CN115366986A - Rear-mounted automatic steering control robot capable of being quickly disassembled and assembled - Google Patents
Rear-mounted automatic steering control robot capable of being quickly disassembled and assembled Download PDFInfo
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- CN115366986A CN115366986A CN202210977661.4A CN202210977661A CN115366986A CN 115366986 A CN115366986 A CN 115366986A CN 202210977661 A CN202210977661 A CN 202210977661A CN 115366986 A CN115366986 A CN 115366986A
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- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000009826 distribution Methods 0.000 claims description 2
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 2
- 238000011217 control strategy Methods 0.000 abstract 1
- 238000012271 agricultural production Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 235000014676 Phragmites communis Nutrition 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 229920000515 polycarbonate Polymers 0.000 description 1
- 239000004417 polycarbonate Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0409—Electric motor acting on the steering column
- B62D5/0412—Electric motor acting on the steering column the axes of motor and steering column being parallel
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a quick-detachable rear-mounted automatic steering control robot, which is characterized in that a steering manipulator of the robot can be nondestructively mounted on a reversing mechanism of an existing tractor, can meet the upgrading requirement of most agricultural operation machines equipped with a plurality of steering wheels on the market, and has the functions of controlling the tractor to keep straight running, right-angle turning and the like in the operation running process; the current feedback of a steering motor in the manipulator senses the stress condition of a steering wheel when the tractor performs steering action, and different steering control strategies are constructed according to the characteristic that the steering control force of the tractor changes in different operation environments such as dry farmland and paddy field.
Description
Technical Field
The invention belongs to the technical field of automatic driving devices of tractors, particularly relates to a robot, and particularly relates to a rear-mounted automatic steering control robot capable of being quickly assembled and disassembled.
Background
At present, the development speed of agricultural mechanization in China is fast, the agricultural structure is dynamically adjusted, the trend of large-scale rural labor transfer is more and more common, and the contradiction between supply and demand of intelligent agricultural machinery equipment suitable for standardized farmland operation is increasingly highlighted. The traditional agricultural machinery operation equipment can not meet the requirements of high quality, high efficiency and high utilization rate of modern agricultural machinery operation. With the coming of the fourth industrial revolution in the world, the emergence of innovative technologies such as artificial intelligence, internet of things and unmanned driving provides a new solution and research method for the large-scale, unmanned and accurate, safe and efficient operation of the intelligent farm.
The post-installed intelligent agricultural machine is characterized in that a central processing unit of a driving robot additionally installed on the agricultural machine is used for calculating and conducting various signals transmitted back by a sensor on the robot, and a specific instruction is sent out to drive the driving robot to drive the agricultural machine to complete corresponding actions under a dynamic operation environment, so that the intelligent operation of agricultural machines and tools is realized. Under the environment of the current traditional agricultural production mode, in order to save agricultural production cost, reduce labor intensity of farmers and improve annual land yield value, a tractor is taken as a representative of typical agricultural operation machinery, and the development of an intelligent tractor driving robot (after-loading type) is necessary, so that on one hand, the requirements of carrying out secondary nondestructive upgrading and reconstruction on various large, medium and small tractors manufactured by different agricultural machinery manufacturers can be met, and the standardization and unification of the national intelligent agricultural machinery equipment development specifications and the standard of relevant part research and design are promoted; on the other hand, different auxiliary driving components such as an autonomous steering device, an automatic gear engaging device, a combined navigation system and the like can be selected and matched for users with different requirements to form an independent or combined integrated system to meet the required functions, so that the product performance and the economic benefit are maximized.
Disclosure of Invention
In order to meet the requirements of national large-scale farms on high-quality, high-efficiency and accurate operation of large agricultural machinery, the invention designs the quick-detachable rear-mounted automatic steering control robot which can be modularly, quickly and nondestructively mounted in a tractor cab, so that the intelligent upgrade of a tractor is realized, and the improvement of the intelligent level of agricultural machinery and the agricultural production efficiency are facilitated.
