Steering gear, mower and steering control method thereof

Abstract

The invention relates to a steering gear, a mower and a steering control method of the mower, and relates to the technical field of mowers. The invention provides a steering gear. The steering gear comprises a body, a steering main shaft, a power assisting mechanism and a damper. By arranging the power-assisted mechanism, when the mower is in a manual operation mode, the power-assisted mechanism drives the steering main shaft to rotate, the steering main shaft drives the steering wheel to rotate together, so that the power-assisted mechanism assists manual rotation of the steering wheel, and the hand force of a driver for operating the steering wheel can be adjusted through the auxiliary torque output by the power-assisted mechanism; by arranging the power assisting mechanism and the damper, when the mower is not in a manual operation mode, the power assisting mechanism can synchronously return to the steering main shaft and the steering wheel, and the steering hand feeling similar to that of an automobile can be well simulated.

Description

Technical Field

[0001] The present invention relates to the technical field of lawn mowers, and in particular to a steering gear, a lawn mower and a steering control method thereof. Background Art

[0002] The lawn mower in the related art is a kind of efficient garden machinery. According to the travel mode, the lawn mower can be divided into handheld, push-type, riding type, etc. Among them, the riding lawn mower has a crawler or wheel drive design to adapt to different terrains and provide a comfortable riding experience. It is particularly suitable for efficient mowing operations in large lawns and farms.

[0003] At present, a small number of riding lawn mowers are equipped with traditional power steering, and an even smaller number of zero-turn lawn mowers are equipped with wire-controlled steering gears. However, such wire-controlled steering gears have a single function and no active steering wheel return function, and are unable to better simulate the steering feel of a car. Summary of the invention

[0004] The purpose of the present invention includes providing a steering gear, a lawn mower and a steering control method thereof, which can actively return to the center position or assist an operator in manually operating a steering wheel.

[0005] The embodiments of the present invention can be implemented as follows:

[0006] In a first aspect, the present invention provides a steering device, comprising:

[0007] ontology;

[0008] A steering spindle, the steering spindle is rotatably disposed on the body, and one end of the steering spindle is connected to a steering wheel;

[0009] A power-assisting mechanism, the output end of which is drivingly connected to the steering spindle, and the power-assisting mechanism is used to drive the steering spindle to rotate;

[0010] A damper is arranged on the main body, the damper is connected to the steering spindle, and the damper provides damping in the opposite direction of the rotation direction of the steering spindle.

[0011] In an optional embodiment, the power-assisting mechanism is provided with an auxiliary torque of at least one gear along the rotation direction of the steering spindle, and the auxiliary torque is used to assist the rotation of the steering wheel.

[0012] In an optional embodiment, the power-assisting mechanism is provided with a restoring torque along the rotation direction of the steering spindle, and the restoring torque is not less than the damping, so that the power-assisting mechanism actively restoring the steering wheel.

[0013] In an optional embodiment, the other end of the steering spindle is connected to an angle detection structure, and the angle detection structure is used to detect the rotation angle of the steering spindle;

[0014] The angle detection structure includes a magnetic component and a Hall chip. The magnetic component is arranged at the other end of the steering spindle, and the Hall chip is arranged on the body. The magnetic component and the Hall chip are coaxial and arranged opposite to each other.

[0015] In an optional embodiment, the steering wheel and the steering spindle are assembled via a flat square structure.

[0016] In an optional embodiment, a driven transmission member is provided on the steering spindle, the power-assisting mechanism includes a driving member and an active transmission member, the output end of the driving member is in driving connection with the active transmission member, and the active transmission member is in driving connection with the driven transmission member;

[0017] The damper and the driven transmission member are coaxially assembled with the steering spindle.

[0018] In an optional embodiment, an arc-shaped limit groove is provided on the top or bottom surface of the driven transmission member, and a limit structure is provided on the main body relative to the arc-shaped limit groove. The limit structure is slidably arranged in the arc-shaped limit groove to limit the maximum rotation angle of the steering wheel.

