CN107933684A - The electronic automatic steering system of agricultural machinery - Google Patents
The electronic automatic steering system of agricultural machinery Download PDFInfo
- Publication number
- CN107933684A CN107933684A CN201711176642.7A CN201711176642A CN107933684A CN 107933684 A CN107933684 A CN 107933684A CN 201711176642 A CN201711176642 A CN 201711176642A CN 107933684 A CN107933684 A CN 107933684A
- Authority
- CN
- China
- Prior art keywords
- agricultural machinery
- steering
- brushless motor
- disk type
- type brushless
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
- B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
- B62D1/283—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers for unmanned vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
- B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
- B62D1/286—Systems for interrupting non-mechanical steering due to driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0409—Electric motor acting on the steering column
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0409—Electric motor acting on the steering column
- B62D5/0412—Electric motor acting on the steering column the axes of motor and steering column being parallel
- B62D5/0415—Electric motor acting on the steering column the axes of motor and steering column being parallel the axes being coaxial
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0442—Conversion of rotational into longitudinal movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
- Power Steering Mechanism (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The present invention relates to agricultural machinery automation field,More particularly to a kind of agricultural machinery with electronic automatic steering system,Including autosteerer,Autosteerer includes the steering wheel coaxially set gradually,Planetary gear reducing mechanism,Disk type brushless motor,Planetary gear reducing mechanism,Disk type brushless motor is arranged in casing,Disk type brushless motor is connected with planetary gear reducing mechanism,Planetary gear reducing mechanism is connected with connecting flange,Connecting flange passes through steering wheel,Planetary gear reducing mechanism,The center of disk type brushless motor,Connecting flange one end closure disk,The steering axis connection of the other end and steering column,Steering column connects mechanical steering device,Mechanical steering device makes steered wheel rotation,Deflecting roller is equipped with rotary angle transmitter,Rotation direction sensor connects electronic control unit,Electronic control unit connects motor driver,Motor driver connects disk type brushless motor.
Description
Technical field
The present invention relates to agricultural machinery automation field, and in particular to a kind of electronic auto-steering system of agricultural machinery
System.
Background technology
With the proposition and continuous development of precision agriculture and wisdom agricultural, self-navigation or unmanned become agricultural machinery
One of basic function, the precision of farmland operation will be greatly improved while operating personnel's labor intensity is mitigated.It is and automatic
Steering is one of necessary functions of self-navigation agricultural machinery, can the course changing control that sends of real-time reception autopilot refer to
Order, ensures that the deflecting roller of agricultural machinery is rotated to desired angle.
The Chinese patent of Patent No. 201010110694.6 is used on the basis of the steering of original tractor hydraulic, in parallel
The method of hydraulic circuit, realizes the manual/auto pattern switching of tractor steering, and the electric-hydraulic proportion control under automatic mode
System.But agricultural machinery Hydraulic System process is complex, and transform, maintenance cost it is higher.In addition, many agricultural machines
Tool, such as high-speed transplanter, using integral hydraulic transfer, it is impossible to using the parallel hydraulic system described in above-mentioned patent
Mode is transformed.
Foreign agriculture machine automatization turns to device and is integrated in automated navigation system, does not provide open control interface, valency
Lattice are expensive, are not suitable for the agricultural production feature especially small-scale agricultural machinery auto-steering requirement of country's small plot.
The content of the invention
For the rear dress demand of agricultural machinery, it is desirable on the premise of its original steering mechanism and hydraulic system is not changed,
Realize auto-steering, this requires autosteerer is compact-sized, is easily installed, and method the most simple and convenient is to use
The autosteerer for possessing power replaces original steering wheel.Therefore, the present invention provides a kind of agricultural machinery with electronic automatic turn
To system, the job requirement of agricultural machinery is met.
