Agricultural machinery wheel steering angle detection structure and harvester

Abstract

The invention provides an agricultural machinery wheel steering angle detection structure and a harvester, the agricultural machinery wheel steering angle detection structure comprises a bridge body assembly, the bridge body assembly is provided with a steering oil cylinder and an angle sensor, and the output end of the steering oil cylinder is provided with a motion transmission part; a sensor swing arm perpendicular to the steering oil cylinder is arranged at the detection end of the angle sensor, one end of the motion transmission component is connected with the sensor swing arm, and when the steering oil cylinder drives the motion transmission component to move, the motion transmission component can drive the sensor swing arm to swing; steering mechanisms are arranged at the two ends of the axle body assembly, tires are arranged on the steering mechanisms, and the output ends of the steering oil cylinders are connected with the steering mechanisms. The device is simple in structure, can be installed on an existing harvester bridge body, and is low in improvement cost; the steering oil cylinder synchronously drives the steering mechanism and the sensor swing arm to move, the synchronization error is small, and the timeliness and the detection precision of signal feedback are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of auxiliary driving for harvesters, and particularly to a detection structure for the steering angle of agricultural machinery wheels and a harvester. Background Art

[0002] With the continuous development of the agricultural mechanization process, the way of agricultural production and harvesting has gradually changed from manual to mechanized, greatly improving the efficiency of agricultural production. At the same time, the number of sensors on combine harvesters is also increasing continuously, promoting the intelligent development of combine harvesters, and making it possible to implement auxiliary driving technology on combine harvesters.

[0003] In the field of modern vehicle technology, auxiliary driving technology has become one of the core functions to improve vehicle safety and operation efficiency. Among them, high-precision navigation is a key link to realize advanced functions such as lane keeping, automatic lane change, and path planning. During the navigation process, the vehicle needs to comprehensively use a variety of technical means to ensure the accuracy of driving. In addition to relying on the satellite positioning system GPS, inertial measurement unit (IMU) and map data, it is also necessary to monitor the wheel steering angle in real time to ensure that the actual driving trajectory of the vehicle is consistent with the planned path.

[0004] In the existing technologies for monitoring the wheel steering angle, the wheel steering drives a sliding rheostat to slide, and the resistance change of the sliding rheostat is used to detect the deflection angle of the wheel. However, in the operating environment of a combine harvester, due to the dusty and vibrating environment, it is extremely easy to affect the resistance accuracy, which will further lead to measurement errors and is difficult to meet the requirements of high-precision navigation; at the same time, there is also the problem of lag in the signal conversion process. Summary of the Invention

[0005] The technical problem to be solved by the present invention is: how to synchronously detect the steering angle of the harvester wheels and improve the detection accuracy.

[0006] The technical solution for the present invention to solve the above technical problem is as follows: The present invention provides a detection structure for the steering angle of agricultural machinery wheels, including a bridge body assembly. A steering cylinder and an angle sensor are provided on the bridge body assembly. A motion transmission component is provided at the output end of the steering cylinder, and a sensor swing arm is provided at the detection end of the angle sensor. The sensor swing arm forms a right angle or an acute angle with the steering cylinder. One end of the motion transmission component is connected to the sensor swing arm, and the steering cylinder can drive the sensor swing arm to swing through the motion transmission component; Steering mechanisms are provided at both ends of the bridge body assembly, and tires are provided on the steering mechanisms. The output end of the steering cylinder is connected to the steering mechanism.

[0007] The beneficial effects of the present invention are: The structure of the present invention is simple and can be installed on the existing harvester bridge body, with low transformation cost; the steering cylinder synchronously drives the steering mechanism and the sensor swing arm to move, reducing the transmission path difference between the two. The synchronization degree between the swing of the sensor swing arm and the movement of the steering mechanism is high, and the movement reference points are the same, with small synchronization error, improving the timeliness of signal feedback and the detection accuracy; in addition, both the steering cylinder and the angle sensor are fixed on the bridge body assembly, with stable structure and little interference from vibration.

[0008] Based on the above technical solutions, the present invention can be further improved as follows.

[0009] Further, the motion transmission component includes a moving bracket and a transmission rod. The moving bracket is fixed to the output end of the steering cylinder, one end of the transmission rod is hinged to the moving bracket, and the other end of the transmission rod is hinged to the sensor swing arm.

