A method and device for compensating for a steering assist

Abstract

The application discloses a kind of compensation methods and devices of steering assist, it is related to steering assist technical field, including, damping compensation, its specific steps are as follows: the current rotation angle of steering wheel, current hand torque and current vehicle speed are acquired, and based on current rotation angle, determine angular velocity;Wherein, target proportion factor is related with current vehicle speed and current hand torque;Based on the corresponding relationship of pre-configured vehicle speed and damping coefficient, determine the target damping coefficient corresponding to current vehicle speed;Wherein, vehicle speed and damping coefficient are positively correlated in corresponding relationship;Based on angular velocity, target proportion factor and target damping coefficient, determine damping compensation torque.The beneficial effects of the present application are that by parameter table calibration, different vehicles can be quickly completed compensation parameter setting, in addition, friction and damping compensation can be realized by simple rotation angle sensor input.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of steering assist, in particular to a compensation method and device for steering assist. BACKGROUND

[0002] The electric power steering system currently applied to automobiles mainly includes the current rotation angle of the steering wheel, the current hand torque and the current vehicle speed, and determines the angular velocity based on the current rotation angle; the target proportional factor is related to the current vehicle speed and the current hand torque; the target damping coefficient corresponding to the current vehicle speed can be determined based on the corresponding relationship between the vehicle speed and the damping coefficient pre-configured; and the vehicle speed and the damping coefficient are positively correlated in the corresponding relationship; and the damping compensation torque is determined based on the angular velocity, the target proportional factor and the target damping coefficient.

[0003] The prior art fails to separate and calculate the friction compensation and the damping compensation, and cannot finely compensate the current at different angular velocities under the same vehicle speed. SUMMARY

[0004] Some simplifications or omissions may be made in this section, as well as in the summary of the application and the title of the application, in order to avoid obscuring the purpose of this section, the summary of the application and the title of the application, and such simplifications or omissions cannot be used to limit the scope of the application.

[0005] In view of the above or the problems existing in the prior art, the present application is proposed.

[0006] Therefore, the purpose of the present application is to provide a compensation method and device for steering assist, which solves the problem that the prior art fails to separate and calculate the friction compensation and the damping compensation, and cannot finely compensate the current at different angular velocities under the same vehicle speed.

[0007] To solve the above technical problems, the present application provides the following technical solutions: a compensation method for steering assist, which includes damping compensation, and the specific steps are as follows:

[0008] The current rotation angle of the steering wheel, the current hand torque and the current vehicle speed are obtained, and the angular velocity is determined based on the current rotation angle; wherein the target proportional factor is related to the current vehicle speed and the current hand torque;

[0009] The target damping coefficient corresponding to the current vehicle speed is determined based on the corresponding relationship between the vehicle speed and the damping coefficient pre-configured; wherein the vehicle speed and the damping coefficient are positively correlated in the corresponding relationship;

[0010] The damping compensation torque is determined based on the angular velocity, the target proportional factor and the target damping coefficient.

[0011] As a preferred scheme of the compensation method for the steering assist of the application, wherein: further comprising friction compensation, and the specific steps are as follows: the steering wheel rotation angular velocity is limited within a certain range through the input of the rotation angle sensor to the EPS controller; the friction compensation parameters are calculated through the query of the friction compensation table, specifically, the friction proportion value is calculated, and the angular velocity integral value is calculated according to the angular velocity; the friction is calculated according to the proportion and integral value; the friction direction is set, and the friction parameter value is limited; and the friction is superimposed on the output of the steering assist motor.

[0012] As a preferred scheme of the compensation method for the steering assist of the application, wherein: the calculation of the friction compensation and the damping compensation is specifically that the EPS controller identifies the vehicle state through the rotation angle sensor and the CAN bus, calculates the related parameters of the friction compensation and the damping compensation, and then superimposes the parameters on the output of the steering assist motor.

[0013] As a preferred scheme of the compensation method for the steering assist of the application, wherein: the limitation of the steering wheel rotation angular velocity within a certain range is specifically as follows: the steering wheel rotation angular velocity is limited within the range of-300° / s and 300° / s, and if it is not within the range, it is ±300.

[0014] It is judged whether the vehicle speed is greater than or equal to 140km / h, that is, the vehicle speed index is 14, if the vehicle speed is less than 140km / h, the vehicle speed index is vehicle speed / 10+, the damping compensation table is queried according to the vehicle speed index, the damping compensation parameters are calculated, and the damping compensation parameters are directly superimposed on the output of the steering assist motor.

[0015] As a preferred scheme of the compensation method for the steering assist of the application, wherein: the steering wheel rotation angular velocity is calculated through the PWM waveform of the rotation angle sensor; and the friction compensation table and the damping compensation table are obtained through calibration, and the damping compensation table is calibrated according to the vehicle speed segment.

