CN111196310B - Self-induction type reversing device and method for agricultural machinery electrically-driven steering wheel - Google Patents
Self-induction type reversing device and method for agricultural machinery electrically-driven steering wheel Download PDFInfo
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- CN111196310B CN111196310B CN202010070828.XA CN202010070828A CN111196310B CN 111196310 B CN111196310 B CN 111196310B CN 202010070828 A CN202010070828 A CN 202010070828A CN 111196310 B CN111196310 B CN 111196310B
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- steering wheel
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- speed reducing
- reducing motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- 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
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a self-induction type reversing device of an agricultural machinery electrically driven steering wheel and a realization method thereof, wherein the device comprises: steering wheel, steering wheel connecting seat, go up casing, lower casing, connecting seat down, still including setting up torque sensor, sliding ring, adapter sleeve, gear motor, the power mandrel in last, lower casing. When a user rotates the steering wheel by a force larger than that of the motor driving the steering wheel, the torque sensor on the rotating shaft of the steering wheel can detect the rotating torque of a hand, the system exits from an automatic driving mode and is switched into manual operation, so that the hand and the automatic free and smooth switching is realized, and the external action switching is avoided; the invention can assist the driver to complete the manual steering action in the manual state, thereby reducing the acting force required by the driver for steering and reducing the labor intensity of the driver; the slip ring is adopted to solve the problem of signal wire winding generated when the torque sensor rotates.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery steering mechanisms, and relates to a self-induction type steering device and method for an agricultural machinery electrically-driven steering wheel.
Background
With the development of science and technology, the intellectualization of agricultural machinery operation has been widely popularized and popularized abroad at present. As a big agricultural country in China, the intellectualization of agricultural machinery operation is still at a relatively low level compared with that of developed countries abroad. In recent years, the state attaches unprecedented importance to the intellectualization of precision agriculture and agricultural machinery operation. As an important component of accurate agriculture and intelligent operation of agricultural machinery, the agricultural machinery automatic navigation system is increasingly applied to production operation of agricultural machinery due to the advantages of improving operation efficiency, reducing labor intensity, improving operation safety of agricultural machinery and the like. The automatic steering wheel device has been widely regarded as a basic component in an autonomous navigation and autonomous operation system, and corresponding research and application are gradually developed.
At present, electric control steering actuating mechanisms of agricultural machines such as tractors are divided into two main types: 1. a direct drive or torque motor directly drives a steering wheel to steer; 2. the motor acceleration and deceleration mechanism drives the steering wheel to turn. However, the steering wheel directly driven by a direct drive or torque motor is expensive, high in energy consumption, high in heat productivity, complex in device structure, large in size, heavy in weight and high in later maintenance cost; the motor acceleration and deceleration mechanism drives the steering wheel to be switched between manual operation and automatic operation unsmooth and inconvenient operation, the rotating torque required by hands is large when the steering wheel is manually turned, so that a user is easy to fatigue, a blocking phenomenon exists in the switching process, the steering wheel is unsmooth when the steering wheel is automatically switched out in an emergency, and operation safety is caused to have certain hidden danger. Therefore, the conventional steering actuators have drawbacks.
Disclosure of Invention
In order to solve the problems, the invention discloses an agricultural machinery electric drive steering wheel self-induction type reversing device and an implementation method thereof, which can automatically sense the force and direction of manual action on a steering wheel during manual operation and realize auxiliary power-assisted steering.
In order to achieve the purpose, the invention provides the following technical scheme:
a self-induction type reversing device of an agricultural machinery electrically driven steering wheel comprises a steering wheel, a steering wheel connecting seat, an upper shell, a lower shell and a lower connecting seat from top to bottom, and further comprises a torque sensor, a sliding ring, a connecting sleeve, a speed reducing motor and a power spindle which are arranged in the upper shell and the lower shell, wherein the steering wheel is fixed on the steering wheel connecting seat; a stepped hole is formed in the connecting sleeve, a screw is arranged at the stepped hole, and the connecting sleeve and the torque sensor are fixed together through the screw; the upper part of the circumference of the connecting sleeve is provided with a threaded hole, the slip ring comprises a stator and a rotor, the upper part of the circumference of the rotor is provided with a positioning hole corresponding to the threaded hole of the connecting sleeve, a screw penetrates through the threaded hole and the positioning hole to fix the connecting sleeve and the slip ring rotor together, the stator is fixedly connected with a shell of the speed reducing motor, and a signal line of the torque sensor is connected with an input signal line of the rotor; a hollow hole is formed in the output shaft of the speed reducing motor, and a key slot is formed in the hollow hole; the upper part of the power mandrel is fixedly connected with the lower part of the connecting sleeve, the power mandrel penetrates through a hollow hole in an output shaft of the speed reducing motor and is circumferentially positioned through a key groove and a flat key, and the lower end of the power mandrel is fixedly connected with the lower connecting seat through a screw; and the slip ring stator output signal wire and the motor control signal wire are respectively connected to the controller.
