Power-assisted steering device and power-assisted steering method for tractor

Abstract

The invention provides a power-assisted steering device and method for a tractor, and relates to the technical field of commercial vehicle moving, the power-assisted steering device comprises a power-assisted steering assembly, one end of the power-assisted steering assembly is detachably connected with a steering wheel of the tractor, and the other end of the power-assisted steering assembly is detachably connected with a steering shaft of the tractor; the power-assisted steering assembly comprises a sensor sub-assembly and a driving motor, the sensor sub-assembly is at least used for detecting the rotating angle of a steering wheel, and the driving motor is used for driving a steering shaft to rotate; one end of the fixing assembly is connected with the power-assisted steering assembly, and the other end of the fixing assembly is detachably connected with a pedal armrest of the tractor; under the conditions that one end of the power-assisted steering assembly is connected with the steering wheel, the other end of the power-assisted steering assembly is connected with the steering shaft and the fixing assembly is connected with the pedal handrail, after the steering wheel is operated to rotate by a first preset angle, the driving motor can drive the steering shaft to rotate by a second preset angle; the problem that in the prior art, steering is strenuous when a person moves a vehicle is solved.

Description

Technical Field

[0001] The present application relates to the technical field of commercial vehicle maneuvering, and in particular to a power steering device and a power steering method for a tractor. Background Art

[0002] In the prior art, the application document with publication number CN118206469A discloses a method, device, electronic device and storage medium for providing steering assistance, the method comprising: obtaining configuration information in response to a power-on signal; wherein the configuration information is used to describe the configuration of the current electric power steering system; judging whether the current electric power steering system is in a state to be configured according to the configuration information; when the electric power steering system is in a state to be configured, controlling the power assistance mode of the electric power steering system to be a factory power assistance mode; wherein, in the factory power assistance mode, the electric power steering system provides a default steering assistance. The technical solution provided by the present application can be applied to the scenario where a vehicle needs to be moved urgently from an automobile production line. The factory power assistance mode of the electric power steering system temporarily provides a default steering assistance during emergency movement, solving the technical problem that the electric power steering system in the automobile on the automobile production line cannot provide steering assistance to the driver normally. The invention can realize the scenario of emergency movement of the vehicle when the electric steering system on the production line is to be configured, but it is not suitable for trial production lines.

[0003] Currently, trial vehicles on the trial production line often need to be moved from the trial production line when the vehicle cannot be started, the electric steering system cannot be started, and steering assistance cannot be provided.

[0004] To address the above problems, no effective solution has been proposed yet. Summary of the invention

[0005] The main purpose of the present application is to provide a power steering device and a power steering method for a tractor, so as to solve the problem in the prior art that it is difficult for personnel to steer the tractor when the tractor cannot be started or the steering system does not work during the trial production stage or in the event of a malfunction.

[0006] To achieve the above-mentioned purpose, according to one aspect of the present application, a power steering device for a tractor is provided, comprising: a power steering assembly, one end of which is detachably connected to a steering wheel of the tractor, and the other end of which is detachably connected to a steering shaft of the tractor, the power steering assembly comprising a sensor subassembly and a drive motor, the sensor subassembly being at least used to detect a rotation angle of the steering wheel, and the drive motor being used to drive the steering shaft to rotate; a fixed assembly, one end of which is connected to the power steering assembly, and the other end of which is detachably connected to a pedal handrail of the tractor; wherein, when one end of the power steering assembly is connected to the steering wheel, the other end of the power steering assembly is connected to the steering shaft, and the fixed assembly is connected to the pedal handrail, after the steering wheel is rotated by a first preset angle, the drive motor can drive the steering shaft to rotate by a second preset angle.

[0007] Furthermore, the sensor subassembly includes: an angle sensor, which is used to detect the rotation angle of the steering wheel; and a torque sensor, which is used to detect the torque of the steering wheel.

[0008] Furthermore, the power steering assembly includes: a connecting shaft, one end of the connecting shaft is detachably connected to the steering wheel, the other end of the connecting shaft is detachably connected to the steering shaft, the output end of the drive motor is connected to the connecting shaft, the angle sensor is arranged adjacent to the connecting shaft, and the torque sensor is arranged adjacent to the connecting shaft.

[0009] Furthermore, the connecting shaft is a gear shaft.

[0010] Furthermore, the power steering assembly includes: a first gear, which is arranged adjacent to the angle sensor and is arranged to mesh with the gear of the connecting shaft; and a second gear, which is connected to the output end of the drive motor and is arranged to mesh with the gear of the connecting shaft.

[0011] Furthermore, the power steering assembly includes: a shell, the shell is provided with a through hole, the connecting shaft is passed through the through hole, the fixing assembly is connected to the shell, and the sensor subassembly and the driving motor are both arranged in the shell.

[0012] Furthermore, the fixing assembly includes: grippers, at least two grippers, and the at least two grippers are arranged at intervals along the circumference of the shell.