[0016] To solve the above technical problems, the application further provides the following technical scheme: a steering assist auxiliary device, which comprises a locking unit, a plurality of limiting blocks arranged in the interior of a tray, a reset spring arranged on one side of the limiting block, and a prismatic protrusion arranged in the center of the tray;

[0017] An access unit, comprising a guide column, a prismatic groove arranged at the bottom of the guide column, and a locking ring arranged at the bottom of the guide column;

[0018] A locking ring, comprising a ring-shaped protrusion arranged at the bottom thereof; and,

[0019] A steering wheel;

[0020] The locking unit is movably connected with the access unit; the unlocking ring is arranged on the guide column; and the steering wheel is fixedly connected with the upper end of the guide column.

[0021] As a preferred scheme of the auxiliary device for the steering assist of the application, wherein: the tray comprises a plurality of round holes arranged on one side thereof, a square slot arranged on one side of the round hole, and a pair of blocking strips arranged at the slot opening of the square slot.

[0022] The limiting block comprises a cylinder arranged on one side thereof, and a triangular block arranged on the other side of the limiting block.

[0023] The locking ring comprises an inclined surface arranged at the bottom thereof.

[0024] As a preferred scheme of the auxiliary device for the steering assist of the application, wherein: the power unit comprises an input shaft and a plurality of transmission assemblies arranged around the input shaft; the conversion unit comprises a support disc, a plurality of telescopic rods arranged around the support disc, and a balancing assembly arranged below the telescopic rods; the transmission unit comprises a threaded pipe and an output shaft arranged inside the threaded pipe; and the protective shell.

[0025] The upper end of the protective shell is movably connected with the power unit; the lower end of the protective shell is movably connected with the transmission unit; the conversion unit is located between the power unit and the transmission unit, and the conversion unit is movably connected with the power unit and the transmission unit, respectively.

[0026] As a preferred scheme of the auxiliary device for the steering assist of the application, wherein: the input shaft comprises a support piece arranged on the shaft body thereof, a driving wheel arranged at the lower end of the support piece, and a first limiting column arranged below the driving wheel.

[0027] The transmission assembly comprises a positioning column, a plurality of hinged rods arranged on the column body of the positioning column, a first driven gear arranged on the column body of the positioning column, a movable rod arranged on one side of the positioning column, a second driven gear arranged on the rod body of the movable rod, a ladder arranged below the movable rod, and a support spring arranged between the movable rod and the ladder.

[0028] The movable rod comprises a second limiting column arranged on the top thereof, and a limiting groove arranged in the inner cavity of the movable rod.

[0029] The ladder comprises a first positioning rod arranged on the top thereof, a limiting strip arranged on one side of the first positioning rod, and a positioning hole arranged at the bottom of the ladder.

[0030] The movable rod is fixedly connected with the second driven gear.

[0031] The support disc comprises a plurality of sleeves arranged around the support disc, a moving groove arranged through one side of the sleeves, a pressure bearing cylinder arranged below the support disc, a prismatic hole arranged inside the pressure bearing cylinder, a first thread arranged on the outer wall of the pressure bearing cylinder, a support arranged at the bottom of the sleeves, a plug-in sleeve arranged at the bottom of the support, and a plug-in groove arranged on the inner wall of the plug-in sleeve;

[0032] The telescopic rod comprises a first hinge column arranged on the side wall of the telescopic rod, and a second positioning rod arranged at the end of the telescopic rod;

[0033] The balance assembly comprises a movable ring, a pressure bearing spring arranged at the bottom of the movable ring, a plurality of connecting rods arranged around the pressure bearing spring, and an adjusting nut arranged at the bottom of the pressure bearing spring;

[0034] The movable ring comprises a plurality of second hinge columns arranged around the movable ring.

[0035] As a preferred scheme of the auxiliary device of the steering assist of the application, wherein: the threaded pipe comprises a plug-in strip arranged at the top of the threaded pipe, a second thread arranged on the side wall of the threaded pipe, and a knurled ring arranged at the bottom of the threaded pipe;

[0036] The output shaft comprises a connecting column arranged at the top of the output shaft; the protective shell comprises a conical inner cavity arranged inside the protective shell, and an inspection door arranged on the side wall of the protective shell.

[0037] The application has the following beneficial effects: the application can quickly complete the setting of compensation parameters for different vehicles through the calibration of the parameter table, and can realize friction and damping compensation through the simple input of a rotation angle sensor. In addition, the auxiliary device can have diversified transmission ratios before the determination test, and the transmission ratio can be linearly adjusted, which enriches the test conditions. In addition, the auxiliary device also pre-configures the transmission torque of the steering wheel, and the device structure is compact and reliable, simple and easy to implement. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can also be obtained by those skilled in the art without any creative effort. Among them:

[0039] Figure 1 The working principle of the friction compensation of the application.

[0040] Figure 2 The working principle of the damping compensation of the application.

[0041] Figure 3A compensation device of the present application.

[0042] Figure 4 An EPS circuit diagram of the present application.

