CN214112673U - Steering drive device and rice transplanter - Google Patents
Steering drive device and rice transplanter Download PDFInfo
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- CN214112673U CN214112673U CN202022955996.5U CN202022955996U CN214112673U CN 214112673 U CN214112673 U CN 214112673U CN 202022955996 U CN202022955996 U CN 202022955996U CN 214112673 U CN214112673 U CN 214112673U
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- driving motor
- angle sensor
- absolute value
- steering
- sleeve
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Abstract
The utility model relates to an agricultural intelligence equips technical field, provides a turn to drive arrangement and transplanter. The steering driving device comprises a driving motor, a corner detection mechanism and a sleeve, a rotor of the driving motor is fixedly sleeved on the outer side of the sleeve, the sleeve is used for fixedly sleeving the steering column, one end of the sleeve penetrates out of a shell of the driving motor and is connected with the corner detection mechanism, the corner detection mechanism comprises a plurality of circles of absolute value angle sensors, and the plurality of circles of absolute value angle sensors are used for detecting the rotating angle of the driving motor. The utility model provides a turn to drive arrangement need not install angle sensor in addition on the front wheel and survey the front wheel corner, does not need higher barrier propterty, device simple structure, simple to operate, and can reduce the interference that magnetic field when driving motor moves caused many rings of absolute value angle sensor by great degree, improved the reliability and the stability of navigation operation.
Description
Technical Field
The utility model relates to an agricultural intelligence equips technical field, especially relates to a turn to drive arrangement and transplanter.
Background
With the development of precision agriculture, the automatic navigation system of the riding type rice transplanter is used as the key point of agricultural intelligent equipment and is applied more and more widely. For example, in the case of rice transplanting work, it is intended to reduce labor intensity, reduce labor cost, improve the quality of rice transplanting work, and promote the improvement of labor productivity. The automatic navigation system realizes the control of the movement track of the rice transplanter by controlling the position of a piston rod of the steering oil cylinder. In general, when the wheel is centered, the wheel axis is parallel to the central axis of the vehicle body. When the wheels rotate, the axis of the wheels and the central axis of the vehicle body form an included angle, namely a wheel rotation angle. Wheel angle measurement, as part of an automatic steering unit of an automatic navigation system, is one of the important factors affecting the accuracy of automatic navigation. The wheel turning angle is monitored in real time, so that the automatic identification, correction and other work are achieved, and the rice transplanter can accurately advance along a rice transplanting path.
In the prior art, an absolute angle sensor is usually arranged on a front wheel of the transplanter, and the rotation angle of a steering wheel motor is adjusted by measuring the angle of the front wheel and a GPS (global positioning system) positioning position in real time, so that the transplanter is ensured to run along a planned path. However, the working conditions of paddy field operation are complex, usually half of the wheels are located below the mud in the paddy field, and the angle sensor of the front wheel needs higher protection performance, so that the structure of the measuring device is complex, the installation difficulty is higher, and the reliability of the operation of the whole navigation system is difficult to ensure.
SUMMERY OF THE UTILITY MODEL
The utility model provides a turn to drive arrangement and transplanter for solve the transplanter automatic navigation actuating system among the prior art and set up angle sensor at the front wheel and detect the wheel corner, make the measuring device structure complicated, the installation degree of difficulty is great, and is difficult to the problem of the reliability of guaranteeing navigation operation.
The utility model provides a turn to drive arrangement, including driving motor, corner detection mechanism and sleeve, driving motor's rotor is fixed cup joint in the telescopic outside, the sleeve is used for the fixed steering column that cup joints, telescopic one end is worn out driving motor's casing with corner detection mechanism links to each other, corner detection mechanism includes many rings of absolute value angle sensor, many rings of absolute value angle sensor are used for detecting driving motor's turned angle.
According to the utility model provides a pair of steering drive device, electromagnetic shield cover is installed in many rings of absolute value angle sensor's the outside.
According to the utility model provides a pair of steering drive device, electromagnetic shield cover is made by stainless iron.
According to the utility model provides a pair of turn to drive arrangement, install increment angle sensor in driving motor's the casing, increment angle sensor is used for detecting driving motor's turned angle.
According to the utility model provides a pair of steering drive device, corner detection mechanism still includes intermeshing's driving gear and driven gear, the sleeve with the coaxial fixed connection of driving gear, many rings of absolute value angle sensor's pivot with the coaxial fixed connection of driven gear.
According to the utility model provides a pair of turn to drive arrangement, corner detection mechanism still including install in the casing of driving motor's casing, the driving gear with driven gear all is located in the casing, many rings of absolute value angle sensor install in outside the casing.