[0013] According to another aspect of the present application, a power steering method is provided. The power steering method is used for the above-mentioned power steering device for a tractor, and the method includes the following steps: connecting the power steering device between the steering wheel and the steering shaft of the tractor; adjusting the power steering device to connect the fixed component to the pedal handrail of the tractor; obtaining rotation information of the steering wheel, wherein the rotation information includes at least a first preset angle; based on the rotation information, generating a target control strategy set, the target control strategy set is used to control the drive motor to drive the steering shaft to rotate a second preset angle.

[0014] Furthermore, based on the rotation information, generating a target control strategy set includes: when a first preset angle satisfies a first preset condition, determining the forward and reverse direction of the drive motor based on the rotation direction in the rotation information, wherein the forward and reverse directions include at least one of the following: forward and reverse; generating a target control strategy set based on the forward and reverse directions and the torque in the rotation information.

[0015] Furthermore, based on the forward and reverse directions and the torque in the rotation information, a target control strategy set is generated, including: when the torque meets the second preset condition, based on the forward and reverse directions of the drive motor, a first target control strategy in the target control strategy set is generated, and the first target control strategy is used to control the drive motor to output a first target torque value; when the torque meets the third preset condition, based on the forward and reverse directions of the drive motor, a second target control strategy in the target control strategy set is generated, and the second target control strategy is used to control the drive motor to output a second target torque value.

[0016] By applying the technical solution of the present application, the power steering assembly is first connected to the steering wheel and steering shaft of the tractor, and the fixing assembly is adjusted to form a firm connection with the pedal handrail of the vehicle. When the operator turns the steering wheel to a first preset angle, the sensor subassembly detects and transmits the steering information (including the rotation angle and torque value) to the control unit in real time. The control unit calculates and generates a target control strategy set based on the received sensor information. Based on the target control strategy set, the driving motor drives the steering shaft to rotate to a second preset angle to provide necessary steering assistance, thereby solving the problem of the difficulty of steering when the tractor is in the trial production stage or in the event of a fault, when the vehicle cannot be started or the steering system does not work, in the prior art.

[0017] The device can provide accurate and appropriate steering assistance according to different steering requirements, and is especially suitable for vehicles that are not started, significantly reducing the physical exertion and operational complexity of personnel when moving vehicles in an emergency or trial production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0019] Figure 1 A schematic structural diagram of a first embodiment of a power steering device for a tractor according to the present application is shown;

[0020] Figure 2 A schematic structural diagram of a first embodiment of a power steering device for a tractor according to the present application is shown;

[0021] Figure 3 A schematic structural diagram of a first embodiment of a power steering device for a tractor according to the present application is shown;

[0022] Figure 4 A schematic structural diagram of a first embodiment of a power steering device for a tractor according to the present application is shown;

[0023] Figure 5 A schematic structural diagram of a first embodiment of a power steering device for a tractor according to the present application is shown;

[0024] Figure 6 A flow chart of an embodiment of a power steering method according to the present application is shown.

[0025] The above drawings include the following reference numerals:

[0026] 10. Power steering assembly; 100. Housing;

[0027] 11. Sensor subassembly; 111. Angle sensor; 112. Torque sensor;

[0028] 12. Driving motor;

[0029] 13. Connecting shaft;

[0030] 141, first gear; 142, second gear;

[0031] 20. Fixing components;

[0032] 21. Grab handle;

[0033] 30. Steering wheel;

[0034] 40. Steering column. DETAILED DESCRIPTION

[0035] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0036] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0037] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0038] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in a variety of different forms and should not be construed as being limited to the embodiments described herein. It should be understood that these embodiments are provided to make the disclosure of the present application thorough and complete, and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art. In the accompanying drawings, for the sake of clarity, the thickness of the layers and regions may be enlarged, and the same reference numerals are used to represent the same devices, and thus their descriptions will be omitted.

[0039] Combination Figures 1 to 5 In a specific embodiment of the present application, a power steering device for a tractor is provided.

[0040] Specifically, the power steering device for a tractor comprises a power steering assembly 10 and a fixed assembly 20, wherein one end of the power steering assembly 10 is detachably connected to a steering wheel 30 of the tractor, and the other end of the power steering assembly 10 is detachably connected to a steering shaft 40 of the tractor, and the power steering assembly 10 comprises a sensor subassembly 11 and a drive motor 12, wherein the sensor subassembly 11 is at least used to detect the rotation angle of the steering wheel 30, and the drive motor 12 is used to drive the steering shaft to rotate; one end of the fixed assembly 20 is connected to the power steering assembly 10, and the other end of the fixed assembly 20 is detachably connected to a pedal handrail of the tractor; wherein, when one end of the power steering assembly 10 is connected to the steering wheel 30, the other end of the power steering assembly 10 is connected to the steering shaft 40, and the fixed assembly 20 is connected to the pedal handrail, after the steering wheel is rotated by a first preset angle, the drive motor 12 can drive the steering shaft to rotate by a second preset angle.

