CN111806557A - Absolute value encoder steering control motor - Google Patents
Absolute value encoder steering control motor Download PDFInfo
- Publication number
- CN111806557A CN111806557A CN202010757229.5A CN202010757229A CN111806557A CN 111806557 A CN111806557 A CN 111806557A CN 202010757229 A CN202010757229 A CN 202010757229A CN 111806557 A CN111806557 A CN 111806557A
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- China
- Prior art keywords
- rotating
- absolute value
- piece
- value encoder
- steering control
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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
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/0235—Determination of steering angle by measuring or deriving directly at the electric power steering motor
-
- 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
- B62D5/0409—Electric motor acting on the steering column
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention discloses a steering control motor of an absolute value encoder, which comprises an upper end cover, a supporting piece, a motor connecting piece and a lower end cover which are sequentially arranged from top to bottom; the upper end cover, the supporting piece and the motor connecting piece are coaxially provided with bearing holes, and a bearing piece and a rotating piece connected with an inner ring of the bearing piece are arranged in each bearing hole; the device also comprises a rotation angle measuring mechanism which is arranged between the motor connecting piece and the lower end cover and connected with the rotating piece to detect the rotation angle of the rotating piece. The steering control motor of the absolute value encoder provided by the invention can be fixedly connected with the agricultural machinery steering column through the rotating part, and the change of the rotating angle of the rotating part, namely the agricultural machinery steering column, is measured through the rotating angle measuring mechanism arranged in the motor, so that the problem that the angle sensor is easy to damage is effectively solved.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to a steering control motor with an absolute value encoder.
Background
At present, in the field of automatic driving, automation and intellectualization of agriculture are more and more common, and automatic driving of agricultural machinery can save manpower and reduce labor intensity, and the agricultural machinery is a trend of future development.
The existing automatic driving systems in the market all need to measure the angular rotation change of the corresponding tire and transmit and feed back angle signals, and angle sensors and non-contact angle sensors are commonly used in the market at present and are used for measuring the angular value of the tire rotation and the change of the vehicle body acceleration to feed back the corresponding angular rotation information. The angle change of the existing agricultural machinery vehicle has the following defects: no matter which external installation mode is used, a corresponding angle sensor or a non-contact angle sensor needs to be additionally installed on the vehicle, and because the environment between fields is complex, the additionally installed device is easy to damage, so that the automatic driving system loses the original driving direction.
Therefore, how to avoid the damage of the angle sensor becomes a technical problem to be solved in the field of automatic driving of agricultural machinery.
Disclosure of Invention
The invention aims to provide an absolute value encoder steering control motor which can be fixedly connected with an agricultural machinery steering column by means of a rotating part, and the change of the rotating angle of the rotating part, namely the agricultural machinery steering column, is measured by a rotating angle measuring mechanism arranged in the motor, so that the problem that an external angle sensor is easy to damage is effectively solved.
In order to achieve the purpose, the invention provides an absolute value encoder steering control motor, which comprises an upper end cover, a supporting piece, a motor connecting piece and a lower end cover which are sequentially arranged from top to bottom; the upper end cover, the supporting piece and the motor connecting piece are coaxially provided with bearing holes, and a bearing piece and a rotating piece connected with an inner ring of the bearing piece are arranged in each bearing hole; the device also comprises a rotation angle measuring mechanism which is arranged between the motor connecting piece and the lower end cover and connected with the rotating piece to detect the rotation angle of the rotating piece.
Optionally, the rotation angle measuring mechanism is a multi-turn absolute value encoder.
Optionally, the rotation angle measuring mechanism is fixed to the motor connecting piece; the rotating part is coaxially connected with a rotating fixing part, the rotating fixing part is fixedly connected with a main gear, and the corner measuring mechanism is connected with a driven gear meshed with the main gear.
Optionally, the rotating member is of a cylindrical structure, and a plurality of rotating member threaded holes which are uniformly distributed along the circumferential direction and extend along the axial direction are formed in the top and the bottom of the rotating member.
Optionally, a grating disk is fixedly connected between the main gear and the rotating fixing member, and the grating disk further includes a grating read-write device fixed to the motor connecting member and used for reading the change of the rotation angle of the grating disk.