[0019] In a second aspect, the present invention provides a lawn mower, comprising: a steering gear as described in any one of the aforementioned embodiments.

[0020] In a third aspect, the present invention provides a steering control method for a lawn mower, comprising a steering gear arranged on the lawn mower, the steering gear comprising a body, a steering spindle, a power-assist mechanism and a damper; the steering spindle is rotatably arranged on the body, and one end of the steering spindle is connected to a steering wheel; the output end of the power-assist mechanism is transmission-connected to the steering spindle, and the power-assist mechanism is used to drive the steering spindle to rotate; the damper is arranged on the body, the damper is connected to the steering spindle, and the damper provides damping in the opposite direction of the rotation direction of the steering spindle;

[0021] The steering control method comprises:

[0022] determining whether the lawn mower is in a manual operation mode;

[0023] If the lawn mower is in manual operation mode, the power assist mechanism assists in rotating the steering wheel;

[0024] If the lawn mower is not in the manual operation mode, the power assist mechanism returns the steering wheel to the center position.

[0025] In an optional embodiment, the steering gear further includes an angle detection structure, and the other end of the steering spindle is connected to the angle detection structure, and the angle detection structure is used to detect the rotation angle of the steering spindle;

[0026] Identifying whether the lawn mower is in manual operation mode comprises the following steps:

[0027] The lawn mower determines whether the lawn mower is in a manual operation mode according to an angle signal detected by an angle detection structure;

[0028] The angle signal detected by the angle detection structure has not changed, and the lawn mower is not in the manual operation mode;

[0029] The angle signal detected by the angle detection structure changes, and the lawn mower is in manual operation mode.

[0030] The beneficial effects of the steering gear, lawn mower and steering control method provided by the embodiments of the present invention include:

[0031] By setting up a power-assisting mechanism, when the lawn mower is in the manual operation mode, the power-assisting mechanism drives the steering spindle to rotate, and the steering spindle drives the steering wheel to rotate together, so that the power-assisting mechanism assists the manual rotation of the steering wheel, and the size of the auxiliary torque output by the power-assisting mechanism can also be used to adjust the size of the driver's hand force in operating the steering wheel; by setting up a power-assisting mechanism and a damper, when the lawn mower is not in the manual operation mode, the power-assisting mechanism can synchronously return the steering spindle and the steering wheel to the center position, which can better simulate the steering feel similar to that of a car. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 A schematic diagram of the structure of the steering gear provided in this embodiment;

[0034] Figure 2 A first cross-sectional view of the steering gear provided in this embodiment;

[0035] Figure 3 A second cross-sectional view of the steering gear provided in this embodiment;

[0036] Figure 4 A transverse cross-sectional view of the steering gear provided in this embodiment.

[0037] Icons: 010-steering gear; 020-steering wheel; 030-steering unit; 031-steering column; 100-main body; 110-upper shell; 111-first bearing; 120-lower shell; 121-second bearing; 130-limiting structure; 200-steering spindle; 300-angle detection structure; 310-magnetic part; 320-Hall chip; 330-mounting seat; 400-power assist mechanism; 410-driven transmission part; 411-arc-shaped limiting groove; 420-driving part; 430-active transmission part; 500-damper. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0039] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0041] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, or is the orientation or position relationship in which the product of the invention is usually placed when used. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0042] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0043] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0044] The overall structure, working principle and technical effects of the steering device 010 and the lawn mower provided by the present invention are described in detail below through embodiments and in conjunction with the accompanying drawings.

[0045] Please refer to Figure 1 and Figure 2 The steering gear 010 provided by the present invention is applied to a lawn mower.

[0046] A lawn mower provided by the present invention comprises a steering device 010 and a control module; the control module is electrically connected to an angle detection structure 300 and a power assist mechanism 400.

[0047] The lawn mower may be a riding lawn mower.