In order to achieve the purpose, the invention provides a rear-mounted automatic steering control robot capable of being quickly assembled and disassembled, which has the technical scheme that: it is characterized by comprising the following steps: the steering motor comprises a motor fixing base plate (7), one end of the motor fixing base plate (7) is provided with a semicircular mounting hole (71), a cylindrical left holding module (61) is fixedly installed above the semicircular mounting hole (71), the cylindrical left holding module (61) and the cylindrical right holding module (62) are coaxially connected and are of an annular structure, the cylindrical left holding module (61) and the cylindrical right holding module (62) form a cylindrical holding module (6), the cylindrical left holding module and the cylindrical right holding module are identical in size and coincide in radial tangent plane, the cylindrical left holding module (61) and the cylindrical right holding module (62) are respectively provided with 4 fixing holes which are parallel to each other, the axes of the fixing holes are parallel to the plane of the motor fixing base plate (7) and are perpendicular to the tangent plane of the semicircular mounting hole (71), the 4 fixing holes fixedly install the cylindrical left holding module (61) and the cylindrical right holding module (62) on an output rod (12) of a steering wheel (1) through screws, the other end of the motor fixing base plate (7) is provided with a round hole (72), a steering motor (5) is fixedly installed on the upper surface of the motor fixing base plate (7) through the round hole (72), and an output shaft (51) is perpendicular to the plane of the motor fixing base plate (7); an output shaft (51) of a steering motor is coaxially connected with a steering master gear (3), the steering master gear (3) is meshed with a steering slave gear (2) through a transmission chain (4) and is positioned on the same plane, the steering slave gear (2) consists of a steering left half slave gear (21) and a steering right half slave gear (22) which are two semi-annular gears, and the steering left half slave gear (21) and the steering right half slave gear (22) have the same structural size and are concentric and have the same upper surfaces; mounting holes are uniformly distributed in the plane of the steering driven gear (2) according to the arrangement of the clamping ring (8), a first ring segment (81), a second ring segment (82) and a third ring segment (83) are arranged on the bottom surface of the clamping ring (8), the first ring segment (81), the second ring segment (82) and the third ring segment (83) are uniformly distributed on the same annular surface and are uniformly distributed with the mounting holes, the hole pitch is the same as the hole pitch of distribution holes of the steering driven gear (2), 3 spokes (11) are arranged on the steering wheel (1), three gaps of the clamping ring (8) are respectively clamped on the 3 spokes (11), and the clamping ring (8) and the steering driven gear (2) are fixedly fixed through screws; transmission chain (4) are equipped with dismantled and assembled movable chain full joint, and dismantled and assembled movable chain full joint is provided with 2 parallel boss axles including activity reed (41), connecting pin axle (42), bayonet lock gasket (43) on connecting pin axle (42), and 2 parallel boss axles pass 2 chain holes at the chain end respectively and connect into the closed loop with the chain, and connecting pin axle (42) pass chain hole, bayonet lock gasket (43), activity reed (41) in order.
Compared with the prior art, the invention has the following beneficial effects:
(1) The quick-detachable rear-mounted automatic steering control robot improves the agricultural production efficiency, and solves the problems of low positioning precision, poor reliability, low integration and the like of agricultural machinery required by different agricultural operation projects;
(2) The steering manipulator can be quickly and nondestructively installed on the position of the original steering wheel, and can control the left and right course accuracy of the tractor to be within a range of +/-1 degrees according to the planned operation path, so as to finish the actions of keeping the tractor to operate in a straight line, turning around and the like.
