Multi-stage gear type all-electric power steering device

Abstract

The utility model relates to the technical field of automobile steering, and discloses a multi-stage gear type all-electric power steering device which comprises a control module and a power steering module. The control module comprises at least two steering control units which are connected with each other through SPI (Serial Peripheral Interface) signals; the power-assisted steering module comprises a power-assisted motor, a gear transmission mechanism, a planetary gear mechanism, a worm and gear mechanism, a shell, an input shaft and an output shaft, the power-assisted motor is arranged on the shell, the gear transmission mechanism, the planetary gear mechanism and the worm and gear mechanism are arranged in the shell, and the power-assisted motor is in transmission connection with the gear transmission mechanism; the planetary gear mechanism is connected with the gear transmission mechanism, and the worm and gear mechanism is connected with the planetary gear mechanism. The multi-stage gear type all-electric power steering device solves the limitation of an existing electric power steering device in the application field of commercial vehicles, and the pure electric steering device which is efficient, energy-saving, light and convenient in steering and good in controllability can be provided for passenger and goods commercial vehicles.

Description

Technical Field

[0001] The present invention relates to the technical field of automotive steering, and specifically to a multi-stage gear type fully electric power steering device. Background Art

[0002] At present, the circulating ball steering system and the hydraulic steering system of the power-assisted ball screw for heavy trucks, commercial vehicles, etc. have the following problems:

[0003] High fuel consumption: The power-assisted steering system of heavy trucks consumes a large amount of fuel, increasing the fuel consumption and operating costs of the vehicle;

[0004] High maintenance cost: The power-assisted steering system of heavy trucks consists of multiple components, which is difficult to maintain. Regular replacement or repair is required, increasing the maintenance cost of the vehicle;

[0005] High failure rate: The power-assisted steering system of heavy trucks consists of multiple components. If a certain component fails, the entire system will not work properly, increasing the failure rate and repair cost of the vehicle;

[0006] High requirements for drivers: The power-assisted steering system of heavy trucks has relatively high requirements for the driver's operation skills and reaction speed. If the driver is not skilled, it may affect the operation efficiency and safety of the vehicle;

[0007] Moreover, regarding the above problem of failure rate, with the development of technology, the intelligent driving of vehicles has also changed by leaps and bounds. Among them, the electric power steering system, as an important part of intelligent control, is used to intelligently control the driving direction of the vehicle. The quality of its performance will directly affect the steering performance of the vehicle, as well as the handling stability and driving safety.

[0008] The existing electric power steering control system is designed based on increasing the assistance according to the driver's steering. Its process is controlled by a single control loop. If a certain node is abnormal, the entire electric power steering control system will fail due to the fault, which will bring serious consequences to safe driving. Therefore, it cannot meet the functional safety requirements of autonomous driving. Summary of the Invention

[0009] (1) Technical problems to be solved

[0010] In view of the deficiencies of the prior art, the present invention provides a multi-stage gear type fully electric power steering device, which has the advantages of improving steering stability, strong adaptability and high safety performance. It solves the limitations of the current electric power steering gear in the application field of commercial vehicles, enabling passenger, freight and commercial vehicles to have a pure electric steering gear with high efficiency, energy saving, light steering and good controllability.

[0011] (2) Technical solutions

[0012] The technical solution of the present invention to solve the above technical problems is as follows: A multi-stage gear type fully electric power steering device, comprising a control module and a power steering module. The control module includes at least two steering control units connected to each other through SPI signals. The steering control unit includes a processor, an input torque sensor, an input angle sensor, and a motor angle sensor;

[0013] The power steering module includes a power assist motor, a gear transmission mechanism, a planetary gear mechanism, a worm and worm gear mechanism, a housing, an input shaft, and an output shaft. The power assist motor is arranged on the housing. The gear transmission mechanism, the planetary gear mechanism, and the worm and worm gear mechanism are arranged inside the housing. The power assist motor is drivingly connected to the gear transmission mechanism. The planetary gear mechanism is connected to the gear transmission mechanism. The worm and worm gear mechanism is connected to the planetary gear mechanism. The input shaft is connected to the worm and worm gear mechanism. The output shaft is connected to the planetary gear mechanism;

