Steering control device and autonomous driving system

Abstract

Disclosed are a steering control device and an autonomous driving system. The steering control device comprises a first device main body (10) and a second device main body (20), wherein the first device main body comprises a first rotating portion (11) and a first fixed portion (12), the first rotating portion being movably arranged on the first fixed portion; the second device main body comprises a second rotating portion (21), a second fixed portion (22) and a driving assembly (23), the second rotating portion being movably arranged on the second fixed portion, and the second rotating portion being in transmission connection with the driving assembly; the first device main body is detachably connected to the second device main body; the first rotating portion and the second rotating portion are combined to form a rotating body (30), and the rotating body is securely connected to a steering wheel; the first fixed portion and the second fixed portion are combined to form a fixed body (40), and the fixed body is fixedly arranged below the steering wheel; and the rotating body drives the steering wheel to rotate around a rotating shaft. The steering control device improves the mounting efficiency.

Description

Steering control unit and automatic driving system

[0001] 1. This disclosure claims priority to Chinese Patent Application No. 202411561146.3, filed on November 4, 2024, entitled “Steering Control Device and Automatic Driving System”, the entire contents of which are incorporated herein by reference.

[0002] 2. This disclosure also claims priority to Chinese Patent Application No. 202411561148.2, filed on November 4, 2024, entitled “Transmission Ring, Steering Control Device and Automatic Driving System”, the entire contents of which are incorporated herein by reference.

[0003] 3. This disclosure also claims priority to Chinese Patent Application No. 202411561149.7, filed on November 4, 2024, entitled “Steering Control Device and Automatic Driving System”, the entire contents of which are incorporated herein by reference.

[0004] 4. This disclosure also claims priority to Chinese Patent Application No. 202422683647.0, filed on November 4, 2024, entitled “Steering Control Device and Automatic Driving System”, the entire contents of which are incorporated herein by reference.

[0005] 5. This disclosure also claims priority to Chinese Patent Application No. 202422683592.3, filed on November 4, 2024, entitled “Transmission Ring, Steering Control Device and Automatic Driving System”, the entire contents of which are incorporated herein by reference.

[0006] 6. This disclosure also claims priority to Chinese Patent Application No. 202422683627.3, filed on November 4, 2024, entitled “Transmission Ring, Steering Control Device and Automatic Driving System”, the entire contents of which are incorporated herein by reference. Technical Field

[0007] This disclosure relates to the field of automatic control technology for driving systems, and particularly to a steering control device and an automatic driving system. Background Technology

[0008] With the continuous development of the agricultural industry and the increasing emphasis placed on agriculture by the state, agricultural mechanization has gradually become widespread in some parts of my country. Traditional mechanized farming requires significant labor costs, and as labor costs continue to rise, autonomous driving technology is also being applied in the field of agricultural machinery.

[0009] Agricultural machinery typically lacks automatic driving capabilities when it leaves the factory; an automatic driving system must be installed afterward to enable this function. The automatic driving system includes an onboard computer terminal and a steering control device. The steering control device is installed on the steering wheel of the agricultural machinery, and the onboard computer terminal is electrically connected to the steering control device to control its operation, thereby adjusting the direction of movement of the agricultural machinery. Compared to manually operating the steering wheel, controlling the steering wheel through the steering control device avoids unnecessary steering problems caused by human error, improves the operating efficiency of agricultural machinery, and thus saves fuel, achieving energy conservation and emission reduction. Therefore, it can reduce greenhouse gas emissions, which is of great significance for addressing climate change and achieving sustainable agricultural development.

[0010] In related technologies, steering control devices include a drive motor and a transmission ring. The transmission ring is fixedly mounted on the steering wheel shaft, and the drive motor drives the transmission ring to rotate, thereby synchronously driving the shaft to rotate and adjusting the direction of movement of agricultural machinery. However, the installation of the transmission ring often requires disassembling the original vehicle's steering wheel to assemble the transmission ring onto the shaft, resulting in poor assembly and installation of the steering control device. Summary of the Invention

[0011] The main objectives of this disclosure include, for example, providing a steering control device that addresses the problem of low installation efficiency in steering control devices where the installation of the drive ring requires the removal of the original vehicle's steering wheel.

[0012] To achieve the above objectives, the present disclosure proposes a steering control device for realizing automatic driving by controlling the rotation of a steering wheel around a corresponding axis. The steering control device includes a first device body and a second device body, wherein...

[0013] The first device body includes a first rotating part and a first fixed part, wherein the first rotating part is movably disposed on the first fixed part;

[0014] The second device body includes a second rotating part, a second fixed part, and a drive assembly. The second rotating part is movably disposed on the second fixed part, and the second rotating part is connected to the drive assembly in a transmission manner.

[0015] When the first device body and the second device body are detachably connected to form an annular structure surrounding the rotating shaft, the first rotating part and the second rotating part combine to form a rotating body, and the rotating body is fastened to the steering wheel. The first fixing part and the second fixing part combine to form a fixing body, and the fixing body is fixedly disposed below the steering wheel. Under the transmission of the drive assembly, the rotating body rotates relative to the fixing body to drive the steering wheel to rotate around the rotating shaft.

[0016] In some embodiments of this disclosure, the first rotating part includes a first transmission member, the second rotating part includes a second transmission member, and the second transmission member is in transmission with the drive assembly;

[0017] When the first device body and the second device body are combined to form the ring structure, the first transmission component and the second transmission component are combined to form a transmission ring surrounding the rotating shaft.

[0018] In some embodiments of this disclosure, both the first transmission member and the second transmission member are arc structures;

[0019] When the first device body and the second device body are combined to form the ring structure, the two ends of the first transmission member and the two ends of the second transmission member are respectively connected to abut against each other to form the transmission ring with a circular structure.

[0020] In some embodiments of this disclosure, the arc length of the first transmission member is greater than or equal to the arc length of the second transmission member.

[0021] In some embodiments of this disclosure, the drive assembly is connected to the transmission ring via a spur gear meshing connection.

[0022] In some embodiments of this disclosure, a plurality of straight teeth are provided on the outer peripheral side of the transmission ring, the straight teeth extending along the thickness direction of the transmission ring, and the plurality of straight teeth are equally spaced along the circumference of the transmission ring;

[0023] The drive assembly includes the spur gear, and the spur gear is meshed with a plurality of the spur teeth.

[0024] In some embodiments of this disclosure, the drive assembly further includes a first motor, the motor shaft of the first motor extending along the thickness direction of the transmission ring, and the spur gear fixed on the motor shaft of the first motor so as to synchronously drive the spur gear to rotate when the motor shaft of the first motor rotates.

[0025] In some embodiments of this disclosure, the drive assembly is connected to the transmission ring via a bevel gear meshing connection.

[0026] In some embodiments of this disclosure, the outer circumferential side of the transmission ring is provided with an inclined surface and a plurality of helical teeth, and the plurality of helical teeth are equally spaced along the circumferential direction of the transmission ring on the inclined surface;

[0027] The drive assembly includes the bevel gear, and the bevel gear is meshed with a plurality of the helical teeth.

[0028] In some embodiments of this disclosure, the drive assembly further includes a second motor, the motor shaft of the second motor extending radially along the transmission ring, and the helical gear fixed on the motor shaft of the second motor so as to synchronously drive the helical gear to rotate when the motor shaft of the second motor rotates.

[0029] In some embodiments of this disclosure, the first rotating part further includes a first upper shell, and the first transmission member is fixedly disposed on the first upper shell;

[0030] The second rotating part also includes a second upper shell, and the second transmission member is fixed on the second upper shell;

[0031] When the first device body and the second device body are combined to form the ring structure, the first upper shell and the second upper shell also form an upper shell surrounding the rotating shaft, and the transmission ring is fastened to the steering wheel through the upper shell.

[0032] In some embodiments of this disclosure, both ends of the first upper shell are provided with a first connecting portion, and both ends of the second upper shell are provided with a first mating portion that is detachably connected to the corresponding first connecting portion.

[0033] In some embodiments of this disclosure, the end of the first upper shell is provided with a first connecting boss to form the first connecting portion;

[0034] The end of the second upper shell is recessed with a first mating groove to form the first mating part;

[0035] When the first device body and the second device body are combined to form the ring structure, the first connecting boss is accommodated in the first mating groove, and the first connecting boss is fixed to the first mating groove by a screw structure.

[0036] In some embodiments of this disclosure, both ends of the first upper shell are provided with positioning protrusions, and both ends of the second upper shell are provided with positioning recesses that abut against the corresponding positioning protrusions.

[0037] In some embodiments of this disclosure, both the first transmission member and the second transmission member have mounting holes extending through their thickness direction. A screw structure passes through the mounting holes and is threadedly connected to the corresponding first or second upper shell to fix the first transmission member and the second transmission member to the upper shell respectively.

[0038] In some embodiments of this disclosure, both the first transmission member and the second transmission member are provided with a plurality of mounting holes through their thickness direction. The plurality of mounting holes are also spaced apart circumferentially along the transmission ring. A plurality of screw structures are respectively threaded through the corresponding mounting holes and connected to the upper housing to fix the first transmission member and the second transmission member to the upper housing.

[0039] In some embodiments of this disclosure, the first fixing part includes a first lower shell, and the first transmission member is movably disposed on the first lower shell;

[0040] The second fixing part includes a second lower shell, and the second transmission member is movably disposed on the second lower shell;

[0041] When the first device body and the second device body are combined to form the ring structure, the first lower shell and the second lower shell also form a lower shell surrounding the rotating shaft, and the lower shell is fixedly disposed below the steering wheel.

[0042] In some embodiments of this disclosure, the first lower shell is provided with a second connecting portion at both ends, and the second lower shell is provided with a second mating portion at both ends that is detachably connected to the corresponding second connecting portion.

[0043] In some embodiments of this disclosure, the end of the first lower shell is recessed with a second mating groove to form the second connecting portion;

[0044] The end of the second lower shell is provided with a second connecting boss to form the second mating part;

[0045] When the first device body and the second device body are combined to form the ring structure, the second connecting boss is accommodated in the second mating groove, and the second connecting boss is fixed to the second mating groove by a screw structure.

[0046] In some embodiments of this disclosure, the second connecting portion includes a flared opening, and the second mating portion includes a constricted opening that engages with the flared opening.

[0047] In some embodiments of this disclosure, the second connecting portion includes a connecting block, and the second mating portion includes a mating block;

[0048] When the first device body and the second device body are combined to form the ring structure, the connecting block abuts against the mating block, and the connecting block and the mating block are fixedly connected by a screw structure.

[0049] In some embodiments of this disclosure, the first fixing part further includes a first rolling support body, which is rotatably mounted on the first lower shell and rolls in contact with the first transmission member, so that the first transmission member is movably disposed on the first lower shell.

[0050] In some embodiments of this disclosure, the second fixing part further includes a second rolling support body, which is rotatably mounted on the second lower shell and rolls in contact with the second transmission member, so that the second transmission member is movably disposed on the first lower shell.

[0051] In some embodiments of this disclosure, the second fixing part further includes a mounting part, which is fixedly connected to the second lower shell, and the driving component is fixedly mounted on the mounting part.

[0052] In some embodiments of this disclosure, both the first transmission member and the second transmission member are arc structures;

[0053] When the first device body and the second device body are combined to form the ring structure, the two ends of the first transmission member are detachably connected to the two ends of the second transmission member to form the transmission ring with a circular structure.

[0054] In some embodiments of this disclosure, one end of the first transmission member is provided with a third connecting portion, and the other end is provided with a fourth mating portion;

[0055] One end of the second transmission member is provided with a fourth connecting part that can be detachably connected to the fourth mating part, and the other end is provided with a third mating part that can be detachably connected to the third connecting part.

[0056] In some embodiments of this disclosure, the third connecting portion and the fourth connecting portion have the same structure, and the third mating portion and the fourth mating portion have the same structure.

[0057] In some embodiments of this disclosure, the first transmission member and the second transmission member are centrally symmetrical.

[0058] In some embodiments of this disclosure, the third connecting portion and the fourth connecting portion are both stepped protrusions, and the third mating portion and the fourth mating portion are both stepped recesses. When the first device body and the second device body are combined to form the ring structure, the stepped protrusions and the corresponding stepped recesses are interlocked, and the stepped protrusions are fixed to the corresponding stepped recesses by a screw structure.

[0059] In some embodiments of this disclosure, the steering control device further includes a fixed bracket, which has a fixed connection part and a locking part. The fixed connection part is fixedly connected to the fixed body, and the locking part is used to fixally connect to a sleeve below the steering wheel, so as to fix the fixed body below the steering wheel.

[0060] The steering control device provided in this disclosure, with its aforementioned structural configuration, allows for quick assembly of the steering control device when it needs to be installed on the steering wheel of a vehicle such as agricultural machinery. This is achieved by first placing the first and second main bodies of the device on opposite sides of a sleeve below the steering wheel, and then detachably connecting them. Next, by securely connecting the assembled rotating body to the steering wheel and fixing the assembled fixed body below the steering wheel, the installation of the steering control device on the steering wheel of the vehicle is completed. When the steering control device is in operation, the rotating body is driven to rotate relative to the fixed body via a drive assembly, causing the rotating body to rotate the steering wheel around its axis, thereby adjusting the direction of movement of the vehicle. Therefore, compared to existing technologies, the present disclosure's steering control device can be installed on the steering wheel of a vehicle such as agricultural machinery without disassembling the original steering wheel, thus significantly improving the assembly efficiency. By quickly installing steering control devices on vehicles, unnecessary steering and increased driving distance caused by human error can be avoided. This can effectively reduce vehicle energy consumption, thereby reducing greenhouse gas emissions and benefiting environmental protection.

[0061] The steering control device disclosed herein includes a transmission ring for connecting to a steering wheel to drive the steering wheel to rotate. One of the outer and inner circumferential sides of the transmission ring is provided with a drive portion for driving connection to a power source, and the other is provided with a guide portion for cooperating with a movable member to define the rotation plane of the transmission ring.

[0062] In some embodiments of this disclosure, the projection of the guide portion in the radial direction of the transmission ring at least partially overlaps with the drive portion.

[0063] In some embodiments of this disclosure, the drive portion is provided on the outer circumferential side of the transmission ring, and the guide portion is provided on the inner circumferential side of the transmission ring; or the guide portion is provided on the outer circumferential side of the transmission ring, and the drive portion is provided on the inner circumferential side of the transmission ring.

[0064] In some embodiments of this disclosure, the guide portion is located at the center in the thickness direction of the transmission ring.

[0065] In some embodiments of this disclosure, the transmission ring is a circular ring structure.

[0066] In some embodiments of this disclosure, the transmission ring includes a first body and a second body, both of which are arc structures. The first body and the second body are combined with each other to form the transmission ring, or are separated from each other.

[0067] In some embodiments of this disclosure, the length of the driving part in the thickness direction of the transmission ring is greater than or equal to the length of the guide part in the thickness direction of the transmission ring.

[0068] This disclosure also proposes a steering control device for achieving autonomous driving by controlling the rotation of a steering wheel around a corresponding axis, characterized in that it includes a rotating body, a fixed body, a moving component, and a drive assembly, wherein...

[0069] The rotating body is used to be fastened to the steering wheel, and the rotating body includes the transmission ring described in any of the above claims;

[0070] The fixing body is used to fix it below the steering wheel;

[0071] The movable component is rotatably mounted on the fixed body and rolls to support the transmission ring;

[0072] The drive assembly is connected to the drive unit, so that the rotating body rotates relative to the fixed body under the drive of the drive assembly, thereby driving the steering wheel to rotate around the axis.

[0073] In some embodiments of this disclosure, the movable member is recessed with a mating groove, and the transmission ring is protruded with a mating portion to form the guide portion. The mating portion is at least partially accommodated in the mating groove to provide rolling support for the transmission ring.

[0074] In some embodiments of this disclosure, the transmission ring is recessed with an annular guide groove to form the guide portion, and the movable member is at least partially accommodated in the annular guide groove and rolls to support the transmission ring.

[0075] In some embodiments of this disclosure, the annular guide groove includes a first edge and a second edge, the first edge and the second edge being disposed opposite to each other in the thickness direction of the transmission ring.

[0076] In some embodiments of this disclosure, the first distance between the first edge and the second edge in the thickness direction of the transmission ring is 0.4 to 0.6 times the thickness of the transmission ring.

[0077] In some embodiments of this disclosure, the transmission ring includes a first surface and a second surface, the first surface and the second surface being disposed opposite to each other in the thickness direction of the transmission ring, and the first edge being disposed adjacent to the first surface, and the second edge being disposed adjacent to the second surface.

