 6 This is a schematic diagram of the energy storage component of the return-to-center device.

[0026] Figure 7 This is a schematic diagram of the built-in components of the alignment device.

[0027] Figure 8 This is a schematic diagram of the energy storage component of the return-to-center device. Detailed Implementation

[0028] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0029] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0030] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0031] Example 1, referring to Figure 1 This is the first embodiment of the present invention, which provides an electric power steering system, including: acquiring input torque signals, vehicle speed signals, and steering wheel angle signals; calculating the torque change rate based on the input torque signals and preset values; calculating the vehicle speed change rate based on the vehicle speed and preset values; calculating the current change rate based on the input torque and preset values; and calculating return-to-center parameters. The electric power steering system assists the vehicle in returning to center via a return-to-center device M. The system flow is as follows: input torque sensor parameter verification and limiting; calculating the torque change rate based on the input torque; calculating the vehicle speed change rate based on the vehicle speed; calculating the current based on the input torque; and calculating the return-to-center parameters.

[0032] Compensation is achieved through preset values ​​and multiple acquisition modules.

[0033] By inputting information such as vehicle speed, angle, and torque, and through comprehensive calculations by multiple calculation modules, the return-to-center assist is derived for different driving conditions, which better meets the requirements of rapid low-speed return-to-center and high-speed driving stability. By modifying the calibration data, it can be adapted to the usage conditions of different vehicle models, shortening the development cycle.

[0034] Example 2, refer to Figures 2-6 This is the second embodiment of the present invention. Unlike the previous embodiment, it is a return-to-center device, including a return-to-center device M. The return-to-center device M includes a steering rod 100, an adjustment mechanism 200 disposed on the steering rod 100, and a return-to-center mechanism 300 disposed on the adjustment mechanism 200. The adjustment mechanism 200 includes a receiving component 201 disposed on the steering rod 100 and an adjustment component 202 disposed on the steering rod 100. The return-to-center mechanism 300 includes a return-to-center component 301 disposed on the adjustment component 202 and a power storage component 302 disposed on the return-to-center component 301.

[0035] The return-centering device M is designed to facilitate the resetting of the steering rod 100. The steering rod 100 has a rectangular cross-section and is made of stainless steel. The movement trajectory of the steering rod 100 is translational, which facilitates the resetting of the return-centering device M. Regardless of whether the steering rod 100 translates to the left or right, the steering angle of the return-centering device M is the same.

[0036] The accommodating component 201 includes an accommodating groove 201a disposed on the steering rod 100, a placement groove 201b disposed on the accommodating groove 201a, a storage tube 201c disposed in the placement groove 201b, and a drive handle 201d disposed on the storage tube 201c.

[0037] Specifically, the accommodating slot 201a is designed to facilitate better placement of the storage tube 201c. The drive handle 201d is engaged with the storage tube 201c and can be disassembled. The drive handle 201d consists of a rectangular piece and two round holes and is made of stainless steel.

[0038] The adjustment component 202 includes a side groove 202a disposed on the storage tube 201c, an insertion block 202b disposed on the side groove 202a, a crossbar 202c disposed on the insertion block 202b, an insertion block 202d and an inner groove 202e disposed on the crossbar 202c, a positioning member 202f disposed on the crossbar 202c, a driving member 202g disposed on the inner groove 202e, and an external member 202h disposed on the driving member 202g.

[0039] Furthermore, the side groove 202a has a rectangular cross-section, and there are no fewer than four side grooves 202a. The groove depth of the side groove 202a is no less than one millimeter. The inner wall of the side groove 202a is fitted with the outer wall of the insert block 202b. The insert block 202b is made of stainless steel. The crossbar 202c is fixedly connected to the insert block 202b. The crossbar 202c is fixedly connected to the plug-in block 202d. The plug-in block 202d is made of stainless steel. The inner groove 202e has a rectangular cross-section, and the inner wall of the inner groove 202e is fitted with the bottom plate in the drive component 202g. The drive component 202g is designed to better drive the insert block 202b in the side groove 202a to detach from the side groove 202a.

