CN111516747B - Direction control mechanism of zero-rotation-angle electric mower - Google Patents
Direction control mechanism of zero-rotation-angle electric mower Download PDFInfo
- Publication number
- CN111516747B CN111516747B CN202010215399.0A CN202010215399A CN111516747B CN 111516747 B CN111516747 B CN 111516747B CN 202010215399 A CN202010215399 A CN 202010215399A CN 111516747 B CN111516747 B CN 111516747B
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- Prior art keywords
- steering
- rotation
- driving motor
- steering wheel
- hall sensor
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Classifications
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- 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
- B62D1/04—Hand wheels
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
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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
- B62D5/0418—Electric motor acting on road wheel carriers
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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
Abstract
The invention discloses a direction control mechanism of a zero-rotation-angle electric mower, which comprises a first driving motor used for controlling a left rear wheel; a second drive motor for controlling the right rear wheel; two front wheels which are mounted at the front part of the mower in a universal way, and a steering wheel; the Hall sensing mechanism is connected with the steering wheel; the main machine controller is arranged on the mower, the Hall sensing mechanism is driven to transmit signals in different states to the main machine controller through the rotation state of the steering wheel, and the main machine controller further controls the rotation speeds of the first driving motor and the second driving motor to enable a rotation speed difference to be formed between the first driving motor and the second driving motor, so that the mower is controlled to steer. The steering wheel control mechanism adopts a novel steering wheel control mode, realizes zero rotation angle through the steering control mechanism, can be operated by a single hand of an operator, is simple to operate, is convenient to operate, greatly reduces labor intensity, and is more comfortable and convenient to use.
Description
Technical Field
The invention relates to the technical field of garden equipment, in particular to a direction control mechanism of a zero-rotation-angle riding type electric mower.
Background
The existing lawn mowers mainly include a hand-push type lawn mower and a riding type lawn mower. Among them, the riding mower is popular among consumers due to the convenience of driving and the comfort of riding. At present, the turning radius of a riding type mower adopting a steering wheel to control the driving direction is up, the riding type mower is inconvenient to use, and dead corners are easy to remain when a lawn is trimmed. Wherein the zero-turn riding type mower is more favored by consumers due to flexible operation, convenient steering and no dead angle in lawn trimming. The traditional zero-rotation-angle riding type mower on the market adopts a control mode of two operating levers, the traveling direction of the mower is controlled by utilizing the displacement difference of the two operating levers, the operation mode needs to be operated by two hands simultaneously, the operation is complex, hands are not easy to get on, the traveling direction can be guaranteed only by frequently and alternately operating the two hands of an operator, the working strength and the operation difficulty of the operator are invisibly increased, and the operator can feel that both arms are sour and easy to fatigue after working for a period of time.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the direction control mechanism of the zero-turn riding type mower which is people-oriented and convenient to drive, a novel steering wheel control mode is adopted, the zero-turn is realized through the direction control mechanism, an operator can operate with one hand, the operation is simple, the operation is convenient, the labor intensity is greatly reduced, and the use is more comfortable and convenient.
The technical scheme adopted by the invention for solving the technical problems is as follows: the direction control mechanism of the zero-rotation-angle electric mower comprises a first driving motor used for controlling a left rear wheel; a second drive motor for controlling the right rear wheel; two front wheels which are mounted at the front part of the mower in a universal way, and a steering wheel; the Hall sensing mechanism is connected with the steering wheel; the main machine controller is arranged on the mower, the Hall sensing mechanism is driven to transmit signals in different states to the main machine controller through the rotation state of the steering wheel, and the main machine controller further controls the rotation speeds of the first driving motor and the second driving motor to enable a rotation speed difference to be formed between the first driving motor and the second driving motor, so that the mower is controlled to steer.
In the above technical scheme, further, the hall sensing mechanism includes a support, a steering shaft, a steering gear, a steering fluted disc, and a hall sensor, the steering fluted disc is rotatably connected to the support through a rotating shaft, the steering shaft is rotatably connected to the support, the steering gear on the steering shaft is engaged with the steering fluted disc, the hall sensor is fixedly mounted to the support, a magnetic steel is fixedly mounted to one side of the steering fluted disc close to the hall sensor, the steering wheel is fixedly connected to the steering shaft and drives the steering fluted disc to rotate through the steering shaft, so that the hall sensor and the magnetic steel generate relative displacement, and the hall sensor generates a linear voltage signal and transmits the linear voltage signal to the host controller.