[0014] The gear transmission mechanism includes a second-stage helical gear and a first-stage helical gear arranged front and back and meshing with each other. A first-stage pinion is provided at the output end of the power assist motor. The first-stage pinion meshes with the first-stage helical gear. The planetary gear mechanism includes a second-stage planetary gear and a first-stage planetary gear arranged front and back. The first-stage planetary gear meshes with the second-stage helical gear. The second-stage planetary gear is connected to the first-stage planetary gear. The worm and worm gear mechanism is connected to the first-stage planetary gear. The output shaft is connected to the second-stage planetary gear. The worm and worm gear mechanism includes a worm and a worm gear meshing with each other.

[0015] The beneficial effects of the present invention are:

[0016] This multi-stage gear type fully electric power steering device can assist vehicle steering by changing the output torque of the power assist motor, which can improve the stability and accuracy of vehicle steering, make it easier for the driver to control the vehicle, reduce the fatigue of the driver when driving at high speed, reduce the driver's dependence on the steering force, improve the driving comfort, and its power transmission for steering is carried out by combining external meshing cylindrical gear transmission and planetary structure transmission, and the efficiency can reach 95%;

[0017] At the same time, this system is a pure electric system, which can reduce the energy consumption of the vehicle through program control, improve the energy efficiency, reduce the use cost, and can reduce the vehicle maintenance cost because the sensors and controllers used are more durable than those of traditional steering systems;

[0018] Moreover, since at least two completely independent steering control units are designed in the control module, each system has an independent power supply, an independent sensor detection circuit, and an independent vehicle signal receiving circuit. After power-on initialization, the master-slave roles are default-assigned, and the two communicate and synchronize signals through the SPI method. When a fault occurs in one control loop, the other control loop continues to control the motor to output the specified performance, reducing the safety risks brought by the fault.

[0019] Based on the above technical solutions, the present invention can be further improved as follows.

[0020] Furthermore, the control module further includes a plurality of power supplies, and the plurality of power supplies are respectively connected to the plurality of steering control units for power supply. The processor includes: a configuration data module, a data analysis module, and a status scheduling module.

[0021] Furthermore, the motor angle sensor is used to obtain the angle data of the assist motor, the input torque sensor and the input angle sensor are used to obtain the torque and angle data of the input shaft, the motor angle sensor, the input torque sensor, and the input angle sensor are all connected to the input end of the processor, and the output end of the processor is connected to the assist motor. The processor processes and analyzes the received data to control the output torque of the assist motor.

[0022] Furthermore, the first-stage helical gear includes a first-stage large gear, a second-stage small gear, and a first-stage transmission shaft. The first-stage transmission shaft is rotatably arranged in the housing, and the second-stage small gear and the first-stage large gear are arranged on the outer side of the first-stage transmission shaft in the front and rear. The first-stage large gear meshes with the first-stage small gear.

[0023] Furthermore, a chuck is arranged on the outer side of the first-stage transmission shaft, and a buffer pad is arranged between the chuck and the first-stage large gear.

[0024] Furthermore, the second-stage helical gear includes a second-stage transmission shaft, a first-stage sun gear, and a second-stage large gear. The second-stage transmission shaft is rotatably arranged in the housing, and the first-stage sun gear and the second-stage large gear are arranged on the outer side of the second-stage transmission shaft in the front and rear. The second-stage large gear meshes with the second-stage small gear.

[0025] Furthermore, the first-stage planetary gear includes a first planetary gear, a first-stage planetary carrier, a second-stage sun gear, and a first ring gear. The first ring gear is arranged in the housing, and a plurality of first planetary gears are rotatably arranged on the rear side of the first-stage planetary carrier. The first planetary gear meshes with the first-stage sun gear and the first ring gear, and the second-stage sun gear is fixed to the front side of the first-stage planetary carrier.

