CN106043430B - Agricultural machinery steering wheel autosteerer - Google Patents

Abstract

The invention discloses an automatic steering wheel steering device for agricultural machinery, comprising a base bracket, a drive system bracket and the base bracket, a pressure spring and a link mechanism are connected between the drive system bracket and the base bracket, and the drive system bracket is There is a friction mechanism that can drive the steering wheel of the agricultural machinery to rotate, the base support is provided with a friction pressure adjustment mechanism, one end of the pressure spring is connected to the drive system support, and the other end is connected to the friction pressure adjustment mechanism; The end of the bracket is provided with a steering wheel pole clamping mechanism. The device is free to switch between manual control and electric control at any time. The device is easy to install and disassemble, and has high adaptability. It does not require high installation accuracy and steering wheel concentricity. demand for agricultural machinery.

Description

Agricultural machinery steering wheel automatic steering device

technical field

The invention relates to an agricultural machinery automatic navigation technology, in particular to an agricultural machinery steering wheel automatic steering device.

Background technique

Automatic navigation of agricultural machinery is a core key technology in the precision agricultural technology system, which is widely used in agricultural production processes such as farming, sowing, fertilizing, spraying, and harvesting. Agricultural machinery position measurement method, agricultural machinery model and navigation path tracking control method are the research focus of automatic navigation technology of agricultural machinery, which have attracted extensive attention of domestic and foreign researchers. The role of the navigation system is to make agricultural machinery work according to the optimized operation path, reduce the area of repeated operation areas and missed operation areas, improve the quality and efficiency of agricultural machinery field operations, and reduce the labor intensity of drivers. Among them, the steering actuator is one of the necessary components of the automatic navigation system of agricultural machinery. The control command is finally realized by the actuator, and the quality of the steering actuator directly determines the final navigation quality of the navigation system. At present, the steering actuators of tractors and other agricultural machinery have the following problems: 1) The traditional navigation steering actuator has a large structure, complicated installation, and inconvenient disassembly; 2) The switching between manual and automatic is not smooth enough; 3) The installation accuracy is high and the scope of application is limited. small.

Contents of the invention

The object of the present invention is to provide an automatic steering wheel steering device for agricultural machinery, which is easy to install and disassemble, flexible to turn and strong in adaptability.

In order to achieve the above object, the technical solution adopted by the present invention is: an automatic steering wheel steering device for agricultural machinery, including a base bracket, a drive system bracket and a base bracket, and a pressure spring and a coupling are connected between the drive system bracket and the base bracket. rod mechanism, the drive system bracket is provided with a friction mechanism capable of driving the agricultural machine steering wheel to rotate, the base bracket is provided with a friction pressure adjustment mechanism, one end of the pressure spring is connected to the drive system bracket, and the other end is connected to the The friction pressure adjustment mechanism is connected; the end of the base bracket is provided with a steering wheel rod clamping mechanism.

Further, the friction mechanism includes a drive motor, a drive shaft and a steering wheel friction wheel, the drive motor is fixed on the drive system bracket, the drive shaft is fixedly connected to the power output shaft of the drive motor, and the steering wheel The friction wheel is fixed on the drive shaft.

Further, the friction pressure adjustment mechanism includes at least two vertical screw bearings fixed on the base bracket, a screw, a screw hand wheel, and a screw slider, and the screw is horizontally supported on the On the two vertical screw bearings, the screw hand wheel is threadedly connected with the screw, the screw slider is fixed on the screw, and the screw slider is connected with the pressure spring bottom connection.

Further, a spring mounting seat is provided on the drive system bracket, and the spring mounting seat is connected to the top end of the compression spring.

Further, the linkage mechanism is a plurality of parallel and symmetrically arranged support links, the top ends of the support links are hinged to the drive system bracket, and the bottom ends of the support links are hinged to the base bracket.

Further, the steering wheel rod clamping mechanism includes a left splint and a right splint, a left hinge is connected between one end of the left splint and the base bracket, and a clamping lock is provided at the other end, and the right splint A right hinge is connected between one end and the base bracket, and a clamping lock that cooperates with the clamping lock is provided at the other end.

Further, the openings of the left hinge and the right hinge are respectively 0°-270°.

Further, the cross sections of the left splint and the right splint are both "L" shaped.

