CN112519884A - Engineering machine tool turns to angle feedback repacking device - Google Patents
Engineering machine tool turns to angle feedback repacking device Download PDFInfo
- Publication number
- CN112519884A CN112519884A CN202011178956.2A CN202011178956A CN112519884A CN 112519884 A CN112519884 A CN 112519884A CN 202011178956 A CN202011178956 A CN 202011178956A CN 112519884 A CN112519884 A CN 112519884A
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- engineering machinery
- fixed
- linear bearing
- driving unit
- connecting rod
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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
Abstract
A steering angle feedback modification device for engineering machinery comprises: the angle measuring device comprises a driving unit and an angle measuring unit, wherein two ends of the driving unit are respectively welded with the rear half part and the front half part of the engineering machinery, and the angle measuring unit is connected with the driving unit through a shaft; the engineering machinery drives the driving unit to move, so that the actual rotation angle of the engineering machinery is fed back to the angle measuring unit through the driving unit. The advantages are that: the accuracy of angle feedback is reflected, and the method is suitable for more engineering machines; the cost is relatively low, and if the mass production is carried out, the structural cost used by the technical scheme can be greatly reduced.
Description
Technical Field
The invention relates to the technical field of engineering machinery refitting, in particular to a steering angle feedback refitting device for engineering machinery.
Background
When the engineering machinery is modified, the engineering machinery is involved to be steered, and many engineering machinery are steered by a hydraulic power-assisted system, so that the rotating angle of a steering wheel does not have a fixed proportional relation with the actual steering angle of a vehicle body, and an actual angle feedback device of the vehicle body is required to be additionally arranged at the moment.
In the current market, a steering wheel is used for feeding back the angle of a plurality of modified vehicles, then the actual steering angle of a vehicle body is calculated through proportion or a laser sensor is used, the former has a large angle error, and the latter is influenced by the environment (dust or other obstacles) and can cause failure in serious cases.
Although the prior art has solutions to the above drawbacks, there still exists a large error between the angle and the rotation angle of the vehicle body, which results in an inaccurate feedback angle, and if the feedback angle is used to control the motion trajectory of the adjusting machine, the deviation from the assumed value is large.
Disclosure of Invention
In order to overcome the technical defects, the invention provides a steering angle feedback refitting device of engineering machinery, which can accurately feed back a rotating angle, and the invention provides the following technical scheme:
a steering angle feedback modification device for engineering machinery comprises: the angle measuring device comprises a driving unit and an angle measuring unit, wherein two ends of the driving unit are respectively welded with the rear half part and the front half part of the engineering machinery, and the angle measuring unit is connected with the driving unit through a shaft; the engineering machinery drives the driving unit to move so as to feed back the actual rotation angle of the engineering machinery to the angle measuring unit through the driving unit;
the angle measuring unit comprises a gear box, an L-shaped fixed support, an angle sensor and a support seat, wherein the gear box is connected with the driving unit in a rigid mode, the support seat is fixed to the front half portion of the engineering machinery, a pinion on the gear box penetrates through the L-shaped fixed support and then is connected with a central shaft on the angle sensor, and when the engineering machinery moves, the central shaft is driven to rotate through the gear box and is used for feeding back the actual rotation angle of the engineering machinery to the angle sensor; the angle sensor is installed in the supporting seat, and the supporting seat is welded on the front half part of the engineering machinery.
Preferably, the gear box still includes gear box upper cover, shaft coupling, master gear, gear box lower cover, the shaft coupling lower extreme with master gear swivelling joint, the pinion with master gear meshing, just all are located in the gear box lower cover.
Preferably, the drive unit includes first connecting rod, adjustable lever, fixing base, first connecting rod one end with the coupling joint, the other end with adjustable lever one end is articulated, the adjustable lever other end with the fixing base is articulated, just the fixing base welds in half back of engineering machine, makes first connecting rod the adjustable lever the rotating part of fixing base and engineering machine's half back constitutes four-bar linkage.
Preferably, the drive unit includes a second connecting rod, a linear bearing assembly, and a fixed cylindrical guide rod, one end of the second connecting rod is connected to the coupler, the other end of the second connecting rod is connected to the fixed cylindrical guide rod through the linear bearing assembly, the other end of the fixed cylindrical guide rod is used for being fixed to the rear half of the engineering machinery, so that the second connecting rod, the fixed cylindrical guide rod and the rotating part of the rear half of the engineering machinery constitute the swing guide rod mechanism.