The present invention adopts the following technical scheme that：
A kind of agricultural machinery electronic automatic steering system, including autosteerer, autosteerer include coaxial
Steering wheel, planetary gear reducing mechanism, the disk type brushless motor set gradually, planetary gear reducing mechanism, disk type brushless motor
It is arranged in casing, disk type brushless motor is connected with planetary gear reducing mechanism, and planetary gear reducing mechanism is connected with connection method
Orchid, connecting flange pass through steering wheel, planetary gear reducing mechanism, the center of disk type brushless motor, connecting flange one end connection side
To disk, the steering axis connection of the other end and steering column, steering column connects mechanical steering device, and mechanical steering device makes steering
Wheel rotates, and deflecting roller is equipped with rotary angle transmitter, rotation direction sensor connection electronic control unit, electronic control unit connection motor
Driver, motor driver connection disk type brushless motor.
The planetary gear reducing mechanism is double reduction mechanism, including primary planet wheel mechanism, secondary planet wheel mechanism,
Primary planet wheel mechanism includes primary planet carrier, level-one ring gear, level-one sun gear, and secondary planet wheel mechanism includes secondary planet
Frame, two level ring gear, secondary solar gear, level-one ring gear, two level ring gear are separately fixed in casing, primary planet carrier and two
Level sun gear connection.
The connecting flange connects secondary planet frame, level-one sun gear connection disk type brushless motor.
The secondary planet frame is connected by contiguous block with steering wheel.
Disk type brushless motor includes outer rotor, inner stator.
The level-one sun gear connects outer rotor.
The inner stator of the disk type brushless motor is fixed on the bottom of casing.
Casing is fixed on steering column by L-shaped connector and U bolt, is further secured to agricultural machinery chassis
On.
The mechanical steering device is hydraulic steering.
The motor driver is equipped with switching switch, for controlling electronic and manual mode switching.
The course of work of the present invention：
The angle desired value that electronic control unit receives the measured value of rotary angle transmitter and CAN bus is sent, and to the two
It is compared, direction of rotation and the rotary speed of disk type brushless motor is calculated with this, and control signal is exported to motor and is driven
Device, motor driver control the action of disk type brushless motor, power are provided by disk type brushless motor, by two-stage planetary reducer
After structure deceleration torque, the steering spindle of steering column is transferred to through coaxial inner by connecting flange, makes agricultural machinery deflecting roller
Turn to expected angle.
Advantages of the present invention and have the beneficial effect that：
1st, by disk type brushless motor steering torque is provided as power source, control mode simple and flexible, adjustment and installation be convenient,
Hardware cost is relatively low, so as to reduce the holistic cost of automatic steering control of farm mechanism or Unmanned Systems, promotes agricultural machinery certainly
The practical application of dynamic navigation operation and industrialized development；
2nd, disk type brushless motor, planetary gear speed reducing mechanism and connecting flange are respectively provided with endoporus and coaxial assembling, can directly pacify
Loaded on agricultural machinery steering column, the original steering wheel of Alternative Agriculture machinery, compact overall structure, installation method is simple；
3rd, in case of emergency, the power output of disk type brushless motor can be cut off by switching switch, at this time disc brushless
Motor irretention square, you can manual operation steering wheel is turned to, and remains the artificial turning function of machine；
4th, direction of rotation and the speed of motor are controlled and adjusted using electronic control unit, by changing electronic control unit
The mode of program can change steering angular region, the response speed of autosteerer, to adapt to various agricultural mechanical steering machine
The different requirements of structure；
5th, using the general CAN bus Communications Control Interface of agricultural machinery, it is readily integrated into automatically controlling for agricultural machinery
In system.
Brief description of the drawings
Fig. 1 is the surface structure schematic diagram of the present invention；
Fig. 2 is the mounting structure schematic diagram of the present invention；
Fig. 3 is the internal structure schematic diagram of the present invention；
Fig. 4 is the control principle block diagram of the present invention.
Wherein, 1, connecting flange, 2, steering wheel, 3, secondary planet frame, 4, two level ring gear, 5, secondary solar gear, 6, one
Level planet carrier, 7, level-one ring gear, 8, level-one sun gear, 9, outer rotor, 10, inner stator, 11, L-shaped connector, 12, steering tube
Column, 13, casing, 14, contiguous block, 15, steering spindle.