[0041] Combination Figures 1 to 3 As shown, in this embodiment, the power steering assembly 10 is designed to be detachably connected at both ends to ensure the versatility and convenient installation of the device on different vehicles. The power steering assembly 10 contains a sensor subassembly 11 and a drive motor 12. By collecting the rotation angle of the steering wheel 30 detected by the sensor subassembly 11, the steering assist is determined, and the drive motor 12 outputs the steering assist. The sensor subassembly 11 includes an angle sensor 111 and a torque sensor 112. The angle sensor 111 accurately captures the rotation angle of the steering wheel, while the torque sensor 112 detects the torque value borne by the steering shaft, providing key data for the control strategy. The drive motor 12 is responsible for converting electrical energy into mechanical energy, and accurately controls the rotation of the steering shaft according to the input of the sensor subassembly 11, thereby providing assistance during manual steering. One end of the fixed assembly 20 is fixedly connected to the power steering assembly 10, and the other end is detachably connected to the pedal handrail of the tractor to ensure the stability and position accuracy of the entire device on the vehicle. Among them, the high-precision detection of the sensor subassembly 11 is combined with the intelligent algorithm of the control unit to ensure the accuracy and reliability of the steering assist. The detachable design of the power steering assembly 10 and the fixing assembly 20 improves the versatility and installation convenience of the device, and is suitable for emergency or trial vehicle maneuvering operations of various tractor models. The stable connection between the fixing assembly 20 and the vehicle pedal handrail ensures the stability of the device and the safety of the operator in complex operating environments.

[0042] In the scenario where power steering is required, the power steering assembly 10 is first connected to the steering wheel 30 and the steering shaft 40 of the tractor to ensure a stable connection. Subsequently, the fixing assembly 20 is adjusted to form a firm connection with the pedal handrail of the vehicle. When the operator turns the steering wheel to a first preset angle, the angle sensor 111 and the torque sensor 112 in the sensor subassembly 11 begin to detect and transmit steering information (including rotation angle and torque value) to the control unit in real time. The control unit calculates and generates a target control strategy set based on the received sensor information, which guides the operation of the drive motor 12, including the rotation direction and the output torque value. Based on the precise control strategy, the drive motor 12 drives the steering shaft to rotate to a second preset angle, provides necessary steering assistance, reduces the difficulty of operation, and improves the efficiency of moving the vehicle. Through the intelligent control strategy, the device can provide accurate and appropriate steering assistance according to different steering requirements, especially suitable for vehicles in an unstarted state, significantly reducing the physical exertion and operation complexity of personnel when moving vehicles in an emergency or trial production line.

[0043] The technical solution of the present application provides an efficient steering assistance solution for the tractor under specific circumstances through the coordinated work of the sensor subassembly and the drive motor, combined with the detachable design of the power steering assembly 10, which significantly improves the operating experience and work efficiency, and solves the problem in the prior art that when the tractor is in the trial production stage or in the event of a malfunction, when the vehicle cannot be started or the steering system does not work, it is difficult for personnel to turn the vehicle.

[0044] Furthermore, the sensor subassembly 11 includes an angle sensor 111 and a torque sensor 112. The angle sensor 111 is used to detect the rotation angle of the steering wheel 30; the torque sensor 112 is used to detect the torque of the steering wheel 30. The sensor subassembly 11 not only provides real-time monitoring of the steering angle and torque for the device, but also provides key data for the control unit to ensure that the drive motor 12 can accurately respond to the steering wheel operation and achieve a smooth and precise power steering effect.

[0045] Combination Figure 4As shown, in this embodiment, the angle sensor 111 is located in the power steering assembly 10 and is designed to accurately measure the rotation angle of the steering wheel 30. The core function of the angle sensor 111 is to provide the control unit with real-time steering angle data, which is the key information to determine how the drive motor 12 responds to the steering operation. During the process of moving the car, when the steering wheel rotates to a first preset angle, the angle sensor 111 sends this signal to the control unit, triggering the action of the drive motor 12, thereby driving the steering shaft to rotate to a second preset angle to achieve power steering. The function of the torque sensor 112 is to detect the torque applied by the steering wheel 30 when it rotates. It can monitor the size and direction of the force applied by the operator on the steering wheel to ensure that corresponding assistance can be provided under different operating forces. The output value of the torque sensor 112 provides a basis for adjusting the torque output of the drive motor 12. In the case of high torque, the torque sensor 112 transmits the signal to the control unit, and the control unit calculates the maximum output torque of the motor according to the algorithm to prevent oversteering or improper steering and ensure steering safety. The signals of the angle sensor 111 and the torque sensor 112 are integrated into the control unit, which processes these signals through intelligent algorithms to generate a set of target control strategies. These strategies not only take into account the direction and angle of the steering wheel rotation, but also dynamically adjust the output of the motor according to the torque to ensure that the most appropriate assistance can be provided in any situation, reduce manpower consumption, and improve vehicle moving efficiency and operational safety.

