Steering robot for vehicle automatic driving control and automatic driving vehicle

Abstract

The utility model provides a steering robot automatic driving vehicle used for vehicle automatic driving control. A steering robot comprises a shell assembly, an electric drive assembly, a steering wheel fixing assembly and a fixed connecting rod assembly. The electric drive assembly is fixedly installed on the shell assembly, the steering wheel fixing assembly is fixedly installed on a vehicle steering wheel, one end of the fixed connecting rod assembly is fixedly connected with the shell assembly, and the other end of the fixed connecting rod assembly is fixedly connected with an installation support arranged in a vehicle cab. A speed reducing mechanism is arranged between the electric drive assembly and the shell assembly, the steering wheel fixing assembly is fixedly connected with the output end of the speed reducing mechanism, the electric drive assembly drives the steering wheel fixing assembly to rotate through the speed reducing mechanism so as to drive a vehicle steering wheel to rotate, and automatic control over the turning angle of the vehicle steering wheel is achieved. Accurate driving control of the vehicle is realized, the working reliability and stability are high, the influence of human factors on experimental data is avoided, the consistency and accuracy of driving actions under various experimental conditions are improved, and the test efficiency is further improved.

Description

Technical Field

[0001] The utility model relates to the technical field of vehicle autonomous driving, in particular to a steering robot and an autonomous driving vehicle that can replace a driver to perform autonomous driving operations to complete steering driving actions. Background Technique

[0002] The development process of autonomous driving technology has gone through multiple stages from early exploration to technological growth and then to commercial application. After entering the 21st century, autonomous driving technology has entered the fast lane, and more and more automobile manufacturers and technology companies have increased their R & D and investment efforts in the field of autonomous driving, promoting the rapid development of autonomous driving technology.

[0003] With the development of autonomous driving technology, the autonomous driving devices equipped on autonomous driving vehicles have been able to realize the function of replacing drivers to complete a large number of driving actions. For example, the automatic control of vehicle steering can be realized through the autonomous driving device. In automobile tests, handling stability is an important performance index during vehicle driving. Manual operation of the steering wheel cannot accurately control the steering angle of the steering wheel, which affects the objective evaluation of vehicle handling stability, the accuracy of the test scenario, and is not convenient for comparing the operation stability of different vehicles under the same conditions. Therefore, it is necessary to invent a steering robot for vehicle autonomous driving operation to overcome the above defects. Summary of the Utility Model

[0004] Aiming at the problems mentioned in the above background technique, the utility model provides a steering robot that accurately controls the steering angle of the steering wheel by a driving motor cooperating with a reduction mechanism to improve the handling stability of the vehicle and avoid the influence of human factors on test data.

[0005] The utility model adopts the following technical solutions: a steering robot for vehicle autonomous driving operation, including a housing assembly, an electric drive assembly, a steering wheel fixing assembly, and a fixed link assembly; the electric drive assembly is fixedly installed on the housing assembly, the steering wheel fixing assembly is fixedly installed on the vehicle steering wheel, one end of the fixed link assembly is fixedly connected to the housing assembly, and the other end is fixedly connected to an installation support seat arranged in the vehicle cockpit;

[0006] A reduction mechanism is arranged between the electric drive assembly and the housing assembly, the steering wheel fixing assembly is fixedly connected to the output end of the reduction mechanism, and the electric drive assembly drives the steering wheel fixing assembly to rotate through the reduction mechanism to drive the vehicle steering wheel to rotate, so as to realize the automatic control of the steering angle of the vehicle steering wheel.

[0007] Further, the speed reduction mechanism includes a pinion gear disposed on the electric drive assembly and a large gear disposed on the housing assembly. The pinion gear is the input end of the speed reduction mechanism, and the large gear is the output end of the speed reduction mechanism. The pinion gear meshes with the large gear for transmission. The steering wheel fixing assembly is fixedly installed on the large gear. The electric drive assembly drives the pinion gear and the large gear to rotate, so as to drive the steering wheel fixing assembly to rotate synchronously, drive the vehicle steering wheel to rotate, and realize automatic control of the steering angle of the vehicle steering wheel.

[0008] Further, the electric drive assembly is fixedly installed at the lower right of the housing assembly.