According to the utility model provides a pair of steering drive device, the casing is equipped with first through-hole and second through-hole, the driving gear be equipped with first through-hole normal running fit's first cylinder boss, driven gear be equipped with second through-hole normal running fit's second cylinder boss.
According to the utility model provides a pair of steering drive device, the casing with driving motor's casing passes through the screw and can dismantle the connection.
The utility model also provides a transplanter, including steering column and any one of above-mentioned steering drive arrangement, the sleeve with the coaxial fixed connection of steering column.
The utility model provides a turn driving device and transplanter, through the rotor and the corner detection mechanism of muffjoint driving motor, adopt the corner detection mechanism to obtain the corner of driving wheel indirectly, do not need to install angle sensor in addition on the front wheel and survey the front wheel corner, have improved the reliability of navigation operation; the multi-turn absolute value angle sensor of the corner detection mechanism is arranged on the steering driving motor, and does not need higher protection performance, so that the device has simple structure and convenient installation; the absolute multi-turn absolute value angle sensor is arranged outside the shell of the driving motor, so that the interference of a magnetic field to the multi-turn absolute value angle sensor during the operation of the driving motor can be reduced to a greater extent, and the reliability and the stability of the operation of a navigation system are improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the following briefly introduces the drawings required for the embodiments or the prior art descriptions, and obviously, the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is one of the schematic exploded structural views of the steering driving device provided by the present invention;
fig. 2 is a cross-sectional view of a steering drive device provided by the present invention;
fig. 3 is a second schematic view of an explosion structure of the steering driving device according to the present invention;
reference numerals:
1: a drive motor; 11: a housing;
2: a rotation angle detection mechanism; 21: a multi-turn absolute value angle sensor;
211: an electromagnetic shield; 212: a rotating shaft;
22: a driving gear; 221: a first cylindrical boss;
222: a third cylindrical boss; 223: a central bore;
23: a driven gear; 231: a second cylindrical boss;
24: a housing; 241: a first through hole;
242: a second through hole; 243: a third through hole;
244: a fourth via hole; 245: a boss;
3: a sleeve; 31: a connecting flange;
32: a spline; 4: a steering wheel;
5: and (4) screws.
Detailed Description
To make the objects, technical solutions and advantages of the present invention clearer, the drawings of the present invention are combined to clearly and completely describe the technical solutions of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
In the description of the embodiments of the present invention, it should be noted that the terms "first" and "second" are used for clearly indicating the numbering of the product parts and do not represent any substantial difference unless explicitly stated or limited otherwise. The specific meaning of the above terms in the embodiments of the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected" and "connected" are to be construed broadly, and may for example be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1 is the utility model provides a turn to one of drive arrangement's explosion structure schematic diagram, as shown in fig. 2 be the utility model provides a turn to drive arrangement's section view, should turn to drive arrangement and include driving motor 1, corner detection mechanism 2 and sleeve 3, driving motor 1's the fixed outside of cup jointing in sleeve 3 of rotor, sleeve 3 is used for the fixed steering column that cup joints, driving motor 1's casing 11 is worn out to sleeve 3's one end links to each other with corner detection mechanism 2, corner detection mechanism 2 includes many rings of absolute value angle sensor 21, many rings of absolute value angle sensor 21 are used for detecting driving motor 1's turned angle. Specifically, one end of the sleeve 3 is provided with a connecting flange 31, and is fixedly connected with the end of the rotor of the driving motor 1 through the connecting flange 31, and the steering wheel 4 is fixedly connected with the connecting flange 31, for example, through screws. The other end of the sleeve 3 opposite to the connecting flange 31 penetrates downwards out of the casing 11 of the driving motor 1 and is connected with the rotation angle detection mechanism 2. The inside of the sleeve 3 is provided with splines 32 for engaging the splined shaft of the steering column.
When in use, the sleeve 3 is fixedly sleeved on a steering column of the rice transplanter for driving the front wheel to rotate, and the driving motor 1 drives the steering column to rotate, thereby driving the front wheel of the rice transplanter to rotate. The multi-turn absolute value angle sensor 21 detects the rotation angle of the driving motor 1, and calculates the rotation angle of the front wheel according to the linear proportional relationship between the rotation angle of the front wheel of the rice transplanter and the rotation angle of the steering wheel. The system can control the driving motor to rotate according to the rotation angle of the front wheel and a preset path so as to realize automatic navigation.