[0078] In some embodiments of this disclosure, the second distance between the first edge and the first surface in the thickness direction of the transmission ring is 0.2 to 0.3 times the thickness of the transmission ring, and the third distance between the second edge and the second surface in the thickness direction of the transmission ring is 0.2 to 0.3 times the thickness of the transmission ring.

[0079] In some embodiments of this disclosure, the second distance is equal to the third distance.

[0080] In some embodiments of this disclosure, the cross-section of the annular guide groove is an isosceles trapezoid.

[0081] In some embodiments of this disclosure, the transmission ring is arranged around the rotating shaft.

[0082] In some embodiments of this disclosure, the movable component includes a first rolling support body, which includes a rotating shaft and a fixed wheel. One end of the rotating shaft is rotatably disposed on the fixed body, and the other end of the rotating shaft is fixedly disposed on the fixed wheel. The fixed wheel is at least partially accommodated in the annular guide groove and rolls in contact with at least one side wall of the annular guide groove near the steering wheel to roll support the transmission ring.

[0083] In some embodiments of this disclosure, the movable element includes a plurality of first rolling supports, which are spaced apart circumferentially along the annular guide groove.

[0084] In some embodiments of this disclosure, the movable component includes a second rolling support, which includes a fixed shaft and a rotating wheel. One end of the fixed shaft is fixedly disposed on the fixed body, and the other end of the fixed shaft is rotatably disposed on the rotating wheel. The rotating wheel is at least partially accommodated in the annular guide groove and rolls in contact with at least one side wall of the annular guide groove near the steering wheel to roll support the transmission ring.

[0085] In some embodiments of this disclosure, the movable element includes a plurality of second rolling supports, which are spaced apart circumferentially along the annular guide groove.

[0086] In some embodiments of this disclosure, the rotating body further includes an upper housing disposed around the rotating shaft, and the transmission ring is fastened to the steering wheel through the upper housing.

[0087] In some embodiments of this disclosure, the fixing body includes a lower housing disposed around the pivot, the lower housing being fixedly disposed below the steering wheel.

[0088] In some embodiments of this disclosure, the lower housing is provided with an annular receiving groove, the transmission ring is housed in the annular receiving groove, and the movable member is rotatably disposed on the bottom wall of the annular receiving groove and rolls to support the transmission ring.

[0089] In some embodiments of this disclosure, the fixing body further includes a mounting portion having a mounting cavity, the mounting portion being disposed adjacent to the annular receiving groove, and the mounting cavity being configured to communicate with the annular receiving groove for mounting the drive assembly.

[0090] In some embodiments of this disclosure, the fixing body further includes a fixing bracket, which has a fixing part and a locking part. The fixing part is fixedly connected to the lower housing, and the locking part is used to fixally connect to the sleeve below the steering wheel, so as to fix the lower housing below the steering wheel.

[0091] The transmission ring provided in this embodiment, through the above-described structural configuration, has a drive unit that is connected to a power source to achieve rotation of the transmission ring. The guide unit cooperates with the movable component, allowing the transmission ring to rotate smoothly without axial movement. The drive unit and the guide unit are located on the inner and outer circumferential sides of the transmission ring, respectively, or on the outer and inner circumferential sides, respectively, such that the drive unit and the guide unit are spaced apart radially in the transmission ring. In this way, the power source that drives the drive unit and the movable component that guides the guide unit can be respectively located on the outer and inner circumferential sides of the transmission ring, or on the inner and outer circumferential sides, respectively. This avoids increasing the thickness of the transmission ring to accommodate the power source and the guide component, thereby avoiding the problem of excessive thickness in the steering control device.

[0092] The steering control device disclosed herein is used to achieve automatic driving by controlling the rotation of a steering wheel around a corresponding axis. The steering control device includes a rotating body, a fixed body, a rolling support assembly, and a drive assembly.

[0093] The rotating body is used to be fastened to the steering wheel, and the rotating body is provided with a driving part;

[0094] The fixing body is used to fix it below the steering wheel;

[0095] The rolling support assembly is rotatably mounted on the fixed body and rolls to support the rotating body;

[0096] The drive assembly is connected to the drive unit, so that the rotating body rotates relative to the fixed body under the drive of the drive assembly, thereby driving the steering wheel to rotate around the axis.

[0097] The projection of the rolling support assembly in the radial direction of the rotating body at least partially overlaps with the drive unit.

[0098] In some embodiments of this disclosure, the driving part is disposed on the outer or inner circumferential side of the rotating body, the rolling support assembly is provided with a mating groove, and the driving part is at least partially inserted into the mating groove.

[0099] In some embodiments of this disclosure, the rotating body is provided with a guide portion, which cooperates with the rolling support assembly to define the rotation plane of the rotating body. The guide portion includes a first contact surface that contacts the rolling support assembly.

[0100] In some embodiments of this disclosure, the guide portion further includes a second contact surface that contacts the rolling support assembly.

[0101] In some embodiments of this disclosure, both the first contact surface and the second contact surface are inclined surfaces and their inclination directions are opposite.

[0102] In some embodiments of this disclosure, the rolling support assembly includes a wheel body, the wheel body including an axle and a frustum portion protruding outward from the axle, and the mating groove is formed on the side of the frustum portion.

[0103] In some embodiments of this disclosure, the wheel body includes two spaced-apart frustum portions, and the mating groove is formed between the two frustum portions.

[0104] In some embodiments of this disclosure, a contact surface is provided at the end of the frustum portion away from the shaft, the contact surface being used to contact the rotating body.

[0105] In some embodiments of this disclosure, the rolling support assembly includes a bearing member disposed on the fixed body to support the rolling support assembly.

[0106] In some embodiments of this disclosure, the rotating body includes a transmission ring disposed around the rotating shaft, the transmission ring having the driving part, and the driving assembly being drively connected to the driving part on the transmission ring.

[0107] In some embodiments of this disclosure, the transmission ring is a circular ring structure.

[0108] In some embodiments of this disclosure, the inner circumferential side of the transmission ring is provided with an annular groove along the radial direction of the transmission ring, and the rolling support assembly is at least partially accommodated in the annular groove and rolls in contact with at least one side wall of the annular groove near the steering wheel to roll support the transmission ring.

[0109] In some embodiments of this disclosure, the rolling support assembly includes a first rolling support body, the first rolling support body including a rotating shaft and a fixed wheel, the rotating shaft being rotatably disposed on the fixed body, and the fixed wheel being fixedly disposed on the rotating shaft; the fixed wheel is at least partially accommodated in the annular groove and rolls in contact with at least one side wall of the annular groove near the steering wheel to roll support the transmission ring.

[0110] In some embodiments of this disclosure, the rolling support assembly includes a second rolling support body, the second rolling support body including a fixed shaft and a rotating wheel, the fixed shaft being fixedly disposed on the fixed body, and the rotating wheel being rotatably disposed on the fixed shaft; the rotating wheel is at least partially housed in the annular groove and rolls in contact with at least one side wall of the annular groove near the steering wheel to roll support the transmission ring.

[0111] This disclosure also proposes an autonomous driving system, which includes an onboard computer terminal and a steering control device as described in any one of the above; wherein...

[0112] The vehicle-mounted computer terminal includes a positioning module and a control module. The positioning module is communicatively connected to the positioning system to obtain location information. Both the positioning module and the drive component are electrically connected to the control module. The control module controls the operation of the drive component based on the location information obtained by the positioning module to adjust the movement direction of the agricultural machinery.

[0113] The steering control device provided in this disclosure, through the above-described structural configuration, when applied to vehicles such as agricultural machinery, its rolling support assembly provides rolling support to the rotating body. This provides upward support force to the rotating body and, when bumps occur during the movement of these vehicles, reduces the gap between the rotating body and the spokes or rim by providing sufficient support force. This reduces the movement of the rotating body relative to the fixed body other than rotation, effectively preventing the rotating body from surging during rotation, allowing the rotating body to rotate smoothly, and thus ensuring the reliability of the transmission connection between the drive assembly and the rotating body. Attached Figure Description

[0114] To more clearly illustrate the technical solutions in the embodiments or related technologies of this disclosure, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0115] Figure 1 is a schematic diagram of the overall structure of the steering control device of this disclosure installed on the steering wheel;

[0116] Figure 2 is a schematic diagram of the steering control device in Figure 1;

[0117] Figure 3 is an exploded view of a partial structure of the steering control device in Figure 2;

[0118] Figure 4 is a partial structural schematic diagram of the steering control device in Figure 2;

[0119] Figure 5 is a partial structural schematic diagram of the steering control device in Figure 2;

[0120] Figure 6 is a partial exploded view of another embodiment of the steering control device of this disclosure;

[0121] Figure 7 is an exploded view of another part of the steering control device in Figure 6.

[0122] Explanation of the reference numerals in Figures 1 to 7:

[0123] 100 - Steering control device; 10 - First device body; 11 - First rotating part; 111 - First transmission component; 1111 - Third connecting part; 1112 - Fourth mating part; 112 - First upper shell; 1121 - First connecting part; 1122 - Positioning protrusion; 12 - First fixing part; 121 - First lower shell; 1211 - Second connecting part; 12111 - Fitting flare; 12112 - Connecting block; 122 - First rolling support; 20 - Second device body; 21 - Second rotating part; 211 - Second transmission component; 2111 - Fourth connecting part; 2112 - Third mating part; 212 - Second upper shell; 21 21-First mating part; 2122-Positioning recess; 22-Second fixing part; 221-Second lower shell; 2211-Second mating part; 22111-Matching constriction; 22112-Matching block; 222-Second rolling support; 223-Mounting part; 23-Drive assembly; 231-First motor; 232-Spur gear; 30-Rotating body; 31-Transmission ring; 311-Mounting hole; 312-Annular groove; 32-Upper shell; 40-Fixing body; 41-Lower shell; 50-Fixing bracket; 51-Lock; 511-Locking part; 52-Support frame; 200-Steering wheel; 201-Spoke; 202-Sleeve.

[0124] Figure 8 is a schematic diagram of the steering control device in Figure 1;

[0125] Figure 9 is a partial structural cross-sectional view of the steering control device in Figure 8;

[0126] Figure 10 is a magnified view of a portion of point A in Figure 9;

[0127] Figure 11 is a magnified view of part B in Figure 9;

[0128] Figure 12 is a partial structural schematic diagram of the steering control device in Figure 8;

[0129] Figure 13 is a schematic diagram of the transmission ring in Figure 12.

[0130] Explanation of the reference numerals in Figures 8 to 13:

[0131] 100-Steering control device; 30-Rotating body; 31-Drive ring; 312-Annular guide groove; 3121-First edge; 3122-Second edge; 601-Drive unit; 311-Mounting hole; 111-First body; 211-Second body; 116-First surface; 117-Second surface; 32-Upper housing; 40-Fixed body; 41-Lower housing; 411-Annular receiving groove; 223-Mounting part; 606-Moving part; 6061-Second rolling support; 60611-Fixed shaft; 60612-Rotating wheel; 23-Drive assembly; 232-Spur gear; 231-First motor; 50-Fixed bracket; 51-Lock; 511-Locking part; 52-Support frame; 200-Steering wheel; 201-Spoke; 202-Sleeve; Z-Thickness direction of the drive ring.

[0132] Figure 14 is a schematic diagram of the steering control device in Figure 1;

[0133] Figure 15 is a partial structural cross-sectional view of the steering control device in Figure 14;

[0134] Figure 16 is a magnified view of a portion of point A in Figure 15;

[0135] Figure 17 is a magnified view of part B in Figure 15;

[0136] Figure 18 is a partial structural schematic diagram of the steering control device in Figure 14;

[0137] Figure 19 is a partial structural cross-sectional view of another embodiment of the steering control device of this disclosure;

[0138] Figure 20 is a magnified view of point C in Figure 19.

[0139] Explanation of the reference numerals in Figures 14 to 20:

[0140] 100-Steering control device; 30-Rotating body; 31-Transmission ring; 312-Annular groove; 311-Mounting hole; 601-Drive unit; 32-Upper housing; 13-Guide unit; 131-First contact surface; 132-Second contact surface; 40-Fixed body; 41-Lower housing; 411-Annular receiving groove; 223-Mounting part; 50-Fixed bracket; 51-Lock; 511-Locking part; 52-Support frame; 70-Rolling support assembly; 71-Wheel body; 711-Shaft body; 712-Frustum portion; 713-Matching groove; 72-Bearing component; 6061-Second rolling support body; 60612-Roller; 60611-Fixed shaft; 23-Drive assembly; 232-Spur gear; 231-First motor; 200-Steering wheel; 201-Spoke; 202-Sleeve.

[0141] The realization of the purpose, functional features and advantages of this disclosure will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0142] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. Based on the embodiments of this disclosure, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this disclosure.

[0143] In this disclosure, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0144] Furthermore, the use of terms such as "first" and "second" in this disclosure is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this disclosure.

[0145] This disclosure provides a steering control device 100 for achieving automatic driving by controlling the steering wheel 200 to rotate around a corresponding axis. Referring to Figures 1 to 5, in this embodiment, the steering control device 100 includes a first device body 10 and a second device body 20. Where there is no conflict, the technical features within the optional embodiments of the various steering control devices in this disclosure can be combined with each other to achieve better technical effects.

[0146] The first device body 10 includes a first rotating part 11 and a first fixed part 12, with the first rotating part 11 movably mounted on the first fixed part 12. The second device body 20 includes a second rotating part 21, a second fixed part 22, and a drive assembly 23, with the second rotating part 21 movably mounted on the second fixed part 22 and being drively connected to the drive assembly 23. It is understood that the first device body 10 and the second device body 20 can be transported and stored separately when not in use.

[0147] When the first device body 10 and the second device body 20 are detachably connected to form an annular structure surrounding the rotating shaft, the first rotating part 11 and the second rotating part 21 combine to form a rotating body 30, and the rotating body 30 is fastened to the steering wheel 200. The first fixing part 12 and the second fixing part 22 combine to form a fixing body 40, and the fixing body 40 is fixedly disposed below the steering wheel 200. Under the transmission of the drive component 23, the rotating body 30 rotates relative to the fixing body 40 to drive the steering wheel 200 to rotate around the rotating shaft.

[0148] There are several ways to detachably connect the first device body 10 and the second device body 20. The first device body 10 and the second device body 20 can be detachably connected by means of a latch or by means of a screw structure.

[0149] The rotating body 30 can be fastened to the spokes 201 of the steering wheel 200 by means of a clamp, strap, etc. Of course, the rotating body 30 can also be fastened to the rim of the steering wheel 200 by means of a clamp, strap, etc. In this disclosure, the main function of the rotating body 30 being fastened to the steering wheel 200 is to transmit force to the steering wheel 200 through the rotating body 30.

[0150] It should be emphasized that when the first device body 10 and the second device body 20 are in a state of separation, the second rotating part 21 is connected to the drive assembly 23. When the first device body 10 and the second device body 20 are in a state of connection, since the first rotating part 11 and the second rotating part 21 combine to form a rotating body 30, the rotating body 30 is connected to the drive assembly 23, and the rotating body 30 rotates relative to the fixed body 40 under the drive of the drive assembly 23.

[0151] There are several ways to fix the fixing body 40 below the steering wheel 200. The fixing body 40 can be directly or indirectly fixedly connected to the sleeve 202 of the steering wheel 200 to secure it below the steering wheel 200. Understandably, in agricultural machinery, a seat is usually located near the steering wheel 200, and the fixing body 40 can also be directly or indirectly fixedly connected to the seat to secure it below the steering wheel 200. Alternatively, a heavy base can be placed in the cab, and the fixing body 40 can be directly or indirectly fixedly connected to the base to secure it below the steering wheel 200.

[0152] According to the steering control device 100 provided in this disclosure, its principle of controlling the rotation of the steering wheel 200 is as follows: The drive assembly 23 drives the rotating body 30 to rotate clockwise. The rotating body 30, through a fastened connection with the steering wheel 200, drives the steering wheel 200 to rotate clockwise around its axis, thereby adjusting the direction of movement of the agricultural machinery. The drive assembly 23 also drives the rotating body 30 to rotate counterclockwise. The rotating body 30, through a fastened connection with the steering wheel 200, drives the steering wheel 200 to rotate counterclockwise around its axis, thereby adjusting the direction of movement of the agricultural machinery. The rotating body 30 can drive the steering wheel 200 to rotate around its axis via the spokes 201 and / or the rim of the steering wheel 200.

