A walking steering control mechanism and a walking steering device

Abstract

The present invention provides a walking steering control mechanism and a walking steering device. The walking steering control mechanism includes an intermediate shaft, a fixed disk, a moving disk, a walking input unit, a steering input unit, a walking output swing arm, and a fixed rod. Among them, the walking input unit is connected to the fixed disk; the steering input unit is connected to the intermediate shaft; the fixed disk is fixedly connected to the intermediate shaft; the fixed disk includes a semi-circular lower fixed disk; the moving disk is of a semi-circular structure, and the moving disk is rotatably connected to the lower fixed disk; one end of the fixed rod is fixedly connected to the intermediate shaft, and the other end is rotatably connected to the moving disk. The walking steering control mechanism provided by the present invention has a simple structure and convenient operation. By using the semi-circular lower fixed disk and the moving disk to control the motion states of the two walking output swing arms, the turning radius of the agricultural machinery can be changed steplessly, thereby expanding the application range of the agricultural machinery and improving the flexibility of the steering operation.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and more particularly, to a walking steering control mechanism and a walking steering device. Background Art

[0002] With the continuous improvement of the level of agricultural mechanization in China, the requirements for the adaptability and efficiency of agricultural machinery in field operations are getting higher and higher; at present, agricultural machinery such as combine harvesters all adopt rubber crawler-type walking mechanisms. When these walking mechanisms turn, most of them are brake steering, with a large turning radius and need to turn back and forth several times to change direction; this steering method can only turn large turns and has poor steering flexibility. Summary of the Invention

[0003] The problem solved by the present invention is that the current crawler-type walking mechanism has poor steering flexibility.

[0004] To solve the above problems, the present invention provides a walking steering control mechanism, including an intermediate shaft, a fixed disk, a moving disk, a walking input unit, a steering input unit, a walking output swing arm, and a fixed rod; wherein,

[0005] The walking input unit is connected to the fixed disk;

[0006] The steering input unit is connected to the intermediate shaft;

[0007] The fixed disk is fixedly connected to the intermediate shaft;

[0008] The fixed disk includes a lower fixed disk in a semi-circular shape;

[0009] The moving disk is in a semi-circular structure, is combined with the lower fixed disk to form a circle, and the moving disk is rotatably connected to the lower fixed disk;

[0010] One end of the fixed rod is fixedly connected to the intermediate shaft, and the other end is rotatably connected to the moving disk;

[0011] The number of the walking output swing arms is two, the two walking output swing arms are oppositely arranged in the horizontal direction, and both are slidably connected to the lower fixed disk and the moving disk;

[0012] When the intermediate shaft is in the original position, the two walking output swing arms are respectively located at both ends of the lower fixed disk.

[0013] Optionally, the fixed disk further includes an upper fixed disk, the upper fixed disk is fixedly connected to the intermediate shaft, and the lower end of the upper fixed disk is fixedly connected to the lower fixed disk.

[0014] Optionally, the walking input unit is connected to the upper fixed disk.

[0015] Optionally, one end of the fixed rod is connected to the intermediate shaft through a spline, and the other end is rotatably connected to the moving disk through a bearing structure.

[0016] Optionally, a connecting ring is provided at one end of the fixed rod close to the intermediate shaft. The connecting ring is sleeved outside the intermediate shaft, and the connecting ring is connected to the intermediate shaft through the spline.

[0017] Optionally, the bearing structure includes a second connecting shaft and a second bearing. The second bearing is connected to the second connecting shaft; the fixed rod is rotatably connected to the second connecting shaft; an installation groove is provided in the moving disk, and the second bearing is installed in the installation groove.

[0018] Optionally, a first sliding groove is provided on the outer side of the lower fixed disk, and a second sliding groove is provided on the outer side of the moving disk; the first sliding groove communicates with the second sliding groove; the two walking output swing arms are slidably connected to the lower fixed disk and the moving disk respectively through the first sliding groove and the second sliding groove.

[0019] Optionally, the steering input unit is connected to the intermediate shaft through a gear structure.

[0020] Optionally, a reset structure is further included; the reset structure is connected to the steering input unit.

[0021] Another object of the present invention is to provide a walking steering device, including the walking steering control mechanism as described above.

[0022] Compared with the prior art, the walking steering control mechanism provided by the present invention has the following advantages:

[0023] The walking steering control mechanism provided by the present invention has a simple structure and convenient operation. The movement states of the two walking output swing arms are controlled by the semi-circular lower fixed disk and the moving disk, realizing stepless change of the turning radius of the agricultural machine. By changing the swing angle of the operating steering rod, differential steering, braking steering and in-situ steering can be realized, thereby expanding the use range of the agricultural machine and improving the flexibility of the steering operation. Description of the Drawings

[0024] Figure 1 is a simplified structure of the walking steering control mechanism described in the present invention Figure 1 ;

[0025] Figure 2 is a simplified structure of the walking steering control mechanism described in the present invention Figure 2 ;

[0026] Figure 3 is an assembly schematic diagram of the fixed disk, the moving disk and the intermediate shaft described in the present invention;

[0027] Figure 4For Figure 3 exploded view;

[0028] Figure 5 is the structural diagram of the walking steering control mechanism described in the present invention Figure 3 ;

[0029] Figure 6 is the structural diagram of the walking steering control mechanism described in the present invention Figure 4 .

[0030] Description of reference numerals:

[0031] 1 - intermediate shaft; 2 - fixed disk; 21 - lower fixed disk; 211 - first chute; 22 - upper fixed disk; 221 - third chute; 23 - connecting plate; 3 - moving disk; 31 - mounting groove; 32 - second chute; 4 - walking input unit; 41 - walking input rotating arm; 42 - walking input shaft; 43 - driving rotating arm; 44 - first connecting shaft; 45 - first bearing; 5 - steering input unit; 51 - gear structure; 511 - first gear; 512 - second gear; 52 - steering input rotating arm; 6 - walking output rotating arm; 61 - slider; 7 - fixed rod; 71 - bearing structure; 711 - second connecting shaft; 712 - second bearing; 72 - connecting ring; 8 - reset structure; 9 - box body. Detailed description of the specific implementation

[0032] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention, but should not be construed as limiting the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0033] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "circumferential", "radial", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

[0034] In addition, the terms "first" and "second" are only used for simplifying the description and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined.

[0035] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may include the first feature and the second feature being in direct contact, or may include the first feature and the second feature not being in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature is at a higher horizontal level than the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the first feature is at a lower horizontal level than the second feature.

[0036] To make the above objects, features and advantages of the present invention more obvious and understandable, the following detailed description of specific embodiments of the present invention will be given with reference to the accompanying drawings.

[0037] To solve the problem of poor steering flexibility of the current crawler walking mechanism, the present invention provides a walking steering control mechanism. Refer to Figures 1 to 6 As shown, the walking steering control mechanism includes an intermediate shaft 1, a fixed disk 2, a moving disk 3, a walking input unit 4, a steering input unit 5, a walking output swing arm 6, and a fixed rod 7. Among them, the walking input unit 4 is connected to the fixed disk 2, and drives the fixed disk 2 to move in the up and down directions through the walking input unit 4. The steering input unit 5 is connected to the intermediate shaft 1, and drives the intermediate shaft 1 to rotate through the steering input unit 5. The fixed disk 2 is fixedly connected to the intermediate shaft 1. The fixed disk 2 includes a semi-circular lower fixed disk 21. The moving disk 3 is of a semi-circular structure, is combined with the lower fixed disk 21 to form a circle, and is rotatably connected to the lower fixed disk 21. One end of the fixed rod 7 is fixedly connected to the intermediate shaft 1, and the other end is rotatably connected to the moving disk 3. The number of the walking output swing arms 6 is two, the two walking output swing arms 6 are arranged oppositely in the horizontal direction, and are both slidably connected to the lower fixed disk 21 and the moving disk 3. When the intermediate shaft 1 is in the original position, the two walking output swing arms 6 are respectively located at both ends of the lower fixed disk 21.

[0038] In the present application, the intermediate shaft 1 being in the original position specifically means that the intermediate shaft 1 is not rotated, that is, the walking steering control mechanism does not perform a steering operation.

[0039] In this application, it is preferred that the moving disk 3 is connected to the lower fixed disk 21 through a rotating shaft. Specifically, at the connection between the moving disk 3 and the lower fixed disk 21, mating connection holes are provided. By inserting the rotating shaft into the connection holes of the two in sequence, the two can rotate around the rotating shaft, realizing their rotational connection.

[0040] Specifically, the walking input unit 4 in this application is connected to the walking operation lever of the agricultural machine. When the driver pushes the walking operation lever, the walking input unit 4 drives the fixed disk 2 to move up and down. Since the intermediate shaft 1 is in its original position at this time, refer to Figure 1 、 Figure 2 As shown, the two walking output arms 6 are respectively located at both ends of the lower fixed disk 21, that is, the two walking output arms 6 are respectively located at the positions where the lower fixed disks 21 at both ends are joined with the moving disk 3. Also, since the moving disk 3 is rotationally connected to the lower fixed disk 21, at this time, when the fixed disk 2 moves up and down, it drives the intermediate shaft 1 and the lower fixed disk 21 to move up and down simultaneously. The end of the moving disk 3 joined with the lower fixed disk 21 also moves up and down, driving the symmetrically distributed walking output arms 6 at both ends to rotate synchronously. Through the rotation of the two walking output arms 6, the power output of two corresponding hydraulic motors is controlled to drive the two crawlers on both sides of the agricultural machine to rotate, realizing the machine's walking.

[0041] At this time, since one end of the fixed rod 7 is fixedly connected to the intermediate shaft 1 and the other end is rotationally connected to the moving disk 3, and at the same time the moving disk 3 is also rotationally connected to the lower fixed disk 21, when the intermediate shaft 1 moves up and down, the end of the moving disk 3 connected to the lower fixed disk 21 moves up and down simultaneously, while the other end, that is, the end of the moving disk 3 far from the intermediate shaft 1, deflects, causing the moving disk 3 to form an inclined structure, that is, the height of the end of the moving disk 3 connected to the lower fixed disk 21 is different from the end far from the intermediate shaft 1.

[0042] The steering input unit 5 is connected to the steering operation lever of the agricultural machine. When the driver pushes the steering operation lever, the steering input unit 5 drives the intermediate shaft 1 to rotate. At this time, the intermediate shaft 1 deviates from its original position, and at the same time the intermediate shaft 1 drives the lower fixed disk 21 and the moving disk 3 to rotate synchronously. Since the two walking output arms 6 are oppositely arranged at both ends of the lower fixed disk 21, and the lower fixed disk 21 and the moving disk 3 are both semi-circular, at this time, one of the two walking output arms 6 is slidably connected to the lower fixed disk 21, and the other is slidably connected to the moving disk 3. For the walking output arm 6 slidably connected to the lower fixed disk 21, since the lower fixed disk 21 is in a horizontal state, the state of this walking output arm 6 remains unchanged. For the walking output arm 6 slidably connected to the moving disk 3, since the moving disk 3 has a certain inclination angle, the height of this walking output arm 6 changes as the moving disk 3 rotates. Therefore, this walking output arm 6 swings, and as the swing angle of the steering operation lever increases in sequence, the swing trend of this walking output arm 6 is to gradually return to zero from the existing angle and then gradually increase in the reverse direction.

[0043] For example, assume the traveling speed of the agricultural machine is v1. When the steering operation lever swings at a small angle α1, the crawler corresponding to the steering output swing arm 6 slidably connected to the lower fixed disk 21 maintains the traveling speed of v1, and the crawler corresponding to the steering output swing arm 6 slidably connected to the moving disk 3 starts to decelerate. At this time, the agricultural machine performs differential steering with a relatively large turning radius. When the swinging angle of the steering operation lever increases to a certain larger angle α2, the crawler corresponding to the steering output swing arm 6 slidably connected to the lower fixed disk 21 maintains the traveling speed of v1, and the speed of the crawler corresponding to the steering output swing arm 6 slidably connected to the moving disk 3 is 0. At this time, the agricultural machine performs braking steering with a relatively small turning radius. When the swinging angle of the steering operation lever continues to increase to a certain even larger angle α3, the crawler corresponding to the steering output swing arm 6 slidably connected to the lower fixed disk 21 maintains the traveling speed of v1, and the speed of the crawler corresponding to the steering output swing arm 6 slidably connected to the moving disk 3 is -v1. At this time, the agricultural machine performs in-place steering with a turning radius of 0.

[0044] When the agricultural machine is in a stopped state, at this time both the lower fixed disk 21 and the moving disk 3 are in a horizontal state, and the swinging angles of both walking output swing arms 6 are 0, and the agricultural machine stops moving. By controlling the steering operation lever, the lower fixed disk 21 and the moving disk 3 rotate. Since both the lower fixed disk 21 and the moving disk 3 are in a horizontal state, the heights of both walking output swing arms 6 do not change, and the swinging angles do not change either. The agricultural machine will neither move nor turn, so that when the agricultural machine is parked without turning off the engine, the steering operation lever cannot control the steering, preventing the danger caused by misoperation.

[0045] The walking steering control mechanism provided by the present invention has a simple structure and is convenient to operate. By using the semi-circular lower fixed disk 21 and the moving disk 3 to control the motion states of the two walking output swing arms 6, stepless change of the turning radius of the agricultural machine is realized. By changing the swinging angle of the operating steering lever, differential steering, braking steering, and in-place steering can be achieved, thereby expanding the application range of the agricultural machine and improving the flexibility of the steering operation.

[0046] The fixed disk 2 in this application further includes an upper fixed disk 22. The upper fixed disk 22 is fixedly connected to the intermediate shaft 1, and the lower end of the upper fixed disk 22 is fixedly connected to the lower fixed disk 21.

[0047] This application preferably uses the upper fixed disk 22 in a disk-shaped structure. The disk-shaped upper fixed disk 22 is sleeved outside the intermediate shaft 1 and fixedly connected to the intermediate shaft 1; see Figure 3As shown, the upper fixed disk 22 is located above the lower fixed disk 21, and the lower end of the upper fixed disk 22 is fixedly connected to the lower fixed disk 21. Specifically, in this application, it is preferred that the upper fixed disk 22 and the lower fixed disk 21 are fixedly connected through a connecting plate 23, so that the lower fixed disk 21 is connected to the intermediate shaft 1 through the upper fixed disk 22, enabling the lower fixed disk 21 to move up and down and rotate with the intermediate shaft 1. Furthermore, while the lower fixed disk 21 moves up and down and rotates with the intermediate shaft 1, the movement form of the walking output swing arm 6 slidably connected to the lower fixed disk 21 is controlled.

[0048] The connection manner between the upper fixed disk 22, the connecting plate 23, and the lower fixed disk 21 can be welding, threaded connection, fastener connection, etc. To improve the structural strength of the fixed disk 2, this application preferably makes the fixed disk 2 an integral structure, that is, the upper fixed disk 22, the connecting plate 23, and the lower fixed disk 21 are an integral structure.

[0049] Furthermore, in this application, the walking input unit 4 is connected to the upper fixed disk 22, so as to drive the upper fixed disk 22 to move up and down through the walking input unit 4, and then drive the intermediate shaft 1 and the lower fixed disk 21 to move up and down through the upper fixed disk 22.

[0050] The walking input unit 4 in this application includes a walking input swing arm 41, a walking input shaft 42, and a driving swing arm 43 connected in sequence. The walking input swing arm 41 is connected to the walking operation rod of the agricultural machine, and the driving swing arm 43 is connected to the upper fixed disk 22. When the driver pushes the walking operation rod, it drives the walking input swing arm 41 to swing. While the walking input swing arm 41 swings, it drives the walking input shaft 42 to rotate, and then drives the end of the driving swing arm 43 connected to the upper fixed disk 22 to move up and down through the rotation of the walking input shaft 42, thereby realizing driving the upper fixed disk 22 to move up and down through the walking input unit 4.

[0051] Furthermore, this application preferably makes the driving swing arm 43 slidably connected to the upper fixed disk 22, so as to avoid the position of the driving swing arm 43 from changing through the relative sliding between the driving swing arm 43 and the upper fixed disk 22 when the intermediate shaft 1 rotates, and further avoid the position of the walking input unit 4 from changing with the rotation of the intermediate shaft 1.

[0052] To achieve the sliding connection between the driving swing arm 43 and the upper fixed disk 22, this application preferably sets a third chute 221 on the outer side of the upper fixed disk 22. The driving swing arm 43 is connected to the upper fixed disk 22 through a first connecting shaft 44 and a first bearing 45. Specifically, one end of the first connecting shaft 44 is fixedly connected to the driving swing arm 43, and the other end is connected to the first bearing 45. At the same time, the first bearing 45 is arranged in the third chute 221, so as to avoid the position of the driving swing arm 43 from changing through the sliding of the first bearing 45 in the third chute 221 when the upper fixed disk 22 rotates.

[0053] Furthermore, in the present application, it is preferred that the first bearing 45 is a deep groove ball bearing.

[0054] The fixed rod 7 in the present application can be in a plate-like structure or a rod-like structure; specifically, refer to Figure 4 As shown, in the present application, it is preferred that one end of the fixed rod 7 is connected to the intermediate shaft 1 through a spline, and the other end is rotatably connected to the moving disk 3 through a bearing structure 71; specifically, a connecting ring 72 is provided at one end of the fixed rod 7 close to the intermediate shaft 1, and the connecting ring 72 is sleeved outside the intermediate shaft 1 and connected to the intermediate shaft 1 through a spline, so that when the intermediate shaft 1 moves up and down, the connecting ring 72 moves up and down synchronously with the intermediate shaft 1.

[0055] Furthermore, the bearing structure 71 in the present application includes a second connecting shaft 711 and a second bearing 712, and the second bearing 712 is connected to the second connecting shaft 711; the fixed rod 7 is rotatably connected to the second connecting shaft 711; an installation groove 31 is provided in the moving disk 3, and the second bearing 712 is installed in the installation groove 31.

[0056] Specifically, an installation hole is provided at one end of the fixed rod 7 close to the moving disk 3. By inserting the second connecting shaft 711 into the installation hole and the second bearing 712 in sequence, and at the same time installing the second bearing 712 in the installation groove 31, when the intermediate shaft 1 moves in the up and down direction, the end of the moving disk 3 connected to the lower fixed disk 21 moves up and down synchronously. At the same time, through the rotation of the second bearing 712, the height of the end of the moving disk 3 far from the intermediate shaft 1 remains unchanged, so that the moving disk 3 presents an inclined structure.

[0057] Furthermore, in the present application, it is preferred that the number of installation holes on the fixed rod 7 is two, so that when connecting, the second bearing 712 is located between the two installation holes to improve the stability of the installation structure; in the present application, a retaining ring is further provided on the second connecting shaft 711 to prevent the second connecting shaft 711 from coming out and further improve the reliability of the structure.