In the above technical solution, further, a gear ratio of the steering gear to the steering fluted disc is 1: 10. The steering wheel rotates 320 degrees left and right respectively, and the steering fluted disc correspondingly rotates 32 degrees left and right respectively. Because the transmission ratio of the steering gear to the steering fluted disc is 1:10, the hand feeling moment change is not obvious in the 320-degree rotation change of the steering wheel.
In the above technical solution, further, the rotation range of the steering fluted disc is 0 to 64 °.
In the above technical solution, further, when the steering wheel is rotated to the left in the initial state, the output voltage of the hall sensor is linearly decreased from 2.4V to 0.8V, and when the steering wheel is rotated to the right in the initial state, the output voltage of the hall sensor is linearly increased from 2.4V to 4.8V.
In the above technical solution, further, when the output voltage of the hall sensor linearly decreases from 2.4V to 0.8V, the host controller controls the rotation of the first driving motor to linearly decrease to zero, and when the output voltage of the hall sensor linearly increases from 0.8V to 2.4V, the host controller controls the rotation of the first driving motor to linearly increase until the rotation speed of the first driving motor is consistent with the rotation speed of the second driving motor; when the output voltage of the Hall sensor is linearly increased from 2.4V to 4.8V, the host controller controls the rotation of the second driving motor to be linearly reduced until the rotation is zero, and when the output voltage of the Hall sensor is linearly reduced from 4.8V to 2.4V, the host controller controls the rotation of the second driving motor to be linearly increased until the rotation speed is consistent with the rotation speed of the first driving motor.
In the above technical scheme, further, the lawn mower further comprises a cantilever mechanism for connecting the steering wheel and the lawn mower, a housing is arranged outside the bracket, the housing and the bracket are fixed together, and the housing is mounted on the cantilever mechanism.
Among the above-mentioned technical scheme, furtherly, the cover is equipped with the torsional spring in the pivot of turning to the fluted disc, the torsional spring is used for the drive turn to the fluted disc and resume to initial condition, thereby the drive steering wheel self return when not controlling guarantees that the lawn mower straight line traveles.
In the above technical solution, further, a hinge base is disposed on the mower, the steering wheel is connected to the hinge base through the cantilever mechanism, the cantilever mechanism includes a first cantilever section connected to the steering wheel and a second cantilever section hinged to the hinge base, the first cantilever section and the second cantilever section are connected through a control box, the first cantilever section is rotatably connected to the control box and uses a cantilever axis at a connection position of the first cantilever section and the control box as a rotation axis, and the second cantilever section is rotatably connected to the hinge base and uses a center line of a connection hole of the hinge base as a rotation axis.
In the above technical solution, further, the first cantilever section is L-shaped.
In the above technical scheme, furthermore, a limiting block is arranged at one end of the first cantilever section, which is connected with the control box, a limiting groove is arranged in the control box, and the limiting block moves in the limiting groove.
In the above technical solution, further, the second cantilever section is rotatably connected to the free bearing by a locking bolt, the locking bolt penetrates through the second cantilever section and is connected to the free bearing by a thread, the locking bolt is provided with a knob, and the relative position of the second cantilever section and the free bearing can be fixed by rotating the knob.
In the above technical solution, further, the rotation range of the first cantilever section and the control box is 90 ° to 100 °.
In the above technical solution, further, the rotation range of the second cantilever section connected to the hinge base is 90 °.
The invention has the beneficial effects that: firstly, the control mode is different from the traditional control mode of double control levers, the control mode of the steering wheel is adopted, the driving and steering can be controlled by one hand, and the operation is simpler and more convenient; secondly, the Hall sensing system is adopted, the steering wheel has small rotating torque, is sensitive to control, is flexible to rotate, is fast and labor-saving, and overcomes the defects of large rotating torque, labor-consuming rotation and steering reaction lag of the traditional steering mechanism of the steering wheel; and thirdly, the zero-turning effect which cannot be achieved by the traditional steering wheel steering mower is realized, and the man-machine combination is more reasonable.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic structural diagram of a hall sensing mechanism of the present invention.