[0153] The steering control device 100 provided in this embodiment, with its aforementioned structure, allows for quick assembly of the steering control device 100 when it needs to be installed on the steering wheel 200 of a vehicle such as agricultural machinery. This is achieved by first placing the first device body 10 and the second device body 20 on opposite sides of the sleeve 202 below the steering wheel 200, and then detachably connecting the first device body 10 and the second device body 20. Then, by fastening the assembled rotating body 30 to the steering wheel 200 and fixing the assembled fixed body 40 below the steering wheel 200, the installation of the steering control device 100 on the steering wheel 200 of the vehicle such as agricultural machinery is completed. When the steering control device 100 is in operation, the drive assembly 23 drives the rotating body 30 to rotate relative to the fixed body 40, causing the rotating body 30 to rotate the steering wheel 200 around its axis, thereby adjusting the direction of movement of the vehicle such as agricultural machinery. As can be seen, compared with existing technologies, the present technical solution allows for the rapid installation of the steering control device 100 onto the steering wheel 200 of vehicles such as agricultural machinery without disassembling the original steering wheel 200. This significantly improves the assembly efficiency of the steering control device 100. By quickly installing the steering control device on the vehicle, unnecessary steering and increased driving distance caused by human error can be avoided, effectively reducing vehicle energy consumption and greenhouse gas emissions, thus contributing to environmental protection.

[0154] It should be noted that in agricultural machinery, the specifications of the steering wheel 200 shaft are different for different models of machinery. The steering control device 100 provided in this embodiment does not involve the steering wheel 200 shaft during installation. The steering control device 100 provided in this embodiment can be adapted to different models of machinery by fixing the rotating body 30 to the spokes 201 or rim of the steering wheel 200.

[0155] In some optional embodiments, as shown in Figures 3 to 5, the first rotating part 11 includes a first transmission member 111, and the second rotating part 21 includes a second transmission member 211, with the second transmission member 211 driving the drive assembly 23. When the first device body 10 and the second device body 20 are combined to form a ring structure, the first transmission member 111 and the second transmission member 211 combine to form a transmission ring 31 surrounding the rotating shaft. This arrangement aims to improve the stability of the transmission by driving the drive assembly 23 through the transmission ring 31.

[0156] In some optional embodiments, as shown in Figures 3 to 5, both the first transmission member 111 and the second transmission member 211 are arc-shaped structures. When the first device body 10 and the second device body 20 are combined to form a ring structure, the two ends of the first transmission member 111 and the two ends of the second transmission member 211 are correspondingly connected and abutted against each other to form a transmission ring 31 with a circular ring structure. This arrangement aims to drive the transmission ring 31 with a circular ring structure to rotate through the drive assembly 23, thereby using the transmission ring 31 to drive the steering wheel to rotate, making the steering wheel 200 rotate stably and improving the handling of the steering control device 100.

[0157] The two ends of the first transmission component 111 and the two ends of the second transmission component 211 can be mutually engaged to improve the assembly efficiency of the steering control device 100.

[0158] In some optional embodiments, as shown in FIG3, the arc length of the first transmission member 111 is greater than the arc length of the second transmission member 211. Specifically, in some optional embodiments, the arc length of the first transmission member 111 is two-thirds of the entire arc, and the arc length of the second transmission member 211 is one-third of the entire arc. In other examples, the arc length of the first transmission member 111 is three-fifths of the entire arc, and the arc length of the second transmission member 211 is two-fifths of the entire arc; these will not be further illustrated here.

[0159] This design facilitates the assembly of the steering control device 100. Simultaneously, the aforementioned structural arrangement ensures that the weight of the first device body 10 is equal to the weight of the second device body 20, making it easier for workers to handle.

[0160] Of course, in other examples, as shown in Figure 6, the arc length of the first transmission component 111 can be equal to the arc length of the second transmission component 211. With this setting, the first transmission component 111 and the second transmission component 211 can have the same shape, that is, both are semi-circular structures. In this way, the same set of production tools can be used to produce the first transmission component 111 and the second transmission component 211, improving the versatility of the parts and saving production costs.

[0161] In some optional embodiments, as shown in FIG5, the drive assembly 23 is connected to the transmission ring 31 via a meshing connection of a spur gear 232. This arrangement aims to improve the transmission efficiency and reliability between the drive assembly 23 and the transmission ring 31.

[0162] In some optional embodiments, as shown in FIG5, a plurality of spur teeth are provided on the outer peripheral side of the transmission ring 31. The spur teeth extend along the thickness direction of the transmission ring 31, and the plurality of spur teeth are equally spaced along the circumference of the transmission ring 31. The drive assembly 23 includes a spur gear 232, and the spur gear 232 meshes with the plurality of spur teeth. This arrangement aims to achieve a transmission connection between the drive assembly 23 and the transmission ring 31 through the meshing connection of the spur gear 232 and the plurality of spur teeth, so as to further improve the reliability of the transmission.

[0163] In some optional embodiments, as shown in FIG5, the drive assembly 23 further includes a first motor 231, the motor shaft of the first motor 231 extending along the thickness direction of the transmission ring 31, and a spur gear 232 fixed on the motor shaft of the first motor 231 so that when the motor shaft of the first motor 231 rotates, the spur gear 232 is driven to rotate synchronously. This arrangement is intended to facilitate the assembly of the steering control device 100.

[0164] In some alternative embodiments, the drive assembly 23 is connected to the transmission ring 31 via a bevel gear engagement. This arrangement aims to improve the transmission efficiency and reliability between the drive assembly 23 and the transmission ring 31.

[0165] In some optional embodiments, the outer periphery of the transmission ring 31 is provided with an inclined surface and a plurality of helical teeth, the plurality of helical teeth being equally spaced along the circumference of the transmission ring 31 on the inclined surface. The drive assembly 23 includes a bevel gear, and the bevel gear meshes with the plurality of helical teeth. This arrangement is intended to achieve a transmission connection between the drive assembly 23 and the transmission ring 31 through the meshing connection of the bevel gear and the plurality of helical teeth, thereby further improving the reliability of the transmission.

[0166] In some optional embodiments, the drive assembly 23 further includes a second motor, the motor shaft of which extends radially along the transmission ring 31. A helical gear is fixed to the motor shaft of the second motor so that the helical gear rotates synchronously when the motor shaft of the second motor rotates. This arrangement aims to reduce the thickness of the steering control device 100 by placing the second motor at the same horizontal plane as the transmission ring 31, thereby reducing the vertical space occupied by the steering control device 100 in the cockpit.

[0167] In some optional embodiments, as shown in Figures 1 to 4, the first rotating part 11 further includes a first upper shell 112, and the first transmission member 111 is fixedly mounted on the first upper shell 112. The second rotating part 21 further includes a second upper shell 212, and the second transmission member 211 is fixedly mounted on the second upper shell 212. When the first device body 10 and the second device body 20 are combined to form a ring structure, the first upper shell 112 and the second upper shell 212 also form an upper shell 32 surrounding the rotating shaft, and the transmission ring 31 is fastened to the steering wheel 200 through the upper shell 32.

[0168] In some alternative embodiments, the surface of the upper housing 32 may be provided with multiple tube clamps to securely connect the rotating body 30 to the steering wheel 200 by clamping the rim and / or spokes 201 of the steering wheel 200 respectively. In other examples, the surface of the upper housing 32 may be provided with multiple clamps to securely connect the rotating body 30 to the steering wheel 200 by clamping the rim and / or spokes 201 of the steering wheel 200 respectively.

[0169] This design aims to securely connect the transmission ring 31 to the steering wheel 200 via the upper housing 32, facilitating the installation of the steering control device 100 and further improving the installation efficiency of the steering control device 100.

[0170] In some optional embodiments, as shown in Figures 2 to 4, the first upper shell 112 has a first connecting portion 1121 at both ends, and the second upper shell 212 has a first mating portion 2121 at both ends that is detachably connected to the corresponding first connecting portion 1121. This arrangement aims to further improve the assembly efficiency of the steering control device 100 through the quick connection between the first connecting portion 1121 and the first mating portion 2121.

[0171] In some optional embodiments, as shown in Figures 2 to 4, the end of the first upper shell 112 is provided with a first connecting boss to form a first connecting portion 1121. The end of the second upper shell 212 is provided with a first mating groove to form a first mating portion 2121. When the first device body 10 and the second device body 20 are combined to form a ring structure, the first connecting boss is accommodated in the first mating groove and is fixed to the first mating groove by a screw structure.

[0172] In this example, a threaded hole is formed on the first connecting boss in the vertical direction, and a through hole is formed through the groove wall of the first mating groove in the vertical direction. The screw structure passes through the through hole in the vertical direction above the upper housing 32 and is threadedly connected to the threaded hole on the first connecting boss.

[0173] This configuration aims to fix the first connecting boss to the first mating groove using a screw structure, thereby further improving the assembly efficiency of the steering control device 100.

[0174] In other examples, the first connecting part 1121 and the mating part 112 have other configuration forms, for example: the first connecting part 1121 and the first mating part 2121 are both connecting plates protruding upward in the vertical direction, and both connecting plates are provided with through holes in the horizontal direction. The screw structure passes through the two through holes and is threadedly connected to the nut, and the two connecting plates are tightly locked together to fix the first upper shell 112 and the second upper shell 212 together.

[0175] In some optional embodiments, as shown in Figures 2 and 3, both ends of the first upper shell 112 are provided with positioning protrusions 1122, and both ends of the second upper shell 212 are provided with positioning recesses 2122 that abut against the corresponding positioning protrusions 1122.

[0176] The positioning protrusion 1122 can have various shapes, such as square or columnar. The positioning recess 2122 is adapted to the shape of the positioning protrusion 1122, but these will not be listed here. In one example, the positioning protrusion 1122 forms a first stepped surface at both ends of the first upper shell 112, and the positioning recess 2122 forms a second stepped surface at both ends of the second upper shell 212 that is adapted to the first stepped surface.

[0177] Understandably, the positioning protrusion 1122 and the positioning recess 2122 respectively make the ends of the first upper shell 112 and the second upper shell 212 regularly uneven. When the first upper shell 112 and the second upper shell 212 are connected, the abutting fit of the positioning protrusion 1122 and the positioning recess 2122 can accurately position the first upper shell 112 and the second upper shell 212. This not only improves the assembly accuracy of the first upper shell 112 and the second upper shell 212, but also improves the assembly efficiency of the first upper shell 112 and the second upper shell 212.

[0178] In some optional embodiments, as shown in Figures 3 to 5, both the first transmission member 111 and the second transmission member 211 have mounting holes 311 extending through their thickness directions. Screws pass through the mounting holes 311 and are threadedly connected to the corresponding first upper shell 112 or second upper shell 212 to fix the first transmission member 111 and the second transmission member 211 to the upper shell 32, respectively. This arrangement aims to achieve the purpose of fixing the first transmission member 111 and the second transmission member 211 to the upper shell 32 using screws.

[0179] Meanwhile, since the first transmission component 111 and the second transmission component 211 are respectively fixed to the upper housing 32, there is no need to fix the first transmission component 111 and the second transmission component 211 together. The ends of the first transmission component 111 and the second transmission component 211 can simply abut against each other. This reduces the assembly steps of the steering control device 100 and improves the assembly efficiency of the steering control device 100.

[0180] In some optional embodiments, as shown in Figures 3 to 5, the first transmission member 111 and the second transmission member 211 are provided with a plurality of mounting holes 311 through their thickness direction. The plurality of mounting holes 311 are also provided at intervals along the circumference of the transmission ring 31. A plurality of screw structures pass through the corresponding mounting holes 311 and are threadedly connected to the upper housing 32 to fix the first transmission member 111 and the second transmission member 211 to the upper housing 32 respectively.

[0181] It should be noted that the multiple mounting holes 311 can be evenly spaced along the axial direction of the transmission ring 31, or they can be unevenly spaced. Preferably, the mounting holes 311 are countersunk holes.

[0182] In this example, the upper housing 32 is provided with a threaded hole in the vertical direction, preferably a blind hole. With this configuration, the screw structure passes through the mounting hole 311 in the vertical direction below the transmission ring 31 and is threadedly connected to the upper housing 32, avoiding direct exposure of the screw structure to the upper surface of the upper housing 32, reducing the probability of corrosion of the screw structure, and thus improving the reliability of the connection between the transmission ring 31 and the upper housing 32.

[0183] In some optional embodiments, as shown in Figures 3 to 5, the first fixing part 12 includes a first lower shell 121, and a first transmission member 111 is movably disposed on the first lower shell 121. The second fixing part 22 includes a second lower shell 221, and a second transmission member 211 is movably disposed on the second lower shell 221. When the first device body 10 and the second device body 20 are combined to form a ring structure, the first lower shell 121 and the second lower shell 221 also form a lower shell 41 surrounding the rotating shaft, and the lower shell 41 is fixedly disposed below the steering wheel 200.

[0184] This configuration aims to improve the stability of the drive assembly 23 by using the lower housing 41 arranged around the pivot, while also facilitating the installation of the steering control device 100 and further improving the installation efficiency of the steering control device 100.

[0185] In some optional embodiments, as shown in Figures 3 to 5, both ends of the first lower housing 121 are provided with second connecting portions 1211, and both ends of the second lower housing 221 are provided with second mating portions 2211 that are detachably connected to the corresponding second connecting portions 1211. This arrangement aims to further improve the assembly efficiency of the steering control device 100 through the quick connection between the second connecting portions 1211 and the second mating portions 2211.

[0186] In some optional embodiments, as shown in Figures 3 to 5, the end of the first lower shell 121 is recessed with a second mating groove to form a second connecting portion 1211. The end of the second lower shell 221 is protruded with a second connecting boss to form a second mating portion 2211. When the first device body 10 and the second device body 20 are combined to form an annular structure, the second connecting boss is accommodated in the second mating groove and fixed to the second mating groove by a screw structure.

[0187] In this example, a threaded hole is formed on the second connecting boss in the vertical direction, and a through hole is formed through the groove wall of the second mating groove in the vertical direction. The screw structure passes through the through hole in the vertical direction below the lower housing 41 and is threadedly connected to the threaded hole on the second connecting boss.

[0188] This configuration aims to fix the second connecting boss to the second mating groove using a screw structure, thereby further improving the assembly efficiency of the steering control device 100.

[0189] In some optional embodiments, as shown in Figures 6 and 7, the second connecting portion 1211 includes a flared opening 12111, and the second mating portion 2211 includes a constricted opening 22111 that engages with the flared opening 12111. This arrangement is intended to facilitate the installation and positioning of the first lower shell 121 and the second lower shell 221 by engaging the constricted opening 22111 with the flared opening 12111.

[0190] In some optional embodiments, as shown in Figures 6 and 7, the second connecting portion 1211 includes a connecting block 12112, and the second mating portion 2211 includes a mating block 22112. When the first device body 10 and the second device body 20 are combined to form a ring structure, the connecting block 12112 abuts against the mating block 22112, and the connecting block 12112 and the mating block 22112 are fixedly connected by a screw structure. This arrangement is intended to facilitate the operation of fixing the first lower shell 121 and the second lower shell 221 together, thereby improving the assembly efficiency of the first lower shell 121 and the second lower shell 221.

[0191] In some optional embodiments, as shown in Figures 3 to 5, the first fixing part 12 further includes a first rolling support 122, which is rotatably mounted on the first lower shell 121 and rolls in contact with the first transmission member 111, so that the first transmission member 111 is movably disposed on the first lower shell 121. This arrangement aims to improve the stability of the first transmission member 111 through the rolling contact between the first rolling support 122 and the first transmission member 111.

[0192] In some optional embodiments, as shown in Figures 3 to 5, the second fixing part 22 further includes a second rolling support 222, which is rotatably mounted on the second lower shell 221 and rolls in contact with the second transmission member 211, so that the second transmission member 211 is movably disposed on the first lower shell 121. This arrangement aims to improve the stability of the second transmission member 211 through the rolling contact between the second rolling support 222 and the second transmission member 211.

[0193] It should be emphasized that when the first device body 10 and the second device body 20 are in a state of mutual connection, since the first transmission member 111 and the second transmission member 211 combine to form a transmission ring 31, combined with the content of the first rolling support 122 and the second rolling support 222 mentioned above, when the drive assembly 23 drives the transmission ring 31, the first rolling support 122 and the second rolling support 222 can roll and support the transmission ring 31 to improve the stability of the rotation of the transmission ring 31 relative to the lower housing 41, thereby making the transmission connection between the drive assembly 23 and the transmission ring 31 more reliable.

[0194] It is understood that the first rolling support 122 and the second rolling support 222 mentioned above may have the same structure or different structures. For the sake of explaining the technical solution, the first rolling support 122 and the second rolling support 222 are collectively referred to as rolling support in the following content.

[0195] To improve the stability of the rolling supports supporting the transmission ring 31, there should be at least two rolling supports, spaced apart along the circumference of the transmission ring 31. The rolling supports can be evenly or unevenly spaced. For example, when there are three rolling supports, two are on the same diameter of the transmission ring 31, and the third is on another diameter, forming a right-angled triangle. Alternatively, when there are three rolling supports, they can be evenly spaced along the circumference of the transmission ring 31, forming an equilateral triangle.

