CN210133177U - Steering device for tractor - Google Patents
Steering device for tractor Download PDFInfo
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- CN210133177U CN210133177U CN201920624421.XU CN201920624421U CN210133177U CN 210133177 U CN210133177 U CN 210133177U CN 201920624421 U CN201920624421 U CN 201920624421U CN 210133177 U CN210133177 U CN 210133177U
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Abstract
The utility model provides a turn to device for tractor, it includes that one turns to motor and a drive gear group, wherein this drive gear group includes at least one driving gear, at least one driven gear and a gear shaft with this driving gear engaged with, wherein this driving gear is connected with this output shaft end that turns to the motor, this driven gear meshes with this driving gear mutually, wherein the one end of this gear shaft is connected to this driven gear, the other end is suitable for being connected to the steering valve axle of this tractor.
Description
Technical Field
The utility model relates to a tractor especially relates to a turn to device for tractor.
Background
Tractors are common agricultural machines that can be used as a power source for agricultural operations such as plowing, sowing, fertilizing and the like. The tractor comprises a tractor body, an engine, a transmission system, a steering system and other components. The steering system is mostly driven by hydraulic pressure and comprises a steering wheel, a steering column, a steering oil pump, a steering oil cylinder, a steering oil pipe, a steering axle, wheels and the like. When the steering is not performed, the hydraulic oil of the steering oil pump flows back to the oil tank through the middle bit of the steering gear; when the steering is needed, the steering gear is controlled to rotate through the steering wheel to enable the steering gear to be located at a working position, hydraulic oil of the steering oil pump flows into the steering oil cylinder through the oil inlet branch of the working position of the steering gear, and then the steering axle and tires are driven, so that the tractor can adjust the driving direction as required.
In order to improve the energy efficiency of the tractor, reduce the labor intensity of operators and improve the land utilization efficiency, the automatic driving tractor is more and more widely applied to modern agriculture. Under normal operating conditions, the tractor does not need manual operation, and is switched to the manual driving mode only under necessary conditions. Therefore, the automatic driving technology of the tractor is produced. Generally, a tractor autopilot system includes a navigation device, which typically includes a GNSS positioning module, an RTK differential base station, a communication module, an angle sensor, an electronically controlled redirector, a heading controller, a navigation display, and the like. The method is characterized in that the precise positioning of the working vehicle is completed based on a differential GNSS and a real-time attitude correction technology, and the dynamic steering of the working vehicle is controlled in a closed-loop manner by detecting an actual steering angle, so that the aim of tracking the track is fulfilled.
The existing electric control steering device mainly comprises elements such as a proportional control element (a proportional reversing valve) for controlling flow, a hydraulic lock, an overflow valve, a control switch and the like. In the operation process, if the tractor is detected not to operate on the preset route, the navigation controller sends an instruction to enable the proportional reversing valve to operate at a corresponding working position, one part of oil of the steering pump flows back to the oil tank through the middle position of the steering gear, the other part of oil enters the steering oil cylinder through the oil inlet branch of the working position of the proportional reversing valve, and further the components such as a steering axle, a steering tire and the like are driven to realize steering, so that the driving direction adjustment is completed, and the tractor can drive according to the specified route. However, the hydraulic oil circuit of the existing tractor has no electromagnetic control circuit, if the tractor realizes automatic driving, the oil circuit needs to be modified, the cost is high, and the stability is not easy to control. Furthermore, the existing steering apparatus for tractors, particularly for autonomous tractors, cannot determine the actual steering angle of the wheels of the tractor, thus resulting in the inability of the tractor to accurately control the tractor to travel along the preset travel path in the autonomous driving mode.
SUMMERY OF THE UTILITY MODEL
A primary object of the present invention is to provide a steering device for a tractor, wherein the utility model discloses a steering device for a tractor can make the tractor under the autopilot mode, more accurately control the tractor along its preset path of traveling and travel. Especially, when the tractor is controlled to turn to, the actual angle of turning to of its wheel is inconsistent with the necessary angle of turning to, the utility model discloses a turn to device for tractor can detect the actual angle of turning to of wheel and the difference of necessary angle of turning to the autopilot system of tractor can further control turning to of this tractor.
Another object of the present invention is to provide a steering device for a tractor, wherein the steering device for a tractor can be applied to an existing tractor without greatly changing the existing tractor.
Other objects and features of the present invention will become more fully apparent from the following detailed description and appended claims, taken in conjunction with the accompanying drawings, wherein like reference numerals refer to like parts throughout.