[0046] Furthermore, the power steering assembly 10 includes: a connecting shaft 13, one end of the connecting shaft 13 is detachably connected to the steering wheel 30, the other end of the connecting shaft 13 is detachably connected to the steering shaft 40, the output end of the drive motor 12 is connected to the connecting shaft 13, the angle sensor 111 is arranged adjacent to the connecting shaft 13, and the torque sensor 112 is arranged adjacent to the connecting shaft 13. This arrangement makes the installation and disassembly of the device simple and quick, and enhances the versatility and applicability of the device. Through the integration of the connecting shaft 13, the drive motor 12 and the sensor subassembly 11, the power steering device can achieve high-efficiency, low-manpower steering operations, and provide strong technical support for emergency vehicle movement on the trial production line when the vehicle cannot be started normally.

[0047] Combination Figure 1 and Figure 4 , Figure 5As shown, in this embodiment, the connecting shaft 13 is designed to be detachably connected at both ends, one end is connected to the steering wheel 30, and the other end is connected to the steering shaft 40. This design ensures the compatibility and quick installation capability of the device on different vehicles, and is also convenient for disassembly and maintenance after use. The output end of the drive motor 12 is connected to the connecting shaft 13, so that the rotational force of the motor can be efficiently and directly transmitted to the steering shaft to achieve steering assistance. Among them, the output end of the drive motor 12 can be directly connected to the connecting shaft 13, or it can be indirectly connected to the connecting shaft 13 through a transmission member. This tightly integrated design reduces the energy loss in the power transmission process and improves the efficiency of power steering. The angle sensor 111 and the torque sensor 112 are both arranged near the connecting shaft 13. This layout design is conducive to the rapid response and accurate monitoring of the sensor to the steering wheel operation. The angle sensor 111 can capture the rotation angle of the steering wheel 30 in real time, while the torque sensor 112 monitors the torque change of the steering wheel 30. The signals of both are used in the decision-making process of the control unit to ensure that the power output of the drive motor 12 is both accurate and timely.

[0048] Furthermore, the connecting shaft 13 is a gear shaft. The gears are meshed with the angle sensor 111, the torque sensor 112 and the output gear of the drive motor 12 to form a precise gear transmission system. When the steering wheel is turned, the steering force is transmitted to the steering shaft through the meshing action between the gears to achieve steering assistance. The gear shaft design ensures high efficiency of torque transmission, especially in scenarios where a large torque is required, the meshing between the gears can more stably and directly amplify the torque output by the motor and transmit it to the steering shaft to achieve efficient assistance. The torque sensor 112 is connected to the connecting shaft 13, so that the device can accurately measure and control the torque changes during the rotation process to ensure the smoothness and safety of the steering action. Under different torque conditions, the control unit can adjust the output torque of the gear shaft through the drive motor 12 to adapt to different steering requirements. Through the design of the gear shaft, the transmission ratio can be flexibly adjusted to adapt to different steering assistance requirements and vehicle size characteristics, making the assistance effect of the device more personalized and optimized.

[0049] Combination Figure 4 and Figure 5 As shown, one end of the connecting shaft 13 is provided with an internal spline, and the other end of the connecting shaft 13 is provided with an external spline. By inserting the spline shaft of the steering wheel into the internal spline of the gear shaft, the two can be quickly installed and disassembled, while ensuring the torque transmission efficiency and directional accuracy during the steering process. The external spline can ensure a stable connection between the gear shaft and the steering shaft, while reducing sliding and wear when transmitting torque, and improving the reliability and life of the transmission system. The spline connection design allows the device to complete the connection and disconnection with the steering wheel and steering shaft in a short time, greatly improving the versatility of the device and the response speed in emergency situations.

[0050] In one embodiment of the present application, the connecting shaft 13 is designed as a gear shaft, and internal splines and external splines are respectively provided at its two ends, which not only improves the efficiency of torque transmission and the accuracy of torque control, but also enhances the durability and applicability of the device. It can not only withstand high torque, but also has less wear during long-term use, thereby improving the durability and reliability of the entire power steering system and ensuring stable performance during frequent vehicle moving operations.

[0051] Furthermore, the power steering assembly 10 includes a first gear 141 and a second gear 142. The first gear 141 is arranged adjacent to the angle sensor 111, and the first gear 141 is arranged in meshing engagement with the gear of the connecting shaft 13; the second gear 142 is connected to the output end of the drive motor 12, and the second gear 142 is arranged in meshing engagement with the gear of the connecting shaft 13.