[0026] Further, the secondary planetary gear includes a second planetary gear, a secondary planetary carrier, and a second ring gear. The second ring gear is disposed inside the housing. A plurality of second planetary gears are rotatably provided on the rear side of the secondary planetary carrier. The second planetary gears are engaged with the secondary sun gear and the second ring gear. The output shaft is fixed to the secondary planetary carrier.

[0027] Further, the worm gear is disposed outside the first planetary carrier. The worm is connected to the input shaft through a torsion bar. The input torque sensor and the input angle sensor are disposed outside the torsion bar for detecting the rotational assist torque and the angle data. The motor angle sensor is disposed at the assist motor for detecting the angle data.

[0028] Further, an angle limiting block for restricting the circumferential rotation angle of the worm gear is provided inside the housing. Card slots are provided on both the first ring gear and the second ring gear. A tenon is provided on the angle limiting block, and the tenon is inserted into the card slot. Description of the Drawings

[0029] Figure 1 It is a top view cross-sectional view of the present invention;

[0030] Figure 2 It is a schematic diagram of the positions of the second planetary gear and the second ring gear of the present invention;

[0031] Figure 3 It is a schematic diagram of the positions of the first planetary gear and the first ring gear of the present invention;

[0032] Figure 4 It is a side view of the positions of the input shaft, the first planetary gear, and the secondary planetary gear of the present invention;

[0033] Figure 5 It is a schematic diagram of the structure of the first helical gear of the present invention;

[0034] Figure 6 It is a schematic diagram of the structure of the second helical gear of the present invention;

[0035] Figure 7 It is a schematic diagram of the structure of the first planetary gear of the present invention;

[0036] Figure 8 It is a schematic diagram of the structure of the secondary planetary gear of the present invention;

[0037] Figure 9 It is a schematic diagram of the structure of the worm gear mechanism of the present invention;

[0038] Figure 10 It is a top view cross-sectional view of the positions of the first ring gear and the second ring gear of the present invention;

[0039] Figure 11 It is a front view cross-sectional view of the present invention;

[0040] Figure 12This is the control flow chart of the present invention;

[0041] Figure 13 This is the transmission flow chart of the present invention;

[0042] Figure 14 This is the principle block diagram of the control module of the present invention.

[0043] In the figure: 1. Control module; 11. Steering control unit; 111. Processor; 1111. Configuration data module; 1112. Data analysis module; 1113. Status scheduling module; 112. Input torque sensor; 113. Input angle sensor; 114. Motor angle sensor; 2. Power steering module; 21. Power assist motor; 22. Gear transmission mechanism; 221. Second-stage helical gear; 2211. Second-stage transmission shaft; 2212. First-stage sun gear; 2213. Second-stage large gear; 222. First-stage helical gear; 2221. First-stage large gear; 2222. Second-stage small gear; 2223. First-stage transmission shaft; 2224. Chuck; 2225. Buffer pad; 223. First-stage small gear; 23. Planetary gear mechanism; 231. Second-stage planetary gear; 2311. Second planetary gear; 2312. Second-stage planetary carrier; 2313. Second ring gear; 232. First-stage planetary gear; 2321. First planetary gear; 2322. First-stage planetary carrier; 2323. Second-stage sun gear; 2324. First ring gear; 24. Worm and worm gear mechanism; 241. Worm; 242. Worm gear; 243. Torsion bar; 25. Housing; 26. Input shaft; 27. Output shaft; 3. Angle limit block; 4. Card slot; 5. Tenon; 6. Power supply. Detailed implementation manners

[0044] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0045] It is given by Figures 1-14 The present invention includes a multi-stage gear type fully electric power steering device, including a control module 1 and a power steering module 2;

[0046] The control module 1 includes at least two steering control units 11 that are connected to each other through SPI signals;

[0047] The power steering module 2 includes a power steering motor 21, a gear transmission mechanism 22, a planetary gear mechanism 23, a worm and worm gear mechanism 24, a housing 25, an input shaft 26 and an output shaft 27. The power steering motor 21 is arranged on the housing 25. The gear transmission mechanism 22, the planetary gear mechanism 23 and the worm and worm gear mechanism 24 are arranged inside the housing 25. The power steering motor 21 is drivingly connected to the gear transmission mechanism 22. The planetary gear mechanism 23 is connected to the gear transmission mechanism 22. The worm and worm gear mechanism 24 is connected to the planetary gear mechanism 23. The input shaft 26 is connected to the worm and worm gear mechanism 24. The output shaft 27 is connected to the planetary gear mechanism 23. The vehicle steering wheel and the power steering module 2 are connected through the input shaft 26. There are hoisting holes and lifting positions on the housing 25, which are convenient for workers to hoist.

