CN108357554A - A kind of general transfer of driverless tractor and automatic mode switching method - Google Patents
A kind of general transfer of driverless tractor and automatic mode switching method Download PDFInfo
- Publication number
- CN108357554A CN108357554A CN201810047759.3A CN201810047759A CN108357554A CN 108357554 A CN108357554 A CN 108357554A CN 201810047759 A CN201810047759 A CN 201810047759A CN 108357554 A CN108357554 A CN 108357554A
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- CN
- China
- Prior art keywords
- clutch
- motor
- steering
- steering column
- driven gear
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- 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.)
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Classifications
-
- 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
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/16—Steering columns
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
Abstract
The present invention relates to a kind of general transfer of driverless tractor and automatic mode switching methods, including steering wheel, it is mounted on the top of steering column, in steering column steering post jacket is socketed close to the position of bottom end, further include arrangement of clutch, transmission device and motor, motor is mounted on steering column on the steering post jacket of bottom part, and motor is arranged in an axially parallel mode with steering column, and transmission device is connected to the motor logical；The present invention haves no need to change the steering structure of former vehicle, and auxiliary device is installed additional on former steering structure, improves repacking efficiency, reduces processing cost, is suitable for the tractor of different model, has certain versatility.
Description
Technical field
The present invention relates to a kind of general transfer of driverless tractor and automatic mode switching methods, belong to agricultural machinery dress
Standby Study of intelligent field, and in particular to intelligent agricultural machinery steering structure field.
Background technology
Currently, China's agricultural modernization accelerated development, rural holding scale management, agricultural workforce largely shift, to agriculture
Machine equipment technology requires higher, product demand huge.The unmanned technology of intelligent agricultural machinery is accelerated development, Agricultural Machinery Equipment supply is promoted
Ability, diminution and external main product gap, support modern agricultural development, guarantee grain and Industrial Security are significant.
The automatic steering control performance of driverless tractor is to weigh the important indicator of entire automated driving system, at present
There are no the standards of unmanned automatic steering control, and there is an urgent need to a kind of automatic Pilots suitable for different tractors to turn to control
The refiting scheme of system.
Current unmanned technology not yet full maturity can't realize that entirely autonomous nobody drives under many operating modes
Sail, thus under unmanned and manned state steering structure switching device with regard to very necessary.
Invention content
A kind of general transfer of driverless tractor of present invention offer and automatic mode switching method, have no need to change
The steering structure of former vehicle installs auxiliary device additional on former steering structure, improves repacking efficiency, reduces processing cost, is applicable in
In the tractor of different model, there is certain versatility.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of general transfer of driverless tractor, including steering wheel are mounted on the top of steering column, are leaned in steering column
The position of nearly bottom end is socketed steering post jacket, further includes arrangement of clutch, transmission device and motor, and motor is mounted on steering column the bottom of close to
On the steering post jacket of end position, and motor is arranged in an axially parallel mode with steering column, and transmission device is connected to the motor logical；
The connection of transmission device is realized by arrangement of clutch, motor driving steering column is rotated, to realize that nobody drives
Sail the normally travel of tractor；
The separation of transmission device, the rotation of manual drive steering wheel, to realize turning for driving mode are realized by arrangement of clutch
It changes；
As present invention further optimization,
Transmission device above-mentioned includes pinion stand, driving gear and driven gear, and pinion stand is fixedly connected on close on steering column
The position of steering wheel, driven gear are connected firmly in the bottom of pinion stand, and driving gear is laid on the inside of driven gear；
Arrangement of clutch above-mentioned includes clutch axle sleeve, clutch yoke and electromagnetic relay, and clutch axle sleeve is socketed in the output of motor
On axis, the center of driving gear is directly fixedly connected with the end of clutch axle sleeve, and one end of clutch yoke is hinged on clutch