[0010] The moving bracket can perform linear motion along with the telescopic motion of the output end of the steering cylinder. The transmission rod can transmit this linear motion to the sensor swing arm. At the same time, the hinge structures at both ends of the transmission rod can compensate for the angular change of the sensor swing arm relative to the output end of the steering cylinder, and the stability of the sensor swing arm movement is good.

[0011] Further, rod end spherical plain bearings are provided at both ends of the transmission rod, and hinge shafts are respectively provided on the moving bracket and the sensor swing arm, and the rod end spherical plain bearings are sleeved on the corresponding hinge shafts.

[0012] The performance at both ends of the transmission rod remains stable, with small movement resistance, reducing power loss and wear.

[0013] Further, the rod end spherical plain bearing is a self-lubricating ball head rod end spherical plain bearing.

[0014] It is convenient to improve the flexibility, prevent structural interference caused by installation errors, structural deformation, etc., avoid deformation of the hinge shaft or transmission rod caused by stress concentration, with good performance stability and high accuracy for continuous operation.

[0015] Further, a guide cylinder is also fixed on the outer wall of the steering cylinder, and a guide rod is slidably arranged in the guide cylinder, and one end of the guide rod is connected to the moving bracket.

[0016] Through the guide rod, the deformation and movement of the moving bracket around the steering cylinder are avoided, the stability of the moving bracket is improved, and stress concentration and mechanical wear are reduced.

[0017] Further, a sensor bracket is also fixed on the bridge body assembly, and the angle sensor is fixed on the sensor bracket.

[0018] It is convenient for disassembly and assembly, reducing the maintenance cost.

[0019] Further, the steering mechanism includes a steering seat and a motor mounting seat. One side of the steering seat is fixed to the end of the bridge assembly, and the other side of the steering seat is rotatably connected to the motor mounting seat through a vertically arranged rotating shaft. A steering arm is provided at a position on the motor mounting seat on one side of the rotating shaft, and a steering link is hinged to the steering arm. One end of the steering link is hinged to the output end of the steering cylinder; the tire is provided on the motor mounting seat.

[0020] The output end of the steering cylinder drives the steering link to move. The steering link can drive the steering arm and the motor mounting seat to deflect, thereby realizing the wheel steering action; the deflection of the motor mounting seat and the swing of the sensor swing arm are both referenced to the cylinder block of the steering cylinder, and the motion transfer paths are similar, with a small synchronization error. The detection accuracy of the wheel steering angle is improved.

[0021] Further, a hinge ball head is provided at one end of the steering link, and a hinge ball seat is provided at the output end of the steering cylinder. The hinge ball head is connected to the hinge ball seat.

[0022] It avoids stress concentration caused by tire bumps, reduces mechanical wear, and has a long service life.

[0023] Further, one side of the steering seat is connected to the end of the bridge assembly through a flange.

[0024] It has a large connection strength, a long service life, is convenient for disassembly and assembly, the whole steering seat can be replaced, and the maintenance cost is low.

[0025] The present invention provides a harvester, which includes a frame and also includes the above-mentioned agricultural machinery wheel steering angle detection structure. The bridge assembly is installed at the front part of the chassis of the frame.

[0026] The structure is simple, can be installed on the existing harvester bridge, and the transformation cost is low; it improves the timeliness of signal feedback and the detection accuracy; the structure is stable and less affected by vibration interference. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic structural diagram of the present invention.

[0028] Figure 2 For Figure 1 An enlarged detailed view in the upward viewing direction of part A of

[0029] Figure 3 It is a schematic structural diagram of the angle sensor.

[0030] In the drawings, the technical features represented by the reference numerals are as follows: 1 - Bridge assembly; 2 - Steering cylinder; 3 - Tire; 4 - Angle sensor; 41 - Sensor swing arm; 5 - Moving bracket; 6 - Transfer rod; 61 - Rod end spherical bearing; 7 - Guide rod; 8 - Sensor bracket; 9 - Steering seat; 10 - Motor mounting seat; 11 - Steering arm; 12 - Steering link; 13 - Hinge ball head. Detailed implementation mode

[0031] The principles and features of the present invention are described below. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0032] Refer to the present invention Figures 1-3 .

