CN208123419U - A kind of gearshift of the walking mechanism of unmanned mini-tiller - Google Patents
A kind of gearshift of the walking mechanism of unmanned mini-tiller Download PDFInfo
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- CN208123419U CN208123419U CN201820145604.9U CN201820145604U CN208123419U CN 208123419 U CN208123419 U CN 208123419U CN 201820145604 U CN201820145604 U CN 201820145604U CN 208123419 U CN208123419 U CN 208123419U
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- Prior art keywords
- shift
- control
- push rod
- gear
- tiller
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Abstract
The utility model provides a kind of gearshift of the walking mechanism of unmanned mini-tiller, and the walking mechanism of the utility model includes three aspects：Course changing control, commutation control and gear control.Traditional steering mechanism is that original machine speed changer carries differential mechanism, pulls the steering that machine realizes body by manpower.The utility model utilizes differential principle, is turned to using differential clutch for clutch control.In implementation process, by adding steering clutch, single wheel applies the self-steering that resistance realizes body thereto when steering.Differential lock is added on wheel shaft, ensures that body turns to tandem walking.This programme realizes the commutation control function that body independently advances and falls back using electric pushrod control commutation pivoted arm.And controlled for gear, this programme controls gearshift by transformation shift panel, using electric pushrod, realizes that gear independently switches between neutral gear, I grade, II grade and III grade.
Description
Technical field
The utility model relates to the shift machines of technical field of mechanical automation more particularly to the walking mechanism of unmanned mini-tiller
Structure, for changing and control body direction of travel and the constant situation of power under speed speed adjust, be embodied in shelves
Position control.
Background technique
With the continuous development of China's rural economy and the continuous adjustment of the structure of agricultural production, need of the agricultural modernization to mini-tiller
Ask also increasing.But China's geographic basis is special, Hills arable land accounts for relatively high, this just determines that agricultural machanization is difficult to
Hills operation complicated and changeable.
The gearshift of walking mechanism directly determines it in the work capacity in field as the core component of agricultural machinery.
The gearshift of domestic existing farm machinery walking mechanism mainly includes course changing control and commutation control.Traditional mini-tiller pair
It in the control of direction of travel is realized by the combination of manual manipulation hand handle.But this manipulation needs operating personnel's both hands
Hold hand handle combination for a long time, not only serious waste resource, reduce the farming efficiency of farm machinery, but also be easy to cause
Operation human-body fatigue, influences health.
Therefore, it is badly in need of a kind of unwatched direction of travel mechanism auxiliary mini-tiller to walk in the cultivated land and operation.
Utility model content
Purpose of the utility model is to solve unmanned mini-tillers in the case where no operating personnel manipulates autonomous row
The problem of walking realizes the function of changing and control that the direction of travel of body and the speed speed in the constant situation of power are adjusted,
It is embodied in gear control.
To achieve the goals above, the technical solution adopted in the utility model is described as follows：Design a kind of unmanned mini-tiller
Direction control mechanism, which is characterized in that organic block is set in the rack of traditional mini-tiller, be equipped on base gear plate and
Shift swing rod, shift swing rod one end are connected on base, and the other end passes through gear plate and by No.1 straight pin and connecting rod of shifting gears
Connection；The end of shift push rod is arranged in shift connecting rod, and guide-rail plate is provided with below push rod of shifting gears, and shift push rod is located at guide rail
Rod end flake connector is set on the part on plate, and rod end flake connector is fixed on guide-rail plate by No. two straight pins；Shift
The other end of push rod is connect by push rod adapter with No. three electric pushrods, and push rod adapter is by adjusting screw fastening；No. three
Electric pushrod is connected with No. three electronic control unit；No. three electronic control unit include No. three master control borads, No. three motor drive modules and
No. three A/D conversion modules, No. three master control borads are connect with No. three motor drive modules and No. three A/D conversion modules, and No. three motors drive
Dynamic model block is equipped with a conducting wire and connect with No. three electric pushrods, and two conducting wires and No. three are provided on No. three A/D conversion modules
Electric pushrod connection.
