Power steering apparatus and power steering method for a tractor

Abstract

The application provides a power-assisted steering device and method for a towing vehicle, and relates to the field of commercial vehicle moving technology. 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 towing vehicle, the other end is detachably connected with a steering shaft of the towing vehicle, the power-assisted steering assembly comprises a sensor subassembly and a driving motor, the sensor subassembly is used for detecting at least a rotation angle of the steering wheel, and the driving motor is used for driving the steering shaft to rotate; one end of a fixing assembly is connected with the power-assisted steering assembly, and the other end is detachably connected with a towing handrail of the towing vehicle; in the case 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 towing 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, and the problem that personnel moves the vehicle with difficulty in the prior art is solved.

Description

Technical Field

[0001] This application relates to the field of commercial vehicle repositioning technology, and more specifically, to a power steering device and power steering method for a tractor. Background Technology

[0002] In the prior art, application CN118206469A discloses a method, device, electronic device, and storage medium for providing power steering assistance. The method includes: acquiring configuration information in response to a power-on signal; wherein the configuration information describes the current configuration of the electric power steering system; determining whether the electric power steering system is in a pending configuration state based on the configuration information; and controlling the power steering system's assistance mode to a factory assistance mode when the electric power steering system is in a pending configuration state; wherein, in the factory assistance mode, the electric power steering system provides default steering assistance. The technical solution provided by this application can be applied to scenarios requiring emergency vehicle relocation from an automotive production line. The factory assistance mode of the electric power steering system temporarily provides default steering assistance during emergency relocation, solving the technical problem that the electric power steering system in a car on the production line cannot normally provide steering assistance to the driver. This invention can realize emergency vehicle relocation when the electric steering system is pending configuration on the production line, but it is not applicable to prototype production lines.

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

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] The main objective of this application is to provide a power steering device and power steering method for a tractor unit, in order to solve the problem in the prior art that when a tractor unit cannot be started or the steering system is not working, it is difficult for personnel to steer the vehicle when moving it during the trial production stage or in case of failure.

[0006] To achieve the above objectives, according to one aspect of this application, a power steering device for a tractor is provided, comprising: a power steering assembly, one end of which is detachably connected to the steering wheel of the tractor, and the other end of which is detachably connected to the steering shaft of the tractor; the power steering assembly includes a sensor subassembly and a drive motor, the sensor subassembly being used to detect at least the rotation angle of the steering wheel, and the drive motor being used to drive the steering shaft to rotate; and a fixing assembly, one end of which is connected to the power steering assembly, and the other end of which is detachably connected to a footrest 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 fixing assembly is connected to the footrest, after rotating the steering wheel by a first preset angle, the drive motor can drive the steering shaft to rotate by a second preset angle.

[0007] Furthermore, the sensor sub-assembly includes: an angle sensor for detecting the rotation angle of the steering wheel; and a torque sensor for detecting the torque of the steering wheel.

[0008] Furthermore, the power steering assembly includes: a connecting shaft, one end of which is detachably connected to the steering wheel, the other end of which is detachably connected to the steering shaft, the output end of the drive motor connected to the connecting shaft, an angle sensor disposed adjacent to the connecting shaft, and a torque sensor disposed 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 disposed adjacent to an angle sensor and meshes with a gear on a connecting shaft; and a second gear, which is connected to the output end of a drive motor and meshes with a gear on a connecting shaft.

[0011] Furthermore, the power steering assembly includes: a housing with a through hole, a connecting shaft passing through the through hole, a fixing assembly connected to the housing, and a sensor sub-assembly and a drive motor both housed within the housing.

[0012] Furthermore, the fixing component includes: grippers, at least two grippers, which are arranged at circumferential intervals along the housing.

[0013] According to another aspect of this application, a power steering method is provided for use in the aforementioned power steering device for a tractor unit. The method includes the following steps: connecting the power steering device between the steering wheel and the steering shaft of the tractor unit; adjusting the power steering device to connect a fixed component to the footrest of the tractor unit; acquiring rotation information of the steering wheel, wherein the rotation information includes at least a first preset angle; and generating a target control strategy set based on the rotation information, the target control strategy set being used to control the drive motor to drive the steering shaft to rotate by a second preset angle.

