Tractor steering device and tractor

Abstract

The utility model belongs to the technical field of agricultural instruments and provides a tractor steering gear and a tractor, the tractor steering gear comprises a frame assembly, an accessory suspension mechanism and a suspension restraint mechanism, the accessory suspension mechanism is pivotally connected to the tail part of the frame assembly and is used for dragging a working accessory; and the suspension restraining mechanism is used for locking control between the accessory suspension mechanism and the frame assembly. According to the utility model, the accessory suspension mechanism used for dragging the working accessory for operation is pivotally connected to the tail part of the frame assembly, so that the steering stability of the tractor can be improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of agricultural implements, and particularly relates to a tractor steering device and a tractor. Background Art

[0002] The technology of new energy tractors is constantly updated and iterated, and the power-taking single-bridge tractor products begin to appear in the public view. Generally, tractors adopt a single-bridge form and are driven to run by wheel motors on both sides. However, when an agricultural implement is fixedly connected to the rear end of the frame assembly, limited by the driving force of the motor, when the single-bridge tractor performs skid steering, under the action of the soil scraping resistance, it is very easy to cause the tractor to roll over or the structure to break, resulting in safety accidents. Content of the Utility Model

[0003] Aiming at the above defects or deficiencies, the utility model provides a tractor steering device and a tractor, aiming to improve the operation performance and safety reliability of the tractor.

[0004] To achieve the above object, the utility model provides a tractor steering device, which includes a frame assembly, an implement suspension mechanism and a suspension constraint mechanism. The implement suspension mechanism is pivotally connected to the tail of the frame assembly and is used for dragging a working implement, and the suspension constraint mechanism is used for locking control between the implement suspension mechanism and the frame assembly.

[0005] In an embodiment of the utility model, the tractor steering device further includes a lifting mechanism arranged on the implement suspension mechanism, and the lifting mechanism is used for lifting the dragged working implement.

[0006] In an embodiment of the utility model, the suspension constraint mechanism includes a locking ring arranged on the frame assembly and a locking pin arranged on the implement suspension mechanism. The locking pin is controlled by a driving member, and the driving member is used for controlling the locking pin to insert into the locking ring when the locking pin is aligned with the locking ring.

[0007] In an embodiment of the utility model, the suspension constraint mechanism further includes a guiding member arranged on the implement suspension mechanism, and the guiding member is used for guiding the locking pin to insert into the locking ring when the locking pin is aligned with the locking ring.

[0008] In an embodiment of the utility model, the implement suspension mechanism and the frame assembly are connected through a slewing bearing mechanism. The slewing bearing mechanism includes a fixed support seat arranged on the frame assembly and a support movable seat rotatably installed on the fixed support seat. The rotation center axis of the support movable seat extends vertically, and the implement suspension mechanism is arranged on the support movable seat.

[0009] In an embodiment of the present utility model, a pivot limit mechanism is further provided between the frame assembly and the implement suspension mechanism, and the pivot limit mechanism is used to limit the maximum single steering angle of the implement suspension mechanism starting from the straight-ahead state coaxial with the frame assembly.

[0010] In an embodiment of the present utility model, the pivot limit mechanism includes a lower limit block provided on the frame assembly and an upper limit block provided on the implement suspension mechanism, and the lower limit block is used to abut against the upper limit block when the implement suspension mechanism horizontally swings by a preset angle.

[0011] In an embodiment of the present utility model, the number of the lower limit blocks is two groups, the two groups of lower limit blocks are arranged at intervals along the circumferential direction of the fixed support seat, and the upper limit block is located between the two groups of lower limit blocks; or

[0012] The number of the upper limit blocks is two groups, the two groups of upper limit blocks are arranged at intervals along the circumferential direction of the support movable seat, and the lower limit block is arranged between the two groups of upper limit blocks.

[0013] In an embodiment of the present utility model, the implement suspension mechanism includes a suspension mechanism main body and a suspension pull arm. The front end of the suspension pull arm is swingably hinged to the suspension mechanism main body, and a working implement is installed at the rear end. A lifting mechanism is provided between the suspension pull arm and the suspension mechanism main body.

[0014] To achieve the above object, the present utility model further provides a tractor, and the tractor includes the tractor steering device described above.

[0015] Through the above technical solutions, the tractor steering device provided by the embodiment of the present utility model has the following beneficial effects:

[0016] The tractor steering device in the present utility model is mainly applied to a single-bridge tractor. It not only has a simple structure, a small size, and flexible operation, but also has a lower production cost. At the same time, the implement suspension mechanism for dragging a working implement to operate is pivotally connected to the tail of the frame assembly. When the frame assembly performs skid steering, it can effectively reduce the influence of the lateral resistance between the soil scraping during steering and the working implement on the tractor steering, and ensure that the tractor can steer smoothly and safely.