Furthermore, the slip ring stator is fixed on the shell of the speed reducing motor through a limiting screw and a cushion column.
Furthermore, the fixed connection is a detachable fixed connection mode.
Furthermore, the lower end of the power mandrel is a flat position, and the power mandrel is circumferentially positioned through the flat position and the lower connecting seat.
Furthermore, the upper shell and the lower shell are fixedly connected through screws.
Furthermore, the lower end of the reversing device is fixedly connected with an agricultural machinery steering column.
The invention also provides a control method of the self-induction type reversing device of the agricultural machinery electrically driven steering wheel, which comprises the following steps:
automatic state: the speed reducing motor receives and executes a steering signal of the controller, drives the power mandrel matched with the speed reducing motor to rotate, and simultaneously drives the coaxial fixing piece to act along with the power mandrel, so that the change of the steering angle of the steering column of the steering wheel is realized; when a torque sensor on a steering wheel rotating shaft detects that the rotating torque of a hand is larger than the force of a motor driving a steering wheel, the system exits from an automatic driving mode and is switched into a manual state;
and (3) manual state: the driver rotates the steering wheel, the instantaneous acting force acting on the steering wheel drives the torque sensor below to do corresponding action, the torque sensor instantaneously senses the acting force and the direction, signal data are transmitted to the controller, the controller analyzes the force and judges the rotating direction, and sends a control signal to the speed reducing motor, the speed reducing motor is controlled to do corresponding action and execute corresponding steering information, the speed reducing motor executes the control information, the action of the output end of the speed reducing motor drives the power mandrel to act together, so that the steering wheel and the steering column are driven to follow up, and the change of the steering angle of the steering column of the steering wheel is realized.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. when the steering wheel is turned by the motor under the automatic state, the torque sensor on the rotating shaft of the steering wheel can detect the rotating torque of hands when a user rotates the steering wheel by a force larger than that of the motor for driving the steering wheel, the system exits from the automatic driving mode and is switched into manual operation, so that the hands and the hands are freely and smoothly switched automatically, and the switching of external actions is avoided.
2. The invention can assist the driver to complete the manual steering action in the manual state, reduce the acting force required by the driver for steering and reduce the labor intensity of the driver.
3. The slip ring is adopted to solve the problem of signal wire winding generated when the torque sensor rotates.
4. Based on the automatic switching mode, a steering wheel driver can rob and control the steering wheel at any time in the automatic driving mode, the process time for switching to manual operation is short, actions can be timely responded and executed by the system controller, and the operation safety is improved.
5. The steering device adopts the direct-current speed reducing motor, avoids using electromagnetic clutch, and has the advantages of simple structure, light weight, convenience in installation, low later maintenance cost, high safety, small heat productivity and the like compared with the traditional steering device in China.
Drawings
Fig. 1 is a schematic structural view of a self-inductance type steering device of an agricultural mechanical electric driving steering wheel provided by the invention.
Fig. 2 is a schematic diagram of a manual reversing control.
Fig. 3 is a schematic structural diagram of the connecting sleeve, wherein (a) is a side sectional view of the connecting sleeve, (b) is another side sectional view of the connecting sleeve, and (c) is a top sectional view of the connecting sleeve.
Description of reference numerals:
1-steering wheel connecting seat, 2-screw, 3-screw, 4-steering wheel, 5-torque sensor, 6-set screw, 7-upper shell, 8-slip ring, 9-limit screw, 10-cushion column, 11-speed reduction motor, 12-lower connecting seat, 13-power mandrel, 14-screw, 15-lower shell, 16-flat key, 17-countersunk screw, 18-screw, 19-connecting sleeve, 20-flat key, 21-boss, 22-hollow hole, 23-threaded hole, 24-stepped hole and 25-lower hole.
Detailed Description
The technical solutions provided by the present invention will be described in detail below with reference to specific examples, and it should be understood that the following specific embodiments are only illustrative of the present invention and are not intended to limit the scope of the present invention.