FIG. 2 is a schematic view of the connection between the steering gear and the steering toothed disc of the present invention.
Fig. 3 is a schematic view of the overall structure of the mower of the present invention.
Fig. 4 is a schematic view of another angular mechanism of the hall sensing mechanism of the present invention.
Fig. 5 is a schematic structural view of the steering wheel and cantilever mechanism of the present invention.
Fig. 6 is a structural schematic view of the steering wheel of the mower in a turned-folded state.
Figure 7 is a schematic illustration of the rotational connection of the first cantilever segment of the present invention to the control box.
Figure 8 is a schematic view of the pivotal connection of the second boom section to the hinge base of the present invention.
In the figure, 1, a mower, 2, a front wheel, 3, a steering wheel, 4, a Hall sensing mechanism, 5, a support, 6, a steering shaft, 7, a steering gear, 8, a steering gear disc, 9, a Hall sensor, 10, a rotating shaft, 11, magnetic steel, 12, a cantilever mechanism, 121, a first cantilever section, 122, a second cantilever section, 13, a shell, 14, a torsion spring, 15, a control box, 16, a hinged support, 17, a limiting block, 18, a limiting groove, 19, a locking bolt, 20, a knob, 21, a first return plate and 22, a second return plate.
Detailed Description
Referring to fig. 1-4, a direction control mechanism for a zero rotation angle electric mower includes a first driving motor (not shown) for controlling a left rear wheel; a second drive motor (not shown in the drawings) for controlling the right rear wheel; two front wheels 2 which are arranged at the front part of the mower 1 in a universal way, and a steering wheel 3; a hall sensing mechanism 4 connected to the steering wheel 3; and a host controller (not shown in the figure) mounted on the mower 1, wherein the hall sensing mechanism 4 is prompted to transmit signals in different states to the host controller through the rotation state of the steering wheel 3, and the host controller further controls the rotation speeds of the first driving motor and the second driving motor to form a rotation speed difference between the first driving motor and the second driving motor, so that the mower is controlled to steer.
Specifically, hall sensing mechanism 4 includes support 5, steering spindle 6, steering gear 7, turns to fluted disc 8, hall sensor 9, turn to fluted disc 8 and rotate through pivot 10 and connect on the support 5, steering spindle 6 rotates and connects on the support 5, on the steering spindle 6 steering gear 7 with turn to fluted disc 8 and mesh mutually, hall sensor 9 fixed mounting be in on the support 5, turn to fluted disc 8 and be close to fixed mounting has magnet steel 11 on one side of hall sensor 9, steering wheel 3 fixed connection be in on the steering spindle 6 and pass through steering spindle 6 drives turn to fluted disc 8 and rotate, thereby make hall sensor 9 with magnet steel 11 produces relative displacement, hall sensor 9 produces linear voltage signal and transmits to on the host controller.
The rotation range of the steering fluted disc 8 is 0-64 degrees, and the gear ratio of the steering gear 7 to the steering fluted disc 8 is 1: 10. The steering wheel 3 rotates 320 degrees left and right respectively, and the steering gear disc 8 correspondingly rotates 32 degrees left and right respectively. Because the transmission ratio of the steering gear 7 to the steering fluted disc 8 is 1:10, the change of the hand feeling moment is not obvious in the rotation change of the steering wheel 3 at 320 degrees, so that the steering is easier.
The working process of the Hall sensing mechanism 4 is as follows: when the steering wheel 3 is rotated leftwards in the initial state, the output voltage of the hall sensor 9 is linearly reduced from 2.4V to 0.8V, and when the steering wheel 3 is rotated rightwards in the initial state, the output voltage of the hall sensor 9 is linearly increased from 2.4V to 4.8V. When the output voltage of the Hall sensor 9 is linearly reduced from 2.4V to 0.8V, the host controller controls the rotation of the first driving motor to be linearly reduced to zero, and when the output voltage of the Hall sensor 9 is linearly increased from 0.8V to 2.4V, the host controller controls the rotation of the first driving motor to be linearly increased to be consistent with the rotation speed of the second driving motor; when the output voltage of the Hall sensor 9 linearly increases from 2.4V to 4.8V, the host controller controls the rotation of the second driving motor to linearly decrease until the rotation is zero, and when the output voltage of the Hall sensor 9 linearly decreases from 4.8V to 2.4V, the host controller controls the rotation of the second driving motor to linearly increase until the rotation speed of the second driving motor is consistent with the rotation speed of the first driving motor.