[0009] Further, the housing assembly includes a base, a motor cover, a motor base, a fixing block, a large gear limiting end cover, a large gear, a bearing end cover and a crossed roller bearing; the base is an annular hollow housing structure with an open bottom surface. The large gear and the crossed roller bearing are installed inside the base through the large gear limiting end cover and the bearing end cover. The large gear is installed outside the crossed roller bearing; the steering wheel fixing assembly is fixedly installed on the large gear. The motor cover is fixed on the upper surface of the base, the motor base is fixed on the lower surface of the base, and the fixing block is fixedly connected to the motor base. The fixing block is used for fixedly connecting with the fixed link assembly.

[0010] Further, the electric drive assembly includes a drive motor, a drive shaft, a deep groove ball bearing, a pinion gear and a pinion gear end cover; the drive shaft is installed on the drive motor, and the deep groove ball bearing, the pinion gear and the pinion gear end cover are sequentially fixedly installed on the drive shaft.

[0011] Further, the steering wheel fixing assembly includes a steering wheel fixing base, a steering wheel fixing buckle and a steering wheel fixing movable buckle; at least three steering wheel fixing buckles are circumferentially and uniformly arranged and installed on the bottom surface of the steering wheel fixing base. The same number of steering wheel fixing movable buckles as the number of steering wheel fixing buckles are connected to the steering wheel fixing buckles through screws. By tightening the screws, the steering wheel fixing buckles and the steering wheel fixing movable buckles clamp the vehicle steering wheel, realizing the fixed installation of the steering wheel fixing base and the vehicle steering wheel.

[0012] Further, at least one first threaded hole is formed in the steering wheel fixing buckle, and a plurality of first strip-shaped countersunk holes corresponding to the number and position of the steering wheel fixing buckles are formed on the top surface of the steering wheel fixing base. The extension lines of the plurality of first strip-shaped countersunk holes intersect at the center of the steering wheel fixing base. After using a fixing screw to pass through the first strip-shaped countersunk hole and move along the first strip-shaped countersunk hole to adjust the position, the fixing screw is tightened and fixed with the first threaded hole at the corresponding position, realizing the fixed connection between the steering wheel fixing buckle and the steering wheel fixing base.

[0013] Further, at least two first mounting through holes are formed in the large gear and arranged circumferentially and evenly. The steering wheel fixing assembly further includes adjusting blocks having the same number as the first mounting through holes. A second threaded hole is formed on one side of the adjusting block. After a fixing screw passes through the first mounting through hole, it is tightened and fixed with the second threaded hole, and a plurality of adjusting blocks are fixed on the large gear. A second mounting through hole is formed on the other side of the adjusting block, and a plurality of fixing holes corresponding to the number and positions of the adjusting blocks are formed on the top surface of the steering wheel fixing base. After a fixing screw passes through the second mounting through hole, it is tightened and fixed with the fixing hole, and the steering wheel fixing base is fixed on the plurality of adjusting blocks, realizing the fixed connection between the steering wheel fixing base and the large gear.

[0014] Further, the second mounting through hole is a second strip-shaped counterbore. The fixing hole includes a strip-shaped groove formed on the top surface of the steering wheel fixing base and a plurality of third threaded holes formed on the bottom surface of the strip-shaped groove. The plurality of strip-shaped grooves are parallel to each other, and the plurality of third threaded holes are arranged at equal distances along the length direction of the strip-shaped groove. The adjusting block can move along the strip-shaped groove to adjust the position, and the fixing screw can move along the second strip-shaped counterbore to adjust the position. After the adjusting block and the fixing screw are adjusted to the target position, the fixing screw is tightened and fixed with the third threaded hole at the corresponding position.

[0015] Further, the fixed connecting rod assembly includes a spherical plain bearing, a force sensor adapter rod, a force sensor, a fixing ring, an adjusting shaft, a steering sleeve and a pin; the force sensor adapter rod and the adjusting shaft are coaxially and fixedly connected to both ends of the force sensor. The steering sleeve is coaxially sleeved outside the adjusting shaft, and the steering sleeve can slide axially along the adjusting shaft. The fixing ring is fixedly connected to one end of the steering sleeve facing the force sensor, and the fixing ring is used to fix the relative position of the steering sleeve and the adjusting shaft. The two spherical plain bearings are respectively fixedly connected to the other ends of the steering sleeve and the force sensor adapter rod, and the two spherical plain bearings are respectively fixedly connected to the housing assembly and a mounting seat arranged in the vehicle cockpit through pins.