[0043] Figure 5 A steering assist motor control diagram of the present application.

[0044] Figure 6 A three-dimensional diagram of the entire auxiliary device of the present application.

[0045] Figure 7 A structure diagram of the locking unit, the access unit and the unlocking ring of the present application.

[0046] Figure 8 A sectional view of the locking unit, the access unit and the unlocking ring of the present application.

[0047] Figure 9 A structure diagram of the power unit, the conversion unit and the transmission unit of the present application.

[0048] Figure 10 A structure diagram of the conversion unit and the transmission unit of the present application.

[0049] Figure 11 A sectional view of the power unit, the conversion unit and the transmission unit of the present application.

[0050] Figure 12 A supplemental explanatory diagram of the present application. Figure 11 A partial enlarged view A of the present application.

[0051] Figure 13 A supplemental explanatory diagram of the present application. DETAILED DESCRIPTION

[0052] In order to make the above objectives, features and advantages of the present application more obvious and comprehensible, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0053] In the following description, a lot of specific details are set forth in order to provide a thorough understanding of the present application, but the present application can also be implemented in other ways different from those described herein, and those skilled in the art can make similar generalizations without departing from the spirit of the present application, so the present application is not limited to the specific embodiments disclosed below.

[0054] Secondly, the "one embodiment" or "embodiment" referred to herein means that a specific feature, structure or characteristic can be included in at least one implementation of the present application. "In one embodiment" appearing in different places in the specification does not mean the same embodiment, nor does it mean an embodiment that is separate from or mutually exclusive with other embodiments.

[0055] Example 1

[0056] Referring to Figures 1-5 For the first embodiment of the present application, the embodiment provides a compensation method for steering assist, including two methods of damping compensation and friction compensation.

[0057] Specifically, the steps of damping compensation are as follows:

[0058] S1: Obtain the current steering angle, current hand torque and current vehicle speed of the steering wheel, and determine the angular velocity based on the current steering angle.

[0059] Wherein, the target proportional factor is related to the current vehicle speed and the current hand torque.

[0060] S2: Determine the target damping coefficient corresponding to the current vehicle speed based on the pre-configured corresponding relationship between vehicle speed and damping coefficient.

[0061] Wherein, the vehicle speed and the damping coefficient in the corresponding relationship are positively correlated.

[0062] S3: Determine the damping compensation torque based on the angular velocity, the target proportional factor and the target damping coefficient.

[0063] Further, the steering angle sensor is connected to the EPS controller through filtering and 5V pull-up hardware circuit, and is a steering angle signal in the form of PWM, which is calculated by the EPS controller to obtain the steering angle velocity.

[0064] Further, the damping compensation is to improve the convergence of the vehicle, so that the vehicle is stable and does not oscillate when driving. The input of the damping compensation of the EPS controller is the steering angle sensor and the can bus, wherein the steering angle sensor inputs the steering angle velocity of the steering wheel, and the can bus inputs the vehicle speed. First, limit the steering angle velocity of the steering wheel within the range of-300° / s and 300° / s, if it is not within the range, it is ±300, then judge whether the vehicle speed is greater than or equal to 140km / h, i.e. the vehicle speed index is 14, if the vehicle speed is less than 140km / h, the vehicle speed index is vehicle speed / 10+1. According to the vehicle speed index, the damping compensation parameters are calculated by table lookup, which are directly superimposed on the output of the steering assist motor, as shown in Figure 2 and Figure 5 .

[0065] In addition, the friction compensation has the following specific steps:

[0066] The steering angle sensor inputs to the EPS controller, and the steering angle velocity of the steering wheel is limited within a certain range; the friction compensation parameters are calculated by looking up the friction compensation table, specifically, the friction proportional value is calculated, and the angular velocity integral value is calculated according to the angular velocity; the friction force is calculated according to the proportional and integral values; the direction of the friction force is set, and the amplitude limit of the friction force parameter value is set; and it is superimposed on the output of the steering assist motor.

[0067] It should be noted that the calculation of the friction compensation and the damping compensation is that the EPS controller identifies the vehicle state through the rotation angle sensor and the CAN bus, calculates the related parameters of the friction compensation and the damping compensation, and then superimposes the parameters on the output of the steering assist motor.

[0068] In summary, the present application can adapt to different vehicles to quickly complete the setting of compensation parameters through the calibration of the parameter table, and in addition, the friction and damping compensation can be realized through the simple input of the rotation angle sensor.

[0069] Embodiment 2

[0070] Reference Figures 1-8 For the second embodiment of the present application, a steering assist auxiliary device is further provided, which comprises a locking unit 500, a plurality of limiting blocks 502 arranged inside a tray 501, a reset spring 503 arranged on one side of the limiting block 502, and a prismatic protrusion 504 arranged at the center of the tray 501; an access unit 600, comprising a guide column 601, a prismatic groove 602 arranged at the bottom of the guide column 601, and a locking ring 603 arranged at the bottom of the guide column 601; an unlocking ring 700, comprising a ring-shaped protrusion 701 arranged at the bottom thereof; and a steering wheel 800.

