Steering control device

Abstract

The utility model discloses a steering control device which comprises a rotating body, a fixed body, a rolling supporting assembly and a driving assembly, the rotating body is used for being connected with a steering wheel in a fastened mode, and the rotating body is provided with a driving part; the fixing body is fixedly arranged below the steering wheel; the rolling supporting assembly is rotationally arranged on the fixed body and supports the rotating body in a rolling mode; the driving assembly is in transmission connection with the driving part, so that the rotating body rotates relative to the fixed body under the transmission of the driving assembly to drive the steering wheel to rotate around the rotating shaft, and the projection of the rolling supporting assembly in the radial direction of the rotating body is at least partially overlapped with the driving part. According to the technical scheme, the rotating body can be prevented from moving, and the reliability of transmission connection between the driving assembly and the rotating body is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic control of driving systems, and in particular relates to a steering control device. BACKGROUND

[0002] With the continuous development of the agricultural industry and the increasing emphasis of the country on agriculture, agricultural mechanization has gradually been popularized in some areas of China. Traditional mechanized farming requires a large amount of labor costs, and with the continuous increase of labor costs, automatic driving technology has been applied in the field of agricultural machinery.

[0003] Agricultural machinery usually does not have automatic driving function when it is shipped, and it needs to be installed with an automatic driving system later to have the automatic driving function. The automatic driving system includes a vehicle computer terminal and a steering control device, the steering control device is installed on the steering wheel of the agricultural machinery, and the vehicle computer terminal is electrically connected with the steering control device to control the working of the steering control device, so as to adjust the moving direction of the agricultural machinery.

[0004] The steering control device includes a driving motor and a rotating body, the rotating body is fixedly installed on the spoke or rim of the steering wheel, and then the rotating body is driven to rotate by the driving motor to synchronously drive the steering wheel to rotate, so as to adjust the moving direction of the agricultural machinery.

[0005] However, in the related art, the rotating body is usually suspended above the fixed body for installing and fixing the driving assembly, so that when the agricultural machinery jolts during travel, a gap is easily generated between the rotating body and the spoke or rim, causing the rotating body to move due to insufficient support, and thus seriously affecting the transmission connection between the driving assembly and the rotating body. CONTENT OF THE UTILITY MODEL

[0006] The main purpose of the present application is to provide a steering control device, which aims to improve the existing steering control device, and to solve the problem that a gap is easily generated between the rotating body and the spoke or rim when the agricultural machinery jolts during travel, causing the rotating body to move due to insufficient support.

[0007] To achieve the above purpose, the steering control device provided by the present application is used to realize automatic driving by controlling the steering wheel to rotate around the corresponding rotating shaft, and the steering control device includes a rotating body, a fixed body, a rolling support assembly and a driving assembly, wherein,

[0008] The rotating body is used for fastening connection with the steering wheel, and the rotating body is provided with a driving part;

[0009] The fixed body is used for being fixedly arranged below the steering wheel;

[0010] The rolling support assembly is rotatably arranged on the fixed body and rolls to support the rotating body;

[0011] The driving assembly is in transmission connection with the driving part, so that the rotating body rotates relative to the fixed body under the transmission of the driving assembly to drive the steering wheel to rotate around the rotating shaft;

[0012] The projection of the rolling support assembly in the radial direction of the rotating body at least partially overlaps with the driving part.

[0013] In some embodiments of the present application, the driving part is arranged on the outer circumferential side or the inner circumferential side of the rotating body, and the rolling support assembly is provided with a matching groove, and the driving part is at least partially inserted into the matching groove.

[0014] In some embodiments of the present application, the rotating body is provided with a guide part, and the guide part cooperates with the rolling support assembly to define a rotating plane of the rotating body, and the guide part comprises a first contact surface which is in contact with the rolling support assembly

[0015] In some embodiments of the present application, the guide part further comprises a second contact surface which is in contact with the rolling support assembly.

[0016] In some embodiments of the present application, the first contact surface and the second contact surface are both inclined surfaces and the inclination directions thereof are opposite.

[0017] In some embodiments of the present application, the rolling support assembly comprises a wheel body, the wheel body comprises a shaft body and a circular truncated cone part protruding outwardly from the shaft body, and the matching groove is formed on the side surface of the circular truncated cone part.

[0018] In some embodiments of the present application, the wheel body comprises two circular truncated cone parts which are arranged at intervals, and the matching groove is formed between the two circular truncated cone parts.

[0019] In some embodiments of the present application, the circular truncated cone part is provided with a contact surface at the end away from the shaft body, and the contact surface is used to contact the rotating body.

[0020] In some embodiments of the present application, the rolling support assembly comprises a bearing part, and the bearing part is arranged on the fixed body to support the rolling support assembly.

[0021] In some embodiments of the present application, the rotating body comprises a transmission ring arranged around the rotating shaft, the transmission ring is provided with the driving part, and the driving assembly is in transmission connection with the driving part on the transmission ring.

[0022] In some embodiments of the present application, the transmission ring is a circular ring structure.

[0023] In some embodiments of the present application, an inner circumferential side of the transmission ring is concavely provided with an annular groove along a radial direction of the transmission ring, and the rolling support assembly is at least partially accommodated in the annular groove and at least in rolling contact with a side groove wall of the annular groove close to the steering wheel to rolling support the transmission ring.

[0024] In some embodiments of the present application, a cross section of the annular groove is isosceles trapezoidal.

[0025] In some embodiments of the present application, the rolling support assembly comprises a first rolling support body, the first rolling support body comprises a rotating shaft and a fixed wheel, the rotating shaft is rotationally arranged on the fixed body, and the rotating shaft is fixedly provided with the fixed wheel; the fixed wheel is at least partially accommodated in the annular groove and at least in rolling contact with a side groove wall of the annular groove close to the steering wheel to rolling support the transmission ring.

[0026] In some embodiments of the present application, the rolling support assembly comprises a second rolling support body, the second rolling support body comprises a fixed shaft and a rotating wheel, the fixed shaft is fixedly arranged on the fixed body, and the fixed shaft is rotationally arranged with the rotating wheel; the rotating wheel is at least partially accommodated in the annular groove and at least in rolling contact with a side groove wall of the annular groove close to the steering wheel to rolling support the transmission ring.