A self-induction type reversing device of an agricultural machinery electrically driven steering wheel comprises a steering wheel 4, a steering wheel connecting seat 1, a torque sensor 5, a sliding ring 8, a speed reducing motor 11, a power spindle 13, an upper shell 7, a lower shell 15 and a lower connecting seat 12. The steering wheel 4 is coaxially and fixedly connected with the torque sensor 5 and the power spindle 13, and the torque sensor 5, the slip ring 8 and the power spindle 13 are fixedly connected through a connecting sleeve. The output power end of the speed reducing motor 11 rotates to drive the power mandrel 13 and other parts connected with the power mandrel 13 to follow up, and the lower end of the device is fixedly connected with an agricultural machine steering column, so that the agricultural machine steering column also follows up.
Specifically, the steering wheel 4 is fixed on a steering wheel connecting seat 1 through screws 3, through holes are uniformly distributed on the outer side of the steering wheel connecting seat, and a plurality of screws 3 penetrate through the through holes to fix the steering wheel and the connecting seat together. A through hole with a key is arranged at the center of the steering wheel connecting seat. The connecting seat is provided with a key center hole, is matched with the upper shaft and the key groove of the torque sensor 5 to realize circumferential fixation, and is fixed by a screw 2, and a gasket is arranged below the screw 2.
The upper end shaft and the lower end shaft of the torque sensor are both provided with key grooves, and the torque sensor is circumferentially fixed with the upper fitting piece and the lower fitting piece through key and hole matching. Specifically, the upper end of the torque sensor is fixedly connected with the steering wheel connecting seat, and the lower end of the torque sensor is fixedly connected with the connecting sleeve. The torque sensor adopts a static torque sensor, and the sensor has the advantages of low price, small volume and high precision. The sensor is used for sensing the change of the torque moment and converting the physical change of the torque force into an accurate electric signal. In the manual driving mode, the torque sensor receives acting force and direction from the steering wheel, and corresponding data information is transmitted to the system controller. In this example, the torque sensor is a JNT-T15 NM model static torque sensor and the controller is a BLD-120A model torque sensor, although other models may be used as desired.
The upper and lower shells are connected and fixed by screws. The upper part of the upper shell 7 is provided with a big hole for penetrating through the excircle of the torque sensor 5, and the space between the big hole and the excircle of the torque sensor is dustproof through felt; the lower part of the lower shell is provided with a big hole for penetrating through the positioning boss 21 part of the speed reducing motor 11, and the axle centers of the two holes of the upper shell and the lower shell are concentric. The two shell materials are high-strength aluminum materials, and in order to ensure long-term oxidation resistance of the surfaces, the surfaces are subjected to anodic oxidation treatment.
The slip ring is arranged between the torque sensor and the speed reduction motor. The connecting sleeve 19 is matched with the torque sensor 5 through a key to realize circumferential positioning, the fastening is realized through the screw 18, and the slip ring rotor is fixed with the connecting sleeve 19 through the set screw 6, so that the rotor is connected with the torque sensor 5 in a follow-up mode. The slip ring is composed of a stator and a rotor, and a signal wire of the torque sensor 5 is connected with an input signal wire of the slip ring rotor. The slip ring stator is fixed on a shell of a speed reducing motor 11 through a limiting screw 9 and a cushion column 10, so that the stator and the motor shell are relatively static, and an output signal wire of the stator is led out from the shell and is connected to a system controller. When the torque sensor and the steering wheel rotate along with the power mandrel driven by the power output end of the speed reducing motor, the slip ring can solve the problem of signal wire follow-up winding of the steering wheel follower torque sensor 5.
Two through threaded holes 23 are formed in the upper portion of the circumference of the connecting sleeve 19 and correspond to the positioning holes in the upper portion of the circumference of the rotor of the sliding ring 8, the outer circle of the connecting sleeve is in positioning fit with the center of an inner hole of the rotor of the sliding ring, and the fastening screw 6 penetrates through the threaded holes and the positioning holes to fix the connecting sleeve and the rotor of the sliding ring together. A step hole 24 is processed at the center of the connecting sleeve 19, and a through key groove is formed. The upper part is matched and positioned with a shaft and a key groove at the lower end of the torque sensor 5 through a hole and a key 20, and the connecting sleeve and the torque sensor are fixed together through a screw 18; the lower hole 25 is fitted to the upper end shaft of the power spindle 13 and fixed by a countersunk screw 17.