[0071] The locking unit 500 is movably connected with the access unit 600; the unlocking ring 700 is sleeved on the guide column 601; and the steering wheel 800 is fixedly connected with the upper end of the guide column 601.

[0072] Further, the tray 501 comprises a plurality of circular holes 501a arranged on one side thereof, a square groove 501b arranged on one side of the circular hole 501a, and a pair of blocking bars 501c arranged at the opening of the square groove 501b; the limiting block 502 comprises a cylindrical block 502a arranged on one side thereof and a triangular block 502b arranged on the other side of the limiting block 502; and the locking ring 603 comprises an inclined surface 603a arranged at the bottom thereof.

[0073] It should be noted that the tray 501 is fixed at the end of the input shaft 101 and has a bowl-shaped structure, three circular holes 501a are uniformly arranged on the outer wall of the tray 501, a square groove 501b is arranged on one side of each circular hole 501a and communicates with the circular hole 501a, and a pair of blocking bars 501c for limiting the maximum displacement of the limiting block 502 are arranged at the opening position of the square groove 501b towards the center of the tray 501, so as to ensure that the limiting block 502 will not fall out of the tray 501 during linear movement.

[0074] Preferably, the limiting block 502 is rectangular when viewed from above, and can move linearly in the square groove 501b. In addition, the cylindrical block 502a on one side of the limiting block 502 can cooperate with the circular hole 501a. The cylindrical block 502a faces the outside of the tray 501, so that the movement state of the limiting block 502 is stable and cannot be pulled out from above the square groove 501b. The opening above the square groove 501b facilitates direct observation of the state of the limiting block 502 by personnel, and facilitates maintenance. A triangular block 502b is also fixed on the other side of the limiting block 502, and the triangular block 502b can pass through the two blocking strips 501c at the corresponding position. In addition, the inclined surface part of the triangular block 502b faces upward.

[0075] Preferably, the reset spring 503 is fixed to the outer wall of the cylindrical block 502a, which can ensure that each limiting block 502 is always pushed towards the blocking strip 501c. At this time, the triangular block 502b just passes through the blocking strip 501c. A prismatic protrusion 504 is also provided in the center of the tray 501, which is a hexagonal prism, and can cooperate with the prismatic groove 602 at the bottom of the guide column 601 to ensure that the guide column 601 can drive the input shaft 101 to rotate.

[0076] Preferably, a steering wheel 800 is also fixed to the upper end of the guide column 601, and a locking ring 603 is also provided at the lower end of the guide column 601. The locking ring 603 is provided with an inclined surface 603a on the outer side below the locking ring 603. Therefore, when the guide column 601 is inserted into the tray 501, the inclined surface 603a can press down the triangular block 502b and force each limiting block 502 to retreat, and finally the locking ring 603 is locked by the reset of the limiting block 502.

[0077] Preferably, an unlocking ring 700 is also provided on the guide column 601, which is made of lightweight plastic and will not cause the limiting block 502 to be unlocked due to its own weight. When a person needs to pull out the guide column 601, the unlocking ring 700 is pressed down, and the annular protrusion 701 at the bottom of the unlocking ring 700 can press down the limiting block 502 through the triangular block 502b, so that the limiting block 502 retracts. At this time, the guide column 601 is unlocked, and then the guide column 601 can be smoothly pulled out.

[0078] In use, the steering wheel 800 needs to be installed, and after the guide column 601 is inserted into the tray 501, the prismatic groove 602 is aligned with the prismatic protrusion 504, and then further inserted into the tray 501. At this time, the three limiting blocks 502 retract until the guide column 601 is completely inserted into the tray 501. At this time, the limiting block 502 resets and locks the guide column 601, and the steering wheel 800 can smoothly drive the input shaft 101.

[0079] When the steering wheel 800 needs to be disassembled, the unlocking ring 700 in the free state is pressed down, the annular protrusion 701 then presses down the three limiting blocks 502, and makes the three limiting blocks 502 retract, at this time the guide column 601 is unlocked, and personnel can smoothly pull out the steering wheel 800.

[0080] In summary, the design can quickly plug and pull the steering wheel 800, so as to test the influence of different steering wheels 800 on the test, and also facilitate the maintenance of the transmission mechanism below the steering wheel.

[0081] Embodiment 3

[0082] Reference Figures 1-8 For the third embodiment of the application, which is different from the first two embodiments: including a power unit 100, including an input shaft 101, and a plurality of transmission assemblies 102 arranged around the input shaft 101;

[0083] The conversion unit 200 includes a support disc 201, a plurality of telescopic rods 202 arranged around the support disc 201, and a balance assembly 203 arranged below the telescopic rods 202.

