CN109131556A - Tractor straight-line travelling control system and method - Google Patents
Tractor straight-line travelling control system and method Download PDFInfo
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- CN109131556A CN109131556A CN201811032779.XA CN201811032779A CN109131556A CN 109131556 A CN109131556 A CN 109131556A CN 201811032779 A CN201811032779 A CN 201811032779A CN 109131556 A CN109131556 A CN 109131556A
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- tractor
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- transmission shaft
- line travelling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention relates to a kind of tractor straight-line travelling control system and methods.The tractor straight-line travelling control system, including travelling angle detection device, driving device, transmission device and control device, the traveling angle detection device is used to detect the traveling angle of tractor, the driving device and the transmission device are drivingly connected, the transmission device is used to be sequentially connected with steering column, the traveling angle detection device, the driving device is electrically connected with the control device respectively, the control device stops driving steering column rotation for controlling the driving device if judging that the traveling angle of tractor is matched with initial angle, the control device is also used to control the driving device if judging that the traveling angle of tractor is mismatched with initial angle drives steering column forward or reverse so that the traveling angle of tractor is matched with initial angle by transmission device, it is able to solve pilot steering Tractor is difficult to realize the problem of straight-line travelling.
Description
Technical field
The present invention relates to tractor technical fields, more particularly to a kind of tractor straight-line travelling control system and method.
Background technique
With the fast development of tractor manufacturing technology, tractor autonomous driving technology is also further developed, still
The factors such as field conditions are severe, operating condition is arduous cause tractor autonomous driving technological development difficulty at high cost greatly, therefore such as
It is a urgent problem to be solved that, which is simply transformed tractor to meet the use demand of peasant,.
For expensive rice transplanting tractor, pilot steering is difficult to realize straight-line travelling, however straight-line travelling carries out
Rice transplanting but brings great convenience to later period field management, and in addition to this lateral distance of rice shoot and rice shoot is also able to maintain precisely,
Be conducive to reasonably distribute soil resource, improve the utilization rate of soil and fertilizer.
Summary of the invention
Based on this, it is necessary to aiming at the problem that pilot steering tractor is difficult to realize straight-line travelling, provide a kind of tractor
Straight-line travelling control system and method.
A kind of tractor straight-line travelling control system, including traveling angle detection device, driving device, transmission device and control
Device processed, the traveling angle detection device are used to detect the traveling angle of tractor, and the driving device and the transmission fill
Drive connection is set, the transmission device is used to be sequentially connected with steering column, the traveling angle detection device, driving dress
It sets and is electrically connected respectively with the control device, if the control device is used to judge the traveling angle and initial angle of tractor
Matching then controls the driving device and stops driving steering column rotation, if the control device is also used to judge the row of tractor
Sail angle and initial angle mismatch then control the driving device by transmission device driving steering column forward or reverse with
Match the traveling angle of tractor with initial angle.
Above-mentioned tractor straight-line travelling control system detects the traveling angle of tractor using traveling angle detection device,
And judge whether the traveling angle of tractor matches with initial angle using control device.When the traveling angle of tractor and initial
When angle automatching, control device controls driving device and stops driving steering column rotation, when the traveling angle of tractor and initial
When angle mismatches, control device controls driving device and drives steering column forward or reverse so that tractor by transmission device
Traveling angle matched with initial angle, to maintain the traveling angle of tractor constant.It can be realized and drag in this way
The straight-line travelling of machine drawing brings huge benefit for agricultural production.
The traveling angle detection device includes gyroscope in one of the embodiments, the gyroscope and the control
Device processed is electrically connected.The traveling angle for the tractor that control device is obtained with gyroscope is to transport according to control steering column
Row not only controls precision height, easy to operate and cheap, is easy to get.
The driving device includes driving motor in one of the embodiments, and the transmission device includes transmission shaft, master
Moving gear and driven gear, the output shaft of the driving motor and the transmission shaft are drivingly connected, and the driving gear is mounted on
On the transmission shaft, for being mounted on steering column, the driving gear engages the driven gear with the driven gear.
Power is transferred to transmission shaft by the output shaft of driving motor, and transmission shaft drives driving gear rotation, driving gear and driven gear
Engaged transmission, driven gear drive steering column rotation, realize the smooth transfer of power.