Detailed Description
[ example 1 ] A method for producing a polycarbonate
This example relates to a but quick assembly disassembly's automatic steering control robot of after-installation type, includes: a motor fixing base plate 7, wherein a semicircular mounting hole 71 is formed at one end of the motor fixing base plate 7, a cylindrical left clasping module 61 is fixedly mounted above the semicircular mounting hole 71, the cylindrical left clasping module 61 and the cylindrical right clasping module 62 are coaxially connected and are of an annular structure, the cylindrical left clasping module 61 and the cylindrical right clasping module 62 form a cylindrical clasping module 6, the cylindrical left clasping module 61 and the cylindrical right clasping module 62 are identical in size, radial tangent planes of the cylindrical left clasping module and the cylindrical right clasping module 62 are superposed, 4 fixing holes which are parallel to each other are respectively formed in the cylindrical left clasping module 61 and the cylindrical right clasping module 62, the axes of the fixing holes are parallel to the plane of the motor fixing base plate 7 and are perpendicular to the tangent plane of the semicircular mounting hole 71, the cylindrical left clasping module 61 and the cylindrical right clasping module 62 are fixedly mounted on an output rod 12 of a steering wheel 1 through screws through the 4 fixing holes, a circular hole 72 is formed at the other end of the motor fixing base plate 7, a steering motor 5 is fixedly mounted on the upper horizontal plane of the motor fixing base plate 7 through the circular hole 72, and a steering motor output shaft 51 is perpendicular to the plane of the motor fixing base plate 7; the output shaft 51 of the steering motor is coaxially connected with the steering master gear 3, the steering master gear 3 is meshed with the steering slave gear 2 through the transmission chain 4 and is positioned on the same plane, the steering slave gear 2 consists of two semi-ring gears, namely a steering left half slave gear 21 and a steering right half slave gear 22, the steering left half slave gear 21 and the steering right half slave gear 22 have the same structural size and are concentric, and the upper surfaces of the steering left half slave gear 21 and the steering right half slave gear 22 are overlapped; mounting holes are uniformly distributed in the plane of the steering driven gear 2 according to the arrangement of the clamping ring 8, a first ring segment 81, a second ring segment 82 and a third ring segment 83 are arranged on the bottom surface of the clamping ring 8, the first ring segment 81, the second ring segment 82 and the third ring segment 83 are uniformly distributed on the same circular ring surface and are uniformly distributed with the mounting holes, the hole pitch is the same as the hole pitch of the distributed holes of the steering driven gear 2, 3 spokes 11 are arranged on the steering wheel 1, three gaps of the clamping ring 8 are respectively clamped on the 3 spokes 11, and the clamping ring 8 and the steering driven gear 2 are fixedly mounted through screws; the transmission chain 4 is provided with a detachable movable chain full joint, the detachable movable chain full joint comprises a movable clamp spring leaf 41, a connecting pin shaft 42 and a clamp pin gasket 43, 2 parallel boss shafts are arranged on the connecting pin shaft 42, the 2 parallel boss shafts respectively penetrate through 2 chain holes at the tail end of the chain to connect the chain into a closed loop, and the connecting pin shaft 42 sequentially penetrates through the chain holes, the clamp pin gasket 43 and the movable clamp spring leaf 41; the steering motor 5 rotates to drive the steering main gear 3 to rotate, the steering main gear 3 rotates to drive the transmission chain 4 and the steering driven gear 2 to rotate, the steering driven gear 2 rotates to drive the clamping ring 8 to rotate, the clamping ring 8 rotates to drive the steering wheel 1 to rotate, and the actions of steering, turning around and the like of the tractor are achieved.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is an overall schematic view of a rear-mounted automatic steering control robot capable of being quickly disassembled and assembled according to the present invention.
Fig. 2 is a schematic view of a steering master-slave gear of a rear-mounted automatic steering control robot capable of being quickly disassembled and assembled.
FIG. 3 is a schematic view of the connection of a motor fixing base plate of a rear-mounted automatic steering control robot capable of being quickly disassembled and assembled according to the present invention.
FIG. 4 is a schematic diagram of a quick detachable rear-mounted automatic steering control robot clamp ring according to the present invention.
FIG. 5 is a schematic view of a transmission chain of a rear-mounted automatic steering control robot capable of being quickly disassembled and assembled according to the present invention.