[0196] In the example shown in Figure 5, an annular groove 312 is recessed radially along the inner circumference of the transmission ring 31. Six rolling supports are provided, each of which is at least partially housed within the annular groove 312 and rolls in contact with at least one side wall of the annular groove 312 closest to the steering wheel 200 to provide rolling support for the transmission ring 31. In other examples, eight rolling supports may be used, or even ten; no specific limitation is made herein.

[0197] In some optional embodiments, as shown in Figures 3 to 5, the second fixing part 22 further includes a mounting part 223, which is fixedly connected to the second lower shell 221, and the drive assembly 23 is fixedly mounted on the mounting part 223. This arrangement is intended to further improve the stability of the drive assembly 23.

[0198] In some optional embodiments, the mounting portion 223 is formed with a mounting cavity. In conjunction with the specific structure of the drive assembly 23 described above, this mounting cavity can at least accommodate a portion of the drive assembly 23's structure (e.g., spur gear 232, bevel gear) to protect the drive assembly 23 and improve the protection of the steering control device 100. Specifically, the mounting portion 223 can be formed by a mounting plate and a cover.

[0199] In some optional embodiments, as shown in FIG6, both the first transmission member 111 and the second transmission member 211 are arc-shaped structures. When the first device body 10 and the second device body 20 are combined to form a ring structure, the two ends of the first transmission member 111 are detachably connected to the two ends of the second transmission member 211 to form a transmission ring 31 with a circular ring structure.

[0200] This configuration aims to improve the reliability of the transmission ring 31 by fixing the first transmission component 111 and the second transmission component 211 together, thereby improving the stability of the transmission connection between the transmission ring 31 and the drive assembly 23.

[0201] In some optional embodiments, as shown in FIG6, one end of the first transmission member 111 is provided with a third connecting portion 1111, and the other end is provided with a fourth mating portion 1112. One end of the second transmission member 211 is provided with a fourth connecting portion 2111 that is detachably connected to the fourth mating portion 1112, and the other end is provided with a third mating portion 2112 that is detachably connected to the third connecting portion 1111.

[0202] This configuration aims to further improve the assembly efficiency of the transmission ring 31 through the quick connection between the third connecting part 1111 and the third mating part 2112, as well as the quick connection between the fourth connecting part 2111 and the fourth mating part 1112.

[0203] In some optional embodiments, as shown in FIG6, the third connecting part 1111 and the fourth connecting part 2111 have the same structure, and the third mating part 2112 and the fourth mating part 1112 have the same structure. With this configuration, when assembling the first transmission member 111 and the second transmission member 211, the installation can be completed by repeating the same process, which aims to reduce the assembly difficulty between the first transmission member 111 and the second transmission member 211.

[0204] In some optional embodiments, as shown in FIG6, the third connecting part 1111 and the fourth connecting part 2111 are both stepped protrusions, and the third mating part 2112 and the fourth mating part 1112 are both stepped recesses. When the first device body 10 and the second device body 20 are combined to form a ring structure, the stepped protrusions and the corresponding stepped recesses are interlocked, and the stepped protrusions are fixed to the corresponding stepped recesses by a screw structure.

[0205] This design aims to facilitate the guiding and positioning of the first transmission component 111 and the second transmission component 211 by interlocking the stepped protrusions with the corresponding stepped recesses, thereby improving assembly efficiency. Furthermore, the interaction between the stepped protrusions and the stepped recesses can enhance the stability of the connection between the first transmission component 111 and the second transmission component 211.

[0206] In some optional embodiments, as shown in FIG6, the first transmission member 111 and the second transmission member 211 are centrally symmetrical. This arrangement improves the versatility of the parts and saves manufacturing costs.

[0207] Based on the above description of the specific structures of the first transmission member 111 and the second transmission member 211, when the third connecting part 1111 and the fourth connecting part 2111 have the same structure, and when the third mating part 2112 and the fourth mating part 1112 have the same structure, the first transmission member 111 and the second transmission member 211 can also be centrally symmetrical. This not only saves manufacturing costs but also reduces the assembly difficulty between the first transmission member 111 and the second transmission member 211.

[0208] In some optional embodiments, as shown in Figures 1 and 2, the steering control device 100 further includes a fixed bracket 50, which has a fixed connection part and a locking part 511. The fixed connection part is fixedly connected to the fixed body 40, and the locking part 511 is used to fixally connect to the sleeve 202 below the steering wheel 200, so as to fix the fixed body 40 below the steering wheel 200.

[0209] It is understandable that the sleeve 202 below the steering wheel 200 is mainly used to surround and protect the pivot below the steering wheel 200. The structure of the fixing body 40 has been described in detail above. The fixing body 40 is formed by the combination of a first fixing part 12 and a second fixing part 22. The fixing connection part can be fixedly connected to the first fixing part 12 and / or the second fixing part 22. Specifically, the first fixing part 12 and the second fixing part 22 have also been described in detail above, that is, the first fixing part 12 includes a first lower shell 121 and the second fixing part 22 includes a second lower shell 221, and the fixing connection part can be fixedly connected to the first lower shell 121 and / or the second lower shell 221.

[0210] This arrangement facilitates the assembly of the fixed body 40, thereby improving the assembly efficiency of the steering control device 100. Simultaneously, by fixing the fixed body 40 below the rotating body 30 using the fixed bracket 50, the impact of vehicle vibration on the steering control device 100 is reduced, thus improving the reliability of the steering control device 100.

[0211] In some optional embodiments, as shown in Figures 1 and 2, the fixed bracket 50 includes a lock 51 and a support frame 52. The lock 51 has a locking part 511 on one side and is fixedly connected to the support frame 52 on the other side. The support frame 52 has a connecting hole on the side away from the lock 51 to form a fixed connection part. The support frame 52 is fixedly connected to the fixed body 40 through the connecting hole and the screw structure.

[0212] This design facilitates the assembly of the fixing body 40 while improving the compatibility of the fixing bracket 50 with the sleeve 202 through the locking part 511 of the locking device 51.

[0213] The lock 51 can take many forms. The lock 51 may include a clamp, or it may include two clamps and two bolts. When the two clamps are clamped on opposite sides of the sleeve 202, the two clamps are fixed by the two bolts, thereby fixing the lock 51 to the periphery of the sleeve 202.

[0214] This disclosure also proposes an autonomous driving system, which includes an on-board computer terminal and a steering control device 100. The specific structure of the steering control device 100 is as described in the above embodiments. Since this autonomous driving system adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0215] The vehicle-mounted computer terminal includes a positioning module and a control module. The positioning module is connected to the positioning system to obtain location information. Both the positioning module and the drive component 23 are electrically connected to the control module. The control module controls the operation of the drive component 23 according to the location information obtained by the positioning module to adjust the movement direction of the agricultural machinery.

[0216] The positioning system can be a Global Positioning System (GPS), BeiDou Navigation Satellite System, etc., which can provide accurate location information for the positioning module. The control module can accurately determine the specific location of the agricultural machinery based on the location information, and can calculate information such as the speed of the agricultural machinery based on changes in the location information.

[0217] It is understandable that the control module controls the operation of the drive component 23 to adjust the direction of movement of agricultural machinery, which usually means controlling the agricultural machinery to move within a preset range, such as controlling the agricultural machinery to move within a designated farmland.

[0218] Of course, in some optional embodiments, the vehicle-mounted computer terminal can also communicate with other communication devices to receive information from other devices, and control the operation of the drive component 23 according to the information to adjust the direction of movement of the agricultural machinery, thereby realizing remote operation of the agricultural machinery.

[0219] This disclosure provides a steering control device 100, which includes a transmission ring 31. In the steering control device 100, a power source is connected to the transmission ring 31 to drive the transmission ring 31 to rotate. To ensure smooth rotation of the transmission ring 31 during operation without increasing its thickness, this disclosure improves the transmission ring 31. Referring to Figures 1 to 12, in this embodiment, the transmission ring 31 is connected to a steering wheel 200 to drive the steering wheel 200 to rotate. One of the outer and inner circumferential sides of the transmission ring 31 is provided with a driving part 601, which is connected to the power source, and the other is provided with a guide part, which cooperates with a moving member 606 to define the rotation plane of the transmission ring 31. Where there is no conflict, the technical features of the various optional embodiments of the steering control devices in this disclosure can be combined to achieve better technical effects.

[0220] The transmission ring 31 has an outer circumferential side and an inner circumferential side arranged radially at intervals, wherein the outer circumferential side of the transmission ring 31 is wrapped around the inner circumferential side of the transmission ring 31. The drive unit 601 typically has teeth that mesh with the teeth of the power source to achieve a transmission connection. The teeth can be spur teeth, helical teeth, etc., and this embodiment does not specifically limit this. The drive unit 601 can also be a wear-resistant surface, which transmits power by contacting the friction wheel of the power source. Preferably, the transmission ring 31 has a circular ring structure, which makes the transmission ring 31 more stable during rotation, thereby improving the operability of the steering control device 100.

[0221] The guide part can also be configured in various ways. In one configuration, the guide part is a protrusion on the transmission ring 31, and the movable part 606 is recessed with a groove that matches the protrusion. In another configuration, the guide part is a recessed groove on the transmission ring 31, and the movable part 606 is protruding with a protrusion that matches the groove.

[0222] The transmission ring 31 provided in this embodiment, through the above-described structural configuration, has its driving part 601 connected to the power source to achieve rotation of the transmission ring 31. The guide part cooperates with the movable part 606, enabling the transmission ring 31 to rotate smoothly without slippage. The driving part 601 and the guide part are located on the inner and outer circumferential sides of the transmission ring 31, respectively, or on the outer and inner circumferential sides of the transmission ring 31, respectively. This allows the driving part 601 and the guide part to be arranged radially spaced apart. In this way, the power source that drives the driving part 601 and the movable part 606 that guides the guide part can be respectively located on the outer and inner circumferential sides of the transmission ring 31, or on the inner and outer circumferential sides of the transmission ring 31, respectively. This avoids increasing the thickness of the transmission ring 31 to accommodate the power source and the guide part, thereby avoiding the problem of excessive thickness of the steering control device 100.

[0223] In some alternative embodiments, as shown in Figures 9 to 11, the projection of the guide portion in the radial direction of the drive ring 31 at least partially overlaps with the drive portion 601. This arrangement aims to make the drive ring 31 utilize the space of the same portion in its thickness direction Z as much as possible to accommodate the power source and the moving part 606 respectively, further avoiding an increase in the thickness of the drive ring 31.

[0224] In some optional embodiments, as shown in Figures 9 to 11, the outer periphery of the transmission ring 31 is provided with a driving part 601, and the inner periphery of the transmission ring 31 is provided with a guiding part; or the outer periphery of the transmission ring 31 is provided with a guiding part, and the inner periphery of the transmission ring 31 is provided with a driving part 601. This arrangement aims to optimize the specific structure of the transmission ring 31, so as to facilitate the transmission cooperation between the power source and the driving part 601 and the guiding cooperation between the moving part 606 and the guiding part.

[0225] In some alternative embodiments, as shown in Figures 9 to 11, the guide portion is located at the center of the transmission ring 31 in the thickness direction Z. This arrangement aims to reduce the impact of the guide portion on the strength of the transmission ring 31.

[0226] In some optional embodiments, as shown in Figures 9 to 11, the transmission ring 31 includes a first body 111 (also referred to as a first transmission component) and a second body 211 (also referred to as a second transmission component). Both the first body 111 and the second body 211 are arc-shaped structures. The first body 111 and the second body 211 are combined with each other to form the transmission ring 31, or they can be separated from each other. This arrangement is intended to facilitate the manufacturing and assembly of the transmission ring 31.

[0227] In some alternative embodiments, the first body 111 and the second body 211 have equal arc lengths; furthermore, the first body 111 and the second body 211 are centrally symmetrically arranged. This further facilitates the manufacturing and assembly of the transmission ring 31. In still other examples, the first body 111 and the second body 211 are detachably connected to form the transmission ring 31.

[0228] Of course, in some other examples, the arc lengths of the first body 111 and the second body 211 are not equal, and the arc length of the first body 111 can be greater than the arc length of the second body 211. In a specific configuration, the arc length of the first body 111 accounts for three-quarters of the entire arc, and the arc length of the second body 211 accounts for one-quarter of the entire arc.

[0229] In some optional embodiments, as shown in Figures 9 to 11, the length of the drive unit 601 in the thickness direction Z of the transmission ring 31 is greater than or equal to the length of the guide unit in the thickness direction Z of the transmission ring 31. This arrangement aims to ensure the stability of the drive unit 601's transmission connection with the power source while guiding the transmission ring 31 through the guide unit.

[0230] This disclosure also proposes a steering control device 100, which can be used in vehicles such as agricultural machinery. Referring to Figures 1 to 13, in this embodiment, the steering control device 100 includes a rotating body 30, a fixed body 40, a movable member 606, and a drive assembly 23. The rotating body 30 is used to be fastened to the steering wheel 200 and includes a transmission ring 31 as described above. The fixed body 40 is fixedly disposed below the steering wheel 200. The movable member 606 (also known as a rolling support member) is rotatably disposed on the fixed body 40 and rolls to support the transmission ring 31. The drive assembly 23 is drively connected to the transmission ring 31, so that the rotating body 30 rotates relative to the fixed body 40 under the drive of the drive assembly 23, thereby driving the steering wheel 200 to rotate around the pivot.

[0231] The specific structure of the transmission ring 31 is as described in the above embodiments. Since the steering control device 100 adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0232] The rotating body 30 can be fastened to the spokes 201 of the steering wheel 200 by means of a clamp, strap, etc. Of course, the rotating body 30 can also be fastened to the rim of the steering wheel 200 by means of a clamp, strap, etc. In this embodiment, the main function of the rotating body 30 being fastened to the steering wheel 200 is to transmit force to the steering wheel 200 through the rotating body 30.

[0233] There are several ways to fix the fixing body 40 below the steering wheel 200. The fixing body 40 can be directly or indirectly connected to the sleeve 202 below the steering wheel 200 to secure it. The sleeve 202 below the steering wheel 200 is mainly used to surround and protect the shaft below the steering wheel 200. Understandably, in agricultural machinery, a seat is usually located near the steering wheel 200, and the fixing body 40 can also be directly or indirectly connected to the seat to secure it below the steering wheel 200. Alternatively, a heavy base can be placed in the cab, and the fixing body 40 can be directly or indirectly connected to the base to secure it below the steering wheel 200.

[0234] It should be emphasized that the movable part 606 not only rolls to support the transmission ring 31, but also cooperates with the guide part of the transmission ring 31 to limit the rotation plane of the transmission ring 31.

[0235] According to the steering control device 100 provided in this embodiment, the principle of controlling the rotation of the steering wheel 200 is as follows: the drive assembly 23 drives the rotating body 30 to rotate clockwise. The rotating body 30, through its fastened connection with the steering wheel 200, drives the steering wheel 200 to rotate clockwise around its axis, thereby adjusting the direction of movement of the agricultural machinery. The drive assembly 23 also drives the rotating body 30 to rotate counterclockwise. The rotating body 30, through its fastened connection with the steering wheel 200, drives the steering wheel 200 to rotate counterclockwise around its axis, thereby adjusting the direction of movement of the agricultural machinery. During the rotation of the drive body, the movable part 606 cooperates with the wall of the annular guide groove 312 (also referred to as the annular groove).

[0236] There are multiple specific installation methods for the steering control device 100 provided in this embodiment. In one installation method, the steering control device 100 can be pre-assembled, the steering wheel 200 on the agricultural machinery can be disassembled, the assembled steering control device 100 can be fitted into the sleeve 202 below the steering wheel 200, and then the steering wheel 200 can be reinstalled. At this time, the rotating body 30 can be fastened to the steering wheel 200 and the fixing body 40 can be fixedly set below the steering wheel 200.

[0237] In some other embodiments, the steering control device 100 consists of two parts: the rotating body 30 and the fixed body 40. The movable part 606 includes multiple rolling supports, which are rotatably mounted on the two fixed bodies 40. The drive assembly 23 is fixedly mounted on any one of the fixed bodies 40. Thus, with the sleeve 202 below the steering wheel 200 as the axis, the rotating body 30 and the fixed body 40, which consist of two parts, are assembled into complete components. At the same time, the steering control device 100 is assembled. Finally, the rotating body 30 is fastened to the steering wheel 200 and the fixed body 40 is fixedly mounted below the steering wheel 200.