[0052] Combination Figure 4 As shown, in this embodiment, the first gear 141 is designed to be adjacent to the angle sensor 111, and can accurately transmit the rotation information of the steering wheel 30 to the angle sensor 111 through precise meshing with the gear on the connecting shaft 13. The second gear 142 is directly connected to the output end of the drive motor 12, and through meshing with the gear on the connecting shaft 13, the output torque of the motor is efficiently transmitted to the steering shaft 40 of the steering wheel to achieve steering assistance. Through the integration of the first gear 141 and the angle sensor 111, and the precise coupling of the second gear 142 and the drive motor 12, the power steering device of the present invention achieves a steering assistance effect with high efficiency, precise control and strong adaptability, providing strong technical support for emergency vehicle movement or vehicle movement on a trial production line, and significantly improving the safety and convenience of operation.

[0053] Furthermore, the power steering assembly 10 includes a housing 100 , the housing 100 is provided with a through hole, the connecting shaft 13 is passed through the through hole, the fixing assembly 20 is connected to the housing 100 , and the sensor subassembly 11 and the driving motor 12 are both arranged in the housing 100 .

[0054] Combination Figure 2 and Figure 3As shown, the compact layout design inside the housing 100 ensures that key components such as the sensor subassembly 11 and the drive motor 12 can work together efficiently. The design of the through hole allows the connecting shaft 13 (gear shaft) to pass freely, while providing the necessary support and guidance to ensure the stability and accuracy of the gear shaft during the steering process. Through the protection of the housing 100 and the integrated design of the internal components, the power steering assembly 10 of the present invention not only achieves efficient torque transmission and precise steering control, but also improves the integration, durability and operational safety of the entire device. The protective effect of the housing reduces the interference of external factors on the internal components and extends the service life of the device, while the compact layout design makes the device more portable and easy to quickly deploy and use in various emergency vehicle moving scenarios.

[0055] Combination Figure 4 As shown, in one embodiment of the present application, the torque sensor 112 is connected to the connecting shaft 13 (gear shaft), and a bearing is arranged between the bottom of the housing 100 and the torque sensor 112. This arrangement reduces the mechanical friction and wear of the torque sensor 112 during operation, while ensuring its rotational freedom and stability, thereby ensuring the accuracy of torque measurement.

[0056] Furthermore, the fixing assembly 20 includes at least two grippers 21 , and the at least two grippers 21 are arranged at intervals along the circumference of the housing 100 .

[0057] In one embodiment of the present application, the gripper 21 adopts a snap-on fixing design, and the snap is made of high-strength material. This design not only improves the durability of the device, but also simplifies the installation and disassembly process, allowing the driver to quickly switch between different vehicles, and is very suitable for use in scenarios such as car rental and car sales that require frequent movement of different models. The implementation effect of the snap-on design makes the installation and disassembly of the device extremely simple and quick, and the driver can complete the switch within a few seconds, greatly improving the operating efficiency in a multi-model environment. In the car rental and sales industry, this feature is particularly prominent, not only saving staff time, but also improving customer experience, allowing customers to quickly test drive different models, improving service quality and customer satisfaction.

[0058] In one embodiment of the present application, the power steering assembly 10 adopts a dual-motor design. The dual-motor design provides a larger power-assisting range and stronger torque output, which is suitable for large vehicles or vehicle moving needs under high-resistance road conditions, such as heavy trucks, off-road vehicles, etc., ensuring that steering operations can be easily completed under various circumstances. The implementation effect of the dual-motor design significantly improves the power-assisting ability and adaptability of the device, and can provide sufficient torque support even on large vehicles or high-resistance roads, allowing the driver to easily complete steering operations. This feature is particularly important for large vehicles such as heavy trucks and off-road vehicles. It not only improves the efficiency of vehicle moving, but also reduces the driver's operating burden, and improves driving safety and comfort.

[0059] In another embodiment of the present application, a power steering method is further provided. The power steering method is used for the power steering device for a tractor in the above embodiment. The power steering method comprises the following steps:

[0060] Step S1: Connect the power steering device between the steering wheel and the steering shaft of the tractor.

[0061] In step S1, when the vehicle cannot be started or the steering system is not working, the power steering device needs to be connected between the steering wheel and the steering shaft of the tractor first to ensure that the device can be effectively mechanically connected to the steering system of the vehicle, providing a basis for subsequent steering assistance. When connecting, it is necessary to ensure that the connecting shaft is properly engaged with the spline shaft of the steering wheel and the spline groove on the steering shaft, and the fixing assembly can be firmly fixed on the vehicle's step ladder handrail to form a stable working platform.

[0062] Step S2: Adjust the power steering device to connect the fixing assembly to the pedal handrail of the tractor.

[0063] In step S2, the fixing assembly is adjusted and connected to the pedal handrail of the tractor to ensure the safety of the device on the vehicle. The gripper design of the fixing assembly can adapt to different vehicle models and handrail sizes, providing a stable operating point for the operator to easily control the steering wheel during emergency vehicle movement.

