CN202994123U - Connecting rod farm machinery wheel angle measuring mechanism - Google Patents
Connecting rod farm machinery wheel angle measuring mechanism Download PDFInfo
- Publication number
- CN202994123U CN202994123U CN 201220746449 CN201220746449U CN202994123U CN 202994123 U CN202994123 U CN 202994123U CN 201220746449 CN201220746449 CN 201220746449 CN 201220746449 U CN201220746449 U CN 201220746449U CN 202994123 U CN202994123 U CN 202994123U
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- angular transducer
- agricultural machinery
- link
- measurement mechanism
- outer corner
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Abstract
The utility model belongs to the technical field of wheel angle measurement, and specifically relates to a connecting rod farm machinery wheel angle measuring mechanism. The measuring mechanism comprises a link mechanism, an angle sensor, a steering cylinder, a master pin and a steering arm, wherein an end of the link mechanism is connected with a front axle of the farm machinery, and the other end is connected with an output end of the steering cylinder. An end of the steering arm is connected with the master pin installed on the front axle of the farm machinery, and the other end is connected with the output end of the steering cylinder. The angle sensor is disposed on an end of the link mechanism. The steering cylinder drives rotation of the steering arm and the link mechanism. The connecting rod farm machinery wheel angle measuring mechanism enables mechanism and measurement integrated design, and is simple in structure and easy in installation.
Description
Technical field
The utility model belongs to the wheel steering angle field of measuring technique, specifically a kind of link-type agricultural machinery wheel outer corner measurement mechanism.
Background technology
Agricultural machinery self-navigation technology is one of important supporting technology of modern agricultural machinery equipment.Realize the intellectuality navigation of agricultural machinery, can effectively reduce driver's labour intensity, improve the farmland operation quality, have important theoretical significance and actual application value.
In the agricultural machinery automatic navigation control system, the wheel steering angle measuring accuracy is one of key factor that affects the Navigation Control precision.The existing sensor of measuring the agricultural machinery wheel steering angle mainly contains electronic ruler, mistor formula angular transducer and angular encoder.Angular encoder needs a cover linkage assembly to be mated the measurement wheel steering angle, and the most frequently used linkage assembly is parallelogram lindage.The effect of parallelogram lindage is transformed into wheel steering angle on angular encoder equally.
Adopting electronic ruler to measure wheel steering angle needs high precision wheel steering angle instrument that wheel steering angle is demarcated, and this has increased cost undoubtedly; Mistor formula angular transducer has higher requirement to installation accuracy, and the rotation center that needs angular transducer is coaxial with the stub center; Adopt this method simple practical of parallelogram lindage, but the agricultural machinery front-axle structure is complicated, sets up parallelogram lindage more difficult, is not easy to extensive popularization.Therefore, for the problem that wheel steering angle in the agricultural machinery self-navigation measure to exist, develop an economy, wheel steering angle measuring mechanism simple and practical and that can extensively promote is necessary.
The utility model content
For the problems referred to above, the purpose of this utility model is to provide a kind of link-type agricultural machinery wheel outer corner measurement mechanism.This link-type agricultural machinery wheel outer corner measurement mechanism is simple in structure, be easy to install.
To achieve these goals, the utility model is by the following technical solutions:
A kind of link-type agricultural machinery wheel outer corner measurement mechanism, comprise linkage assembly, angular transducer, steering cylinder, stub and steering arm, wherein an end of linkage assembly is connected with the propons of agricultural machinery, the other end is connected with the steering cylinder output terminal, one end of described steering arm is connected with the stub that rotation is installed on the agricultural machinery propons, the other end is connected with the steering cylinder output terminal, and described angular transducer is arranged at an end of linkage assembly, and described steering cylinder drives steering arm and linkage assembly rotates.