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

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

[0016] By applying the technical solution of this 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 vehicle's footrest. When the operator turns the steering wheel to the first preset angle, the sensor sub-assembly detects and transmits 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. Based on the target control strategy set, the drive motor drives the steering shaft to rotate to the second preset angle, providing the necessary steering assistance. This solves the problem in the prior art where, during the trial production stage or in case of failure, when the vehicle cannot start or the steering system is not working, it is difficult for personnel to stir the vehicle.

[0017] This device can provide precise and appropriate steering assistance according to different steering needs, and is especially suitable for vehicles that are not started, significantly reducing the physical exertion and operational complexity of personnel when moving vehicles in emergencies or on the trial production line. Attached Figure Description

[0018] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

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

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

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

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

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

[0024] Figure 6 A flowchart illustrating an embodiment of the power steering method according to this application is shown.

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

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

[0027] 11. Sensor sub-assembly; 111. Angle sensor; 112. Torque sensor;

[0028] 12. Drive motor;

[0029] 13. Connecting shaft;

[0030] 141. First gear; 142. Second gear;

[0031] 20. Fixing components;

[0032] 21. Handle;

[0033] 30. Steering wheel;

[0034] 40. Steering column. Detailed Implementation

[0035] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0036] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate 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, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0038] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art. In the drawings, for clarity, the thickness of layers and regions may be exaggerated, and the same reference numerals are used to denote the same devices, and therefore their description will be omitted.

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

[0040] Specifically, the power steering device for the tractor includes a power steering assembly 10 and a fixing assembly 20. One end of the power steering assembly 10 is detachably connected to the steering wheel 30 of the tractor, and the other end of the power steering assembly 10 is detachably connected to the steering shaft 40 of the tractor. The power steering assembly 10 includes a sensor sub-assembly 11 and a drive motor 12. The sensor sub-assembly 11 is used to detect at least 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 fixing assembly 20 is connected to the power steering assembly 10, and the other end of the fixing assembly 20 is detachably connected to the footrest of the tractor. 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 footrest, 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 with detachable connections at both ends to ensure the device's universality and convenient installation on different vehicles. The power steering assembly 10 includes a sensor sub-assembly 11 and a drive motor 12. By collecting the rotation angle of the steering wheel 30 detected by the sensor sub-assembly 11, the steering assistance is determined, enabling the drive motor 12 to output steering assistance. The sensor sub-assembly 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 crucial data for the control strategy. The drive motor 12 is responsible for converting electrical energy into mechanical energy, precisely controlling the rotation of the steering shaft based on the input from the sensor sub-assembly 11, thereby providing assistance during manual steering. One end of the fixing assembly 20 is fixedly connected to the power steering assembly 10, and the other end forms a detachable connection with the tractor's footrest, ensuring the stability and positional accuracy of the entire device on the vehicle. The high-precision detection of the sensor sub-assembly 11 combined with the intelligent algorithm of the control unit ensures the accuracy and reliability of the steering assistance. The detachable design of the power steering assembly 10 and the fixing assembly 20 enhances the versatility and ease of installation of the device, making it suitable for emergency or prototype vehicle relocation operations on various towing models. The secure connection between the fixing assembly 20 and the vehicle's footrest ensures the stability of the device and the safety of the operator in complex operating environments.