Preferably, the linear bearing assembly comprises a linear bearing, two hole retainer rings, two oil seals and a linear bearing sleeve with a boss at the lower part, the linear bearing, the hole retainer rings and the oil seals are all sleeved on the fixed cylindrical guide rod, the oil seals and the hole retainer rings are connected at two ends of the linear bearing in sequence, the linear bearing sleeve is sleeved outside the linear bearing, and the boss at the lower end of the linear bearing is connected with the first connecting rod through the first shaft retainer ring and is used for connecting the first connecting rod with the linear bearing.
Preferably, the driving unit further comprises a fixed support frame, the two ends of the lower end face of the fixed support frame are provided with vertical baffles provided with through holes, and the tail of the fixed support frame is provided with a limiting step, so that one end of the fixed cylindrical guide rod, which deviates from the linear bearing sleeve, penetrates through the through holes in the fixed support frame, is fixed on the limiting step and is limited and fixed through a retaining ring for a second shaft.
Preferably, the gearbox still includes the L type backup pad that is fixed in the first half of engineering machine tool, the supporting seat is fixed in the up end on long limit of L type backup pad, just the minor face of L type backup pad is located and deviates from one side of the first half of engineering machine tool is fixed.
The invention relates to an engineering machinery steering angle feedback refitting device, which has the advantages that:
1. the structural design of the modified device reflects the accuracy of angle feedback: on one hand, the angle sensor directly feeds back the rotation angle of the engineering machinery (such as an engineering vehicle), and the accuracy is high; on the other hand, by using a pure mechanical mode, the precision is not influenced by external environments (such as temperature, dust and the like) under certain conditions;
2. the structural design of the refitting device is suitable for more engineering machinery: on the one hand, the device can be used as long as there is space for installation in the rotating part of the construction machine; on the other hand, some engineering machines are free of steering wheels, and angle feedback can be achieved by the device;
3. the improved device has the advantages that the structural design is relatively low in cost, and the structural cost for the technical scheme can be greatly reduced if the improved device is produced in batches.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. In the drawings:
fig. 1 is a schematic structural diagram of a construction machine according to a first embodiment of the present disclosure;
FIG. 2 is an exploded view of a structure of the present embodiment;
fig. 3 is a schematic view of a part of the structure of the second embodiment mounted on a working machine;
FIG. 4 is an exploded view of the structure of the second embodiment;
wherein:
a rear half 1 of the construction machine, a front half 2 of the construction machine;
the device comprises a driving unit 3, a first connecting rod 31, a movable adjusting rod 32, a fixed seat 33, a second connecting rod 34, a linear bearing assembly 35, a linear bearing 35a, a hole retainer ring 35b, an oil seal 35c, a boss 35d, a linear bearing sleeve 35e, a first shaft retainer ring 35f, a fixed cylindrical guide rod 36, a fixed support frame 37, a through hole 37a, a vertical baffle 37b, a limiting step 37c and a second shaft retainer ring 38;
the angle measuring unit 4, a gear box 41, a pinion 41a, a gear box upper cover 41b, a coupler 41c, a main gear 41d, a gear box lower cover 41e, an L-shaped support plate 41f, an L-shaped fixing bracket 42, an angle sensor 43 and a support seat 44.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The first embodiment is as follows:
the principle of the embodiment is as follows: the rotation torque and the rotation angle of the engineering machinery (such as an engineering vehicle) are transmitted to the angle sensor by utilizing the principle of a four-bar mechanism and combining with gear transmission, the rotation part of the engineering machinery is equivalent to a driving part of the four-bar mechanism, and the first connecting rod connected with the gear box is one driven part, so that the actual rotation angle of the engineering machinery is fed back to the angle sensor.
