CN216994478U - Automatic steering device of agricultural machine - Google Patents
Automatic steering device of agricultural machine Download PDFInfo
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- CN216994478U CN216994478U CN202121847083.XU CN202121847083U CN216994478U CN 216994478 U CN216994478 U CN 216994478U CN 202121847083 U CN202121847083 U CN 202121847083U CN 216994478 U CN216994478 U CN 216994478U
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Abstract
The invention discloses an automatic steering device of agricultural machinery, which comprises an automatic steering main body, wherein a steering input cavity and a steering output cavity are respectively arranged in the automatic steering main body; a steering rod is matched above the steering input cavity, a steering wheel is fixed at the upper end of the steering rod, a steering wheel is fixed at the lower end of the steering rod, a rocker is fixed at the lower end of the steering wheel, a steering gear is matched below the rocker, a first single chip microcomputer and a rotation angle sensor are fixed below the steering gear, a line guide pipe is fixed in the middle of the lower part of the steering wheel, and a second single chip microcomputer is arranged below the line guide pipe; and a corner motor is fixed above the steering output cavity, a speed reducer is butted below a rotating shaft of the corner motor, and a steering arm is butted below the rotating shaft of the speed reducer. The invention is mainly used for the steering control of agricultural machinery, and the steering wheel of the invention is not directly connected with the driving motor through a connecting rod, so that the steering of the invention is easier and more labor-saving in muddy land in the field, and the steering is convenient to control.
Description
Technical Field
The invention relates to the field of agricultural machinery parts, in particular to an automatic steering device of agricultural machinery.
Background
Most of the steering devices of the existing agricultural machines are directly connected and transmit steering through mechanical connecting rods, and when the agricultural machines are operated in farming in fields, particularly when the agricultural machines are in muddy soil, the steering devices of the existing agricultural machines only rotate a steering wheel, and the steering of the agricultural machines through the mechanical connecting rods is very laborious. In order to solve the problems, an automatic steering device of the agricultural machine is provided.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides an automatic steering device of an agricultural machine.
In order to achieve the purpose, the invention provides the following technical scheme:
an automatic steering device of agricultural machinery comprises an automatic steering main body.
The automatic steering main body is internally provided with a steering input cavity and a steering output cavity respectively, a partition plate is arranged between the steering input cavity and the steering output cavity at intervals, the steering input cavity is positioned above the partition plate, and the steering output cavity is positioned below the partition plate. The steering input cavity and the steering output cavity are respectively used for inputting and outputting steering control, and the steering input cavity and the steering output cavity are not directly connected through a mechanical connecting rod.
A steering rod is vertically matched above the steering input cavity, the steering rod is used for connecting a steering wheel with the steering wheel, the steering rod penetrates through the outer part and the inner part of the steering input cavity, a steering wheel is horizontally fixed at the upper end of the steering rod, the steering wheel is positioned outside the steering input cavity and used for steering a driver, a steering wheel is horizontally fixed at the lower end of the steering rod, the steering wheel is positioned inside the steering input cavity and used for synchronizing the rotation of the steering wheel, a rocker is fixed at the lower end of the steering wheel and used for connecting the steering gear, a steering gear is horizontally matched below the rocker and used for steering sliding, a first single chip microcomputer and a rotation angle sensor are fixed in the middle of the lower part of the steering gear through a positioning frame, and the first single chip microcomputer is used for calculating the rotation arc length of the steering gear, the steering gear is characterized in that the rotation angle sensor is used for detecting the rotation center angle of the steering gear, a circuit guide pipe is fixed in the middle of the lower portion of the steering wheel and used for guiding and protecting a circuit, a second single chip microcomputer and an electromagnetic valve are arranged below the circuit guide pipe and used for calculating the rotation center angle of the steering wheel, the electromagnetic valve is used for accurately achieving driving of a corner motor, the second single chip microcomputer and the electromagnetic valve are fixed on the upper surface of the partition plate, a limiting fluted disc groove is fixed in the position of the lower portion of the steering input cavity and used for limiting and meshing sliding of the steering gear.