[0042] In scenarios requiring power steering, the power steering assembly 10 is first connected to the steering wheel 30 and steering shaft 40 of the tractor, ensuring a secure connection. Then, the fixing assembly 20 is adjusted to form a firm connection with the vehicle's footrest. When the operator turns the steering wheel to a first preset angle, the angle sensor 111 and torque sensor 112 in the sensor subassembly 11 begin detecting and transmitting steering information (including rotation angle and torque value) to the control unit in real time. Based on the received sensor information, the control unit calculates and generates a target control strategy set, which guides the operation of the drive motor 12, including the rotation direction and output torque value. Based on the precise control strategy, the drive motor 12 drives the steering shaft to rotate a second preset angle, providing necessary steering assistance, reducing operational difficulty, and improving vehicle maneuvering efficiency. Through intelligent control strategies, this device can provide precise and appropriate steering assistance according to different steering needs, especially suitable for vehicles not in operation, significantly reducing the physical exertion and operational complexity for personnel maneuvering vehicles in emergencies or on trial production lines.

[0043] The technical solution of this application, through the coordinated work of the sensor sub-component and the drive motor, combined with the detachable design of the power steering component 10, provides an efficient steering assistance solution for tractor vehicles under specific conditions, significantly improving the operating experience and work efficiency. It solves the problem in the prior art that when tractor vehicles cannot start or the steering system is not working, it is difficult for personnel to stir the vehicle when moving it during the trial production stage or in case of failure.

[0044] Furthermore, the sensor sub-assembly 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 sub-assembly 11 not only provides real-time monitoring of the steering angle and torque for the device, but also provides key data to the control unit, ensuring that the drive motor 12 can accurately respond to steering wheel operations 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 crucial information for determining how the drive motor 12 responds to steering operations. During vehicle maneuvering, when the steering wheel rotates to a first preset angle, the angle sensor 111 sends this signal to the control unit, triggering the drive motor 12 to rotate the steering shaft to a second preset angle, thus achieving power steering. The torque sensor 112 detects the torque applied to the steering wheel 30 during rotation. It can monitor the magnitude and direction of the force applied to the steering wheel by the operator, ensuring that corresponding assistance is 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. Under high torque conditions, the torque sensor 112 transmits a signal to the control unit, which calculates the maximum output torque of the motor according to an algorithm to prevent oversteering or improper steering and ensure steering safety. The signals from angle sensor 111 and torque sensor 112 are integrated into the control unit. These signals are processed by intelligent algorithms to generate a set of target control strategies. These strategies not only take into account the direction and angle of steering wheel rotation, but also dynamically adjust the motor output according to the torque magnitude to ensure that the most suitable assistance is provided under any circumstances, reducing manual labor and improving vehicle maneuvering efficiency and operational safety.

[0046] Furthermore, the power steering assembly 10 includes: a connecting shaft 13, one end of which is detachably connected to the steering wheel 30, and the other end of which is detachably connected to the steering shaft 40; the output end of the drive motor 12 is connected to the connecting shaft 13; an angle sensor 111 is disposed adjacent to the connecting shaft 13; and a torque sensor 112 is disposed adjacent to the connecting shaft 13. This arrangement simplifies and speeds up the installation and removal of the device, enhancing its versatility and applicability. Through the integration of the connecting shaft 13, the drive motor 12, and the sensor sub-assembly 11, this power steering device enables highly efficient and low-manpower steering operations, providing strong technical support for emergency vehicle relocation on the trial production line when the vehicle cannot start normally.

[0047] Combination Figure 1 and Figure 4 , Figure 5As shown, in this embodiment, the connecting shaft 13 is designed with detachable connections at both ends, one end connected to the steering wheel 30 and the other end connected to the steering shaft 40. This design ensures compatibility and quick installation on different vehicles, while also facilitating disassembly and maintenance after use. The output end of the drive motor 12 is connected to the connecting shaft 13, enabling the motor's rotational force to be efficiently and directly transmitted to the steering shaft, thus achieving power steering assistance. The output end of the drive motor 12 can be directly connected to the connecting shaft 13 or indirectly connected via a transmission component. This tightly integrated design reduces energy loss during power transmission and improves the efficiency of power steering. Both the angle sensor 111 and the torque sensor 112 are positioned close to the connecting shaft 13. This layout facilitates rapid response and accurate monitoring of steering wheel operations by the sensors. The angle sensor 111 captures the rotation angle of the steering wheel 30 in real time, while the torque sensor 112 monitors changes in the torque of the steering wheel 30. Both signals are used in the control unit's decision-making process to ensure that the power steering output of the drive motor 12 is both accurate and timely.