[0048] Please refer to Figure 1-Figure 3 The present invention provides a diverter 010, comprising:

[0049] Ontology 100;

[0050] A steering spindle 200, which is rotatably disposed on the body 100, and one end of the steering spindle 200 is transmission-connected to the steering wheel 020;

[0051] A power-assisting mechanism 400, the output end of which is in transmission connection with the steering spindle 200, and the power-assisting mechanism 400 is used to drive the steering spindle 200 to rotate;

[0052] The damper 500 is disposed on the body 100 , and is connected to the steering spindle 200 . The damper 500 provides damping in a direction opposite to the rotation direction of the steering spindle 200 .

[0053] It can be understood that by setting the power-assisting mechanism 400, when the lawn mower is in the manual operation mode, the power-assisting mechanism 400 drives the steering spindle 200 to rotate, and the steering spindle 200 drives the steering wheel 020 to rotate together, so that the power-assisting mechanism 400 assists the manual rotation of the steering wheel 020, and the magnitude of the auxiliary torque output by the power-assisting mechanism 400 can also be used to adjust the magnitude of the driver's hand force in operating the steering wheel 020; by setting the power-assisting mechanism 400 and the damper 500, when the lawn mower is not in the manual operation mode, the power-assisting mechanism 400 can synchronously return the steering spindle 200 and the steering wheel 020 to the center position, which can better simulate the steering feel similar to that of a car.

[0054] In this embodiment, the diverter 010 includes a body 100 .

[0055] In this embodiment, please refer to Figure 1-Figure 3 The main body 100 includes a shell, a steering spindle 200 is rotationally connected to the shell, a power-assisting mechanism 400 is connected to the shell, and an output end of the power-assisting mechanism 400 is transmission-connected to the steering spindle 200 .

[0056] Optionally, the shell includes an upper shell 110 and a lower shell 120, and the upper shell 110 and the lower shell 120 are detachably connected, which makes it more convenient to repair the steering gear 010 later.

[0057] Please refer to Figure 1 and Figure 2 The bottom of the lower shell 120 is used to connect the steering column 031 of the steering unit 030.

[0058] In this embodiment, the steering gear 010 includes a steering spindle 200 .

[0059] In this embodiment, please refer to Figure 1-Figure 3 The steering spindle 200 is rotationally connected to the body 100 , the top end of the steering spindle 200 is transmission-connected to the steering wheel 020 , and the bottom end of the steering spindle 200 is provided with an angle detection structure 300 .

[0060] The steering spindle 200 vertically penetrates the upper shell 110 and the lower shell 120 . The steering spindle 200 is rotatably connected to the upper shell 110 via a first bearing 111 , and the steering spindle 200 is rotatably connected to the lower shell 120 via a second bearing 121 .

[0061] The steering wheel 020 and the steering spindle 200 are assembled through a flat square structure, which can prevent the driven gear and the driving gear of the power-assisting mechanism 400 from sliding relative to the steering spindle 200.

[0062] In this embodiment, the diverter 010 includes an angle detection structure 300 .

[0063] In this embodiment, please refer to Figure 2 and Figure 3 The angle detection structure 300 includes a magnetic member 310 and a Hall chip 320 . The magnetic member 310 is disposed at the other end of the steering spindle 200 , and the Hall chip 320 is disposed on the body 100 . The magnetic member 310 and the Hall chip 320 are coaxial and opposite to each other.

[0064] Optionally, see Figure 3 The angle detection structure 300 also includes a mounting seat 330, which is an L-shaped bracket structure. One end of the mounting seat 330 is connected to the bottom of the steering spindle 200, and the other end of the mounting seat 330 is provided with a mounting hole. The magnetic member 310 is fixedly connected to the mounting seat 330 through the mounting hole, and the magnetic member 310 is coaxially arranged with the axis of the steering spindle 200.

[0065] The Hall chip 320 is disposed on the bottom wall of the lower housing 120 , and the Hall chip 320 is coaxially disposed with the axis of the steering spindle 200 .