The utility model discloses a steering mechanism, including the baffle, turn to the output chamber, be provided with the corner motor in the top that turns to the output chamber, wherein the corner motor is used for exporting rotation angle, the corner motor is fixed in the lower surface of baffle, the pivot below of corner motor is docked and is had the reduction gear, and wherein the reduction gear is used for increasing the output torque of corner motor, the pivot of reduction gear runs through the outside and the inside that turn to the output chamber, the pivot below and the steering arm of reduction gear dock mutually, the steering arm is located the outside that turns to the output chamber, and wherein the steering arm is used for driving holistic turning to.
Preferably, the steering rod is in interference fit with the upper part of the steering input cavity through a first bearing; the steering rod is in interference fit with an inner ring of the first bearing, and the upper portion of the steering input cavity is in interference fit with an outer ring of the first bearing. The friction between the steering rod and the steering input cavity can be effectively reduced through the first bearing, so that steering is easier and more labor-saving.
Preferably, the lower part of the rocker is in interference fit with the steering gear through a second bearing; the lower part of the rocker is in interference fit with the inner ring of the second bearing, and the steering gear is in interference fit with the outer ring of the second bearing. The friction between the rocker and the steering gear can be effectively reduced through the second bearing, so that steering is easier and more labor-saving.
Preferably, the position of the limiting gear disc groove corresponds to the position of the steering gear; wherein, the teeth of the steering gear are meshed with the teeth on the inner side of the limit fluted disc.
Preferably, the first single chip microcomputer is electrically connected with the rotation angle sensor through a line, and an operation program based on a formula of "L ═ n pi r/180" is stored in the first single chip microcomputer, wherein L is a rotation arc length of the steering gear, n is a circle center angle of rotation of the steering gear, and r is a radius of the steering gear. The rotating angle sensor is located below the steering gear and can rotate in real time along with the steering gear, the rotating angle sensor monitors the rotating circle center angle of the steering gear in real time, and the rotating arc length of the steering gear is calculated in real time through an operation program in the first single chip microcomputer.
Preferably, cavities are formed in the steering rod and the rocker; wherein, the cavity in the steering column respectively link up the cavity in the rocker with the inside of circuit guide tube mutually.
Preferably, the second single chip microcomputer is electrically connected with the first single chip microcomputer through a circuit, and the circuit of the second single chip microcomputer is in butt joint with the circuit of the first single chip microcomputer after sequentially passing through the interior of the circuit guide tube, the cavity of the steering rod and the cavity of the rocker.
Preferably, an arithmetic program based on a formula "m ═ 180T/pi R" is stored in the second single chip microcomputer, where m is a circle center angle of rotation of the steering wheel, T is a rotation arc length of the steering wheel, and R is a radius of the steering wheel. And calculating the rotating circle center angle of the steering wheel in real time through an operation program in the second singlechip, wherein the rotating circle center angle of the steering wheel is the rotating circle center angle of the steering wheel.
Preferably, the circumference of the steering wheel is equal to 2/3 of the circumference of the limit gear groove, and since the arc length L of rotation of the steering gear is equal to the sliding distance of the steering gear in the limit gear groove, the arc length T of rotation of the steering wheel is equal to 2/3 of the arc length L of rotation of the steering gear, i.e. T is 2/3L.
Preferably, the second single chip microcomputer is connected with the electromagnetic valve through a line, and the electromagnetic valve is connected with the corner motor through a line; wherein, the baffle is provided with an opening, and a line between the electromagnetic valve and the corner motor penetrates through the opening. After the operation program in the second single chip microcomputer calculates the rotating circle center angle of the steering wheel in real time, the rotation of the corner motor is controlled in real time through the electromagnetic valve, and therefore accurate steering is achieved.