[0048] Furthermore, the connecting shaft 13 is a gear shaft. The gear meshes with the angle sensor 111, the torque sensor 112, and the output gear of the drive motor 12, forming a precision gear transmission system. When the steering wheel rotates, the steering force is transmitted to the steering shaft through the meshing of the gears, achieving steering assistance. The gear shaft design ensures high efficiency in torque transmission, especially in scenarios requiring large turning torque. The meshing of the gears allows for a more stable and direct amplification of the torque output from the motor and its transmission to the steering shaft, achieving efficient power assistance. The torque sensor 112 is connected to the connecting shaft 13, enabling the device to accurately measure and control torque changes during rotation, ensuring smooth and safe steering. Under different torque conditions, the control unit can adjust the output torque of the gear shaft via the drive motor 12 to adapt to different steering requirements. The gear shaft design allows for flexible adjustment of the transmission ratio to adapt to different steering assistance needs and vehicle size characteristics, making the power 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 is provided with an external spline. By inserting the splined shaft of the steering wheel into the internal spline of the gear shaft, quick installation and removal between the two can be achieved, while ensuring torque transmission efficiency and directional accuracy during steering. The external spline ensures a stable connection between the gear shaft and the steering shaft, while reducing slippage and wear during torque transmission, improving the reliability and lifespan of the transmission system. The splined connection design allows the device to connect and disconnect from the steering wheel and steering shaft in a short time, greatly improving the device's versatility and response speed in emergency situations.

[0050] In one embodiment of this application, the connecting shaft 13 is designed as a gear shaft, and internal splines and external splines are respectively provided at both ends of it. This 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 withstand high torque and 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 relocation operations.

[0051] Furthermore, the power steering assembly 10 includes a first gear 141 and a second gear 142. The first gear 141 is disposed adjacent to the angle sensor 111 and meshes with the gear of the connecting shaft 13. The second gear 142 is connected to the output end of the drive motor 12 and meshes 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. Through precise meshing with the gear on the connecting shaft 13, it can accurately transmit the rotation information of the steering wheel 30 to the angle sensor 111. The second gear 142 is directly connected to the output end of the drive motor 12. Through meshing with the gear on the connecting shaft 13, it efficiently transmits the output torque of the motor to the steering shaft 40 of the steering wheel, thereby achieving 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 highly efficient, precise control, and highly adaptable steering assistance effect, providing strong technical support for emergency vehicle relocation or vehicle relocation on the trial production line, and significantly improving the safety and convenience of operation.

[0053] Furthermore, the power steering assembly 10 includes a housing 100, which has a through hole. A connecting shaft 13 passes through the through hole, and a fixing assembly 20 is connected to the housing 100. The sensor sub-assembly 11 and the drive motor 12 are both disposed inside the housing 100.

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

[0055] Combination Figure 4 As shown, in one embodiment of this application, the torque sensor 112 is connected to the connecting shaft 13 (gear shaft), and a bearing is provided 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 degree of freedom and stability of rotation, and ensuring the accuracy of torque measurement.

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

[0057] In one embodiment of this application, the gripper 21 employs a snap-on fixing design, with the snap-on being made of high-strength material. This design not only improves the durability of the device but also simplifies the installation and disassembly process, allowing drivers to quickly switch between different vehicles. It is ideal for applications in car rental, car sales, and other scenarios requiring frequent movement of different vehicle models. The snap-on design makes installation and disassembly extremely simple and quick, allowing drivers to switch within seconds, significantly improving operational efficiency in multi-vehicle environments. This feature is particularly prominent in the car rental and sales industry, saving staff time and enhancing customer experience by enabling customers to quickly test drive different models, thus improving service quality and customer satisfaction.