The embodiment of the utility model provides a steering drive device, through the rotor and the corner detection mechanism 2 of muffjoint driving motor, adopt corner detection mechanism 2 to obtain the corner of drive wheel indirectly, need not install angle sensor in addition on the front wheel and survey the front wheel corner, improved the reliability of navigation operation; the multi-turn absolute value angle sensor 21 is arranged on the steering driving motor 1, and does not need high protection performance, so that the device has a simple structure and is convenient to install; the absolute multi-turn absolute value angle sensor 21 is arranged on the outer side of the casing 11 of the driving motor 1, so that the interference of a magnetic field generated when the driving motor 1 operates on the multi-turn absolute value angle sensor 21 can be reduced to a greater extent, and the reliability and the stability of the operation of a navigation system can be improved.
Further, as shown in fig. 2, an electromagnetic shield 211 is installed outside the multi-turn absolute value angle sensor 21 to prevent the electromagnetic field generated by the drive motor 1 from interfering with the multi-turn absolute value angle sensor 21. The electromagnetic shielding cover 211 is made of stainless iron, copper, or aluminum, which is not limited in this embodiment.
The embodiment of the utility model provides an in, install increment angle sensor (not shown in the figure) in driving motor 1's the casing 11, increment angle sensor is used for detecting driving motor 1's relative rotation angle. The incremental angle sensor detects the relative rotational angle of the drive motor 1. When the navigation system starts power-on every time, the angle values detected by the multi-turn absolute value angle sensor 21 and the incremental angle sensor are read simultaneously, and the angle value of the incremental angle sensor is subtracted from the angle value of the multi-turn angle sensor 21 to obtain a reference value; in the working process of the navigation system, the system only reads the angle value of the incremental angle sensor in real time and adds the angle value and the reference value to obtain the actual steering angle of the front wheel.
In this embodiment, the incremental angle sensor is installed inside the driving motor 1 without being interfered by the magnetic field of the driving motor 1 by using the optical detection principle, measures the relative rotation angle of the driving motor 1 in real time, and obtains the absolute rotation angle of the driving motor 1 by combining the reference value obtained by calculation during power-on, thereby obtaining the absolute rotation angle of the wheel. The angle value of the multi-turn absolute value angle sensor 21 does not need to be read in real time, the electromagnetic interference of the driving motor 1 on angle measurement is avoided, and the reliability and the navigation control precision of the system are improved.
The second explosion structure schematic diagram of the steering driving device shown in fig. 3 is shown in fig. 2 and fig. 3, in the embodiment of the present invention, the corner detection mechanism 2 further includes a driving gear 22 and a driven gear 23 which are engaged with each other, the sleeve 3 is fixedly connected with the driving gear 22 coaxially, and the rotating shaft of the multi-turn absolute value angle sensor 21 is fixedly connected with the driven gear 23 coaxially. So set up, can avoid steering column and many circles absolute value angle sensor 21 to take place the structure and interfere, calculate the turned angle who reachs sleeve 3, the turned angle that also is driving motor 1 according to the angle value that many circles absolute value angle sensor 21 detected and the drive ratio of driving gear 22 and driven gear 23. The front wheel is connected with the steering column through a transmission piece, and the rotation angle of the front wheel can be obtained according to the corresponding relation between the rotation angle of the driving motor 1 and the rotation angle of the front wheel. For example, in the present embodiment, the modules of the driving gear 22 and the driven gear 23 are both 1, the number of teeth of the driving gear 22 is 80, and the number of teeth of the driven gear 23 is 50.
The embodiment of the utility model provides an in, corner detection mechanism 2 is still including installing in the casing 24 of the casing 11 of driving motor 1, and driving gear 22 and driven gear 23 all are located casing 24, and many rings of absolute value angle sensor 21 are installed outside casing 24. So set up, can form better protection to gear drive mechanism, also make things convenient for the installation of corner detection mechanism 2. The housing 24 is detachably connected to the housing 11 of the drive motor 1 by screws. Specifically, casing 24 is provided with a plurality of connection otic placodes all around, and the casing 11 of driving motor 1 is equipped with the screw hole with the position that connects the otic placode and correspond, and casing 24 passes through the mounting screw in casing 11 of driving motor 1, and the screw passes and connects otic placode and screw hole spiro union, installation and dismantlement when making things convenient for subsequent maintenance.
As shown in fig. 2 and 3, the housing 24 is provided with a first through hole 241 and a second through hole 242, the driving gear 22 is provided with a first cylindrical boss 221 rotatably engaged with the first through hole 241, and the driven gear 23 is provided with a second cylindrical boss 231 rotatably engaged with the second through hole 242. Specifically, the first cylindrical boss 221 and the sidewall of the first through hole and the second cylindrical boss 231 and the sidewall of the second through hole are rotatably connected through rolling bearings, so as to form radial limit for the driving gear 22 and the driven gear 23.