[0027] In some embodiments of the present application, the driving assembly is drivingly connected with the transmission ring through meshing connection of a spur gear; an outer circumferential side of the transmission ring is provided with a plurality of straight teeth, the straight teeth are arranged along a thickness direction of the transmission ring, and a plurality of the straight teeth are equidistantly arranged along a circumferential direction of the transmission ring to form the driving part.

[0028] The driving assembly comprises the spur gear, and the spur gear is meshingly connected with a plurality of the straight teeth.

[0029] In some embodiments of the present application, the driving assembly further comprises a first motor, a motor shaft of the first motor is arranged along the thickness direction of the transmission ring, and the spur gear is fixed on the motor shaft of the first motor to synchronously drive the spur gear to rotate when the motor shaft of the first motor rotates.

[0030] In some embodiments of the present application, the driving assembly is drivingly connected with the transmission ring through meshing connection of a bevel gear; an outer circumferential side of the transmission ring is provided with a slope and a plurality of bevel teeth, a plurality of the bevel teeth are equidistantly arranged along a circumferential direction of the transmission ring on the slope to form the driving part.

[0031] The driving assembly comprises the bevel gear, and the bevel gear is meshingly connected with a plurality of the bevel teeth.

[0032] In some embodiments of the present application, the driving assembly further comprises a second motor, a motor shaft of the second motor extends along a radial direction of the transmission ring, and the bevel gear is fixed on the motor shaft of the second motor so as to be driven to rotate synchronously with the motor shaft of the second motor.

[0033] In some embodiments of the present application, the rotating body further comprises an upper housing arranged around the rotating shaft, and the transmission ring is fixedly connected to the steering wheel through the upper housing.

[0034] In some embodiments of the present application, the fixed body comprises a lower housing arranged around the rotating shaft, and the lower housing is fixedly arranged below the steering wheel.

[0035] In some embodiments of the present application, the lower housing is provided with an annular accommodating groove, part of the rotating body is accommodated in the annular accommodating groove, and the rolling support assembly is rotatably arranged on a bottom wall of the annular accommodating groove and rolls to support the rotating body.

[0036] In some embodiments of the present application, the fixed body further comprises a mounting portion provided with a mounting cavity, the mounting portion is arranged adjacent to the annular accommodating groove, and the mounting cavity is arranged in communication with the annular accommodating groove for mounting the driving assembly.

[0037] In some embodiments of the present application, the fixed body further comprises a fixed support provided with a fixed connecting portion and a locking portion, the fixed connecting portion is fixedly connected to the lower housing, and the locking portion is used to be fixedly connected to a sleeve below the steering wheel so as to fixedly arrange the lower housing below the steering wheel.

[0038] The present application further provides an automatic driving system, which comprises a vehicle-mounted computer terminal and the steering control device as described in any one of the above embodiments.

[0039] The vehicle-mounted computer terminal comprises a positioning module and a control module, the positioning module is communicatively connected to a positioning system to obtain position information, and the positioning module and the driving assembly are electrically connected to the control module, the control module controls the working of the driving assembly according to the position information obtained by the positioning module so as to adjust the moving direction of the agricultural machine.

[0040] The turning control device provided by the application, through the above structure, when applied to vehicles such as agricultural machinery, the rolling support assembly rolls to support the rotating body, which can provide upward support for the rotating body, and when the vehicle bounces during driving, the rotating body can be provided with sufficient support to reduce the gap between the rotating body and the spoke or rim, to reduce the movement of the rotating body relative to the fixed body, and effectively avoid the movement of the rotating body during rotation, so that the rotating body can rotate smoothly, and the reliability of the driving assembly and the rotating body transmission connection is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor based on the drawings shown.

[0042] Figure 1 The overall structure diagram of the turning control device of the present application installed on the steering wheel;

[0043] Figure 2 The overall structure diagram of the turning control device of the present application installed on the steering wheel; Figure 1

[0044] Figure 3 The partial structure sectional view of the turning control device of the present application; Figure 2

[0045] Figure 4 The partial enlarged view of A in the turning control device of the present application; Figure 3

[0046] Figure 5 The partial enlarged view of B in the turning control device of the present application; Figure 3

[0047] Figure 6 The partial structure diagram of the turning control device of the present application; Figure 2

[0048] The partial structure sectional view of another embodiment of the turning control device of the present application; Figure 7

[0049] The partial enlarged view of C in the turning control device of the present application. Figure 8 Figure 7 Explanation of reference numerals:

[0050] Explanation of reference numerals:

[0051] ​​​​​100, steering control device; 10, rotating body; 11, transmission ring; 111, annular groove body; 112, mounting hole; 113, driving part; 12, upper shell; 13, guide part; 131, first contact surface; 132, second contact surface; 20, fixed body; 21, lower shell; 211, annular accommodating groove; 22, mounting part; 23, fixed support; 231, lock; 2311, locking part; 232, support frame; 40, rolling support assembly; 41, wheel body; 411, shaft body; 412, circular table part; 413, matching groove; 42, bearing part; 43, second rolling support body; 431, rotating wheel; 432, fixed shaft; 50, driving assembly; 51, straight gear; 52, first motor; 200, steering wheel; 201, spoke; 202, sleeve.

[0052] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0053] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0054] In the present application, unless otherwise explicitly specified and limited, the terms "connection", "fixation" and the like should be understood in a broad sense, for example, "fixation" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through an intermediate medium; can be internal connection of two elements or interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0055] In addition, the description such as "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the fact that the technical solutions can be realized by those skilled in the art. When the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the scope of protection claimed by the present application.

[0056] The application provides a steering control device 100, which is used for automatic driving by controlling rotation of a steering wheel 200 around a corresponding rotation shaft. Figures 1 to 8 In the embodiment of the application, the steering control device 100 comprises a rotating body 10, a fixed body 20, a rolling support assembly 40 and a driving assembly 50.

[0057] The rotating body 10 is used for fastening connection with the steering wheel 200, and is provided with a driving part. The fixed body 20 is used for being fixedly arranged below the steering wheel 200. The rolling support assembly 40 is rotatably arranged on the fixed body 20 and is used for rolling support of the rotating body 10. The driving assembly 50 is in transmission connection with the driving part 113, so that the rotating body 10 rotates relative to the fixed body 20 under the transmission of the driving assembly 50, to drive the steering wheel 200 to rotate around the rotation shaft. The projection of the rolling support assembly 40 in the radial direction of the rotating body 10 at least partially overlaps the driving part 113.