On axle sleeve, under the action of clutch yoke, clutch axle sleeve can be moved along the output shaft of motor, to realize driving tooth
Wheel with the engagement of driven gear and detach, the other end and electromagnetic relay of clutch yoke are hinged；
As present invention further optimization,
Electromagnetic relay internal structure above-mentioned includes switch, hold-in winding, sucking coil, electromagnetic switch, secured core and work
One end of dynamic iron core, movable core is mobily connected on secured core, and sucking coil, secured core are arranged on movable core
On be arranged hold-in winding, the other end of movable core and the other end of clutch yoke are hinged, while the other end end of movable core
Headgear sets resetting spring, switch, hold-in winding and sucking coil be sequentially connected it is logical, sucking coil by electromagnetic switch and power supply just
Pole is connected；
As present invention further optimization,
Further include pinion stand fixture, connected firmly with the surface of pinion stand, and pinion stand fixture is clamped in by bolt on steering column；
As present invention further optimization,
Motor is mounted on motor mounting rack, and motor mounting rack above-mentioned is fastened on by stent holder on steering post jacket, motor
Mounting bracket passes through screw locking；
One kind carrying out manned mode by the general transfer of driverless tractor and automatically switches with unmanned pattern
Method,
When unmanned normally travel, the internal structure main circuit of closure switch, electromagnetic relay is connected, hold-in winding and attraction
Coil is powered simultaneously, and the flow direction that the two generates is identical, so that secured core and movable core is magnetized, in being total to for the two magnetic force
Under same-action, movable core moves, and generation makes the power that clutch yoke rotates counterclockwise, to drive clutch axle sleeve along electricity
The output shaft of machine is axial to be moved to steering wheel direction, and driving gear is engaged with driven gear at this time；Meanwhile motor drives output shaft
Rotation, drives the rotation of driving gear, since driving gear is engaged with driven gear, further drives the rotation of driven gear,
The rotation of final driving steering column；
When conversion is to pilot steering pattern, switch is disconnected, the internal structure main circuit of electromagnetic relay disconnects, and movable core is multiple
Under the action of the spring of position, generation makes the power that clutch yoke rotates clockwise, to drive output shaft of the clutch axle sleeve along motor
Axial to be moved to the opposite direction of steering wheel, driving gear is detached with driven gear, and manual rotation's steering wheel, which is realized, at this time drives
The conversion of pattern.
By above technical scheme, compared with the existing technology, the invention has the advantages that：
The present invention does not change former vehicle steering structure, easy for installation, can automatically switch manned mode and unmanned pattern.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the forward sight overall construction drawing of the transfer of the preferred embodiment of the present invention；
Fig. 2 is that the transfer of the preferred embodiment of the present invention looks up overall construction drawing；
Fig. 3 is the arrangement of clutch structure and operation principle schematic diagram of the preferred embodiment of the present invention；
Fig. 4 is the structural schematic diagram of the clutch axle sleeve of the preferred embodiment of the present invention.
In figure：1 is steering wheel, and 2 be pinion stand fixture, and 3 be pinion stand, and 4 be clutch axle sleeve, and 5 be motor mounting rack, and 6 are
Motor, 7 be bolt, and 8 be steering post jacket, and 9 be electromagnetic relay, and 10 be driven gear, and 11 be driving gear, and 12 pull out for clutch
Fork, 13 be steering column, and 14 be stent holder, and 15 be screw, and 16 be switch, and 17 be hold-in winding, and 18 be sucking coil, and 19 be electricity
Source anode, 20 be electromagnetic switch, and 21 be resetting spring, and 22 be clutch yoke, and 23 be secured core, and 24 be movable core.
Specific implementation mode
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant to the invention.
Shown in Fig. 1-Fig. 4, the present invention includes following technical characteristic：1 is steering wheel, and 2 be pinion stand fixture, and 3 be pinion stand,
4 be clutch axle sleeve, and 5 be motor mounting rack, and 6 be motor, and 7 be bolt, and 8 be steering post jacket, and 9 be electromagnetic relay, and 10 be driven
Gear, 11 be driving gear, and 12 be clutch fork, and 13 be steering column, and 14 be stent holder, and 15 be screw, and 16 be switch, and 17 are
Hold-in winding, 18 be sucking coil, and 19 be positive pole, and 20 be electromagnetic switch, and 21 be resetting spring, and 22 be clutch yoke, 23
It is movable core for secured core, 24.