The speed reducing motor consists of a motor and a speed reducer part. The power output of the speed reducing motor is realized by a hollow hole 22 arranged on the output shaft and a key slot arranged at the hole. The reducer part of the reducing motor takes the hollow hole as the center and is evenly distributed with mounting holes connected with the outside, and the mounting holes can be fixed with the shell. The motor control signal line is connected to the controller. In the invention, the speed reducing motor adopts a large-torque brushless hollow direct current motor. The output torque of the motor completely meets the steering torque requirement of the steering wheel, so that further torque increase is not needed in a subsequent structure. The efficiency of the speed reduction brushless direct current motor is far higher than that of a direct drive motor and a torque motor which are commonly used in other schemes. Therefore, under the condition of relative output power, the power consumption is relatively low, and the power consumption is about half of that of the latter in normal use, so that the later use cost is low and the heat generation amount is small.
The excircle of the power mandrel is matched with the inner hole of the connecting sleeve 19 to realize center positioning. The upper part of the circumference of the power mandrel is provided with a threaded hole passing through the center, and the power mandrel is fastened with a connecting sleeve 19 through a countersunk head screw 17; the power mandrel penetrates through a hollow hole of an output shaft of the speed reducing motor, key grooves are respectively processed on the matching parts of the power mandrel and the shaft hole of the speed reducing motor 11, and circumferential positioning of two matching parts (the power mandrel and the output shaft of the speed reducing motor) is realized through a flat key 16; the lower end of the power spindle is matched with the lower connecting seat 12, a part of circle is milled at the shaft end, the power spindle is processed into a flat position, circumferential positioning is realized through the flat position and the lower connecting seat 12, and a power output hole of the speed reducing motor 11, the lower connecting seat 12 and the power spindle 16 are fixed through a screw 14. The power spindle material is 45 steel. And (4) quenching and tempering.
The lower connecting seat is a transition piece for connecting the power mandrel and the agricultural machinery steering column. A central hole with a flat position is processed at the center of the lower connecting seat 12 and is fixed at the lower end of the power mandrel 13 through a screw 14; evenly distributed threaded holes are machined in the outer side of the end face of the lower connecting seat 12, and the lower connecting seat can be fixed with an agricultural machinery steering column connector through the threaded holes.
The invention also provides an implementation method of the device, which specifically comprises the following steps:
in an automatic state, the speed reducing motor receives and executes a steering signal of the controller, drives the power spindle matched with the speed reducing motor to rotate, and drives the coaxial fixing piece (comprising the lower connecting seat and the steering column) to act along with the power spindle when the power spindle rotates, so that the change of the reversing angle of the steering column of the steering wheel is realized. Meanwhile, if the user rotates the steering wheel with a force larger than that of the motor driving the steering wheel, the torque sensor on the rotating shaft of the steering wheel detects the rotating torque of a hand, the system exits the automatic driving mode, and the manual operation is switched.
In a manual state, the upper part of the torque sensor is fixedly connected with the steering wheel through the connecting seat, and the lower part of the torque sensor is fixedly connected with the steering column through the coaxial connecting piece. When a driver rotates a steering wheel, instantaneous acting force acting on the steering wheel drives a torque sensor below the steering wheel to do corresponding action, the torque sensor instantaneously senses the acting force and the direction at the moment, signal data are transmitted to a controller, the controller processes information, analyzes the force and judges the rotating direction, and sends a control signal to a speed reducing motor, the speed reducing motor is controlled to do corresponding action and execute corresponding steering information, the speed reducing motor executes the control information, the action of the output end of the speed reducing motor drives components connected with the speed reducing motor to act together, a power spindle is driven to rotate, the power spindle drives coaxial fixing pieces (the steering wheel, an upper connecting seat, the torque sensor, a connecting sleeve, a lower connecting seat and a steering column of the steering wheel) to act together, and therefore, the driver is assisted to finish manual steering action (as shown in figure 2).
The technical means disclosed in the invention scheme are not limited to the technical means disclosed in the above embodiments, but also include the technical scheme formed by any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and such improvements and modifications are also considered to be within the scope of the present invention.
Claims (6)
1. The utility model provides an agricultural machinery electrically driven steering wheel self-induction formula switching-over device which characterized in that: the steering wheel comprises a steering wheel, a steering wheel connecting seat, an upper shell, a lower shell and a lower connecting seat from top to bottom, and further comprises a torque sensor, a slip ring, a connecting sleeve, a speed reducing motor and a power mandrel which are arranged in the upper shell and the lower shell, wherein the steering wheel is fixed on the steering wheel connecting seat; a stepped hole is formed in the connecting sleeve, a screw is arranged at the stepped hole, and the connecting sleeve and the torque sensor are fixed together through the screw; the upper part of the circumference of the connecting sleeve is provided with a threaded hole, the slip ring comprises a stator and a rotor, the upper part of the circumference of the rotor is provided with a positioning hole corresponding to the threaded hole of the connecting sleeve, a screw passes through the threaded hole and the positioning hole to fix the connecting sleeve and the rotor of the slip ring together, the stator is fixedly connected with a shell of the speed reducing motor, and a signal line of the torque sensor is connected with an input signal line of the rotor; a hollow hole is formed in the output shaft of the speed reducing motor, and a key slot is formed in the hollow hole; the upper part of the power mandrel is fixedly connected with the lower part of the connecting sleeve, the power mandrel penetrates through a hollow hole in an output shaft of the speed reducing motor and is circumferentially positioned through a key groove and a flat key, and the lower end of the power mandrel is fixedly connected with the lower connecting seat through a screw; and an output signal wire of a stator of the slip ring and a motor control signal wire are respectively connected to the controller.