[0033] The present invention provides a detection structure for the steering angle of an agricultural machinery wheel, including a bridge assembly 1. A steering cylinder 2 and an angle sensor 4 are provided on the bridge assembly 1. A motion transmission component is provided at the output end of the steering cylinder 2, and a sensor swing arm 41 is provided at the detection end of the angle sensor 4. The sensor swing arm 41 forms a right angle or an acute angle with the steering cylinder 2. One end of the motion transmission component is connected to the sensor swing arm 41. The steering cylinder 2 can drive the sensor swing arm 41 to swing through the motion transmission component; Steering mechanisms are provided at both ends of the bridge assembly 1, and tires 3 are provided on the steering mechanisms. The output end of the steering cylinder 2 is connected to the steering mechanism.

[0034] Principle: The bridge assembly 1 is the bridge where the steering wheels of the harvester are located, generally the front axle, which belongs to the prior art. When the harvester steers, there is no relative movement between the bridge assembly 1 and the vehicle frame. The steering mechanism is installed on the bridge assembly 1, and the tire 3 is installed on the steering mechanism. The steering cylinder 2 is a two-way cylinder, preferably a double-rod two-way cylinder, and the piston rod is the output end of the steering cylinder 2. When the piston rod of the steering cylinder 2 moves left and right, it can synchronously drive the steering mechanism to swing left and right, thereby driving the wheels to perform a steering action. At the same time, the steering cylinder 2 synchronously drives the motion transmission component to move, and the motion transmission component drives the sensor swing arm 41 to swing. The angle sensor 4 can output a corresponding voltage value according to the swing amplitude of the sensor swing arm 41. The angle sensor 4 can adopt a swing-arm type angle sensor 4 or a rotating-shaft type angle sensor 4, and a swing arm perpendicular to the output shaft is fixed on its output shaft.

[0035] The structure of the present invention is simple and can be installed on the existing harvester bridge, with low transformation cost; the steering cylinder 2 synchronously drives the steering mechanism and the sensor swing arm 41 to move, reducing the difference in the transmission paths of the two. The synchronization degree between the swing of the sensor swing arm 41 and the movement of the steering mechanism is high, and the movement reference points are the same, with small synchronization errors, improving the timeliness of signal feedback and the detection accuracy; in addition, both the steering cylinder 2 and the angle sensor 4 are fixed on the bridge assembly 1, with a stable structure and little interference from vibration.

[0036] Furthermore, the motion transmission component includes a moving bracket 5 and a transmission rod 6. The moving bracket 5 is fixed to the output end of the steering oil cylinder 2. One end of the transmission rod 6 is hinged to the moving bracket 5, and the other end of the transmission rod 6 is hinged to the sensor swing arm 41.

[0037] The moving bracket 5 can perform linear motion along with the telescopic motion of the output end of the steering oil cylinder 2. The transmission rod 6 can transmit this linear motion to the sensor swing arm 41. Meanwhile, the hinge structures at both ends of the transmission rod 6 can compensate for the angular change of the sensor swing arm 41 relative to the output end of the steering oil cylinder 2, and the stability of the motion of the sensor swing arm 41 is good.

[0038] Furthermore, rod end spherical plain bearings 61 are provided at both ends of the transmission rod 6. Hinge shafts are respectively provided on the moving bracket 5 and the sensor swing arm 41, and the rod end spherical plain bearings 61 are sleeved on the corresponding hinge shafts.

[0039] The performance at both ends of the transmission rod 6 maintains good stability, with small motion resistance, reducing power loss and wear.

[0040] Furthermore, the rod end spherical plain bearings 61 are self-lubricating ball head rod end spherical plain bearings.

[0041] It is convenient to improve flexibility, prevent structural interference caused by installation errors, structural deformation, etc., avoid deformation of the hinge shaft or the transmission rod 6 caused by stress concentration, have good performance stability, and high precision in continuous operation.

[0042] Furthermore, a guide cylinder is also fixed on the outer wall of the steering oil cylinder 2. A guide rod 7 is slidably arranged in the guide cylinder, and one end of the guide rod 7 is connected to the moving bracket 5.