As Figure 1-Figure 2, the general transfer of a kind of driverless tractor of the invention, including steering wheel, peace
Mounted in the top of steering column, steering post jacket is socketed close to the position of bottom end in steering column, further include arrangement of clutch, transmission device and
Motor, motor is mounted on steering column on the steering post jacket of bottom part, and motor is arranged in an axially parallel mode with steering column, transmission
Device is connected to the motor logical；
The connection of transmission device is realized by arrangement of clutch, motor driving steering column is rotated, to realize that nobody drives
Sail the normally travel of tractor；
The separation of transmission device, the rotation of manual drive steering wheel, to realize turning for driving mode are realized by arrangement of clutch
It changes；
As present invention further optimization,
Transmission device above-mentioned includes pinion stand, driving gear and driven gear, and pinion stand is fixedly connected on close on steering column
The position of steering wheel, driven gear are connected firmly in the bottom of pinion stand, and driving gear is laid on the inside of driven gear；
Shown in Fig. 3, arrangement of clutch above-mentioned includes clutch axle sleeve, clutch yoke and electromagnetic relay, and clutch axle sleeve is socketed in electricity
On the output shaft of machine, the center of driving gear is directly fixedly connected with the end of clutch axle sleeve, one end hinge of clutch yoke
It is connected in clutch axle sleeve, under the action of clutch yoke, clutch axle sleeve can be moved along the output shaft of motor, to real
It existing driving gear and the engagement of driven gear and detaches, the other end and the electromagnetic relay of clutch yoke are hinged；
As present invention further optimization,
Electromagnetic relay internal structure above-mentioned includes switch, hold-in winding, sucking coil, electromagnetic switch, secured core and work
One end of dynamic iron core, movable core is mobily connected on secured core, and sucking coil, secured core are arranged on movable core
On be arranged hold-in winding, the other end of movable core and the other end of clutch yoke are hinged, while the other end end of movable core
Headgear sets resetting spring, switch, hold-in winding and sucking coil be sequentially connected it is logical, sucking coil by electromagnetic switch and power supply just
Pole is connected；
As present invention further optimization,
Further include pinion stand fixture, connected firmly with the surface of pinion stand, and pinion stand fixture is clamped in by bolt on steering column；
As present invention further optimization,
Motor is mounted on motor mounting rack, and motor mounting rack above-mentioned is fastened on by stent holder on steering post jacket, motor
Mounting bracket passes through screw locking；
Shown in Fig. 4, clutch axle sleeve can axially move under the action of clutch fork along driving motor, reach driving gear with
Driven gear engages and the effect of separation.
One kind carrying out manned mode by the general transfer of driverless tractor and unmanned pattern is automatic
Switching method,
When unmanned normally travel, the internal structure main circuit of closure switch, electromagnetic relay is connected, hold-in winding and attraction
Coil is powered simultaneously, and the flow direction that the two generates is identical, so that secured core and movable core is magnetized, in being total to for the two magnetic force
Under same-action, movable core moves, and generation makes the power that clutch yoke rotates counterclockwise, to drive clutch axle sleeve along electricity
The output shaft of machine is axial to be moved to steering wheel direction, and driving gear is engaged with driven gear at this time；Meanwhile motor drives output shaft
Rotation, drives the rotation of driving gear, since driving gear is engaged with driven gear, further drives the rotation of driven gear,
The rotation of final driving steering column；
When conversion is to pilot steering pattern, switch is disconnected, the internal structure main circuit of electromagnetic relay disconnects, and movable core is multiple
Under the action of the spring of position, generation makes the power that clutch yoke rotates clockwise, to drive output shaft of the clutch axle sleeve along motor
Axial to be moved to the opposite direction of steering wheel, driving gear is detached with driven gear, and manual rotation's steering wheel, which is realized, at this time drives
The conversion of pattern.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein（Including technology art
Language and scientific terminology）With meaning identical with the general understanding of the those of ordinary skill in the application fields.Should also
Understand, those terms such as defined in the general dictionary, which should be understood that, to be had and the meaning in the context of the prior art
The consistent meaning of justice, and unless defined as here, will not be with idealizing or the meaning of too formal be explained.
The meaning of "and/or" described herein refers to that the case where respective individualism or both exists simultaneously wraps
Including including.
The meaning of " connection " described herein can be directly connected to can also be to pass through between component between component
Other components are indirectly connected with.
It is enlightenment with above-mentioned desirable embodiment according to the present invention, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to determine its technical scope according to right.
Claims (6)
1. a kind of general transfer of driverless tractor, including steering wheel are mounted on the top of steering column, in steering column
Position close to bottom end is socketed steering post jacket, it is characterised in that：Further include arrangement of clutch, transmission device and motor, motor installation
On steering post jacket of the steering column close to bottom part, and motor is arranged in an axially parallel mode with steering column, transmission device and motor phase
Connection；
The connection of transmission device is realized by arrangement of clutch, motor driving steering column is rotated, to realize that nobody drives
Sail the normally travel of tractor；
The separation of transmission device, the rotation of manual drive steering wheel, to realize turning for driving mode are realized by arrangement of clutch
It changes.