Embodiment
As shown in Figures 1 to 4, a kind of agricultural machinery electronic automatic steering system, including autosteerer, from turn
Steering wheel 2, planetary gear reducing mechanism, the disk type brushless motor for including coaxially setting gradually to device.Planet-gear speed reducer
Structure, disk type brushless motor are arranged in casing 13, and casing 13 is fixed on steering column 12 by L-shaped connector 11 and U bolt
On.
The disk type brushless motor has outer rotor 9 and inner stator 10, and the inner stator 10 of the disk type brushless motor is solid
Due to the bottom of casing 13.
The planetary gear reducing mechanism includes primary planet wheel mechanism, secondary planet wheel mechanism, primary planet wheel mechanism
Including primary planet carrier 6, level-one ring gear 7, level-one sun gear 7, secondary planet wheel mechanism is including in secondary planet frame 3, two level
Gear ring 4, secondary solar gear 5.Level-one ring gear 7, two level ring gear 4 are separately fixed in casing 13, primary planet carrier 6 and two level
Sun gear 5 connects.The ring gear of planetary gear reducing mechanism is fixed, and power is inputted by level-one sun gear and secondary solar gear, warp
Exported respectively by primary planet carrier and secondary planet frame after deceleration.
The outer rotor 9 of disk type brushless motor is connected with the level-one sun gear 8 of primary planet reducing gear, and primary planet slows down
The primary planet carrier 6 of mechanism is connected with the secondary solar gear 5 of two-stage planetary reduction mechanism, the two level row of two-stage planetary reduction mechanism
Carrier 3 is connected by contiguous block 14 with steering wheel 2.The outer rotor 9 and inner stator 10, planetary reducer of the disk type brushless motor
The two-stage sun gear and two-stage planet carrier of structure, are respectively provided with coaxial inner.The connecting flange 1 passes through coaxial inner, with two level
The secondary planet frame 3 of planetary gear speed reducing mechanism connects, and one end is connected with steering wheel 2, and one end passes through spline and nut and steering
The steering spindle 15 of tubing string 12 connects, and steering column 12 connects mechanical steering device, and mechanical steering device is hydraulic steering, machine
Tool transfer controls the action of deflecting roller.
The input shaft of rotary angle transmitter and the steering axis connection of front-wheel steer wheel, its angular surveying signal are inputted to electronics control
Unit processed, electronic control unit read the angle measurement of rotary angle transmitter, while receive the angle desired value in CAN bus,
It is compared with computing and by direction of rotation control signal and rotary speed control signal, is being respectively sent to motor driver just
Control terminal F/R and rotating speed control terminal Speed is inverted, to control disk type brushless motor to realize corresponding spinning movement.
The switching switch, its one end ground connection, the Enable Pin of a termination motor driver.
Claims (10)
1. a kind of agricultural machinery electronic automatic steering system, including autosteerer, it is characterized in that, autosteerer bag
Include the steering wheel coaxially set gradually, planetary gear reducing mechanism, disk type brushless motor, planetary gear reducing mechanism, disc type without
Brush motor is arranged in casing, and disk type brushless motor is connected with planetary gear reducing mechanism, and planetary gear reducing mechanism is connected with
Connecting flange, connecting flange through steering wheel, the center of planetary gear reducing mechanism, connecting flange one end closure disk, separately
One end and the steering axis connection of steering column, steering column connection mechanical steering device, mechanical steering device make steered wheel rotation,
Deflecting roller is equipped with rotary angle transmitter, rotation direction sensor connection electronic control unit, and electronic control unit connects motor driver,
Motor driver connects disk type brushless motor.
2. the electronic automatic steering system of agricultural machinery according to claim 1, it is characterized in that, the planetary gear speed-reduction
Mechanism includes primary planet wheel mechanism, secondary planet wheel mechanism, and primary planet wheel mechanism includes primary planet carrier, level-one internal tooth
Circle, level-one sun gear, secondary planet wheel mechanism include secondary planet frame, two level ring gear, secondary solar gear, level-one ring gear,
Two level ring gear is separately fixed in casing, and primary planet carrier couples with secondary solar gear.
