WO2021147182A1 - 一种农机电驱动方向盘自感式换向装置及方法 - Google Patents

一种农机电驱动方向盘自感式换向装置及方法 Download PDF

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Publication number
WO2021147182A1
WO2021147182A1 PCT/CN2020/084826 CN2020084826W WO2021147182A1 WO 2021147182 A1 WO2021147182 A1 WO 2021147182A1 CN 2020084826 W CN2020084826 W CN 2020084826W WO 2021147182 A1 WO2021147182 A1 WO 2021147182A1
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WIPO (PCT)
Prior art keywords
steering wheel
torque sensor
steering
hole
connecting sleeve
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PCT/CN2020/084826
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English (en)
French (fr)
Inventor
李吉
韦冬
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南京艾格慧元农业科技有限公司
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Publication of WO2021147182A1 publication Critical patent/WO2021147182A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits

Definitions

  • the invention belongs to the technical field of agricultural machinery steering mechanisms, and relates to a self-inductive reversing device and method for a steering wheel driven by an agricultural machinery.
  • the electronically controlled steering actuators of tractors and other agricultural machinery are divided into two categories: 1. Direct drive or torque motor directly drives the steering wheel to turn; 2. Motor acceleration and deceleration mechanism drives the steering wheel to turn.
  • Direct-drive or torque motors directly drive the steering wheel are expensive, high energy consumption, high heat generation, complex structure, large volume, heavy weight, and high maintenance cost; while the motor acceleration and deceleration mechanism driving the steering wheel does not switch smoothly between manual and automatic , It is inconvenient.
  • manual steering requires a large torque, the user is prone to fatigue, and there are jams during the switching process. It is not quick to exit the automatic mode and switch to manual in an emergency, which leads to certain hidden dangers in operation safety. Therefore, the existing steering actuators all have defects.
  • the present invention discloses a self-inductive steering wheel reversing device for agricultural electromechanical driving and its realization method, which can automatically sense the force and direction of the hand action used on the steering wheel during manual operation, and realize assisted power steering.
  • the present invention provides the following technical solutions:
  • a self-inductive reversing device for a steering wheel driven by an agricultural electromechanical system includes a steering wheel, a steering wheel connecting seat, an upper shell, a lower shell, and a lower connecting seat from top to bottom, and also includes a torque sensor and a sliding plate arranged in the upper and lower shells.
  • the steering wheel is fixed on the steering wheel connecting seat, the central position of the steering wheel connecting seat is provided with a keyed through hole, the upper and lower parts of the torque sensor are provided with a shaft and a keyway, so The upper shaft penetrates into the through hole with the key of the steering wheel connection seat and is fixed in the circumferential direction through the cooperation of the key and the key groove.
  • the lower shaft penetrates the upper hole of the connecting sleeve and is positioned in cooperation with the key and the key groove; the connecting sleeve is provided with a step
  • the stepped hole is provided with a screw that fixes the connecting sleeve and the torque sensor together;
  • the upper part of the connecting sleeve circumference is provided with a threaded hole
  • the slip ring includes a stator and a rotor, and the upper part of the rotor circumference is provided with a connecting sleeve
  • the threaded hole corresponds to the positioning hole, the screw passes through the threaded hole and the positioning hole to fix the connecting sleeve and the slip ring rotor together,
  • the stator is fixedly connected to the geared motor housing, and the torque sensor signal line is connected to the input signal line of the rotor;
  • the output shaft is provided with a hollow hole, and the hollow hole is provided with a key groove; the upper part of the power spindle
  • slip ring stator is fixed on the housing of the geared motor through a stop screw and a shim column.
  • the fixed connection is a detachable fixed connection.
  • the lower end of the power mandrel is in a flat position, and the power mandrel realizes circumferential positioning through the flat position and the lower connecting seat.
  • the lower end of the reversing device is fixedly connected with the steering column of the agricultural machinery.