[0238] In some optional embodiments, the movable member 606 is recessed with a mating groove, and the transmission ring 31 is protruding with a mating portion to form a guide portion. The mating portion is at least partially accommodated in the mating groove to provide rolling support for the transmission ring 31. This arrangement aims to restrict the movement of the transmission ring 31 other than rotation by ensuring that the mating portion is at least partially accommodated in the mating groove, thereby allowing the transmission ring 31 to rotate smoothly and ensuring the reliability of the transmission connection between the drive assembly 23 and the rotating body 30.

[0239] In some optional embodiments, as shown in Figures 9 to 13, the transmission ring 31 is recessed with an annular guide groove 312 to form a guide portion. The movable member 606 is at least partially accommodated in the annular guide groove 312 and provides rolling support to the transmission ring 31. This arrangement aims to restrict the movement of the transmission ring 31 other than rotation by having the movable member 606 at least partially accommodated in the annular guide groove 312, thereby ensuring smooth rotation of the transmission ring 31 and guaranteeing the reliability of the transmission connection between the drive assembly 23 and the rotating body 30.

[0240] In some optional embodiments, as shown in Figures 10 and 13, the annular guide groove 312 has a slot opening including a first edge 3121 and a second edge 3122. The first edge 3121 and the second edge 3122 are arranged opposite to each other in the thickness direction Z of the transmission ring 31, and the first distance between the first edge 3121 and the second edge 3122 in the thickness direction Z of the transmission ring 31 is 0.4 to 0.6 times the thickness of the transmission ring 31. This arrangement avoids the annular guide groove 312 having an excessively large slot opening, optimizes the structural design of the transmission ring 31, and facilitates the cooperation between the movable part 606 and the annular guide groove 312.

[0241] In some optional embodiments, as shown in Figures 10, 11, and 13, the transmission ring 31 includes a first surface 116 and a second surface 117. The first surface 116 and the second surface 117 are arranged opposite to each other in the thickness direction Z of the transmission ring 31, and a first edge 3121 is disposed adjacent to the first surface 116, and a second edge 3122 is disposed adjacent to the second surface 117. The second distance between the first edge 3121 and the first surface 116 in the thickness direction Z of the transmission ring 31 is 0.2 to 0.3 times the thickness of the transmission ring 31, and the third distance between the second edge 3122 and the second surface 117 in the thickness direction Z of the transmission ring 31 is 0.2 to 0.3 times the thickness of the transmission ring 31. This arrangement aims to further optimize the structural configuration of the transmission ring 31 and further reduce the influence of the annular guide groove 312 on the strength of the transmission ring 31.

[0242] In some optional embodiments, as shown in Figures 10 and 13, the second distance is equal to the third distance. This configuration ensures that the thickness of both sides of the annular guide groove 312 is equal, resulting in equal strength of the transmission ring 31 on both sides of the annular guide groove 312. It also facilitates the processing of the transmission ring 31 and ensures equal strength on both sides of the transmission ring 31 in the thickness direction Z.

[0243] It is understood that the cross-section of the annular guide groove 312 can be triangular, quadrilateral, pentagonal, or even semi-circular, arc-shaped, etc., and the embodiments disclosed herein do not impose specific limitations on it.

[0244] Preferably, as shown in Figure 11, the cross-section of the annular guide groove 312 is an isosceles trapezoid, and the two side walls of the annular guide groove 312 in the thickness direction Z of the transmission ring 31 are respectively provided with annular abutment surfaces. This arrangement is intended to facilitate the placement of the movable part 606 in the annular guide groove 312, and to ensure a tighter fit between the movable part 606 and the two annular abutment surfaces of the annular guide groove 312, thereby further improving the stability of the transmission ring 31 during operation.

[0245] In some alternative embodiments, as shown in FIG12, the transmission ring 31 is arranged around the shaft. This arrangement is intended to improve the stability and reliability of the transmission connection between the transmission ring 31 and the drive assembly 23.

[0246] In some optional embodiments, the movable element 606 includes a first rolling support, which includes a rotating shaft and a fixed wheel. One end of the rotating shaft is rotatably mounted on the fixed body 40, and the other end of the rotating shaft is fixedly mounted on the fixed wheel. The fixed wheel is at least partially accommodated in the annular guide groove 312 and rolls in contact with at least one side wall of the annular guide groove 312 near the steering wheel 200 to roll and support the drive ring 31.

[0247] There are several ways to rotatably mount one end of the shaft on the fixed body 40. In one configuration, one end of the shaft is rotatably mounted on the fixed body 40 via a bearing. In another configuration, the shaft includes a rotating portion at one end and a main body portion, wherein the rotating portion is rotatable relative to the main body portion and is mounted on the fixed body 40. In yet another configuration, the fixed body 40 is provided with a groove, one end of the shaft is inserted into the groove, and is rotatable relative to the groove.

[0248] The fixed wheel can be fixed to the rotating shaft by snap-fitting, welding, or other methods, which will not be described in detail here.

[0249] This configuration aims to achieve rolling contact between the movable part 606 and the side wall of the annular guide groove 312 near the steering wheel 200 through the first rolling support, so that the transmission ring 31 is supported by the first rolling support. The cooperation between the movable part 606 and the annular guide groove 312 guides and limits the transmission ring 31 while providing upward support force for the transmission ring 31.

[0250] In some optional embodiments, the movable element 606 includes a plurality of first rolling supports spaced apart circumferentially along the annular guide groove 312. This arrangement aims to further improve the stability of the transmission ring 31 relative to the fixed body 40 by having the plurality of first rolling supports respectively roll into contact with the side wall of the annular guide groove 312 near the steering wheel 200.

[0251] In some optional embodiments, as shown in FIG12, the movable component 606 includes a second rolling support 6061, which includes a fixed shaft 60611 and a rotating wheel 60612. One end of the fixed shaft 60611 is fixedly mounted on the fixed body 40, and the other end of the fixed shaft 60611 is rotatably mounted on the rotating wheel 60612. The rotating wheel 60612 is at least partially accommodated in the annular guide groove 312 and rolls in contact with at least one side wall of the annular guide groove 312 near the steering wheel 200 to roll and support the transmission ring 31.

[0252] There are several ways to fix one end of the fixed shaft 60611 to the fixed body 40. In one embodiment, a blind hole is provided on the fixed body 40, and one end of the fixed shaft 60611 is interference-fitted into the blind hole to be inserted and fixed to the fixed body 40. In another embodiment, the fixed shaft 60611 is welded to the fixed body 40.

[0253] The rotating wheel 60612 can be rotatably mounted on the fixed shaft 60611 via a bearing, or the rotating wheel 60612 can be directly sleeved on the fixed shaft 60611, which will not be described in detail here.

[0254] This configuration aims to achieve rolling contact between the movable part 606 and the side wall of the annular guide groove 312 near the steering wheel 200 through the second rolling support 6061, so that the transmission ring 31 is supported by the rolling of the second rolling support 6061. The cooperation between the movable part 606 and the annular guide groove 312 guides and limits the transmission ring 31 while providing upward support force for the transmission ring 31.

[0255] In some optional embodiments, as shown in FIG12, the movable member 606 includes a plurality of second rolling supports 6061, which are spaced apart circumferentially along the annular guide groove 312. This arrangement aims to further improve the stability of the transmission ring 31 when rotating relative to the fixed body 40 by having the plurality of second rolling supports 6061 respectively roll into contact with the side wall of the annular guide groove 312 near the steering wheel 200.

[0256] In some optional embodiments, as shown in FIG11, the drive assembly 23 is connected to the transmission ring 31 via a meshing connection of a spur gear 232. This arrangement aims to improve the transmission efficiency and reliability between the drive assembly 23 and the transmission ring 31.

[0257] In some optional embodiments, as shown in FIG12, a plurality of spur teeth are provided on the outer peripheral side of the transmission ring 31. The spur teeth extend along the thickness direction Z of the transmission ring 31, and the plurality of spur teeth are equally spaced along the circumference of the transmission ring 31 to form a drive unit 601. The drive assembly 23 includes a spur gear 232, and the spur gear 232 meshes with the plurality of spur teeth. This arrangement aims to achieve a transmission connection between the drive assembly 23 and the transmission ring 31 through the meshing connection of the spur gear 232 and the plurality of spur teeth, so as to further improve the reliability of the transmission.

[0258] In some optional embodiments, the drive assembly 23 further includes a gearbox, with the motor of the drive assembly 23 connected to the gearbox. The output end of the gearbox is connected to the aforementioned helical or spur gear 232. That is, the first motor 231 of the drive assembly 23 is connected to the helical or spur gear 232 through the gearbox, and the helical or spur gear 232 meshes with the transmission ring 31. This configuration aims to improve the handling of the steering control device 100 by controlling the output power, torque, etc. of the drive assembly 23 through the gearbox.

[0259] In some optional embodiments, as shown in Figures 1 and 8, the rotating body 30 further includes an upper housing 32 surrounding the rotating shaft, and the transmission ring 31 is fastened to the steering wheel 200 through the upper housing 32. In some optional embodiments, the surface of the upper housing 32 may be provided with multiple clamps to clamp the rim and / or spokes 201 of the steering wheel 200 respectively, thereby achieving a fastening connection between the rotating body 30 and the steering wheel 200. In other examples, the surface of the upper housing 32 may be provided with multiple clamps to clamp the rim and / or spokes 201 of the steering wheel 200 respectively, thereby achieving a fastening connection between the rotating body 30 and the steering wheel 200.

[0260] This design aims to securely connect the transmission ring 31 to the steering wheel 200 via the upper housing 32, facilitating the installation of the steering control device 100 and further improving the installation efficiency of the steering control device 100.

[0261] In some alternative embodiments, the upper housing 32 is formed by assembling two or more components to facilitate the assembly of the steering control device 100.

[0262] In some optional embodiments, as shown in Figures 10 to 13, the transmission ring 31 is provided with a plurality of mounting holes 311 through it along its thickness direction Z. The plurality of mounting holes 311 are also spaced apart along the circumference of the transmission ring 31. A plurality of screw structures pass through the corresponding mounting holes 311 and are threadedly connected to the upper housing 32 to fix the transmission ring 31 to the upper housing.

[0263] In this example, the upper housing 32 is provided with a threaded hole in the vertical direction. Preferably, the threaded hole is a blind hole. It should be noted that the multiple mounting holes 311 can be evenly spaced along the axial direction of the transmission ring 31, or they can be unevenly spaced. Preferably, the mounting holes 311 are countersunk holes.

[0264] With this configuration, the screw structure passes through the mounting hole 311 vertically upward below the transmission ring 31 and is threaded to the upper housing 32, avoiding direct exposure of the screw structure to the upper surface of the upper housing 32, reducing the probability of corrosion of the screw structure, and thus improving the reliability of the connection between the transmission ring 31 and the upper housing 32.

[0265] Of course, in other examples, the mounting hole 311 can be a threaded hole, the upper housing 32 has a through hole, and the screw structure passes through the through hole of the upper housing 32 vertically downward and is threaded to the mounting hole 311 to fix the transmission ring 31 to the upper housing 32.

[0266] It is understood that, for ease of explanation of the technical solution, the first rolling support and the second rolling support 6061 will be collectively referred to as rolling supports in the following description: To improve the stability of the rolling supports in supporting the transmission ring 31, there should be more than two rolling supports, which are spaced apart along the circumference of the transmission ring 31. The rolling supports can be evenly spaced or unevenly spaced. For example, when there are three rolling supports, two rolling supports are on the same diameter of the transmission ring 31, and the third rolling support is on another diameter of the transmission ring 31, so that the line connecting the three rolling supports forms a right-angled triangle. When there are three rolling supports, the three rolling supports can be evenly spaced along the circumference of the transmission ring 31, so that the line connecting the three rolling supports forms an equilateral triangle.

[0267] In the example shown in Figure 12, there are six rolling supports, which are evenly spaced. In other examples, there are eight rolling supports, or even ten; this embodiment of the present disclosure does not impose specific limitations.

[0268] In some alternative embodiments, as shown in FIG12, the mounting body 40 includes a lower housing 41 disposed around the pivot, the lower housing 41 being fixedly disposed below the steering wheel 200. This arrangement is intended to improve the stability of the drive assembly 23 by mounting the drive assembly 23 through the lower housing 41 disposed around the pivot.

[0269] Similarly, in some alternative embodiments, the lower housing 41 is also formed by assembling two or more components to facilitate the assembly of the steering control device 100.

[0270] To further improve the protection level of the steering control device 100, both the upper housing 32 and the lower housing 41 can be made of metal. Alternatively, in other examples, the upper housing 32 and the lower housing 41 can be made of rigid plastic with a metallic coating on the surface. This also prevents the upper housing 32 from cracking when transmitting forces, thus extending the service life of the steering control device 100.

[0271] In some optional embodiments, as shown in FIG12, the lower housing 41 is provided with an annular receiving groove 411, the transmission ring 31 is housed in the annular receiving groove 411, and the movable member 606 is rotatably disposed on the bottom wall of the annular receiving groove 411 and rolls to support the transmission ring 31.

[0272] This design aims to surround and protect the transmission ring 31 and the moving part 606 through the annular receiving groove 411, thereby improving the protection performance of the steering control device 100, reducing the influence of external factors on the transmission ring 31, and thus increasing the service life of the steering control device 100.

[0273] In conjunction with the aforementioned description of the movable component 606 including the second rolling support 6061, in some optional embodiments, the bottom wall of the annular receiving groove 411 is provided with multiple threaded holes, which are also spaced apart circumferentially along the annular guide groove 312. The multiple second rolling supports 6061 are respectively installed on the lower housing 41 through the multiple threaded holes. Specifically, one end of each fixed shaft 60611 is provided with an external thread, and each fixed shaft 60611 is threadedly connected to the corresponding threaded hole to be fixed on the fixed body 40. Reinforcing ribs may also be provided around the threaded holes to enhance the overall strength of the lower housing 41.

[0274] The surfaces of the fixed wheel and rotating wheel 60612 mentioned above that contact the groove wall of the annular guide groove 312 can be made of an elastic material. This elastic material is intended to absorb the vibration of the transmission ring 31 relative to the lower housing 41, thereby further improving the rotational stability of the transmission ring 31. Furthermore, a wear-resistant coating can be sprayed onto the surfaces of the fixed wheel and rotating wheel 60612 to extend their service life.

[0275] In some optional embodiments, as shown in Figures 8 to 12, the fixing body 40 further includes a mounting portion 223 having a mounting cavity, the mounting portion 223 being disposed adjacent to the annular receiving groove 411, and the mounting cavity being connected to the annular receiving groove 411 for mounting the drive assembly 23.

[0276] This configuration is intended to enhance the reliability of the transmission connection between the drive assembly 23 and the transmission ring 31 by protecting the drive assembly 23 through the mounting cavity.

[0277] Specifically, in one example, the fixing body 40 also includes a mounting plate and a cover that are fixedly connected to the lower housing 41. The mounting plate and the cover together form a mounting cavity. The motor of the drive assembly 23 is fixedly mounted on the side of the mounting plate away from the mounting cavity, and the motor shaft of the motor extends into the mounting cavity. The gear of the drive assembly 23 is fixed on the motor shaft and partially accommodated in the mounting cavity. The gear also meshes with the transmission ring 31 through the connection between the mounting cavity and the annular receiving groove 411.

[0278] In another example, the mounting part 223 includes a mounting shell with a mounting cavity formed inside. The motor of the drive assembly 23 is fixedly mounted in the mounting cavity. The gear of the drive assembly 23 is fixed on the motor shaft and partially housed in the mounting cavity. The gear also meshes with the transmission ring 31 through the mounting cavity and the annular receiving groove 411.

[0279] In some optional embodiments, as shown in Figures 1 and 8, the fixing body 40 further includes a fixing bracket 50, which has a fixing part and a locking part 511. The fixing part is fixedly connected to the lower housing 41, and the locking part 511 is used to fixally connect to the sleeve 202 below the steering wheel 200, so as to fix the lower housing 41 below the steering wheel 200.

[0280] This design facilitates the assembly of the fixed body 40, thereby improving the assembly efficiency of the steering control device 100. Simultaneously, by fixing the fixed body 40 below the steering wheel 200 using the fixed bracket 50, the impact of agricultural machinery vibrations on the steering control device 100 is reduced, thus improving the reliability of the steering control device 100.

[0281] In some optional embodiments, as shown in Figures 1 and 8, the fixed bracket 50 includes a lock 51 and a support frame 52. The lock 51 has a locking part 511 on one side and is fixedly connected to the support frame 52 on the other side. The support frame 52 has a connecting hole on the side away from the lock 51 to form a fixed connection part. The support frame 52 is fixedly connected to the lower shell through the connecting hole and the screw structure.

