CN113432894A - Thrust detection system, method and equipment for automobile steering pull rod and storage medium - Google Patents
Thrust detection system, method and equipment for automobile steering pull rod and storage medium Download PDFInfo
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- CN113432894A CN113432894A CN202110656983.4A CN202110656983A CN113432894A CN 113432894 A CN113432894 A CN 113432894A CN 202110656983 A CN202110656983 A CN 202110656983A CN 113432894 A CN113432894 A CN 113432894A
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- strain gauge
- gauge sensor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/06—Steering behaviour; Rolling behaviour
Abstract
The application discloses a thrust detection system, a method, equipment and a storage medium for an automobile steering pull rod. The method comprises the following steps: the system comprises a first strain gauge sensor, a second strain gauge sensor, a third strain gauge sensor, a fourth strain gauge sensor and a data processing device; the first strain gauge sensor is transversely arranged on a first side surface of the steering pull rod, the second strain gauge sensor is longitudinally arranged on the first side surface, the third strain gauge sensor is transversely arranged on a second side surface of the steering pull rod, and the fourth strain gauge sensor is longitudinally arranged on the second side surface; and the data processor is used for determining the thrust according to the total strain output value of the first strain gauge sensor, the second strain gauge sensor, the third strain gauge sensor and the fourth strain gauge sensor and the material Poisson's ratio of the steering tie rod. The system performs thrust detection without changing the original state of the vehicle, and the measured data is more real; the measurement does not need excessive manual operation, and the efficiency can be obviously improved. The method can be widely applied to the technical field of automobiles.
Description
Technical Field
The application relates to the technical field of automobiles, in particular to a thrust detection system, a method, equipment and a storage medium for an automobile steering pull rod.
Background
In the early stage of automobile model development, when the specification of the tire is changed, such as the change of the rim diameter, the change of the tire width, the change of the wheel tread, the change of the tire pattern or the change of the tire pressure, the friction coefficient between the tire and the ground is influenced. There may be a case where the ground resistance to the tire increases, which may make the steering of the automobile difficult, and it is therefore necessary to confirm whether the electric power steering system satisfies the relevant design requirements.
In the related art, whether the steering system meets the requirement is generally determined by detecting the thrust of a steering rod. Two connecting rod force gauges are required to be arranged between the steering rods on the left side and the right side of the automobile and a steering engine, and the detection method has the following defects: 2 sets of expensive connecting rod dynamometers need to be purchased, and the cost is high; the connecting rod dynamometer is installed between the steering pull rod and the steering machine, corresponding jigs need to be matched, installation is complex, and the front wheels need to be bunched again after installation, so that working hours are consumed; the weight and rigidity of the steering mechanism are affected after the connecting rod dynamometer is added, and the data accuracy in detection can be affected. In summary, the problems of the related art need to be solved.
Disclosure of Invention
The present application aims to solve at least one of the technical problems in the related art to some extent.
Therefore, an object of the embodiments of the present application is to provide a thrust detection system for a tie rod of an automobile, which can effectively improve the accuracy of measured data and has a higher detection effect.
Another object of the embodiments of the present application is to provide a method for detecting a thrust of an automotive steering linkage.
In order to achieve the technical purpose, the technical scheme adopted by the embodiment of the application comprises the following steps:
in a first aspect, an embodiment of the present application provides a thrust detection system for an automotive steering tie rod, including: the system comprises a first strain gauge sensor, a second strain gauge sensor, a third strain gauge sensor, a fourth strain gauge sensor and a data processing device;
the first strain gauge sensor is transversely arranged on a first side surface of the steering pull rod, the second strain gauge sensor is longitudinally arranged on the first side surface, the third strain gauge sensor is transversely arranged on a second side surface of the steering pull rod, and the fourth strain gauge sensor is longitudinally arranged on the second side surface; the second side surface is a surface far away from the first side surface;
the data processing device is connected to the first strain gauge sensor, the second strain gauge sensor, the third strain gauge sensor and the fourth strain gauge sensor, and the data processor is used for determining thrust according to the total strain output value of the first strain gauge sensor, the second strain gauge sensor, the third strain gauge sensor and the fourth strain gauge sensor and the material Poisson ratio of the steering pull rod.