  • the present invention also provides a control method of a self-inductive reversing device for a steering wheel driven by an agricultural electromechanical system, which includes the following steps:
  • the geared motor receives the steering signal of the controller and executes it.
  • the geared motor drives the power spindle to rotate, and at the same time drives the coaxial fixing part to act accordingly to realize the change of the steering column reversing angle of the steering wheel;
  • the torque sensor detects that the torque of the human hand is greater than the force of the motor driving the steering wheel, the system exits the automatic driving mode and switches to the manual state;
  • Manual state The driver turns the steering wheel, and the momentary force acting on the steering wheel drives the torque sensor below to do corresponding actions.
  • the torque sensor instantaneously senses the force and direction, and transmits the signal data to the controller.
  • the controller analyzes the force and judges the rotation And send a control signal to the geared motor to control the geared motor to make corresponding actions and execute the corresponding steering information.
  • the geared motor executes the control information, and its output end action drives the power spindle to act together, thereby driving the steering wheel and steering column to follow. Realize the change of steering wheel steering column reversing angle.
  • the present invention has the following advantages and beneficial effects:
  • the steering wheel is directly controlled by the motor.
  • the torque sensor on the steering wheel shaft can detect the turning torque of the human hand, and the system exits the automatic driving mode and switches to Manual operation, so as to achieve free and smooth switching between hand and automatic, avoiding external action switching.
  • the present invention can assist the driver to complete the manual steering action, reduce the force required for the driver to turn, and reduce the driver's labor intensity.
  • slip ring solves the signal wire winding problem caused by the torque sensor rotating.
  • the steering wheel driver can control the steering wheel at any time in the automatic driving mode.
  • the process of switching to manual operation is short, and the action can be responded and executed by the system controller in time, which improves the safety of operation.
  • the invention adopts a DC geared motor and avoids the use of electromagnetic clutch. Compared with traditional domestic steering devices, the invention has the advantages of simple structure, light weight, convenient installation, low maintenance cost, high safety, and low heat generation.
  • Fig. 1 is a schematic structural diagram of a self-inductive reversing device for a steering wheel driven by an agricultural electromechanical device provided by the present invention.
  • Figure 2 is a schematic diagram of manual commutation control.
  • Figure 3 Schematic diagram of the connecting sleeve structure.
  • 1-steering wheel connecting seat 2-screw, 3-screw, 4-steering wheel, 5-torque sensor, 6-set screw, 7-upper shell, 8-slip ring, 9-limit screw, 10-pad post , 11- geared motor, 12- lower connecting seat, 13- power spindle, 14- screw, 15- lower shell, 16- flat key, 17- countersunk screw, 18- screw, 19- connecting sleeve, 20- Flat key, 21-boss, 22-hollow hole, 23-threaded hole, 24-step hole, 25-lower hole.
  • a self-inductive reversing device for agricultural electromechanical driving steering wheel comprising a steering wheel 4, a steering wheel connecting seat 1, a torque sensor 5, a slip ring 8, a reduction motor 11, a power spindle 13, an upper casing 7, a lower casing 15, and a lower casing. Connecting seat 12.
  • the steering wheel 4 is coaxially fixedly connected with the torque sensor 5 and the power spindle 13, and the torque sensor 5, the slip ring 8, and the power spindle 13 are fixedly connected by a connecting sleeve.
  • the rotation of the output power end of the reduction motor 11 drives the power spindle 13 and other components connected with the power spindle 13 to follow.
  • the lower end of the device is fixedly connected with the agricultural machinery steering column, so that the agricultural machinery steering column also follows.
  • the steering wheel 4 is fixed on the steering wheel connecting seat 1 by screws 3, and the outer side of the steering wheel connecting seat is provided with uniformly distributed through holes, and several screws 3 pass through these through holes to fix the steering wheel and the connecting seat together.
  • a keyed through hole is provided at the center of the steering wheel connecting seat.