[0282] This design facilitates the assembly of the fixing body 40 while improving the compatibility of the fixing bracket 50 with the sleeve 202 through the locking part 511 of the locking device 51.

[0283] The lock 51 can take many forms. The lock 51 may include a clamp, or it may include two clamps and two bolts. When the two clamps are clamped on opposite sides of the sleeve 202, the two clamps are fixed by the two bolts, thereby fixing the lock 51 to the periphery of the sleeve 202.

[0284] This disclosure proposes a steering control device 100 for achieving automatic driving by controlling the steering wheel 200 to rotate around a corresponding axis. Specifically, the steering control device 100 can be used in vehicles such as agricultural machinery. Referring to Figures 1 to 20, in the embodiments of this disclosure, the steering control device 100 includes a rotating body 30, a fixed body 40, a rolling support assembly 70, and a drive assembly 23. It should be noted that the rolling support assembly in this embodiment may optionally include the aforementioned first rolling support body and second rolling support body. Optionally, the structures of the various embodiments of the rolling support assembly described below can be applied to the aforementioned first rolling support body and second rolling support body. Where there is no conflict, the technical features within the optional embodiments of the steering control devices in this disclosure can be combined with each other to achieve better technical effects.

[0285] A rotating body 30 is used for fastening to the steering wheel 200, and the rotating body 30 is provided with a drive unit. A fixed body 40 is used for fixedly disposed below the steering wheel 200. A rolling support assembly 70 is rotatably disposed on the fixed body 40 and rolls to support the rotating body 30. A drive assembly 23 is drivenly connected to the drive unit 601, so that the rotating body 30 rotates relative to the fixed body 40 under the drive of the drive assembly 23, thereby driving the steering wheel 200 to rotate around the pivot. The projection of the rolling support assembly 70 in the radial direction of the rotating body 30 at least partially overlaps with the drive unit 601.

[0286] The rotating body 30 can be fastened to the spokes 201 of the steering wheel 200 by means of a clamp, strap, etc. Of course, the rotating body 30 can also be fastened to the rim of the steering wheel 200 by means of a clamp, strap, etc. In this disclosure, the main function of the rotating body 30 being fastened to the steering wheel 200 is to transmit force to the steering wheel 200 through the rotating body 30.

[0287] There are several ways to fix the fixing body 40 below the steering wheel 200. The fixing body 40 can be directly or indirectly connected to the sleeve 202 below the steering wheel 200 to secure it. The sleeve 202 is mainly used to surround and protect the shaft below the steering wheel 200. Understandably, in agricultural machinery, a seat is usually located near the steering wheel 200, and the fixing body 40 can also be directly or indirectly connected to the seat to secure it below the steering wheel 200. Alternatively, a heavy base can be placed in the cab, and the fixing body 40 can be directly or indirectly connected to the base to secure it below the steering wheel 200.

[0288] In this disclosure, the rolling support assembly 70 is designed to provide upward support force to the rotating body 30 by rolling support of the rotating body 30. When the rotating body 30 is affected by external factors, causing the fastening connection between the rotating body 30 and the steering wheel 200 to become loose, the support force provided by the rolling support assembly 70 can stably support the rotating body 30.

[0289] The rotating body 30 can extend into the interior of the rolling support assembly 70 and roll in contact with the interior of the rolling support assembly 70; the rolling support assembly 70 can also extend into the interior of the rotating body 30 and roll in contact with the interior of the rotating body 30, providing upward support force for the rotating body 30.

[0290] Depending on the position of the rolling contact between the rolling support assembly 70 and the rotating body 30, the rolling support assembly 70 can be configured in various ways. In some optional embodiments, the rolling support assembly 70 has a groove, and the outer periphery of the rotating body 30 has a protruding mating part that extends into the groove of the rolling support assembly 70 and rolls against the groove wall. In other examples, the inner periphery of the rotating body 30 has a groove, and the rolling support assembly 70 extends into this groove and rolls against the groove wall. In still other examples, the rotating body 30 may also have a protruding mating part on its inner periphery, and the rolling support assembly 70 has a groove that rolls against the mating part.

[0291] It is understood that the rotating body 30 is typically positioned radially on a horizontal plane, and the projection of the rolling support assembly 70 in the radial direction of the rotating body 30 at least partially overlaps with the drive unit 601. That is, at least a portion of the structure of the rolling support assembly 70 is parallel to the drive unit 601 on a horizontal plane. Based on the above description of the rotating body 30 and the rolling support assembly 70, whether the rolling support assembly 70 extends into the rotating body 30 or the rotating body 30 extends into the rolling support assembly 70, both ensure that at least a portion of the structure of the rolling support assembly 70 is parallel to the rotating body 30 on a horizontal plane. In this example, the drive unit 601 on the rotating body 30 is also parallel to the rolling support assembly 70 on a horizontal plane, and the drive assembly 23, which is connected to the drive unit 601, is also parallel to the drive unit 601 on a horizontal plane.

[0292] This configuration allows the steering control device 100 to utilize the horizontal space to house components such as the rolling support assembly 70 and the rotating body 30, thereby reducing the space occupied by the steering control device 100 in the vertical direction perpendicular to the horizontal plane.

[0293] According to the steering control device 100 provided in this disclosure, its principle of controlling the rotation of the steering wheel 200 is as follows: The drive assembly 23 drives the rotating body 30 to rotate clockwise. The rotating body 30, through a fastened connection with the steering wheel 200, drives the steering wheel 200 to rotate clockwise around its axis, thereby adjusting the direction of movement of the agricultural machinery. The drive assembly 23 also drives the rotating body 30 to rotate counterclockwise. The rotating body 30, through a fastened connection with the steering wheel 200, drives the steering wheel 200 to rotate counterclockwise around its axis, thereby adjusting the direction of movement of the agricultural machinery. The rotating body 30 can drive the steering wheel 200 to rotate around its axis via the spokes 201 and / or the rim of the steering wheel 200.

[0294] The steering control device 100 provided in this disclosure, through the above-described structural configuration, when applied to vehicles such as agricultural machinery, its rolling support assembly 70 rolls and supports the rotating body 30, providing upward support force to the rotating body 30. At the same time, it can also reduce the gap between the rotating body 30 and the spokes 201 or the wheel flange when the vehicle is bumpy during travel, thereby reducing the movement of the rotating body 30 relative to the fixed body 40 other than rotation, effectively preventing the rotating body 30 from surging during rotation, so that the rotating body 30 can rotate smoothly, thus ensuring the reliability of the transmission connection between the drive assembly 23 and the rotating body 30.

[0295] There are several specific installation methods for the steering control device 100 provided in this disclosure. In one installation method, the steering control device 100 can be pre-assembled, the steering wheel 200 on the agricultural machinery can be disassembled, the assembled steering control device 100 can be fitted into the sleeve 202 under the steering wheel 200, and then the steering wheel 200 can be installed back. At this time, the rotating body 30 can be fastened to the steering wheel 200 and the fixing body 40 can be fixedly set under the steering wheel 200.

[0296] In some other embodiments, the steering control device 100's rotating body 30 and fixed body 40 are both composed of two parts. The rolling support assembly 70 includes multiple rolling supports, which are rotatably mounted on the two fixed bodies 40. The drive assembly 23 is fixedly mounted on any one of the fixed bodies 40. Thus, with the sleeve 202 below the steering wheel 200 as the axis, the rotating body 30 and fixed body 40, which are composed of two parts, are assembled into complete components, and the steering control device 100 is assembled at the same time. Finally, the rotating body 30 is fastened to the steering wheel 200 and the fixed body 40 is fixedly mounted below the steering wheel 200.

[0297] In some optional embodiments, as shown in Figures 19 and 20, the drive unit 601 is disposed on the outer or inner circumferential side of the rotating body 30, and the rolling support assembly 70 is provided with a mating groove 713, into which the drive unit 601 is at least partially inserted. This arrangement aims to limit the vertical movement of the rotating body 30 by engaging the drive unit 601 with the mating groove 713, thereby improving the stability of the transmission connection between the drive assembly 23 and the drive unit 601.

[0298] In some alternative embodiments, as shown in Figures 19 and 20, the rotating body 30 is provided with a guide portion 13, which cooperates with the rolling support assembly 70 to define the rotation plane of the rotating body 30. The guide portion 13 includes a first contact surface 131, which contacts the rolling support assembly 70.

[0299] It is understood that the aforementioned drive unit 601 and the guide unit 13 in this example can be disposed on the same side of the rotating body 30, that is, the drive unit 601 and the guide unit 13 can both be disposed on the outer or inner circumferential side of the rotating body 30.

[0300] This configuration aims to ensure that the rotating body 30 can only rotate within its rotation plane by cooperating with the guide portion 13 and the rolling support assembly 70. The first contact surface 131 of the guide portion 13 contacts the rolling support assembly 70, which can restrict the movement of the guide portion 13 in the horizontal direction and provide support force for the rotating body 30, thereby improving the stability of the rotation of the rotating body 30.

[0301] In some alternative embodiments, as shown in Figures 19 and 20, the guide portion 13 further includes a second contact surface 132 that contacts the rolling support assembly 70. This arrangement is intended to further improve the rotational stability of the rotating body 30.

[0302] In some alternative embodiments, as shown in Figures 19 and 20, both the first contact surface 131 and the second contact surface 132 are inclined surfaces with opposite inclination directions. This arrangement is intended to make the guide portion 13 fit more tightly with the rolling support assembly 70, thereby improving the stability of the contact between the first contact surface 131 and the second contact surface 132 and the rolling support assembly 70.

[0303] In some optional embodiments, as shown in Figures 19 and 20, the rolling support assembly 70 includes a wheel body 71, which includes an axle 711 and a frustum 712 protruding outward from the axle 711. A mating groove 713 is formed on the side of the frustum 712. This configuration, with the axle 711 supporting the frustum 712 and the mating groove 713 formed on the side of the frustum 712, improves the strength of the wheel body 71, allowing the mating groove 713 on the wheel body 71 to stably engage with the drive unit 601. Simultaneously, the wheel body 71 has a simple structure and is easy to manufacture.

[0304] In some alternative embodiments, as shown in Figures 19 and 20, the wheel body 71 includes two spaced-apart frustum portions 712, with a mating groove 713 formed between the two frustum portions 712. This arrangement aims to further improve the stability of the rotating body 30 by limiting the vertical movement of the drive unit 601 through the two frustum portions 712.

[0305] In some alternative embodiments, as shown in Figures 19 and 20, the end of the frustum portion 712 away from the shaft 711 is provided with a contact surface for contacting the rotating body 30. This arrangement aims to limit the horizontal movement of the drive portion 601 through the mutual contact between the contact surface and the rotating body 30, and to prevent the drive portion 601 from excessively extending into the mating groove 713.

[0306] In some alternative embodiments, as shown in Figures 19 and 20, the rolling support assembly 70 includes a bearing member 72 disposed on the fixed body 40 to support the rolling support assembly 70. This arrangement aims to allow the rolling support assembly 70 to rotate relative to the fixed body 40 via the bearing member 72, thereby reducing the resistance experienced by the rotating body 30 when rotating relative to the rolling support assembly 70.

[0307] In some optional embodiments, as shown in Figures 16 and 17, the rotating body 30 includes a transmission ring 31 arranged around a rotating shaft, and the transmission ring 31 is drive-connected to the drive assembly 23. This arrangement aims to achieve a drive-connection between the drive assembly 23 and the rotating body 30 through the transmission ring 31, thereby improving the stability and reliability of the drive connection.

[0308] In conjunction with the above description of the structure of the rotating body 30, in some optional embodiments, the aforementioned drive part 601 and guide part 13 are disposed on the transmission ring 31.

[0309] In some alternative embodiments, the drive ring 31 is formed by assembling two or more components to facilitate the assembly of the steering control device 100.

[0310] In some optional embodiments, as shown in Figures 16 to 18, the transmission ring 31 has a circular ring structure. This arrangement allows the circular transmission ring 31 to rotate more smoothly and provides better maneuverability, aiming to further improve the stability and reliability of the transmission connection. In some optional embodiments, the transmission ring 31 is formed by assembling two arc-shaped components.

[0311] In some optional embodiments, as shown in Figures 16 to 18, an annular groove 312 is recessed radially along the inner circumference of the transmission ring 31. The rolling support assembly 70 is at least partially accommodated in the annular groove 312 and rolls against at least the side wall of the annular groove 312 closest to the steering wheel 200 to provide rolling support for the transmission ring 31. This arrangement aims to provide an upward support force to the transmission ring 31 through the rolling contact between the rolling support assembly 70 and the side wall of the annular groove 312 closest to the steering wheel 200, thereby further improving the stability of the transmission ring 31 and consequently further improving the stability and reliability of the transmission connection.

[0312] It is understood that the cross-section of the annular groove 312 can be triangular, quadrilateral, pentagonal, or even semi-circular, arc-shaped, etc., and the present invention does not make any specific limitation in this regard.

[0313] In some optional embodiments, as shown in FIG16, the cross-section of the annular groove 312 is an isosceles trapezoid. The annular groove 312 has annular abutment surfaces on both side walls in the thickness direction of the transmission ring 31. This arrangement facilitates the placement of the rolling support assembly 70 within the annular groove 312, and ensures a tighter fit between the rolling support assembly 70 and the two annular abutment surfaces of the annular groove 312, further improving the stability of the transmission ring 31 during operation.

[0314] In some optional embodiments, the rolling support assembly 70 includes a first rolling support body, which includes a shaft and a fixed wheel. One end of the shaft is rotatably mounted on the fixed body 40, and the other end of the shaft is fixedly mounted on the fixed wheel. The fixed wheel is at least partially accommodated in the annular groove 312 and rolls in contact with at least one side wall of the annular groove 312 near the steering wheel 200 to roll support the drive ring 31.

[0315] There are several ways to rotatably mount one end of the shaft on the fixed body 40. In one configuration, one end of the shaft is rotatably mounted on the fixed body 40 via a bearing. In another configuration, the shaft includes a rotating portion at one end and a main body portion, wherein the rotating portion is rotatable relative to the main body portion and is mounted on the fixed body 40. In yet another configuration, the fixed body 40 is provided with a groove, one end of the shaft is inserted into the groove, and is rotatable relative to the groove.

[0316] The fixed wheel can be fixed to the rotating shaft by snap-fitting, welding, or other methods, which will not be described in detail here.

[0317] This configuration aims to achieve rolling contact between the rolling support assembly 70 and the side wall of the annular groove 312 near the steering wheel 200 through the first rolling support body, so as to provide upward support force to the transmission ring 31 by the first rolling support body rolling support.

[0318] In some optional embodiments, the rolling support assembly 70 includes a plurality of first rolling supports spaced circumferentially along the annular groove 312. This arrangement aims to further improve the stability of the transmission ring 31 relative to the fixed body 40 by having the plurality of first rolling supports respectively roll into contact with the groove wall of the annular groove 312 on the side closest to the steering wheel 200.

[0319] In some optional embodiments, as shown in Figures 16 and 17, the rolling support assembly 70 includes a second rolling support body 6061. The second rolling support body 6061 includes a fixed shaft 60611 and a rotating wheel 60612. One end of the fixed shaft 60611 is fixedly mounted on the fixed body 40, and the rotating wheel 60612 is rotatably mounted on the other end of the fixed shaft 60611. The rotating wheel 60612 is at least partially accommodated in the annular groove 312 and rolls in contact with at least one side wall of the annular groove 312 near the steering wheel 200 to roll support the drive ring 31.

[0320] There are several ways to fix one end of the fixed shaft 60611 to the fixed body 40. In one embodiment, a blind hole is provided on the fixed body 40, and one end of the fixed shaft 60611 is interference-fitted into the blind hole to be inserted and fixed to the fixed body 40. In another embodiment, the fixed shaft 60611 is welded to the fixed body 40.

[0321] The rotating wheel 60612 can be rotatably mounted on the fixed shaft 60611 via a bearing, or the rotating wheel 60612 can be directly sleeved on the fixed shaft 60611, which will not be described in detail here.

[0322] This configuration aims to achieve rolling contact between the rolling support assembly 70 and the side wall of the annular groove 312 near the steering wheel 200 through the second rolling support 6061, so as to provide upward support force to the transmission ring 31 by the second rolling support 6061 rolling support.

[0323] In some optional embodiments, as shown in Figures 16 to 18, the rolling support assembly 70 includes a plurality of second rolling supports 6061, which are spaced apart circumferentially along the annular groove 312. This arrangement aims to further improve the stability of the transmission ring 31 relative to the fixed body 40 by having the plurality of second rolling supports 6061 respectively roll into contact with the groove wall of the annular groove 312 on the side closest to the steering wheel 200.