[0084] The transmission unit 300 includes a threaded pipe 301, and an output shaft 302 arranged inside the threaded pipe 301; and,

[0085] The protective shell 400; the upper end of the protective shell 400 is movably connected with the power unit 100; the lower end of the protective shell 400 is movably connected with the transmission unit 300; the conversion unit 200 is located between the power unit 100 and the transmission unit 300, and the conversion unit 200 is movably connected with the power unit 100 and the transmission unit 300.

[0086] Preferably, the input shaft 101 includes a support piece 101a arranged on the shaft body, a driving wheel 101b arranged at the lower end of the support piece 101a, and a first limiting column 101c arranged below the driving wheel 101b.

[0087] Preferably, the transmission assembly 102 includes a positioning column 102a, a plurality of hinged rods 102b arranged on the column body of the positioning column 102a, a first driven gear 102c arranged on the column body of the positioning column 102a, a movable rod 102d arranged on one side of the positioning column 102a, a second driven gear 102e arranged on the rod body of the movable rod 102d, a ladder 102f arranged below the movable rod 102d, and a supporting spring 102g arranged between the movable rod 102d and the ladder 102f.

[0088] Preferably, the movable rod 102d comprises a second limiting post 102d-1 arranged on the top of the movable rod 102d, and a limiting groove 102d-2 arranged in the inner cavity of the movable rod 102d; the ladder step 102f comprises a first positioning rod 102f-1 arranged on the top of the ladder step 102f, a limiting strip 102f-2 arranged on one side of the first positioning rod 102f-1, and a positioning hole 102f-3 arranged on the bottom of the ladder step 102f; the movable rod 102d is fixedly connected with the second driven gear 102e.

[0089] Preferably, the supporting disc 201 comprises a plurality of sleeves 201a arranged around the supporting disc 201, a moving groove 201b arranged through one side of the sleeve 201a, a pressure bearing cylinder 201c arranged below the supporting disc 201, a prismatic hole 201d arranged in the inner part of the pressure bearing cylinder 201c, a first screw thread 201e arranged on the outer wall of the pressure bearing cylinder 201c, a support 201f arranged on the bottom of the sleeve 201a, a plug-in sleeve 201g arranged on the bottom of the support 201f, and a plug-in groove 201h arranged on the inner wall of the plug-in sleeve 201g.

[0090] Preferably, the telescopic rod 202 comprises a first hinged post 202a arranged on the side wall of the telescopic rod 202, and a second positioning rod 202b arranged on the end of the telescopic rod 202.

[0091] Preferably, the balancing assembly 203 comprises a movable ring 203a, a pressure bearing spring 203b arranged on the bottom of the movable ring 203a, a plurality of connecting rods 203c arranged around the pressure bearing spring 203b, and an adjusting nut 203d arranged on the bottom of the pressure bearing spring 203b.

[0092] Preferably, the movable ring 203a comprises a plurality of second hinged posts 203a-1 arranged around the movable ring 203a.

[0093] Preferably, the threaded tube 301 comprises a plug-in strip 301a arranged on the top of the threaded tube 301, a second screw thread 301b arranged on the side wall of the threaded tube 301, and a knurled ring 301c arranged on the bottom of the threaded tube 301; the output shaft 302 comprises a connecting post 302a arranged on the top of the output shaft 302.

[0094] Preferably, the protective shell 400 comprises a conical inner cavity 401 arranged in the inner part of the protective shell 400, and an inspection door 402 arranged on the side wall of the protective shell 400.

[0095] It should be noted that the protective shell 400 is in the shape of an inverted ladder step, and a through hole is arranged on the upper end face of the protective shell 400 for clamping the input shaft 101, and a threaded hole is arranged on the lower end face of the protective shell 400, and since the second screw thread 301b is arranged on the outer wall of the threaded tube 301, the hole can cooperate with the threaded tube 301. In addition, the conical inner cavity 401 is arranged on the waist of the protective shell 400, and the inner cavity side wall of the conical inner cavity 401 can be in close contact with the outer wall of the ladder step 102f.

[0096] The input shaft 101 is preferably directly connected to the steering wheel, and can be rotated by the user when the steering wheel is rotated. A support piece 101a is fixed to the lower end of the shaft body of the input shaft 101, and the gap between the support piece 101a and the driving wheel 101b can be used to engage the through hole at the upper end of the protective shell 400, so that the input shaft 101 can rotate at the upper end of the protective shell 400 without disengaging. The driving wheel 101b can be directly engaged with the three first driven gears 102c around it. A first limiting column 101c is also fixed to the lower end surface of the driving wheel 101b, and can be hingedly connected to three hinged rods 102b at the same time, and the other end of the hinged rod 102b is hingedly connected to the corresponding three positioning columns 102a.

[0097] Preferably, in the present embodiment, the three hinged rods 102b hingedly connected by the first limiting column 101c can be integrated into a three-pronged special-shaped hinged rod 102b that uniformly diverges in all directions. This is more regular than the movement of three hinged rods 102b connected at the same time, can keep the movement synchronized, and share the torque.