[0066] Optionally, the magnetic member 310 may be a component such as a magnet that can generate a magnetic field.

[0067] It is understandable that when the magnetic member 310 rotates relative to the Hall chip 320 , the magnetic field will change, and the Hall chip 320 can measure the change in the magnetic field through the Hall effect, thereby detecting the rotation angle of the steering spindle 200 .

[0068] Furthermore, the control module determines whether the steering wheel 020 is in the manual operation mode by the received angle signal: 1. When the steering wheel 020 is manually operated, the steering wheel 020 drives the steering spindle 200 to rotate together, and the angle detection structure 300 detects that the rotation angle of the steering spindle 200 changes and transmits the angle signal to the control module, and the control module determines that the steering wheel 020 is in the manual operation mode; 2. When the angle detection structure 300 recognizes that the steering spindle 200 and the steering wheel 020 do not change their angles, the control module determines that it is not in the manual operation mode. Therefore, by setting the angle detection structure 300, the control module can determine whether the steering wheel 020 is in the manual operation mode by receiving the angle signal of the angle detection structure 300.

[0069] In this embodiment, the steering gear 010 includes a power assist mechanism 400 .

[0070] Among them, the steering spindle 200 is arranged on the main body 100, and the output end of the power-assisting mechanism 400 is transmission-connected to the steering spindle 200, and the power-assisting mechanism 400 is used to drive the steering spindle 200 to rotate to return the steering wheel 020 or assist in manual rotation of the steering wheel 020.

[0071] In this embodiment, the power assist mechanism 400 provides an auxiliary torque along the rotation direction of the steering spindle 200, and the auxiliary torque is used to assist in manually rotating the steering wheel 020; the power assist mechanism 400 provides a return torque in the opposite direction of the rotation direction of the steering spindle 200, and the return torque is used to return the steering wheel 020.

[0072] In this embodiment, please refer to Figure 2 and Figure 3 A driven transmission member 410 is disposed on the steering spindle 200 , and the power-assisting mechanism 400 includes a driving member 420 and an active transmission member 430 , the output end of the driving member 420 is transmission-connected to the active transmission member 430 , and the active transmission member 430 is transmission-connected to the driven transmission member 410 .

[0073] It can be understood that the output end of the driving member 420 drives the active transmission member 430 to rotate, the active transmission member 430 drives the driven transmission member 410 to rotate, and the driven transmission member 410 drives the steering spindle 200 to rotate.

[0074] In this embodiment, the driving member 420 of the power-assisting mechanism 400 is provided with a return torque along the rotation direction of the steering spindle 200 , and the return torque is not less than the damping, so that the power-assisting mechanism actively returns the steering wheel 020 .

[0075] A return torque is set in the driving member 420 by default, and the return torque provided by the driving member 420 is not less than the damping provided by the damper 500, so that the steering wheel 020 can be returned to the initial position.

[0076] It is understandable that when the power-assist mechanism 400 actively returns the steering wheel 020, the driver does not operate the steering wheel, that is, after the angle detection structure 300 recognizes that the steering spindle 200 and the steering wheel 020 have no angle change, the control module determines that it is not in the manual operation mode. The steering wheel 020 that is not in the manual operation mode is driven by the power-assist mechanism to return to the initial position in the center.

[0077] In this embodiment, the power-assisting mechanism 400 is provided with at least one gear of auxiliary torque along the rotation direction of the steering spindle 200 , and the auxiliary torque is used to assist the steering wheel 020 in rotating.

[0078] It is understandable that the return torque has nothing to do with the auxiliary torque. When the steering wheel 020 rotates from the initial position in the center to other positions under the action of external force, that is, the angle detection structure 300 detects the rotation angle of the steering spindle 200 and transmits the angle signal to the control module, and the control module determines that the steering wheel 020 is in the manual operation mode. Then the driving member 420 provides an auxiliary torque to assist the steering wheel 020 in the manual operation mode to rotate.

