CN111903294A - Control device for unmanned agricultural machinery - Google Patents

Control device for unmanned agricultural machinery Download PDF

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Publication number
CN111903294A
CN111903294A CN202010820308.6A CN202010820308A CN111903294A CN 111903294 A CN111903294 A CN 111903294A CN 202010820308 A CN202010820308 A CN 202010820308A CN 111903294 A CN111903294 A CN 111903294A
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CN
China
Prior art keywords
agricultural machine
control device
unmanned
gear
screw assembly
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Pending
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CN202010820308.6A
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Chinese (zh)
Inventor
司剑
马飞
徐纪洋
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Shanghai Lianshi Navigation Technology Co ltd
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Shanghai Lianshi Navigation Technology Co ltd
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Priority to CN202010820308.6A priority Critical patent/CN111903294A/en
Publication of CN111903294A publication Critical patent/CN111903294A/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C11/00—Transplanting machines
    • A01C11/003—Transplanting machines for aquatic plants; for planting underwater, e.g. rice
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C11/00—Transplanting machines
    • A01C11/02—Transplanting machines for seedlings
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D45/00—Harvesting of standing crops
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0003—Atomisers or mist blowers
    • A01M7/0014—Field atomisers, e.g. orchard atomisers, self-propelled, drawn or tractor-mounted
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/06—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing
    • B60K17/08—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing of mechanical type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/15—Agricultural vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/15—Agricultural vehicles
    • B60W2300/158—Harvesters
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Soil Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Insects & Arthropods (AREA)
  • Pest Control & Pesticides (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Power Engineering (AREA)
  • Transmission Devices (AREA)

Abstract

The invention discloses a control device for unmanned agricultural machinery, which comprises a driving motor (1) capable of realizing positive and negative rotation, a driving gear connected with a motor shaft of the driving motor (1), a driven gear meshed with the driving gear, a ball screw (5) connected with the driven gear, a thread assembly (4) with internal threads capable of being matched with the ball screw (5), and a shell (3) arranged outside the ball screw (5) and the thread assembly (4), wherein the shell (3) is connected with a fixed frame of the agricultural machinery, the end part of the thread assembly (4) is connected with a structural part of parts of the agricultural machinery, which need to be shifted, and the number of the control devices corresponds to the number of the parts of the agricultural machinery, which need to be shifted. The control device for the unmanned agricultural machinery enables the corresponding operation gear and the corresponding speed gear of the agricultural machinery to be controlled, and enables the agricultural machinery to realize unmanned control.

Description

Control device for unmanned agricultural machinery
Technical Field
The invention relates to the technical field of agricultural non-road unmanned driving, in particular to a control device for agricultural machinery unmanned driving.
Background
The food is eaten by the ancient people as the day, and China is also a big agricultural country, so the agriculture is very important for the development of people.
The development of the field of agricultural unmanned driving is also well-established under the influence of the field of agricultural automatic driving. Taking a transplanter as an example, the agricultural unmanned transplanter can really release labor force, really release both hands, reduce manpower, save cost and improve operation efficiency.
However, the existing transplanter can only realize automatic driving or auxiliary straight-going, and the transplanter control device has the defects that: a manpower is needed to stand behind to place the seedling tray independently, and a person is specially needed to drive the rice transplanter, so that a user does not need to hold the steering wheel all the time, the user is not tired, and the number of personnel cannot be reduced; and the long-time operation of pulling the handle of the seedling table or stepping on the accelerator by feet can lead the limbs to have the acid and numb condition, which is not beneficial to the long-time field work.
In summary, how to effectively solve the problems that the agricultural machine can only realize automatic driving or auxiliary straight-ahead movement, and can not really realize unmanned control and the like is a problem which needs to be solved by technical personnel in the field at present.
Disclosure of Invention
The invention aims to provide a control device for unmanned agricultural machinery, which controls an operation gear and a speed gear corresponding to the agricultural machinery to enable the agricultural machinery to realize unmanned control.