Compared with prior art, the walking mechanism of the utility model includes three aspects：Course changing control, commutation control and shelves
Position control.Traditional steering mechanism is that original machine speed changer carries differential mechanism, pulls the steering that machine realizes body by manpower.This
Utility model scheme utilizes differential principle, is turned to using differential clutch for clutch control.In implementation process, by adding steering clutch, turn
To when thereto single wheel apply resistance realize body self-steering.Differential lock is added on wheel shaft, ensures that body turns to
Tandem walking.This programme realizes the commutation control that body independently advances and falls back using electric pushrod control commutation pivoted arm
Function.And controlled for gear, this programme controls gearshift by transformation shift panel, using electric pushrod, realizes gear
Autonomous switching between neutral gear, I grade, II grade and III grade.
Detailed description of the invention
Fig. 1 is the structure diagram of traditional mini-tiller；In figure：1-rack；2-engines；3-clutches；Slow down 4-sides
Device；The combination of 5-hand handles；6-limit deep device；7-central reducer units；8-rotary ploughing parts.
Fig. 2 is differential steering control block diagram.
Fig. 3 is differential lock control block diagram.
Fig. 4 is the course changing control structural schematic diagram of the utility model；In figure：9-left wheels；10-left electromagnetic clutch；
11-differential mechanisms (11.1- differential lock)；12-right electromagnetic clutch；13-right wheels；14-No.1s control harness；15-one
Number electric pushrod；16-No.1 electronic control unit.
Fig. 5 is the clutch scheme of installation (at A) of the utility model；In figure：17-wheel output shafts；18-racks；
19-clutch side flanges；20-clutch main bodies；21-locking nuts.
Fig. 6 is commutation control block diagram.
Fig. 7 is the commutation installation schematic diagram of the utility model；In figure：22-gearboxes；23-commutation pivoted arms；24-two
Number control harness；25-No. two electric pushrods；26-No. two electronic control unit.
Fig. 8 is gear control block diagram.
Fig. 9 is status diagram of the push rod 30 when not extending out of shifting gears, in figure：27-No. three electric pushrods；28-push rods turn
Connector；29-adjusting screws；30-shift push rods；31-bases；32-gear plates；33-shift swing rods；34-No.1 cylinders
Pin；35-shift connecting rods；36-guide-rail plates；37-rod end flake connectors；38-No. two straight pins；39-electronic control unit；
Figure 10 is status diagram when shifting gears the stretching of push rod 30.
Figure 11 is traditional gear plate structural schematic diagram.
Figure 12 is the utility model gear plate structural schematic diagram.
Specific embodiment
The utility model will be further described below with reference to the accompanying drawings.
The structural schematic diagram of traditional mini-tiller as shown in Figure 1.The utility model is transformed unwatched on this basis
The gearshift of walking mechanism.
The utility model provides a kind of gearshift of the walking mechanism of unmanned mini-tiller, the gearshift of the walking mechanism
It is to be improved on the basis of traditional mini-tiller, wheel output shaft 17 is installed in the inside of the rack 18 of traditional mini-tiller,
Wheel output shaft 17 runs through rack 18, and the both ends of wheel output shaft 17 are arranged in left wheel 9 and right wheel 13, which is characterized in that
Be separately installed on two sections of wheel output shafts 17 between left wheel 9, right wheel 13 and rack 18 left side electromagnetic clutch 10,
Right side electromagnetic clutch 12 is equipped with differential mechanism 11 on the wheel output shaft 17 inside rack 18, is provided with difference on differential mechanism 11
Speed lock 11.1.The differential lock 11.1 controls harness 14 by No.1 and connect with No.1 electric pushrod 15, No.1 electric pushrod 15
It is connect with No.1 electronic control unit 16.The No.1 electronic control unit 16 is provided with No.1 master control borad, No.1 motor drive module, No.1
A/D conversion module, No.1 relay switch, No.1 motor drive module, No.1 A/D conversion module, No.1 relay switch are equal
It is electrically connected with No.1 master control borad, the other end of No.1 motor drive module is connect with No.1 electric pushrod 15.No.1 A/D modulus of conversion
Two conducting wires are provided on block to connect with electric pushrod 15.Two conducting wires are provided on No.1 relay switch, respectively with left side
Electromagnetic clutch 10, right side electromagnetic clutch 12 connect.The main control chip model STM32f429 of the No.1 master control borad.