3. the electronic automatic steering system of agricultural machinery according to claim 2, it is characterized in that, the connecting flange connection
Secondary planet frame, level-one sun gear connection disk type brushless motor.
4. the electronic automatic steering system of agricultural machinery according to claim 2, it is characterized in that, the secondary planet frame leads to
Contiguous block is crossed with steering wheel to couple.
5. the electronic automatic steering system of agricultural machinery according to claim 2, it is characterized in that, disk type brushless motor includes
Outer rotor, inner stator.
6. the electronic automatic steering system of agricultural machinery according to claim 5, it is characterized in that, the level-one sun gear connects
Connect outer rotor.
7. the electronic automatic steering system of agricultural machinery according to claim 5, it is characterized in that, the disk type brushless motor
Inner stator be fixed on the bottom of casing.
8. the electronic automatic steering system of agricultural machinery according to claim 1, it is characterized in that, casing is connected by L-shaped
Part and U bolt are fixed on steering column.
9. the electronic automatic steering system of agricultural machinery according to claim 1, it is characterized in that, the mechanical steering device
For hydraulic steering.
10. the electronic automatic steering system of agricultural machinery according to claim 1, it is characterized in that, the motor driver
Equipped with switching switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711176642.7A CN107933684B (en) | 2017-11-22 | 2017-11-22 | Electric automatic steering system for agricultural machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711176642.7A CN107933684B (en) | 2017-11-22 | 2017-11-22 | Electric automatic steering system for agricultural machinery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107933684A true CN107933684A (en) | 2018-04-20 |
| CN107933684B CN107933684B (en) | 2023-01-06 |
Family
ID=61929840
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711176642.7A Active CN107933684B (en) | 2017-11-22 | 2017-11-22 | Electric automatic steering system for agricultural machinery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107933684B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108725568A (en) * | 2018-06-29 | 2018-11-02 | 西安合众思壮导航技术有限公司 | A kind of automatic Pilot steering wheel auxiliary location support mechanism and surface car |
| CN108820032A (en) * | 2018-07-23 | 2018-11-16 | 辽宁工业大学 | A kind of automatic driving transfer and control method |
| CN110203278A (en) * | 2019-06-27 | 2019-09-06 | 济南科亚电子科技有限公司 | Steering wheel steering engine and drive system, automated driving system and method using steering engine |
| CN110641463A (en) * | 2019-10-30 | 2020-01-03 | 山东理工大学 | Automatic steering device of agricultural machine |
| CN111717269A (en) * | 2020-07-02 | 2020-09-29 | 江苏胜立特机械有限公司 | Planetary gear reducer for vehicle steering device |
| CN112498469A (en) * | 2020-11-26 | 2021-03-16 | 武汉光庭科技有限公司 | Automatic steering device for engineering machinery direction |
| CN112590916A (en) * | 2020-12-09 | 2021-04-02 | 北京农业智能装备技术研究中心 | Electric steering control system and method for agricultural machinery navigation |
| CN112744287A (en) * | 2019-10-31 | 2021-05-04 | 操纵技术Ip控股公司 | Handwheel actuator of steer-by-wire system |
| CN113147889A (en) * | 2021-04-27 | 2021-07-23 | 苏州邦弘智能科技有限公司 | Steering wheel |
| CN114771645A (en) * | 2022-05-12 | 2022-07-22 | 山东理工大学 | Electro-hydraulic combined automatic steering device and control method thereof |
| KR102649470B1 (en) * | 2023-09-18 | 2024-03-20 | 주식회사 긴트 | The bracket for fixing auto steering wheel |