[0079] Optionally, the driving member 420 is provided with at least three auxiliary gears, and the auxiliary gears are used to assist manual rotation of the steering wheel 020 and the steering spindle 200 .

[0080] Among them, three different auxiliary torques are preset corresponding to the three auxiliary gears.

[0081] It is understandable that the control module can control the driving member 420 to select one of the auxiliary gears, so that the auxiliary torque output by the driving member 420 assists the steering wheel 020 and the steering spindle 200 to rotate, thereby realizing the auxiliary manual rotation of the steering wheel 020. This setting can adjust the hand force of the driver to operate the steering wheel 020 through the auxiliary torque output by the driving member 420 of the power-assisting mechanism 400, so that the steering gear 010 and the lawn mower have multiple hand force modes, and the overall adaptability is better.

[0082] Among them, the auxiliary gear should be selected before manually operating the steering gear 010.

[0083] In this embodiment, the driven transmission member 410 includes a driven gear, and the driving transmission member 430 includes a driving gear, and the driven gear and the driving gear are meshed and connected. Of course, in other embodiments, the driven transmission member 410 may also include a driven wheel, and the driving transmission member 430 may also include a driving wheel, and a conveyor belt is sleeved on the driven wheel and the driving wheel.

[0084] Optionally, the driving member 420 may be a planetary reduction motor.

[0085] In this embodiment, please refer to Figure 2 and Figure 4 The bottom surface of the driven transmission member 410 is provided with an arc-shaped limiting groove 411, and the body 100 is provided with a limiting structure 130 relative to the arc-shaped limiting groove 411. The limiting structure 130 is slidably arranged in the arc-shaped limiting groove 411 to limit the maximum rotation angle of the steering wheel 020. Of course, in other embodiments, the arc-shaped limiting groove 411 can also be arranged on the top surface of the driven transmission member 410.

[0086] The angle can be rotated within a range of 130° to -130°.

[0087] It can be understood that, by providing the arc-shaped limiting groove 411 on the driven transmission member 410 , space can be saved and manufacturing costs can be lowered.

[0088] The limiting structure 130 may be a limiting column, which is disposed on the lower shell 120 , and extends along the lower shell 120 toward the arc-shaped limiting groove 411 and into the arc-shaped limiting groove 411 .

[0089] In this embodiment, please refer to Figure 1-Figure 3 A damper 500 is provided on the steering spindle 200 , and the damper 500 is fixedly connected to the body 100 . When the steering spindle 200 rotates, the damper 500 provides damping in the opposite direction of the rotation direction of the steering spindle 200 .

[0090] The damper 500 is coaxially assembled with the steering spindle 200 , and the damper 500 provides 6 N.M of damping in the opposite direction of the rotation direction of the steering spindle 200 .

[0091] It can be understood that as long as the steering wheel 020 is turned, the damper 500 will provide 6N.M of damping in the opposite direction of the rotation direction of the steering spindle 200, which can prevent accidental touching of the steering wheel 020. After the steering wheel 020 is rotated, the damper 500 can drive the steering spindle 200 to return to the center or remain stationary.

[0092] In this embodiment, the difference between the damping provided by the damper 500 and the restoring torque provided by the driving member 420 is the torque generated by manually rotating the steering wheel 020 and the steering spindle 200; after the angle detection structure 300 recognizes that the steering wheel 020 stops rotating, the driving member 420 adjusts the restoring torque provided to be greater than the torque generated by manually rotating the steering wheel 020 and the steering spindle 200.

[0093] It can be understood that after the driver has finished operating the lawn mower and released the steering wheel 020, the angle detection structure 300 recognizes that the steering wheel 020 has not rotated at an angle, and the control module controls the drive member 420 and controls the motor to output a restoring torque greater than the torque generated by manually rotating the steering wheel 020 and the steering spindle 200, so that the steering wheel 020 and the steering spindle 200 that are not in the manual operation mode can be actively returned to the center, and the steering wheel 020 and the steering spindle 200 can be completely returned to the center.