The driving device further includes retarder in one of the embodiments, and the output shaft of the driving motor passes through
The retarder and the transmission shaft are drivingly connected.After the power of the output shaft output of driving motor increases torque by retarder
It is transferred to transmission shaft, so that transmission shaft smooth rotation.
The tractor straight-line travelling control system further includes mounting base in one of the embodiments, the mounting base
It is equipped with first bearing and second bearing, one end of the transmission shaft is installed in rotation in the first bearing, the biography
The other end of moving axis is installed in rotation in the second bearing.Utilize the first bearing and second bearing realization in mounting base
The reliable installation of transmission shaft guarantees that transmission shaft rotation is smooth.
The tractor straight-line travelling control system further includes the first locating part and the second limit in one of the embodiments,
Position part, first locating part and second locating part interval are arranged, and first locating part and second locating part are used
In being mounted on steering column, the driven gear is limited between first locating part and second locating part.It utilizes
The first locating part and the second locating part in mounting base realize the reliable installation of driven gear, avoid driven gear in steering column
Upper play.
The tractor straight-line travelling control system further includes electromagnetic clutch in one of the embodiments, the electricity
Magnet clutch connects the transmission shaft and the driving gear, when electromagnetic clutch power-off, the driving gear not with
The transmission shaft rotation, when the electromagnetic clutch is powered, the driving gear is rotated with the transmission shaft.Work as electromagnetic clutch
When device powers off, driving gear is not rotated with transmission shaft, steering column can be made to rotate by operating steering wheel at this time, be realized tractor
Pilot steering.When electromagnetic clutch is powered, driving gear is rotated with transmission shaft, and control device is by judging tractor at this time
Traveling angle and initial angle whether match to control steering column operation, realize the automatic Pilot of tractor.Using electromagnetism
Tractor can be switched to pilot steering or automatic driving mode in clutch, and operation is easy, easy to use.
The electromagnetic clutch includes armature axle sleeve, Moving plate and electromagnetic yoke, the driving tooth in one of the embodiments,
Wheel can be rotatably mounted at the armature shaft with the armature axle sleeve and put on, and the armature axle sleeve is installed in rotation on the biography
On moving axis, the Moving plate can be rotatably mounted on the transmission shaft with the transmission shaft, and the electromagnetic yoke is mounted on described dynamic
On disk, when electromagnetic yoke power-off, the electromagnetic yoke does not attract with the armature axle sleeve, when the electromagnetic yoke is powered, institute
It states electromagnetic yoke and the armature axle sleeve attracts.When electromagnetic yoke power-off, electromagnetic yoke does not attract with armature axle sleeve, armature axle sleeve and biography
Moving axis is in the state of can be rotated, and armature axle sleeve is not rotated with transmission shaft, and driving gear is not also just rotated with transmission shaft.When electromagnetism from
When clutch is powered, electromagnetic yoke and armature axle sleeve attract, armature axle sleeve and transmission shaft be in can not rotary state, armature axle sleeve is with biography
Moving axis rotation, driving gear are also just rotated with transmission shaft.
The electromagnetic clutch and the control device are electrically connected in one of the embodiments, the control device
It is also used to control the electromagnetic clutch power-off or is powered.Using control device control electromagnetic clutch power-off or it is powered to cut
Tractor is changed to pilot steering or automatic driving mode, is easy to use.
A kind of tractor straight-line travelling control method, comprising the following steps:
Travel the traveling angle of angle detection device detection tractor；
Control device judges whether the traveling angle of tractor matches with initial angle, if the traveling angle of tractor and just
Beginning angle automatching, then control device control driving device stop driving steering column rotation, if the traveling angle of tractor and just
Beginning angle mismatches, then control device control driving device drives steering column forward or reverse so that dilatory by transmission device
The traveling angle of machine is matched with initial angle.
Above-mentioned tractor straight-line travelling control method detects the traveling angle of tractor using traveling angle detection device,
And judge whether the traveling angle of tractor matches with initial angle using control device.When the traveling angle of tractor and initial
When angle automatching, control device controls driving device and stops driving steering column rotation, when the traveling angle of tractor and initial
When angle mismatches, control device controls driving device and drives steering column forward or reverse so that tractor by transmission device
Traveling angle matched with initial angle, to maintain the traveling angle of tractor constant.It can be realized and drag in this way
The straight-line travelling of machine drawing brings huge benefit for agricultural production.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of tractor straight-line travelling control system described in the embodiment of the present invention；
Fig. 2 is the control principle drawing of tractor straight-line travelling control system described in the embodiment of the present invention；
Fig. 3 is the schematic elevation view of tractor straight-line travelling control system described in the embodiment of the present invention；
Fig. 4 is the schematic cross-sectional view of driving device and transmission device described in the embodiment of the present invention；
Fig. 5 is the schematic cross-sectional view of electromagnetic clutch described in the embodiment of the present invention；
Fig. 6 is the flow diagram of tractor straight-line travelling control method described in the embodiment of the present invention.