[0040] The positioning component 202f includes a positioning round rod 202f-1 disposed on the crossbar 202c, a positioning seat 202f-2 disposed on the positioning round rod 202f-1, and a support spring 202f-3 disposed between the positioning seat 202f-2 and the crossbar 202c. The positioning seat 202f-2 is fixedly connected to the steering rod 100. The driving component 202g includes a bottom rod 202g-1 disposed on the inner groove 202e, an outer rod 202g-2 disposed on the bottom rod 202g-1, and a top block 202g-3 disposed on the bottom rod 202g-1. The top block 202g-3 is adapted to the plug block 202d. The external component 202h includes a housing 202h-1 disposed on the steering rod 100, and a side groove 202h-2 disposed on the housing 202h-1. The side groove 202h-2 is adapted to the outer rod 202g-2.

[0041] It should be noted that the positioning rod 202f-1 has a circular cross-section and is made of stainless steel. The positioning rod 202f-1 is slidably connected to the positioning seat 202f-2, the positioning seat 202f-2 is fixedly connected to the support spring 202f-3, and the support spring 202f-3 is fixedly connected to the crossbar 202c.

[0042] When the steering rod 100 is working, it can be moved to the left or right. The return device M can reset the steering rod 100. When the return device M is installed, if it is necessary to adjust the pressure on both sides of the return device M, turn the drive handle 201d and push the drive component 202g to rotate. The top block 202g-3 in the drive component 202g drives the insertion block 202d and the crossbar 202c to move downward, and drives the support spring 202f-3 to contract and accumulate elastic potential energy. The crossbar 202c drives the insertion block 202b to disengage from the side groove 202a. During the rotation of the drive handle 201d, the side groove 202a and the storage cylinder 201c rotate. The rotation of the storage cylinder 201c thereby winds up the connecting belt 301a, achieving the effect of adjusting the rebound strength. After the adjustment is completed, release the drive component 202g, and the support spring 202f-3 releases its elastic potential energy to drive the insertion block 202b into the side groove 202a.

[0043] In summary, the setting of the return device M facilitates better resetting of the steering rod 100, and the setting of the drive component 202g facilitates better disengagement of the insert block 202b in the side groove 202a. The movement trajectory of the steering rod 100 is translational, which facilitates the resetting of the return device M. Regardless of whether the steering rod 100 translates to the left or right, the steering angle of the return device M is the same.

[0044] Example 3, referring to Figures 2-8 This is the third embodiment of the present invention. Unlike the previous embodiment, the straightening component 301 includes a connecting strip 301a disposed on the storage tube 201c, a shell 301b disposed on the connecting strip 301a, a base plate 301c disposed at the bottom of the shell 301b, and a toothed sleeve 301d disposed on the shell 301b. The base plate 301c is attached to the shell 301b.

[0045] Specifically, the housing 301b is designed to better limit the position of the gear sleeve 301d, and the gear sleeve 301d is designed to better transfer the potential energy of the power storage component 302 to the housing 301b, which in turn transfers the energy to the steering rod 100 via the housing 301b and the connecting belt 301a. The housing 301b is made of stainless steel and is fixedly connected to the gear sleeve 301d. The gear sleeve 301d is rotatably connected to the base plate 301c via a bearing.

[0046] The energy storage component 302 includes an external component 302a disposed around the periphery of the gear sleeve 301d, and an internal component 302b disposed inside the external component 302a. The external component 302a includes a gear cover 302a-1 disposed on the gear sleeve 301d, and a shaft 302a-2 disposed inside the gear cover 302a-1. The internal component 302b includes a stop plate 302b-1 and an energy storage component 302b-2 disposed on the base plate 301c, a fixing strip 302b-3 disposed on the inner wall of the gear cover 302a-1, an arc rod 302b-4 disposed on the fixing strip 302b-3, a top cover 302b-5 disposed on the arc rod 302b-4, an arc spring 302b-6 disposed between the top cover 302b-5 and the fixing strip 302b-3, and a shaft 302a-2 disposed at the distal end of the arc rod 302b-4. The side rod 302b-7 is located at one end of the top cover 302b-5 and is adapted to the abutment plate 302b-1. The energy storage component 302b-2 includes a ring box 302b-2a set on the shaft 302a-2, a spring 302b-2b and a wedge block 302b-2c respectively set inside and outside the ring box 302b-2a, the spring 302b-2b is connected to the shaft 302a-2, and the wedge block 302b-2c is adapted to the top cover 302b-5.