FIG. 6 is a schematic view of a chain joint of a rear-loading automatic steering control robot capable of being quickly disassembled and assembled according to the present invention.
Claims (4)
1. The utility model provides a but quick assembly disassembly's automatic steering control robot of after-mounting type, a serial communication port, including, motor PMKD (7) one end is equipped with semicircular mounting hole (71), gu adorn cylinder left side module (61) of holding tightly above semicircular mounting hole (71), cylinder left side module (61) and cylinder right side module (62) of holding tightly are coaxial coupling and are the loop configuration, cylinder left side module (61) and cylinder right side module (62) of holding tightly constitute cylinder and hold tightly module (6), the same and radial tangent plane coincidence of size, cylinder left side module (61) and cylinder right side module (62) of holding tightly set up 4 mutually parallel fixed orificess respectively, the fixed orifices axis is parallel with motor PMKD (7) plane, perpendicular with semicircular mounting hole (71) tangent plane, and 4 fixed orifices hold cylinder left side module (61) and cylinder right side module (62) of holding tightly on output pole (12) of steering wheel (1) through the screw, the other end of motor PMKD (7) is equipped with a round hole (72), and the motor PMKD (7) is fixed on the horizontal plane and motor (7) is through fixed motor vertical steering hole (51) and motor steering bottom plate (7) and motor.
2. The steering motor output shaft (51) according to claim 1, wherein the steering motor output shaft (51) is coaxially connected with the steering master gear (3), the steering master gear (3) is meshed with the steering slave gear (2) through the transmission chain (4) and is positioned on the same plane, the steering slave gear (2) is composed of two semi-ring gears of a steering left half slave gear (21) and a steering right half slave gear (22), and the steering left half slave gear (21) and the steering right half slave gear (22) have the same structural size, are concentric and have the same upper surface.
3. The steering driven gear (2) according to claim 1, wherein mounting holes are uniformly distributed in the plane of the steering driven gear (2) according to the arrangement of the clamping ring (8), the bottom surface of the clamping ring (8) is provided with a first ring segment (81), a second ring segment (82) and a third ring segment (83), the first ring segment (81), the second ring segment (82) and the third ring segment (83) are uniformly distributed on the same circular ring surface and are uniformly distributed with the mounting holes, the hole pitch is the same as the hole pitch of the distribution holes of the steering driven gear (2), the steering wheel (1) is provided with 3 spokes (11), three gaps of the clamping ring (8) are respectively clamped on the 3 spokes (11), and the clamping ring (8) and the steering driven gear (2) are fixedly fixed through screws.
4. The transmission chain (4) according to claim 1, characterized in that a detachable movable chain full joint is provided, the detachable movable chain full joint comprises a movable clamp spring plate (41), a connecting pin shaft (42) and a clamp pin gasket (43), 2 parallel boss shafts are provided on the connecting pin shaft (42), the 2 parallel boss shafts respectively penetrate through 2 chain holes at the tail end of the chain to connect the chain into a closed loop, and the connecting pin shaft (42) sequentially penetrates through the chain holes, the clamp pin gasket (43) and the movable clamp spring plate (41).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210977661.4A CN115366986A (en) | 2022-08-15 | 2022-08-15 | Rear-mounted automatic steering control robot capable of being quickly disassembled and assembled |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210977661.4A CN115366986A (en) | 2022-08-15 | 2022-08-15 | Rear-mounted automatic steering control robot capable of being quickly disassembled and assembled |