[0016] An autonomous vehicle includes a vehicle steering wheel and a steering robot for autonomous driving control of the vehicle. The steering robot is fixedly installed on the vehicle steering wheel through a steering wheel fixing assembly. The electric drive assembly drives the steering wheel fixing assembly to rotate through a reduction mechanism to drive the vehicle steering wheel to rotate, realizing automatic control of the steering angle of the vehicle steering wheel.

[0017] In the utility model patent, the steering robot is stably installed on the vehicle steering wheel through the steering wheel fixing assembly, and the steering angle of the steering wheel is accurately controlled by the driving motor in cooperation with the reduction mechanism, realizing accurate driving control of the vehicle. The reliability and stability of the work are high, the influence of human factors on experimental data is avoided, the consistency and accuracy of driving actions in each working condition of the experiment are improved, and thus the test efficiency is improved. Description of the Drawings

[0018] Attached Figure 1 is a schematic diagram of the overall structure of the steering robot in the present utility model;

[0019] Attached Figure 2 is a schematic diagram of the structure of the housing assembly 01 in the present utility model;

[0020] Attached Figure 3 is a schematic sectional view of the housing assembly 01 in the present utility model;

[0021] Attached Figure 4 is a schematic diagram of the structure of the electric drive assembly 02 in the present utility model;

[0022] Attached Figure 5 is a schematic sectional view of the connection structure between the housing assembly 01 and the electric drive assembly 02 in the present utility model;

[0023] Attached Figure 6 is a top view of the steering wheel fixing assembly 03 in the present utility model;

[0024] Attached Figure 7 is a schematic sectional view of the connection structure between the large gear 0106 and the steering wheel fixing base 0301 in the present utility model;

[0025] Attached Figure 8 is an exploded view of the partial structure of the steering wheel fixing assembly 03 in the present utility model;

[0026] Attached Figure 9 is a schematic diagram of the structure of the fixed link assembly 4 in the present utility model;

[0027] Attached Figure 10 is a schematic sectional view of the fixed link assembly 4 in the present utility model;

[0028] Explanation of the reference numerals in the drawings is as follows: housing assembly 01, base 0101, motor cover 0102, motor base 0103, fixing block 0104, large gear limit end cover 0105, large gear 0106, bearing end cover 0107, crossed roller bearing 0108, electric drive assembly 02, drive motor 0201, drive shaft 0202, deep groove ball bearing 0203, pinion gear 0204, pinion gear end cover 0205, steering wheel fixing assembly 03, steering wheel fixing base 0301, adjusting block 0302, second rectangular counterbore 030201, steering wheel fixing buckle 0303, steering wheel fixing movable buckle 0304, fixed link assembly 04, spherical plain bearing 0401, force sensor adapter rod 0402, force sensor 0403, fixing ring 0404, adjusting shaft 0405, steering sleeve 0406, pin 0407. Detailed implementation manners

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings. The following further describes the content of the utility model with reference to the drawings:

[0030] Embodiment 1

[0031] Refer to the attached specification Figure 1 , a steering robot for vehicle autonomous driving control, comprising a housing assembly 01, an electric drive assembly 02, a steering wheel fixing assembly 03 and a fixed link assembly 04.

[0032] Refer to the attached specification Figure 2 , 3 , the housing assembly 01 includes a base 0101, a motor cover 0102, a motor base 0103, a fixing block 0104, a large gear limiting end cover 0105, a large gear 0106, a bearing end cover 0107 and a crossed roller bearing 0108;

[0033] The base 0101 is an annular hollow housing structure with an open bottom surface. The large gear 0106 and the crossed roller bearing 0108 are installed inside the base 0101 through the large gear limiting end cover 0105 and the bearing end cover 0107. The large gear 0106 is installed outside the crossed roller bearing 0108, enabling the large gear 0106 to rotate inside the base 0101; the motor cover 0102 is fixed on the upper surface of the base 0101; the motor base 0103 is fixed on the lower surface of the base 0101, and the fixing block 0104 is fixedly connected to the motor base 0103;

[0034] The base 0101 is an integrally formed aluminum alloy housing, which can ensure strength while designing the appearance. In this embodiment, it is designed as a polygonal housing, and the overall structure is in the shape of a hexagon.