In order to solve the technical problems, the invention provides the following technical scheme:
the utility model provides a controlling means for agricultural machine unmanned driving, including can realize just reversing driving motor, with driving gear that driving motor's motor shaft is connected, with driving gear meshing's driven gear, with ball screw, internal thread that driven gear connects can with ball screw matched with screw assembly, and set up in the outside casing of ball screw and screw assembly, the casing is connected with agricultural machine's fixed frame, screw assembly's tip and agricultural machine need shift the structure of part and be connected, controlling means's quantity and agricultural machine need shift the quantity of part and correspond.
Preferably, the threaded assembly and the internal cavity of the housing are a clearance fit.
Preferably, the angle of rotation of the threaded assembly is less than 360 °.
Preferably, the inner chamber wall of casing be provided with the parallel spacing groove of screw thread subassembly axis direction, be provided with the helicla flute on screw thread subassembly's the periphery, the helix angle of helicla flute is less than 360, the spacing groove with the ball has been blocked in the helicla flute.
Preferably, the inner chamber wall of casing be provided with the parallel spacing groove of screw thread subassembly axis direction, be provided with on screw thread subassembly's the periphery with spacing groove matched with spacing boss, spacing boss block in the spacing inslot.
Preferably, the inner chamber wall of casing has many parallel arrangement's spacing groove, threaded component's periphery has many spacing bosss.
Preferably, two end faces of the limit groove are respectively positioned at the inner sides of the shortest stroke and the longest stroke of the threaded component.
Preferably, the stroke of the threaded assembly is 0-10 cm.
Preferably, the rear end of the shell is provided with a tail end hole position used for being connected with a fixed frame of an agricultural machine;
the end of the threaded assembly is provided with a head end hole position used for being connected with a structural part of the agricultural machine needing the gear shifting component.
Preferably, the hole at the tail end of the shell is connected with a fixed frame of the agricultural machine through a first structural member, and the hole at the head end of the threaded assembly is connected with a structural member of a part of the agricultural machine needing shifting through a second structural member.
The invention provides a control device for unmanned agricultural machinery, which comprises a driving motor, a driving gear, a driven gear, a ball screw, a thread assembly and a shell. The driving motor is a motor capable of realizing forward and reverse rotation, and not only can rotate forward, but also can realize reverse drive and reverse motion. The driving gear is connected with a motor shaft of the driving motor, the ball screw is connected with the driven gear, and the driven gear is meshed with the driving gear. The connection mode of the driving gear and the motor shaft of the driving motor and the connection mode of the ball screw and the driven gear are usually key connection. The driving motor drives the driving gear to rotate, and the driving gear drives the driven gear and the ball screw connected with the driven gear to rotate. One end of the threaded component, which is close to the ball screw, is provided with a threaded hole, threads can be matched with the ball screw, and the ball screw can drive the threaded component to move transversely when rotating, for example, the threaded component can be driven to move outwards when the driving motor rotates forwards, and vice versa, the threaded component moves inwards. The shell is arranged outside the ball screw and the threaded assembly, the axial relative position of the ball screw and the shell is relatively fixed, and the shell has a protection effect on the ball screw and the threaded assembly.
The shell is connected with a fixed frame of the agricultural machine, and the position of the shell is relatively fixed after the shell is installed, for example, the shell is fixedly connected with the static position of the agricultural machine such as a rice transplanter and the like, so that the tail end is ensured to be fixed firmly. The end part of the threaded component is connected with a structural part of the agricultural machine needing a gear shifting part, and the agricultural machine needing the gear shifting part can be a seedling table, a gear or an accelerator and the like. The number of the control devices corresponds to the number of the parts needing to be shifted of the agricultural machine, and the corresponding parts are driven to shift through the control devices, so that the gears corresponding to the parts needing to be shifted are controlled without people. The driving motor can be driven reversely, so that manual and automatic switching can be realized, the condition that the ball screw is pushed and pulled immovably can not exist, the state of unmanned control can be realized, and only software is needed to send an instruction at the control end.