[0058] In one embodiment of this application, the power steering assembly 10 employs a dual-motor design. This dual-motor design provides a wider assist range and stronger torque output, suitable for maneuvering needs of large vehicles or on high-resistance surfaces, such as heavy trucks and off-road vehicles, ensuring easy steering operations in various situations. The implementation of the dual-motor design significantly improves the device's assist capability and adaptability, providing sufficient torque support even on large vehicles or high-resistance surfaces, allowing the driver to easily complete steering operations. This feature is particularly important for large vehicles such as heavy trucks and off-road vehicles, not only improving maneuvering efficiency but also reducing the driver's operational burden, enhancing driving safety and comfort.

[0059] In another embodiment of this application, a power steering method is also provided. The power steering method is used in the power steering device for a tractor in the above embodiments. The power steering method includes 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, if the vehicle cannot start or the steering system is not working, the power steering device must first be connected between the steering wheel and steering shaft of the tractor to ensure that the device can make an effective mechanical connection with the vehicle's steering system, providing a foundation for subsequent power steering. During connection, it is necessary to ensure that the connecting shaft is correctly engaged with the splined shaft of the steering wheel and the splined groove on the steering shaft, and that the fixing components can be firmly fixed to the vehicle's step ladder handrail to form a stable working platform.

[0062] Step S2: Adjust the power steering system to connect the fixed assembly to the trolley's footrest.

[0063] In step S2, the fixing component is adjusted and connected to the footrest of the towing vehicle to ensure the device's secure fixation on the vehicle. The grip design of the fixing component can adapt to different vehicle models and handrail sizes, providing operators with a stable operating point and facilitating steering wheel control during emergency vehicle relocation.

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

[0065] In step S3, when the operator begins to turn the steering wheel, the sensor sub-component 11 within the device activates to acquire steering wheel rotation information. This rotation information includes at least a first preset angle of steering wheel rotation, which serves as a crucial parameter for the control unit to determine whether power steering needs to be activated and how to control the steering assist. The angle sensor 111 allows for real-time monitoring of the steering wheel's rotation direction and angle, providing precise data input for subsequent torque control.

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

[0067] Step S4 includes specific instructions to control the drive motor, driving the steering shaft to rotate by a 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, ensuring that the torque output by the drive motor can accurately match the steering requirements, reducing the burden of manual steering wheel operation, while ensuring steering smoothness and safety.

[0068] Through the above steps, the power steering method of the present invention can provide stable and precise steering assistance in emergency situations where the vehicle is not started or the steering system is not working, greatly reducing the difficulty of manually turning the steering wheel, improving the safety and efficiency of vehicle relocation operations, and is applicable to various commercial vehicle relocation scenarios, especially on the trial production line, providing an effective solution for emergency vehicle relocation.

[0069] Furthermore, based on rotation information, the target control strategy set is generated, including:

[0070] Step S41: When the first preset angle meets the first preset condition, the forward and reverse directions of the drive motor are determined 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, the system first checks whether the first preset angle meets the first preset condition. Here, the "first preset angle" typically refers to the angle threshold at which the steering wheel rotates from its initial position, while the "first preset condition" may involve parameters such as the magnitude of the angle threshold, rotation speed, or time, used to determine whether the steering operation requires drive motor assistance. If the condition is met, confirming that the driver is performing a steering operation, the system will determine the forward and reverse rotation direction of the drive motor based on the rotation direction in the rotation information.

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

[0073] In step S42, the target output torque of the drive motor is calculated using a preset algorithm, combining the forward and reverse directions of the drive motor and the actual torque on the steering shaft measured by the torque sensor. This torque needs to balance safety and comfort; it cannot be too small to provide effective steering assistance, nor too large to cause oversteering or instability. Generally, the target control strategy includes parameters such as the drive motor's speed and output torque to achieve precise control of the steering assist.

[0074] Through the above steps S41 and S42, the power steering component 10 of the present invention can quickly and accurately generate a target control strategy set based on the steering wheel rotation information, thereby achieving precise control of the drive motor and providing the driver with efficient and safe steering assistance. It demonstrates significant technical advantages in scenarios such as vehicle prototyping and emergency vehicle relocation, and greatly improves the operational comfort and safety during vehicle relocation.