[0035] Refer to the attached specification Figure 4 , the electric drive assembly 02 includes a drive motor 0201, a drive shaft 0202, a deep groove ball bearing 0203, a small gear 0204 and a small gear end cover 0205;

[0036] The drive shaft 0202 is installed on the drive motor 0201. The deep groove ball bearing 0203, the small gear 0204 and the small gear end cover 0205 are sequentially and fixedly installed on the drive shaft 0202, and the drive shaft 0202 can drive the small gear 0204 to rotate synchronously;

[0037] Refer to the attached specification Figure 5, the electric drive assembly 02 is fixedly installed on the housing assembly 01. Among them, the drive motor 0201 is installed on the base 0101, and the motor cover 0102 is used to cover the drive motor 0201. The pinion 0204 extends into the interior of the base 0101 and meshes with the large gear 0106 for transmission, forming a reduction mechanism. The drive shaft 0202 can drive the pinion 0204 and the large gear 0106 to rotate synchronously, providing power output for the steering robot and enabling precise control of the angle required for the steering robot to rotate;

[0038] Specifically, the electric drive assembly 02 is fixedly installed at the lower right of the housing assembly 01 to leave space on the right, facilitating the driver to take over the steering wheel in case of an emergency, which conforms to the normal driving habits of the driver. At the same time, the driver will hold the control button connected from the control box. When the driver takes over the steering wheel, the driver presses the control button synchronously to disconnect the control signal of the drive motor, enabling the drive motor to rotate freely without bringing resistance to the driver's operation of the steering wheel, providing a safety redundancy function to support manual intervention in the operation of the steering wheel.

[0039] Refer to the attached instructions Figures 6 - 8 , the steering wheel fixing assembly 03 includes a steering wheel fixing base 0301, an adjusting block 0302, a steering wheel fixing buckle 0303 and a steering wheel fixing movable buckle 0304;

[0040] Three steering wheel fixing buckles 0303 are arranged in a circumferential and uniform manner on the bottom surface of the steering wheel fixing base 0301. The three steering wheel fixing movable buckles 0304 are connected to the steering wheel fixing buckles 0303 by screws (specifically, threaded holes are provided on the steering wheel fixing buckles 0303, through holes are provided at the corresponding positions of the steering wheel fixing movable buckles 0304, and the screws pass through the through holes and are threadedly connected to the threaded holes). By tightening the screws, the three steering wheel fixing buckles 0303 and the steering wheel fixing movable buckles 0304 are brought closer together and clamp the vehicle steering wheel together, realizing the fixed installation of the steering wheel fixing base 0301 and the vehicle steering wheel;

[0041] Considering that the steering wheel sizes of different vehicles are different, in order to enable the three steering wheel fixing buckles 0303 and the steering wheel fixing snap 0304 to adapt to the steering wheels of vehicles with different sizes, three first strip-shaped counterbores corresponding to the number and position of the steering wheel fixing buckles 0303 are provided on the top surface of the steering wheel fixing base 0301, and the extension lines of the three first strip-shaped counterbores intersect at the center of the steering wheel fixing base 0301. Three first threaded holes are provided on the steering wheel fixing buckle 0303 at equal distances along the length direction of the first strip-shaped counterbore. After using the fixing screw to pass through the first strip-shaped counterbore and move along the first strip-shaped counterbore and adjust the position, the fixing screw is tightened and fixed with the first threaded hole at the corresponding position, so as to realize the fixed connection between the steering wheel fixing buckle 0303 and the steering wheel fixing base 0301. By moving along the first strip-shaped counterbore and adjusting the positions of the three steering wheel fixing buckles 0303, the diameter of the circle where the three steering wheel fixing buckles 0303 are located can be adjusted to adapt to the steering wheels of vehicles with different sizes and the steering wheel of the vehicle can be made concentric with the steering wheel fixing base 0301 through adjustment.

[0042] Three first mounting through holes arranged evenly in a circle are provided on the large gear 0106. There are three adjusting blocks 0302. A second threaded hole is provided on one side of the adjusting block 0302. After using the fixing screw to pass through the first mounting through hole and then tightening and fixing it with the second threaded hole, multiple adjusting blocks 0302 are fixed on the large gear 0106. The adjusting block 0302 and the first mounting through hole on the large gear 0106 are connected in a male-female head matching manner; a second mounting through hole is provided on the other side of the adjusting block 0302. Multiple fixing holes corresponding to the number and position of the adjusting blocks 0302 are provided on the top surface of the steering wheel fixing base 0301. After using the fixing screw to pass through the second mounting through hole and then tightening and fixing it with the fixing hole, the steering wheel fixing base 0301 is fixed on multiple adjusting blocks 0302, so as to realize the fixed connection between the steering wheel fixing base 0301 and the large gear 0106;