2. The agricultural machine electrically driven steering wheel self-inductance type reversing device according to claim 1, characterized in that: and the stator of the slip ring is fixed on the shell of the speed reducing motor through a limiting screw and a cushion column.
3. The agricultural machine electrically driven steering wheel self-inductance type reversing device according to claim 1, characterized in that: the fixed connection is a detachable fixed connection mode.
4. The agricultural machine electrically driven steering wheel self-inductance type reversing device according to claim 1, characterized in that: the lower end of the power mandrel is a flat position, and the power mandrel is circumferentially positioned through the flat position and the lower connecting seat.
5. The agricultural machine electrically driven steering wheel self-inductance type reversing device according to claim 1, characterized in that: the lower end of the reversing device is fixedly connected with the agricultural machinery steering column.
6. A control method of an agricultural machinery electrically driven steering wheel self-inductance type reversing device, which is used for controlling the agricultural machinery electrically driven steering wheel self-inductance type reversing device in any one of claims 1 to 5, and comprises the following steps:
automatic state: the speed reducing motor receives and executes a steering signal of the controller, drives the power mandrel matched with the speed reducing motor to rotate, and simultaneously drives the coaxial fixing piece to act along with the power mandrel, so that the change of the steering angle of the steering column of the steering wheel is realized; when a torque sensor on a steering column of a steering wheel detects that the rotating torque of a hand is larger than the force of a motor driving the steering wheel, the system exits from an automatic driving mode and is switched into a manual state;
and (3) manual state: the driver rotates the steering wheel, the instantaneous acting force acting on the steering wheel drives the torque sensor below the steering wheel to do corresponding action, the torque sensor instantaneously senses the acting force and the direction, signal data are transmitted to the controller, the controller analyzes the force and judges the rotating direction, and sends a control signal to the speed reducing motor, the speed reducing motor is controlled to do corresponding action and execute corresponding steering information, the speed reducing motor executes the control signal, the action of the output end of the speed reducing motor drives the power mandrel to act together, so that the steering column of the steering wheel is driven to follow up, and the change of the steering angle of the steering column of the steering wheel is realized.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010070828.XA CN111196310B (en) | 2020-01-21 | 2020-01-21 | Self-induction type reversing device and method for agricultural machinery electrically-driven steering wheel |
| PCT/CN2020/084826 WO2021147182A1 (en) | 2020-01-21 | 2020-04-15 | Agricultural machinery electric drive steering wheel self-inductance type reversing device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010070828.XA CN111196310B (en) | 2020-01-21 | 2020-01-21 | Self-induction type reversing device and method for agricultural machinery electrically-driven steering wheel |
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| Publication Number | Publication Date |
|---|---|
| CN111196310A CN111196310A (en) | 2020-05-26 |
| CN111196310B true CN111196310B (en) | 2022-06-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010070828.XA Active CN111196310B (en) | 2020-01-21 | 2020-01-21 | Self-induction type reversing device and method for agricultural machinery electrically-driven steering wheel |
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| Country | Link |
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| CN (1) | CN111196310B (en) |
| WO (1) | WO2021147182A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112124217A (en) * | 2020-10-27 | 2020-12-25 | 嘉兴市乐裕机电设备有限公司 | Steering wheel with display screen |
| CN114194277B (en) * | 2021-11-26 | 2022-10-18 | 山东科翔智能科技有限公司 | Agricultural machinery autopilot device based on EPS |
| CN115027550B (en) * | 2022-06-14 | 2024-04-12 | 中国第一汽车股份有限公司 | Steering wheel, control method thereof and vehicle |
| CN118254821A (en) * | 2022-12-28 | 2024-06-28 | 比亚迪股份有限公司 | Vehicle control method, automatic driving controller, steering controller and vehicle |
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| Publication number | Publication date |
|---|---|
| WO2021147182A1 (en) | 2021-07-29 |
| CN111196310A (en) | 2020-05-26 |
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