Described linkage assembly comprises link, underframe, added, angular transducer support, driven fork and driving lever, wherein the lower end of link is connected with the output terminal of steering cylinder, one end of upper end and driving lever is hinged, one end of the other end of described driving lever and driven fork is hinged, described underframe and added being fixed on the agricultural machinery propons, described angular transducer support be installed on added on, described angular transducer is arranged on the angular transducer support, and the other end of described driven fork is connected with angular transducer.Described angular transducer support is provided with the cover plate for the protection of the sensor rotation axle.The other end of described driven fork is connected with the turning axle of angular transducer by jackscrew.
Described driving lever comprises pull bar, screws nut, bulb bearing, spring shim and dual-fastening nut, wherein ball head is contracted and is drawn together ball rod and ball cup, the two ends of described pull bar are screw rod and coordinate with the ball cup screw of bulb bearing, the described nut that screws is arranged at pull bar two ends, and described ball rod is connected with an end of driven fork by spring pad and dual-fastening nut.
Described angular transducer support is inverted L shape, the side that the angular transducer support is parallel to ground is square flange, described square flange is provided with angular transducer pilot hole and cover plate pilot hole, the side of angular transducer support vertical in ground be provided with for the added pilot hole that is connected.
One end of described driven fork is provided with angular transducer turning axle fixed orifice and top wire hole, and the other end is provided with a plurality of through holes along its length.Be provided with a plurality of connecting holes along short transverse on described link.
Described added shape is corresponding with the cross section profile of agricultural machinery propons, and an added end is provided with screw, and the other end is provided with fixed head, and described fixed head is connected with the angular transducer support.
Described fixed head is provided with elliptical aperture, at this elliptical aperture place, fixed head is connected with the angular transducer support, and the height by elliptical aperture adjusting angle sensor stand.
Advantage of the present utility model and beneficial effect are:
The utility model simple in structure, be easy to install.
2. the utility model has been realized mechanism, has been measured integrated design.
Description of drawings
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the structural scheme of mechanism of linkage assembly in the utility model;
Fig. 3 is the structural representation of driving lever in the utility model;
Fig. 4 is the structural representation of angular transducer support in the utility model;
Fig. 5 is the structural representation of driven fork in the utility model;
Fig. 6 is structural representation added in the utility model.
wherein: 1 is linkage assembly, 2 is angular transducer, 3 is steering cylinder, 4 is steering arm, 5 is stub, 6 is propons, 7 is link, 8 is underframe, 9 is added, 9a is screw, 9b is elliptical aperture, 9c is fixed head, 10 is cover plate, 11 is the angular transducer support, 11a is pilot hole, 11b is the cover plate pilot hole, the 11c fixed head, 12 is driven fork, 12a is angular transducer turning axle fixed orifice, 12b is top wire hole, 12c is through hole, 13 is driving lever, 13a is pull bar, 13b is for screwing nut, 13c is the bulb bearing, 13d is spring washer, 13e is the dual-fastening nut, A is the stub rotation center, E is the angular transducer rotation center, B, F is two pin joints of bulb bearing.
Embodiment
Below in conjunction with accompanying drawing, the utility model is further described.
As shown in Figure 1, the utility model comprises linkage assembly 1, angular transducer 2, steering cylinder 3, stub 5 and steering arm 4, and wherein an end of linkage assembly 1 is connected with the propons 6 of agricultural machinery, and the other end is connected with steering cylinder 3 output terminals.One end of steering arm 4 is connected with the stub 5 that rotation is installed on agricultural machinery propons 6, the other end is connected with steering cylinder 3 output terminals, angular transducer 2 is arranged at an end of linkage assembly 1, and two pin joint B, F of stub rotation center A, angular transducer rotation center E and bulb bearing consist of arbitrary quadrilateral.Steering cylinder 3 drives steering arm 4 and linkage assembly 1 rotates.
as shown in Figure 2, linkage assembly 1 comprises link 7, underframe 8, added 9, angular transducer support 11, driven fork 12, cover plate 10 and driving lever 13, wherein the lower end of link 7 is connected by the output terminal of bolt with steering cylinder 3, one end of upper end and driving lever 13 is hinged, one end of the other end of driving lever 13 and driven fork 12 is hinged, underframe 8 and added 9 is fixed on agricultural machinery propons 6 by bolt, angular transducer support 11 is installed on added 9, angular transducer 2 is arranged on angular transducer support 11, the other end of driven fork 12 be connected by the turning axle of jackscrew with angular transducer 2.Angular transducer support 11 is provided with the cover plate 10 for the protection of the sensor rotation axle.