Compared with the prior art, the invention has the beneficial effects that:
the invention relates to an automatic steering device of agricultural machinery, which is mainly used for steering control of the agricultural machinery, wherein a steering wheel of the automatic steering device is not directly connected with a driving motor through a connecting rod, so that the automatic steering device is easier and more labor-saving to steer, is convenient to control and has higher steering precision in muddy land in the field.
Drawings
FIG. 1 is a schematic view of the internal structure of the present invention;
FIG. 2 is an enlarged view of a portion A of FIG. 1;
FIG. 3 is an enlarged view of a portion of FIG. 1 at B;
FIG. 4 is a cross-sectional view taken at C-C of FIG. 1;
fig. 5 is a partial enlarged view of fig. 4 at D.
In the figure: 1. an automatic steering main body; 2. a steering input cavity; 3. a steering output chamber; 4. a partition plate; 5. a first bearing; 6. a steering lever; 7. a steering wheel; 8. a steering wheel; 9; a rocker; 10. A second bearing; 11. a steering gear; 12. a positioning frame; 13. a first single chip microcomputer; 14. a rotation angle sensor; 15. a line guide pipe; 16. a second single chip microcomputer; 17. an electromagnetic valve; 18. A limiting fluted disc groove; 19. a corner motor; 20. a speed reducer; 21. a third bearing; 22. a steering arm.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides a technical solution:
an automatic steering device of agricultural machinery comprises an automatic steering main body 1.
The automatic steering main body 1 is internally provided with a steering input cavity 2 and a steering output cavity 3 respectively, a partition plate 4 is arranged between the steering input cavity 2 and the steering output cavity 3 at intervals, the steering input cavity 2 is positioned above the partition plate 4, and the steering output cavity 3 is positioned below the partition plate 4. The steering input cavity 2 and the steering output cavity 3 are respectively used for inputting and outputting steering control, and the steering input cavity and the steering output cavity are not directly connected through a mechanical connecting rod.
A steering rod 6 is vertically matched above the steering input cavity 2, wherein the steering rod 6 is used for connecting a steering wheel 7 with a steering wheel 8, the steering rod 6 penetrates through the outer part and the inner part of the steering input cavity 2, a steering wheel 7 is horizontally fixed at the upper end of the steering rod 6, the steering wheel 7 is positioned at the outer part of the steering input cavity 2, the steering wheel 7 is used for steering a driver, a steering wheel 8 is horizontally fixed at the lower end of the steering rod 6, the steering wheel 8 is positioned in the steering input cavity 2, the steering wheel 8 is used for synchronizing the rotation of the steering wheel 7, a rocker 9 is fixed at the lower end of the steering wheel 8, the rocker 9 is used for connecting a steering gear 11, a steering gear 11 is horizontally matched below the rocker 9, the steering gear 11 is used for steering sliding, a first single chip microcomputer 13 and a rotation angle sensor 14 are fixed in the middle of the lower part of the steering gear 11 through a positioning frame 12, the first single chip microcomputer 13 is used for calculating the rotation arc length of the steering gear 11, the rotation angle sensor 14 is used for detecting the rotation circle center angle of the steering gear 11, a circuit guide pipe 15 is fixed in the middle of the lower portion of the steering wheel 8, the circuit guide pipe 15 is used for guiding and protecting a circuit, a second single chip microcomputer 16 and an electromagnetic valve 17 are arranged below the circuit guide pipe 15, the second single chip microcomputer 16 is used for calculating the rotation circle center angle of the steering wheel 8, the electromagnetic valve 17 is used for accurately achieving driving of the rotation angle motor 19, the second single chip microcomputer 16 and the electromagnetic valve 17 are both fixed on the upper surface of the partition plate 4, a limiting gear groove 18 is fixed at the lower portion of the steering input cavity 2, and the limiting gear groove 18 is used for limiting and meshing sliding of the steering gear 11.