Each electromagnetic clutch includes clutch main body 20, clutch side flange 19, locking nut 21, clutch master
Body 20 is installed on wheel output shaft 17, and clutch side flange 19 is mounted on one of the close rack 18 on clutch main body 20
Side reserves ring washer slot on the wheel output shaft 17 of the side of the separate rack 18 of the clutch main body 20, for installing lock
Tight nut 21.21 fixed clutch main body 20 of locking nut, it is ensured that clutch and component must not axially have any play.
It is provided with gearbox 22 in the rack 18, transmission mechanism is housed inside gearbox 22.Commutate 23 one end of pivoted arm with
Gearbox 22 connects, and one end that the other end controls harness 24 with No. two is connected, the other end and No. two electricity of No. two control harness 24
Dynamic push rod 25 is connected, and No. two electric pushrods 25 are electrically connected with No. two electronic control unit 26.No. two electronic control unit 26 include No. two
Master control borad, No. two motor drive modules and No. two A/D conversion modules, No. two master control borads and No. two motor drive modules and No. two A/
The connection of D conversion module, No. two motor drive modules are equipped with a conducting wire and connect with No. two electric pushrods 25, No. two A/D conversions
Two conducting wires are provided in module to connect with No. two electric pushrods 25.The main control chip model of No. two master control borads
STM32f429。
Organic block 31 is set in the rack 18, gear plate 32 and shift swing rod 33 are installed on base 31,
Shift 33 one end of swing rod is connected on base 31, and the other end passes through gear plate 32 and passes through No.1 straight pin 34 and change
Connecting rod 35 is kept off to connect.The end of shift push rod 30 is arranged in shift connecting rod 35, and the lower section of shift push rod 30 is provided with guide-rail plate
36, shift push rod 30 is located at setting rod end flake connector 37 on the part on guide-rail plate 36, and rod end flake connector 37 passes through two
Number straight pin 38 is fixed on guide-rail plate 36.The other end of shift push rod 30 passes through push rod adapter 28 and No. three electric pushrods 27
Connection, push rod adapter 28 is by adjusting the fastening of screw 29.No. three electric pushrods 27 are connected with No. three electronic control unit 39.It is described
No. three electronic control unit 39 include No. three master control borads, No. three motor drive modules and No. three A/D conversion modules, No. three master control borads and three
Number motor drive module and No. three A/D conversion modules connections, No. three motor drive modules are equipped with a conducting wire and No. three electronic
Push rod 27 connects, and is provided with two conducting wires on No. three A/D conversion modules and connect with No. three electric pushrods 27.No. three master control borads
Main control chip model STM32f429.
As shown in figs. 9-10, position control mechanism is mainly by No. three the control shift of electric pushrod 27 push rods 30, shift connecting rods
35, it shifts gears swing rod 33, I grade, II grade, III grade, the switching between neutral gear is realized on gear plate 32.Fig. 9 is to shift gears push rod 30 not
Status diagram when stretching, Figure 10 are status diagrams when shifting gears the stretching of push rod 30, and Figure 10 is the hardened structure comparison diagram of gear,
The left side is traditional gear plate, and the right is the gear plate 32 that the utility model uses.
Two electromagnetic clutch in relay switch control left and right when control turns to, in No.1 electronic control unit 16.Such as to
Turn left, electromagnetic clutch 10 issues control signal to relay to the left, and left electromagnetic clutch 10 is in locking state, gives left wheel 9
Increase resistance；Meanwhile electromagnetic clutch 12 issues control signal to relay to the right, right electromagnetic clutch 12 is in relaxation state,
Right wheel 13 is freely rotated, to realize left-hand rotation.Before and after steering, No.1 electronic control unit 16 is controlled by No.1 electric pushrod 15
Differential mechanism (differential lock 11.1) 11 processed.No.1 electric pushrod 15 feeds back push rod to No.1 electronic control unit 16 by potentiometer voltage
Stroke.Stroke has contraction two states, controls harness 14 by No.1 and transmits signal realization to differential mechanism (differential lock 11.1)
11 control ensures the walking of body straight line.