By applying the technical scheme provided by the embodiment of the invention, the driving motor and the ball screw can move forward and backward, so that the seedling stage gear of the agricultural machinery such as the rice transplanter can be controlled, and the seedling stage gear can be controlled without people; the accelerator gear of agricultural machinery such as a transplanter can also be controlled, so that the accelerator gear can be controlled without people, and the speed gear corresponding to the transplanter can be controlled. Because agricultural machine's such as transplanter seedling platform and throttle obtain unmanned control, under the condition of installing automatic driving system additional, and then agricultural machine such as transplanter realizes unmanned control, can carry out operation work under the unmanned mode condition, realize unmanned driving, under operating condition, need not to control the seedling platform, need not control speed, under seedling or the sufficient state of pesticide, only need alone put the seedling can, really accomplish the liberation labour, really accomplished release both hands, reduce the manpower, and the cost is saved, the efficiency of operation is improved.
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 some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a control device for unmanned agricultural machinery according to an embodiment of the present invention.
The drawings are numbered as follows:
the device comprises a driving motor 1, a tail end hole position 2, a shell 3, a threaded component 4, a ball screw 5 and a head end hole position 6.
Detailed Description
The core of the invention is to provide a control device for the unmanned driving of the agricultural machinery, which controls the corresponding operation gear and the corresponding speed gear of the agricultural machinery and enables the agricultural machinery to realize the unmanned control.
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.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a control device for unmanned agricultural machinery according to an embodiment of the present invention.
In a specific embodiment, the control device for the unmanned agricultural machine comprises a driving motor 1 capable of realizing positive and negative rotation, a driving gear connected with a motor shaft of the driving motor 1, a driven gear meshed with the driving gear, a ball screw 5 connected with the driven gear, a threaded assembly 4 with internal threads capable of being matched with the ball screw 5, and a shell 3 arranged outside the ball screw 5 and the threaded assembly 4, wherein the shell 3 is connected with a fixed frame of the agricultural machine, the end part of the threaded assembly 4 is connected with a structural part of a part of the agricultural machine, which needs to be shifted, and the number of the control device corresponds to the number of the parts of the agricultural machine, which need to be shifted.
In the above structure, the control device for unmanned agricultural machinery comprises a driving motor 1, a driving gear, a driven gear, a ball screw 5, a screw assembly 4 and a housing 3.
The driving motor 1 is a motor capable of realizing forward and reverse rotation, and can realize not only forward rotation, but also reverse drive and reverse motion.
The driving gear is connected with a motor shaft of the driving motor 1, the ball screw 5 is connected with a driven gear, and the driven gear is meshed with the driving gear. The connection of the driving gear to the motor shaft of the driving motor 1 and the connection of the ball screw 5 to the driven gear are usually keyed. The driving motor 1 drives the driving gear to rotate, and the driving gear drives the driven gear and the ball screw 5 connected with the driven gear to rotate.
One end of the threaded component 4 close to the ball screw 5 is provided with a threaded hole, threads can be matched with the ball screw 5, and the ball screw 5 can drive the threaded component 4 to move transversely when rotating, for example, the threaded component 4 can be driven to move outwards when the driving motor 1 rotates forwards, and vice versa, the threaded component can move inwards.
The shell 3 is arranged outside the ball screw 5 and the threaded component 4, the axial relative position of the ball screw 5 and the shell 3 is relatively fixed, and the shell 3 has a protection effect on the ball screw 5 and the threaded component 4.
The shell 3 is connected with a fixed frame of the agricultural machine, and the position of the shell 3 is relatively fixed after the installation is finished, for example, the shell is fixedly connected with a static position of the agricultural machine such as a rice transplanter and the like, so that the tail end is ensured to be fixed firmly.