[0064] Step S3: Obtaining the rotation information of the steering wheel, wherein the rotation information at least includes a first preset angle.

[0065] In step S3, when the operator starts to turn the steering wheel, the sensor subassembly 11 in the device starts to work and obtains the steering wheel rotation information. The rotation information includes at least the first preset angle of the steering wheel rotation, which is an important parameter for the control unit to determine whether to start the power steering and how to control the steering assist. Through the angle sensor 111, the steering wheel rotation direction and angle can be monitored in real time, providing accurate data input for subsequent torque control.

[0066] Step S4: Based on the rotation information, a target control strategy set is generated, where the target control strategy set is used to control the drive motor to drive the steering shaft to rotate a second preset angle.

[0067] In step S4, specific instructions for controlling the drive motor are included to drive the steering shaft to rotate the second preset angle to achieve steering assistance. The control strategy set is generated based on parameters such as the torque applied by the steering wheel and the first preset angle to ensure that the torque output by the drive motor can accurately match the steering demand, reduce the burden of manual steering operation, and ensure the smoothness and safety of steering.

[0068] Through the above steps, the power steering method of the present invention can provide stable and precise steering assistance in emergency situations when the vehicle is not started or the steering system is not working, greatly reducing the difficulty of turning the steering wheel manually, improving the safety and efficiency of the vehicle moving operation, and is suitable for a variety of commercial vehicle moving scenarios, especially on trial production lines, providing an effective solution for emergency vehicle moving.

[0069] Furthermore, based on the rotation information, generating a target control strategy set includes:

[0070] Step S41: when the first preset angle satisfies the first preset condition, determining the forward and reverse directions of the drive motor based on the rotation direction in the rotation information, wherein the forward and reverse directions include at least one of the following: forward rotation and reverse rotation.

[0071] In step S41, it is first checked whether the first preset angle meets the first preset condition. The "first preset angle" here usually refers to the angle threshold of the steering wheel from the initial position, and the "first preset condition" may involve parameters such as the size of the angle threshold, the rotation speed or time, which are used to determine whether the steering operation requires the assistance of the drive motor. If the condition is met, that is, it is confirmed that the driver is performing a steering operation, the system will determine the forward and reverse direction of the drive motor according to the rotation direction in the rotation information.

[0072] Step S42: Generate a target control strategy set based on the forward and reverse rotation directions and the torque in the rotation information.

[0073] In step S42, the target output torque of the drive motor is calculated by a preset algorithm in combination with the forward and reverse directions of the drive motor and the actual torque on the steering shaft measured by the torque sensor. The magnitude of this torque needs to take into account both safety and comfort. It should not be too small to effectively assist, nor too large to cause oversteering or instability. Generally speaking, the target control strategy will include parameters such as the speed and output torque of the drive motor to achieve precise control of the steering assist.

[0074] Through the above steps S41 and S42, the power steering assembly 10 of the present invention can quickly and accurately generate a target control strategy set according to the steering wheel rotation information, realize precise control of the drive motor, and thus provide the driver with efficient and safe steering assistance. It shows significant technical advantages in scenarios such as vehicle trial production and emergency vehicle moving, and greatly improves the operating comfort and safety during vehicle moving.

[0075] Furthermore, based on the forward and reverse directions and the torque in the rotation information, a target control strategy set is generated, including:

[0076] Step S421: When the torque satisfies the second preset condition, a first target control strategy in the target control strategy set is generated based on the forward and reverse directions of the drive motor, and the first target control strategy is used to control the drive motor to output a first target torque value.

[0077] In step S421, when the torque meets the second preset condition, that is, when the torque value detected by the torque sensor is in a preset small or normal range, the control unit will generate a first target control strategy according to the forward and reverse direction of the drive motor. This strategy is mainly used to control the drive motor to output a first target torque value that matches the current demand. If the steering wheel is being rotated clockwise, the torque value identified by the torque sensor is within the second preset range. The control unit will generate a first target control strategy based on this information and the forward direction of the drive motor to control the drive motor to output an appropriate clockwise torque to assist the steering operation. On the contrary, when the steering wheel rotates counterclockwise and the torque value meets the second preset condition, the first target control strategy generated by the control unit will control the drive motor to output the corresponding torque counterclockwise. For example, the maximum torque of the drive motor is set to 200N·m. When the torque sensor identifies that the torque applied to the steering shaft is below 200N·m, the control unit controls the drive motor to output n-60N·m.

[0078] Step S422: When the torque satisfies the third preset condition, a second target control strategy in the target control strategy set is generated based on the forward and reverse directions of the drive motor, and the second target control strategy is used to control the drive motor to output a second target torque value.