Description of symbols:
10, traveling angle detection device, 20, driving device, 200, driving motor, 210, retarder, 30, transmission device,
300, transmission shaft, 310, driving gear, 320, driven gear, 40, control device, 50, mounting base, 500, first bearing, 510,
Second bearing, the 60, first locating part, the 70, second locating part, 80, electromagnetic clutch, 800, armature axle sleeve, 810, Moving plate, 820,
Electromagnetic yoke, 90, steering column.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give better embodiment of the invention.But the invention can be realized in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose of providing these embodiments is that making to understand more the disclosure
Add thorough and comprehensive.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.On the contrary, when element is referred to as " directly existing " another element "upper",
There is no intermediary elements.Term as used herein "vertical", "horizontal", "left" and "right" and similar statement are
For illustrative purposes, it is not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more
Any and all combinations of relevant listed item.
In conjunction with shown in Fig. 1-3, a kind of tractor straight-line travelling control system, including traveling angle are provided in one embodiment
Detection device 10, driving device 20, transmission device 30 and control device 40.The traveling angle detection device 10 is dragged for detecting
The traveling angle of machine drawing.The driving device 20 is drivingly connected with the transmission device 30, and the transmission device 30 is used for and turns
It is sequentially connected to dish axle 90.The traveling angle detection device 10, the driving device 20 are electric with the control device 40 respectively
Property connection, the control device 40 fills for controlling the driving if judge that the traveling angle of tractor is matched with initial angle
It sets 20 stoppings driving steering column 90 to rotate, if the control device 40 is also used to judge the traveling angle and initial angle of tractor
Degree, which mismatches, then controls the driving device 20 by the driving steering column 90 of transmission device 30 forward or reverse so that tractor
Traveling angle matched with initial angle.
Above-mentioned tractor straight-line travelling control system detects the traveling angle of tractor using traveling angle detection device 10
Degree, and judge whether the traveling angle of tractor matches with initial angle using control device 40.When the traveling angle of tractor
When matching with initial angle, control device 40 controls driving device 20 and stops the driving rotation of steering column 90, when the row of tractor
When sailing angle and initial angle mismatch, control device 40 controls driving device 20 and drives steering column 90 by transmission device 30
Forward or reverse so that the traveling angle of tractor is matched with initial angle, to maintain the traveling angle of tractor constant.It is logical
Crossing this mode can be realized the straight-line travelling of tractor, bring huge benefit for agricultural production.
It is obtained, is dragged by the traveling detection of angle detection device 10 it should be noted that the initial angle of tractor can be
The initial angle of machine drawing is also possible to by being manually entered to obtain.Obtain tractor initial angle mode there are many, not with
This is limited.
In one embodiment, the traveling angle detection device 10 includes gyroscope, and the gyroscope and the control fill
Set 40 electric connections.The traveling angle for the tractor that control device 40 is obtained with gyroscope is to transport according to control steering column 90
Row not only controls precision height, easy to operate and cheap, is easy to get.Other than using gyroscope, it can also adopt
The traveling angle of tractor is obtained with electronic compass.Certainly, while using gyroscope and electronic compass obtain the traveling of tractor
Angle and feasible scheme.There are many forms for travelling angle detection device 10, is not limited.
In one embodiment, the driving device 20 includes driving motor 200, and the transmission device 30 includes transmission shaft
300, driving gear 310 and driven gear 320, the output shaft of the driving motor 200 and the transmission shaft 300 are drivingly connected,
The driving gear 310 is mounted on the transmission shaft 300, and the driven gear 320 is for being mounted on steering column 90, institute
Driving gear 310 is stated to engage with the driven gear 320.Power is transferred to transmission shaft 300 by the output shaft of driving motor 200,
Transmission shaft 300 drives driving gear 310 to rotate, and 320 engaged transmission of driving gear 310 and driven gear, driven gear 320 drives
Steering column 90 rotates, and realizes the smooth transfer of power.Optionally, the driving motor 200 is servo motor, and accuracy is high,
Good reliability.In addition, the driving gear 310, driven gear 320 can also be substituted using transmission belt, i.e., the described transmission device
30 include the first synchronizing wheel, the second synchronizing wheel and synchronous belt, and first synchronizing wheel is mounted on the transmission shaft 300, described
For second synchronizing wheel for being mounted on steering column 90, it is synchronous with described second that the synchronous belt is wound around first synchronizing wheel
On wheel.