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| Publication Number | Publication Date |
|---|---|
| CN115366986A true CN115366986A (en) | 2022-11-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210977661.4A Pending CN115366986A (en) | 2022-08-15 | 2022-08-15 | Rear-mounted automatic steering control robot capable of being quickly disassembled and assembled |
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| Country | Link |
|---|---|
| CN (1) | CN115366986A (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101032939A (en) * | 2006-03-07 | 2007-09-12 | 高田-彼得里公开股份有限公司 | Device for mounting a module carrier on the steering wheel of a motor vehicle |
| JP2010195252A (en) * | 2009-02-26 | 2010-09-09 | National Agriculture & Food Research Organization | Driving device for automatic steering |
| CN206255059U (en) * | 2016-10-31 | 2017-06-16 | 广州中海达定位技术有限公司 | A kind of steering mechanism of linked transmission |
| CN207607529U (en) * | 2017-12-21 | 2018-07-13 | 中国人民解放军总参谋部第六十研究所 | A kind of automatic driving car steering wheel coupling device |
| CN108357554A (en) * | 2018-01-18 | 2018-08-03 | 东南大学 | A kind of general transfer of driverless tractor and automatic mode switching method |
| CN207848315U (en) * | 2018-02-07 | 2018-09-11 | 鑫美亚传动部件有限公司 | A kind of long-life bicycle chain easy to assemble |
| CN108860284A (en) * | 2018-05-23 | 2018-11-23 | 华南农业大学 | A kind of paddy field rice transplanter self-navigation electrically controlled steering device and its installation method |
| CN110304134A (en) * | 2019-06-14 | 2019-10-08 | 浙江大学 | A kind of agricultural machinery self-navigation general electric steering wheel arrangement |
| CN211893385U (en) * | 2020-03-03 | 2020-11-10 | 安徽中科智能感知产业技术研究院有限责任公司 | Mounting structure of agricultural machinery steering control device |
| CN214001791U (en) * | 2020-12-29 | 2021-08-20 | 深圳冰河导航科技有限公司 | Stepping motor controlled agricultural machinery automatic driving steering wheel |
| CN216548052U (en) * | 2021-12-20 | 2022-05-17 | 盛维(天津)智能装备有限公司 | Automatic pushing device for chain transmission |
| KR20220090233A (en) * | 2020-12-22 | 2022-06-29 | 주식회사 화인특장 | A steering system for autonomous vehicles |
-
2022
- 2022-08-15 CN CN202210977661.4A patent/CN115366986A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101032939A (en) * | 2006-03-07 | 2007-09-12 | 高田-彼得里公开股份有限公司 | Device for mounting a module carrier on the steering wheel of a motor vehicle |
| JP2010195252A (en) * | 2009-02-26 | 2010-09-09 | National Agriculture & Food Research Organization | Driving device for automatic steering |
| CN206255059U (en) * | 2016-10-31 | 2017-06-16 | 广州中海达定位技术有限公司 | A kind of steering mechanism of linked transmission |
| CN207607529U (en) * | 2017-12-21 | 2018-07-13 | 中国人民解放军总参谋部第六十研究所 | A kind of automatic driving car steering wheel coupling device |
| CN108357554A (en) * | 2018-01-18 | 2018-08-03 | 东南大学 | A kind of general transfer of driverless tractor and automatic mode switching method |
| CN207848315U (en) * | 2018-02-07 | 2018-09-11 | 鑫美亚传动部件有限公司 | A kind of long-life bicycle chain easy to assemble |
| CN108860284A (en) * | 2018-05-23 | 2018-11-23 | 华南农业大学 | A kind of paddy field rice transplanter self-navigation electrically controlled steering device and its installation method |
| CN110304134A (en) * | 2019-06-14 | 2019-10-08 | 浙江大学 | A kind of agricultural machinery self-navigation general electric steering wheel arrangement |
| CN211893385U (en) * | 2020-03-03 | 2020-11-10 | 安徽中科智能感知产业技术研究院有限责任公司 | Mounting structure of agricultural machinery steering control device |
| KR20220090233A (en) * | 2020-12-22 | 2022-06-29 | 주식회사 화인특장 | A steering system for autonomous vehicles |
| CN214001791U (en) * | 2020-12-29 | 2021-08-20 | 深圳冰河导航科技有限公司 | Stepping motor controlled agricultural machinery automatic driving steering wheel |
| CN216548052U (en) * | 2021-12-20 | 2022-05-17 | 盛维(天津)智能装备有限公司 | Automatic pushing device for chain transmission |
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