[0094] The working principle and process of the diverter 010 provided in the embodiment of the present invention are as follows:

[0095] When the steering wheel 020 is accidentally touched, causing the steering wheel 020 and the steering spindle 200 to rotate, the damper 500 will provide damping in the opposite direction of the rotation direction of the steering spindle 200, and can drive the steering spindle 200 to return to the normal state or remain stationary.

[0096] When any auxiliary gear is selected to put the lawn mower in manual operation mode, the driver manually operates the steering wheel 020 , and the auxiliary torque output by the driving member 420 assists the steering wheel 020 and the steering spindle 200 to rotate, thereby assisting manual rotation of the steering wheel 020 .

[0097] After the driver has finished operating the lawn mower and released the steering wheel 020, the angle detection structure 300 recognizes that the steering wheel 020 has not rotated at an angle, and the control module determines that it is not in manual operation mode. The control module controls the drive component 420 to provide a return torque, and controls the drive component 420 to adjust the provided return torque to be greater than the torque generated by manually turning the steering wheel 020 and the steering spindle 200, so that the steering wheel 020 and the steering spindle 200 can be actively and completely returned to the center.

[0098] The present invention also provides a steering control method for a lawn mower, including the lawn mower in the above embodiment.

[0099] The steering control method comprises: S1: determining whether the lawn mower is in a manual operation mode;

[0100] S2: If the lawn mower is in manual operation mode, the power assist mechanism 400 assists in rotating the steering wheel 020;

[0101] S3: If the lawn mower is not in the manual operation mode, the power assist mechanism 400 returns the steering wheel 020 to the center position.

[0102] It is understandable that in S2, before manually operating the steering wheel 020 to put the lawn mower in manual operation mode, one of the auxiliary gears of the power-assisting mechanism 400 should be manually selected so that the power-assisting mechanism 400 can better assist in rotating the steering spindle 200 during subsequent operations.

[0103] In this embodiment, S1 includes the following steps:

[0104] S21: the lawn mower determines whether the lawn mower is in manual operation mode according to the angle signal detected by the angle detection structure 300;

[0105] S22: the angle signal detected by the angle detection structure 300 does not change, and the lawn mower is not in the manual operation mode;

[0106] S23: The angle signal detected by the angle detection structure 300 changes, and the lawn mower is in manual operation mode.

[0107] In this embodiment, S2 includes the following steps:

[0108] S21: selecting one of the auxiliary gears of the power assist mechanism 400;

[0109] S22: If the lawn mower is in manual operation mode, the power assist mechanism 400 assists in rotating the steering spindle 200 according to the assist torque corresponding to the assist gear position.

[0110] In this embodiment, the lawn mower also has an unmanned operation mode. In the unmanned operation mode, the control module controls the driving member 420 of the power-assisting mechanism 400, and the output end of the driving member 420 drives the active transmission member 430 to rotate forward or reversely, the active transmission member 430 drives the driven transmission member 410 to rotate, and the driven transmission member 410 drives the steering spindle 200 to rotate, thereby realizing the unmanned operation mode.

[0111] In summary, the steering gear 010 and the lawn mower provided by the embodiment of the present invention are provided with a power-assisting mechanism 400, so that when the lawn mower is in the manual operation mode, the power-assisting mechanism 400 drives the steering spindle 200 to rotate, and the steering spindle 200 drives the steering wheel 020 to rotate together, so that the power-assisting mechanism 400 assists the manual rotation of the steering wheel 020, and the magnitude of the auxiliary torque output by the power-assisting mechanism 400 can also be used to adjust the magnitude of the hand force of the driver operating the steering wheel 020; by providing the power-assisting mechanism 400 and the damper 500, when the lawn mower is not in the manual operation mode, the power-assisting mechanism 400 can synchronously return the steering spindle 200 and the steering wheel 020 to the center position, and can better simulate the steering feel similar to that of a car.