Further, the driving device 20 further includes retarder 210, and the output shaft of the driving motor 200 passes through institute
It states retarder 210 and the transmission shaft 300 is drivingly connected.The power of the output shaft output of driving motor 200 passes through retarder 210
It is transferred to transmission shaft 300 after increasing torque, so that 300 smooth rotation of transmission shaft.
In one embodiment, the tractor straight-line travelling control system further includes mounting base 50, in the mounting base 50
Equipped with first bearing 500 and second bearing 510, one end of the transmission shaft 300 is installed in rotation on the first bearing 500
On, the other end of the transmission shaft 300 is installed in rotation in the second bearing 510.Utilize first in mounting base 50
Bearing 500 and second bearing 510 realize the reliable installation of transmission shaft 300, and it is smooth to guarantee that transmission shaft 300 rotates.
As shown in connection with fig. 4, the mounting base 50 specifically includes left plate, right side plate, top plate and bottom plate, the left plate
One end is connect with one end of the top plate, and the other end of the left plate is connect with one end of the bottom plate, the right side plate
One end is connect with the other end of the top plate, and the other end of the right side plate is connect with the other end of the bottom plate, is formed hollow
Cavity, structure are simple.The first bearing 500 is arranged on the top plate, and second bearing 510 is arranged on the bottom plate, institute
Transmission shaft 300 is stated across the hollow cavity and is mounted in the first bearing 500 and the second bearing 510, installation side
Just.The driving gear 310 is arranged in the hollow cavity, plays a certain protective role.Optionally, the first bearing
500 be band diamond-type base bearing with spherical outside surface, is able to bear the radial-axial joint load based on radial load, the second bearing
510 be double-row angular contact bal bearing, is able to bear at the same time radial load and axial load.Certainly, first bearing 500 and the second axis
It holds there are many 510 forms, is not limited.
Specifically, the band diamond-type base bearing with spherical outside surface is mounted on the top plate by screw, the double row angular contact
Ball bearing with the pilot hole interference fit on the bottom plate by being mounted on the bottom plate.
In one embodiment, the tractor straight-line travelling control system further includes the first locating part 60 and the second locating part
70, first locating part 60 is arranged with second locating part 70 interval, first locating part 60 and second limit
Part 70 is limited in first locating part 60 and second limit for being mounted on steering column 90, the driven gear 320
Between the part 70 of position.Utilize the reliable peace of the first locating part 60 and the second locating part 70 realization driven gear 320 in mounting base 50
Dress, avoids the play on steering column 90 of driven gear 320.Optionally, first locating part 60 is for being detachably connected
Limit plate on steering column 90, second locating part 70 are the limit plate being detachably connected on steering column 90, just
It is installed according to the physical location of driven gear 320.Certainly, there are many forms of the first locating part 60 and the second locating part 70,
It is not limited.
In one embodiment, the tractor straight-line travelling control system further includes electromagnetic clutch 80, the electromagnetism from
Clutch 80 connects the transmission shaft 300 and the driving gear 310, when the electromagnetic clutch 80 power-off, the driving tooth
Wheel 310 is not rotated with the transmission shaft 300, and when the electromagnetic clutch 80 is powered, the driving gear 310 is with the transmission
Axis 300 rotates.When electromagnetic clutch 80 powers off, driving gear 310 is not rotated with transmission shaft 300, can be turned at this time by operation
Steering column 90 is rotated to disk, realizes the pilot steering of tractor.When electromagnetic clutch 80 be powered when, driving gear 310 with
Transmission shaft 300 rotates, and control device 40 is controlled by judging the traveling angle of tractor with whether initial angle matches at this time
Steering column 90 is run, and realizes the automatic Pilot of tractor.Using electromagnetic clutch 80 can be switched tractor to pilot steering or
Automatic driving mode, operation is easy, easy to use.The electromagnetic clutch 80 is arranged in the hollow cavity, plays certain
Protective effect.