According to the utility model discloses, can realize aforementioned purpose and other purposes and purpose the utility model is used for turning to device of tractor includes:
a steering motor; and
and the transmission gear set comprises at least one driving gear, at least one driven gear meshed with the driving gear and a gear shaft, wherein the driving gear is connected with the output shaft end of the steering motor, the driven gear is meshed with the driving gear, one end of the gear shaft is connected to the driven gear, and the other end of the gear shaft is suitable for being connected to a steering valve shaft of the tractor.
Further objects and purposes of the present invention will become more fully apparent from the ensuing description and appended drawings.
These and other objects, features and objects of the present invention will become more fully apparent from the following detailed description, the accompanying drawings and the appended claims.
Drawings
Fig. 1A shows a tractor according to an embodiment of the present invention.
Fig. 1B shows an automatic driving system of a tractor according to an embodiment of the present invention.
Fig. 2 is a side view of the tractor according to the embodiment of the present invention.
Fig. 3 is another side view of the tractor according to the embodiment of the present invention.
Fig. 4 is a perspective view of the steering assembly of the tractor according to the embodiment of the present invention.
Fig. 5 is a side view of the steering assembly of the tractor according to the embodiment of the present invention.
Fig. 6 shows a partial structure of the steering assembly of the tractor according to the embodiment of the present invention.
Fig. 7 is a transverse sectional view of the steering assembly of the tractor according to the embodiment of the present invention.
Fig. 8 is a longitudinal sectional view of the steering assembly of the tractor according to the embodiment of the present invention.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents and other technical solutions without departing from the spirit and scope of the invention.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in a generic and descriptive sense only and not for purposes of limitation, as the terms are used in the description to indicate that the referenced device or element must have the specified orientation, be constructed and operated in the specified orientation, and not for the purpose of limitation.
It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.
Referring to fig. 1A to 8 of the drawings accompanying the present application, an automatic steering system for a tractor according to an embodiment of the present invention includes a path detector 41, a control module 42, a steering motor 43, and a steering assembly 44, wherein the path detector 41 is configured to detect a current traveling path of the tractor, wherein the control module 42 is electrically connected to the path detector 41 and configured to determine a deviation of the current traveling path of the tractor from a preset traveling path of the tractor according to the current traveling path of the tractor detected by the path detector 41, wherein the steering motor 43 is electrically connected to the control module 42, the control module 42 is further configured to control a power output of the steering motor 43 according to the deviation of the current traveling path of the tractor from the preset traveling path of the tractor, wherein the steering group 44 is disposed between the steering motor 43 and the steering shaft 11 of the tractor, such that the steering assembly 44 can be driven by the steering motor 43 to drive the steering shaft 11 of the tractor to rotate and steer the tractor.
It is noted that the path detector 41 of the tractor autopilot system according to the embodiment of the present invention may be a path detector using a Real Time Kinematic (RTK) carrier phase differential technique. Further, the utility model discloses tractor autopilot system's path detector 41 is including the current route generation module 45 that is used for receiving RTK antenna 3 of RTK positioning signal and is connected with this RTK antenna 3 energizerably, and wherein the positioning signal that this RTK antenna received is transmitted to this current route generation module 45, and wherein this current route generation module 45 is set up can be according to the current route of traveling of this tractor of this positioning signal generation of receiving. Further, the current path generating module 45 is electrically connected to the control module 42 to transmit the current travel path of the tractor generated by the current path generating module 45 to the control module 42, and the control module 42 is configured to compare the current travel path of the tractor with the preset travel path thereof and thereby determine the deviation of the current travel path of the tractor from the preset travel path of the tractor. Accordingly, to account for deviations in the current travel path of the tractor from the preset travel path of the tractor, the control module 42 is configured to control the tractor to steer and travel along the preset travel path in response to the corresponding deviations.
As shown in fig. 1A to 8 of the drawings, the path detector 41 of the tractor autopilot system according to the embodiment of the present invention further includes at least one antenna bracket 2, wherein the antenna bracket 2 is configured to fix the RTK antenna 3. As shown in fig. 1A to 8 of the drawings, the path detector 41 of the tractor autopilot system of the present invention further includes a control box 6 and at least one receiving antenna 4 disposed on the control box 6, wherein the current path generating module 45 is disposed in the control box 6, and the receiving antenna 4 is disposed for receiving and transmitting signals. The path detector 41 further comprises at least one mounting bracket 5, wherein the mounting bracket 5 is used for fixing the control box 6. Preferably, the control module 42 and the current path generating module 45 are both disposed within the control box. More preferably, the control module 42 and the current path generation module 45 are formed from the same programmed storage medium.