As shown in Figure 3, driving lever 13 comprises pull bar 13a, screws nut 13b, bulb bearing 13c, spring shim 13d and dual-fastening nut 13e, wherein bulb bearing 13c comprises ball rod and ball cup, and the two ends of pull bar 13a are screw rod and coordinate with the ball cup screw of bulb bearing 13c.Screw nut 13b and be arranged at pull bar 13a two ends, ball rod is connected with an end of driven fork 12 by spring pad 13d and dual-fastening nut 13e.Ball rod is made banking motion in the certain angle scope, not parallel when the ground when driving lever 13, linkage assembly 1 still can work.Adjust the screw rod and the screwing length of ball cup screw and then the length of adjustment driving lever 13 at pull bar 13a two ends, be furnished with the nut of screwing 13b on the screw rod at pull bar 13a two ends, play the role of fastening.Spring washer 13d and dual-fastening nut 13e play the effect of becoming flexible of preventing.
As shown in Figure 4, angular transducer support 11 is inverted L shape, the side that angular transducer support 11 is parallel to ground is square flange, square flange is provided with two kinds of pilot holes, the first is angular transducer pilot hole 11a, be a macropore in the middle of square flange, be provided with three apertures that are 120 ° of distributions around macropore, be used for installing fixed angle sensor 2; Another kind is cover plate pilot hole 11b, is distributed in the surrounding of square flange, makes that to be 0 °, 90 °, 180 ° or 270 ° between angular transducer support 11 and cover plate 10 fixing.Angular transducer support 11 is provided with two perpendicular to the side on ground and is used for and added 9 pilot holes that are connected.
As shown in Figure 5, an end of driven fork 12 is provided with angular transducer turning axle fixed orifice 12a and top wire hole 12b, and the other end is provided with five through hole 12c along its length.The turning axle of angular transducer 2 and angular transducer turning axle fixed orifice 12a are clearance fit, utilize jackscrew to pass top wire hole 12b, and driven fork 12 is fixed on the angular transducer turning axle.The ball rod of bulb bearing 13c passes through hole 12c, and adopt spring washer 13d, 13e is fastening for the dual-fastening nut.Five through hole 12c can adjust driving lever 13 in the position of a side, and four through holes that are provided with along short transverse on link 7 also have identical effect.
As shown in Figure 6, added 9 shape is corresponding with the cross section profile of agricultural machinery propons 6, and its shape is more conducive to fix.An end of added 9 is provided with two screw 9a, and the effect of screw 9a is can utilize jackscrew to pass screw 9a to make added 9 to withstand on agricultural machinery propons 6.Added 9 the other end is welded with fixed head 9c, fixed head 9c is provided with two elliptical aperture 9b, at two elliptical aperture 9b places, fixed head 9c is connected with angular transducer support 11, can adjust the height of angular transducer 2 by two elliptical aperture 9b, and then adjust the height of driven fork 12, finally make driving lever 13 parallel to the ground.
Measuring principle of the present utility model is:
The rectilinear motion of steering cylinder 3 is converted to the swing of angular transducer 2, and think that the corner of stub 5 equals wheel steering angle.Concrete motion analysis: when steering cylinder 3 elongations or contraction, steering cylinder drives steering arm 4 and rotates.At this moment, the B point is rectilinear motions with respect to steering cylinder 3, and because steering cylinder 3 can swing around the CD axle, the B point moves in a circle with respect to the A point so.The B point is wheel steering angle around the angle of A point rotation.Simultaneously, the motion of steering cylinder 3 has also driven the motion of linkage assembly 1, and angular transducer 2 is rotated a certain angle, and is the angular transducer corner.Because the corner of angular transducer 2 can directly measure, by setting up or demarcate the relation between stub corner and angular transducer corner, just can calculate wheel steering angle.