As shown in connection with fig. 5, the electromagnetic clutch 80 specifically includes armature axle sleeve 800, Moving plate 810 and electromagnetic yoke 820, institute
Stating driving gear 310 can be rotatably mounted on the armature axle sleeve 800 with the armature axle sleeve 800, the armature axle sleeve 800
It is installed in rotation on the transmission shaft 300, the Moving plate 810 can be rotatably mounted at the biography with the transmission shaft 300
On moving axis 300, the electromagnetic yoke 820 is mounted on the Moving plate 810, when the electromagnetic yoke 820 power-off, the electromagnetic yoke
820 do not attract with the armature axle sleeve 800, when the electromagnetic yoke 820 is powered, the electromagnetic yoke 820 and the armature axle sleeve
800 attract.When electromagnetic yoke 820 powers off, electromagnetic yoke 820 does not attract with armature axle sleeve 800, armature axle sleeve 800 and transmission shaft 300
In rotatable state, armature axle sleeve 800 is not rotated with transmission shaft 300, and driving gear 310 is not also just rotated with transmission shaft 300.
When electromagnetic clutch 80 is powered, electromagnetic yoke 820 and armature axle sleeve 800 attract, and armature axle sleeve 800 and transmission shaft 300 are in not
The state of can be rotated, armature axle sleeve 800 are rotated with transmission shaft 300, and driving gear 310 is also just rotated with transmission shaft 300.
Specifically, the driving gear 310 is set on the armature axle sleeve 800 and by flat key and the armature axle sleeve
800 connections.The armature axle sleeve 800, the Moving plate 810, the electromagnetic yoke 820 sequentially coaxially heart are arranged in the transmission shaft
On 300, the armature axle sleeve 800 is installed in rotation on the transmission shaft 300 by bearing, and the Moving plate 810 passes through institute
The shaft shoulder location and installation on transmission shaft 300 is stated on the transmission shaft 300, the electromagnetic yoke 820 is mounted on described by rivet
On Moving plate 810.
In one embodiment, the electromagnetic clutch 80 is electrically connected with the control device 40, the control device 40
It is also used to control the power-off of electromagnetic clutch 80 or is powered.The power-off of electromagnetic clutch 80 is controlled using control device 40 or is powered
To switch tractor to pilot steering or automatic driving mode, it is easy to use.
Above-mentioned tractor straight-line travelling control system can not only realize to fast and stable tractor pilot steering or automatic
The switching of driving mode, and compact overall structure, good reliability is versatile, convenient for disassembly and assembly, cheap, is suitable for not
With the tractor of model.
A kind of tractor straight-line travelling control method is provided in one embodiment, comprising the following steps:
Travel the traveling angle that angle detection device 10 detects tractor；
Control device 40 judges whether the traveling angle of tractor matches with initial angle, if the traveling angle of tractor with
Initial angle matching, then control device 40 controls driving device 20 and stops that steering column 90 is driven to rotate, if the traveling of tractor
Angle and initial angle mismatch, then control device 40 controls driving device 20 and driving steering column 90 just by transmission device 30
Turn or inverts so that the traveling angle of tractor is matched with initial angle.
Above-mentioned tractor straight-line travelling control method detects the traveling angle of tractor using traveling angle detection device 10
Degree, and judge whether the traveling angle of tractor matches with initial angle using control device 40.When the traveling angle of tractor
When matching with initial angle, control device 40 controls driving device 20 and stops the driving rotation of steering column 90, when the row of tractor
When sailing angle and initial angle mismatch, control device 40 controls driving device 20 and drives steering column 90 by transmission device 30
Forward or reverse so that the traveling angle of tractor is matched with initial angle, to maintain the traveling angle of tractor constant.It is logical
Crossing this mode can be realized the straight-line travelling of tractor, bring huge benefit for agricultural production.
As shown in connection with fig. 6, the tractor straight-line travelling control method, specifically includes the following steps:
If selecting automatic driving mode, control device 40 controls electromagnetic clutch 80 and is powered；
Travel the initial angle that angle detection device 10 detects tractor；
By time t1, the traveling angle of the traveling detection tractor of angle detection device 10；
Control device 40 judges whether the traveling angle of tractor matches with initial angle: if the traveling angle of tractor with
Initial angle matching, then control device 40 controls driving device 20 and stops that steering column 90 is driven to rotate, by time t2, traveling
The initial angle that angle detection device 10 detects tractor again is recycled.If the traveling angle of tractor and initial angle are not
Matching, then control device 40 controls driving device 20 by the driving of transmission device 30 steering column 90 forward or reverse so that dilatory
The traveling angle of machine is matched with initial angle.By time t3, travel angle detection device 10 and detect the initial of tractor again
Angle is recycled.