As shown in fig. 1A to 8 of the drawings, the tractor autopilot system according to the embodiment of the present invention further includes at least one angle detector 50 for detecting a steering angle of the tractor wheels, wherein the angle detector 50 includes at least one angle sensor 9 electrically connected to the control module 42, wherein the angle sensor 9 is configured to detect the steering angle of the tractor wheels and transmit the detected steering angle of the tractor wheels to the control module 42, so that the control module 42 can determine or know an actual steering angle of the tractor wheels.
As shown in fig. 1A to 8 of the drawings, the angle detector 50 of the tractor autopilot system according to the embodiment of the present invention further includes a movable bracket 8 and at least one fixed bracket 7, wherein the movable bracket 8 is used to mount an angle sensor 9 on a wheel axle of the tractor, wherein one end of the fixed bracket 7 is connected to a steering axle of the tractor, and the other end is connected to a sensor output shaft of the angle sensor 9, when the tractor autopilot system, such as the control module 42, gives a steering signal, the movable bracket 8 rotates with the angle sensor 9, and the fixed bracket 7 will fix the angle sensor output shaft of the angle sensor 9. Further, the angle sensor 9 converts the steering angle of the wheels into an electric signal, and is output to the control module 42.
As shown in fig. 1A to 8 of the drawings, according to the utility model discloses this subassembly 44 that turns to of tractor autopilot system of embodiment includes parts such as steering spindle 11, first steering column 12, gear box 13, second steering column 14, first support bearing 15, supporting pad 16, first shaft coupling 17, second shaft coupling 18, steering motor 19, gear shaft 20, driving gear 21, driven gear 22, go up box 23, left oil blanket 24, first jump ring 25, second support bearing 26, second jump ring 27, lower box 28, third jump ring 29, third support bearing 30, fourth jump ring 31, right oil blanket 32.
As shown in fig. 1A to 8 of the drawings, further, according to the present invention, the upper end of the first steering column 12 of the steering assembly 44 of the tractor automatic steering system is fixed on the upper case 23 by bolts, the steering shaft 11 is connected with the first steering column 12 by the supporting pad 16, the steering shaft 11 is connected with one end of the gear shaft 20 by the first coupling 17, the other end of the gear shaft 20 is suitable for being connected with the steering valve shaft of the tractor by the second coupling 18, and the steering valve shaft of the tractor is connected with the second steering column 14 by the first supporting bearing 15.
As shown in fig. 1A to 8 of the drawings, further, the gear case 13 includes the upper case 23 and the lower case 28, and the upper case 23 and the lower case 28 of the gear case 13 are fixed together by bolts. As shown in fig. 1A to 8 of the drawings, further, one end of the gear shaft 20 is connected to the upper case 23 through the second support bearing 26, and the other end of the gear shaft 20 is connected to the lower case 28 through the third support bearing 30. Further, in order to ensure sealing, a left oil seal 24 is provided between the upper case 23 of the gear case 13 and the gear shaft 20, and a right oil seal 32 is provided between the lower case 28 of the gear case 13 and the gear shaft 20. Further, in order to ensure the rotational accuracy of the bearing, the first snap spring 25 is disposed on one side of the second support bearing 26, and the second snap spring 27 is disposed on the other side of the second support bearing 26. Further, in order to ensure the rotational accuracy of the bearing, the third circlip 29 is disposed on one side of the third support bearing 30, and the fourth circlip 31 is disposed on the other side of the third support bearing 30. Further, the steering motor 19 is fixed to the upper case 23 by bolts. Further, an output shaft end of the steering motor 19 is connected to the driving gear 21, and the driving gear 21 is engaged with the driven gear 22, so that the steering motor 19 can drive the driven gear 22 to rotate through the driving gear 21, and the driving force of the steering motor 19 is transmitted to the gear shaft 20 through the driving gear 21 and the driven gear 22.
As shown in fig. 1A to 8 of the drawings, according to the embodiment of the present invention, the present invention further provides a steering device for a tractor, which includes a steering motor 19 and a transmission gear set 60, wherein the transmission gear set 60 includes at least one driving gear 21, at least one driven gear 22 engaged with the driving gear 21 and a gear shaft 20, wherein the driving gear 21 is connected to an output shaft end of the steering motor 19, the driven gear 22 is engaged with the driving gear 21, one end of the gear shaft 20 is connected to the driven gear 22, and the other end is connected to a steering valve shaft of the tractor, so that the driving force generated by the steering motor 19 can be transmitted to the steering valve shaft of the tractor through the transmission gear set 60 and the wheels of the tractor are driven to steer by the driving force.