Further, the driving motor is a 24v DC stepping motor with a rated torque of 4Nm.

Furthermore, the drive shaft is fixedly connected to the power output shaft of the drive motor through a coupling.

Compared with the prior art, the present invention has the following advantages:

First, the steering device uses a friction mechanism to drive the steering wheel of the agricultural machine to rotate, thereby realizing the automatic steering function of the front wheels of the agricultural machine, and has the characteristics of no need to use lubricating oil and low driving noise.

Second, the steering device adopts a detachable modular design, fixed by the steering wheel rod clamping mechanism, easy to install and disassemble, and can be removed from the steering wheel rod when not in use, saving space and convenient for storage and maintenance. Furthermore, the convenient and flexible steering device reduces the difficulty of refitting the agricultural machinery, and at the same time improves the adaptability of the device to different types of agricultural machinery.

Its three, this steering device makes manual and automatic switching freely through the proper cooperation of pressure spring, connecting rod mechanism and friction mechanism, has the function of conveniently switching manual operation and automatic operation.

Fourth, the steering device is simple and compact in structure, has strong steering wheel adaptability, and has low requirements for installation accuracy and steering wheel concentricity, does not affect the use of agricultural machinery, and does not require additional modification of the original equipment and structure of agricultural machinery, so it is widely applicable to different The steering wheel of the model can realize high-efficiency power-driven front wheel steering of agricultural machinery vehicles, and better meet the navigation needs of different agricultural machinery.

Description of drawings

Fig. 1 is a structural schematic diagram of an assembled state of an automatic steering wheel steering device for agricultural machinery.

Fig. 2 is a schematic diagram of the connection relationship between the base bracket, the steering wheel rod clamping mechanism, the connecting rod mechanism, the pressure spring, the friction pressure regulating mechanism and the drive system bracket in Fig. 1 .

Fig. 3 is a structural schematic diagram of the friction mechanism in Fig. 1 .

FIG. 4 is a schematic top view of the structure in FIG. 2 .

FIG. 5 is a schematic cross-sectional structure diagram of FIG. 2 .

Fig. 6 is a structural schematic diagram of the steering wheel strut clamping mechanism.

detailed description

The present invention will be further described in detail below in conjunction with the accompanying drawings to facilitate a clearer understanding of the present invention, but they do not limit the present invention.

As shown in Fig. 1 and Fig. 2, the automatic steering wheel steering device for agricultural machinery includes a drive system support 1 and a base support 2, and a pressure spring 3 and a linkage mechanism 4 are connected between the drive system support 1 and the base support 2, A friction mechanism 5 capable of driving the agricultural machinery steering wheel to rotate is installed on the drive system support 1, a friction pressure adjustment mechanism 6 is provided on the base support 2, one end of the pressure spring 3 is connected with the drive system support 1, and the other end is connected with the friction The pressure regulating mechanism 6 is connected; the end of the base bracket 2 is provided with a steering wheel pole clamping mechanism 7 .

In the above scheme, as shown in FIG. 3 , the friction mechanism 5 includes a drive motor 5-1, a drive shaft 5-2 and a steering wheel friction wheel 5-3 made of silica gel, and the drive motor 5-1 is fixed on the drive system bracket 1, the steering wheel friction wheel 5-3 is fixed on the drive shaft 5-2, and the drive shaft 5-2 is fixedly connected with the power output shaft of the drive motor 5-1. Among them, in order to improve the rotation efficiency, the steering wheel friction wheel 5-3 is directly connected with the drive motor 5-1 through the drive shaft 5-2 and the coupling 5-4, and the power of the drive shaft 5-2 bottom and the drive motor 5-1 The top of the output shaft is respectively provided with a shaft key, and both ends of the shaft coupling 5-4 are provided with key grooves, and the shaft keys on the drive shaft 5-2 and the power output shaft of the driving motor 5-1 are respectively embedded in the two ends of the shaft coupling 5-4. The connection is completed in two keyways; the drive shaft 5-2 is installed in the bearing 8 to provide support and driving force for the steering wheel friction wheel 5-3; the drive motor 5-1 is a 24v DC stepping motor with a rated torque of 4Nm.