[0047] It should be noted that the external component 302a can effectively transmit the elastic potential energy generated by the energy storage component 302b-2 in the internal component 302b, thereby driving the steering rod 100 to quickly reset. The abutment plate 302b-1 effectively weakens the inertia generated after the quick reset. The abutment plate 302b-1 abuts against the side rod 302b-7, thereby avoiding the situation where the arc spring 302b-6 cannot stabilize in time after the quick reset. There are three ring boxes 302b-2a. The initial angle of the ring boxes 302b-2a increases from bottom to top, so that when the steering rod 100 moves the first distance, only the spring spring 302b-2b in the ring box 302b-2a is active. When it moves to the second distance, the reset force increases. When it moves to the third distance, the reset force reaches its maximum, thereby making its reset speed faster.

[0048] The rest of the structure is the same as in Example 2.

[0049] When in use, the steering rod 100 moves when the vehicle turns, which in turn moves the connecting belt 301a. The connecting belt 301a rotates the housing 301b, which in turn rotates the gear sleeve 301d. The rotation of the gear sleeve 301d rotates the four gear covers 302a-1, which in turn rotates the fixed strip 302b-3, the arc rod 302b-4, the arc spring 302b-6, and the top cover 302b-5 in the internal components. The top cover 302b-5 abuts against the inclined block 302b-2c, thereby causing the arc spring 302b-6 and the spring 302b-2b to contract and accumulate elastic potential energy. After the steering rod 100 has moved, the arc spring 302b-6 and the spring 302b-2b release their elastic potential energy, thereby quickly resetting the steering rod 100.

[0050] In summary, the housing 301b facilitates better limiting of the gear sleeve 301d, and the gear sleeve 301d facilitates better transmission of the potential energy of the energy storage component 302 to the housing 301b, which in turn transmits the energy to the steering rod 100 via the housing 301b and connecting belt 301a. The external component 302a effectively transmits the elastic potential energy generated by the energy storage component 302b-2 in the internal component 302b, thereby driving the steering rod 100 to quickly reset. The abutment plate 302b-1 effectively weakens the inertia generated after rapid reset. The abutment plate 302b-1 abuts against the side rod 302b-7, thereby preventing the arc spring 302b-6 from failing to stabilize in time after rapid reset.

[0051] It is important to note that the constructions and arrangements of this application shown in several different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who consult this disclosure will readily understand that many modifications are possible (e.g., changes in the size, dimensions, structure, shape, and proportions of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in this application). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of elements may be inverted or otherwise altered, and the nature or number or position of discrete elements may be changed or altered. Therefore, all such modifications are intended to be included within the scope of the invention. The order or sequence of any process or method steps may be changed or rearranged according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and not only structurally equivalent but also equivalent in structure. Other substitutions, modifications, alterations, and omissions may be made in the design, operation, and arrangement of the exemplary embodiments without departing from the scope of the invention. Therefore, the present invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0052] Furthermore, in order to provide a concise description of exemplary embodiments, not all features of actual embodiments (i.e., those features that are not relevant to the best mode of carrying out the invention as currently considered, or those features that are not relevant to implementing the invention) may be omitted.

[0053] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.

[0054] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An electric power steering system, characterized in that: include, Collect input torque signal, vehicle speed signal, and steering wheel angle signal; The torque change rate is calculated based on the input torque signal and preset values; Calculate the vehicle speed change rate based on the vehicle speed and preset values; Calculate the rate of change of current based on the input torque and preset value; The electric power steering system calculates the return parameters and assists the vehicle to return to center through a return device. The return device (M) includes a steering rod (100), an adjustment mechanism (200) disposed on the steering rod (100), and a return mechanism (300) disposed on the adjustment mechanism (200). The adjustment mechanism (200) includes a receiving component (201) disposed on the steering rod (100) and an adjustment component (202) disposed on the steering rod (100); The return mechanism (300) includes a return component (301) disposed on the adjustment component (202) and a power storage component (302) disposed on the return component (301); The accommodating component (201) includes an accommodating groove (201a) disposed on the steering rod (100), a placement groove (201b) disposed on the accommodating groove (201a), a storage tube (201c) disposed in the placement groove (201b), and a drive handle (201d) disposed on the storage tube (201c); The adjusting component (202) includes a side groove (202a) disposed on the storage cylinder (201c), an insert block (202b) disposed on the side groove (202a), a crossbar (202c) disposed on the insert block (202b), an insert block (202d) and an inner groove (202e) disposed on the crossbar (202c), a positioning member (202f) disposed on the crossbar (202c), a driving member (202g) disposed on the inner groove (202e), and an external member (202h) disposed on the driving member (202g).