[0058] In the present invention, by fixedly connecting one end of the fixed rod 7 to the intermediate shaft 1 and rotatably connecting the other end to the moving disk 3, when the intermediate shaft 1 moves in the up and down direction, the moving disk 3 deflects and presents an inclined structure. Then, when the intermediate shaft 1 rotates, the walking output swing arm 6 slidably connected to the moving disk 3 swings. And as the swing angle of the steering operation lever increases in sequence, the swing trend of the walking output swing arm 6 is that it gradually returns to zero from the existing angle, and then gradually increases in the reverse direction. At the same time, since the lower fixed disk 21 is in the horizontal direction, the walking state of the other walking output swing arm 6 slidably connected to the lower fixed disk 21 remains unchanged. Therefore, the driver can control the steering mode by controlling the swing angle of the steering operation lever, improving the steering flexibility of the agricultural machinery.

[0059] To achieve the sliding connection of the walking steering output swing arm 6 with the lower fixed disk 21 and the moving disk 3, refer to Figure 1 and Figure 2 and Figure 5 As shown, preferably, a first sliding groove 211 is provided on the outer side of the lower fixed disk 21, and a second sliding groove 32 is provided on the outer side of the moving disk 3; the first sliding groove 211 communicates with the second sliding groove 32; the two walking output swing arms 6 are respectively slidably connected to the lower fixed disk 21 and the moving disk 3 through the first sliding groove 211 and the second sliding groove 32.

[0060] Specifically, preferably, the shapes and sizes of the first sliding groove 211 and the second sliding groove 32 are the same; further, a spherical slider 61 is provided at one end of the walking output swing arm 6 connected to the lower fixed disk 21 and the moving disk 3, and the slider 61 is adapted to the first sliding groove 211 and the second sliding groove 32, that is, when the intermediate shaft 1 rotates, the slider 61 can slide in the first sliding groove 211 and the second sliding groove 32; at the same time, the slider 61 in the present application is connected to the walking output swing arm 6 through a third bearing; and preferably, the third bearing is a deep groove ball bearing.

[0061] To reduce the difficulty of steering operation, preferably, the steering input unit 5 is connected to the intermediate shaft 1 through a gear structure 51.

[0062] Specifically, refer to Figure 1 and Figure 2 As shown, the steering input unit 5 includes a steering input swing arm 52; the gear structure 51 includes a first gear 511 and a second gear 512 that mesh with each other, wherein the first gear 511 is connected to the intermediate shaft 1, one end of the steering input swing arm 52 is connected to the steering operation lever of the agricultural machine, and the other end is connected to the second gear 512; when the driver pushes the steering operation lever, the steering input swing arm 52 drives the intermediate shaft 1 to rotate through the mutually meshing first gear 511 and second gear 512.

[0063] In addition, refer to Figure 6 As shown, the walking steering control mechanism provided in the present application further includes a box body 9, wherein the intermediate shaft 1, the fixed disk 2, the moving disk 3, the walking input unit 4, the walking output swing arm 6 and the fixed rod 7 are all arranged in the box body 9, and the intermediate shaft 1, the walking input unit 4 and the walking output swing arm 6 are all connected to the box body 1 through bearings.

[0064] To achieve automatic reset after steering, the walking steering control mechanism provided in the present application further includes a reset structure 8; refer to Figure 1 and Figure 2As shown, the reset structure 8 is connected to the steering input unit 5 so that after the steering is completed, the input unit 5 can be reset through the reset structure 8, and then the intermediate shaft 1 connected to the steering input unit 5 can return to its original position. At the same time, the two walking output swing arms 6 return to the position where the lower fixed disk 21 is connected to the moving disk 3 to achieve reset.

[0065] Specifically, the reset structure 8 includes a reset spring. One end of the reset spring is connected to the box body 9, and the other end is connected to the steering input unit 5. When the steering input unit 5 rotates, the reset spring deforms. When the force on the steering input unit 5 is released, the reset spring returns to its original length under the action of elastic force. At this time, driven by the reset spring, the steering input unit 5 is reset, and then the intermediate shaft 1 is reset.