When control commutation, No. two circuit units 26 realize body by No. two control commutation pivoted arms 23 of electric pushrod 25
Commutation.No. two electric pushrods 25 feed back the stroke of push rod by potentiometer voltage to No. two electronic control unit 26.Stroke has contraction two
Kind of state controls harness 24 by No. two and transmits signals and realizes control to commutation pivoted arm 23, thus realize body advance with
It independently commutates between retroversion.
When controlling gear, No. three electronic control unit 39 by No. three control shift of electric pushrods 27 push rods 30, shift connecting rod 35,
It shifts gears swing rod 33, neutral gear, 1 grade, 2 grades, the switching between 3 grades is realized on gear plate 32.As shown in Figure 10, the utility model
Gear plate 32 straight line is changed by " Z " route of traditional gear plate.Therefore No. three electric pushrods 27 pass through potentiometer voltage to three
Number electronic control unit 39 feeds back the stroke of push rod, and there are five states, are I grade, neutral gear, II grade, neutral gear, III grade respectively.This five states
The switching between the transmission signal realization gear of harness 14 is controlled by No.1.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (2)
1. a kind of gearshift of the walking mechanism of unmanned mini-tiller, which is characterized in that be arranged in the rack of traditional mini-tiller
Organic block is equipped with gear plate and shift swing rod on base, and shift swing rod one end is connected on base, and the other end passes through gear plate
And it is connect by No.1 straight pin with shift connecting rod；The end of shift push rod is arranged in shift connecting rod, sets below push rod of shifting gears
It is equipped with guide-rail plate, shift push rod is located at setting rod end flake connector on the part on guide-rail plate, and rod end flake connector passes through two
Number straight pin is fixed on guide-rail plate；The other end of shift push rod is connect by push rod adapter with No. three electric pushrods, push rod
Adapter is by adjusting screw fastening；No. three electric pushrods are connected with No. three electronic control unit；No. three electronic control unit include three
Number master control borad, No. three motor drive modules and No. three A/D conversion modules, No. three master control borads and No. three motor drive modules and No. three
The connection of A/D conversion module, No. three motor drive modules are equipped with a conducting wire and connect with No. three electric pushrods, No. three A/D conversions
Two conducting wires are provided in module to connect with No. three electric pushrods.
2. a kind of gearshift of the walking mechanism of unmanned mini-tiller according to claim 1, which is characterized in that described three
The main control chip model STM32f429 of number master control borad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820145604.9U CN208123419U (en) | 2018-01-29 | 2018-01-29 | A kind of gearshift of the walking mechanism of unmanned mini-tiller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820145604.9U CN208123419U (en) | 2018-01-29 | 2018-01-29 | A kind of gearshift of the walking mechanism of unmanned mini-tiller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208123419U true CN208123419U (en) | 2018-11-20 |
Family
ID=64206525
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820145604.9U Expired - Fee Related CN208123419U (en) | 2018-01-29 | 2018-01-29 | A kind of gearshift of the walking mechanism of unmanned mini-tiller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208123419U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110792766A (en) * | 2019-11-20 | 2020-02-14 | 洛阳智能农业装备研究院有限公司 | Automatic gear shifting device of electric tractor and control method |
| CN110822076A (en) * | 2019-11-20 | 2020-02-21 | 洛阳智能农业装备研究院有限公司 | Automatic gear shifting fault detection and processing method for electric tractor |
| CN111043258A (en) * | 2019-12-25 | 2020-04-21 | 广东博智林机器人有限公司 | Automatic speed change switching structure of gearbox and trowelling machine |
-
2018
- 2018-01-29 CN CN201820145604.9U patent/CN208123419U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110792766A (en) * | 2019-11-20 | 2020-02-14 | 洛阳智能农业装备研究院有限公司 | Automatic gear shifting device of electric tractor and control method |
| CN110822076A (en) * | 2019-11-20 | 2020-02-21 | 洛阳智能农业装备研究院有限公司 | Automatic gear shifting fault detection and processing method for electric tractor |
| CN111043258A (en) * | 2019-12-25 | 2020-04-21 | 广东博智林机器人有限公司 | Automatic speed change switching structure of gearbox and trowelling machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181120 Termination date: 20200129 |