  • the center hole with the key of the connecting seat is matched with the upper shaft and the keyway of the torque sensor 5 to realize circumferential fixation.
  • the screw 2 is used for tightening and fixing, and a gasket is provided under the screw 2.
  • the upper and lower shafts of the torque sensor are provided with key grooves, and the key and the hole are matched to realize the circumferential fixation with the upper and lower matching parts.
  • the upper end of the torque sensor is fixedly connected with the steering wheel connecting seat, and the lower end is fixedly connected with the connecting sleeve.
  • the torque sensor in the present invention adopts a static torque sensor, which is low in price, small in size and high in accuracy. It is used to sense the change of torsion torque and convert the physical change of torsion into accurate electrical signals.
  • the torque sensor receives the force and direction from the steering wheel, and transmits the corresponding data information to the system controller.
  • the torque sensor is a static torque sensor of JNNT-T15NM, and the controller is BLD-120A.
  • the upper and lower shells are connected and fixed by screws.
  • the upper part of the upper shell 7 is provided with a large hole for passing through the outer circle of the torque sensor 5, and the space between the hole and the outer circle of the torque sensor is dust-proof by felt;
  • the lower part of the lower shell is provided with a large hole for passing through the geared motor 11 for positioning In the part of the boss 21, the axis of the two holes of the upper shell and the lower shell are concentric.
  • the two shells are made of high-strength aluminum. In order to ensure the long-term oxidation resistance of the surface, the surface is anodized.
  • the slip ring is arranged between the torque sensor and the geared motor.
  • the connecting sleeve 19 and the torque sensor 5 are keyed to achieve circumferential positioning, and are fastened by screws 18, and the slip ring rotor is fixed to the connecting sleeve 19 by the tightening screw 6 so as to realize the follow-up connection of the rotor and the torque sensor 5.
  • the slip ring is composed of a stator and a rotor, and the signal wire of the torque sensor 5 is connected with the input signal wire of the slip ring rotor.
  • the slip ring stator is fixed to the housing of the geared motor 11 through the limit screw 9 and the pad 10 to realize the relative static of the stator and the motor housing.
  • the output signal line of the stator is led out from the housing and connected to the system controller.
  • the slip ring can solve the follow-up winding problem of the signal line of the torque sensor 5 of the steering wheel follower.
  • the upper part of the connecting sleeve 19 is provided with two through threaded holes 23 corresponding to the positioning holes on the upper part of the rotor circumference of the slip ring 8.
  • the outer circle of the connecting sleeve is positioned and matched with the center of the inner hole of the slip ring rotor, and the set screw 6 passes through the threaded hole. And the positioning hole fix the connecting sleeve and the slip ring rotor together.
  • a stepped hole 24 is machined at the center of the connecting sleeve 19, and a through keyway is provided.
  • the upper part is coordinated with the lower shaft and keyway of the torque sensor 5 through holes and keys 20, and the connecting sleeve and the torque sensor are fixed together by screws 18; the lower hole 25 is matched with the upper shaft of the power spindle 13 and fixed by countersunk screws 17.
  • the geared motor is composed of a motor and a reducer.
  • the power output of the decelerating motor is realized by the hollow hole 22 provided on the output shaft and the keyway provided in the hole.
  • the reducer part of the geared motor is evenly distributed with the mounting holes connected to the outside with the hollow hole as the center, and can be fixed with the housing through the holes.
  • the motor control signal wire is connected to the controller.
  • the geared motor adopts a large torque brushless hollow DC motor.
  • the output torque of the motor has fully met the steering torque requirements of the steering wheel, so no further torque increase is required in the subsequent structure.
  • the efficiency of the deceleration brushless DC motor is much higher than that of the direct drive motors and torque motors commonly used in other solutions. Therefore, in the case of relative output power, its power consumption is relatively low, and the normal use is about half of the latter, so the later use cost is low and the heat generation is small.