[0324] In some optional embodiments, as shown in FIG18, the drive assembly 23 is connected to the transmission ring 31 via a meshing connection of a spur gear 232. The outer circumference of the transmission ring 31 is provided with multiple spur teeth extending along the thickness direction of the transmission ring 31, and these spur teeth are evenly spaced along the circumference of the transmission ring 31 to form a drive section. The drive assembly 23 includes a spur gear 232, which meshes with the multiple spur teeth. It is understood that the meshing of the spur gear 232 with the spur teeth results in a tight connection, and during transmission, the linear velocity of the spur gear 232 is equal to the linear velocity of the spur teeth on the transmission ring 31. This arrangement aims to achieve a transmission connection between the drive assembly 23 and the transmission ring 31 through the meshing connection of the spur gear 232 with the multiple spur teeth, thereby further improving the efficiency and reliability of the transmission.

[0325] In some optional embodiments, as shown in FIG18, the drive assembly 23 further includes a first motor 231, the motor shaft of the first motor 231 extending along the thickness direction of the transmission ring 31, and a spur gear 232 fixed on the motor shaft of the first motor 231 so that when the motor shaft of the first motor 231 rotates, the spur gear 232 is driven to rotate synchronously. This arrangement is intended to facilitate the assembly of the steering control device 100.

[0326] In some optional embodiments, the drive assembly 23 is connected to the transmission ring 31 via a bevel gear meshing connection. The outer periphery of the transmission ring 31 is provided with an inclined surface and multiple helical teeth, with the helical teeth evenly spaced along the circumference of the transmission ring 31 to form a drive section. The drive assembly 23 includes a bevel gear, which meshes with the multiple helical teeth. It is understood that the meshing of the bevel gear and the helical teeth results in a tight connection, and during transmission, the linear velocity of the bevel gear is equal to the linear velocity of the helical teeth on the transmission ring 31. This arrangement aims to achieve a transmission connection between the drive assembly 23 and the transmission ring 31 through the meshing of the bevel gear and the multiple helical teeth, thereby further improving the efficiency and reliability of the transmission.

[0327] In some optional embodiments, the drive assembly 23 further includes a second motor, the motor shaft of which extends radially along the transmission ring 31. A helical gear is fixed to the motor shaft of the second motor so that the helical gear rotates synchronously when the motor shaft of the second motor rotates. This arrangement aims to reduce the thickness of the steering control device 100 by placing the second motor at the same horizontal plane as the transmission ring 31, thereby reducing the vertical space occupied by the steering control device 100 in the cockpit.

[0328] In some optional embodiments, the drive assembly 23 further includes a gearbox, with the motor of the drive assembly 23 connected to the gearbox. The output end of the gearbox is connected to the aforementioned helical or spur gear 232. That is, the motor of the drive assembly 23 is connected to the helical or spur gear 232 via the gearbox, and the helical or spur gear 232 meshes with the transmission ring 31. This configuration aims to improve the handling of the steering control device 100 by controlling the output power, torque, etc. of the drive assembly 23 through the gearbox.

[0329] In some optional embodiments, as shown in Figures 1 to 15, the rotating body 30 further includes an upper housing 32 surrounding the rotating shaft, and the transmission ring 31 is fastened to the steering wheel 200 through the upper housing 32. In some optional embodiments, the surface of the upper housing 32 may be provided with multiple tube clamps to clamp the rim and / or spokes 201 of the steering wheel 200 respectively, thereby achieving a fastening connection between the rotating body 30 and the steering wheel 200. In other examples, the surface of the upper housing 32 may be provided with multiple clamps to clamp the rim and / or spokes 201 of the steering wheel 200 respectively, thereby achieving a fastening connection between the rotating body 30 and the steering wheel 200.

[0330] This design aims to securely connect the transmission ring 31 to the steering wheel 200 via the upper housing 32, facilitating the installation of the steering control device 100 and further improving the installation efficiency of the steering control device 100.

[0331] In some alternative embodiments, the upper housing 32 is formed by assembling two or more components to facilitate the assembly of the steering control device 100.

[0332] In some optional embodiments, as shown in Figures 15 to 18, the transmission ring 31 is provided with a plurality of mounting holes 311 through its thickness direction. The plurality of mounting holes 311 are also spaced apart along the circumference of the transmission ring 31. A plurality of screw structures pass through the corresponding mounting holes 311 and are threadedly connected to the upper housing 32 to fix the transmission ring 31 to the upper housing.

[0333] In this example, the upper housing 32 is provided with a threaded hole in the vertical direction. Preferably, the threaded hole is a blind hole. It should be noted that the multiple mounting holes 311 can be evenly spaced along the axial direction of the transmission ring 31, or they can be unevenly spaced. Preferably, the mounting holes 311 are countersunk holes.

[0334] With this configuration, the screw structure passes through the mounting hole 311 vertically upward below the transmission ring 31 and is threaded to the upper housing 32, avoiding direct exposure of the screw structure to the upper surface of the upper housing 32, reducing the probability of corrosion of the screw structure, and thus improving the reliability of the connection between the transmission ring 31 and the upper housing 32.

[0335] Of course, in other examples, the mounting hole 311 can be a threaded hole, the upper housing 32 has a through hole, and the screw structure passes through the through hole of the upper housing 32 vertically downward and is threaded to the mounting hole 311 to fix the transmission ring 31 to the upper housing 32.

[0336] In some optional embodiments, as shown in Figures 1 to 15, the fixing body 40 includes a lower housing 41 disposed around the pivot, and the lower housing 41 is fixedly disposed below the steering wheel 200. This arrangement is intended to improve the stability of the drive assembly 23 by using the lower housing 41 disposed around the pivot, thereby improving the reliability and stability of the transmission connection between the drive assembly 23 and the transmission ring 31.

[0337] Similarly, in some alternative embodiments, the lower housing 41 is also formed by assembling two or more components to facilitate the assembly of the steering control device 100.

[0338] To further improve the protection level of the steering control device 100, both the upper housing 32 and the lower housing 41 can be made of metal. Alternatively, in other examples, the upper housing 32 and the lower housing 41 can be made of rigid plastic with a metallic coating on the surface. This also prevents the upper housing 32 from cracking when transmitting forces, thus extending the service life of the steering control device 100.

[0339] In some optional embodiments, as shown in Figures 15 to 18, the lower housing 41 is provided with an annular receiving groove 411, a portion of the rotating body 30 is accommodated in the annular receiving groove 411, and the rolling support assembly 70 is rotatably disposed on the bottom wall of the annular receiving groove 411 and rolls to support the rotating body 30.

[0340] Specifically, in conjunction with the above description of the rotating body 30 including the transmission ring 31, in this example, the transmission ring 31 of the rotating body 30 is housed in the annular receiving groove 411.

[0341] This design aims to provide enclosed protection for the drive ring 31 and the rolling support assembly 70 through the annular receiving groove 411, thereby improving the protective performance of the steering control device 100, reducing the impact of external factors on the drive ring 31, and thus extending the service life of the steering control device 100. Furthermore, because the drive ring 31 is enclosed and protected, it can be made of a lower-strength material, thereby reducing the manufacturing cost of the steering control device 100.

[0342] In conjunction with the aforementioned description of the rolling support assembly 70 including the second rolling support body 6061, in some optional embodiments, the bottom wall of the annular receiving groove 411 is provided with multiple threaded holes, which are also spaced apart circumferentially along the annular groove 312. The multiple second rolling supports 6061 are respectively installed on the lower housing 41 through the multiple threaded holes. Specifically, one end of each fixed shaft 60611 is provided with an external thread, and each fixed shaft 60611 is threadedly connected to the corresponding threaded hole to be fixed on the fixed body 40. Reinforcing ribs may also be provided around the threaded holes to enhance the overall strength of the lower housing 41.

[0343] The contact surfaces of the fixed wheel and rotating wheel 60612 with the groove wall of the annular groove 312 mentioned above can be made of an elastic material. This elastic material is designed to absorb the vibration of the transmission ring 31 relative to the lower housing 41, thereby further improving the rotational stability of the transmission ring 31. Furthermore, a wear-resistant coating can be sprayed onto the surfaces of the fixed wheel and rotating wheel 60612 to extend their service life.

[0344] Understandably, for ease of explanation of the technical solution, the first rolling support and the second rolling support 6061 will be collectively referred to as rolling supports in the following description: To improve the stability of the rolling supports in supporting the transmission ring 31, there should be more than two rolling supports, which are spaced apart along the circumference of the transmission ring 31. The rolling supports can be evenly spaced or unevenly spaced. For example, when there are three rolling supports, two rolling supports are on the same diameter of the transmission ring 31, and the third rolling support is on another diameter of the transmission ring 31, so that the line connecting the three rolling supports forms a right-angled triangle. When there are three rolling supports, the three rolling supports can be evenly spaced along the circumference of the transmission ring 31, so that the line connecting the three rolling supports forms an equilateral triangle.

[0345] In the example shown in Figure 17, there are six rolling supports, evenly spaced. In other examples, there are eight rolling supports, or even ten; this disclosure does not impose any specific limitations.

[0346] In some alternative embodiments, as shown in Figures 1 and 14, the fixing body 40 further includes a mounting portion 223 having a mounting cavity, the mounting portion 223 being disposed adjacent to the annular receiving groove 411, and the mounting cavity being configured to communicate with the annular receiving groove 411 for mounting the drive assembly 23.

[0347] This configuration aims to improve the protection performance of the steering control device 100 by installing a cavity to protect the drive assembly 23, thereby preventing external factors from affecting the steering control device 100, increasing the service life of the steering control device 100, and improving the reliability of the transmission connection between the drive assembly 23 and the transmission ring 31.

[0348] Specifically, in one example, the fixing body 40 also includes a mounting plate and a cover that are fixedly connected to the lower housing 41. The mounting plate and the cover together form a mounting cavity. The motor of the drive assembly 23 is fixedly mounted on the side of the mounting plate away from the mounting cavity, and the motor shaft of the motor extends into the mounting cavity. The gear of the drive assembly 23 is fixed on the motor shaft and partially accommodated in the mounting cavity. The gear also meshes with the transmission ring 31 through the connection between the mounting cavity and the annular receiving groove 411.

[0349] In another example, the mounting part 223 includes a mounting shell with a mounting cavity formed inside. The motor of the drive assembly 23 is fixedly mounted in the mounting cavity. The gear of the drive assembly 23 is fixed on the motor shaft and partially housed in the mounting cavity. The gear also meshes with the transmission ring 31 through the mounting cavity and the annular receiving groove 411.

[0350] In some optional embodiments, as shown in Figures 1 and 14, the fixing body 40 further includes a fixing bracket 50, which has a fixing connection part and a locking part 511. The fixing connection part is fixedly connected to the lower shell, and the locking part 511 is used to fixally connect to the sleeve 202 below the steering wheel 200 so as to fix the lower shell below the steering wheel 200.

[0351] This design facilitates the assembly of the fixed body 40, thereby improving the assembly efficiency of the steering control device 100. Simultaneously, by fixing the fixed body 40 below the rotating body 30 using the fixed bracket 50, the impact of agricultural machinery vibration on the steering control device 100 is reduced, thus improving the reliability of the steering control device 100.

[0352] In some optional embodiments, as shown in Figures 1 and 14, the fixed bracket 50 includes a lock 51 and a support frame 52. The lock 51 has a locking part 511 on one side and is fixedly connected to the support frame 52 on the other side. The support frame 52 has a connecting hole on the side away from the lock 51 to form a fixed connection part. The support frame 52 is fixedly connected to the lower shell through the connecting hole and the screw structure.

[0353] This design facilitates the assembly of the fixing body 40 while improving the compatibility of the fixing bracket 50 with the sleeve 202 through the locking part 511 of the locking device 51.

[0354] The lock 51 can take many forms. The lock 51 may include a clamp, or it may include two clamps and two bolts. When the two clamps are clamped on opposite sides of the sleeve 202, the two clamps are fixed by the two bolts, thereby fixing the lock 51 to the periphery of the sleeve 202.

[0355] The above description is merely an optional embodiment of this disclosure and does not limit the patent scope of this disclosure. Any equivalent structural transformations made using the contents of this specification and drawings under the inventive concept of this disclosure, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this disclosure. Industrial applicability

[0356] The steering control device disclosed herein can avoid unnecessary steering and increased driving distance caused by human error by quickly installing the steering control device on the vehicle. It can effectively reduce vehicle energy consumption, thereby reducing greenhouse gas emissions and benefiting environmental protection.

Claims

1. A steering control device for achieving automatic driving by controlling the rotation of a steering wheel around a corresponding axis, characterized in that, It includes a first device body (10) and a second device body (20), wherein, The first device body (10) includes a first rotating part (11) and a first fixed part (12), wherein the first rotating part (11) is movably disposed on the first fixed part (12); The second device body (20) includes a second rotating part (21), a second fixed part (22) and a drive assembly (23). The second rotating part (21) is movably disposed on the second fixed part (22), and the second rotating part (21) is connected to the drive assembly (23) in a transmission connection. When the first device body (10) and the second device body (20) are detachably connected to form an annular structure surrounding the rotating shaft, the first rotating part (11) and the second rotating part (21) are combined to form a rotating body (30), and the rotating body (30) is fastened to the steering wheel. The first fixing part (12) and the second fixing part (22) are combined to form a fixing body (40), and the fixing body (40) is fixedly disposed below the steering wheel. Under the transmission of the drive assembly (23), the rotating body (30) rotates relative to the fixing body (40) to drive the steering wheel to rotate around the rotating shaft.

2. The steering control device as described in claim 1, characterized in that, The first rotating part (11) includes a first transmission member (111), the second rotating part (21) includes a second transmission member (211), and the second transmission member (211) is in transmission with the drive assembly (23); When the first device body (10) and the second device body (20) are combined to form the ring structure, the first transmission member (111) and the second transmission member (211) are combined to form a transmission ring (31) surrounding the rotating shaft.

3. The steering control device as described in claim 2, characterized in that, Both the first transmission component (111) and the second transmission component (211) are arc structures; When the first device body (10) and the second device body (20) are combined to form the ring structure, the two ends of the first transmission member (111) and the two ends of the second transmission member (211) are respectively connected to abut against each other to form the transmission ring (31) with a circular ring structure.

4. The steering control device as described in claim 3, characterized in that, The arc length of the first transmission member (111) is greater than or equal to the arc length of the second transmission member (211).

5. The steering control device according to any one of claims 2 to 4, characterized in that, The drive assembly (23) is connected to the transmission ring (31) via a meshing connection of a spur gear (232).

6. The steering control device as described in claim 5, characterized in that, The outer circumferential side of the transmission ring (31) is provided with a plurality of straight teeth, which extend along the thickness direction of the transmission ring (31) and are evenly spaced along the circumferential direction of the transmission ring (31). The drive assembly (23) includes the spur gear (232), and the spur gear (232) is meshed with a plurality of the spur teeth.

7. The steering control device as described in claim 6, characterized in that, The drive assembly (23) further includes a first motor (231), the motor shaft of the first motor (231) extends along the thickness direction of the transmission ring (31), and the spur gear (232) is fixed on the motor shaft of the first motor (231) so that when the motor shaft of the first motor (231) rotates, the spur gear (232) is driven to rotate synchronously.

8. The steering control device according to any one of claims 2 to 4, characterized in that, The drive assembly (23) is connected to the transmission ring (31) via a bevel gear meshing connection.

9. The steering control device as claimed in claim 8, characterized in that, The outer periphery of the transmission ring (31) is provided with an inclined surface and multiple inclined teeth, and the multiple inclined teeth are equally spaced on the inclined surface along the circumference of the transmission ring (31); The drive assembly (23) includes the bevel gear, and the bevel gear is meshed with a plurality of the helical teeth.

10. The steering control device as claimed in claim 9, characterized in that, The drive assembly (23) also includes a second motor, the motor shaft of the second motor extending radially along the transmission ring (31), and the helical gear fixed on the motor shaft of the second motor so as to synchronously drive the helical gear to rotate when the motor shaft of the second motor rotates.

11. The steering control device as claimed in claim 2, characterized in that, The first rotating part (11) further includes a first upper shell (112), and the first transmission member (111) is fixed on the first upper shell (112); The second rotating part (21) further includes a second upper shell (212), and the second transmission member (211) is fixed on the second upper shell (212); When the first device body (10) and the second device body (20) are combined to form the ring structure, the first upper shell (112) and the second upper shell (212) also form an upper shell (32) surrounding the rotating shaft, and the transmission ring (31) is fastened to the steering wheel through the upper shell (32).

12. The steering control device as claimed in claim 11, characterized in that, The first upper shell (112) has a first connecting part (1121) at both ends, and the second upper shell (212) has a first mating part (2121) at both ends that is detachably connected to the corresponding first connecting part (1121).