The utility model wheel steering angle and angular transducer corner have following relation:
Coefficient: A=2L
3L
4-2L
1L
3Cos θ
1
B＝-2L
1L
3sinθ
1-2L
3L
5
In formula:
ψ
1For linkage assembly when the initial position, the angle of fork and horizontal direction.
ψ
2For linkage assembly when the initial position, the angle of stub axle center and driving lever end points line and horizontal direction.
α
1Be the angular transducer corner.
α
2Be wheel steering angle.
θ
1Input angle for linkage assembly.
θ
2Output angle for linkage assembly.
L
1Length for fork.
L
2Be driving lever length.
L
3Be the stub axle center length to the driving lever end points.
L
4Be stub axle center and angular transducer rotating shaft center distance in the horizontal direction.
L
5Be stub axle center and angular transducer rotating shaft center distance in vertical direction.
The parameter that needs in following formula to measure has ψ
1, ψ
2, α
1, L
1, L
2, L
3, L
4, L
5
Claims (10)
1. link-type agricultural machinery wheel outer corner measurement mechanism, it is characterized in that: comprise linkage assembly (1), angular transducer (2), steering cylinder (3), stub (5) and steering arm (4), wherein an end of linkage assembly (1) is connected with the propons (6) of agricultural machinery, the other end is connected with steering cylinder (3) output terminal, one end of described steering arm (4) is connected with the stub (5) that rotation is installed on agricultural machinery propons (6), the other end is connected with steering cylinder (3) output terminal, described angular transducer (2) is arranged at an end of linkage assembly (1), described steering cylinder (3) drives steering arm (4) and linkage assembly (1) rotates.
2. by link-type agricultural machinery wheel outer corner measurement mechanism claimed in claim 1, it is characterized in that: described linkage assembly (1) comprises link (7), underframe (8), added (9), angular transducer support (11), driven fork (12) and driving lever (13), wherein the lower end of link (7) is connected with the output terminal of steering cylinder (3), one end of upper end and driving lever (13) is hinged, one end of the other end of described driving lever (13) and driven fork (12) is hinged, described underframe (8) and added (9) are fixed on agricultural machinery propons (6), described angular transducer support (11) is installed on added (9), described angular transducer (2) is arranged on angular transducer support (11), the other end of described driven fork (12) is connected with angular transducer (2).
3. by link-type agricultural machinery wheel outer corner measurement mechanism claimed in claim 2, it is characterized in that: described angular transducer support (11) is provided with the cover plate (10) for the protection of the sensor rotation axle.
4. by link-type agricultural machinery wheel outer corner measurement mechanism claimed in claim 2, it is characterized in that: the other end of described driven fork (12) is connected by the turning axle of jackscrew with angular transducer (2).
5. by link-type agricultural machinery wheel outer corner measurement mechanism claimed in claim 2, it is characterized in that: described driving lever (13) comprises pull bar (13a), screw nut (13b), bulb bearing (13c), spring shim (13d) and dual-fastening nut (13e), wherein bulb bearing (13c) comprises ball rod and ball cup, the two ends of described pull bar (13a) are screw rod, and coordinate with the ball cup screw of bulb bearing (13c), the described nut (13b) that screws is arranged at pull bar (13a) two ends, described ball rod is connected with an end of driven fork (12) by spring pad (13d) and dual-fastening nut (13e).
6. by link-type agricultural machinery wheel outer corner measurement mechanism claimed in claim 2, it is characterized in that: described angular transducer support (11) is inverted L shape, the side that angular transducer support (11) is parallel to ground is square flange, described square flange is provided with angular transducer pilot hole (11a) and cover plate pilot hole (11b), and angular transducer support (11) is provided with perpendicular to a side on ground the pilot hole that is connected for added (9).