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| CN205836921U (en) * | 2016-05-17 | 2016-12-28 | 山东汇川汽车部件有限公司 | A kind of automobile pipe column type electric servo steering system |
| CN206049777U (en) * | 2016-09-23 | 2017-03-29 | 安徽工程大学 | A kind of active steering system of vehicle |
| CN107054453A (en) * | 2017-04-28 | 2017-08-18 | 南京航空航天大学 | A kind of motor turning stabilitrak and its control method |
| CN107187489A (en) * | 2017-06-19 | 2017-09-22 | 中国农业大学 | Motor driving direction disk transfer |
| EP3225507A1 (en) * | 2016-03-29 | 2017-10-04 | Showa Corporation | Clutch, steering device, and method for producing clutch |
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| JP2000247246A (en) * | 1999-03-02 | 2000-09-12 | Koyo Seiko Co Ltd | Rack-and-pinion motor-driven power steering |
| US20110147111A1 (en) * | 2009-12-23 | 2011-06-23 | Automotive Research & Testing Center | Electrical auxiliary module for a vehicle steering system |
| CN101722983A (en) * | 2010-01-14 | 2010-06-09 | 南京航空航天大学 | Electric power-assisted steering system with variable transmission ratio and method for controlling transmission ratio thereof |
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| CN205836921U (en) * | 2016-05-17 | 2016-12-28 | 山东汇川汽车部件有限公司 | A kind of automobile pipe column type electric servo steering system |
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| CN107054453A (en) * | 2017-04-28 | 2017-08-18 | 南京航空航天大学 | A kind of motor turning stabilitrak and its control method |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108725568A (en) * | 2018-06-29 | 2018-11-02 | 西安合众思壮导航技术有限公司 | A kind of automatic Pilot steering wheel auxiliary location support mechanism and surface car |
| CN108820032A (en) * | 2018-07-23 | 2018-11-16 | 辽宁工业大学 | A kind of automatic driving transfer and control method |
| CN108820032B (en) * | 2018-07-23 | 2023-08-22 | 辽宁工业大学 | Steering device for automatic driving of automobile and control method |
| CN110203278A (en) * | 2019-06-27 | 2019-09-06 | 济南科亚电子科技有限公司 | Steering wheel steering engine and drive system, automated driving system and method using steering engine |
| WO2021082609A1 (en) * | 2019-10-30 | 2021-05-06 | 山东理工大学 | Automatic steering device of agricultural machine |
| US20210129907A1 (en) * | 2019-10-30 | 2021-05-06 | Shandong University Of Technology | An automatic steering device of an agricultural machine |
| CN110641463A (en) * | 2019-10-30 | 2020-01-03 | 山东理工大学 | Automatic steering device of agricultural machine |
| CN112744287A (en) * | 2019-10-31 | 2021-05-04 | 操纵技术Ip控股公司 | Handwheel actuator of steer-by-wire system |
| US11745789B2 (en) | 2019-10-31 | 2023-09-05 | Steering Solutions Ip Holding Corporation | Handwheel actuator for steer by wire system |
| CN111717269A (en) * | 2020-07-02 | 2020-09-29 | 江苏胜立特机械有限公司 | Planetary gear reducer for vehicle steering device |
| CN112498469A (en) * | 2020-11-26 | 2021-03-16 | 武汉光庭科技有限公司 | Automatic steering device for engineering machinery direction |
| CN112590916A (en) * | 2020-12-09 | 2021-04-02 | 北京农业智能装备技术研究中心 | Electric steering control system and method for agricultural machinery navigation |
| CN113147889A (en) * | 2021-04-27 | 2021-07-23 | 苏州邦弘智能科技有限公司 | Steering wheel |
| CN114771645A (en) * | 2022-05-12 | 2022-07-22 | 山东理工大学 | Electro-hydraulic combined automatic steering device and control method thereof |
| CN114771645B (en) * | 2022-05-12 | 2024-02-23 | 山东理工大学 | Electrohydraulic combined automatic steering device and control method thereof |
| KR102649470B1 (en) * | 2023-09-18 | 2024-03-20 | 주식회사 긴트 | The bracket for fixing auto steering wheel |
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| Publication number | Publication date |
|---|---|
| CN107933684B (en) | 2023-01-06 |
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