13. The steering control device as claimed in claim 12, characterized in that, The first upper shell (112) has a first connecting boss protruding from its end to form the first connecting part (1121); The end of the second upper shell (212) is recessed with a first mating groove to form the first mating part (2121); When the first device body (10) and the second device body (20) are combined to form the ring structure, the first connecting boss is accommodated in the first mating groove, and the first connecting boss is fixed to the first mating groove by a screw structure.

14. The steering control device as claimed in claim 11, characterized in that, The first upper shell (112) is provided with positioning protrusions (1122) at both ends, and the second upper shell (212) is provided with positioning recesses (2122) at both ends that abut against the corresponding positioning protrusions (1122).

15. The steering control device as claimed in claim 11, characterized in that, Both the first transmission member (111) and the second transmission member (211) have mounting holes (311) through them along their thickness direction. A screw structure passes through the mounting holes (311) and is threaded to the corresponding first upper shell (112) or second upper shell (212) to fix the first transmission member (111) and the second transmission member (211) to the upper shell (32) respectively.

16. The steering control device as claimed in claim 15, characterized in that, Both the first transmission member (111) and the second transmission member (211) are provided with a plurality of mounting holes (311) through their thickness direction. The plurality of mounting holes (311) are also provided at intervals along the circumference of the transmission ring (31). A plurality of screw structures are respectively threaded through the corresponding mounting holes (311) and connected to the upper housing (32) to fix the first transmission member (111) and the second transmission member (211) to the upper housing (32) respectively.

17. The steering control device as claimed in claim 2, characterized in that, The first fixing part (12) includes a first lower shell (121), and the first transmission member (111) is movably disposed on the first lower shell (121); The second fixing part (22) includes a second lower shell (221), and the second transmission member (211) is movably disposed on the second lower shell (221); When the first device body (10) and the second device body (20) are combined to form the ring structure, the first lower shell (121) and the second lower shell (221) also form a lower shell (41) surrounding the rotating shaft, and the lower shell (41) is fixedly disposed below the steering wheel.

18. The steering control device as claimed in claim 17, characterized in that, The first lower shell (121) has a second connecting part (1211) at both ends, and the second lower shell (221) has a second mating part (2211) at both ends that is detachably connected to the corresponding second connecting part (1211).

19. The steering control device as claimed in claim 18, characterized in that, The end of the first lower shell (121) is recessed with a second mating groove to form the second connecting part (1211); The end of the second lower shell (221) is provided with a second connecting boss to form the second mating part (2211); When the first device body (10) and the second device body (20) are combined to form the ring structure, the second connecting boss is accommodated in the second mating groove, and the second connecting boss is fixed to the second mating groove by a screw structure.

20. The steering control device as claimed in claim 18, characterized in that, The second connecting part (1211) includes a flared opening (12111), and the second mating part (2211) includes a constricted opening (22111) that is inserted into the flared opening (12111).

21. The steering control device as claimed in claim 20, characterized in that, The second connecting part (1211) includes a connecting block (12112), and the second mating part (2211) includes a mating block (22112); When the first device body (10) and the second device body (20) are combined to form the ring structure, the connecting block (12112) abuts against the mating block (22112), and the connecting block (12112) and the mating block (22112) are fixedly connected by a screw structure.

22. The steering control device as claimed in claim 19, characterized in that, The first fixing part (12) further includes a first rolling support (122), which is rotatably mounted on the first lower shell (121) and rolls in contact with the first transmission member (111), so that the first transmission member (111) is movably disposed on the first lower shell (121).

23. The steering control device as claimed in claim 19, characterized in that, The second fixing part (22) further includes a second rolling support (222), which is rotatably mounted on the second lower shell (221) and rolls in contact with the second transmission member (211), so that the second transmission member (211) is movably disposed on the first lower shell (121).

24. The steering control device as claimed in claim 19, characterized in that, The second fixing part (22) further includes a mounting part (223), which is fixedly connected to the second lower shell (221), and the drive assembly (23) is fixedly mounted on the mounting part (223).

25. The steering control device as claimed in claim 2, characterized in that, Both the first transmission component (111) and the second transmission component (211) are arc structures; When the first device body (10) and the second device body (20) are combined to form the ring structure, the two ends of the first transmission member (111) are detachably connected to the two ends of the second transmission member (211) to form the transmission ring (31) with a circular ring structure.

26. The steering control device as claimed in claim 25, characterized in that, The first transmission member (111) has a third connecting part (1111) at one end and a fourth mating part (1112) at the other end; The second transmission member (211) has a fourth connecting part (2111) at one end that is detachably connected to the fourth mating part (1112), and a third mating part (2112) at the other end that is detachably connected to the third connecting part (1111).

27. The steering control device as claimed in claim 26, characterized in that, The third connecting part (1111) and the fourth connecting part (2111) have the same structure, and the third mating part (2112) and the fourth mating part (1112) have the same structure.

28. The steering control device as claimed in claim 27, characterized in that, Both the third connecting part (1111) and the fourth connecting part (2111) are stepped protrusions, and both the third mating part (2112) and the fourth mating part (1112) are stepped recesses. When the first device body (10) and the second device body (20) are combined to form the ring structure, the stepped protrusions and the corresponding stepped recesses are interlocked, and the stepped protrusions are fixed to the corresponding stepped recesses by screws.

29. The steering control device as claimed in claim 2, characterized in that, The first transmission component (111) and the second transmission component (211) are centrally symmetrical.

30. The steering control device according to any one of claims 1 to 29, characterized in that, The steering control device further includes a fixed bracket (50), which has a fixed connection part and a locking part. The fixed connection part is fixedly connected to the fixed body (40), and the locking part is used to fixally connect to the sleeve below the steering wheel so as to fix the fixed body (40) below the steering wheel.

31. The steering control device according to any one of claims 1 to 30, characterized in that, The system includes a transmission ring (31) for connecting to a steering wheel to drive the steering wheel to rotate. One of the outer and inner circumferential sides of the transmission ring (31) is provided with a drive part (601) for connecting to a power source, and the other side is provided with a guide part for cooperating with a movable part (606) to define the rotation plane of the transmission ring (31).

32. The steering control device as claimed in claim 31, characterized in that, The projection of the guide portion in the radial direction of the transmission ring (31) at least partially overlaps with the drive portion (601).

33. The steering control device as claimed in claim 31, characterized in that, The drive part (601) is provided on the outer periphery of the transmission ring (31), and the guide part is provided on the inner periphery of the transmission ring (31), or the guide part is provided on the outer periphery of the transmission ring (31), and the drive part (601) is provided on the inner periphery of the transmission ring (31).

34. The steering control device as claimed in claim 31, characterized in that, The guide portion is located at the center of the transmission ring (31) in the thickness direction.

35. The steering control device as claimed in claim 31, characterized in that, The transmission ring (31) has a circular structure.

36. The steering control device as claimed in claim 35, characterized in that, The transmission ring (31) includes a first body (111) and a second body (211). Both the first body (111) and the second body (211) are arc structures. The first body (111) and the second body (211) are combined with each other to form the transmission ring (31), or they are separated from each other.

37. The steering control device as claimed in claim 31, characterized in that, The length of the drive unit (601) in the thickness direction of the transmission ring (31) is greater than or equal to the length of the guide unit in the thickness direction of the transmission ring (31).

38. The steering control device as described in any one of claims 31 to 37, used to achieve automatic driving by controlling the rotation of a steering wheel about a corresponding axis, characterized in that, It includes a rotating body (30), a fixed body (40), a moving part (606), and a drive assembly (23), wherein, The rotating body (30) is used for fastening connection with the steering wheel, and the rotating body (30) includes a transmission ring (31) as described in any one of claims 31 to 37; The fixing body (40) is used to be fixedly installed below the steering wheel; The movable component (606) is rotatably mounted on the fixed body (40) and rolls to support the transmission ring (31); The drive assembly (23) is connected to the drive unit (601) so that the rotating body (30) rotates relative to the fixed body (40) under the drive of the drive assembly (23) to drive the steering wheel to rotate around the axis.

39. The steering control device as claimed in claim 38, characterized in that, The movable part (606) is recessed with a mating groove, and the transmission ring (31) is protruding with a mating portion to form the guide portion. The mating portion is at least partially accommodated in the mating groove to roll and support the transmission ring (31).

40. The steering control device as claimed in claim 38, characterized in that, The transmission ring (31) is recessed with an annular guide groove (312) to form the guide portion. The movable member (606) is at least partially accommodated in the annular guide groove (312) and rolls to support the transmission ring (31).

41. The steering control device as claimed in claim 40, characterized in that, The annular guide groove (312) has a groove opening including a first edge (3121) and a second edge (3122), which are arranged opposite to each other in the thickness direction of the transmission ring (31).

42. The steering control device as claimed in claim 41, characterized in that, The first distance between the first edge (3121) and the second edge (3122) in the thickness direction of the transmission ring (31) is 0.4 to 0.6 times the thickness of the transmission ring (31).

43. The steering control device as claimed in claim 42, characterized in that, The transmission ring (31) includes a first surface and a second surface, the first surface and the second surface are arranged opposite to each other in the thickness direction of the transmission ring (31), and the first edge (3121) is arranged adjacent to the first surface, and the second edge (3122) is arranged adjacent to the second surface.

44. The steering control device as claimed in claim 43, characterized in that, The second distance between the first edge (3121) and the first surface in the thickness direction of the transmission ring (31) is 0.2 to 0.3 times the thickness of the transmission ring (31), and the third distance between the second edge (3122) and the second surface in the thickness direction of the transmission ring (31) is 0.2 to 0.3 times the thickness of the transmission ring (31).

45. The steering control device as claimed in claim 44, characterized in that, The second distance is equal to the third distance.

46. ​​The steering control device as claimed in claim 40, characterized in that, The cross-section of the annular guide groove (312) is an isosceles trapezoid.

47. The steering control device as claimed in claim 40, characterized in that, The transmission ring (31) is arranged around the rotating shaft.

48. The steering control device as claimed in claim 47, characterized in that, The movable component (606) includes a first rolling support body, which includes a rotating shaft and a fixed wheel. One end of the rotating shaft is rotatably disposed on the fixed body (40), and the other end of the rotating shaft is fixedly disposed on the fixed wheel. The fixed wheel is at least partially accommodated in the annular guide groove (312) and rolls in contact with at least one side wall of the annular guide groove (312) near the steering wheel to roll support the transmission ring (31).

49. The steering control device as claimed in claim 47, characterized in that, The movable component (606) includes a second rolling support (6061), which includes a fixed shaft (60611) and a rotating wheel (60612). One end of the fixed shaft (60611) is fixedly mounted on the fixed body (40), and the other end of the fixed shaft (60611) is rotatably mounted on the rotating wheel (60612). The rotating wheel (60612) is at least partially accommodated in the annular guide groove (312) and rolls in contact with at least one side wall of the annular guide groove (312) near the steering wheel to roll support the transmission ring (31).

50. The steering control device as claimed in claim 38, characterized in that, The rotating body (30) also includes an upper housing (32) arranged around the rotating shaft, and the transmission ring (31) is fastened to the steering wheel through the upper housing (32).

51. The steering control device as claimed in claim 38, characterized in that, The fixing body (40) includes a lower housing (41) arranged around the pivot, and the lower housing (41) is fixedly disposed below the steering wheel.

52. The steering control device as claimed in claim 51, characterized in that, The lower housing (41) is provided with an annular receiving groove (411), the transmission ring (31) is housed in the annular receiving groove (411), and the movable part (606) is rotatably disposed on the bottom wall of the annular receiving groove (411) and rolls to support the transmission ring (31).

53. The steering control device as claimed in claim 52, characterized in that, The fixing body (40) further includes a mounting part (223) having a mounting cavity, the mounting part (223) being disposed adjacent to the annular receiving groove (411), and the mounting cavity being connected to the annular receiving groove (411) for mounting the drive assembly (23).

54. The steering control device as claimed in claim 51, characterized in that, The fixing body (40) also includes a fixing bracket, which has a fixing part and a locking part. The fixing part is fixedly connected to the lower housing (41), and the locking part is used to fixally connect to the sleeve below the steering wheel so as to fix the lower housing (41) below the steering wheel.

55. The steering control device according to any one of claims 1 to 54, used to achieve automatic driving by controlling the rotation of a steering wheel about a corresponding axis, characterized in that, It includes a rotating body, a fixed body, a rolling support assembly, and a drive assembly, wherein, The rotating body (30) is used to be fastened to the steering wheel, and the rotating body (30) is provided with a driving part (601); The fixing body (40) is used to be fixedly installed below the steering wheel; The rolling support assembly (70) is rotatably mounted on the fixed body (40) and rolls to support the rotating body (30); The drive assembly (23) is connected to the drive unit (601) so that the rotating body (30) rotates relative to the fixed body (40) under the drive of the drive assembly (23) to drive the steering wheel to rotate around the axis. The projection of the rolling support assembly (70) in the radial direction of the rotating body (30) at least partially overlaps with the drive unit (601).

56. The steering control device as claimed in claim 55, characterized in that, The drive unit (601) is disposed on the outer or inner circumferential side of the rotating body (30), and the rolling support assembly (70) is provided with a mating groove (713). The drive unit (601) is at least partially inserted into the mating groove (713).

57. The steering control device as claimed in claim 56, characterized in that, The rotating body (30) is provided with a guide portion, which cooperates with the rolling support assembly (70) to define the rotation plane of the rotating body (30). The guide portion includes a first contact surface, which contacts the rolling support assembly (70).

58. The steering control device as claimed in claim 57, characterized in that, The guide portion further includes a second contact surface, which contacts the rolling support assembly (70).

59. The steering control device as claimed in claim 58, characterized in that, Both the first contact surface and the second contact surface are inclined surfaces, and their inclination directions are opposite.

60. The steering control device as claimed in claim 56, characterized in that, The rolling support assembly (70) includes a wheel body (71), the wheel body (71) includes an axle body (711) and a frustum portion (712) protruding outward from the axle body (711), and the mating groove (713) is formed on the side of the frustum portion (712).

61. The steering control device as claimed in claim 60, characterized in that, The wheel body (71) includes two spaced-apart frustum portions (712), and the mating groove (713) is formed between the two frustum portions (712).

62. The steering control device as claimed in claim 61, characterized in that, The frustum portion (712) has a contact surface at one end away from the shaft (711), which is used to contact the rotating body (30).

63. The steering control device as claimed in claim 62, characterized in that, The rolling support assembly (70) includes a bearing (72) disposed on the fixing body (40) to support the rolling support assembly (70).

64. The steering control device according to any one of claims 55 to 63, characterized in that, The rotating body (30) includes a transmission ring (31) arranged around the rotating shaft. The transmission ring (31) is provided with the driving part (601). The driving assembly (23) is connected to the driving part (601) on the transmission ring (31).

65. The steering control device as claimed in claim 64, characterized in that, The transmission ring (31) has a circular structure.

66. The steering control device as claimed in claim 65, characterized in that, The inner circumferential side of the transmission ring (31) is provided with an annular groove (312) along the radial direction of the transmission ring (31). The rolling support assembly (70) is at least partially housed in the annular groove (312) and rolls in contact with at least one side wall of the annular groove (312) near the steering wheel to roll support the transmission ring (31).

67. Annular groove (312) 67. The steering control device as described in claim 65, characterized in that, The rolling support assembly (70) includes a first rolling support body, which includes a rotating shaft and a fixed wheel. The rotating shaft is rotatably mounted on the fixed body (40), and the fixed wheel is fixedly mounted on the rotating shaft. The fixed wheel is at least partially housed in the annular groove (312) and rolls in contact with at least one side wall of the annular groove (312) near the steering wheel to roll support the transmission ring (31).

68. The steering control device as claimed in claim 65, characterized in that, The rolling support assembly (70) includes a second rolling support body (6061), which includes a fixed shaft (60611) and a rotating wheel (60612). The fixed shaft (60611) is fixedly mounted on the fixed body (40), and the rotating wheel (60612) is rotatably mounted on the fixed shaft (60611). The rotating wheel (60612) is at least partially housed in the annular groove (312) and rolls in contact with at least one side wall of the annular groove (312) near the steering wheel to roll support the transmission ring (31).

69. An autonomous driving system, characterized in that, The autonomous driving system includes an onboard computer terminal and a steering control device as described in any one of claims 1 to 68; wherein... The vehicle-mounted computer terminal includes a positioning module and a control module. The positioning module is communicatively connected to the positioning system to obtain location information. Both the positioning module and the drive component are electrically connected to the control module. The control module controls the operation of the drive component based on the location information obtained by the positioning module to adjust the movement direction of the agricultural machinery.

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