7. by link-type agricultural machinery wheel outer corner measurement mechanism claimed in claim 2, it is characterized in that: an end of described driven fork (12) is provided with angular transducer turning axle fixed orifice (12a) and top wire hole (12b), and the other end is provided with a plurality of through holes (12c) along its length.
8. by link-type agricultural machinery wheel outer corner measurement mechanism claimed in claim 2, it is characterized in that: described link (7) is upper is provided with a plurality of connecting holes along short transverse.
9. by link-type agricultural machinery wheel outer corner measurement mechanism claimed in claim 2, it is characterized in that: the shape of described added (9) is corresponding with the cross section profile of agricultural machinery propons (6), one end of added (9) is provided with screw (9a), the other end is provided with fixed head (9c), and described fixed head (9c) is connected with angular transducer support (11).
10. by link-type agricultural machinery wheel outer corner measurement mechanism claimed in claim 9, it is characterized in that: described fixed head (9c) is provided with elliptical aperture (9b), locates fixed head (9c) is connected with angular transducer support (11), also passes through the height of elliptical aperture (9b) adjusting angle sensor stand (11) at this elliptical aperture (9b).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220746449 CN202994123U (en) | 2012-12-28 | 2012-12-28 | Connecting rod farm machinery wheel angle measuring mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220746449 CN202994123U (en) | 2012-12-28 | 2012-12-28 | Connecting rod farm machinery wheel angle measuring mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202994123U true CN202994123U (en) | 2013-06-12 |
Family
ID=48565296
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220746449 Withdrawn - After Issue CN202994123U (en) | 2012-12-28 | 2012-12-28 | Connecting rod farm machinery wheel angle measuring mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202994123U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103900496A (en) * | 2012-12-28 | 2014-07-02 | 中国科学院沈阳自动化研究所 | Connecting rod type agricultural machine wheel turning angle measuring mechanism and measuring method |
| CN104359448A (en) * | 2014-11-07 | 2015-02-18 | 沈阳黎明航空发动机(集团)有限责任公司 | Continuous angle measurement device of intermediate case air bleed valve |
| CN107101937A (en) * | 2017-05-10 | 2017-08-29 | 湖北三江航天江河化工科技有限公司 | A kind of multi-angle test device and its application method |
| CN108638782A (en) * | 2018-04-20 | 2018-10-12 | 济南大学 | A kind of levelling device for harvest machinery car body angle tilt |
| CN109795554A (en) * | 2019-02-01 | 2019-05-24 | 天津农学院 | A kind of vehicle angle sensors mounting structure convenient for adjusting |
-
2012
- 2012-12-28 CN CN 201220746449 patent/CN202994123U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103900496A (en) * | 2012-12-28 | 2014-07-02 | 中国科学院沈阳自动化研究所 | Connecting rod type agricultural machine wheel turning angle measuring mechanism and measuring method |
| CN104359448A (en) * | 2014-11-07 | 2015-02-18 | 沈阳黎明航空发动机(集团)有限责任公司 | Continuous angle measurement device of intermediate case air bleed valve |
| CN104359448B (en) * | 2014-11-07 | 2016-10-05 | 沈阳黎明航空发动机(集团)有限责任公司 | A kind of Middle casing air bleed valve angle continuous measuring device |
| CN107101937A (en) * | 2017-05-10 | 2017-08-29 | 湖北三江航天江河化工科技有限公司 | A kind of multi-angle test device and its application method |
| CN108638782A (en) * | 2018-04-20 | 2018-10-12 | 济南大学 | A kind of levelling device for harvest machinery car body angle tilt |
| CN109795554A (en) * | 2019-02-01 | 2019-05-24 | 天津农学院 | A kind of vehicle angle sensors mounting structure convenient for adjusting |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130612 Effective date of abandoning: 20160928 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20130612 Effective date of abandoning: 20160928 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |