Single-side braking crawler chassis automatic driving steering control device and method

Abstract

The invention discloses an automatic driving steering control device and method for a single-side braking crawler chassis, and particularly relates to the technical field of steering control, the automatic driving steering control device comprises a rack, a frame plate and a steering control module, and the steering control module comprises two speed reducing motors, a speed reducer, a driving rod and a transmission shaft; the gear motors are all installed on one side of the outer wall of the frame plate, the output end of each gear motor is provided with a speed reducer, the output end of each speed reducer is fixedly connected with a driving rod, and the driving rods are rotationally connected with the frame plate; and the transmission shaft is fixed at one end part of the driving rod. Through the steering control module, the steering system has the advantages of generating speed difference to achieve stable steering, achieving efficient steering control with low cost and being more stable in transmission, and therefore the problems that a pure mechanical or manual hydraulic braking system of an original vehicle is transformed into a system driven by an electronic control hydraulic valve, the steering operation cost is higher, and the transmission stability is poor are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of steering control, more particularly, the present application relates to a single-side braking crawler chassis automatic driving steering control device and method. BACKGROUND

[0002] With the rapid development of precision agriculture technology, the automatic driving system of agricultural machinery has become the key equipment to improve the operation efficiency, reduce the labor intensity and realize the standardized production. At present, the mainstream automatic driving system of agricultural machinery on the market is designed for wheeled power devices with steering wheels. This kind of system usually controls the rotation of the steering wheel or the push-pull of the steering pull rod by adding electric motor or hydraulic valve, so as to realize automatic steering.

[0003] In the existing public literature, patent No. CN110435755A discloses an automatic driving system and its automatic driving steering control device. The technology transmits power through the side wall of the spline and the keyway, and the stress area of the spline is larger than that of the existing technology, so that the transmission strength is obviously higher than that of the existing technology, which ensures the stability of transmission. The invention also provides an automatic driving system including the automatic driving steering control device, and has the advantage of stable transmission. However, the patent has the following problems.

[0004] By applying brake to one side of the crawler, the crawler is completely braked to realize steering. At present, in order to realize the automatic steering control of such crawler chassis, the commonly used scheme in the industry is to carry out electric control hydraulic modification, that is, to modify the original pure mechanical or manual hydraulic brake system into a system driven by electric control hydraulic valve. The cost of steering operation is higher, and the transmission stability is poor. SUMMARY

[0005] In order to overcome the above-mentioned defects of the prior art, the present application provides a single-side braking crawler chassis automatic driving steering control device and method.

[0006] In order to achieve the above-mentioned purpose, the present application provides the following technical scheme: a single-side braking crawler chassis automatic driving steering control device, comprising a rack, a frame plate is fixedly installed on one side of the rack, a steering control module is installed on one side of the frame plate, the steering control module comprises:

[0007] Two reduction motors are installed on one side of the outer wall of the frame plate, a reducer is installed at the output end of each reduction motor, a drive rod is fixedly connected to the output end of the reducer, and the drive rod is rotatably connected between the frame plate and the drive rod;

[0008] A transmission shaft is fixed to one end of the drive rod, and a steering arm is fixed to one side of the outer wall of the transmission shaft.

[0009] A plurality of buckles are arranged on the inside of the steering arm, the steering arm is used to push the brake pedal, and the outer wall of the transmission shaft is fixedly connected with a linkage block on the other side;

[0010] An HST hydraulic transmission is arranged in the inside of the frame plate.

[0011] A linkage member is arranged below the frame, and the linkage member is used to drive the track.

[0012] In a preferred embodiment, two said speed reduction motors are arranged in sequence from front to back, and gaps are arranged between the two speed reduction motors and the two reducers.

[0013] In a preferred embodiment, the center point of the driving rod is on the same horizontal line as the center point of the transmission shaft, and the vertical cross-sectional shape of the two buckles is circular.

[0014] In a preferred embodiment, the frame is used to support the HST hydraulic transmission, and the two steering arms are arranged symmetrically.

[0015] In a preferred embodiment, the linkage member comprises:

[0016] A driving shaft is arranged on the output end of the HST hydraulic transmission, two support frames are arranged below the frame, and the two support frames are fixedly connected with the frame.

[0017] A plurality of positioning rods are rotatably arranged on the inner wall of the support frame, and a linkage roller is fixedly arranged on the outer wall of each positioning rod.