In addition, the thrust detection system of the steering tie rod of the automobile according to the above embodiment of the present application may further have the following additional technical features:
further, in one embodiment of the present application, the first, second, third and fourth strain gauge sensors are of the same type.
Further, in one embodiment of the present application, the third strain gauge sensor is disposed on the second side opposite the first strain gauge sensor.
Further, in one embodiment of the present application, the first strain gauge sensor and the second strain gauge sensor are spaced apart by a distance greater than a preset distance.
In a second aspect, an embodiment of the present application further provides a method for detecting a thrust of an automobile steering linkage, which is used for detecting by using the thrust detection system; the method comprises the following steps:
acquiring total strain output values of the first strain gauge sensor, the second strain gauge sensor, the third strain gauge sensor and the fourth strain gauge sensor;
acquiring the Poisson's ratio of the material of the steering tie rod;
determining a true strain value according to the strain output value and the Poisson's ratio of the material;
and obtaining the magnitude of the thrust according to the proportional relation between the strain and the thrust.
In addition, the method for detecting the thrust of the steering linkage of the automobile according to the above embodiment of the present application may further have the following additional technical features:
further, in an embodiment of the present application, the determining a true strain value from the strain output value and the material poisson's ratio comprises:
obtaining the true strain value by a formula Q ═ P/2(1+ a);
in the formula, Q represents a true strain value; p represents a strain output value; a represents the Poisson's ratio of the material.
Further, in one embodiment of the present application, the proportional relationship is determined by:
applying a first amount of thrust laterally to the tie rod;
acquiring a second value of the strain output by the first strain gauge sensor;
and obtaining the proportional relation according to the proportion of the second numerical value and the first numerical value.
In a third aspect, an embodiment of the present application provides a terminal device, including:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, the at least one processor is caused to implement the thrust detection method of an automotive tie rod according to the second aspect.
In a fourth aspect, the present application further provides a computer-readable storage medium, in which a program executable by a processor is stored, and when the program executable by the processor is executed by the processor, the program is used to implement the thrust detection method for a tie rod of an automobile according to the second aspect.
Advantages and benefits of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application:
the thrust detecting system of car steering linkage that provides in the embodiment of this application includes: the system comprises a first strain gauge sensor, a second strain gauge sensor, a third strain gauge sensor, a fourth strain gauge sensor and a data processing device; the first strain gauge sensor is transversely arranged on a first side surface of the steering pull rod, the second strain gauge sensor is longitudinally arranged on the first side surface, the third strain gauge sensor is transversely arranged on a second side surface of the steering pull rod, and the fourth strain gauge sensor is longitudinally arranged on the second side surface; the second side surface is a surface far away from the first side surface; the data processing device is connected to the first strain gauge sensor, the second strain gauge sensor, the third strain gauge sensor and the fourth strain gauge sensor, and the data processor is used for determining thrust according to the total strain output value of the first strain gauge sensor, the second strain gauge sensor, the third strain gauge sensor and the fourth strain gauge sensor and the material Poisson ratio of the steering pull rod. The system can detect the thrust without changing the original state of the vehicle, and the measured data is more real; and the measurement does not need excessive manual operation, so that the efficiency can be obviously improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description is made on the drawings of the embodiments of the present application or the related technical solutions in the prior art, and it should be understood that the drawings in the following description are only for convenience and clarity of describing some embodiments in the technical solutions of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram illustrating a strain gauge sensor in a thrust sensing system of a tie rod for a vehicle according to an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart illustrating an embodiment of a method for detecting a thrust of a tie rod of an automobile according to the present disclosure;
fig. 3 is a schematic structural diagram of a specific embodiment of a terminal device in an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application. The step numbers in the following embodiments are provided only for convenience of illustration, the order between the steps is not limited at all, and the execution order of each step in the embodiments can be adapted according to the understanding of those skilled in the art.
In the related art, whether the steering system meets the requirement is generally determined by detecting the thrust of a steering rod. Two connecting rod force gauges are required to be arranged between the steering rods on the left side and the right side of the automobile and a steering engine, and the detection method has the following defects: 2 sets of expensive connecting rod dynamometers need to be purchased, and the cost is high; the connecting rod dynamometer is installed between the steering pull rod and the steering machine, corresponding jigs need to be matched, installation is complex, and the front wheels need to be bunched again after installation, so that working hours are consumed; the weight and rigidity of the steering mechanism are affected after the connecting rod dynamometer is added, and the data accuracy in detection can be affected. In summary, the problems of the related art need to be solved.