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

[0076] Step S421: When the torque meets the second preset condition, a first target control strategy is generated based on the forward and reverse directions of the drive motor. 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, i.e., when the torque value detected by the torque sensor is within a preset small or normal range, the control unit generates a first target control strategy based on the forward and reverse rotation 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 turned clockwise, and the torque value detected by the torque sensor is within the second preset range, the control unit will generate the first target control strategy based on this information and the forward rotation direction of the drive motor to control the drive motor to output an appropriate clockwise torque to assist steering operations. Conversely, when the steering wheel is turned 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 a corresponding counterclockwise torque. For example, the maximum torque of the drive motor is set to 200 N·m. When the torque sensor detects that the torque applied to the steering shaft is below 200 N·m, the control unit controls the drive motor to output n-60 N·m.

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

[0079] In step S422, if the torque meets the third preset condition, meaning the torque value detected by the torque sensor exceeds the normal range (possibly due to significant resistance encountered during emergency vehicle maneuvering), the control unit generates a second target control strategy based on the forward and reverse rotation direction 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 smooth steering. 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). Similarly, for counter-clockwise steering where the torque value also exceeds the preset range, the control unit will generate a corresponding counter-clockwise second target control strategy to control the drive motor 12 to output the second target torque value (i.e., the maximum output torque of the drive motor) counter-clockwise. For example, if 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 of 200 N·m (maximum torque) to assist the steering.

[0080] Through the above steps, it is ensured that the power steering component 10 can provide just the right amount of assistance according to different working conditions, neither generating excessive energy consumption during normal steering nor failing to provide sufficient support when encountering significant steering 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 maneuvers or prototyping production line scenarios, and provides operators with a more stable and reliable steering assistance experience.

[0081] In another embodiment of this application, a vehicle maneuvering assist steering device is also provided, which mainly consists of two parts: an assist steering device for a tractor and a steering assist system.

[0082] The power steering system for the tractor includes 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 recognizing the rotation direction of the steering wheel 30; a power steering control unit; and a drive motor power steering system for applying torque to the steering column.

[0083] Combination Figure 6 As shown, in another embodiment of this 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 grips 21 to the vehicle's footrest, and then the steering wheel fastening bolts are tightened to ensure that the entire device is firmly fixed.

[0084] When the driver begins to turn the steering wheel 30, the steering wheel 30 drives the gear on the connecting shaft 13 inside the device to rotate. The rotation of the gear is transmitted to the angle sensor 111 inside the power steering device. The angle sensor 111 detects 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; 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 control unit detects the continuous change in the output current of the angle sensor 111, it controls the drive motor 12 to rotate forward or backward. At the same time, when the steering wheel 30 is turned, the torque sensor 112 detects the torque on the steering column and outputs a torque signal to the control unit. After receiving the torque signal, the control unit calculates the output control command through an algorithm and controls the drive motor 12 to output torque N. The formula for calculating the output torque N is:

[0085]

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

[0087] The maximum torque of the drive motor 12 is set to 200 N·m. When the torque sensor 112 detects that the torque applied to 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 detects that the torque applied to 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 providing assistance to the steering shaft 40. From the above description, it can be seen that the above embodiments of this application achieve the following technical effects:

[0088] First, the power steering assembly is connected to the steering wheel and steering shaft of the tractor unit, and the fixing assembly is adjusted to form a firm connection with the vehicle's footrest. When the operator turns the steering wheel to the first preset angle, the sensor sub-assembly detects and transmits steering information (including rotation angle and torque value) to the control unit in real time. Based on the received sensor information, the control unit calculates and generates a target control strategy set. Based on the target control strategy set, the drive motor drives the steering shaft to rotate to the second preset angle, providing the necessary steering assistance. This solves the problem in the prior art where, during the trial production stage or in case of failure, it is difficult to steer the vehicle when it cannot start or the steering system is not working, making it difficult for personnel to move the vehicle.