Referring to fig. 4, further, a torsion spring 14 is sleeved on the rotating shaft 10 of the steering fluted disc 8, and the torsion spring 14 is used for driving the steering fluted disc 8 to return to an initial state, so as to drive the steering wheel 3 to automatically return when not being controlled, and ensure that the mower 1 travels linearly. Specifically, a first return plate 21 is fixed on one side of the steering toothed disc 8, a second return plate 22 is fixed on the inner wall of the bracket 5 opposite to the side of the steering toothed disc 8, two end portions of the torsion spring 14 are respectively fastened to the first return plate 21 and the second return plate 22, when the steering wheel 3 is steered, the steering shaft 6 drives the steering toothed disc 8 to rotate, so that the first return plate 21 and the second return plate 22 are relatively displaced, and after the steering wheel 3 is loosened, the torsion spring 14 drives the first return plate 21 and the second return plate 22 to return to an initial state, so as to drive the steering toothed disc 8 to return to the initial state.
Referring to fig. 3 and 5-8, the lawn mower 1 further includes a cantilever mechanism 12 for connecting the steering wheel 3 and the lawn mower 1, a housing 13 is disposed outside the bracket 5, the housing and the bracket 5 are fixed together, and the housing 13 is mounted on the cantilever mechanism 12. Specifically, the mower 1 is provided with a hinge base 16, the steering wheel 3 is connected to the hinge base 16 through the cantilever mechanism 12, the cantilever mechanism 12 includes a first cantilever section 121 connected to the steering wheel 3 and a second cantilever section 122 hinged to the hinge base 16, the first cantilever section 121 and the second cantilever section 122 are connected through a control box 15, the first cantilever section 121 is rotatably connected to the control box 15 and uses a cantilever axis at a connection position of the first cantilever section and the control box 15 as a rotation axis, and the second cantilever section 122 is rotatably connected to the hinge base 16 and uses a center line of a connecting hole of the hinge base 16 as a rotation axis.
The first cantilever section 121 is L-shaped, a limiting block 17 is arranged at one end of the first cantilever section 121 connected with the control box 15, a limiting groove 18 is arranged in the control box 15, and the limiting block 17 moves in the limiting groove 18; the second cantilever section 122 is rotatably connected to the hinge base by a locking bolt 19, the locking bolt 19 passes through the second cantilever section 122 and is screwed to the hinge base 16, a knob 20 is disposed on the locking bolt 19, and the relative position of the second cantilever section 122 and the hinge base 16 can be fixed by rotating the knob 20. The rotation range of the first cantilever segment 121 and the control box 15 is 90-100 °, and the rotation range of the second cantilever segment 122 connected to the hinge base 16 is 90 °. The arrangement of the mechanism has the following advantages: firstly, an operator (especially a person with a large weight) can conveniently get on or off the mower from the front or the side, and the inconvenience of getting on or off caused by a fixed steering wheel mechanism is avoided; the steering wheel can adapt to the requirements of operators with different heights, and the operator can conveniently adjust the distance between the body and the steering wheel and adjust the steering wheel to the most comfortable operation position, so that the fatigue caused by discomfort of the operation position is reduced.
The above description is only an embodiment of the present invention, and is not intended to limit the present invention in any way, and simple modifications, equivalent changes and modifications may be made without departing from the technical scope of the present invention.