[0043] Preferably, one end of the guide rod 7 is welded or fixedly connected to the moving bracket 5 by bolts; the synchronization between the guide rod 7 and the moving bracket 5 is good. In addition, one end of the guide rod 7 can also be hinged to the moving bracket 5.

[0044] Through the guide rod 7, deformation and movement of the moving bracket 5 around the steering oil cylinder 2 are avoided, the stability of the moving bracket 5 is improved, and stress concentration and mechanical wear are reduced.

[0045] Furthermore, a sensor bracket 8 is also fixed on the bridge assembly 1, and the angle sensor 4 is fixed on the sensor bracket 8.

[0046] It is convenient for disassembly and assembly, reducing the maintenance cost.

[0047] Further, the steering mechanism includes a steering seat 9 and a motor mounting seat 10. One side of the steering seat 9 is fixed to the end of the axle assembly 1, and the other side of the steering seat 9 is rotatably connected to the motor mounting seat 10 through a vertically arranged rotating shaft. A steering arm 11 is provided at a position on the motor mounting seat 10 on one side of the rotating shaft. A steering link 12 is hinged to the steering arm 11, and one end of the steering link 12 is hinged to the output end of the steering cylinder 2; the tire 3 is arranged on the motor mounting seat 10.

[0048] Preferably, a hub motor is provided on the motor mounting seat 10, and the tire 3 is mounted on the hub motor.

[0049] The output end of the steering cylinder 2 drives the steering link 12 to move. The steering link 12 can drive the steering arm 11 and the motor mounting seat 10 to deflect, thereby realizing the wheel steering action; the deflection of the motor mounting seat 10 and the swing of the sensor swing arm 41 both refer to the cylinder body of the steering cylinder 2, and the motion transmission paths are similar, with a small synchronous error. The detection accuracy of the wheel steering angle is improved.

[0050] Further, a hinge ball head 13 is provided at one end of the steering link 12, and a hinge ball seat is provided at the output end of the steering cylinder 2. The hinge ball head 13 is connected to the hinge ball seat.

[0051] It avoids stress concentration caused by the bumping of the tire 3, reduces mechanical wear, and has a long service life.

[0052] Further, one side of the steering seat 9 is connected to the end of the axle assembly 1 through a flange.

[0053] The connection strength is large, the service life is long, and the disassembly and assembly are convenient. The whole steering seat 9 can be replaced, and the maintenance cost is low.

[0054] The present invention provides a harvester, including a frame, and further including the above-mentioned agricultural machinery wheel steering angle detection structure. The axle assembly 1 is installed at the front part of the chassis of the frame.

[0055] The structure is simple, can be installed on the existing harvester axle, and the transformation cost is low; it improves the timeliness of signal feedback and the detection accuracy; the structure is stable and is less affected by vibration interference.

[0056] In the description of the present invention, it should be understood that if descriptive terms indicating orientation, direction or positional relationship appear, such as: "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., the orientation or positional relationship indicated in this specification is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of understanding the present invention and simplifying the description, rather than indicating or implying that the indicated part, element or whole must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present invention.

[0057] In addition, if descriptive terms indicating order appear, such as: "first", "second", etc., their use in this specification is for the convenience of understanding or simplifying the description. For example, in order to distinguish multiple technical features of the same type or function, and when it is necessary to mention them separately, this specification may adopt the method of using prefix or suffix order descriptive terms to distinguish them. Therefore, it cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0058] In the present invention, if descriptive terms indicating the relative relationship between structure and function are used, such as: "mount", "connect", "join", "fix", etc., they should be understood in a broad sense unless otherwise clearly specified and limited. For example, "mount", "connect", "join", etc. can be a fixed connection, a detachable connection, or integrated; can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two elements or the interaction relationship between two elements; "fix" can be a fixed integration, or a detachable fixation through fasteners; can be directly fixed, or fixed through an intermediate medium. For those of ordinary skill in the art, the specific meaning of the above descriptive terms in the present invention can be understood according to specific circumstances, the context, the coherence of the context before and after, etc.

[0059] In the present invention, if there are descriptive terms with affiliated or connecting meanings, for example, the first feature is "on" or "under" the second feature, unless otherwise clearly specified and limited, it should not be understood restrictively. For example, "on" or "under" can mean that the first and second features are in direct contact, or that the first feature and the second feature are in indirect contact through an intermediate medium. For those of ordinary skill in the art, the specific meaning of the above descriptive terms in the present invention can be understood according to the specific circumstances, the context, the coherence of the text before and after, etc.