The steering mechanism is characterized in that a corner motor 19 is arranged above the steering output cavity 3, wherein the corner motor 19 is used for outputting a rotating angle, the corner motor 19 is fixed on the lower surface of the partition plate 4, a speed reducer 20 is butted below a rotating shaft of the corner motor 19, the speed reducer 20 is used for increasing the output torque of the corner motor 19, the rotating shaft of the speed reducer 20 penetrates through the outside and the inside of the steering output cavity 3, a steering arm 22 is butted below the rotating shaft of the speed reducer 20, the steering arm 22 is located outside the steering output cavity 3, and the steering arm 22 is used for driving the whole steering.
The steering rod 6 is in interference fit with the upper part of the steering input cavity 2 through a first bearing 5; the steering rod 6 is in interference fit with an inner ring of the first bearing 5, and the upper part of the steering input cavity 2 is in interference fit with an outer ring of the first bearing 5. The friction between the steering rod 6 and the steering input cavity 2 can be effectively reduced through the first bearing 5, so that the steering is easier and more labor-saving.
The lower part of the rocker 9 is in interference fit with a steering gear 11 through a second bearing 10; wherein, the lower part of the rocker 9 is in interference fit with the inner ring of the second bearing 10, and the steering gear 11 is in interference fit with the outer ring of the second bearing 10. The friction between the rocker 9 and the steering gear 11 can be effectively reduced through the second bearing 10, so that the steering is easier and more labor-saving.
The position of the limiting gear disc groove 18 corresponds to the position of the steering gear 11; wherein the teeth of the steering gear wheel 11 mesh with the teeth inside the limit disk groove 18.
The first single chip microcomputer 13 is electrically connected with the rotation angle sensor 14 through a line, and an operation program based on a formula of "L ═ n pi r/180" is registered in the first single chip microcomputer 13, wherein L is a rotation arc length of the steering gear 11, n is a circle center angle of rotation of the steering gear 11, and r is a radius of the steering gear 11. Because the rotation angle sensor 14 is located below the steering gear 11, the rotation angle sensor 14 can rotate in real time along with the steering gear 11, the rotation angle sensor 14 monitors the rotation center angle of the steering gear 11 in real time, and then the rotation arc length of the steering gear 11 is calculated in real time through an operation program in the first single chip microcomputer 13.
Cavities are formed in the steering rod 6 and the rocker 9; the cavity in the steering rod 6 connects the cavity in the rocker 9 to the interior of the line guide tube 15.
The second single chip microcomputer 16 is electrically connected with the first single chip microcomputer 13 through a circuit, and the circuit of the second single chip microcomputer sequentially passes through the interior of the circuit guide pipe 15, the cavity of the steering rod 6 and the cavity of the rocker 9 to complete butt joint.
An operation program based on a formula of "m is 180T/pi R" is registered in the second single chip microcomputer 16, where m is a circle center angle of rotation of the steering wheel 8, T is a rotation arc length of the steering wheel 8, and R is a radius of the steering wheel 8. The rotation center angle of the steering wheel 8 is calculated in real time through an operation program in the second single chip microcomputer 16, and the rotation center angle of the steering wheel 8 is the rotation center angle of the steering wheel 7.
The circumference of the steering wheel 8 is equal to 2/3 of the circumference of the limit gear groove 18, and since the arc length L of rotation of the steering gear 11 is equal to the sliding distance of the steering gear in the limit gear groove 18, the arc length T of rotation of the steering wheel 8 is equal to 2/3 of the arc length L of rotation of the steering gear 11, i.e. T2/3L.
The second single chip microcomputer 16 is connected with the electromagnetic valve 17 through a line, and the electromagnetic valve 17 is connected with the corner motor 19 through a line; wherein, the partition board 4 is provided with an opening, and a circuit between the electromagnetic valve 17 and the corner motor 19 penetrates through the opening. After the operation program in the second single chip microcomputer 16 calculates the angle of the center of the circle of the steering wheel 8 in real time, the rotation of the corner motor 19 is controlled in real time through the electromagnetic valve 17, and therefore accurate steering is achieved.