[0048] Specifically, according to the characteristics of gear transmission, the gear reduction mechanism is arranged on the high-speed and low-torque transmission stage of the steering assist transmission chain, the planetary gear reduction mechanism is arranged on the low-speed and high-torque transmission stage of the steering assist transmission chain, and the worm and worm gear reduction mechanism is used for the light-load transmission of the steering control transmission chain.

[0049] The steering control unit 11 includes a processor 111, an input torque sensor 112, an input angle sensor 113, and a motor angle sensor 114. The motor angle sensor 114 is used to obtain the angle data of the power steering motor 21. The input torque sensor 112 and the input angle sensor 113 are used to obtain the torque and angle data of the input shaft 26. The motor angle sensor 114, the input torque sensor 112 and the input angle sensor 113 are all connected to the input end of the processor 111. The output end of the processor 111 is connected to the power steering motor 21. The processor 111 processes, analyzes and controls the output torque of the power steering motor 21 according to the received data.

[0050] Furthermore, it further includes a plurality of power supplies 6. The plurality of power supplies 6 are respectively connected to the plurality of steering control units 11 for power supply. The processor 111 includes:

[0051] A configuration data module 1111: storing the real-time control mode of the vehicle and calibration parameter data;

[0052] A data analysis module 1112: obtaining follow-up torque data through data analysis and calculation by combining the received data with the configuration data module 1111;

[0053] A state scheduling module 1113: scheduling and controlling the torque of the power steering motor 21 according to the follow-up torque data obtained by the data analysis module 1112.

[0054] The circuit board of the processor 111 consists of a single PMIC, a single MCU, a single CAN transceiver, a MOSFET pre-driver chip, and a three-phase MOSFET full bridge. The MCU chip communicates with the MOSFET pre-driver chip through SPI to judge the states of the two sets of motor drive circuits, thereby realizing the switching of the two sets of motor drive circuits;

[0055] The sensor is designed as a redundant sensor. There are two independent 5V power supply networks inside the sensor, and at the same time, there are two independent torque detection circuits. Each detection circuit outputs two independent torque control signals;

[0056] Among them, the assist motor 21 is specifically a dual-winding motor: there are two completely independent windings, which act on a rotor together. Each winding has an independent phase wire terminal led out. If a certain winding circuit fails, the other winding can provide the rated torque output of the motor;

[0057] Specifically, the dual-winding design of the motor is specifically to form six phases by using two sets of three-phase star windings, and a winding design with a phase shift of 30 electrical degrees is adopted, which can achieve the following effects: it can effectively weaken the 5th and 7th harmonics, reduce the torque ripple of the 6p order, and reduce the motor noise;

[0058] Furthermore, the gear transmission mechanism 22 includes a secondary helical gear 221 and a primary helical gear 222 that are arranged front and back and meshed with each other. The output end of the assist motor 21 is provided with a primary pinion 223, and the primary pinion 223 meshes with the primary helical gear 222. The planetary gear mechanism 23 includes a secondary planetary gear 231 and a primary planetary gear 232 that are arranged front and back. The primary planetary gear 232 meshes with the secondary helical gear 221. The secondary planetary gear 231 is connected to the primary planetary gear 232. The worm and worm gear mechanism 24 is connected to the primary planetary gear 232, and the output shaft 27 is connected to the secondary planetary gear 231.

[0059] Furthermore, the primary helical gear 222 includes a primary large gear 2221, a secondary small gear 2222, and a primary transmission shaft 2223. The primary transmission shaft 2223 is rotatably arranged in the housing 25. The secondary small gear 2222 and the primary large gear 2221 are arranged front and back on the outside of the primary transmission shaft 2223, and the primary large gear 2221 meshes with the primary pinion 223.