  • the outer circle of the power mandrel cooperates with the inner hole of the connecting sleeve 19 to realize the center positioning.
  • the upper part of the power spindle circumference is provided with a threaded hole through the center.
  • the power spindle and the connecting sleeve 19 are fastened by countersunk screws 17; the power spindle passes through the hollow hole of the output shaft of the geared motor, and the power spindle and the shaft hole of the geared motor 11
  • the mating parts are respectively machined with key grooves, and the two mating parts (power spindle and geared motor output shaft) are positioned in the circumferential direction through the flat key 16; the lower end of the power spindle and the lower connecting seat 12 are milled out of a part of the circle and processed into a flat position.
  • the circumferential positioning is achieved by the flat position and the lower connecting seat 12, and the power output hole of the geared motor 11, the lower connecting seat 12 and the power spindle 16 are fixed by screws 14.
  • the material of the power mandrel is 45 steel. After quenching and tempering.
  • the lower connecting seat is a transition piece that connects the power spindle and the steering column of the agricultural machinery.
  • a center hole with a flat position is machined at the center of the lower connecting seat 12, which is fixed to the lower end of the power spindle 13 by screws 14; a uniform threaded hole is machined on the outside of the end face of the lower connecting seat 12, which can be connected to the agricultural machinery steering column through the screw hole fixed.
  • the present invention also provides an implementation method of the above device, which specifically includes the following steps:
  • the geared motor receives the steering signal from the controller and executes it.
  • the geared motor drives the power spindle to rotate.