[0043] In order to facilitate the adjustment to make the steering wheel fixing base 0301 and the large gear 0106 concentric, the second mounting through hole is the second strip-shaped counterbore 030201. The fixing hole includes a strip-shaped groove provided on the top surface of the steering wheel fixing base 0301 and five third threaded holes provided on the bottom surface of the strip-shaped groove. The three strip-shaped grooves are parallel to each other, and the five third threaded holes are arranged at equal distances along the length direction of the strip-shaped groove. The adjusting block 0302 can move along the strip-shaped groove to adjust the position, and the fixing screw can move along the second strip-shaped counterbore 030201 to adjust the position. After adjusting to make the steering wheel fixing base 0301 and the large gear 0106 concentric, the fixing screw is tightened and fixed with the third threaded hole at the corresponding position.

[0044] The drive shaft 0202 can drive the pinion 0204 to rotate synchronously with the large gear 0106. The large gear 0106 drives the steering wheel fixed base 0301 fixedly installed thereon to rotate. Since the steering wheel fixed base 0301 is fixedly connected to the vehicle steering wheel through three steering wheel fixing buckles 0303 and the steering wheel fixing movable buckle 0304, the vehicle steering wheel can be driven to rotate, realizing the automatic control of the steering angle of the vehicle steering wheel.

[0045] Refer to the attached instructions Figures 9 - 10 , the fixed link assembly 4 includes a spherical plain bearing 0401, a force sensor transfer rod 0402, a force sensor 0403, a fixing ring 0404, an adjusting shaft 0405, a steering sleeve 0406 and a pin 0407; the force sensor transfer rod 0402 and the adjusting shaft 0405 are coaxially and fixedly connected to both ends of the force sensor 0403. The force sensor 0403 is used to realize the function of tension and compression detection, and can feedback the force condition to the control system. The control system makes correct instructions through conversion and data analysis;

[0046] The steering sleeve 0406 is coaxially sleeved outside the adjusting shaft 0405, and the steering sleeve 0406 can slide axially along the adjusting shaft 0405. The fixing ring 0404 is fixedly connected to one end of the steering sleeve 0406 facing the force sensor 0403. The fixing ring 0404 is used to fix the relative position of the steering sleeve 0406 and the adjusting shaft 0405. Specifically, the fixing ring 0404 includes a bushing with a side opening and a screw installed on the bushing for locking and adjusting the opening. A handle is installed at the end of the screw. The rotation of the screw can be controlled by the handle to adjust the looseness and tightness of the bushing opening, so as to achieve the purpose of locking or loosening the adjusting shaft 0405 by the bushing, and the length of the fixed link assembly 4 can be quickly adjusted; the two spherical plain bearings 0401 are respectively fixedly connected to the other ends of the steering sleeve 0406 and the force sensor transfer rod 0402. The two spherical plain bearings 0401 are respectively fixedly connected to the fixed block 0104 on the housing assembly 01 and the mounting support arranged in the vehicle cockpit (the mounting support can be fixedly installed on the vehicle cockpit seat or the vehicle cockpit seat base or the seat clamping mechanism in the patent “A pedal robot for vehicle automatic driving control and an automatic driving vehicle” previously applied for by the applicant of this patent) through the pin 0407, which is convenient for adapting to different vehicle models and can improve the installation and adjustment efficiency. The fixed link assembly 4 is used to limit the rotational freedom of the base 0101, so that only the large gear 0106 and the crossed roller bearing 0108 on the housing assembly 01 rotate, and other components remain stationary.

[0047] When installing the steering robot on the steering wheel, first do not tighten the fixing screw between the steering wheel fixing base 0301 and the steering wheel fixing buckle 0303. Clamp the steering wheel with both the steering wheel fixing buckle 0303 and the steering wheel fixing movable buckle 0304, and then tighten the fixing screw between the steering wheel fixing base 0301 and the steering wheel fixing buckle 0303. Adjust the concentricity of the three adjusting blocks 0302 and the steering wheel fixing base 0301 through the auxiliary plate. After adjustment, tighten the fixing screw between the adjusting block 0302 and the steering wheel fixing base 0301. Finally, pass the fixing screw through the first installation through-hole of the large gear 0106 and then tighten the fixing screw and fix it on the second threaded hole of the adjusting block 0302.