[0058] The rotating body 10 can be fastened and connected with the spoke 201 of the steering wheel 200 through a hoop, a band and the like. Of course, the rotating body 10 can be fastened and connected with the rim of the steering wheel 200 through a hoop, a band and the like. In the application, the rotating body 10 is fastened and connected with the steering wheel 200, and the main function is to transmit the acting force to the steering wheel 200 through the rotating body 10.

[0059] The fixed body 20 is also arranged in various manners below the steering wheel 200. The fixed body 20 can be directly or indirectly fixedly connected with the sleeve 202 below the steering wheel 200, to be fixed below the steering wheel 200. The sleeve 202 is mainly used for surrounding protection of the rotation shaft below the steering wheel 200. It can be understood that, in the agricultural machinery, a seat is usually arranged near the steering wheel 200. The fixed body 20 can be directly or indirectly fixedly connected with the seat, to be fixed below the steering wheel 200. A heavy base can also be placed in the cockpit. The fixed body 20 can be directly or indirectly fixedly connected with the base, to be fixed below the steering wheel 200.

[0060] In the application, the rolling support assembly 40 is arranged, to provide upward supporting force for the rotating body 10 through rolling support of the rolling support assembly 40 on the rotating body 10. When the rotating body 10 is loosened due to the influence of external factors, the supporting force provided by the rolling support assembly 40 can stably support the rotating body 10.

[0061] The rotating body 10 can extend into the interior of the rolling support assembly 40 to be in rolling contact with the interior of the rolling support assembly 40, and the rolling support assembly 40 can also extend into the interior of the rotating body 10 to be in rolling contact with the interior of the rotating body 10 to provide upward support for the rotating body 10.

[0062] According to different positions of the rolling contact between the rolling support assembly 40 and the rotating body 10, the rolling support assembly 40 can also have various setting modes. In some examples, the rolling support assembly 40 is provided with a groove, the outer circumferential side of the rotating body 10 is provided with a matching part, and the matching part extends into the groove of the rolling support assembly 40 to be in rolling abutment with the groove wall. In other examples, the inner circumferential side of the rotating body 10 is provided with a groove, and the rolling support assembly 40 extends into the groove to be in rolling abutment with the groove wall. In yet other examples, the rotating body 10 can also be provided with a matching part on the inner circumferential side, and the rolling support assembly 40 is provided with a groove to be in rolling abutment with the matching part.

[0063] It can be understood that, generally, the radial direction of the rotating body 10 is on a horizontal plane, and the projection of the rolling support assembly 40 in the radial direction of the rotating body 10 at least partially overlaps the driving part 113, that is, at least part of the structure of the rolling support assembly 40 is juxtaposed with the driving part 113 on the horizontal plane. In combination with the above description of the rotating body 10 and the rolling support assembly 40, the rolling support assembly 40 extends into the interior of the rotating body 10 or the rotating body 10 extends into the interior of the rolling support assembly 40, both of which are to make at least part of the structure of the rolling support assembly 40 juxtaposed with the rotating body 10 on the horizontal plane, and in the present example, the driving part 113 on the rotating body 10 is also juxtaposed with the rolling support assembly 40 on the horizontal plane, and the driving assembly 50 in transmission connection with the driving part 113 is also juxtaposed on the horizontal plane.

[0064] In this way, the turning control device 100 can utilize the space in the horizontal direction to set the rolling support assembly 40, the rotating body 10, and other components, and can reduce the space occupation of the turning control device 100 in the vertical direction perpendicular to the horizontal plane.

[0065] According to the turning control device 100 provided by the present application, the principle of controlling the rotation of the steering wheel 200 is as follows: the driving assembly 50 drives the rotating body 10 to rotate clockwise, and the rotating body 10 drives the steering wheel 200 to rotate clockwise around the rotation shaft through the fastening connection with the steering wheel 200, thereby adjusting the moving direction of the agricultural machine. The driving assembly 50 drives the rotating body 10 to rotate counterclockwise, and the rotating body 10 drives the steering wheel 200 to rotate counterclockwise around the rotation shaft through the fastening connection with the steering wheel 200, thereby adjusting the moving direction of the agricultural machine. The rotating body 10 can drive the steering wheel 200 to rotate around the rotation shaft through the spokes 201 and / or the rim of the steering wheel 200.

[0066] The turning control device 100 provided in the present application, through the above structure, when applied to vehicles such as agricultural machinery, the rolling support assembly 40 rolls and supports the rotating body 10, which can provide upward support to the rotating body 10, and at the same time, when the vehicle is jolted during driving, by providing sufficient support to the rotating body 10, it can reduce the gap generated by the connection between the rotating body 10 and the spokes 201 or the rim, so as to reduce the movement of the rotating body 10 relative to the fixed body 20 except for rotation, thereby effectively avoiding the movement of the rotating body 10 during rotation, so that the rotating body 10 can rotate smoothly, thereby ensuring the reliability of the transmission connection between the driving assembly 50 and the rotating body 10.

[0067] The specific installation mode of the turning control device 100 provided in the present application has various installation modes. In one installation mode, the turning control device 100 can be assembled in advance, the steering wheel 200 of the agricultural machinery is disassembled first, and then the assembled turning control device 100 is sleeved into the sleeve 202 below the steering wheel 200, and then the steering wheel 200 is installed. At this time, the rotating body 10 and the steering wheel 200 can be fastened and connected, and the fixed body 20 can be fixedly arranged below the steering wheel 200.

[0068] In some other embodiments, the rotating body 10 and the fixed body 20 of the turning control device 100 are composed of two parts, wherein the rolling support assembly 40 includes a plurality of rolling support bodies and is rotatably arranged on the fixed body 20 of the two parts, respectively, and the driving assembly 50 is fixedly installed on the fixed body 20 of any one part. In this way, the rotating body 10 and the fixed body 20 composed of two parts are assembled into complete parts with the sleeve 202 below the steering wheel 200 as the axis, and the assembly process of the turning control device 100 is carried out at the same time. Finally, the rotating body 10 and the steering wheel 200 are fastened and connected, and the fixed body 20 is fixedly arranged below the steering wheel 200.