[0018] A self-locking motor is arranged on the upper surface of the support frame, a gear shaft is fixedly connected with the output end of the self-locking motor, and the track is engaged and driven by the outer wall of the gear shaft.

[0019] In a preferred embodiment, a plurality of said positioning rods are arranged in sequence from left to right at equal distances, and gaps are arranged between adjacent two positioning rods.

[0020] In a preferred embodiment, a plurality of said linkage rollers are arranged in sequence from left to right at equal distances, and the linkage rollers are used to drive the track to engage and drive.

[0021] In a preferred embodiment, a servo motor is arranged on one side of the inner wall of the support frame and close to the top corner thereof, and a linkage shaft is fixedly connected with the output end of the servo motor.

[0022] A rotating sleeve is fixed to the linkage shaft, and a switch is arranged on one side of the servo motor.

[0023] In a preferred embodiment, a plurality of reinforcing beams are fixed to the inner wall of the frame, and a support block is fixed to one side of one of the reinforcing beams.

[0024] The outer wall of the rack is fixed with a fixing frame, and the inner wall of the fixing frame is fixed with a plurality of reinforcing rods

[0025] A single-side brake crawler chassis automatic driving steering control method, the method comprises the following steps:

[0026] Step one, determine the minimum steering response period of the system through system identification, based on the target path and the vehicle state, the steering control quantity is discretized into accurate modulation of the brake time in a single steering control period, and the accurate control of the steering curvature is realized by adjusting the duty cycle;

[0027] Step two, when driving, the driving shaft is driven by the HST hydraulic transmission part, and the two crawlers are synchronously driven;

[0028] Step three, when steering control, the reducer is driven by the speed reducer, and the pushing operation is realized by a plurality of pullers in the steering arm, so that the brake pedal is pushed, and the crawler is steered to the brake side;

[0029] Step four, open the drive, start the servo motor and the linkage shaft, and start the self-locking motor;

[0030] Step five, when accelerating, the gear shaft is rotated by the self-locking motor, the linkage roller is driven by the positioning rod, and the lateral drive is accelerated.

[0031] The technical effects and advantages of the present application are as follows:

[0032] 1. The steering control module is used in the present application, the reducer is started by the speed reducer, the high-speed low-torque output of the motor is converted to low-speed high-torque output, the resistance of the brake pedal return spring is overcome, the torsional rotation is transmitted through the driving rod, the concentricity of power transmission is ensured and the installation error is compensated, the steering arm is driven by the transmission shaft, the end of the steering arm is connected with the original vehicle brake pedal force arm, the pedal is pushed by the puller, the effect is the same as the driver stepping on, and the motor power transmission is cut off, one side of the crawler is braked, the other side is normally driven, a speed difference is generated to realize smooth steering, low-cost high-efficiency steering control is realized, and the transmission is more stable;

[0033] 2. When the acceleration opening drive is used in the present application, the servo motor on the other side is started, the linkage shaft is rotated, the linkage shaft rotates the rotating sleeve counterclockwise, the rotating sleeve accurately extrudes the switch, the switch is triggered after contact, and the self-locking motor is started, the servo motor is accurately controlled, the linkage shaft stably transmits power, and the rotating sleeve effectively triggers the switch, so that the steering control is realized at a lower cost, the transmission is stable and reliable, and the steering action is accurately executed;

[0034] 3、The utility model discloses utilize accelerating transmission, the self -locking motor drive gear shaft rotation, gear shaft drive caterpillar band meshing acceleration, support frame further supports multiple positioning rod, and positioning rod is accurate positioning linkage roller, ensure transmission position accurate, and self -locking motor accurate control power output, and positioning rod effectively restricts linkage roller, with lower cost guarantee the stability of transmission process, improves the reliability of whole steering control. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 It is whole structure schematic diagram of one -sided brake caterpillar chassis automatic driving steering control device of the utility model.

[0036] Figure 2 It is the structure schematic diagram of the frame plate and the speed reducer motor junction place cut off partial.

[0037] Figure 3 It is the structure schematic diagram of the drive rod and the transmission shaft junction place cut off partial.

[0038] Figure 4 It is the structure schematic diagram of the self -locking motor and support frame junction place cut off partial.

[0039] Figure 5 It is the structure schematic diagram of the Figure 4 It is the structure schematic diagram of the place A in the middle.

[0040] Figure 6 It is the structure schematic diagram of the frame and the reinforced beam junction place cut off partial.