As shown in figure 1, the engineering machinery steering angle feedback refitting device comprises a driving unit 3 and an angle measuring unit 4, wherein two ends of the driving unit 3 are respectively welded with a rear half part 1 and a front half part 2 of the engineering machinery, and the angle measuring unit 4 is connected with a shaft of the driving unit 3; the engineering machinery drives the driving unit 3 to move, so that the actual rotation angle of the engineering machinery is fed back to the angle measuring unit 4 through the driving unit 3; the angle measuring unit 4 comprises a gear box 41 rigidly connected with the driving unit 3, an L-shaped fixed bracket 42, an angle sensor 43, and a support seat 44 fixed to the front half 2 of the construction machine, wherein a secondary gear 41a on the gear box 41 passes through the L-shaped fixed bracket 42 and then is connected with a central shaft on the angle sensor 43, and when the construction machine moves, the gear box 41 drives the central shaft to rotate so as to feed back the actual rotation angle of the construction machine to the angle sensor 43; the angle sensor 43 is installed in the support seat 44, and the support seat 44 is welded on the front half 2 of the engineering machine;
in more detail, the working machine is a working machine having a rotary power, such as a working vehicle. The short side of the L-shaped fixing bracket 42 is vertically arranged downwards, and the long side of the L-shaped fixing bracket 42 is horizontally arranged at the lower part of the gear box 41.
As shown in fig. 2, the gear box 41 further includes a gear box upper cover 41b, a coupler 41c, a main gear 41d, and a gear box lower cover 41e, the lower end of the coupler 41c of the first connecting rod 31 is rotatably connected to the main gear 41d, and the sub-gear 41a is engaged with the main gear 41d and both located in the gear box lower cover 41 e. More specifically, the gear case lower cover 41e is located on the long side of the L-shaped fixing bracket 42.
As shown in fig. 2, in more detail, the driving unit 3 includes a first connecting rod 31, a movable adjusting rod 32, and a fixed seat 33, wherein one end of the first connecting rod 31 is hinged to the upper end of the coupler 41c, the other end of the first connecting rod is hinged to one end of the movable adjusting rod 32, the other end of the movable adjusting rod 32 is hinged to the fixed seat 33, and the fixed seat 33 is welded to the rear half 1 of the construction machine, so that the first connecting rod 31, the movable adjusting rod 32, the fixed seat 33, and a rotating portion of the rear half 1 of the construction machine form a four-bar mechanism; the driving part of the four-bar mechanism is a structure between a front half part 2 of the engineering machine and a rotating part of a rear half part 1 of the engineering machine; the first link 31, the movable adjustment rod 32, and the fixed seat 33 are all driven members, so that when a rotating portion of the construction machine moves, the first link 31, the movable adjustment rod 32, and the fixed seat 33 move under the action of a driving member, so that the first link 31 drives the main gear 41d to rotate, the main gear 41d drives the secondary gear 41a to rotate, and since the secondary gear 41a is fixed on the central shaft of the angle sensor 43, the rotation of the secondary gear 41a drives the central shaft of the angle sensor 43 to rotate, thereby feeding back the actual rotation angle of the construction machine to the angle sensor 43.
Example two:
the principle of the embodiment is as follows: the swing guide rod mechanism is combined with gear transmission to transmit the rotation torque and rotation angular velocity of the engineering machinery (such as an engineering vehicle) to the angle sensor 43, the engineering machinery is connected with the fixed cylindrical guide rod 36 in a rigid body, the rotation of the engineering machinery drives the fixed cylindrical guide rod 36 to synchronously rotate together, the fixed cylindrical guide rod 36 is a driving part, the second connecting rod 34 connected with the gear box 41 is one driven part, and therefore the actual rotation angle of the engineering machinery is fed back to the angle sensor 43.
As shown in fig. 3, a steering angle feedback modification device for a construction machine includes: the device comprises a driving unit 3 and an angle measuring unit 4, wherein two ends of the driving unit 3 are respectively welded with a rear half part 1 and a front half part 2 of the engineering machine, and the angle measuring unit 4 is connected with a shaft of the driving unit 3; the engineering machinery drives the driving unit 3 to move, so that the actual rotation angle of the engineering machinery is fed back to the angle measuring unit 4 through the driving unit 3; the angle measuring unit 4 comprises a gear box 41 rigidly connected with the driving unit 3, an L-shaped fixed bracket 42, an angle sensor 43, and a support seat 44 fixed to the front half 2 of the construction machine, wherein a secondary gear 41a on the gear box 41 passes through the L-shaped fixed bracket 42 and then is connected with a central shaft on the angle sensor 43, and when the construction machine moves, the gear box 41 drives the central shaft to rotate so as to feed back the actual rotation angle of the construction machine to the angle sensor 43; the angle sensor 43 is installed in the support seat 44, and the support seat 44 is welded on the front half 2 of the engineering machine;
in more detail, the working machine is a working machine having a rotary power, such as a working vehicle. The short side of the L-shaped fixing bracket 42 is vertically arranged downwards, and the long side of the L-shaped fixing bracket 42 is horizontally arranged at the lower part of the gear box 41.