[0079] In step S422, when the torque satisfies the third preset condition, that is, the torque value detected by the torque sensor exceeds the normal range, it may be a situation where a large resistance is encountered during the emergency vehicle moving process. At this time, the control unit will generate a second target control strategy based on the forward and reverse directions of the drive motor 12. The goal of this strategy is to control the drive motor to output a second target torque value (i.e., the maximum output torque of the drive motor) to overcome resistance and ensure the smooth completion of the steering operation. For example, if the steering wheel is being turned clockwise and the torque value exceeds the third preset range, the control unit will generate a second target control strategy to control the drive motor 12 to rotate clockwise with the second target torque value (i.e., the maximum output torque of the drive motor). For the situation where the steering wheel is turned counterclockwise and the torque value also exceeds the preset range, the control unit will generate a corresponding second target control strategy in the counterclockwise direction to control the drive motor 12 to output the second target torque value (i.e., the maximum output torque of the drive motor) counterclockwise. For example, when the maximum torque of the drive motor is set to 200 N·m and the torque sensor detects that the torque applied to the steering shaft is above 200 N·m, the control unit controls the drive motor to output a stable torque (maximum torque) of 200 N·m, thereby assisting the steering.

[0080] Through the above steps, it is ensured that the power steering assembly 10 can provide just the right amount of power according to different working conditions, without generating excessive energy consumption during normal steering, and can also provide sufficient support when the steering encounters greater resistance. This method of dynamically adjusting the control strategy improves the intelligence level of the power steering, enhances the flexibility and safety of the vehicle in emergency vehicle maneuvers or vehicle maneuvers on the trial production line, and provides operators with a more stable and reliable steering assistance experience.

[0081] In another embodiment of the present application, a vehicle-moving auxiliary steering power-assist device is provided, which is mainly composed of two parts: a power steering device for a tractor and a steering power-assist system.

[0082] The power steering device for a tractor comprises a power steering assembly 10 and a fixed assembly 20. The power steering system consists of three parts: a steering angle recognition system and a torque recognition system for identifying the rotation direction of a steering wheel 30; a power steering control unit; and a driving motor power system for applying torque to a steering column.

[0083] Combination Figure 6 As shown, in another embodiment of the present application, the power steering device for the tractor is first fixed between the steering shaft 40 and the steering wheel 30, the angle is adjusted to fix the two grippers 21 on the vehicle pedal handrails, and then the steering wheel fastening bolts are tightened to ensure that the entire device is firmly fixed.

[0084] When the driver starts to turn the steering wheel 30, the steering wheel 30 drives the gear on the connecting shaft 13 in the device to rotate, and the gear rotation is transmitted to the angle sensor 111 in the power steering device. The angle sensor 111 recognizes the rotation angle of the steering wheel 30. When the steering wheel 30 rotates clockwise, the output current of the angle sensor 111 gradually increases from 4mA to 20mA, and when the steering wheel 30 rotates counterclockwise, the output current of the angle sensor 111 gradually decreases from 20mA to 4mA. The angle sensor 111 is connected to the control unit. After the controller unit recognizes the continuous output current change of the angle sensor 111, it controls the drive motor 12 to rotate forward or reverse. At the same time, when the steering wheel 30 is turned, the torque sensor 112 recognizes the torque on the steering column and outputs the torque signal to the control unit. After receiving the torque signal, the control unit calculates the output control instruction through the algorithm to control the drive motor 12 to output torque N. The calculation formula of the output torque N is:

[0085]

[0086] Wherein, N is the torque value output by the driving motor 12, and n is the torque applied by the steering wheel 30;

[0087] The maximum torque of the drive motor 12 is set to 200 N·m. When the torque sensor 112 recognizes that the torque applied by the steering shaft 40 is below 200 N·m, the control unit controls the drive motor 12 to output n-60 N·m. When the torque sensor 112 recognizes that the torque applied by the steering shaft 40 is above 200 N·m, the control unit controls the drive motor 12 to output a stable torque of 200 N·m, thereby assisting the steering shaft 40. From the above description, it can be seen that the above-mentioned embodiments of the present application achieve the following technical effects:

[0088] First, the power steering assembly is connected to the steering wheel and steering shaft of the tractor, and the fixing assembly is adjusted to form a firm connection with the pedal handrail of the vehicle. When the operator turns the steering wheel to a first preset angle, the sensor subassembly detects and transmits the steering information (including the rotation angle and torque value) to the control unit in real time. The control unit calculates and generates a target control strategy set based on the received sensor information. Based on the target control strategy set, the driving motor drives the steering shaft to rotate to a second preset angle to provide necessary steering assistance, which solves the problem of the difficulty of steering when the tractor is in the trial production stage or in the event of a fault, when the vehicle cannot be started or the steering system does not work.

[0089] In emergency situations when the vehicle is not started or the steering system is not working, it provides stable and precise steering assistance, greatly reducing the difficulty of turning the steering wheel manually and improving the safety and efficiency of vehicle moving operations. It is suitable for a variety of commercial vehicle moving scenarios, especially on pilot production lines, providing an effective solution for emergency vehicle moving.