The end part of the threaded component 4 is connected with a structural part of a part needing to be shifted of the agricultural machine, and the part needing to be shifted of the agricultural machine can be a seedling table, a gear or an accelerator and the like. The number of the control devices corresponds to the number of the parts needing to be shifted of the agricultural machine, and the corresponding parts are driven to shift through the control devices, so that the gears corresponding to the parts needing to be shifted are controlled without people. The driving motor 1 can be driven reversely, so that manual and automatic switching can be realized, the condition that the ball screw 5 is pushed and pulled immovably can not exist, the unmanned control state can be realized, and only software is needed to send an instruction at a control end.
For example, the lifting and descending gears of the seedling table of the seedling planting machine are controlled, so that the seedling table is automatically lifted and descended, and unmanned seedling planting is realized. And the other one is that according to the difference of the structure of the rice transplanter, the corresponding push rod motor controls an acceleration and deceleration gear, or a pedal accelerator controls the gear, the gear is driven to increase or decrease, and the accelerator is driven to advance or stop, so that the unmanned walking is realized.
By applying the technical scheme provided by the embodiment of the invention, the driving motor 1 and the ball screw 5 can move forward and backward, so that the seedling stage of the agricultural machinery such as the rice transplanter can be controlled, and the seedling stage can be controlled without people; the accelerator gear of agricultural machinery such as a transplanter can also be controlled, so that the accelerator gear can be controlled without people, and the speed gear corresponding to the transplanter can be controlled. Because agricultural machine's such as transplanter seedling platform and throttle obtain unmanned control, under the condition of installing automatic driving system additional, and then agricultural machine such as transplanter realizes unmanned control, can carry out operation work under the unmanned mode condition, realize unmanned driving, under operating condition, need not to control the seedling platform, need not control speed, under seedling or the sufficient state of pesticide, only need alone put the seedling can, really accomplish the liberation labour, really accomplished release both hands, reduce the manpower, and the cost is saved, the efficiency of operation is improved.
On the basis of each above-mentioned specific embodiment, the external dimension of screw assembly 4 and the size of 3 inner chambers of casing equal, and the inner chamber of screw assembly 4 and casing 3 is clearance fit, and the size in clearance can be 0.2mm, makes things convenient for screw assembly 4 to install 3 inner chambers of casing, and 3 inner chambers of casing have the guide effect to screw assembly 4, reduce screw assembly 4 and radially rock.
On the basis of the above embodiments, the rotation angle of the screw assembly 4 is less than 360 °, and when the rotation angle of the screw assembly 4 exceeds 360 °, the movement precision of the screw assembly 4 cannot be accurately controlled, and the unmanned control device of the agricultural machine is disabled, and the failure is irreversible.
The above-described way of turning the threaded assembly 4 by less than 360 deg. comprises at least two solutions,
in the first case, the inner cavity wall of the shell 3 is provided with a limit groove parallel to the axis direction of the threaded component 4, a spiral groove is arranged on the periphery of the threaded component 4, the spiral angle of the spiral groove is smaller than 360 degrees, and balls are clamped in the limit groove and the spiral groove.
In the above structure, the inner cavity wall of the housing 3 is provided with a limiting groove, and the limiting groove is parallel to the axial direction of the threaded component 4, that is, the limiting groove is the same as the moving direction of the threaded component 4.
The periphery of the threaded component 4 is provided with a spiral groove, the spiral angle of the spiral groove is smaller than 360 degrees, and the length of the spiral groove is smaller than 4 circles of the threaded component.
The ball is clamped in the limiting groove and the spiral groove, the ball is clamped by the limiting groove and the spiral groove, and the ball can only move in the groove. That is to say at threaded component 4 removal in-process, the ball moves between spacing groove and the helicla flute, and when threaded component 4 had the rotation, the ball can only move in the rotation angle internal motion of helicla flute, and turned angle can not exceed 360, ensures that threaded component 4's turned angle is less than 360, guarantees threaded component 4's removal precision.
In the second condition, the inner chamber wall of the shell 3 is provided with a limit groove parallel to the axis direction of the threaded component 4, a limit boss matched with the limit groove is arranged on the periphery of the threaded component 4, and the limit boss is clamped in the limit groove.