Optionally, a boss is disposed on a peripheral portion of the rotating member, the rotating fixing member includes a sleeve portion that is sleeved and retained on a peripheral portion of the boss, and a disc fixing portion that is fixedly connected to the sleeve portion, and the main gear is fixed to the disc fixing portion.
Optionally, the sleeve portion is provided with through holes which are uniformly distributed along the circumferential direction and penetrate through the sleeve portion along the radial direction, and the rotating fixing member is fixed relative to the rotating member through the through holes and the jackscrews.
Optionally, the lower end cover is provided with a through hole for the rotating member to penetrate through, and a framework oil seal is arranged in the through hole.
Optionally, a connector is further disposed on one side of the lower end cover, and the connector is used for connecting and transmitting the rotation angle change measured by the rotation angle measuring mechanism and the grating read-write device to an external control system.
Optionally, the lower end surface of the lower end cover is provided with a threaded mounting hole for matching with the motor mounting bracket.
Compared with the prior art, the absolute value encoder steering control motor provided by the invention comprises an upper end cover, a supporting piece, a motor connecting piece and a lower end cover which are sequentially arranged from top to bottom, wherein bearing holes are formed in the upper end cover, the supporting piece and the motor connecting piece, and a rotating piece fixedly connected with an agricultural machine steering column is arranged in each bearing hole. The built-in corner measuring mechanism effectively avoids the problem that the corner measuring mechanism is damaged due to the fact that the corner measuring mechanism touches complex terrains or sundries, and improves the reliability of automatic driving.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is an exploded view of an absolute value encoder steering control motor provided in accordance with an embodiment of the present invention;
FIG. 2 is a general view of an absolute value encoder steering control motor according to an embodiment of the present invention;
fig. 3 is a bottom view of the lower end cap when it is not assembled.
Wherein:
1-upper end cover, 2-supporting piece, 3-motor connecting piece, 4-bearing piece, 5-rotating piece, 6-rotating fixed piece, 7-grating read-write device, 8-grating disc, 9-main gear, 10-lower end cover, 11-rotation angle measuring mechanism, 111-coder fixing screw, 12-slave gear, 121-slave gear fixing screw, 13-framework oil seal, 14-plug piece, 15-thread mounting hole and 16-rotating piece thread hole.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 to 3, fig. 1 is an exploded view of a steering control motor of an absolute value encoder according to an embodiment of the present invention, fig. 2 is an overall view of the steering control motor of the absolute value encoder according to the embodiment of the present invention, and fig. 3 is a bottom view of the steering control motor without a bottom cover.
The absolute value encoder steering control motor comprises an upper end cover 1, a supporting piece 2, a motor connecting piece 3 and a lower end cover 10, wherein the upper end cover 1, the supporting piece 2 and the motor connecting piece 3 are fixedly connected and form a closed inner cavity with the lower end cover 10; wherein, the upper end cover 1, the coaxial dead eye that runs through is seted up to support piece 2 and motor connecting piece 3, the dead eye sets up bearing piece 4, the inner circle of bearing piece 4 is equipped with rotates piece 5, the inner chamber between motor connecting piece 3 and the end cover sets up corner measuring mechanism 11, measure the corner change that rotates piece 5 through built-in corner measuring mechanism 11, can install this absolute value encoder steering control motor on the agricultural machinery, through the steering column rigid coupling of rotating piece 5 with the agricultural machinery, through the steering column, rotate the corner information transmission to corner measuring mechanism 11 of piece 5 with the agricultural machinery, through embedding corner measuring mechanism 11, the risk that angle sensor damaged has effectively been solved, promote the reliability of autopilot.
The absolute value encoder steering control motor provided by the invention is described in more detail with reference to the accompanying drawings and specific embodiments.
In the specific embodiment provided by the invention, the absolute value encoder steering control motor comprises an upper end cover 1 and a lower end cover 10, a support part 2 and a motor connecting part 3 are arranged between the upper end cover 1 and the lower end cover 10, the upper end cover 1, the support part 2 and the motor connecting part 3 are connected together from top to bottom through screws, in order to improve the waterproof and dustproof performance, the screws are connected with the upper end cover 1 from bottom to top through the motor connecting part 3 and the support part 2, and the lower end cover 10 is connected with the motor connecting part 3 through screws, so that a hollow inner cavity is formed between the motor connecting part 3 and the lower end cover 10.
The upper end cover 1, the supporting piece 2 and the motor connecting piece 3 are provided with a coaxially-penetrating bearing hole, a bearing piece 4 is arranged in the bearing hole, a rotating piece 5 is arranged in the hollow inner cavity and the inner ring of the bearing piece 4, the corner measuring mechanism 11 is arranged in the hollow inner cavity and is rotationally connected with the rotating piece 5, the rotating piece 5 is connected with the agricultural machinery steering column, and the corner measuring mechanism 11 is used for measuring the corner information of the rotating piece 5, namely the agricultural machinery steering column, so that the automatic driving system can control the agricultural machinery to automatically advance. By adopting the built-in corner measuring mechanism 11, the damage of sundries such as straw and the like in complex terrains and fields to the corner measuring mechanism 11 can be effectively avoided.
In an alternative embodiment, the rotation angle measuring mechanism 11 employs an absolute value encoder, and more specifically, a multi-turn absolute value encoder, and the rotating member 5 and the multi-turn absolute value encoder may be connected by a transmission mechanism such as a gear, and the rotation of the rotating member 5 is transmitted to the multi-turn absolute value encoder by the transmission mechanism.
In the above embodiment, the multi-turn absolute value encoder, that is, the rotation angle measuring mechanism 11, is fixed on the motor connecting part 3 through two encoder fixing screws 111, the motor connecting part 3 is coaxially connected with the rotating fixing part 6, the rotating fixing part 6 is fixedly connected to the rotating part 5 and can rotate synchronously with the rotating part 5, on the other hand, the rotating fixing part 6 is used for fixing the main gear 9, the main gear 9 is driven to rotate synchronously with the rotating part 5, that is, the agricultural machine steering column, the multi-turn absolute value encoder is connected with the main gear 9 through the slave gear 12, and the slave gear 12 is fixed on the multi-turn absolute value encoder through the slave gear fixing screws 121, so that the rotation of the multi-turn absolute value encoder is used for measuring the.
Particularly, the rotating part 5 is of a cylindrical structure, the top and the bottom of the cylindrical structure are provided with rotating part threaded holes 16, rotating part threaded holes 16 extend along the axial direction of the rotating part 5, and the rotating part threaded holes 16 and screws can be fixedly connected with the agricultural machinery steering column to synchronously rotate along with the agricultural machinery steering column. The rotating part 5 is provided with a boss, and the rotating fixing part 6 is sleeved on the periphery of the rotating part 5 and is clamped at the boss of the rotating part 5; the rotating fixing member 6 may have a structure in which a sleeve portion and a disk fixing portion fixedly connected to the sleeve portion are coupled to each other, the sleeve portion is fitted over the rotating member 5 and is locked to a boss of the rotating member 5, and the sleeve portion (the rotating fixing member 6) is fixed to the rotating member 5 by a jackscrew by forming a through hole penetrating the sleeve portion in the radial direction thereof. The disc fixing portion is used for mounting and fixing the main gear 9. The steering column drives the rotating part 5 to rotate, the rotating part 5 drives the rotating fixing part 6 to rotate, the rotating fixing part 6 drives the main gear 9, and the main gear 9 drives the slave gear 12 and the multi-turn absolute value encoder to complete rotation angle information measurement, which can refer to fig. 1 and fig. 3.
In the above embodiment, the sleeve portion and the rotating member 5 can be fixed by the jackscrew to rotate synchronously, and the inner wall of the sleeve portion and the surface of the rotating member 5 can be provided with the key groove to fix the sleeve portion and the rotating member in the circumferential direction by the circumferential positioning key.
In order to optimize the above embodiment and improve the rotation angle measurement accuracy, the absolute value encoder steering control motor provided by the present invention further includes a grating disk 8 for detecting the rotation angle change of the rotating member 5 and a grating read-write device 7, the grating disk 8 is fixed between the main gear 9 and the disk fixing portion of the rotating fixing member 6, and the grating read-write device 7 is fixed on the motor connecting member 3 and is disposed at the periphery of the grating disk 8. At this time, the rotation angle change information can be more accurately acquired according to the initial position measured by the multi-turn absolute value encoder and the rotation angle increment measured by the grating disk 8 and the grating read-write device 7.