[0048] Embodiment 2

[0049] An autonomous vehicle includes a vehicle steering wheel and a steering robot for controlling the autonomous driving of the vehicle in Embodiment 1. The steering robot is fixedly installed on the vehicle steering wheel through a steering wheel fixing assembly 03. The electric drive assembly 02 drives the steering wheel fixing assembly 03 to rotate through a reduction mechanism to drive the vehicle steering wheel to rotate, so as to realize the automatic control of the steering angle of the vehicle steering wheel.

[0050] Obviously, it is possible to modify and / or add components to the above-mentioned steering robot, autonomous vehicle and corresponding methods without departing from the scope and field of the present invention.

[0051] It is also clear that although the present invention has described the steering robot and autonomous vehicle in detail, those skilled in the art will surely be able to obtain many other equivalent forms of the steering robot, autonomous vehicle and corresponding methods. The steering robot, autonomous vehicle and corresponding methods have the features as described in the claims, and thus are all within the scope of protection defined thereby.

Claims

1. A steering robot for automatic driving of a vehicle, characterized in that: It comprises a housing assembly (01), an electric drive assembly (02), a steering wheel fixing assembly (03) and a fixing connecting rod assembly (04); the electric drive assembly (02) is fixedly mounted on the housing assembly (01), the steering wheel fixing assembly (03) is fixedly mounted on the vehicle steering wheel, one end of the fixing connecting rod assembly (04) is fixedly connected to the housing assembly (01), and the other end is fixedly connected to a mounting support provided in the vehicle cockpit; A speed reduction mechanism is provided between the electric drive assembly (02) and the housing assembly (01); the steering wheel fixing assembly (03) is fixedly connected to an output end of the speed reduction mechanism; the electric drive assembly (02) drives the steering wheel fixing assembly (03) to rotate via the speed reduction mechanism, thereby driving the vehicle steering wheel to rotate, thereby realizing automatic control of the vehicle steering wheel angle.

2. The steering robot according to claim 1, characterized in that: The deceleration mechanism comprises a small gear (0204) arranged on the electric drive component (02) and a large gear (0106) arranged on the housing component (01), wherein the small gear (0204) is the input end of the deceleration mechanism, and the large gear (0106) is the output end of the deceleration mechanism, the small gear (0204) and the large gear (0106) are meshed and transmitted, and the steering wheel fixing component (03) is fixedly installed on the large gear (0106), and the small gear (0204) and the large gear (0106) are driven to rotate by the electric drive component (02), so as to drive the steering wheel fixing component (03) to rotate synchronously, drive the vehicle steering wheel to rotate, and realize automatic control of the vehicle steering wheel angle.

3. The steering robot according to claim 2, characterized in that: The housing assembly (01) comprises a base (0101), a motor cover (0102), a motor base (0103), a fixing block (0104), a large gear limiting end cover (0105), a large gear (0106), a bearing end cover (0107) and a cross roller bearing (0108); the base (0101) is an annular hollow housing structure with an open bottom surface, and the large gear (0106) and the cross roller bearing (0108) are arranged through the large gear limiting end cover (0105) and the bearing end cover (0107). The steering wheel fixing assembly (03) is fixedly mounted on the large gear (0106), the motor cover (0102) is fixedly mounted on the upper surface of the base (0101), the motor base (0103) is fixedly mounted on the lower surface of the base (0101), the fixing block (0104) is fixedly connected to the motor base (0103), and the fixing block (0104) is used to be fixedly connected to the fixing connecting rod assembly (04).

4. The steering robot according to claim 2, characterized in that: The electric drive assembly (02) comprises a drive motor (0201), a drive shaft (0202), a deep groove ball bearing (0203), a pinion (0204) and a pinion end cover (0205); the drive shaft (0202) is mounted on the drive motor (0201), and the deep groove ball bearing (0203), the pinion (0204) and the pinion end cover (0205) are fixedly mounted on the drive shaft (0202) in sequence.