The working principle of the invention is as follows:
when a driver drives agricultural machinery in the field, the steering wheel 7 is rotated, the steering wheel 7 synchronously drives the steering wheel 8 to rotate through the transmission of the steering rod 6, when the steering wheel 8 rotates, the rocker 9 drives the steering gear 11 to slide along the steering gear groove 18, and in the process, the steering gear 11 rotates by taking the rocker 9 as the circle center. Because the rotation angle sensor 14 is located below the steering gear 11, the rotation angle sensor 14 can rotate in real time along with the steering gear 11, the rotation angle sensor 14 monitors the rotation center angle of the steering gear 11 in real time, and then the rotation arc length of the steering gear 11 is calculated in real time through an operation program in the first single chip microcomputer 13. Since the circumference of the steering wheel 8 is equal to 2/3 of the circumference of the limit disk groove 18, the arc length L of rotation of the steering gear 11 is equal to the sliding distance of the steering gear 11 in the limit disk groove 18, and therefore the arc length T of rotation of the steering wheel 8 is equal to 2/3 of the arc length L of rotation of the steering gear 11, i.e., T2/3L. When the first single chip microcomputer 13 transmits information to the second single chip microcomputer 16, the rotating circle center angle of the steering wheel 8 is calculated in real time through an operation program in the second single chip microcomputer 16, the rotating circle center angle of the steering wheel 8 is the rotating circle center angle of the steering wheel 7, and then the rotation of the corner motor 19 is controlled in real time through the electromagnetic valve 17, so that accurate steering is achieved, steering torque is increased through the speed reducer 20, and the steering arm 22 is driven to complete steering operation of agricultural machinery. Because the steering wheel is not directly connected with the driving motor through the connecting rod, the steering wheel is easier and more labor-saving in muddy land in the field and is convenient to control.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. An automatic steering device of agricultural machinery is characterized by comprising an automatic steering main body (1);
a steering input cavity (2) and a steering output cavity (3) are respectively arranged in the automatic steering main body (1), a partition plate (4) is arranged between the steering input cavity (2) and the steering output cavity (3), the steering input cavity (2) is positioned above the partition plate (4), and the steering output cavity (3) is positioned below the partition plate (4);
a steering rod (6) is vertically matched above the steering input cavity (2), the steering rod (6) penetrates through the outer part and the inner part of the steering input cavity (2), a steering wheel (7) is horizontally fixed at the upper end of the steering rod (6), the steering wheel (7) is positioned at the outer part of the steering input cavity (2), a steering wheel (8) is horizontally fixed at the lower end of the steering rod (6), the steering wheel (8) is positioned in the inner part of the steering input cavity (2), a rocker (9) is fixed at the lower end of the steering wheel (8), a steering gear (11) is horizontally matched below the rocker (9), a first single chip microcomputer (13) and a rotation angle sensor (14) are fixed in the middle of the lower part of the steering gear (11) through a positioning frame (12), a line guide pipe (15) is fixed in the middle of the lower part of the steering wheel (8), a second single chip microcomputer (16) and an electromagnetic valve (17) are arranged below the line guide pipe (15), the second single chip microcomputer (16) and the electromagnetic valve (17) are fixed on the upper surface of the partition plate (4), and a limiting fluted disc groove (18) is fixed at the position below the steering input cavity (2);
turn to the top in output chamber (3) and be provided with corner motor (19), corner motor (19) are fixed in the lower surface of baffle (4), the pivot below of corner motor (19) is docked has reduction gear (20), the pivot of reduction gear (20) runs through the outside and the inside that turn to output chamber (3), the pivot below and the steering arm (22) of reduction gear (20) dock mutually, steering arm (22) are located the outside that turns to output chamber (3).