[0060] Furthermore, the first feature being "above", "over" and "on top of" the second feature can mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature has a higher horizontal height than the second feature. The first feature being "below", "beneath" and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower horizontal height than the second feature.

[0061] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms is not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments, examples, and the features of different embodiments and examples described in this specification, and these combinations or combinations should fall within the scope encompassed by the present invention.

[0062] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art, within the scope of information available in the public domain, combined with the technical inspiration given in this application document, the changes, modifications, substitutions, and variations made to the above embodiments can still be covered by the protection scope of this application.

Claims

1. An agricultural machinery wheel steering angle detection structure, characterized in that: It includes a bridge assembly (1), on which a steering cylinder (2) and an angle sensor (4) are provided. A motion transmission component is provided at the output end of the steering cylinder (2), and a sensor swing arm (41) is provided at the detection end of the angle sensor (4). The sensor swing arm (41) forms a right angle or an acute angle with the steering cylinder (2). One end of the motion transmission component is connected to the sensor swing arm (41), and the steering cylinder (2) can drive the sensor swing arm (41) to swing through the motion transmission component. Steering mechanisms are provided at both ends of the bridge assembly (1), and tires (3) are provided on the steering mechanisms. The output end of the steering cylinder (2) is connected to the steering mechanism.

2. The steering angle detection structure of the agricultural machinery wheel according to claim 1, wherein: The motion transmission component includes a moving bracket (5) and a transmission rod (6). The moving bracket (5) is fixed to the output end of the steering cylinder (2). One end of the transmission rod (6) is hinged to the moving bracket (5), and the other end of the transmission rod (6) is hinged to the sensor swing arm (41).

3. The steering angle detection structure of the agricultural machinery wheel according to claim 2, characterized in that: Rod end spherical plain bearings (61) are further provided at both ends of the transmission rod (6). Hinge shafts are respectively provided on the moving bracket (5) and the sensor swing arm (41), and the rod end spherical plain bearings (61) are sleeved on the corresponding hinge shafts.

4. The steering angle detection structure of the agricultural machinery wheel according to claim 3, characterized in that: The rod end spherical plain bearings (61) are self-lubricating ball head rod end spherical plain bearings.

5. The steering angle detection structure of the agricultural machinery wheel according to claim 4, characterized in that: A guide cylinder is further fixed on the outer wall of the steering cylinder (2), and a guide rod (7) is slidably arranged in the guide cylinder. One end of the guide rod (7) is connected to the moving bracket (5).

6. The steering angle detection structure of the agricultural machinery wheel according to claim 1, characterized in that: A sensor bracket (8) is further fixed on the bridge assembly (1), and the angle sensor (4) is fixed on the sensor bracket (8).

7. The steering angle detection structure of the agricultural machinery wheel according to any one of claims 1-6, characterized in that: The steering mechanism includes a steering seat (9) and a motor mounting seat (10). One side of the steering seat (9) is fixed to the end of the bridge assembly (1), and the other side of the steering seat (9) is rotatably connected to the motor mounting seat (10) through a vertically arranged rotating shaft. A steering arm (11) is provided on the motor mounting seat (10) and at a position on one side of the rotating shaft. A steering link (12) is hinged to the steering arm (11), and one end of the steering link (12) is hinged to the output end of the steering cylinder (2). The tire (3) is provided on the motor mounting seat (10).

8. The steering angle detection structure of the agricultural machinery wheel according to claim 7, wherein: A hinge ball head (13) is further provided at one end of the steering link (12), and a hinge ball seat is provided at the output end of the steering cylinder (2). The hinge ball head (13) is connected to the hinge ball seat.

9. The steering angle detection structure of the agricultural machinery wheel according to claim 7, wherein: One side of the steering seat (9) is connected to the end of the bridge assembly (1) through a flange.

10. A harvester, comprising a vehicle frame, characterized in that: It further includes the agricultural machinery wheel steering angle detection structure according to any one of claims 1-9, and the bridge assembly (1) is installed at the front part of the chassis of the vehicle frame.

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