[0089] In emergency situations where the vehicle is not started or the steering system is not working, it provides stable and precise steering assistance, greatly reducing the difficulty of manually turning the steering wheel and improving the safety and efficiency of vehicle relocation. It is suitable for various commercial vehicle relocation scenarios, especially on the trial production line, where it provides an effective solution for emergency vehicle relocation.

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

[0091] In addition to the above, it should be noted that the terms "one embodiment," "another embodiment," and "embodiment" used in this specification refer to specific features, structures, or characteristics described in connection with that embodiment, which are included in at least one embodiment described in the general description of this application. The appearance of the same expression in multiple places in the specification does not necessarily refer to the same embodiment. Furthermore, when a specific feature, structure, or characteristic is described in connection with any embodiment, the intention is to suggest that implementing such a feature, structure, or characteristic in conjunction with other embodiments also falls within the scope of this application.

[0092] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0093] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A power steering device for a tractor, characterized in that, The power steering device for the tractor is used when the tractor cannot start or the steering system is not working during the trial production stage or in case of failure. The power steering device for the tractor includes: A power steering assembly (10) is provided, one end of which is detachably connected to the steering wheel (30) of the tractor vehicle, and the other end of which is detachably connected to the steering shaft (40) of the tractor vehicle. The power steering assembly (10) includes a sensor sub-assembly (11) and a drive motor (12). The sensor sub-assembly (11) is used to detect at least the rotation angle of the steering wheel (30), and the drive motor (12) is used to drive the steering shaft to rotate. A fixing component (20), one end of which is connected to the power steering component (10), and the other end of which is detachably connected to the footrest of the tractor. In the case where 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 handle, 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. The sensor sub-assembly (11) includes an angle sensor (111) and a torque sensor (112), and the power steering assembly (10) includes: A connecting shaft (13) is provided, one end of which is detachably connected to the steering wheel (30), and the other end of which is detachably connected to the steering shaft (40). The output end of the drive motor (12) is connected to the connecting shaft (13). The housing (100) is connected to the fixing component (20), the housing (100) is provided with a through hole, the connecting shaft (13) passes through the through hole, and the sensor sub-component (11) and the drive motor (12) are both disposed in the housing (100); The fixing component (20) includes: grippers (21), there are at least two grippers (21), and the at least two grippers (21) are arranged circumferentially spaced along the housing (100).

2. The power steering device for a tractor according to claim 1, characterized in that, 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).

3. The power steering device for a tractor according to claim 1, characterized in that, The connecting shaft (13) is a gear shaft.

4. The power steering device for a tractor according to claim 3, characterized in that, The power steering assembly (10) includes: The first gear (141) is disposed adjacent to the angle sensor (111), and the first gear (141) is disposed in gear meshing with the connecting shaft (13); The second gear (142) is connected to the output end of the drive motor (12) and is meshed with the gear of the connecting shaft (13).

5. A power steering method, characterized in that, The power steering method is used in any one of the power steering devices for a tractor as described in claims 1 to 4, and the method includes the following steps: Connect the power steering system between the steering wheel and the steering shaft of the tractor unit; Adjust the power steering device to connect the fixed assembly to the footrest of the tractor. Obtain the rotation information of the steering wheel, wherein the rotation information includes at least a first preset angle; Based on the rotation information, a target control strategy set is generated, which is used to control the drive motor to drive the steering shaft to rotate by a second preset angle.

6. The power steering method according to claim 5, characterized in that, Based on the rotation information, generating the target control strategy set includes: When the first preset angle meets the first preset condition, the forward and reverse rotation directions of the drive motor are determined based on the rotation direction in the rotation information, wherein the forward and reverse rotation directions include 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.

7. The power steering method according to claim 6, 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 meets the second preset condition, a first target control strategy is generated based on the forward and reverse directions of the drive motor. 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, a second target control strategy is generated based on the forward and reverse directions of the drive motor. The second target control strategy is used to control the drive motor to output a second target torque value.

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