In the structure, the inner cavity wall of the shell 3 is provided with a limit groove, and the limit groove is parallel to the axial direction of the threaded component 4.
The periphery of the threaded component 4 is provided with a limiting boss, and the limiting boss is parallel to the axis direction of the threaded component 4, namely the limiting boss is the same as the moving direction of the threaded component 4.
The limiting boss is matched with the limiting groove, and the limiting boss is clamped in the limiting groove and can move along the limiting groove. The direction of spacing boss and spacing groove is the same with threaded component 4's moving direction, and the structure and the relation of connection of spacing boss and spacing groove restrict threaded component 4 and can only follow axial direction and remove, can not take place to rotate, prevent that threaded component 4 from taking place the rotation problem, guarantee threaded component 4's removal precision.
Further optimize above-mentioned technical scheme, the inner chamber wall of casing 3 has many parallel arrangement's spacing groove, has many spacing bosss in screw thread subassembly 4's the periphery, and screw thread subassembly 4 is equivalent to the integral key shaft this moment, and many spacing bosss can be inserted in many spacing inslots, and many spacing bosss and spacing groove cooperate to prevent that a spacing boss and spacing groove cooperation from becoming invalid, multiple protection, the reliability is higher. It should be noted that the number of the limiting bosses and the limiting grooves is not limited, and may be two, three or more, and all fall within the protection scope of the present invention.
In another more reliable embodiment, on the basis of any one of the above embodiments, two end faces of the limit groove are respectively located inside the shortest stroke and the longest stroke of the threaded component 4, that is, the length of the limit groove is smaller than the stroke of the threaded component 4, and the threaded component 4 cannot reach the positions of the shortest stroke and the longest stroke. When the threaded component 4 cannot reach the positions with the shortest stroke and the longest stroke, the threaded component 4 only moves linearly along the axis direction, and cannot rotate, so that the threaded component 4 is further limited to rotate, and the moving precision of the threaded component 4 is ensured.
On the basis of the above specific embodiments, the stroke of the threaded assembly 4 is 0-10cm, and the specific stroke length can be determined according to different specific use conditions, for example, when the driving distance of the gear shifting component required by the agricultural machine is 4mm, the stroke of the threaded assembly 4 can be 5mm, so that the driving distance of the gear shifting component required by the agricultural machine is met, the length of the threaded assembly 4 is short, and the cost is reduced.
On the basis of the above embodiments, the rear end of the shell 3 has the tail hole site 2, and the tail hole site 2 is used for being connected with a fixed frame of an agricultural machine, for example, by bolts, so that the connection is convenient.
Similarly, the end part of the threaded component 4 is provided with a head end hole position 6 used for being connected with a structural part of the agricultural machine part needing to be shifted, so that the end part of the threaded component 4 is conveniently connected with the structural part of the agricultural machine part needing to be shifted.
On the basis of each specific embodiment, the tail end hole site 2 of the shell 3 is connected with the fixed frame of the agricultural machine through the first structural member, the size and the structure of the first structural member can be selected according to the distance and the space between the tail end hole site 2 and the fixed frame of the agricultural machine, the connection is convenient, and the space is saved.
Similarly, the head end hole position 6 of the threaded component 4 is connected with a structural part of the agricultural machine needing the gear shifting part through a second structural part.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The control device for unmanned agricultural machinery 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. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. The utility model provides a controlling means for agricultural machine unmanned driving, its characterized in that, including can realize driving motor (1) of just reversing, with driving gear that the motor shaft of driving motor (1) is connected, with driving gear meshing's driven gear, with ball screw (5), the internal thread that driven gear connects can with ball screw (5) matched with screw assembly (4), and set up in ball screw (5) and screw assembly (4) outside casing (3), casing (3) are connected with agricultural machine's fixed frame, the tip of screw assembly (4) is connected with the structure that agricultural machine needs the part of shifting, controlling means's quantity and agricultural machine need the quantity of the part of shifting correspond.