As shown in fig. 4, the gear box 41 further includes a gear box upper cover 41b, a coupler 41c, a main gear 41d, and a gear box lower cover 41e, the lower end of the coupler 41c of the first connecting rod 31 is rotatably connected to the main gear 41d, and the sub-gear 41a is engaged with the main gear 41d and both located in the gear box lower cover 41 e. More specifically, the gear box lower cover 41e is located on the long side of the L-shaped fixing bracket 42;
in more detail, the gear box 41 further includes an L-shaped support plate 41f fixed to the front half 2 of the construction machine, the support seat 44 is fixed to the upper end surface of the long side of the L-shaped support plate 41f, and the short side of the L-shaped support plate 41f is located on the side away from the rear half 1 of the construction machine.
In more detail, according to fig. 4, the driving unit 3 includes a second connecting rod 34, a linear bearing assembly 35, and a fixed cylindrical guide rod 36, wherein one end of the second connecting rod 34 is connected to the coupler 41c, the other end of the second connecting rod is hinged to one end of the fixed cylindrical guide rod 36 through the linear bearing assembly 35, and the other end of the fixed cylindrical guide rod 36 is fixed to the rear half 1 of the construction machine, so that the second connecting rod 34, the fixed cylindrical guide rod 36, and the rotating part of the rear half 1 of the construction machine constitute a swing guide rod mechanism; the driving part of the oscillating guide rod mechanism is the fixed cylindrical guide rod 36, the second connecting rod 34 is a driven part, when the engineering machinery rotates, the fixed cylindrical guide rod 36 rotates along with the engineering machinery, at this time, the second connecting rod 34 drives the main gear 41d to rotate, the main gear 41d drives the auxiliary gear 41a meshed with the main gear to rotate, the auxiliary gear 41a is fixed on the central shaft of the angle sensor 43, and the auxiliary gear 41a drives the central shaft of the angle sensor 43 to rotate, so that the actual rotation angle of the engineering machinery is fed back to the angle sensor 43;
according to fig. 4, in more detail, the linear bearing assembly 35 includes a linear bearing 35a, two hole collars 35b, two oil seals 35c, and a linear bearing sleeve 35e with a boss 35d at the lower part, the linear bearing 35a, the hole collars 35b, and the oil seal 35c are all sleeved on the fixed cylindrical guide rod 36, the oil seal 35c and the hole collars 35b are sequentially connected to both ends of the linear bearing 35a, the linear bearing sleeve 35e is sleeved outside the linear bearing 35a, and the boss 35d at the lower end thereof is connected to the first connecting rod 31 through a first shaft collar 35f for connecting the first connecting rod 31 and the linear bearing 35 a;
wherein the oil seal 35c functions to prevent dust from entering the inside of the linear bearing 35 a; the linear bearing sleeve 35e is used for fixing the linear bearing 35a and has a function of connecting with the second connecting rod 34; the purpose of the circlip for hole 35b is to prevent the linear bearing 35a and the oil seal 35c from slipping out from both end faces of the fixed cylindrical guide 36.
The driving unit 3 further comprises a fixed support frame 37, vertical baffle plates 37b provided with through holes 37a are arranged at two ends of the lower end face of the fixed support frame 37, and a limiting step 37c is arranged at the tail of the fixed support frame 37, so that one end of the fixed cylindrical guide rod 36, which is far away from the linear bearing sleeve 35e, penetrates through the through holes 37a in the fixed support frame 37, is fixed on the limiting step 37c, and is limited and fixed through a retaining ring 38 for a second shaft.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (7)
1. The engineering machinery steering angle feedback refitting device is characterized by comprising a driving unit (3) and an angle measuring unit (4), wherein two ends of the driving unit (3) are respectively welded with a rear half part (1) and a front half part (2) of the engineering machinery, and the angle measuring unit (4) is connected with the driving unit (3) through a shaft; the engineering machinery drives the driving unit (3) to move, so that the actual rotation angle of the engineering machinery is fed back to the angle measuring unit (4) through the driving unit (3);
the angle measuring unit (4) comprises a gear box (41) rigidly connected with the driving unit (3), an L-shaped fixed support (42), an angle sensor (43) and a support seat (44) fixed on the front half part (2) of the engineering machinery, a pinion (41a) on the gear box (41) penetrates through the L-shaped fixed support (42) and then is connected with a central shaft on the angle sensor (43), and when the engineering machinery moves, the central shaft is driven to rotate through the gear box (41) and is used for feeding back the actual rotation angle of the engineering machinery to the angle sensor (43); the angle sensor (43) is installed in the support seat (44), and the support seat (44) is welded on the front half part (2) of the engineering machinery.