[0090] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0091] In addition to the above, it should be noted that "one embodiment", "another embodiment", "embodiment", etc. mentioned in this specification refer to the specific features, structures or characteristics described in conjunction with the embodiment included in at least one embodiment generally described in this application. The same expression appearing in multiple places in the specification does not necessarily refer to the same embodiment. Further, when describing a specific feature, structure or characteristic in conjunction with any embodiment, it is claimed that the realization of such feature, structure or characteristic in conjunction with other embodiments also falls within the scope of this application.

[0092] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0093] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A power steering device for a tractor, characterized in that: include: A power steering assembly (10), one end of the power steering assembly (10) being detachably connected to a steering wheel (30) of a tractor, and the other end of the power steering assembly (10) being detachably connected to a steering shaft (40) of the tractor, the power steering assembly (10) comprising a sensor subassembly (11) and a drive motor (12), the sensor subassembly (11) being at least used to detect a rotation angle of the steering wheel (30), and the drive motor (12) being used to drive the steering shaft to rotate; A fixing assembly (20), one end of which is connected to the power steering assembly (10), and the other end of which is detachably connected to a pedal handle of the tractor; Wherein, when one end of the power steering assembly (10) is connected to the steering wheel (30), the other end of the power steering assembly (10) is connected to the steering shaft (40), and the fixing assembly (20) is connected to the pedal handrail, after the steering wheel is rotated by a first preset angle, the driving motor (12) can drive the steering shaft to rotate by a second preset angle.

2. The power steering device for a tractor according to claim 1, characterized in that: The sensor subassembly (11) comprises: An angle sensor (111), the angle sensor (111) being used to detect the rotation angle of the steering wheel (30); A torque sensor (112), the torque sensor (112) is used to detect the torque of the steering wheel (30).

3. The power steering device for a tractor according to claim 2, characterized in that: The power steering assembly (10) comprises: A connecting shaft (13), one end of the connecting shaft (13) is detachably connected to the steering wheel (30), the other end of the connecting shaft (13) is detachably connected to the steering shaft (40), the output end of the drive motor (12) is connected to the connecting shaft (13), the angle sensor (111) is arranged adjacent to the connecting shaft (13), and the torque sensor (112) is arranged adjacent to the connecting shaft (13).

4. The power steering device for a tractor according to claim 3, characterized in that: The connecting shaft (13) is a gear shaft.

5. The power steering device for a tractor according to claim 4, characterized in that: The power steering assembly (10) comprises: A first gear (141), the first gear (141) being arranged adjacent to the angle sensor (111), and the first gear (141) being arranged in meshing engagement with a gear of the connecting shaft (13); A second gear (142), the second gear (142) is connected to the output end of the drive motor (12), and the second gear (142) is arranged to mesh with the gear of the connecting shaft (13).

6. The power steering device for a tractor according to claim 3, characterized in that: The power steering assembly (10) comprises: A shell (100), wherein the shell (100) is provided with a through hole, the connecting shaft (13) is inserted into the through hole, the fixing assembly (20) is connected to the shell (100), and the sensor subassembly (11) and the driving motor (12) are both arranged in the shell (100).

7. The power steering device for a tractor according to claim 6, characterized in that: The fixing assembly (20) comprises: Grippers (21), there are at least two grippers (21), and the at least two grippers (21) are arranged at intervals along the circumference of the shell (100).

8. A power steering method, characterized in that: The power steering method is used for a power steering device for a tractor according to any one of claims 1 to 7, and the method comprises the following steps: Connect the power steering device between the steering wheel and the steering shaft of the tractor; Adjusting the power steering device to connect the fixed assembly to the pedal handrail of the tractor; Acquiring rotation information of the steering wheel, wherein the rotation information at least includes a first preset angle; Based on the rotation information, a target control strategy set is generated, where the target control strategy set is used to control the drive motor to drive the steering shaft to rotate a second preset angle.

9. The power steering method according to claim 8, characterized in that: Based on the rotation information, generating the target control strategy set includes: In the case where the first preset angle satisfies the first preset condition, determining the forward and reverse rotation direction of the drive motor based on the rotation direction in the rotation information, wherein the forward and reverse rotation direction includes at least one of the following: forward rotation and reverse rotation; The target control strategy set is generated based on the forward and reverse directions and the torque in the rotation information.

10. The power steering method according to claim 9, characterized in that: Based on the forward and reverse directions and the torque in the rotation information, the target control strategy set is generated, including: When the torque satisfies the second preset condition, a first target control strategy in the target control strategy set is generated based on the forward and reverse rotation directions of the drive motor, wherein the first target control strategy is used to control the drive motor to output a first target torque value; When the torque satisfies the third preset condition, a second target control strategy in the target control strategy set is generated based on the forward and reverse rotation directions of the drive motor, and the second target control strategy is used to control the drive motor to output a second target torque value.

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