[0041] The figure mark is: 1, frame, 2, frame plate, 3, speed reducer motor, 4, speed reducer, 5, drive rod, 6, transmission shaft, 7, steering arm, 8, pull buckle, 9, linkage block, 10, HST hydraulic transmission, 11, drive shaft, 12, self -locking motor, 13, gear shaft, 14, caterpillar band, 15, support frame, 16, positioning rod, 17, linkage roller, 18, servo motor, 19, linkage shaft, 20, rotating sleeve, 21, switch, 22, reinforced beam, 23, support block, 24, fixed frame, 25, reinforcing rod, 26, reinforcing strip. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of the present application.

[0043] As Figure 1 - Figure 6The single-side brake crawler chassis automatic driving steering control device is provided with a steering control module. The steering control module can push the pedal through the pull buckle 8, and the effect is the same as the driver stepping on the pedal. At this time, one side of the crawler 14 is braked, and the other side is normally driven, so as to generate a speed difference to realize stable steering. The low-cost realization of efficient steering control and more stable transmission are realized. The specific structure of the steering control module is as follows.

[0044] In this embodiment, as shown in the figure, Figure 1 Figure 3 The frame 1 is fixedly installed with a frame plate 2 on one side. The frame plate 2 is installed with a steering control module on one side. The steering control module comprises two speed reducer motors 3, which are installed on the outer wall of the frame plate 2 on one side. The output end of each speed reducer motor 3 is installed with a speed reducer 4. The output end of the speed reducer 4 is fixedly connected with a drive rod 5, and the drive rod 5 is rotatably connected with the frame plate 2. A transmission shaft 6 is fixed to one end of the drive rod 5. The outer wall of the transmission shaft 6 is fixed with a steering arm 7. A plurality of pull buckles 8 are arranged in the interior of the steering arm 7. The steering arm 7 is used to push the brake pedal. The outer wall of the transmission shaft 6 is fixedly connected with a linkage block 9. An HST hydraulic transmission member 10 is installed in the interior of the frame plate 2. A linkage member is installed below the frame 1. The linkage member is used to drive the crawler. The two speed reducer motors 3 are arranged from front to back. Gaps are arranged between the two speed reducer motors 3 and the two speed reducers 4. The center point of the drive rod 5 and the center point of the transmission shaft 6 are on the same horizontal line. The vertical cross-sectional shape of the two pull buckles 8 is circular.

[0045] When the single-side brake crawler chassis automatic driving steering control device is used, the speed reducer 4 drives the drive rod 5 to rotate at a specific angle and direction. The core function of the speed reducer 4 is to convert the high-speed and low-torque output of the motor into low-speed and high-torque output. The drive rod 5 drives the transmission shaft 6 to transmit to the steering arm 7. The transmission shaft 6 drives the steering arm 7 to convert the rotary motion into a circular arc swing with sufficient torque. The plurality of pull buckles 8 realize the pushing operation, which is completely consistent with the driver stepping on the pedal. When the power of one side of the crawler 14 is cut off and braked, the other side of the crawler 14 is normally driven. The driven crawler 14 is smoothly steered to the braking side.

[0046] In this embodiment, as shown in the figure, Figure 2 The frame 1 is used to support the HST hydraulic transmission member 10. The two steering arms 7 are symmetrically arranged to facilitate the frame 1 to support the HST hydraulic transmission member 10. The two steering arms 7 realize symmetrical processing.

[0047] In this embodiment, as shown in the figure, Figure 2 Figure 4 ​​As shown, the linkage includes: a drive shaft 11 mounted on the output end of the HST hydraulic transmission 10, two support frames 15 are arranged below the rack 1, and the two support frames 15 are fixedly connected with the rack 1; a plurality of positioning rods 16 are rotatably installed on the inner wall of the support frame 15, and the outer wall of each positioning rod 16 is fixedly connected with a linkage roller 17; a self-locking motor 12 is installed on the upper surface of the support frame 15, and the output end of the self-locking motor 12 is fixedly connected with a gear shaft 13, and the outer wall of the gear shaft 13 is engaged with a track 14. The plurality of positioning rods 16 are arranged in equal intervals from left to right, and a gap is arranged between the adjacent two positioning rods 16. The plurality of linkage rollers 17 are arranged in equal intervals from left to right, and the linkage rollers 17 are used to drive the track 14 to engage transmission.

[0048] In use, the self-locking motor 12 drives the gear shaft 13 to rotate, so that the track 14 can engage transmission on the plurality of linkage rollers 17, the support frame 15 supports the plurality of positioning rods 16, the positioning rods 16 drive the linkage rollers 17, and the acceleration transmission on the other side is realized, and the steering control is more efficient.