  • the steering wheel, the upper connecting seat, the torque sensor, the connecting sleeve, the power spindle, and the lower connecting seat are the same.
  • the shaft is relatively fixed, and the lower connecting seat is coaxially connected and fixed with the steering column of the steering wheel. Therefore, when the power spindle rotates, the coaxial fixing part (including the lower connecting seat and the steering column of the steering wheel) is driven to act accordingly, thereby realizing the steering wheel steering column replacement.
  • the torque sensor on the steering wheel shaft detects the turning torque of the human hand, and the system exits the automatic driving mode and switches to manual operation.
  • the torque sensor In the manual state, because the upper part of the torque sensor is fixedly connected with the steering wheel through the connecting seat, the lower part is connected and fixed with the steering column by the coaxial connector.
  • the instantaneous force acting on the steering wheel drives the torque sensor below to perform corresponding actions.
  • the torque sensor instantaneously senses the force and direction, transmits the signal data to the controller, and the controller processes the information and analyzes the force.
  • the power spindle drives the coaxial fixing parts (steering wheel, upper connecting seat, torque sensor, connecting sleeve, lower connecting seat and steering column) to act accordingly, thereby assisting the driver to complete the manual steering action (as shown in Figure 2 ).

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Steering Mechanism (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

提供了一种农机电驱动方向盘自感式换向装置及其实现方法，其装置包括：方向盘（4）、方向盘连接座（1）、上壳体（7）、下壳体（15）、下连接座（12），还包括设置在上、下壳体内的扭矩传感器（5）、滑环（8）、连接套（19）、减速电机（11）、动力心轴（13）。在自动状态时，由电机直接控制方向盘（4）转向，当用户以大于电机驱动方向盘（4）的力转动方向盘（4）时，方向盘转动轴上的扭矩传感器（5）能检测到人手的转动力矩，系统退出自动驾驶模式，切换为手动操作，从而达到手、自动的自由顺畅切换，避免外部动作切换；手动状态下能够助力驾驶员完成手动转向动作，减小了驾驶员转向所需的作用力，降低了驾驶员的劳动强度；采用滑环（8）解决了扭矩传感器在转动时产生的信号线缠绕问题。