2. the general transfer of driverless tractor according to claim 1, it is characterised in that：
Transmission device above-mentioned includes pinion stand, driving gear and driven gear, and pinion stand is fixedly connected on close on steering column
The position of steering wheel, driven gear are connected firmly in the bottom of pinion stand, and driving gear is laid on the inside of driven gear；
Arrangement of clutch above-mentioned includes clutch axle sleeve, clutch yoke and electromagnetic relay, and clutch axle sleeve is socketed in the output of motor
On axis, the center of driving gear is directly fixedly connected with the end of clutch axle sleeve, and one end of clutch yoke is hinged on clutch
On axle sleeve, under the action of clutch yoke, clutch axle sleeve can be moved along the output shaft of motor, to realize driving tooth
Wheel with the engagement of driven gear and detach, the other end and electromagnetic relay of clutch yoke are hinged.
3. the general transfer of driverless tractor according to claim 2, it is characterised in that：Electromagnetism relay above-mentioned
Device internal structure include switch, hold-in winding, sucking coil, electromagnetic switch, secured core and movable core, the one of movable core
End is mobily connected on secured core, and sucking coil is arranged on movable core, hold-in winding is arranged on secured core, activity
The other end of iron core and the other end of clutch yoke are hinged, while the other end end of movable core is arranged resetting spring, switch,
Hold-in winding and sucking coil are sequentially connected logical, and sucking coil is connected by electromagnetic switch with positive pole.
4. the general transfer of driverless tractor according to claim 2, it is characterised in that：It further include pinion stand folder
Tool, connects firmly, and pinion stand fixture is clamped in by bolt on steering column with the surface of pinion stand.
5. the general transfer of driverless tractor according to claim 2, it is characterised in that：Motor is mounted on motor
On mounting bracket, motor mounting rack above-mentioned is fastened on by stent holder on steering post jacket, and motor mounting rack passes through screw locking.
6. a kind of cut by the general transfer progress manned mode of driverless tractor with unmanned pattern automatically
Change method, it is characterised in that：
When unmanned normally travel, the internal structure main circuit of closure switch, electromagnetic relay is connected, hold-in winding and attraction
Coil is powered simultaneously, and the flow direction that the two generates is identical, so that secured core and movable core is magnetized, in being total to for the two magnetic force
Under same-action, movable core moves, and generation makes the power that clutch yoke rotates counterclockwise, to drive clutch axle sleeve along electricity
The output shaft of machine is axial to be moved to steering wheel direction, and driving gear is engaged with driven gear at this time；Meanwhile motor drives output shaft
Rotation, drives the rotation of driving gear, since driving gear is engaged with driven gear, further drives the rotation of driven gear,
The rotation of final driving steering column；
When conversion is to pilot steering pattern, switch is disconnected, the internal structure main circuit of electromagnetic relay disconnects, and movable core is multiple
Under the action of the spring of position, generation makes the power that clutch yoke rotates clockwise, to drive output shaft of the clutch axle sleeve along motor
Axial to be moved to the opposite direction of steering wheel, driving gear is detached with driven gear, and manual rotation's steering wheel, which is realized, at this time drives
The conversion of pattern.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810047759.3A CN108357554A (en) | 2018-01-18 | 2018-01-18 | A kind of general transfer of driverless tractor and automatic mode switching method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810047759.3A CN108357554A (en) | 2018-01-18 | 2018-01-18 | A kind of general transfer of driverless tractor and automatic mode switching method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108357554A true CN108357554A (en) | 2018-08-03 |
Family
ID=63006533