2. The control device for agricultural machine unmanned according to claim 1, wherein the threaded assembly (4) and the inner cavity of the housing (3) are clearance fit.
3. The control device for unmanned agricultural machinery according to claim 2, wherein a rotation angle of the screw assembly (4) is less than 360 °.
4. The control device for agricultural machine unmanned aerial vehicle according to claim 3, wherein an inner cavity wall of the housing (3) is provided with a limiting groove parallel to an axial direction of the threaded component (4), a spiral groove is arranged on the periphery of the threaded component (4), a spiral angle of the spiral groove is smaller than 360 degrees, and balls are clamped in the limiting groove and the spiral groove.
5. The control device for agricultural machine unmanned aerial vehicle according to claim 3, wherein a limiting groove parallel to the axial direction of the threaded component (4) is formed in the inner cavity wall of the housing (3), a limiting boss matched with the limiting groove is arranged on the periphery of the threaded component (4), and the limiting boss is clamped in the limiting groove.
6. The control device for agricultural machine unmanned according to claim 5, wherein the inner cavity wall of the housing (3) has a plurality of limiting grooves arranged in parallel, and the screw assembly (4) has a plurality of limiting bosses on the periphery.
7. A control device for agricultural machine unmanned according to any one of claims 4-6, wherein both end surfaces of the limit groove are located inside the shortest stroke and the longest stroke of the screw assembly (4), respectively.
8. The control device for agricultural machine unmanned according to any one of claims 1 to 6, wherein the stroke of the screw assembly (4) is 0-10 cm.
9. The control device for unmanned on agricultural machine according to any one of claims 1 to 6, wherein the rear end of the housing (3) has a trailing end hole site (2) for connection with a stationary frame of an agricultural machine;
the end part of the screw assembly (4) is provided with a head end hole position (6) used for being connected with a structural part of the agricultural machine needing the gear shifting component.
10. The control device for unmanned aerial vehicle of agricultural machine according to any one of claims 1 to 6, wherein the tail end hole site (2) of the housing (3) is connected with a fixed frame of agricultural machine through a first structural member, and the head end hole site (6) of the screw assembly (4) is connected with a structural member of a part of agricultural machine needing gear shifting through a second structural member.
CN202010820308.6A 2020-08-14 2020-08-14 Control device for unmanned agricultural machinery Pending CN111903294A (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203127140U (en) * 2012-12-03 2013-08-14 西安航天精密机电研究所 Large-torque ball screw electric steering machine
CN103807398A (en) * 2013-12-17 2014-05-21 兰州空间技术物理研究所 Combined-type movement mechanism
JP2014163416A (en) * 2013-02-22 2014-09-08 Ntn Corp Electric actuator
CN107091308A (en) * 2017-07-07 2017-08-25 青岛英派斯健康科技股份有限公司 Skiing simulating machine lowering or hoisting gear
CN209277565U (en) * 2018-11-20 2019-08-20 广东和益隆金属制品有限公司 A kind of reinforcing steel bar binding hook
CN110255419A (en) * 2019-04-29 2019-09-20 西安华欧精密机械有限责任公司 A kind of electric jar for bearing ball silk bar

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203127140U (en) * 2012-12-03 2013-08-14 西安航天精密机电研究所 Large-torque ball screw electric steering machine
JP2014163416A (en) * 2013-02-22 2014-09-08 Ntn Corp Electric actuator
CN103807398A (en) * 2013-12-17 2014-05-21 兰州空间技术物理研究所 Combined-type movement mechanism
CN107091308A (en) * 2017-07-07 2017-08-25 青岛英派斯健康科技股份有限公司 Skiing simulating machine lowering or hoisting gear
CN209277565U (en) * 2018-11-20 2019-08-20 广东和益隆金属制品有限公司 A kind of reinforcing steel bar binding hook
CN110255419A (en) * 2019-04-29 2019-09-20 西安华欧精密机械有限责任公司 A kind of electric jar for bearing ball silk bar

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Application publication date: 20201110