2. The engineering machinery steering angle feedback modification device of claim 1, wherein: gear box (41) still include gear box upper cover (41b), shaft coupling (41c), master gear (41d), gear box lower cover (41e), shaft coupling (41c) lower extreme with master gear (41d) rotate the connection, pinion (41a) with master gear (41d) meshing, just all be located in gear box lower cover (41 e).
3. The engineering machinery steering angle feedback modification device of claim 2, wherein: drive unit (3) include first connecting rod (31), adjustable lever (32), fixing base (33), first connecting rod (31) one end with shaft coupling (41c) are connected, the other end with adjustable lever (32) one end is articulated, adjustable lever (32) other end with fixing base (33) are articulated, just fixing base (33) weld in engineering machine's latter half (1), make first connecting rod (31), adjustable lever (32) the rotating part of fixing base (33) and engineering machine's latter half (1) constitutes four-bar linkage.
4. The engineering machinery steering angle feedback modification device of claim 2, wherein: the driving unit (3) comprises a second connecting rod (34), a linear bearing assembly (35) and a fixed cylindrical guide rod (36), one end of the second connecting rod (34) is connected with the coupler (41c), the other end of the second connecting rod is hinged to one end of the fixed cylindrical guide rod (36) through the linear bearing assembly (35), the other end of the fixed cylindrical guide rod (36) is used for being fixed on the rear half part (1) of the engineering machinery, and therefore the second connecting rod (34), the fixed cylindrical guide rod (36) and the rotating part of the rear half part (1) of the engineering machinery form a swing guide rod mechanism.
5. The engineering machinery steering angle feedback modification device of claim 4, wherein: linear bearing subassembly (35) include linear bearing (35a), two hole with retaining ring (35b), two oil blanket (35c), linear bearing cover (35e) of boss (35d) are taken to a lower part, linear bearing (35a), hole with retaining ring (35b) oil blanket (35c) all overlap in on fixed cylinder guide arm (36), just linear bearing (35a) both ends all have connected gradually oil blanket (35c), hole with retaining ring (35b), linear bearing cover (35e) cover is located outside linear bearing (35a), and its lower extreme boss (35d) through first for the axle retaining ring (35f) with first connecting rod (31) are connected, be used for first connecting rod (31) with linear bearing (35 a)'s connection.
6. The engineering machinery steering angle feedback modification device of claim 5, wherein: the driving unit (3) further comprises a fixed support frame (37), the two ends of the lower end face of the fixed support frame (37) are provided with vertical baffle plates (37b) provided with through holes (37a), and the tail of the fixed support frame (37) is provided with limiting steps (37c), so that one end of the fixed cylindrical guide rod (36) deviating from the linear bearing sleeve (35e) penetrates through the through holes (37a) in the fixed support frame (37), is fixed on the limiting steps (37c), and is limited and fixed through a second shaft retainer ring (38).
7. The engineering machinery steering angle feedback modification device of claim 4, wherein: the gearbox (41) further comprises an L-shaped supporting plate (41f) fixed on the front half part (2) of the engineering machinery, the supporting seat (44) is fixed on the upper end face of the long edge of the L-shaped supporting plate (41f), and the short edge of the L-shaped supporting plate (41f) is located on one side deviating from the rear half part (1) of the engineering machinery.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011178956.2A CN112519884B (en) | 2020-10-29 | 2020-10-29 | Engineering machine tool turns to angle feedback repacking device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011178956.2A CN112519884B (en) | 2020-10-29 | 2020-10-29 | Engineering machine tool turns to angle feedback repacking device |
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| CN112519884A true CN112519884A (en) | 2021-03-19 |
| CN112519884B CN112519884B (en) | 2021-12-21 |
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Cited By (1)
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| CN113291377A (en) * | 2021-06-30 | 2021-08-24 | 中车株洲电力机车有限公司 | Trolley bus steering angle detection device and control system thereof |
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| CN112519884B (en) | 2021-12-21 |
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