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810047759.3A Pending CN108357554A (en) | 2018-01-18 | 2018-01-18 | A kind of general transfer of driverless tractor and automatic mode switching method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109131556A (en) * | 2018-09-05 | 2019-01-04 | 华南农业大学 | Tractor straight-line travelling control system and method |
| CN110626324A (en) * | 2019-09-17 | 2019-12-31 | 郑州轻工业学院 | Guardrail cleaning vehicle driving system with constant-speed cruising and steering fine-adjustment functions |
| CN111376970A (en) * | 2020-04-22 | 2020-07-07 | 大连理工大学 | Automatic and manual auto-change over device of unmanned equation motorcycle race a steering system |
| CN111942456A (en) * | 2020-08-12 | 2020-11-17 | 内蒙古第一机械集团股份有限公司 | General type steering wheel suitable for manned and unmanned tracked vehicle |
| CN112026906A (en) * | 2019-06-04 | 2020-12-04 | 合肥工业大学 | Steering switching system of unmanned formula car |
| WO2021004160A1 (en) * | 2019-07-09 | 2021-01-14 | 丰疆智能科技股份有限公司 | Direction adjusting device and application thereof |
| CN113184042A (en) * | 2021-04-30 | 2021-07-30 | 东南大学 | Switching device for manned steering and unmanned steering of unmanned formula car |
| CN114312966A (en) * | 2020-09-30 | 2022-04-12 | 比亚迪股份有限公司 | Dabber subassembly, steering column and vehicle |
| CN115366986A (en) * | 2022-08-15 | 2022-11-22 | 南京农业大学 | Rear-mounted automatic steering control robot capable of being quickly disassembled and assembled |
| WO2023245227A1 (en) * | 2022-06-19 | 2023-12-28 | Mohideen Farlin Anooz | Vehicle control arrangement |
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| CN206255058U (en) * | 2016-10-31 | 2017-06-16 | 广州中海达定位技术有限公司 | A kind of steering control device for being applied to automatic Pilot |
| CN206704290U (en) * | 2017-04-28 | 2017-12-05 | 鄂尔多斯市普渡科技有限公司 | A kind of steering mechanism for pilotless automobile |
| CN206841510U (en) * | 2017-04-28 | 2018-01-05 | 鄂尔多斯市普渡科技有限公司 | It is a kind of can free switching driving model pilotless automobile steering mechanism |
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| JP2003238099A (en) * | 2002-02-14 | 2003-08-27 | Nippon Yusoki Co Ltd | Steering wheel locking device for fork lift truck |
| KR20070104764A (en) * | 2006-04-24 | 2007-10-29 | 주식회사 로템 | Remote steering apparatus of the unmanned vehicle where the conversion of manual operation and automatic mode is possible |
| CN201825099U (en) * | 2010-09-08 | 2011-05-11 | 丁幼春 | Mechanical automatic steering device for tractor |
| CN104002861A (en) * | 2014-05-26 | 2014-08-27 | 武汉理工大学 | Steering device of intelligent vehicle and control method thereof |
| CN204845517U (en) * | 2015-08-05 | 2015-12-09 | 闫书义 | Electricity assistance is moved drive arrangement and is moved car with electric assistance |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109131556A (en) * | 2018-09-05 | 2019-01-04 | 华南农业大学 | Tractor straight-line travelling control system and method |
| CN112026906A (en) * | 2019-06-04 | 2020-12-04 | 合肥工业大学 | Steering switching system of unmanned formula car |
| CN112026906B (en) * | 2019-06-04 | 2024-05-24 | 合肥工业大学 | Steering switching system of formula car |
| WO2021004160A1 (en) * | 2019-07-09 | 2021-01-14 | 丰疆智能科技股份有限公司 | Direction adjusting device and application thereof |
| CN110626324A (en) * | 2019-09-17 | 2019-12-31 | 郑州轻工业学院 | Guardrail cleaning vehicle driving system with constant-speed cruising and steering fine-adjustment functions |
| CN110626324B (en) * | 2019-09-17 | 2021-03-19 | 郑州轻工业学院 | Guardrail cleaning vehicle driving system with constant-speed cruising and steering fine-adjustment functions |
| CN111376970A (en) * | 2020-04-22 | 2020-07-07 | 大连理工大学 | Automatic and manual auto-change over device of unmanned equation motorcycle race a steering system |
| CN111942456A (en) * | 2020-08-12 | 2020-11-17 | 内蒙古第一机械集团股份有限公司 | General type steering wheel suitable for manned and unmanned tracked vehicle |
| CN114312966A (en) * | 2020-09-30 | 2022-04-12 | 比亚迪股份有限公司 | Dabber subassembly, steering column and vehicle |
| CN113184042A (en) * | 2021-04-30 | 2021-07-30 | 东南大学 | Switching device for manned steering and unmanned steering of unmanned formula car |
| WO2023245227A1 (en) * | 2022-06-19 | 2023-12-28 | Mohideen Farlin Anooz | Vehicle control arrangement |
| CN115366986A (en) * | 2022-08-15 | 2022-11-22 | 南京农业大学 | Rear-mounted automatic steering control robot capable of being quickly disassembled and assembled |
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Application publication date: 20180803 |
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