In view of this, the embodiment of the present application provides a thrust detection system for an automotive steering linkage, which can perform thrust detection without changing the original state of a vehicle, and obtain more real data through measurement; and the measurement does not need excessive manual operation, so that the efficiency can be obviously improved.
Specifically, the thrust detection system of car steering pull rod that provides in this application embodiment includes: the system comprises a first strain gauge sensor, a second strain gauge sensor, a third strain gauge sensor, a fourth strain gauge sensor and a data processing device;
referring to fig. 1, a first strain gauge sensor 1 is transversely disposed on a first side surface of a steering link 5, a second strain gauge sensor 2 is longitudinally disposed on the first side surface, a third strain gauge sensor 3 is transversely disposed on a second side surface of the steering link 5, and a fourth strain gauge sensor 4 is longitudinally disposed on the second side surface; the second side surface is a surface far away from the first side surface.
The data processing device in the embodiment of the application is connected to the first strain gauge sensor, the second strain gauge sensor, the third strain gauge sensor and the fourth strain gauge sensor, and the data processor is used for determining the thrust according to the total strain output value of the first strain gauge sensor, the second strain gauge sensor, the third strain gauge sensor and the fourth strain gauge sensor and the material poisson's ratio of the steering pull rod.
In the embodiment of the application, under the condition that the original state of a vehicle device is not changed, four groups of strain sensors can be arranged on the steering pull rod, specifically, the types of the strain sensors can be consistent, the data error is reduced, and for example, 2mm strain gauges can be adopted. The strain gauges in the embodiments of the present application may be divided into two groups, one of which is disposed on one side surface of the tie rod, for example, the first and second strain gauge sensors, which is referred to as a first side surface. When provided, the first strain gage sensor and the second strain gage sensor are preferably spaced apart by a predetermined distance, for example, a predetermined distance may be preset such that the distance between the first strain gage sensor and the second strain gage sensor is greater than the predetermined distance. For example, the preset distance may be 1cm, and the distance between the first strain gauge sensor and the second strain gauge sensor may be set to 2cm when actually installed. In some embodiments, the predetermined distance may also be determined according to a predetermined proportion of the total length of the side of the steering rod, for example, the distance between the first and second strain gauge sensors may be greater than 10% of the total length. Of course, the above arrangement and numerical values are only for illustration and do not limit the practical implementation of the present application.
In the embodiment of the application, the first strain gauge sensor is transversely arranged on the first side surface of the steering pull rod, and the second strain gauge sensor is longitudinally arranged on the first side surface of the steering pull rod. The first and second strain gauge sensors may be attached to a first side surface of the tie rod, and after the first and second strain gauge sensors are attached, a third and fourth strain gauge sensors may be provided on a side surface opposite to the first side surface, and the side surface may be referred to as a second side surface. When the third strain gauge sensor and the fourth strain gauge sensor are arranged on the third side surface, the method is similar to that of the first strain gauge sensor and the second strain gauge sensor, and the description is omitted here. Also, in some embodiments, the third strain gage sensor may be positioned on the second side opposite the first strain gage sensor, such as the first strain gage sensor being positioned 5cm above the first side and 50cm from one end, and the third strain gage sensor may be positioned 5cm above the second side and 50cm from the same end. Of course, the fourth strain gauge sensor may here also be arranged opposite the second strain gauge sensor on the second side.