The rotation angle information measured by the rotation angle measuring mechanism 11, the grating disk 8 and the grating read-write device 7 is sent to a plug connector 14 arranged on the lower end cover 10 to be connected with a CPU chip on a circuit board of the automatic driving control system, and the rotation angle information is transmitted to the CPU chip for processing. The plug connector 14 is specifically arranged on one side of the bottom of the lower end cover 10, and the plug connector 14 is of a PIN structure and can be quickly connected with an external control system. The central authorities of lower extreme cover 10 correspond and are equipped with the hole of wearing out that supplies to rotate 5 to wear to establish, are equipped with skeleton oil blanket 13 in the hole of wearing out, and skeleton oil blanket 13 is inlayed in the bottom surface of lower extreme cover 10, plays sealed, prevents the effect that outside rainwater got into.
The lower end cover 10 is further provided with a plurality of groups of threaded mounting holes 15 for being matched with the motor mounting bracket to fix the absolute value encoder steering control motor on the motor mounting bracket, and the rotating piece 5 is fixedly connected with the agricultural machinery steering column through a rotating piece threaded hole 16.
It is noted that, in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.
The absolute value encoder steering control motor provided by the invention is described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. An absolute value encoder steering control motor is characterized by comprising an upper end cover (1), a support piece (2), a motor connecting piece (3) and a lower end cover (10) which are sequentially arranged from top to bottom; the upper end cover (1), the supporting piece (2) and the motor connecting piece (3) are coaxially provided with bearing holes, and a bearing piece (4) and a rotating piece (5) connected with an inner ring of the bearing piece (4) are arranged in each bearing hole; the device is characterized by further comprising a rotation angle measuring mechanism (11) which is arranged between the motor connecting piece (3) and the lower end cover (10) and connected with the rotating piece (5) to detect the rotation angle of the rotating piece (5).
2. The absolute value encoder steering control motor according to claim 1, characterized in that the rotation angle measuring mechanism (11) is a multi-turn absolute value encoder.
3. The absolute value encoder steering control motor according to claim 2, wherein the rotation angle measuring mechanism (11) is fixed to the motor attachment member (3); the rotating part (5) is coaxially connected with a rotating fixing part (6), the rotating fixing part (6) is fixedly connected with a main gear (9), and a rotation angle measuring mechanism (11) is connected with a driven gear (12) meshed with the main gear (9).
4. The absolute value encoder steering control motor according to claim 3, wherein the rotating member (5) is a cylindrical structure, and the top and the bottom of the rotating member (5) are provided with a plurality of rotating member threaded holes (16) which are uniformly distributed along the circumferential direction and extend along the axial direction.
5. The absolute value encoder steering control motor according to claim 3 or 4, wherein a grating disk (8) is fixedly connected between the main gear (9) and the rotating fixing member (6), and the absolute value encoder steering control motor further comprises a grating read-write device (7) which is fixed on the motor connecting member (3) and is used for reading the rotation angle change of the grating disk (8).
6. The absolute value encoder steering control motor according to claim 5, wherein a boss is provided on a peripheral portion of the rotating member (5), the rotating member (6) includes a sleeve portion that is fit-locked to the peripheral portion of the boss, and a disk fixing portion that is fixed to the sleeve portion, and the main gear (9) is fixed to the disk fixing portion.
7. The absolute value encoder steering control motor according to claim 6, wherein the sleeve portion is provided with through holes which are uniformly distributed in the circumferential direction and which radially penetrate the sleeve portion, and the rotating and fixing member (6) is fixed to the rotating member (5) through the through holes and a jackscrew.
8. The absolute value encoder steering control motor according to claim 7, wherein the lower end cover (10) is provided with a through hole for the rotation member (5) to pass through, and a skeleton oil seal (13) is arranged in the through hole.