[0098] Preferably, the positioning column 102a is used to cooperate with the first driven gear 102c, and under the support of the hinged rod 102b connected to the first limiting column 101c, the first driven gear 102c is stably arranged on a single horizontal plane and cannot fall off.

[0099] Preferably, each positioning column 102a is connected to two hinged rods 102b, in addition to the hinged rod 102b connected to the first limiting column 101c, the other hinged rod is hingedly connected to the second limiting column 102d-1 at the upper end of the movable rod 102d. All hinged rods 102b can support the first driven gear 102c. In addition, a second driven gear 102e is fixed to the second limiting column 102d-1, and the second driven gear 102e can always engage with the first driven gear 102c. Therefore, when the input shaft 101 rotates, each second driven gear 102e also rotates, and directly drives the corresponding movable rod 102d to rotate.

[0100] Preferably, the first positioning rod 102f-1 at the top of each ladder platform 102f can be directly inserted into the cylindrical inner cavity of the movable rod 102d at the corresponding position. Since the side wall of the first positioning rod 102f-1 is also provided with a limiting strip 102f-2, it can be directly inserted into the limiting slot 102d-2 opened in the side wall of the inner cavity of the movable rod 102d, ensuring that the movable rod 102d can drive the ladder platform 102f to rotate and also support the axial relative displacement between the two, ensuring that the transmission will not be lost when the displacement between the two occurs. The cylindrical inner cavity of the movable rod 102d is relatively long, so a supporting spring 102g is fixed between the top of the cylindrical inner cavity of the movable rod 102d and the top of the first positioning rod 102f-1, which can provide an upward supporting force to the positioning rod 102f-1, reducing the bearing pressure of the hinged rod 102b and improving the transmission efficiency of the entire transmission assembly 102. The supporting spring 102g can also exert a downward force on the ladder platform 102f. Since the positioning hole 102f-3 is opened below the ladder platform 102f, it can be inserted into the second positioning rod 202b at the end of the telescopic rod 202, and the two are connected movably, ensuring that the connection between the ladder platform 102f and the telescopic rod 202 is stable and will not slip.

[0101] Preferably, the transmission assembly 102 has three groups. When the three-layer ladder platform 102f rotates, it can pass through the corresponding telescopic rod 202. Due to the tapered inner cavity 401, it can rely on the face-to-face friction form to force the supporting disc 201 to rotate and increase the torque of the supporting disc 201.

[0102] Preferably, the ladder platform 102f can be made of rubber material and has a certain deformation ability to ensure reliable friction.

[0103] Preferably, the side wall of the supporting disc 201 is fixed with three sleeves 201a uniformly distributed, which can cooperate with the telescopic rod 202. Therefore, the telescopic rod 202 can slide linearly inside the sleeve 201a. In order to further ensure the stability during sliding and avoid the tendency of rotation, the side wall of the sleeve 201a is also provided with a through moving slot 201b in the vertical direction, which is used to insert the first hinged column 202a.

[0104] Preferably, the supporting disc 201 is also fixed with a pressure cylinder 201c, which is provided with a first thread 201e on the outer wall and can cooperate with the adjusting nut 203d. The inside of the pressure cylinder 201c is also provided with a one-sided through prism hole 201d in the shape of a hexagonal prism, which can be directly inserted into the connecting column 302a on the output shaft 302. The connecting column 302a is also in the shape of a hexagonal prism, ensuring that the supporting disc 201 can output transmission power to the output shaft 302 when rotating.

[0105] Preferably, three supports 201f are fixed below the three sleeves 201a respectively, and a ring-shaped insertion sleeve 201g is fixed at the bottom of each support 201f. An insertion groove 201h is formed in the inner wall of the insertion sleeve 201g, which is used to cooperate with the annular insertion strip 301a on the threaded pipe 301. Therefore, the insertion sleeve 201g and the insertion sleeve 201g can rotate relative to each other. When the person rotates the knurled ring 301c, the threaded pipe 301 will rotate upwards or downwards, and the entire support disc 201 will also rise or fall. In addition, the rising action and the rotating action of the support disc 201 are independent of each other and do not interfere with each other. The threaded pipe 301 itself has the self-locking ability of moving in the axial direction, so as to ensure the stability of the position of the support disc 201.

[0106] Preferably, those skilled in the art can easily think of how to further lock the threaded pipe 301.

[0107] Preferably, the movable ring 203a is sleeved on the outer wall of the pressure cylinder 201c, and three second hinge columns 203a-1 are fixed on the outer wall of the movable ring 203a.

[0108] Preferably, the number of connecting rods 203c is three, and the two ends of each connecting rod 203c are respectively hingedly connected with the first hinge column 202a and the second hinge column 203a-1. When the movable ring 203a moves in the axial direction, each connecting rod 203c can force the telescopic rod 202 to displace horizontally.