[0069] In some examples, as shown in Figure 7 and Figure 8 The driving part 113 is arranged on the outer circumferential side or the inner circumferential side of the rotating body 10, the rolling support assembly 40 is provided with a matching groove 413, and the driving part 113 is at least partially inserted into the matching groove 413. In this way, the driving part 113 and the matching groove 413 are inserted and matched to limit the movement of the rotating body 10 in the vertical direction and improve the stability of the transmission connection between the driving assembly 50 and the driving part 113.

[0070] In some examples, as shown in Figure 7 and Figure 8As shown, the rotating body 10 is provided with a guide portion 13, which cooperates with the rolling support assembly 40 to define a rotating plane of the rotating body 10, and the guide portion 13 comprises a first contact surface 131 which is in contact with the rolling support assembly 40.

[0071] It can be understood that the driving portion 113 mentioned above and the guide portion 13 in the present example can be arranged on the same side of the rotating body 10, i.e. the driving portion 113 and the guide portion 13 can both be arranged on the outer circumferential side or the inner circumferential side of the rotating body 10.

[0072] In this way, the guide portion 13 cooperates with the rolling support assembly 40 to enable the rotating body 10 to rotate only in the rotating plane thereof, and the first contact surface 131 of the guide portion 13 is in contact with the rolling support assembly 40, which can limit the movement of the guide portion 13 in the horizontal direction and also provide support force for the rotating body 10, thereby improving the stability of the rotation of the rotating body 10.

[0073] In some examples, as shown in Figure 7 and Figure 8 the guide portion 13 further comprises a second contact surface 132 which is in contact with the rolling support assembly 40. In this way, the stability of the rotation of the rotating body 10 is further improved.

[0074] In some examples, as shown in Figure 7 and Figure 8 the first contact surface 131 and the second contact surface 132 are both inclined surfaces and the inclination directions thereof are opposite. In this way, the cooperation between the guide portion 13 and the rolling support assembly 40 is more close, so as to improve the stability of the contact between the first contact surface 131 and the second contact surface 132 and the rolling support assembly 40.

[0075] In some examples, as shown in Figure 7 and Figure 8 the rolling support assembly 40 comprises a wheel body 41, the wheel body 41 comprises a shaft body 411 and a circular truncated cone portion 412 which protrudes outwardly from the shaft body 411, and a cooperating groove 413 is formed on the side surface of the circular truncated cone portion 412. In this way, the circular truncated cone portion 412 is supported by the shaft body 411, and the cooperating groove 413 is formed on the side surface of the circular truncated cone portion 412, so as to improve the strength of the wheel body 41, so that the cooperating groove 413 on the wheel body 41 can be stably inserted and cooperated with the driving portion 113. Meanwhile, the structure of the wheel body 41 is simple and convenient to process.

[0076] In some examples, as shown in Figure 7 and Figure 8As shown, the wheel body 41 comprises two circular truncated cone portions 412 arranged at intervals, and a matching groove 413 is formed between the two circular truncated cone portions 412. In this way, the movement of the driving portion 113 in the vertical direction is limited by the two circular truncated cone portions 412, so as to further improve the stability of the rotating body 10.

[0077] In some examples, as shown in Figure 7 and Figure 8 As shown, the circular truncated cone portion 412 is provided with a contact surface away from one end of the shaft body 411, which is used to contact the rotating body 10. In this way, the movement of the driving portion 113 in the horizontal direction is limited by the mutual contact between the contact surface and the rotating body 10, so as to avoid the driving portion 113 from excessively extending into the matching groove 413.

[0078] In some examples, as shown in Figure 7 and Figure 8 As shown, the rolling support assembly 40 comprises a bearing member 42 arranged on the fixed body 20 to support the rolling support assembly 40. In this way, the rolling support assembly 40 can rotate relative to the rotating body 10 by the bearing member 42, so as to reduce the resistance of the rotating body 10 when rotating relative to the rolling support assembly 40.

[0079] In some examples, as shown in Figure 4 and Figure 5 As shown, the rotating body 10 comprises a transmission ring 11 arranged around the rotating shaft, and the transmission ring 11 is in transmission connection with the driving assembly 50. In this way, the driving assembly 50 is in transmission connection with the rotating body 10 by the transmission ring 11 in transmission connection with the driving assembly 50, so as to improve the stability and reliability of the transmission connection.

[0080] In combination with the above description of the structure of the rotating body 10, in some examples, the above-mentioned driving portion 113 and the guide portion 13 are arranged on the transmission ring 11.

[0081] In some examples, the transmission ring 11 is assembled by two or more components, so as to facilitate the assembly of the steering control device 100.

[0082] In some examples, as shown in Figures 4 to 6 As shown, the transmission ring 11 is in a circular ring structure. In this way, the transmission ring 11 in the circular ring structure is more stable during rotation, and has higher controllability, so as to further improve the stability and reliability of the transmission connection. In some examples, the transmission ring 11 is assembled by two arc-shaped members.

[0083] In some examples, as shown in Figures 4 to 6As shown, the inner circumferential side of the transmission ring 11 is recessed with an annular groove body 111 along the radial direction of the transmission ring 11, and the rolling support assembly 40 is at least partially accommodated in the annular groove body 111 and at least in rolling contact with the groove wall of the annular groove body 111 close to the steering wheel 200 to rolling support the transmission ring 11. By such arrangement, it is intended to provide upward support force for the transmission ring 11 through the rolling contact between the rolling support assembly 40 and the groove wall of the annular groove body 111 close to the steering wheel 200, so as to further improve the stability of the transmission ring 11, and further improve the stability and reliability of the transmission connection.

[0084] It can be understood that the cross section of the annular groove body 111 can be triangular, quadrangular, pentagonal, or even semicircular arc, arc, etc., which is not specifically limited in the present application.

[0085] In some examples, as shown in the first embodiment of the present application, Figure 4 As shown, the cross section of the annular groove body 111 is isosceles trapezoidal. The two side walls of the annular groove body 111 in the thickness direction of the transmission ring 11 are respectively provided with annular abutting surfaces. By such arrangement, it is intended to facilitate the accommodation of the rolling support assembly 40 in the annular groove body 111, and the rolling support assembly 40 is more closely matched with the two annular abutting surfaces of the annular groove body 111, further improving the stability of the transmission ring 11 during operation.