9. The absolute value encoder steering control motor according to claim 7, wherein a plug-in unit (14) is further disposed on one side of the lower end cover (10), and the plug-in unit (14) is used for connecting and transmitting the rotation angle change measured by the rotation angle measuring mechanism (11) and the grating reading and writing device (7) to an external control system.
10. The absolute value encoder steering control motor according to claim 9, wherein the lower end surface of the lower end cover (10) is provided with a threaded mounting hole (15) for being matched with a motor mounting bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010757229.5A CN111806557A (en) | 2020-07-31 | 2020-07-31 | Absolute value encoder steering control motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010757229.5A CN111806557A (en) | 2020-07-31 | 2020-07-31 | Absolute value encoder steering control motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111806557A true CN111806557A (en) | 2020-10-23 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010757229.5A Pending CN111806557A (en) | 2020-07-31 | 2020-07-31 | Absolute value encoder steering control motor |
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| CN (1) | CN111806557A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112923895A (en) * | 2021-01-22 | 2021-06-08 | 武汉木仓科技股份有限公司 | General angle detection device and vehicle |
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| US20030019113A1 (en) * | 2001-07-26 | 2003-01-30 | Valeo Schalter Und Sensoren Gmbh | Steering column module with steering angle sensor having low sensitivity to steering column radial run-out |
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| CN107662220A (en) * | 2017-07-12 | 2018-02-06 | 北京军立方机器人科技有限公司 | A kind of joint of mechanical arm and mechanical arm |
| KR20180107804A (en) * | 2017-03-22 | 2018-10-04 | 전자부품연구원 | Integrated drive module |
| CN208698854U (en) * | 2018-09-05 | 2019-04-05 | 中信戴卡股份有限公司 | A kind of automobile steering disc assembly and automobile |
| CN209805714U (en) * | 2019-06-20 | 2019-12-17 | 天津塔米智能科技有限公司 | motor closed-loop control system and robot |
| CN210431137U (en) * | 2019-09-12 | 2020-04-28 | 杭州程天科技发展有限公司 | Large-torque motor integrated with speed reducer and encoder |
| CN210773989U (en) * | 2019-10-16 | 2020-06-16 | 嘉兴星耘导航技术有限公司 | Rice transplanter non-angle sensor |
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2020
- 2020-07-31 CN CN202010757229.5A patent/CN111806557A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030019113A1 (en) * | 2001-07-26 | 2003-01-30 | Valeo Schalter Und Sensoren Gmbh | Steering column module with steering angle sensor having low sensitivity to steering column radial run-out |
| KR20110070146A (en) * | 2009-12-18 | 2011-06-24 | 엘지이노텍 주식회사 | Electric power steering motor |
| CN203496981U (en) * | 2013-10-21 | 2014-03-26 | 北京农业智能装备技术研究中心 | Electric steering control device |
| CN105466385A (en) * | 2015-12-31 | 2016-04-06 | 北京经纬恒润科技有限公司 | Mounting structure for absolute position encoder and servo system |
| KR20180107804A (en) * | 2017-03-22 | 2018-10-04 | 전자부품연구원 | Integrated drive module |
| CN107650142A (en) * | 2017-07-12 | 2018-02-02 | 哈尔滨工大特种机器人有限公司 | A kind of servo drive system being applied in joint of mechanical arm |
| CN107662220A (en) * | 2017-07-12 | 2018-02-06 | 北京军立方机器人科技有限公司 | A kind of joint of mechanical arm and mechanical arm |
| CN208698854U (en) * | 2018-09-05 | 2019-04-05 | 中信戴卡股份有限公司 | A kind of automobile steering disc assembly and automobile |
| CN209805714U (en) * | 2019-06-20 | 2019-12-17 | 天津塔米智能科技有限公司 | motor closed-loop control system and robot |
| CN210431137U (en) * | 2019-09-12 | 2020-04-28 | 杭州程天科技发展有限公司 | Large-torque motor integrated with speed reducer and encoder |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112923895A (en) * | 2021-01-22 | 2021-06-08 | 武汉木仓科技股份有限公司 | General angle detection device and vehicle |
| CN112923895B (en) * | 2021-01-22 | 2022-12-13 | 武汉木仓科技股份有限公司 | General angle detection device and vehicle |
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Application publication date: 20201023 |