Description

一种农机电驱动方向盘自感式换向装置及方法 技术领域
本发明属于农机转向机构技术领域，涉及一种农机电驱动方向盘自感式换向装置及方法。
背景技术
随着科技的发展，目前农机作业智能化已经在国外得到了大范围的推广和普及。我国作为农业大国，农机作业智能化与国外发达国家相比还处于相对较低的水平。近些年，国家对精准农业和农机作业智能化空前重视。农机自动导航系统作为精准农业和农机智能化作业重要组成部分，因具备提高作业效率，降低劳动强度，提高农机作业安全性等优点在农机生产作业中被越来越多应用。自动换向方向盘装置作为自主导航自主作业系统中的基础组成部分，已得到广泛重视，相应的研究和应用正在逐步开展。
目前，拖拉机等农机的电控转向执行机构分为两大类：1.直驱或力矩电机直接驱动方向盘转向；2.电机加减速机构驱动方向盘转向。但直驱或力矩电机直接驱动方向盘价格昂贵、能耗大、发热量大、装置结构复杂、体积大、重量重、后期维护成本高；而电机加减速机构驱动方向盘手动与自动之间切换不顺畅、不方便，在手动转向时人手需要的转动力矩大、导致用户易疲劳，切换过程中有卡顿现象，紧急情况下退出自动模式转手动不快捷，导致操作安全性有一定的隐患。因此，现有的转向执行机构均具有缺陷。
发明内容
为解决上述问题，本发明公开了一种农机电驱动方向盘自感式换向装置及其实现方法，在手动时能够自动感知手动作用于方向盘上的力和方向，并实现辅助助力转向。
为了达到上述目的，本发明提供如下技术方案：
一种农机电驱动方向盘自感式换向装置，自上而下包括方向盘、方向盘连接座、上壳体、下壳体、下连接座，还包括设置在上、下壳体内的扭矩传感器、滑环、连接套、减速电机、动力心轴，所述方向盘固定在方向盘连接座上，所述方向盘连接座中心位置设有带键通孔，所述扭矩传感器上、下部设有轴和键槽，所述上部轴穿入方向盘连接座带键通孔内并通过键与键槽相配合实现周向固定，所述下部轴穿入连接套上部孔并通过键与键槽相配合定位；连接套内设有阶梯孔，所述阶梯孔处设有螺钉，所述螺钉将连接套和扭矩传感器固定在一起；连接套圆周上部开设有螺纹孔，所述滑环包括定子和转子，其中转子圆周上部具有与连接套螺纹孔对应的定位孔，螺钉穿过螺纹孔和定位孔将连接套与滑环转子固定在一起，定子与减 速电机外壳固定连接，扭矩传感器信号线与转子的输入信号线相连；所述减速电机输出轴上设置有中空孔，中空孔处开设键槽；所述动力心轴上部与连接套下部固定连接，动力心轴穿过减速电机输出轴上中空孔内，通过键槽和平键实现周向定位，动力心轴下端与下连接座通过螺钉固定连接；滑环定子输出信号线和电机控制信号线分别连接至控制器。
进一步的，所述滑环定子通过限位螺钉和垫柱固定在减速电机外壳上。
进一步的，所述固定连接为可拆卸的固定连接方式。
进一步的，所述动力心轴下端为扁位，动力心轴通过扁位与下连接座实现周向定位。
进一步的，所述上、下壳体通过螺钉固定连接。
进一步的，换向装置下端与农机转向柱固定连接。
本发明还提供了农机电驱动方向盘自感式换向装置的控制方法，包括如下步骤：
自动状态：减速电机接收控制器转向信号并执行，减速电机驱动与之配合的动力心轴转动，同时带动同轴固定件随之动作，实现方向盘转向柱换向角度变化；当方向盘转动轴上的扭矩传感器检测到人手的转动力矩大于电机驱动方向盘的力时，系统退出自动驾驶模式，切换为手动状态；
手动状态：驾驶员转动方向盘，作用于方向盘上的瞬时作用力带动下方的扭矩传感器做相应动作，扭矩传感器瞬时感知作用力和方向，将信号数据传递给控制器，控制器分析力大小和判断转动方向，并发出控制信号给减速电机，控制减速电机做出相应的动作执行相应的转向信息，减速电机执行控制信息，其输出端动作带动动力心轴一起动作，从而驱动方向盘及转向柱随动，实现方向盘转向柱换向角度变化。
与现有技术相比，本发明具有如下优点和有益效果：
1.在自动状态时，由电机直接控制方向盘转向，当用户以大于电机驱动方向盘的力转动方向盘时，方向盘转动轴上的扭矩传感器能检测到人手的转动力矩，系统退出自动驾驶模式，切换为手动操作，从而达到手、自动的自由顺畅切换，避免外部动作切换。
2.手动状态下本发明能够助力驾驶员完成手动转向动作，减小了驾驶员转向所需的作用力，降低了驾驶员的劳动强度。
3.采用滑环解决了扭矩传感器在转动时产生的信号线缠绕问题。
4.基于上述自动切换模式，方向盘驾驶员在自动驾驶模式下，可随时抢夺控制方向盘，切换为手动操作的过程时间短，动作能得到系统控制器的及时响应和执行，提高了作业安全性。