In the above scheme, as shown in Fig. 4 and Fig. 5, the friction pressure adjustment mechanism 6 includes two vertical screw bearings 6-1 fixed on the base bracket 2, a screw mandrel 6-2, and a screw mandrel handwheel 6 -3, and the screw slider 6-4, the screw 6-2 is horizontally supported on the two vertical screw bearings 6-1, the screw hand wheel 6-3 is connected with the screw The rod 6-2 is threaded, and the screw rod slider 6-4 is fixed on the screw rod 6-2; the drive system bracket 1 is provided with a spring mounting seat 1-1, and the top of the pressure spring 3 is mounted on the spring mounting seat 1-1, the bottom end of the pressure spring 3 is installed on the screw mandrel slider 6-4, and both the spring mount 1-1 and the screw mandrel slider 6-4 can install the pressure spring 3 by setting hooks, therefore, the pressure spring 3 Connect the base bracket 2 and the drive system bracket 1 through the screw slider 6-4 and the spring mounting seat 1-1 to provide the positive pressure required for friction drive and also make the system anti-vibration when the device is switched to manual operation mode Improve ability. Wherein, by rotating the screw mandrel hand wheel 6-3 to drive the screw mandrel 6-2 to rotate, the screw mandrel slider 6-4 moves linearly, and then the screw mandrel slider 6-4 pulls the pressure spring 3 to expand and contract, thereby adjusting the steering wheel friction wheel 5 The friction positive pressure of -3, the specific adjustment process is: when the screw rod slider 6-4 moves to the direction of the steering wheel strut 9, the pressure spring 3 is stretched, so that the friction pressure between the steering wheel friction wheel 5-3 and the steering wheel 10 increases ; When the screw slider 6-4 moves to the direction of the drive motor 5-1, the pressure spring 3 shortens, so that the friction pressure between the steering wheel friction wheel 5-3 and the steering wheel 10 decreases.

In the above solution, the link mechanism 4 cooperates with the pressure spring 3 to make the drive system support 1 be in two stable positions, up or down. Wherein, the link mechanism 4 is four support links 4-1 parallel to each other and symmetrically arranged on both sides of the pressure spring 3, the top of the support link 4-1 is hinged with the drive system bracket 1, and the bottom end of the support link 4-1 is Hinged with the base bracket 2, when the base bracket 2 is fixed, the fixed posture of the drive system bracket 1 can be moved up and down, so that the steering wheel friction wheel 5-3 moves with the drive system bracket 1 and keeps the axis vertical all the time, and the steering wheel friction The wheel 5-3 is kept level with the steering wheel 10 to realize the rolling driving function of the steering wheel friction wheel 5-3 to the steering wheel 10.

In the above solution, as shown in FIG. 6, the steering wheel rod clamping mechanism 7 includes a left splint 7-1 and a right splint 7-2 whose cross-sections are both "L" shaped, and one end of the left splint 7-1 A left hinge 7-3 is connected with the base bracket 2, and a clamping lock 7-4 is provided at the other end, and a right hinge is connected between one end of the right splint 7-2 and the base bracket 2 7-5, the other end is provided with a clamping lock 7-6 that cooperates with the clamping lock 7-4. The steering wheel pole clamping mechanism 7 is connected to the base bracket 2 through the aforementioned two hinges, thereby being able to fix the entire agricultural machinery steering wheel automatic steering device by clamping the steering wheel pole 9 . Wherein, the openings of the left hinge 7-3 and the right hinge 7-5 are 0°～270° respectively, so that the left splint 7-1 and the right splint 7-2 have a large range of motion, which is convenient for the disassembly of the whole device.