Claims (5)
1. The direction control mechanism of the zero-rotation-angle electric mower comprises a first driving motor used for controlling a left rear wheel; a second drive motor for controlling the right rear wheel; universal two front wheels of installing in the lawn mower front portion, its characterized in that: the steering wheel is also included; the Hall sensing mechanism is connected with the steering wheel; the host controller is arranged on the mower and used for prompting the Hall sensing mechanism to transmit signals in different states to the host controller through the rotation state of the steering wheel, and the host controller further controls the rotating speeds of the first driving motor and the second driving motor;
the Hall sensing mechanism comprises a support, a steering shaft, a steering gear, a steering fluted disc and a Hall sensor, wherein the steering fluted disc is rotationally connected to the support through a rotating shaft, the steering shaft is rotationally connected to the support, the steering gear on the steering shaft is meshed with the steering fluted disc, the Hall sensor is fixedly installed on the support, magnetic steel is fixedly installed on one side, close to the Hall sensor, of the steering fluted disc, the steering wheel is fixedly connected to the steering shaft and drives the steering fluted disc to rotate through the steering shaft, so that the Hall sensor and the magnetic steel generate relative displacement, and linear voltage signals generated by the Hall sensor are transmitted to the host controller;
when the steering wheel is rotated leftwards in the initial state, the output voltage of the Hall sensor is linearly reduced from 2.4V to 0.8V, and when the steering wheel is rotated rightwards in the initial state, the output voltage of the Hall sensor is linearly increased from 2.4V to 4.8V;
when the output voltage of the Hall sensor is linearly reduced from 2.4V to 0.8V, the host controller controls the rotation of the first driving motor to be linearly reduced to zero, and when the output voltage of the Hall sensor is linearly increased from 0.8V to 2.4V, the host controller controls the rotation of the first driving motor to be linearly increased until the rotation speed of the first driving motor is consistent with that of the second driving motor; when the output voltage of the Hall sensor is linearly increased from 2.4V to 4.8V, the host controller controls the rotation of the second driving motor to be linearly reduced until the rotation is zero, and when the output voltage of the Hall sensor is linearly reduced from 4.8V to 2.4V, the host controller controls the rotation of the second driving motor to be linearly increased until the rotation speed is consistent with the rotation speed of the first driving motor.
2. The direction control mechanism of the zero rotation angle electric mower according to claim 1, wherein: the gear ratio of the steering gear to the steering fluted disc is 1: 10.
3. The direction control mechanism of the zero rotation angle electric mower according to claim 1, wherein: the rotating range of the steering fluted disc is 0-64 degrees.
4. The direction control mechanism of the zero rotation angle electric mower according to claim 1, wherein: the lawn mower is characterized by further comprising a cantilever mechanism used for connecting the steering wheel and the lawn mower, a shell is arranged outside the support and fixed with the support, and the shell is mounted on the cantilever mechanism.
5. The direction control mechanism of the zero rotation angle electric mower according to claim 1, wherein: the steering gear disc is connected with the steering gear disc in a sleeved mode, and the steering gear disc is connected with the steering gear disc in a sleeved mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010215399.0A CN111516747B (en) | 2020-03-25 | 2020-03-25 | Direction control mechanism of zero-rotation-angle electric mower |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010215399.0A CN111516747B (en) | 2020-03-25 | 2020-03-25 | Direction control mechanism of zero-rotation-angle electric mower |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111516747A CN111516747A (en) | 2020-08-11 |
| CN111516747B true CN111516747B (en) | 2021-04-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010215399.0A Active CN111516747B (en) | 2020-03-25 | 2020-03-25 | Direction control mechanism of zero-rotation-angle electric mower |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20220127465A (en) * | 2021-03-11 | 2022-09-20 | 주식회사 만도 | Steering control apparatus and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102008033389A1 (en) * | 2008-07-16 | 2010-01-21 | Still Gmbh | Method for controlling a steering device for an industrial truck |
| WO2012118561A1 (en) * | 2011-03-03 | 2012-09-07 | Flowersip, L.L.C. | Moveable steering and universal charger |
| CN103101568B (en) * | 2011-11-13 | 2016-05-25 | 湖南晟通科技集团有限公司 | Electric motor car turning sensing device |
| KR20190074333A (en) * | 2017-12-19 | 2019-06-28 | 한국체인공업 주식회사 | Traveling work vehicle comprising inclinaiton adjustable deck |
| CN210047533U (en) * | 2019-06-14 | 2020-02-11 | 平湖炜业电器有限公司 | Electronic steering centering mechanism of baby carrier |
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