2. The electric power steering system as described in claim 1, characterized in that: The system's process is as follows: input torque sensor parameter verification and limiting, calculate torque change rate based on input torque, calculate vehicle speed change rate based on vehicle speed, calculate current based on input torque, and calculate homing parameters.

3. The electric power steering system as described in claim 2, characterized in that: Compensation is achieved through preset values ​​and multiple acquisition modules.

4. A return-to-center device, characterized in that: It includes a steering rod (100), an adjustment mechanism (200) disposed on the steering rod (100), and a return mechanism (300) disposed on the adjustment mechanism (200); The adjustment mechanism (200) includes a receiving component (201) disposed on the steering rod (100) and an adjustment component (202) disposed on the steering rod (100); The return mechanism (300) includes a return component (301) disposed on the adjustment component (202) and a power storage component (302) disposed on the return component (301); The accommodating component (201) includes an accommodating groove (201a) disposed on the steering rod (100), a placement groove (201b) disposed on the accommodating groove (201a), a storage tube (201c) disposed in the placement groove (201b), and a drive handle (201d) disposed on the storage tube (201c); The adjusting component (202) includes a side groove (202a) disposed on the storage cylinder (201c), an insert block (202b) disposed on the side groove (202a), a crossbar (202c) disposed on the insert block (202b), an insert block (202d) and an inner groove (202e) disposed on the crossbar (202c), a positioning member (202f) disposed on the crossbar (202c), a driving member (202g) disposed on the inner groove (202e), and an external member (202h) disposed on the driving member (202g).

5. The return-to-center device as described in claim 4, characterized in that: The positioning component (202f) includes a positioning round rod (202f-1) disposed on the crossbar (202c), a positioning seat (202f-2) disposed on the positioning round rod (202f-1), and a support spring (202f-3) disposed between the positioning seat (202f-2) and the crossbar (202c). The positioning seat (202f-2) is fixedly connected to the steering rod (100). The driving component (202g) includes a bottom rod (202g-1) disposed on the inner groove (202e), an outer rod (202g-2) and a top block (202g-3) disposed on the bottom rod (202g-1), and the top block (202g-3) is adapted to the plug block (202d); The external component (202h) includes a housing (202h-1) disposed on the steering rod (100) and a side groove (202h-2) disposed on the housing (202h-1), the side groove (202h-2) being adapted to the external rod (202g-2).

6. The alignment device as described in claim 5, characterized in that: The return component (301) includes a connecting strip (301a) disposed on the storage tube (201c), a shell (301b) disposed on the connecting strip (301a), a base plate (301c) disposed at the bottom of the shell (301b), and a toothed sleeve (301d) disposed on the shell (301b). The base plate (301c) is in contact with the shell (301b).

7. The alignment device as described in claim 6, characterized in that: The power storage component (302) includes an external component (302a) disposed on the periphery of the toothed sleeve (301d) and an internal component (302b) disposed inside the external component (302a); The external component (302a) includes a gear cover (302a-1) disposed on the gear sleeve (301d) and a shaft (302a-2) disposed inside the gear cover (302a-1).

8. The return-to-center device as described in claim 7, characterized in that: The built-in component (302b) includes a stop plate (302b-1) and a power storage member (302b-2) disposed on the substrate (301c), a fixing strip plate (302b-3) disposed on the inner wall of the tooth cover (302a-1), an arc rod (302b-4) disposed on the fixing strip plate (302b-3), a top cover (302b-5) disposed on the arc rod (302b-4), an arc spring (302b-6) disposed between the top cover (302b-5) and the fixing strip plate (302b-3), and a side rod (302b-7) disposed at the end of the arc rod (302b-4) away from the top cover (302b-5), wherein the side rod (302b-7) is adapted to the stop plate (302b-1); The energy storage component (302b-2) includes a ring box (302b-2a) disposed on the shaft (302a-2), a spring (302b-2b) and a wedge block (302b-2c) respectively disposed inside and outside the ring box (302b-2a), the spring (302b-2b) being connected to the shaft (302a-2), and the wedge block (302b-2c) being adapted to the top cover (302b-5).

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