[0109] Preferably, a pressure spring 203b is further fixed between the adjusting nut 203d and the movable ring 203a. The pressure spring 203b can exert an upward force on the movable ring 203a, so as to ensure that the telescopic rod 202 always pushes against the inner wall of the conical inner cavity 401, so that the ladder platform 102f is always close to the inner wall of the conical inner cavity 401.

[0110] Preferably, when the threaded pipe 301 rises, the telescopic rod 202 gradually extends outward, so that the movable ring 203a rises, directly causing the compression of the pressure spring 203b to decrease, so that the friction between the ladder platform 102f and the inner wall of the conical inner cavity 401 decreases, so that the ladder platform 102f and the inner wall of the conical inner cavity 401 cannot form relative effective movement. Therefore, the person can open the maintenance door 402 and rotate the adjusting nut 203d by using a wrench, so as to ensure that the force provided by the pressure spring 203b is always effective and reliable.

[0111] When in use, the input shaft 101 can drive the first driven gear 102c and the second driven gear 102e to rotate, and further drive the ladder 102f to rotate. Since the taper of the ladder 102f is consistent with the taper of the conical inner cavity 401, the ladder 102f can be maximally attached to the inner wall of the conical inner cavity 401 and move along the inner wall, so as to rotate the support disc 201. Since the output shaft 302 is inserted into the prism hole 201d through the six-prism connecting column 302a, the output shaft 302 is also driven to rotate.

[0112] When the torque needs to be adjusted, the person can rotate the threaded pipe 301, so that the support disc 201 goes up or down, and the ladder 102f goes up or down along the inner wall of the conical inner cavity 401. At this time, the transmission ratio changes linearly, the telescopic rod 202 extends or retracts, and the movable ring 203a rises or falls. At this time, the force of the pressure spring 203b changes, which directly leads to the change of the friction between the ladder 102f and the inner wall of the conical inner cavity 401. Therefore, the person needs to actively intervene in the force of the pressure spring 203b.

[0113] When the ladder 102f goes up or down, the horizontal position of the ladder 102f also changes. At this time, since the length of the hinged rod 102b is determined, the center line between the driving wheel 101b and the first driven gear 102c remains unchanged, and the center line between the first driven gear 102c and the second driven gear 102e also remains unchanged. That is, the meshing relationship between the driving wheel 101b, the first driven gear 102c and the second driven gear 102e does not change. Since the positioning column 102a has two hinged rods 102b, even if the positions of the first driven gear 102c and the second driven gear 102e change with the horizontal movement of the ladder 102f, the transmission from the input shaft 101 will not be interrupted.

[0114] When the ladder 102f goes up or down, the longitudinal displacement between the movable rod 102d and the ladder 102f changes accordingly. Since the limiting strip 102f-2 cooperates with the limiting groove 102d-2, the transmission from the input shaft 101 will not be interrupted.

[0115] When the friction between the ladder 102f and the inner wall of the conical inner cavity 401 needs to be adjusted, the maintenance door 402 is opened, and the adjusting nut 203d is manually rotated, so that the pressure spring 203b can always provide appropriate force.

[0116] In summary, the auxiliary device mentioned in the design can have diversified transmission ratios before the test, and the transmission ratio can be linearly adjusted, which enriches the test conditions. In addition, the auxiliary device also pre-configures the transmission torque of the steering wheel, and the device structure is compact and reliable, simple and easy to implement.

[0117] Importantly, it should be noted that the constructions and arrangements of the present application shown in the various exemplary embodiments are by way of illustration only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily understand that many modifications can be made to the embodiments without materially departing from the novel teachings and advantages of the subject matter described in this application (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters, mounting arrangements, use of materials, colors, orientations, locations, and the like). For example, elements shown as integrally formed can be constructed of multiple parts or elements, the position of elements can be reversed or otherwise varied, and the nature or number of elements or positions can be altered or varied. Accordingly, all such modifications are intended to be included within the scope of the present application. The order or sequence of any process or method steps can be varied or re-sequenced without materially affecting the application. Any "means plus function" clauses are intended to cover the structures described herein as performing the recited functions and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes, and omissions can be made in the design, operating conditions, and arrangement of the exemplary embodiments without departing from the scope of the present application. Accordingly, the present application is not limited to the particular embodiments described and illustrated herein, but extends to equivalents of which the foregoing describes are intended to cover.

[0118] Furthermore, in order to provide a concise description of exemplary embodiments, all features of an actual implementation can not be described (i.e., those unrelated to the presently contemplated best mode of carrying out the application, or those unrelated to enabling the claimed application).

[0119] It is to be understood that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions can be made. Such development efforts can inevitably lead to a number of substitutions, modifications, changes, and omissions of features not specifically described herein, but which can be readily made by those of ordinary skill in the art having the benefit of this disclosure. The presently disclosed application is therefore to be considered in all respects as illustrative and not restrictive, since the scope of the application should be determined not with reference to the above description but should be given with reference to the appended claims.