The working process of the above-mentioned automatic steering wheel steering device for agricultural machinery is as follows: First, clamp the steering wheel strut 9 with the left splint 7-1 and the right splint 7-2, and lock it with the clamping lock 7-4 and the clamping lock 7-6, Fix the whole steering device on the steering wheel strut 9, so as to maintain the relative positional relationship between the base bracket 2 and the steering wheel 10; 3 is in the upper stable state in contact with the steering wheel 10. At this time, the drive system support 1 is pulled by the pressure spring 3. Because the pressure required to drive the steering wheel 10 is provided by the pressure spring 3, twist the screw handwheel 6-3 to adjust the pressure spring 3 to adjust the pressure, and then drive the steering wheel friction wheel 5-3 to rotate through the drive motor 5-1 to drive the steering wheel 10 to rotate, so as to realize the steering of the front wheels of the agricultural machinery; when the steering device needs to be switched from electric to manual steering, the drive system Bracket 1 pulls down, so that the steering wheel friction wheel 5-3 is in a downward stable state separated from the steering wheel 10, the drive system bracket 1 is pulled by the pressure spring 3, and the steering wheel friction wheel 5-3 is separated from the steering wheel 10, which no longer affects the steering wheel 10. , and then the steering wheel 13 can be operated manually; the clamping lock 7-4 and the clamping lock 7-6 on the steering wheel strut clamping mechanism 7 are loosened, and the entire steering device can be easily removed.

Claims (9)

1. a kind of agricultural machinery steering wheel autosteerer, including drive system support (1) and base support (2), it is characterised in that：Institute State and compression spring (3) and linkage (4), the drive system are connected between drive system support (1) and the base support (2) Support (1) is provided with the friction mechanism (5) that agricultural machinery steering wheel can be driven to rotate, and the base support (2) is adjusted provided with friction pressure Mechanism (6) is saved, described compression spring (3) one end is connected with the drive system support (1), and the other end is adjusted with the friction pressure Save mechanism (6) connection；Base support (2) end is provided with steering wheel pole clamping device (7)；The linkage (4) is more The support link (4-1) that root is parallel to each other and is arranged symmetrically, support link (4-1) top and the drive system support (1) it is hinged, support link (4-1) bottom is be hinged with the base support (2).

2. agricultural machinery steering wheel autosteerer according to claim 1, it is characterised in that：Friction mechanism (5) bag Motor (5-1), drive shaft (5-2) and steering wheel friction pulley (5-3) are included, the motor (5-1) is fixed on the drive In dynamic system frame (1), the drive shaft (5-2) is fixedly connected with the power output shaft of the motor (5-1), the side It is fixed on to disk friction pulley (5-3) in the drive shaft (5-2).

3. agricultural machinery steering wheel autosteerer according to claim 1, it is characterised in that：The friction pressure adjusts machine Structure (6) includes at least two vertical screw mandrel bearings (6-1) being fixed on the base support (2), screw mandrel (6-2), screw mandrel handwheel (6-3), and screw mandrel sliding block (6-4), the horizontal support of the screw mandrel (6-2) are described on described two vertical screw mandrel bearings (6-1) Screw mandrel handwheel (6-3) is threadedly coupled with the screw mandrel (6-2), and the screw mandrel sliding block (6-4) is fixed on the screw mandrel (6-2), And the screw mandrel sliding block (6-4) is connected with the bottom of the compression spring (3).

4. agricultural machinery steering wheel autosteerer according to claim 1 or 2, it is characterised in that：The drive system branch Frame (1) is provided with spring mounting seat (1-1), and the spring mounting seat (1-1) is connected with the top of the compression spring (3).

5. agricultural machinery steering wheel autosteerer according to claim 1, it is characterised in that：The steering wheel pole clamping Mechanism (7) includes left clamping plate (7-1) and right clamping plate (7-2), between one end of the left clamping plate (7-1) and the base support (2) Be connected with left hinge (7-3), the other end, which is provided with, clamps lock (7-4), one end and the base support (2) of the right clamping plate (7-2) it Between be connected with right hinge (7-5), the other end is provided with and the clamping lock (7-6) for clamping lock (7-4) and coordinating.

6. agricultural machinery steering wheel autosteerer according to claim 5, it is characterised in that：The left hinge (7-3) and The aperture of the right hinge (7-5) is respectively 0 °~270 °.

7. agricultural machinery steering wheel autosteerer according to claim 5, it is characterised in that：The left clamping plate (7-1) and The cross section of the right clamping plate (7-2) is L-shaped.

8. agricultural machinery steering wheel autosteerer according to claim 2, it is characterised in that：The motor (5-1) For 24v DC stepper motors, nominal torque 4Nm.

9. agricultural machinery steering wheel autosteerer according to claim 2, it is characterised in that：The drive shaft (5-2) with The power output shaft of the motor (5-1) is fixedly connected by shaft coupling (5-4).