With the respective strain gauge sensors arranged, it is readily apparent that strain is generated when the tie rod is subjected to a lateral force F1. At this time, the first strain gauge sensor and the third strain gauge sensor both measure the same value and can be recorded as S1, while the second strain gauge sensor and the fourth strain gauge sensor are vertically stuck and only passively deform laterally, so that only one material poisson 'S ratio (the poisson' S ratio of a metal material of a general steering tie rod is 0.3) strain is generated and can be recorded as 0.3S1, and the total strain output value at this time is 2.6S 1. When the tie rod is subjected to a longitudinal force F2, a strain is created. At this time, the first strain gauge sensor and the third strain gauge sensor have opposite phases, and the strain output values of the first strain gauge sensor and the third strain gauge sensor are 0, while the strain output values of the second strain gauge sensor and the fourth strain gauge sensor are both 0, so that the total strain output value at this time is 0. In actual measurement, the force applied to the tie rod is not an actual thrust force because the tie rod has an influence of bending. The strain gauge sensor in the embodiment of the application can obtain a strain output value which is 2.6 times of the strain theoretically generated, can effectively offset the influence caused by bending, and improves the measurement precision.
The data processing device in the embodiment of the application can determine the actual thrust according to the strain output value and the Poisson's ratio of the material. This is explained below in connection with the method examples provided in the present application.
In the embodiment of the present application, a method for detecting a thrust of an automotive steering linkage is also provided, where the method may be executed in the foregoing data processing apparatus, and may also be executed in other terminal devices, and the terminal device only needs to obtain relevant data from the data processing apparatus.
Referring to fig. 2, the method mainly comprises the following steps:
in the embodiment of the present application, as described above, the total strain output value obtained by each strain gauge sensor may be expressed as: p ═ Q × 2(1+ a), where P represents the strain output value, Q represents the true strain value, and a represents the material poisson's ratio.
in the embodiment of the present application, for the measured strain output value, the poisson's ratio a of the material of the tie rod is obtained, and a true strain value can be obtained through a formula Q ═ P/2(1+ a).
And 140, obtaining the magnitude of the thrust according to the proportional relation between the strain and the thrust.
And the magnitude of the obtained thrust can be determined according to the actual proportional relation between the strain and the thrust. In particular, the proportional relationship may be determined experimentally, such as applying a first amount of thrust laterally to the tie rod; acquiring a second value of the strain output by the first strain gauge sensor; and obtaining the proportional relation according to the proportion of the second numerical value and the first numerical value. In some embodiments, the proportional relationship may be noted as 1ue 19.123N. I.e., 19.123N, may produce a strain of 1 ue. Therefore, according to the relationship, the magnitude of the thrust can be measured by calculating the condition of the obtained true strain value.
Referring to fig. 3, an embodiment of the present application further provides a terminal device, including:
at least one processor 201;
at least one memory 202 for storing at least one program;
the at least one program, when executed by the at least one processor 201, causes the at least one processor 201 to implement a method of thrust detection for an automotive tie rod.
Similarly, the contents in the embodiment of the method for detecting the thrust of the steering link of the automobile are all applicable to the embodiment of the automobile, the functions specifically realized by the embodiment of the automobile are the same as those in the embodiment of the method for detecting the thrust of the steering link of the automobile, and the beneficial effects achieved by the embodiment of the method for detecting the thrust of the steering link of the automobile are also the same as those achieved by the embodiment of the method for detecting the thrust of the steering link of the automobile.
The embodiment of the present application also provides a computer-readable storage medium, in which a program executable by the processor 201 is stored, and the program executable by the processor 201 is used for executing the above-mentioned thrust detection method for the tie rod of the vehicle when being executed by the processor 201.
Similarly, the contents in the embodiment of the method for detecting the thrust of the steering link of the automobile are all applicable to the embodiment of the computer-readable storage medium, the functions implemented in the embodiment of the computer-readable storage medium are the same as those in the embodiment of the method for detecting the thrust of the steering link of the automobile, and the beneficial effects achieved by the embodiment of the computer-readable storage medium are also the same as those achieved by the method for detecting the thrust of the steering link of the automobile.
In alternative embodiments, the functions/acts noted in the block diagrams may occur out of the order noted in the operational illustrations. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved. Furthermore, the embodiments presented and described in the flowcharts of the present application are provided by way of example in order to provide a more thorough understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and in which sub-operations described as part of larger operations are performed independently.