If selecting pilot steering mode, control device 40 controls electromagnetic clutch 80 and powers off.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of tractor straight-line travelling control system, which is characterized in that including travelling angle detection device, driving device, biography
Dynamic device and control device, the traveling angle detection device are used to detect the traveling angle of tractor, the driving device with
The transmission device is drivingly connected, and the transmission device is used to be sequentially connected with steering column, the traveling angle detection device,
The driving device is electrically connected with the control device respectively, if the control device is used to judge the traveling angle of tractor
It is matched with initial angle, controls the driving device and stop driving steering column rotation, if the control device is also used to judge
Traveling angle and the initial angle mismatch of tractor then control the driving device and are driving steering column just by transmission device
Turn or inverts so that the traveling angle of tractor is matched with initial angle.
2. tractor straight-line travelling control system according to claim 1, which is characterized in that the traveling angle detection dress
It sets including gyroscope, the gyroscope and the control device are electrically connected.
3. tractor straight-line travelling control system according to claim 1, which is characterized in that the driving device includes driving
Dynamic motor, the transmission device include transmission shaft, driving gear and driven gear, the output shaft of the driving motor and the biography
Moving axis is drivingly connected, and the driving gear is mounted on the transmission shaft, and the driven gear is used to be mounted on steering column,
The driving gear is engaged with the driven gear.
4. tractor straight-line travelling control system according to claim 3, which is characterized in that the driving device further includes
The output shaft of retarder, the driving motor is drivingly connected by the retarder and the transmission shaft.
5. tractor straight-line travelling control system according to claim 3, which is characterized in that it further include mounting base, it is described
Mounting base is equipped with first bearing and second bearing, and one end of the transmission shaft is installed in rotation in the first bearing,
The other end of the transmission shaft is installed in rotation in the second bearing.
6. tractor straight-line travelling control system according to claim 3, which is characterized in that further include the first locating part and
Second locating part, first locating part and second locating part interval are arranged, first locating part and second limit
Position part for being mounted on steering column, the driven gear be limited in first locating part and second locating part it
Between.
7. tractor straight-line travelling control system according to claim 3, which is characterized in that it further include electromagnetic clutch,
The electromagnetic clutch connects the transmission shaft and the driving gear, when electromagnetic clutch power-off, the driving tooth
Wheel is not rotated with the transmission shaft, and when the electromagnetic clutch is powered, the driving gear is rotated with the transmission shaft.
8. tractor straight-line travelling control system according to claim 7, which is characterized in that the electromagnetic clutch includes
Armature axle sleeve, Moving plate and electromagnetic yoke, the driving gear can be rotatably mounted at the armature shaft with the armature axle sleeve and put on,
The armature axle sleeve is installed in rotation on the transmission shaft, and the Moving plate can be rotatably mounted at described with the transmission shaft
On transmission shaft, the electromagnetic yoke is mounted on the Moving plate, when electromagnetic yoke power-off, the electromagnetic yoke and the armature shaft
Set does not attract, and when the electromagnetic yoke is powered, the electromagnetic yoke and the armature axle sleeve attract.
9. tractor straight-line travelling control system according to claim 7, which is characterized in that the electromagnetic clutch and institute
Control device electric connection is stated, the control device is also used to control the electromagnetic clutch power-off or is powered.
10. a kind of tractor straight-line travelling control method, which comprises the following steps:
Travel the traveling angle of angle detection device detection tractor；
Control device judges whether the traveling angle of tractor matches with initial angle, if the traveling angle and initial angle of tractor
Degree matching, then control device control driving device stops driving steering column rotation, if the traveling angle and initial angle of tractor
Degree mismatches, then control device control driving device is by transmission device driving steering column forward or reverse so that tractor
Traveling angle is matched with initial angle.
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| CN201811032779.XA CN109131556A (en) | 2018-09-05 | 2018-09-05 | Tractor straight-line travelling control system and method |
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| CN201811032779.XA CN109131556A (en) | 2018-09-05 | 2018-09-05 | Tractor straight-line travelling control system and method |
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