5.本发明采用直流减速电机，避免使用电磁离合，相较于国内传统的转向装置，具有结构简单、重量轻、安装方便、后期维护成本低、安全性高、发热量小等优点。
附图说明
图1为本发明提供的农机电驱动方向盘自感式换向装置结构示意图。
图2为手动换向控制原理图。
图3连接套结构示意图。
附图标记说明：
1-方向盘连接座，2-螺钉，3-螺钉，4-方向盘，5-扭矩传感器，6-紧定螺钉，7-上壳体，8-滑环，9-限位螺钉，10-垫柱，11-减速电机，12-下连接座，13-动力心轴，14-螺钉，15-下壳体，16-平键，17-沉头螺钉，18-螺钉，19-连接套，20-平键，21-凸台，22-中空孔，23-螺纹孔，24-阶梯孔，25-下部孔。
具体实施方式
以下将结合具体实施例对本发明提供的技术方案进行详细说明，应理解下述具体实施方式仅用于说明本发明而不用于限制本发明的范围。
一种农机电驱动方向盘自感式换向装置，包括方向盘4、方向盘连接座1、扭矩传感器5、滑环8、减速电机11、动力心轴13、上壳体7、下壳体15、下连接座12。方向盘4与扭矩传感器5和动力心轴13同轴固定联接，扭矩传感器5、滑环8、动力心轴13通过连接套固定连接。减速电机11输出动力端转动带动动力心轴13以及与动力心轴13联接的其他部件一起随动，装置下端与农机转向柱固定联接，从而农机转向柱也一起随动。
具体地说，方向盘4通过螺钉3固定在方向盘连接座1上，方向盘连接座外侧设有均布通孔，若干螺钉3穿过这些通孔将方向盘和连接座固定在一起。在方向盘连接座中心位置设有带键通孔。连接座带键中心孔与扭矩传感器5上部轴和键槽配合，实现周向固定，用螺钉2紧定固定，螺钉2下设有垫片。
扭矩传感器上、下两端轴均设有键槽，通过键与孔配合，实现与上下两配合件的周向固定。具体地说，扭矩传感器上端与方向盘连接座固定连接，下端与连接套固定连接。本发明中扭矩传感器采用的是静态扭矩传感器，这种传感器价格低、体积小、精度高。用于感知扭转力矩变化，将扭力的物理变化转换成精确的电信号。在手动驾驶模式时，扭矩传感器受到来自方向盘的作用力和方向，将相应的数据信息传递给系统控制器。本例中扭矩传感器选用型号为JNNT-T15NM的静态扭矩传感器，控制器选用BLD-120A型。
上、下壳体之间通过螺钉连接固定。上壳体7上部设有一大孔，用于穿过扭矩传感器5外圆，孔与扭矩传感器外圆之间通过毛毡防尘；下壳体下部设有一大孔，用于穿过减速电机11定位凸台21部分，上壳体和下壳体两孔轴心同心。两壳体材料均为高强度铝材，为保证 表面长期抗氧化性，表面经阳极氧化处理。
滑环设置在扭矩传感器与减速电机之间。连接套19与扭矩传感器5通过键配合实现周向定位，通过螺钉18紧固，滑环转子通过紧定螺钉6与连接套19固定，从而实现转子与扭矩传感器5随动联接。滑环由定子和转子组成，扭矩传感器5信号线与滑环转子的输入信号线连接。滑环定子通过限位螺钉9和垫柱10固定到减速电机11外壳上，实现定子与电机外壳的相对静止，定子的输出信号线由外壳引出连接至系统控制器。当扭矩传感器、方向盘随减速电机动力输出端带动的动力心轴一起转动时，滑环能够解决方向盘随动件扭矩传感器5信号线随动缠绕问题。
连接套19圆周上部开设有两个贯通的螺纹孔23，与滑环8转子圆周上部的定位孔对应，连接套外圆与滑环转子的内孔中心定位配合，紧定螺钉6穿过螺纹孔和定位孔将连接套与滑环转子固定在一起。连接套19中心位置加工一阶梯孔24，并开设贯通的键槽。上部通过孔和键20与扭矩传感器5下端轴和键槽配合定位，通过螺钉18将连接套和扭矩传感器固定在一起；下部孔25与动力心轴13的上端轴配合，采用沉头螺钉17固定。
减速电机由电机和减速器部分组成。减速电机动力输出由输出轴上设置的中空孔22及孔处开设键槽实现。减速电机的减速器部分以中空孔为中心均匀分布与外部联接的安装孔，通过孔可与外壳固定。电机控制信号线连接至控制器。本发明中，减速电机采用大扭矩无刷中空直流电机。该电机输出扭矩已完全满足方向盘转向力矩要求，因此在后续结构中不需要进一步的增矩。减速无刷直流电机的效率远高于其它方案常用的直驱电机和力矩电机。因此在相对输出功率的情况下，其功耗相对较低，正常使用约为后者的一半，因此后期使用成本低、发热量小。
动力心轴外圆与连接套19内孔配合实现中心定位。动力心轴圆周上部开设有过中心的螺纹孔，通过沉头螺钉17将动力心轴与连接套19紧固；动力心轴穿过减速电机输出轴中空孔，动力心轴与减速电机11轴孔配合部分分别加工有键槽，通过平键16实现两配合件(动力心轴及减速电机输出轴)周向定位；动力心轴下端与下连接座12配合轴端铣去一部分圆，加工成扁位，通过扁位与下连接座12实现周向定位，通过螺钉14将减速电机11动力输出孔、下连接座12和动力心轴16固定。动力心轴材料为45钢。经调质处理。