[0086] In some examples, the rolling support assembly 40 includes a first rolling support body, and the first rolling support body includes a rotating shaft and a fixed wheel. One end of the rotating shaft is rotatably arranged on the fixed body 20, and the other end of the rotating shaft is fixedly provided with the fixed wheel. The fixed wheel is at least partially accommodated in the annular groove body 111 and at least in rolling contact with the groove wall of the annular groove body 111 close to the steering wheel 200 to rolling support the transmission ring 11.

[0087] There are various ways to rotatably arrange one end of the rotating shaft on the fixed body 20. In one arrangement, one end of the rotating shaft is rotatably mounted on the fixed body 20 through a bearing. In another arrangement, the rotating shaft includes a rotating portion at the end and a main body portion, wherein the rotating portion can rotate relative to the main body portion, and the rotating portion is mounted on the fixed body 20. In yet another arrangement, the fixed body 20 is provided with a groove, and one end of the rotating shaft is inserted into the groove and can rotate relative to the groove.

[0088] The fixed wheel can be fixed on the rotating shaft by clamping, welding, etc., which will not be described one by one.

[0089] By such arrangement, it is intended to realize the rolling contact between the rolling support assembly 40 and the groove wall of the annular groove body 111 close to the steering wheel 200 through the first rolling support body, so as to rolling support the transmission ring 11 through the first rolling support body to provide upward support force for the transmission ring 11.

[0090] In some examples, the rolling support assembly 40 comprises a plurality of first rolling supports, which are arranged along the circumferential direction of the annular groove body 111. In this way, the rolling support assembly 40 is arranged to be in rolling contact with the side groove wall of the annular groove body 111 close to the steering wheel 200 through the plurality of first rolling supports, so as to further improve the stability of the transmission ring 11 when rotating relative to the fixed body 20.

[0091] In some examples, as shown in Figure 4 and Figure 5 , the rolling support assembly 40 comprises a second rolling support 43, which comprises a fixed shaft 432 and a rotating wheel 431. One end of the fixed shaft 432 is fixedly arranged on the fixed body 20, and the other end of the fixed shaft 432 is rotatably arranged with the rotating wheel 431. The rotating wheel 431 is at least partially accommodated in the annular groove body 111 and is in rolling contact with the side groove wall of the annular groove body 111 close to the steering wheel 200, so as to rolling support the transmission ring 11.

[0092] The fixed shaft 432 has various implementation manners for being fixedly arranged on the fixed body 20. In one arrangement manner, a blind hole is formed on the fixed body 20, and one end of the fixed shaft 432 is in interference fit with the blind hole, so as to be inserted and fixed on the fixed body 20. In another arrangement manner, the fixed shaft 432 is welded on the fixed body 20.

[0093] The rotating wheel 431 can be rotatably installed on the fixed shaft 432 through a bearing, or the rotating wheel 431 can be directly sleeved on the fixed shaft 432, which will not be described one by one here.

[0094] In this way, the rolling support assembly 40 is arranged to be in rolling contact with the side groove wall of the annular groove body 111 close to the steering wheel 200 through the second rolling support 43, so as to rolling support the transmission ring 11 through the second rolling support 43, and provide upward supporting force for the transmission ring 11.

[0095] In some examples, as shown in Figures 4 to 6 , the rolling support assembly 40 comprises a plurality of second rolling supports 43, which are arranged along the circumferential direction of the annular groove body 111. In this way, the rolling support assembly 40 is arranged to be in rolling contact with the side groove wall of the annular groove body 111 close to the steering wheel 200 through the plurality of second rolling supports 43, so as to further improve the stability of the transmission ring 11 when rotating relative to the fixed body 20.

[0096] In some examples, as shown in Figure 6As shown, the driving assembly 50 is in driving connection with the transmission ring 11 through the engagement connection of the straight gear 51; the outer circumferential side of the transmission ring 11 is provided with a plurality of straight gears, the straight gears are arranged along the thickness direction of the transmission ring 11, and the plurality of straight gears are arranged at equal intervals along the circumferential direction of the transmission ring 11 to form a driving part. The driving assembly 50 comprises the straight gear 51, and the straight gear 51 is in engagement connection with the plurality of straight gears. It can be understood that the straight gear 51 is in engagement connection with the straight gears, the connection is close, and in the process of transmission, the linear speed of the straight gear 51 is equal to the linear speed of the straight gears on the transmission ring 11. In this way, the driving assembly 50 is in driving connection with the transmission ring 11 through the engagement connection of the straight gear 51 and the plurality of straight gears, so as to further improve the efficiency and reliability of the transmission.

[0097] In some examples, as shown in FIG. 1, the driving assembly 50 is in driving connection with the transmission ring 11 through the engagement connection of the straight gear 51; the outer circumferential side of the transmission ring 11 is provided with a plurality of straight gears, the straight gears are arranged along the thickness direction of the transmission ring 11, and the plurality of straight gears are arranged at equal intervals along the circumferential direction of the transmission ring 11 to form a driving part. The driving assembly 50 comprises the straight gear 51, and the straight gear 51 is in engagement connection with the plurality of straight gears. It can be understood that the straight gear 51 is in engagement connection with the straight gears, the connection is close, and in the process of transmission, the linear speed of the straight gear 51 is equal to the linear speed of the straight gears on the transmission ring 11. In this way, the driving assembly 50 is in driving connection with the transmission ring 11 through the engagement connection of the straight gear 51 and the plurality of straight gears, so as to further improve the efficiency and reliability of the transmission. Figure 6 As shown, the driving assembly 50 further comprises a first motor 52, the motor shaft of the first motor 52 extends along the thickness direction of the transmission ring 11, and the straight gear 51 is fixed on the motor shaft of the first motor 52, so that the straight gear 51 is driven to rotate synchronously when the motor shaft of the first motor 52 rotates. In this way, it is convenient for assembling the steering control device 100.

[0098] In some examples, the driving assembly 50 is in driving connection with the transmission ring 11 through the engagement connection of the bevel gear; the outer circumferential side of the transmission ring 11 is provided with a slope and a plurality of bevel gears, and the plurality of bevel gears are arranged at equal intervals along the circumferential direction of the transmission ring 11 on the slope to form a driving part. The driving assembly 50 comprises the bevel gear, and the bevel gear is in engagement connection with the plurality of bevel gears. It can be understood that the bevel gear is in engagement connection with the bevel gears, the connection is close, and in the process of transmission, the linear speed of the bevel gear is equal to the linear speed of the bevel gears on the transmission ring 11. In this way, the driving assembly 50 is in driving connection with the transmission ring 11 through the engagement connection of the bevel gear and the plurality of bevel gears, so as to further improve the efficiency and reliability of the transmission.