As shown in fig. 1A to 8 of the drawings, the steering apparatus for a tractor according to the embodiment of the present invention further includes at least one angle detector 50, wherein the angle detector 50 is configured to detect an actual steering angle of wheels of the tractor. As shown in fig. 1A to 8 of the drawings, the steering apparatus for a tractor according to the embodiment of the present invention further includes a gear case 13, wherein the driving gear 21 and the driven gear 22 are provided at the gear case 13. Further, the gear case 13 includes an upper case 23 and a lower case 28 extending from the upper case. Preferably, one end of the pinion shaft 20 connected to the steering valve shaft of the tractor is connected to the lower case 28 through one support bearing (e.g., the second support bearing 26), and the other end of the pinion shaft 20 is connected to the upper case 23 through another support bearing (e.g., the third support bearing 30).
Therefore, the tractor can determine whether the tractor deviates from the preset running path according to the current running path of the tractor in the automatic driving mode through the automatic driving system of the tractor, and automatically control the rotation direction of the tractor and drive on the preset running path when the deviation occurs. Especially, the utility model discloses tractor autopilot system can carry out less change to current tractor under, can realize autopilot. Even, when the utility model discloses tractor autopilot system is used for current tractor, does not have obvious influence to the overall structure of tractor. Furthermore, the utility model discloses tractor autopilot system compares current tractor autopilot system, simple structure, low cost and easy to use. Through the above description, those skilled in the art can make various changes and modifications without departing from the technical spirit of the present invention, such as changing the driving wheel to the worm and the driven wheel to the turbine, all of which are within the protection scope of the present invention. The present invention is not to be considered as the best thing, and belongs to the common general knowledge of the technicians in the field.
It will be understood by those skilled in the art that the embodiments of the present invention as described above and shown in the drawings are given by way of example only and are not limiting of the present invention.
The objects of the present invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the embodiments without departing from the principles, embodiments of the present invention may have any deformation or modification.
Claims (10)
1. A steering device for a tractor, comprising:
a steering motor; and
and the transmission gear set comprises at least one driving gear, at least one driven gear meshed with the driving gear and a gear shaft, wherein the driving gear is connected with the output shaft end of the steering motor, the driven gear is meshed with the driving gear, one end of the gear shaft is connected to the driven gear, and the other end of the gear shaft is suitable for being connected to a steering valve shaft of the tractor.
2. Steering device according to claim 1, further comprising at least one angle detector, wherein the angle detector is arranged for detecting the actual steering angle of the wheels of the tractor.
3. Steering device according to claim 2, wherein the angle detector comprises at least one angle sensor arranged for detecting the actual steering angle of the wheels of the tractor and a movable bracket for mounting the angle sensor on the wheel axle of the tractor.
4. The steering apparatus according to claim 3, wherein the angle detector further comprises at least one fixed bracket, wherein one end of the fixed bracket is connected to a steering axle of the tractor, and the other end is connected to a sensor output shaft of the angle sensor, so that the movable bracket can rotate together with the angle sensor, wherein the fixed bracket fixes the angle sensor output shaft of the angle sensor.
5. The steering apparatus of claim 1, further comprising a gear box, wherein the drive gear and the driven gear are disposed in the gear box.
6. The steering apparatus of claim 4, further comprising a gear box, wherein the drive gear and the driven gear are disposed in the gear box.
7. The steering apparatus according to claim 5, wherein the gear case includes an upper case and a lower case extending from the upper case, wherein one end of the pinion shaft connected to the steering valve shaft of the tractor is connected to the lower case through a support bearing, and the other end of the pinion shaft is connected to the upper case through another support bearing.
8. The steering apparatus according to claim 6, wherein the gear case includes an upper case and a lower case extending from the upper case, wherein one end of the pinion shaft connected to the steering valve shaft of the tractor is connected to the lower case through a support bearing, and the other end of the pinion shaft is connected to the upper case through another support bearing.
9. The steering device according to claim 1, wherein the gear shaft is adapted to be coupled to a steering valve shaft of the tractor by a coupling.
10. The steering device according to claim 8, wherein the gear shaft is adapted to be coupled to a steering valve shaft of the tractor by a coupling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920624421.XU CN210133177U (en) | 2019-04-30 | 2019-04-30 | Steering device for tractor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920624421.XU CN210133177U (en) | 2019-04-30 | 2019-04-30 | Steering device for tractor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210133177U true CN210133177U (en) | 2020-03-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920624421.XU Active CN210133177U (en) | 2019-04-30 | 2019-04-30 | Steering device for tractor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210133177U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110155160A (en) * | 2019-04-30 | 2019-08-23 | 丰疆智能科技股份有限公司 | Transfer for tractor |
-
2019
- 2019-04-30 CN CN201920624421.XU patent/CN210133177U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110155160A (en) * | 2019-04-30 | 2019-08-23 | 丰疆智能科技股份有限公司 | Transfer for tractor |
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