[0060] Furthermore, a chuck 2224 is arranged on the outside of the primary transmission shaft 2223, and a buffer pad 2225 is arranged between the chuck 2224 and the primary large gear 2221;

[0061] The buffer pad 2225 has the following functions:

[0062] Increase the service life of the assist motor 21. When the assist motor 21 is running, a sudden stop will generate inertia and reaction force inside the assist motor 21, causing impact and damage to the internal components of the assist motor 21. The buffering of the assist motor 21 can reduce the possibility of sudden stop of the assist motor 21, thereby reducing the damage to the internal components of the assist motor 21 and extending the service life of the assist motor 21;

[0063] Eliminate residual magnetic field. When the assist motor 21 is energized, a magnetic field will be generated inside the assist motor 21. When the assist motor 21 stops running, due to the existence of the residual magnetic field, it will be difficult for the assist motor 21 to stop or it cannot start within a short period of time. The buffering of the assist motor 21 can gradually reduce the running speed of the assist motor 21, thereby eliminating the residual magnetic field and enabling the assist motor 21 to stop or start smoothly;

[0064] Reduce noise and vibration. When the assist motor 21 is buffered and stops, it can gradually reduce the rotation speed of the assist motor 21, reducing the noise and vibration generated by the assist motor 21. This helps to keep the production environment quiet and stable and will not affect the product quality.

[0065] Further, the second-stage helical gear 221 includes a second-stage transmission shaft 2211, a first-stage sun gear 2212, and a second-stage large gear 2213. The second-stage transmission shaft 2211 is rotatably arranged in the housing 25. The first-stage sun gear 2212 and the second-stage large gear 2213 are arranged on the outer side of the second-stage transmission shaft 2211 in the front and back. The second-stage large gear 2213 meshes with the second-stage small gear 2222.

[0066] Further, the first-stage planetary gear 232 includes a first planetary gear 2321, a first-stage planetary carrier 2322, a second-stage sun gear 2323, and a first ring gear 2324. The first ring gear 2324 is arranged in the housing 25. A plurality of first planetary gears 2321 are rotatably arranged on the rear side of the first-stage planetary carrier 2322. The first planetary gears 2321 mesh with the first-stage sun gear 2212 and the first ring gear 2324. The second-stage sun gear 2323 is fixed to the front side of the first-stage planetary carrier 2322.

[0067] Further, the second-stage planetary gear 231 includes a second planetary gear 2311, a second-stage planetary carrier 2312, and a second ring gear 2313. The second ring gear 2313 is arranged in the housing 25. A plurality of second planetary gears 2311 are rotatably arranged on the upper rear side of the second-stage planetary carrier 2312. The second planetary gears 2311 mesh with the second-stage sun gear 2323 and the second ring gear 2313. The output shaft 27 is fixed to the second-stage planetary carrier 2312.

[0068] Further, the worm and worm gear mechanism 24 includes a meshing worm 241 and worm gear 242. The worm gear 242 is arranged outside the first-stage planet carrier 2322. The worm 241 is connected to the input shaft 26 through a torsion bar 243. The input torque sensor 112 and the input angle sensor 113 are arranged outside the torsion bar 243 for detecting the rotational assist torque and angle data. The motor angle sensor 114 is arranged at the assist motor 21 for detecting angle data.

[0069] Further, an angle limit block 3 for restricting the circumferential rotation angle of the worm gear 242 is arranged inside the housing 25. Slots 4 are arranged on both the first ring gear 2324 and the second ring gear 2313. The angle limit block 3 is provided with a tenon 5, and the tenon 5 is inserted into the slot 4.