[0099] In some examples, the driving assembly 50 further comprises a second motor, the motor shaft of the second motor extends along the radial direction of the transmission ring 11, and the bevel gear is fixed on the motor shaft of the second motor, so that the bevel gear is driven to rotate synchronously when the motor shaft of the second motor rotates. In this way, by arranging the installation position of the second motor and the transmission ring 11 on the same horizontal plane, the thickness of the steering control device 100 is reduced, and the space occupied by the steering control device 100 in the vertical direction of the cockpit is reduced.

[0100] In some examples, the driving assembly 50 further comprises a gearbox, the motor of the driving assembly 50 is in driving connection with the gearbox, and the output end of the gearbox is connected with the bevel gear or spur gear 51 mentioned above, that is, the motor of the driving assembly 50 is connected with the bevel gear or spur gear 51 through the gearbox, and the bevel gear or spur gear 51 is in meshing connection with the transmission ring 11. In this way, the output power, torque, etc. of the driving assembly 50 can be controlled through the gearbox, so as to improve the controllability of the steering control device 100.

[0101] In some examples, as shown in Figures 1 to 3 The rotating body 10 further comprises an upper shell 12 arranged around the rotating shaft, and the transmission ring 11 is fastened to the steering wheel 200 through the upper shell 12. In some examples, the surface of the upper shell 12 can be provided with a plurality of pipe clamps to clamp the rim and / or spokes 201 of the steering wheel 200 respectively, so as to fasten the rotating body 10 to the steering wheel 200. In other examples, the surface of the upper shell 12 can be provided with a plurality of clamps to clamp the rim and / or spokes 201 of the steering wheel 200 respectively, so as to fasten the rotating body 10 to the steering wheel 200.

[0102] In this way, the transmission ring 11 is fastened to the steering wheel 200 through the upper shell 12, which facilitates the installation of the steering control device 100 and further improves the installation efficiency of the steering control device 100.

[0103] In some examples, the upper shell 12 is assembled from two or more parts to facilitate the assembly of the steering control device 100.

[0104] In some examples, as shown in Figures 3 to 6 The transmission ring 11 is provided with a plurality of mounting holes 112 along the thickness direction thereof, and the plurality of mounting holes 112 are also arranged at intervals along the circumferential direction of the transmission ring 11. A plurality of screw structures are respectively screwed into the corresponding mounting holes 112 and the upper shell 12 to fix the transmission ring 11 to the upper shell.

[0105] In this example, the upper shell 12 is provided with a threaded hole in the vertical direction, and preferably, the threaded hole is a blind hole. It should be noted that the plurality of mounting holes 112 can be uniformly or non-uniformly arranged along the axial direction of the transmission ring 11, and preferably, the mounting hole 112 is a countersunk hole.

[0106] In this way, the screw structure is screwed into the mounting hole 112 and the upper shell 12 in the vertical direction below the transmission ring 11, avoiding direct exposure of the screw structure to the upper surface of the upper shell 12, reducing the probability of corrosion of the screw structure, and thus improving the reliability of the connection between the transmission ring 11 and the upper shell 12.

[0107] Of course in other examples, the mounting hole 112 can be a threaded hole, the upper shell 12 is provided with a through hole, and a screw structure is vertically downwardly arranged through the through hole of the upper shell 12 and is threadedly connected with the mounting hole 112, so as to fix the transmission ring 11 to the upper shell 12.

[0108] In some examples, as shown in Figures 1 to 3 The fixed body 20 includes a lower shell 21 arranged around the rotation shaft, and the lower shell 21 is fixedly arranged below the steering wheel 200. In this way, the stability of the driving assembly 50 is improved by arranging the lower shell 21 around the rotation shaft, so as to improve the reliability and stability of the driving assembly 50 and the transmission ring 11.

[0109] Similarly, in some examples, the lower shell 21 is also assembled by two or more components, so as to facilitate the assembly of the steering control device 100.

[0110] In order to further improve the protection level of the steering control device 100, the upper shell 12 and the lower shell 21 can be made of metal materials. Of course, in other examples, the upper shell 12 and the lower shell 21 can also be made of hard plastic and plated with a metal plating layer on the surface. At the same time, the upper shell 12 can be prevented from cracking when transmitting the force, and the service life of the steering control device 100 is improved.

[0111] In some examples, as shown in Figures 3 to 6 The lower shell 21 is provided with an annular accommodating groove 211, and part of the rotating body 10 is accommodated in the annular accommodating groove 211, and the rolling support assembly 40 is rotatably arranged at the bottom wall of the annular accommodating groove 211 and rolls to support the rotating body 10.

[0112] Specifically, in combination with the above-mentioned content that the rotating body 10 includes the transmission ring 11, in this example, the transmission ring 11 of the rotating body 10 is accommodated in the annular accommodating groove 211.

[0113] In this way, the transmission ring 11 and the rolling support assembly 40 are surrounded and protected by the annular accommodating groove 211, so as to improve the protection performance of the steering control device 100, reduce the influence of external factors on the transmission ring 11, and improve the service life of the steering control device 100. In addition, since the transmission ring 11 is surrounded and protected, the transmission ring 11 can be made of a material with lower strength, thereby reducing the manufacturing cost of the steering control device 100.

[0114] In combination with the above-mentioned content that the rolling support assembly 40 comprises the second rolling support body 43, in some examples, the bottom wall of the annular accommodating groove 211 is provided with a plurality of threaded holes, the plurality of threaded holes are also arranged along the circumferential direction of the annular groove body 111, and the plurality of second rolling support bodies 43 are respectively mounted on the lower shell 21 through the plurality of threaded holes. Specifically, one end of each fixed shaft 432 is provided with an external thread, and each fixed shaft 432 is threadedly connected with the corresponding threaded hole to be fixed on the fixed body 20. Wherein, the periphery of the threaded hole can also be provided with a reinforcing rib to enhance the overall strength of the lower shell 21.