Specifically, the housing 24 includes an upper housing and a lower housing, the first through hole 241 and the second through hole 242 are both opened in the upper housing, the lower housing has a third through hole 243 and a fourth through hole 244 respectively opened at positions corresponding to the first through hole 241 and the second through hole 242, the driving gear 22 has a third cylindrical boss 222 at the other side corresponding to the first cylindrical boss 221, and the third cylindrical boss 222 is rotatably matched with the third through hole 243. One end of the sleeve 3 passes through the first through hole 241 and is fixedly connected with the driving gear 22 through a bolt. The driving gear 22 is provided with a central hole 223, and the steering column passes through the third through hole 243 and the central hole 223 to be fixedly connected with the sleeve 3.
As shown in fig. 2, the housing of the multi-turn absolute angle sensor 21 is fixed to the housing 24, and the driven gear 23 is coaxially and fixedly connected to the rotating shaft 212 of the multi-turn absolute angle sensor 21 to form an axial limit for the driven gear 23. The rotating shaft 212 of the multi-turn absolute value angle sensor 21 penetrates the housing 24 from the fourth through hole 244 to be fixedly connected with the driven gear 23. For example, the driven gear is provided with a central hole, and the rotating shaft 212 of the multi-turn absolute value angle sensor 21 passes through the fourth through hole 244 and the central hole and then is fixedly connected with the second cylindrical boss 231 through the screw 5. The housing 24 is provided with a boss 245, the fourth through hole 244 is opened in the boss 245, and the boss 245 is close to the inner side of the housing 24 to form an avoiding space of the mounting member.
The embodiment of the utility model provides a transplanter is still provided, this transplanter include steering column and any embodiment of the above-mentioned steering drive arrangement, sleeve 3 and the coaxial fixed connection of steering column.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (9)
1. The utility model provides a turn to drive arrangement, its characterized in that includes driving motor, corner detection mechanism and sleeve, driving motor's rotor is fixed cup joint in telescopic outside, the sleeve is used for fixed cup joint steering column, telescopic one end is worn out driving motor's casing with corner detection mechanism links to each other, corner detection mechanism includes many rings of absolute value angle sensor, many rings of absolute value angle sensor are used for detecting driving motor's turned angle.
2. The steering drive according to claim 1, wherein an electromagnetic shield is attached to an outer side of the multi-turn absolute value angle sensor.
3. The steering drive according to claim 2, wherein the electromagnetic shield is made of stainless iron.
4. The steering drive according to claim 1, wherein an incremental angle sensor for detecting a rotation angle of the drive motor is installed in a housing of the drive motor.
5. The steering drive device according to claim 1, wherein the rotation angle detection mechanism further includes a drive gear and a driven gear that are engaged with each other, the sleeve is coaxially and fixedly connected to the drive gear, and a rotating shaft of the multi-turn absolute value angle sensor is coaxially and fixedly connected to the driven gear.
6. The steering drive according to claim 5, wherein the rotation angle detection mechanism further includes a housing mounted to a housing of the drive motor, the drive gear and the driven gear are both located within the housing, and the multi-turn absolute value angle sensor is mounted outside the housing.
7. The steering drive according to claim 6, wherein the housing is provided with a first through hole and a second through hole, the driving gear is provided with a first cylindrical boss rotatably fitted to the first through hole, and the driven gear is provided with a second cylindrical boss rotatably fitted to the second through hole.
8. The steering drive according to claim 6, wherein the housing is detachably connected to a housing of the drive motor by a screw.
9. A rice transplanter comprising a steering column, and further comprising a steering drive device as claimed in any one of claims 1 to 8, wherein the sleeve is coaxially and fixedly connected to the steering column.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022955996.5U CN214112673U (en) | 2020-12-08 | 2020-12-08 | Steering drive device and rice transplanter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022955996.5U CN214112673U (en) | 2020-12-08 | 2020-12-08 | Steering drive device and rice transplanter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214112673U true CN214112673U (en) | 2021-09-03 |
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ID=77511129
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022955996.5U Active CN214112673U (en) | 2020-12-08 | 2020-12-08 | Steering drive device and rice transplanter |
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| Country | Link |
|---|---|
| CN (1) | CN214112673U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114544214A (en) * | 2022-03-02 | 2022-05-27 | 苏交科集团股份有限公司 | Bridge loading vehicle running track real-time monitoring equipment and using method thereof |
-
2020
- 2020-12-08 CN CN202022955996.5U patent/CN214112673U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114544214A (en) * | 2022-03-02 | 2022-05-27 | 苏交科集团股份有限公司 | Bridge loading vehicle running track real-time monitoring equipment and using method thereof |
| CN114544214B (en) * | 2022-03-02 | 2024-01-26 | 苏交科集团股份有限公司 | Real-time monitoring equipment for running track of bridge loading vehicle and application method thereof |
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