[0070] Among them, the worm gear 242 adopts a sector tooth structure. When the two sides of the worm gear 242 swing left and right to the limit position and contact the angle limit block 3, the stroke is limited. Usually, the rotation angle range of the steering output shaft of a commercial vehicle steering gear is plus or minus 45 degrees. When the angle limit block 3 is installed, the protruding tenon 5 just fits into the slot 4 corresponding to the first ring gear 2324 of the first-stage planetary gear 232 and the second ring gear 2313 of the second-stage planetary gear 231. The fixed angle limit block 3 can also fix the first ring gear 2324 and the second-stage planetary gear 231 of the planetary gear reduction mechanism, preventing the ring gear from rotating in the housing 25 under force during operation.

[0071] Working principle:

[0072] When the steering wheel rotates, it drives the input shaft 26 to rotate. The input shaft 26 and the worm 241 are connected by a torsion bar 243 and rotate synchronously. The worm 241 drives the worm gear 242 to rotate. Among them, the elasticity causes the torsion bar 243 to twist and deform, and the deformation amount can reflect the magnitude of the wheel steering resistance. The input torque sensor 112 on the torsion bar 243 detects the steering resistance torque of the steering wheel and feeds it back to the processor 111. The processor 111 controls the assist motor 21 to provide an appropriate output torque according to the received signal.

[0073] The assist motor 21 starts to drive the first-stage pinion 223 to rotate, thereby driving the first-stage large gear 2221 to rotate. The first-stage large gear 2221 drives the second-stage pinion 2222 to rotate together through the first-stage transmission shaft 2223. The second-stage pinion 2222 drives the second-stage large gear 2213 to rotate. The second-stage large gear 2213 drives the first-stage sun gear 2212 to rotate through the second-stage transmission shaft 2211. The first-stage sun gear 2212 drives the first planetary gear 2321 to rotate within the first gear ring 2324, thereby driving the first-stage planetary carrier 2322 to rotate. The second-stage sun gear 2323 is fixed on the first-stage planetary carrier 2322 and rotates therewith. The second-stage sun gear 2323 drives the second planetary gear 2311 to rotate within the second gear ring 2313. The second planetary gear 2311 drives the second-stage planetary carrier 2312 to rotate. The output shaft 27 is fixed on the second-stage planetary carrier 2312 and rotates therewith. The output shaft 27 drives the swing arm to rotate an angle, completing the torque transmission and achieving the assist effect.

[0074] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0075] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-stage gear type fully electric power steering device, characterized in that: It includes a control module (1) and an electric power steering module (2). The control module (1) includes at least two steering control units (11) connected to each other by SPI signals. The steering control unit (11) includes a processor (111), an input torque sensor (112), an input angle sensor (113), and a motor angle sensor (114). The electric power steering module (2) includes an assist motor (21), a gear transmission mechanism (22), a planetary gear mechanism (23), a worm and worm gear mechanism (24), a housing (25), an input shaft (26), and an output shaft (27). The assist motor (21) is arranged on the housing (25). The gear transmission mechanism (22), the planetary gear mechanism (23), and the worm and worm gear mechanism (24) are arranged inside the housing (25). The assist motor (21) is drivingly connected to the gear transmission mechanism (22). The planetary gear mechanism (23) is connected to the gear transmission mechanism (22). The worm and worm gear mechanism (24) is connected to the planetary gear mechanism (23). The input shaft (26) is connected to the worm and worm gear mechanism (24). The output shaft (27) is connected to the planetary gear mechanism (23). The gear transmission mechanism (22) includes a second-stage helical gear (221) and a first-stage helical gear (222) arranged front and back and meshing with each other. A first-stage pinion (223) is arranged at the output end of the assist motor (21). The first-stage pinion (223) meshes with the first-stage helical gear (222). The planetary gear mechanism (23) includes a second-stage planetary gear (231) and a first-stage planetary gear (232) arranged front and back. The first-stage planetary gear (232) meshes with the second-stage helical gear (221). The second-stage planetary gear (231) is connected to the first-stage planetary gear (232). The worm and worm gear mechanism (24) is connected to the first-stage planetary gear (232). The output shaft (27) is connected to the second-stage planetary gear (231). The worm and worm gear mechanism (24) includes a worm (241) and a worm wheel (242) meshing with each other.