[0115] Wherein, the contact surface of the fixed wheel and the rotating wheel 431 with the groove wall of the annular groove body 111 can be made of elastic material, which is designed to absorb the vibration of the transmission ring 11 relative to the lower shell 21 through the elastic material, and further improve the stability of the rotation of the transmission ring 11. In addition, a wear-resistant coating can also be sprayed on the surface of the fixed wheel and the rotating wheel 431 to improve the service life of the fixed wheel and the rotating wheel 431.

[0116] It can be understood that, in order to facilitate the description of the technical solutions, the following content collectively refers to the first rolling support body and the second rolling support body 43 as the rolling support body: in order to improve the stability of the rolling support body supporting the transmission ring 11, the number of the rolling support body should be more than two, and the rolling support bodies are arranged along the circumferential direction of the transmission ring 11, wherein the rolling support bodies can be uniformly spaced or non-uniformly spaced. For example, when the number of the rolling support bodies is three, two rolling support bodies are on the same diameter of the transmission ring 11, and the other rolling support body is on the other diameter of the transmission ring 11, so that the connecting lines between the three rolling support bodies form a right triangle. When the number of the rolling support bodies is three, the three rolling support bodies can be uniformly spaced along the circumferential direction of the transmission ring 11, so that the connecting lines between the three rolling support bodies form an equilateral triangle.

[0117] In Figure 5 the illustrated example, the number of the rolling support bodies is six and they are uniformly spaced. In other examples, the number of the rolling support bodies is eight or ten, which is not limited in the present application.

[0118] In some examples, as shown in Figure 1 and Figure 2 the fixed body 20 further comprises a mounting portion 22 having a mounting cavity, the mounting portion 22 is arranged adjacent to the annular accommodating groove 211, and the mounting cavity is arranged in communication with the annular accommodating groove 211 for mounting the driving assembly 50.

[0119] In this way, the driving assembly 50 is protected by the installation cavity, the protection performance of the steering control device 100 is improved, and the influence of external factors on the steering control device 100 is avoided, thereby prolonging the service life of the steering control device 100 and improving the reliability of the transmission connection between the driving assembly 50 and the transmission ring 11.

[0120] Specifically, in an example, the fixed body 20 further includes an installation plate and a cover body fixedly connected with the lower shell 21, and the installation plate and the cover body jointly form an installation cavity. A motor of the driving assembly 50 is fixedly installed on a side of the installation plate away from the installation cavity, and a motor shaft of the motor extends into the installation cavity. A gear of the driving assembly 50 is fixed on the motor shaft and partially accommodated in the installation cavity. The gear is engaged with the transmission ring 11 at a position where the installation cavity and the annular accommodating groove 211 are in communication.

[0121] In another example, the installation portion 22 includes an installation shell, and an installation cavity is formed in the installation shell. A motor of the driving assembly 50 is fixedly installed in the installation cavity. A gear of the driving assembly 50 is fixed on a motor shaft of the motor and partially accommodated in the installation cavity. The gear is engaged with the transmission ring 11 at a position where the installation cavity and the annular accommodating groove 211 are in communication.

[0122] In some examples, as shown in Figure 1 and Figure 2 The fixed body 20 further includes a fixed support 23. The fixed support 23 is provided with a fixed connection portion and a locking portion 2311. The fixed connection portion is fixedly connected with the lower shell. The locking portion 2311 is used to be fixedly connected with the sleeve 202 below the steering wheel 200, so as to fixedly arrange the lower shell below the steering wheel 200.

[0123] In this way, the assembly of the fixed body 20 is facilitated, and the assembly efficiency of the steering control device 100 is improved. Meanwhile, the fixed body 20 is fixedly arranged below the rotating body 10 by the fixed support 23, the influence of the vibration of the agricultural machinery on the steering control device 100 is reduced, and the reliability of the steering control device 100 is improved.

[0124] In some examples, as shown in Figure 1 and Figure 2 The fixed support 23 includes a lock 231 and a support frame 232. One side of the lock 231 is provided with the locking portion 2311. The other side of the lock 231 is fixedly connected with the support frame 232. The side of the support frame 232 away from the lock 231 is provided with a connecting hole to form the fixed connection portion. The support frame 232 is fixedly connected with the lower shell through the connecting hole and a screw structure.

[0125] In this way, the assembly of the fixed body 20 is facilitated, and the adaptability of the fixed support 23 to the sleeve 202 is improved through the locking cooperation of the locking portion 2311 of the lock 231 with the sleeve 202.

[0126] The specific form of the lock 231 is various, the lock 231 can include a hoop, can also include two clamping plates and two bolts, when the two clamping plates are clamped on the opposite sides of the sleeve 202, the two clamping plates are fixed by the two bolts, so that the lock 231 is fixed on the circumferential side of the sleeve 202.

[0127] The application also provides an automatic driving system, which comprises a vehicle computer terminal and a steering control device 100, the specific structure of the steering control device 100 is referred to the above-mentioned embodiments, since the automatic driving system adopts all the technical solutions of the above-mentioned embodiments, it has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here.

[0128] The vehicle computer terminal comprises a positioning module and a control module, the positioning module is in communication connection with a positioning system to obtain position information, the positioning module and the driving assembly 50 are both in electrical connection with the control module, the control module controls the working of the driving assembly 50 according to the position information obtained by the positioning module, so as to adjust the moving direction of the agricultural machinery.

[0129] The positioning system can be a global positioning system (GPS), a Beidou navigation system, etc., which can provide accurate position information for the positioning module, the control module can accurately determine the specific position of the agricultural machinery according to the position information, and can calculate the speed information of the agricultural machinery according to the change of the position information.

[0130] It can be understood that the control module controls the working of the driving assembly 50 to adjust the moving direction of the agricultural machinery generally refers to controlling the agricultural machinery to move within a preset range, for example, controlling the agricultural machinery to move within a specified farmland.

[0131] Of course, in some examples, the vehicle computer terminal can also communicate with other communication devices to receive information of other devices, so as to control the working of the driving assembly 50 according to the information to adjust the moving direction of the agricultural machinery, so as to realize the remote operation of the agricultural machinery.

[0132] The above-mentioned is only the optional embodiment of the application, and does not limit the patent scope of the application, any equivalent structural transformation made by using the content of the application specification and drawings, or direct / indirect application in other related technical fields within the concept of the application is included in the patent protection scope of the application.