[0066] The walking steering control mechanism provided by the present invention has a simple structure, can realize stepless change of the turning radius of agricultural machinery, has flexible steering mode selection, and is convenient and flexible to operate.

[0067] Another object of the present invention is to provide a walking steering device, which includes the walking steering control mechanism as described above.

[0068] The walking steering device provided by the present invention has a simple structure and is convenient to operate. The movement state of the two walking output swing arms 6 is controlled by the semi-circular lower fixed disk 21 and the moving disk 3 to realize stepless change of the turning radius of agricultural machinery. By changing the swing angle of the operating steering rod, differential steering, braking steering and in-situ steering can be realized, thus expanding the use range of agricultural machinery and improving the flexibility of steering operation.

[0069] Although the present disclosure is disclosed as above, the protection scope of the present disclosure is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and these changes and modifications will all fall within the protection scope of the present invention.

Claims

1. A walking steering control mechanism, characterized in that, It includes an intermediate shaft (1), a fixed disk (2), a movable disk (3), a traveling input unit (4), a steering input unit (5), a traveling output swing arm (6), and a fixed rod (7); wherein, the traveling input unit (4) is connected to the fixed disk (2); the steering input unit (5) is connected to the intermediate shaft (1); the fixed disk (2) is fixedly connected to the intermediate shaft (1); the fixed disk (2) includes a semi-circular lower fixed disk (21); the movable disk (3) is of a semi-circular structure and is combined with the lower fixed disk (21) to form a circle, and the movable disk (3) is rotatably connected to the lower fixed disk (21); one end of the fixed rod (7) is fixedly connected to the intermediate shaft (1), and the other end is rotatably connected to the movable disk (3); the number of the traveling output swing arms (6) is two, the two traveling output swing arms (6) are arranged oppositely in the horizontal direction, and both are slidably connected to the lower fixed disk (21) and the movable disk (3); when the intermediate shaft (1) is in the original position, the two traveling output swing arms (6) are respectively located at both ends of the lower fixed disk (21), the fixed disk (2) further includes an upper fixed disk (22), the upper fixed disk (22) is fixedly connected to the intermediate shaft (1), and the lower end of the upper fixed disk (22) is fixedly connected to the lower fixed disk (21), the traveling input unit (4) is connected to the upper fixed disk (22), and one end of the fixed rod (7) is connected to the intermediate shaft (1) through a spline, and the other end is rotatably connected to the movable disk (3) through a bearing structure (71).

2. The walking steering control mechanism according to claim 1, characterized in that, A connecting ring (72) is arranged at one end of the fixed rod (7) close to the intermediate shaft (1), the connecting ring (72) is sleeved outside the intermediate shaft (1), and the connecting ring (72) is connected to the intermediate shaft (1) through the spline.

3. The walking steering control mechanism according to claim 1, wherein, The bearing structure (71) includes a second connecting shaft (711) and a second bearing (712), the second bearing (712) is connected to the second connecting shaft (711); the fixed rod (7) is rotatably connected to the second connecting shaft (711); an installation groove (31) is arranged inside the movable disk (3), and the second bearing (712) is installed in the installation groove (31).

4. The walking steering control mechanism according to any one of claims 1 to 3, characterized in that, A first sliding groove (211) is arranged outside the lower fixed disk (21), and a second sliding groove (32) is arranged outside the movable disk (3); the first sliding groove (211) communicates with the second sliding groove (32); the two traveling output swing arms (6) are slidably connected to the lower fixed disk (21) and the movable disk (3) respectively through the first sliding groove (211) and the second sliding groove (32).

5. The walking steering control mechanism according to any one of claims 1 to 3, characterized in that The steering input unit (5) is connected to the intermediate shaft (1) through a gear structure (51).

6. The walking steering control mechanism according to any one of claims 1 to 3, characterized in that, It further includes a reset structure (8); the reset structure (8) is connected to the steering input unit (5).

7. A walking steering device, characterized in that, It includes a traveling and steering control mechanism according to any one of claims 1 to 6.

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