5. The steering robot according to claim 2, characterized in that: The steering wheel fixing assembly (03) comprises a steering wheel fixing base (0301), a steering wheel fixing buckle (0303) and a steering wheel fixing snap buckle (0304); at least three steering wheel fixing buckles (0303) are evenly arranged in a circle and installed on the bottom surface of the steering wheel fixing base (0301); a number of steering wheel fixing snap buckles (0304) that matches the number of steering wheel fixing buckles (0303) are connected to the steering wheel fixing buckles (0303) by screws; the steering wheel fixing buckles (0303) and the steering wheel fixing snap buckles (0304) are clamped to the vehicle steering wheel by tightening the screws, thereby achieving fixed installation of the steering wheel fixing base (0301) and the vehicle steering wheel.

6. The steering robot according to claim 5, characterized in that: At least one first threaded hole is provided on the steering wheel fixing buckle (0303), and a plurality of first strip-shaped countersunk holes corresponding to the number and position of the steering wheel fixing buckles (0303) are provided on the top surface of the steering wheel fixing base (0301), and the extension lines of the plurality of first strip-shaped countersunk holes intersect at the center of the steering wheel fixing base (0301). After a fixing screw is passed through the first strip-shaped countersunk hole and moved along the first strip-shaped countersunk hole and adjusted to a desired position, the fixing screw is tightened and fixed to the first threaded hole at the corresponding position, thereby realizing a fixed connection between the steering wheel fixing buckle (0303) and the steering wheel fixing base (0301).

7. The steering robot according to claim 5, characterized in that: At least two first mounting through holes are arranged evenly in a circle on the large gear (0106); the steering wheel fixing assembly (03) further comprises an adjustment block (0302) having the same number as the first mounting through holes; a second threaded hole is provided on one side of the adjustment block (0302); a fixing screw is passed through the first mounting through hole and then tightened and fixed to the second threaded hole to fix the plurality of adjustment blocks (0302) on the large gear (0106); a second mounting through hole is provided on the other side of the adjustment block (0302); a plurality of fixing holes corresponding to the number and position of the adjustment blocks (0302) are provided on the top surface of the steering wheel fixing base (0301); a fixing screw is passed through the second mounting through hole and then tightened and fixed to the fixing hole to fix the steering wheel fixing base (0301) on the plurality of adjustment blocks (0302) to achieve a fixed connection between the steering wheel fixing base (0301) and the large gear (0106).

8. The steering robot according to claim 7, characterized in that: The second mounting through hole is a second strip countersunk hole (030201), and the fixing hole includes a strip groove opened on the top surface of the steering wheel fixing base (0301) and a plurality of third threaded holes opened on the bottom surface of the strip groove, the plurality of strip grooves are parallel to each other, and the plurality of third threaded holes are arranged at equal distances along the length direction of the strip groove, the adjusting block (0302) can be moved along the strip groove to adjust the position, and the fixing screw can be moved along the second strip countersunk hole (030201) to adjust the position, and after the adjusting block (0302) and the fixing screw are adjusted to the target position, the fixing screw is tightened and fixed to the third threaded hole at the corresponding position.

9. The steering robot according to claim 2, characterized in that: The fixed connecting rod assembly (04) comprises a joint bearing (0401), a force sensor adapter rod (0402), a force sensor (0403), a fixing ring (0404), an adjusting shaft (0405), a steering sleeve (0406) and a latch (0407); the force sensor adapter rod (0402) and the adjusting shaft (0405) are coaxially fixedly connected at two ends of the force sensor (0403), the steering sleeve (0406) is coaxially sleeved on the outside of the adjusting shaft (0405), and the steering sleeve (0406) can be rotated along the axis of the adjusting shaft (0405). The fixing ring (0404) is fixedly connected to one end of the steering sleeve (0406) facing the force sensor (0403), and the fixing ring (0404) is used to fix the relative position of the steering sleeve (0406) and the adjusting shaft (0405). The two spherical bearings (0401) are respectively fixedly connected to the steering sleeve (0406) and the other end of the force sensor adapter rod (0402). The two spherical bearings (0401) are respectively fixedly connected to the housing assembly (01) and the mounting support arranged in the vehicle cockpit through the latch (0407).

10. An autonomous driving vehicle, characterized in that: It comprises a vehicle steering wheel and a steering robot for automatic driving control of a vehicle as described in any one of claims 1 to 9, wherein the steering robot is fixedly mounted on the vehicle steering wheel via a steering wheel fixing component (03), and an electric drive component (02) drives the steering wheel fixing component (03) to rotate via a reduction mechanism to drive the vehicle steering wheel to rotate, thereby realizing automatic control of the vehicle steering wheel angle.

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