[0112] Furthermore, the present application also has a multi-hand force mode, which adjusts the hand force of the driver operating the steering wheel 020 through the auxiliary torque output by the driving member 420 of the power-assisting mechanism 400, so that the steering gear 010 and the lawn mower have a multi-hand force mode and better overall adaptability.

[0113] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A steering gear, characterized in that: include: ontology; A steering spindle, the steering spindle is rotatably disposed on the body, and one end of the steering spindle is connected to a steering wheel; A power-assisting mechanism, the output end of which is drivingly connected to the steering spindle, and the power-assisting mechanism is used to drive the steering spindle to rotate; A damper is arranged on the main body, the damper is connected to the steering spindle, and the damper provides damping in the opposite direction of the rotation direction of the steering spindle.

2. The steering gear according to claim 1, characterized in that: The power-assisting mechanism is provided with at least one gear of auxiliary torque along the rotation direction of the steering main shaft, and the auxiliary torque is used to assist the rotation of the steering wheel.

3. The steering gear according to claim 1, characterized in that: The power-assisting mechanism is provided with a restoring torque along the rotation direction of the steering spindle, and the restoring torque is not less than the damping, so that the power-assisting mechanism actively restors the steering wheel.

4. The steering gear according to claim 1, characterized in that: The other end of the steering spindle is connected to an angle detection structure, and the angle detection structure is used to detect the rotation angle of the steering spindle; The angle detection structure includes a magnetic component and a Hall chip. The magnetic component is arranged at the other end of the steering spindle, and the Hall chip is arranged on the body. The magnetic component and the Hall chip are coaxial and arranged opposite to each other.

5. The steering gear according to claim 1, characterized in that: The steering wheel and the steering spindle are assembled through a flat square structure.

6. The steering gear according to claim 1, characterized in that: The steering spindle is provided with a driven transmission member, the power-assisting mechanism includes a driving member and an active transmission member, the output end of the driving member is in driving connection with the active transmission member, and the active transmission member is in driving connection with the driven transmission member; The damper and the driven transmission member are coaxially assembled with the steering spindle.

7. The steering gear according to claim 6, characterized in that: The top surface or bottom surface of the driven transmission member is provided with an arc-shaped limiting groove, and the body is provided with a limiting structure relative to the arc-shaped limiting groove. The limiting structure is slidably arranged in the arc-shaped limiting groove to limit the maximum rotation angle of the steering wheel.

8. A lawn mower, characterized in that: include: The steering gear according to any one of claims 1 to 7.

9. A steering control method for a lawn mower, characterized in that: The invention comprises a steering gear arranged on a lawn mower, the steering gear comprising a body, a steering spindle, a power-assist mechanism and a damper; the steering spindle is rotatably arranged on the body, and one end of the steering spindle is connected to a steering wheel; the output end of the power-assist mechanism is transmission-connected with the steering spindle, and the power-assist mechanism is used to drive the steering spindle to rotate; the damper is arranged on the body, the damper is connected with the steering spindle, and the damper provides damping in the opposite direction of the rotation direction of the steering spindle; The steering control method comprises: determining whether the lawn mower is in a manual operation mode; If the lawn mower is in manual operation mode, the power assist mechanism assists in rotating the steering wheel; If the lawn mower is not in the manual operation mode, the power assist mechanism returns the steering wheel to the center position.

10. The steering control method of a lawn mower according to claim 9, characterized in that: The steering gear further comprises an angle detection structure, the other end of the steering spindle is connected to the angle detection structure, and the angle detection structure is used to detect the rotation angle of the steering spindle; Identifying whether the lawn mower is in manual operation mode comprises the following steps: The lawn mower determines whether the lawn mower is in a manual operation mode according to an angle signal detected by an angle detection structure; The angle signal detected by the angle detection structure has not changed, and the lawn mower is not in the manual operation mode; The angle signal detected by the angle detection structure changes, and the lawn mower is in manual operation mode.

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