Claims

1. A steering control device for realizing automatic driving by controlling turning of a steering wheel around a corresponding turning axis, characterized by, The application relates to a rotating body, a fixed body, a rolling support assembly and a driving assembly, wherein, The rotating body is used for being fixedly connected with the steering wheel, and the rotating body is provided with a driving part; The fixed body is used for being fixedly arranged below the steering wheel; The rolling support assembly is rotatably arranged on the fixed body and is used for rolling supporting the rotating body; The driving assembly is in transmission connection with the driving part, so that the rotating body rotates relative to the fixed body under the transmission of the driving assembly, and drives the steering wheel to rotate around the rotating shaft; The projection of the rolling support assembly in the radial direction of the rotating body at least partially overlaps with the driving part.

2. The steering control device of claim 1, wherein The driving part is arranged on the outer circumferential side or the inner circumferential side of the rotating body, the rolling support assembly is provided with a matching groove, and the driving part is at least partially inserted into the matching groove.

3. The steering control device of claim 2, wherein The rotating body is provided with a guide part, the guide part is matched with the rolling support assembly to define the rotating plane of the rotating body, the guide part comprises a first contact surface, and the first contact surface is in contact with the rolling support assembly.

4. The steering control device of claim 3, wherein The guide part further comprises a second contact surface, and the second contact surface is in contact with the rolling support assembly.

5. The steering control device of claim 4, wherein The first contact surface and the second contact surface are both inclined surfaces, and the inclination directions of the two inclined surfaces are opposite.

6. The steering control device of claim 2, wherein The rolling support assembly comprises a wheel body, the wheel body comprises a shaft body and a circular frustum part protruding outward from the shaft body, and the matching groove is formed in the side surface of the circular frustum part.

7. The steering control device of claim 6, wherein The wheel body comprises two circular frustum parts which are arranged at intervals, and the matching groove is formed between the two circular frustum parts.

8. The steering control device of claim 6, wherein The end of the circular frustum part away from the shaft body is provided with a contact surface which is used for being in contact with the rotating body.

9. The steering control device of claim 2, wherein The rolling support assembly comprises a bearing part which is arranged on the fixed body to support the rolling support assembly.

10. The steering control device of claim 1, wherein The rotating body comprises a transmission ring which is arranged around the rotating shaft, the transmission ring is provided with the driving part, and the driving assembly is in transmission connection with the driving part on the transmission ring.

11. The steering control device of claim 10, wherein, The transmission ring is a circular ring structure.

12. The steering control device of claim 11, wherein, The inner circumferential side of the transmission ring is concave along the radial direction of the transmission ring and is provided with an annular groove body, the rolling support assembly is at least partially accommodated in the annular groove body, and at least the side groove wall of the annular groove body close to the steering wheel is in rolling contact with the rolling support assembly to rolling support the transmission ring.

13. The steering control device of claim 12, wherein, The cross section of the annular groove body is isosceles trapezoidal.

14. The steering control device of claim 12, wherein, The rolling support assembly comprises a first rolling support body, the first rolling support body comprises a rotating shaft and a fixed wheel, the rotating shaft is rotatably arranged on the fixed body, and the rotating shaft is fixedly provided with the fixed wheel; the fixed wheel is at least partially accommodated in the annular groove body and at least in rolling contact with the side groove wall of the annular groove body close to the steering wheel to rolling support the transmission ring.

15. The steering control device of claim 12, wherein, The rolling support assembly comprises a second rolling support body, the second rolling support body comprises a fixed shaft and a rotating wheel, the fixed shaft is fixedly arranged on the fixed body, and the fixed shaft is rotatably provided with the rotating wheel; the rotating wheel is at least partially accommodated in the annular groove body and at least in rolling contact with the side groove wall of the annular groove body close to the steering wheel to rolling support the transmission ring.

16. The steering control device of claim 10, wherein The driving assembly is connected with the transmission ring through the engagement of the spur gear; the transmission ring is provided with a plurality of straight teeth on the outer periphery, the straight teeth are arranged along the thickness direction of the transmission ring, and the plurality of straight teeth are arranged at equal intervals along the circumferential direction of the transmission ring to form the driving part. The driving assembly comprises the spur gear, and the spur gear is connected with the plurality of straight teeth.

17. The steering control device of claim 16, wherein The driving assembly further comprises a first motor, the motor shaft of the first motor is arranged along the thickness direction of the transmission ring, and the spur gear is fixed on the motor shaft of the first motor, so that the spur gear is driven to rotate synchronously when the motor shaft of the first motor rotates.

18. The steering control device of claim 10, wherein, The driving assembly is connected with the transmission ring through the engagement of the bevel gear; the transmission ring is provided with a slope and a plurality of bevel teeth on the outer periphery, and the plurality of bevel teeth are arranged at equal intervals along the circumferential direction of the transmission ring on the slope to form the driving part. The driving assembly comprises the bevel gear, and the bevel gear is connected with the plurality of bevel teeth.

19. The steering control device of claim 18, wherein, The driving assembly further comprises a second motor, the motor shaft of the second motor is arranged along the radial direction of the transmission ring, and the bevel gear is fixed on the motor shaft of the second motor, so that the bevel gear is driven to rotate synchronously when the motor shaft of the second motor rotates.

20. The steering control device of claim 10, wherein, The rotating body further comprises an upper housing arranged around the rotating shaft, and the transmission ring is fixedly connected with the steering wheel through the upper housing.

21. The steering control device of claim 1, wherein, The fixed body comprises a lower housing arranged around the rotating shaft, and the lower housing is fixedly arranged below the steering wheel.

22. The steering control device of claim 21, wherein, The lower housing is provided with an annular accommodating groove, part of the rotating body is accommodated in the annular accommodating groove, the rolling support assembly is rotatably arranged on the bottom wall of the annular accommodating groove and rolls to support the rotating body.

23. The steering control device of claim 22, wherein, The fixed body further comprises a mounting part provided with a mounting cavity, the mounting part is arranged adjacent to the annular accommodating groove, and the mounting cavity is arranged in communication with the annular accommodating groove to mount the driving assembly.

24. The steering control device of claim 21, wherein, The fixed body further comprises a fixed support provided with a fixed connecting part and a locking part, the fixed connecting part is fixedly connected with the lower housing, and the locking part is used to be fixedly connected with a sleeve below the steering wheel to fixedly arrange the lower housing below the steering wheel.

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