[0049] In this embodiment, as shown in the figure, Figure 5 Figure 6 As shown, a servo motor 18 is installed on one side of the inner wall of the support frame 15 and close to the top corner thereof, the output end of the servo motor 18 is fixedly connected with a linkage shaft 19; a rotating sleeve 20 is fixed to the linkage shaft 19, and one side of the servo motor 18 is provided with a switch 21. A plurality of reinforcing beams 22 are fixed to the inner wall of the rack 1, and a support block 23 is fixed to one side of one of the reinforcing beams 22; a fixed frame 24 is fixed to one side of the outer wall of the rack 1, and a plurality of reinforcing rods 25 are fixed to the inner wall of the fixed frame 24, and a reinforcing strip 26 is fixed to the upper surface of the fixed frame 24.

[0050] In use, the other side starts the servo motor 18, starts the linkage shaft 19 through the servo motor 18, rotates the rotating sleeve 20 counterclockwise, and the rotating sleeve 20 presses on the switch 21, the switch 21 starts the self-locking motor 12, and the driving acceleration is fast, and the acceleration is faster.

[0051] The working principle of the unilateral braking track chassis automatic driving steering control device is as follows:

[0052] Step one, determine the minimum steering response period of the system through system identification, discretize the steering control amount into accurate modulation of the braking time in a single steering control period based on the target path and the vehicle state, and realize accurate control of the steering curvature by adjusting the duty cycle.

[0053] ​Step two, when driving, the device is installed on the upper surface of the rack 1, at the same time the supporting block 23 is connected to the lower surface of the device, the reinforcing beam 22 supports the inner wall of the rack 1, the rack 1 supports the fixed frame 24, the plurality of reinforcing rods 25 can support the inner wall of the fixed frame 24, and the reinforcing strip 26 supports the device. The HST hydraulic transmission 10 drives the drive shaft 11, the drive shaft 11 drives one of the positioning rods 16, the positioning rod 16 rotates in the support frame 15, the positioning rod 16 rotates the linkage roller 17, and the linkage roller 17 drives the track 14 to engage transmission, so that the two tracks 14 are synchronously driven.

[0054] Step three, when turning control, the reduction motor 3 drives the reducer 4 to rotate the drive rod 5 to a specific angle and direction, which is first transmitted to the reducer 4. Since the operation force required by one-sided braking is large, the core function of the reducer 4 is to convert the high-speed, low-torque output of the motor into low-speed, high-torque output to provide sufficient driving torque to overcome the resistance of the brake pedal return spring. The rotation movement after the torque increase of the reducer 4 is transmitted to the steering arm 7 through the drive rod 5 and the transmission shaft 6, the drive rod 5 ensures the concentricity of power transmission and compensates for slight installation errors, and the transmission shaft 6 drives the steering arm 7 to convert the rotation movement into a circular arc swing with sufficient torque. The end of the steering arm 7 is connected through the force arm of the original vehicle brake pedal. The plurality of pull buckles 8 in the steering arm 7 realize pushing operation, so as to push the brake pedal, and the effect is the same as that of the driver stepping on the pedal. This action cuts off the power transmission of the reduction motor 3, when one side of the track 14 is cut off and braked, the other side of the track 14 remains normally driven, and the two tracks 14 generate a significant speed difference, so that the driving track 14 smoothly turns to the braking side.

[0055] Step four, when the drive is opened, the other side is driven by starting the servo motor 18, the servo motor 18 starts the linkage shaft 19, the linkage shaft 19 drives the rotary sleeve 20 to rotate counterclockwise, the rotary sleeve 20 is pressed on the switch 21, and the switch 21 starts the self-locking motor 12 after being contacted through the switch 21.

[0056] Step five, when accelerating transmission, the self-locking motor 12 drives the gear shaft 13 to rotate, the gear shaft 13 drives the track 14 to continue to engage acceleration, so that the track 14 can engage transmission on the plurality of linkage rollers 17, at the same time the rack 1 supports the support frame 15, the support frame 15 supports a plurality of positioning rods 16, and the positioning rods 16 drive the linkage rollers 17.