2. The automatic steering device of the agricultural machine according to claim 1, wherein: the steering rod (6) is in interference fit with the upper part of the steering input cavity (2) through a first bearing (5); the steering rod (6) is in interference fit with an inner ring of the first bearing (5), and the upper part of the steering input cavity (2) is in interference fit with an outer ring of the first bearing (5).
3. An agricultural machine automatic steering device according to claim 1, characterized in that: the lower part of the rocker (9) is in interference fit with a steering gear (11) through a second bearing (10); wherein, the lower part of the rocker (9) is in interference fit with the inner ring of the second bearing (10), and the steering gear (11) is in interference fit with the outer ring of the second bearing (10).
4. An agricultural machine automatic steering device according to claim 1, characterized in that: the position of the limiting fluted disc groove (18) corresponds to the position of the steering gear (11); wherein, the teeth of the steering gear (11) are meshed with the teeth on the inner side of the limit fluted disc groove (18).
5. An agricultural machine automatic steering device according to claim 1, characterized in that: the first single chip microcomputer (13) is electrically connected with the rotation angle sensor (14) through a line, and an operation program based on a formula L-n pi r/180 is registered in the first single chip microcomputer (13), wherein L is the rotation arc length of the steering gear (11), n is the rotation circle center angle of the steering gear (11), and r is the radius of the steering gear (11).
6. An agricultural machine automatic steering device according to claim 1, characterized in that: cavities are formed in the steering rod (6) and the rocker (9); wherein the cavity in the steering rod (6) respectively connects the cavity in the rocker (9) with the interior of the line guide tube (15).
7. The automatic steering device of the agricultural machine according to claim 1, wherein: the second single chip microcomputer (16) is electrically connected with the first single chip microcomputer (13) through a circuit, and the circuit is in butt joint with the inner portion of the circuit guide pipe (15), the cavity of the steering rod (6) and the cavity of the rocker (9) sequentially.
8. The automatic steering device of the agricultural machine according to claim 7, wherein: an operation program based on a formula of'm-180T/pi R' is registered in the second single chip microcomputer (16), wherein T is the rotating arc length of the steering wheel (8), m is the rotating circle center angle of the steering wheel (8), and R is the radius of the steering wheel (8).
9. An agricultural machine automatic steering device according to claim 8, characterized in that: the circumference of the steering wheel (8) is equal to 2/3 of the circumference of the limit gear groove (18), and since the rotating arc length L of the steering gear (11) is equal to the sliding distance of the steering gear in the limit gear groove (18), the rotating arc length T of the steering wheel (8) is equal to 2/3 of the rotating arc length L of the steering gear (11), namely T is 2/3L.
10. The automatic steering device of the agricultural machine according to claim 1, wherein: the second single chip microcomputer (16) is connected with the electromagnetic valve (17) through a line, and the electromagnetic valve (17) is connected with the corner motor (19) through a line; wherein, an opening is arranged on the clapboard (4), and a line between the electromagnetic valve (17) and the corner motor (19) penetrates through the opening.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121847083.XU CN216994478U (en) | 2022-03-18 | 2022-03-18 | Automatic steering device of agricultural machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121847083.XU CN216994478U (en) | 2022-03-18 | 2022-03-18 | Automatic steering device of agricultural machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216994478U true CN216994478U (en) | 2022-07-19 |
Family
ID=82367095
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121847083.XU Active CN216994478U (en) | 2022-03-18 | 2022-03-18 | Automatic steering device of agricultural machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216994478U (en) |
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2022
- 2022-03-18 CN CN202121847083.XU patent/CN216994478U/en active Active
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
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| CP02 | Change in the address of a patent holder |
Address after: 402660 Chongqing Tongnan district agricultural and Rural Committee Patentee after: Tang Lu Address before: 261000 Building 2, Mingzhu garden, Shengli East Street, Weifang City, Shandong Province Patentee before: Tang Lu |