Furthermore, although the present application is described in the context of functional modules, it should be understood that, unless otherwise stated to the contrary, one or more of the functions and/or features may be integrated in a single physical device and/or software module, or one or more functions and/or features may be implemented in separate physical devices or software modules. It will also be appreciated that a detailed discussion regarding the actual implementation of each module is not necessary for an understanding of the present application. Rather, the actual implementation of the various functional modules in the apparatus disclosed herein will be understood within the ordinary skill of an engineer, given the nature, function, and internal relationship of the modules. Accordingly, those skilled in the art can, using ordinary skill, practice the present application as set forth in the claims without undue experimentation. It is also to be understood that the specific concepts disclosed are merely illustrative of and not intended to limit the scope of the application, which is defined by the appended claims and their full scope of equivalents.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the foregoing description of the specification, reference to the description of "one embodiment/example," "another embodiment/example," or "certain embodiments/examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: numerous changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.
While the present application has been described with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A thrust detection system of an automobile steering tie rod is characterized by comprising: the system comprises a first strain gauge sensor, a second strain gauge sensor, a third strain gauge sensor, a fourth strain gauge sensor and a data processing device;
the first strain gauge sensor is transversely arranged on a first side surface of the steering pull rod, the second strain gauge sensor is longitudinally arranged on the first side surface, the third strain gauge sensor is transversely arranged on a second side surface of the steering pull rod, and the fourth strain gauge sensor is longitudinally arranged on the second side surface; the second side surface is a surface far away from the first side surface;
the data processing device is connected to the first strain gauge sensor, the second strain gauge sensor, the third strain gauge sensor and the fourth strain gauge sensor, and the data processor is used for determining thrust according to the total strain output value of the first strain gauge sensor, the second strain gauge sensor, the third strain gauge sensor and the fourth strain gauge sensor and the material Poisson ratio of the steering pull rod.
2. The system of claim 1, wherein the first, second, third and fourth strain gauge sensors are of the same type.
3. The system according to claim 2, wherein the third strain gauge sensor is disposed on the second side surface at a position opposite to the first strain gauge sensor.
4. The system for detecting thrust of a tie rod of an automobile according to claim 1, wherein the first strain gauge sensor and the second strain gauge sensor are spaced apart by a distance greater than a preset distance.
5. The system for detecting thrust of a tie rod of an automobile according to claim 4, wherein the predetermined distance is obtained by multiplying a total length of the first side surface by a predetermined ratio.
6. A method for detecting a thrust of a tie rod of a vehicle, said method being used for detection by a thrust detection system according to any one of claims 1 to 5, characterized in that it comprises the following steps:
acquiring total strain output values of the first strain gauge sensor, the second strain gauge sensor, the third strain gauge sensor and the fourth strain gauge sensor;
acquiring the Poisson's ratio of the material of the steering tie rod;
determining a true strain value according to the strain output value and the Poisson's ratio of the material;
and obtaining the magnitude of the thrust according to the proportional relation between the strain and the thrust.
7. The method for detecting thrust of an automotive tie rod according to claim 6, wherein said determining a true strain value from said strain output value and said material Poisson's ratio comprises:
obtaining the true strain value by a formula Q ═ P/2(1+ a);
in the formula, Q represents a true strain value; p represents a strain output value; a represents the Poisson's ratio of the material.
8. The method for detecting thrust of a tie rod of an automobile according to claim 6, wherein the proportional relationship is determined by:
applying a first amount of thrust laterally to the tie rod;
acquiring a second value of the strain output by the first strain gauge sensor;
and obtaining the proportional relation according to the proportion of the second numerical value and the first numerical value.
9. A terminal device, comprising:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, the at least one processor may implement the method for detecting thrust of a tie rod for an automobile according to any one of claims 6 to 8.
10. A computer-readable storage medium in which a program executable by a processor is stored, characterized in that: the processor executable program when executed by the processor is for implementing a method of thrust detection for an automotive track rod as claimed in any one of claims 6 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110656983.4A CN113432894A (en) | 2021-06-11 | 2021-06-11 | Thrust detection system, method and equipment for automobile steering pull rod and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110656983.4A CN113432894A (en) | 2021-06-11 | 2021-06-11 | Thrust detection system, method and equipment for automobile steering pull rod and storage medium |
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| CN113432894A true CN113432894A (en) | 2021-09-24 |
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| CN202110656983.4A Pending CN113432894A (en) | 2021-06-11 | 2021-06-11 | Thrust detection system, method and equipment for automobile steering pull rod and storage medium |
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