[0057] The above is only a preferred embodiment of the present application and is not used to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An automatic steering control device for a single-sided brake tracked chassis, comprising a frame (1), wherein a frame plate (2) is fixedly mounted on one side of the frame (1), characterized in that: A steering control module is installed on one side of the frame plate (2), and the steering control module includes: Two geared motors (3) are installed on one side of the outer wall of the frame plate (2). Each geared motor (3) has a reducer (4) installed at its output end. The output end of the reducer (4) is fixedly connected to a drive rod (5), and the drive rod (5) is rotatably connected to the frame plate (2). A drive shaft (6) is fixed to one end of a drive rod (5), and a steering arm (7) is fixed to one side of the outer wall of the drive shaft (6); Multiple pull tabs (8) are all located inside the steering arm (7), which is used to push the brake pedal, and a linkage block (9) is fixedly connected to the other side of the outer wall of the drive shaft (6); HST hydraulic transmission component (10) is installed inside the frame plate (2); A linkage component is installed below the frame (1) and is used to drive the tracks.

2. The single-sided braking tracked chassis automatic steering control device according to claim 1, characterized in that: The two geared motors (3) are arranged in sequence from front to back, and there is a gap between the two geared motors (3) and the two reducers (4).

3. The single-sided braking tracked chassis automatic steering control device according to claim 1, characterized in that: The center point of the drive rod (5) and the center point of the transmission shaft (6) are on the same horizontal line, and the vertical cross-section of the two buckles (8) is circular.

4. The single-sided braking tracked chassis automatic steering control device according to claim 1, characterized in that: The frame (1) is used to support the HST hydraulic transmission component (10), and the two steering arms (7) are symmetrically arranged.

5. The single-sided braking tracked chassis automatic steering control device according to claim 1, characterized in that: The linkage component includes: The drive shaft (11) is installed on the output end of the HST hydraulic transmission component (10). Two support frames (15) are provided below the frame (1), and both support frames (15) are fixedly connected to the frame (1). Multiple positioning rods (16) are rotatably mounted on the inner wall of the support frame (15), and each positioning rod (16) has a linkage roller (17) fixed on its outer wall; A self-locking motor (12) is installed on the upper surface of the support frame (15). The output end of the self-locking motor (12) is fixedly connected to a gear shaft (13), and a track (14) is meshed with the outer wall of the gear shaft (13).

6. The single-sided braking tracked chassis automatic steering control device according to claim 5, characterized in that: The multiple positioning rods (16) are arranged equidistantly from left to right, with a gap between adjacent positioning rods (16).

7. The single-sided braking tracked chassis automatic steering control device according to claim 5, characterized in that: Multiple linkage rollers (17) are arranged equidistantly from left to right, and the linkage rollers (17) are used to drive the track (14) to engage and transmit power.

8. The single-sided braking tracked chassis automatic steering control device according to claim 5, characterized in that: A servo motor (18) is installed on one side of the inner wall of the support frame (15) and near its top corner. The output end of the servo motor (18) is fixedly connected to a linkage shaft (19). A rotating sleeve (20) is fixed to the linkage shaft (19), and a switch (21) is provided on one side of the servo motor (18).

9. The single-sided braking tracked chassis automatic steering control device according to claim 1, characterized in that: The inner wall of the frame (1) is fixed with a plurality of reinforcing beams (22), and a support block (23) is fixed on one side of one of the reinforcing beams (22); A fixing frame (24) is fixed on one side of the outer wall of the frame (1), and a plurality of reinforcing rods (25) are fixed on the inner wall of the fixing frame (24), and a reinforcing strip (26) is fixed on the upper surface of the fixing frame (24).

10. A method for automatic steering control of a single-sided braking tracked chassis, using the automatic steering control device for a single-sided braking tracked chassis as described in claims 1-9, characterized in that: The method includes the following steps: Step 1: Determine the minimum steering response cycle of the system through system identification. Based on the target path and vehicle status, discretize the steering control quantity into precise modulation of the braking duration within a single steering control cycle. Achieve precise control of steering curvature by adjusting the duty cycle. Step 2: During transmission, the drive shaft (11) is driven by the HST hydraulic transmission component (10), and the two tracks (14) are driven synchronously. Step 3: During steering control, the geared motor (3) drives the reducer (4) and pushes through multiple latches (8) inside the steering arm (7). This pushes the brake pedal and drives the track (14) to turn towards the braking side. Step 4: Accelerate the opening of the drive, the servo motor (18) starts the linkage shaft (19), and the switch (21) starts the self-locking motor (12); Step 5: During acceleration transmission, the gear shaft (13) is driven to rotate by the self-locking motor (12), and the positioning rod (16) causes the linkage roller (17) to drive, accelerating the lateral drive.

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