2. The multi-stage gear type fully electric power steering device according to claim 1, wherein: The control module (1) further includes a plurality of power supplies (6). The plurality of power supplies (6) are respectively connected to the plurality of steering control units (11) for power supply. The processor (111) includes: a configuration data module (1111), a data analysis module (1112), and a status scheduling module (1113).

3. A multi-stage gear type fully electric power steering device according to claim 1, characterized in that: The motor angle sensor (114) is used to obtain the angle data of the assist motor (21). The input torque sensor (112) and the input angle sensor (113) are used to obtain the torque and angle data of the input shaft (26). The motor angle sensor (114), the input torque sensor (112), and the input angle sensor (113) are all connected to the input end of the processor (111). The output end of the processor (111) is connected to the assist motor (21). The processor (111) processes and analyzes the received data to control the output torque of the assist motor (21).

4. A multi-stage gear type fully electric power steering device according to claim 1, characterized in that: The first-stage helical gear (222) includes a first-stage large gear (2221), a second-stage small gear (2222), and a first-stage transmission shaft (2223). The first-stage transmission shaft (2223) is rotatably arranged in the housing (25). The second-stage small gear (2222) and the first-stage large gear (2221) are arranged on the outer side of the first-stage transmission shaft (2223) in the front and back. The first-stage large gear (2221) meshes with the first-stage small gear (223).

5. The multi-stage gear type fully electric power steering device according to claim 4, wherein: A chuck (2224) is arranged on the outer side of the first-stage transmission shaft (2223), and a buffer pad (2225) is arranged between the chuck (2224) and the first-stage large gear (2221).

6. A multi-stage gear type fully electric power steering device according to claim 4, characterized in that: The second-stage helical gear (221) includes a second-stage transmission shaft (2211), a first-stage sun gear (2212), and a second-stage large gear (2213). The second-stage transmission shaft (2211) is rotatably arranged in the housing (25). The first-stage sun gear (2212) and the second-stage large gear (2213) are arranged on the outer side of the second-stage transmission shaft (2211) in the front and back. The second-stage large gear (2213) meshes with the second-stage small gear (2222).

7. A multi-stage gear type fully electric power steering device according to claim 6, characterized in that: The first-stage planetary gear (232) includes a first planetary gear (2321), a first-stage planetary carrier (2322), a second-stage sun gear (2323), and a first gear ring (2324). The first gear ring (2324) is arranged in the housing (25). A plurality of first planetary gears (2321) are rotatably arranged at the rear side of the first-stage planetary carrier (2322). The first planetary gears (2321) mesh with the first-stage sun gear (2212) and the first gear ring (2324). The second-stage sun gear (2323) is fixed to the front side of the first-stage planetary carrier (2322).

8. A multi-stage gear type fully electric power steering device according to claim 7, characterized in that: The second-stage planetary gear (231) includes a second planetary gear (2311), a second-stage planetary carrier (2312), and a second gear ring (2313). The second gear ring (2313) is arranged in the housing (25). A plurality of second planetary gears (2311) are rotatably arranged at the upper rear side of the second-stage planetary carrier (2312). The second planetary gears (2311) mesh with the second-stage sun gear (2323) and the second gear ring (2313). The output shaft (27) is fixed to the second-stage planetary carrier (2312).

9. A multi-stage gear type fully electric power steering device according to claim 7, characterized in that: The worm gear (242) is arranged on the outer side of the first-stage planetary carrier (2322). The worm (241) is connected to the input shaft (26) through a torsion bar (243). The input torque sensor (112) and the input angle sensor (113) are arranged on the outer side of the torsion bar (243) for detecting the rotational assist torque and angle data. The motor angle sensor (114) is arranged at the assist motor (21) for detecting angle data.

10. A multi-stage gear type fully electric power steering device according to claim 9, characterized in that: An angle limit block (3) for restricting the circumferential rotation angle of the worm gear (242) is arranged on the inner side of the housing (25). A card slot (4) is arranged on both the first gear ring (2324) and the second gear ring (2313). A tenon (5) is arranged on the angle limit block (3), and the tenon (5) is embedded in the card slot (4).

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