[0120] It should be noted that the above examples are only used to illustrate the technical solutions of the present application but not limit the present application, and although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the present application, and all should be included in the scope of the claims of the present application.

Claims

1. A steering assist device, characterized in that: include, The locking unit (500) includes a tray (501), a plurality of limiting blocks (502) disposed inside the tray (501), a return spring (503) disposed on one side of the limiting block (502), and a prism protrusion (504) disposed at the center of the tray (501). The access unit (600) includes a guide post (601), a prismatic groove (602) disposed at the bottom of the guide post (601), and a locking ring (603) disposed at the bottom of the guide post (601). The unlocking ring (700) includes an annular protrusion (701) located at its bottom; as well as, Steering wheel (800); The locking unit (500) is movably connected to the access unit (600); the unlocking ring (700) is sleeved on the guide post (601); the steering wheel (800) is fixedly connected to the upper end of the guide post (601); The power unit (100) includes an input shaft (101) and a plurality of transmission components (102) disposed around the input shaft (101); the conversion unit (200) includes a support plate (201), a plurality of telescopic rods (202) disposed around the support plate (201), and a balancing component (203) disposed below the telescopic rods (202); the transmission unit (300) includes a threaded tube (301) and an output shaft (302) disposed inside the threaded tube (301); and a protective shell (400); the tray (501) is fixed to the end of the input shaft (101); The upper end of the protective shell (400) is movably connected to the power unit (100); the lower end of the protective shell (400) is movably connected to the transmission unit (300); the conversion unit (200) is located between the power unit (100) and the transmission unit (300), and the conversion unit (200) is movably connected to the power unit (100) and the transmission unit (300) respectively; The input shaft (101) includes a support plate (101a) disposed on its shaft body, a drive wheel (101b) disposed at the lower end of the support plate (101a), and a first limiting post (101c) disposed below the drive wheel (101b). The transmission assembly (102) includes a positioning post (102a), a plurality of hinge rods (102b) disposed on the body of the positioning post (102a), a first driven gear (102c) disposed on the body of the positioning post (102a), a movable rod (102d) disposed on one side of the positioning post (102a), a second driven gear (102e) disposed on the body of the movable rod (102d), a platform (102f) disposed below the movable rod (102d), and a support spring (102g) disposed between the movable rod (102d) and the platform (102f). The movable rod (102d) includes a second limiting post (102d-1) disposed on its top and a limiting groove (102d-2) disposed in the inner cavity of the movable rod (102d). The ladder (102f) includes a first positioning rod (102f-1) disposed on its top, a limiting strip (102f-2) disposed on one side of the first positioning rod (102f-1), and a positioning hole (102f-3) disposed on the bottom of the ladder (102f). The movable rod (102d) is fixedly connected to the second driven gear (102e); The support plate (201) includes a plurality of sleeves (201a) disposed around it, a movable groove (201b) through one side of the sleeve (201a), a pressure-bearing cylinder (201c) disposed below the support plate (201), a prism hole (201d) disposed inside the pressure-bearing cylinder (201c), a first thread (201e) disposed on the outer wall of the pressure-bearing cylinder (201c), a bracket (201f) disposed at the bottom of the sleeve (201a), a plug-in sleeve (201g) disposed at the bottom of the bracket (201f), and a plug-in groove (201h) disposed on the inner wall of the plug-in sleeve (201g). The telescopic rod (202) includes a first hinge post (202a) disposed on its side wall and a second positioning rod (202b) disposed at the end of the telescopic rod (202). The balancing assembly (203) includes a movable ring (203a), a pressure spring (203b) disposed at the bottom of the movable ring (203a), a plurality of connecting rods (203c) disposed around the pressure spring (203b), and an adjusting nut (203d) disposed at the bottom of the pressure spring (203b). The movable ring (203a) includes a plurality of second hinge posts (203a-1) disposed around it.

2. The steering assist device as described in claim 1, characterized in that: The tray (501) includes a plurality of round holes (501a) disposed on one side thereof, a square groove (501b) disposed on one side of the round holes (501a), and a pair of barrier strips (501c) disposed at the opening of the square groove (501b). The limiting block (502) includes a cylinder (502a) disposed on one side thereon, and a triangular block (502b) disposed on the other side of the limiting block (502). The locking ring (603) includes a bevel (603a) disposed at its bottom.

3. The steering assist device as described in claim 2, characterized in that: The threaded tube (301) includes a plug strip (301a) disposed on its top, a second thread (301b) disposed on the side wall of the threaded tube (301), and a knurled ring (301c) disposed on the bottom of the threaded tube (301). The output shaft (302) includes a connecting post (302a) disposed on its top; the protective housing (400) includes a conical inner cavity (401) disposed inside it, and an inspection door (402) disposed on the side wall of the protective housing (400).

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