下连接座为联接动力心轴和农机转向柱过渡件。下连接座12中心处加工了带有扁位的中心孔，通过螺钉14固定到动力心轴13下端；下连接座12端面外侧加工了均布螺纹孔，可通过螺孔与农机转向柱联接件固定。
本发明还提供了上述装置的实现方法，具体包括如下步骤：
在自动状态时，减速电机接收控制器转向信号并执行，减速电机驱动与之配合的动力心 轴转动，因方向盘、上连接座、扭矩传感器、连接套、动力心轴、下连接座之间同轴相对固定，下连接座与方向盘转向柱同轴连接固定，因此在动力心轴转动时，同时带动同轴固定件(含下连接座和方向盘转向柱)随之动作，从而实现方向盘转向柱换向角度变化。同时，如果用户以大于电机驱动方向盘的力转动方向盘，方向盘转动轴上的扭矩传感器检测到人手的转动力矩，系统退出自动驾驶模式，切换为手动操作。
在手动状态时，因扭矩传感器上方通过连接座与方向盘固定联接，下方与之同轴联接件与转向柱联接固定。当驾驶员转动方向盘，作用于方向盘上的瞬时作用力带动下方的扭矩传感器做相应动作，此时扭矩传感器瞬时感知作用力和方向，将信号数据传递给控制器，控制器处理信息，分析力大小和判断转动方向，并发出控制信号给减速电机，控制减速电机做出相应的动作执行相应的转向信息，减速电机执行控制信息，其输出端动作带动与之相联接的部件一起动作，驱动动力心轴转动，动力心轴带动同轴固定件(方向盘、上连接座、扭矩传感器、连接套、下连接座和方向盘转向柱)随之动作，从而助力驾驶员完成手动转向动作(如图2所示)。
本发明方案所公开的技术手段不仅限于上述实施方式所公开的技术手段，还包括由以上技术特征任意组合所组成的技术方案。应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也视为本发明的保护范围。

Claims (6)

  1. 一种农机电驱动方向盘自感式换向装置，其特征在于：自上而下包括方向盘、方向盘连接座、上壳体、下壳体、下连接座，还包括设置在上、下壳体内的扭矩传感器、滑环、连接套、减速电机、动力心轴，所述方向盘固定在方向盘连接座上，所述方向盘连接座中心位置设有带键通孔，所述扭矩传感器上、下部设有轴和键槽，所述上部轴穿入方向盘连接座带键通孔内并通过键与键槽相配合实现周向固定，所述下部轴穿入连接套上部孔并通过键与键槽相配合定位；连接套内设有阶梯孔，所述阶梯孔处设有螺钉，所述螺钉将连接套和扭矩传感器固定在一起；连接套圆周上部开设有螺纹孔，所述滑环包括定子和转子，其中转子圆周上部具有与连接套螺纹孔对应的定位孔，螺钉穿过螺纹孔和定位孔将连接套与滑环转子固定在一起，定子与减速电机外壳固定连接，扭矩传感器信号线与转子的输入信号线相连；所述减速电机输出轴上设置有中空孔，中空孔处开设键槽；所述动力心轴上部与连接套下部固定连接，动力心轴穿过减速电机输出轴上中空孔内，通过键槽和平键实现周向定位，动力心轴下端与下连接座通过螺钉固定连接；滑环定子输出信号线和电机控制信号线分别连接至控制器。
  2. 根据权利要求1所述的农机电驱动方向盘自感式换向装置，其特征在于：所述滑环定子通过限位螺钉和垫柱固定在减速电机外壳上。
  3. 根据权利要求1所述的农机电驱动方向盘自感式换向装置，其特征在于：所述固定连接为可拆卸的固定连接方式。
  4. 根据权利要求1所述的农机电驱动方向盘自感式换向装置，其特征在于：所述动力心轴下端为扁位，动力心轴通过扁位与下连接座实现周向定位。
  5. 根据权利要求1所述的农机电驱动方向盘自感式换向装置，其特征在于：换向装置下端与农机转向柱固定连接。
  6. 一种农机电驱动方向盘自感式换向装置的控制方法，其特征在于，包括如下步骤：
    自动状态：减速电机接收控制器转向信号并执行，减速电机驱动与之配合的动力心轴转动，同时带动同轴固定件随之动作，实现方向盘转向柱换向角度变化；当方向盘转动轴上的扭矩传感器检测到人手的转动力矩大于电机驱动方向盘的力时，系统退出自动驾驶模式，切换为手动状态；
    手动状态：驾驶员转动方向盘，作用于方向盘上的瞬时作用力带动下方的扭矩传感器做相应动作，扭矩传感器瞬时感知作用力和方向，将信号数据传递给控制器，控制器分析力大小和判断转动方向，并发出控制信号给减速电机，控制减速电机做出相应的动作执行相应的转向信息，减速电机执行控制信息，其输出端动作带动动力心轴一起动作，从而驱动方向盘及转向柱随动，实现方向盘转向柱换向角度变化。
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