[0017] Other features and advantages of the present utility model will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings are used to provide an understanding of the present utility model and constitute a part of the specification. They are used together with the following specific implementation to explain the present utility model, but do not constitute a limitation to the present utility model. In the drawings:

[0019] Figure 1 is a schematic structural diagram of a single-bridge tractor according to an embodiment of the present utility model;

[0020] Figure 2 is a schematic structural view of the first perspective of the implement suspension mechanism and the suspension restraint mechanism in cooperation according to an embodiment of the present utility model;

[0021] Figure 3 is a schematic structural view when a single-bridge tractor drags a working implement and travels in a straight line according to an embodiment of the present utility model;

[0022] Figure 4 is a schematic structural view when a single-bridge tractor drags a working implement and turns according to an embodiment of the present utility model;

[0023] Figure 5 is a schematic structural view of the specific structure of the implement suspension mechanism according to an embodiment of the present utility model;

[0024] Figure 6 is a schematic structural view of the second perspective of the implement suspension mechanism and the suspension restraint mechanism in cooperation according to an embodiment of the present utility model.

[0025] Description of the reference numerals

[0026] 1 Frame assembly 11 Travel mechanism

[0027] 111 Crawler 112 Wheel side motor

[0028] 12 Locking ring 2 Implement suspension mechanism

[0029] 21 Suspension pull arm 22 Balance pull arm

[0030] 3 Suspension restraint mechanism 31 Locking pin

[0031] 32 Guide member 33 Driving member

[0032] 34 State sensing element 4 Pivoting limit mechanism

[0033] 41 Upper limit block 42 Lower limit block

[0034] 43 Angle sensing element 5 Lifting mechanism

[0035] 6 Working implement 7 Slewing bearing mechanism

[0036] 71 Fixed support seat 72 Support movable seat Detailed implementation manners

[0037] The following will describe in detail the specific embodiments of the present utility model with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for explaining and illustrating the present utility model, and are not used to limit the present utility model.

[0038] The tractor steering device of the present utility model will be described below with reference to the accompanying drawings.

[0039] In existing tractors, the implement suspension mechanism 2 is generally directly fixedly installed at the rear of its vehicle frame. When the tractor steers, the lateral resistance of the soil scraping on the trailed implement is very large, and the tractor is very prone to accidents such as rollover or structural fracture.

[0040] Based on the above considerations, as Figure 1 、 Figure 2 and Figure 3 shown, the present utility model further improves the tractor steering device by pivotally connecting the implement suspension mechanism 2 for dragging the working implement 6 for operation to the rear of the vehicle frame assembly 1. When the tractor steers, the vehicle frame assembly 1 will first steer. After the vehicle frame assembly 1 finishes steering, by only controlling the vehicle frame assembly 1 to drive straight, the implement suspension mechanism 2 and the trailed working implement 6 can be straightened along the straight driving direction of the vehicle frame assembly 1. Through this step-by-step steering strategy, the influence of the lateral resistance of soil scraping during steering on the tractor steering can be effectively reduced, ensuring that the tractor can steer smoothly and safely.

[0041] In an embodiment of the present utility model, the specification types of the working implement 6 include large agricultural implements and small agricultural implements. When the working implement 6 trailed by the implement suspension mechanism 2 is a large agricultural implement, after the large agricultural implement is inserted into the soil, the lateral resistance of the soil to the large agricultural implement is very large. Therefore, even when the implement suspension mechanism 2 and the vehicle frame assembly 1 are in an unlocked state, when the vehicle frame assembly 1 drives straight, the large agricultural implement also follows the vehicle frame assembly 1 to drive straight. However, for small agricultural implements, due to their small size and weight, the lateral resistance of soil scraping to small agricultural implements is small. Without the locking between the implement suspension mechanism 2 and the vehicle frame assembly 1, when the vehicle frame assembly 1 drives straight or turns, the small agricultural implement is very prone to swing left and right.

[0042] Therefore, in order to be compatible with the straight operation and steering of working implements 6 of different specification types, as Figure 2 and Figure 6 shown, the tractor steering device in the present utility model is further provided with a suspension restraint mechanism 3 to realize the locking control between the implement suspension mechanism 2 and the vehicle frame assembly 1. Among them, when the working implement 6 is a large agricultural implement, the suspension restraint mechanism 3 needs to be in an unlocked state, while when the type of the working implement 6 is a small agricultural implement, the influence of the lateral resistance of soil scraping on the small agricultural implement is small. In order to prevent the small agricultural implement from being thrown and hitting the vehicle body, the corresponding matching state of the suspension restraint mechanism 3 should be in a locked state.

[0043] As Figure 2 and Figure 6As shown, in the embodiment of the present utility model, the locking method of the suspension restraint mechanism 3 can be pin-type locking. For example, the suspension restraint mechanism 3 can include a locking ring 12 provided on the frame assembly 1 and a locking pin 31 provided on the attachment suspension mechanism 2. The locking pin 31 is controlled by a driving member 33, and the driving member 33 is used to control the locking pin 31 to extend into the locking ring 12 when the locking pin 31 is aligned with the locking ring 12. The position where the locking pin 31 is aligned with the locking ring 12 can be the position where the central axis in the front-rear direction of the attachment suspension mechanism 2 is parallel to the central axis in the front-rear direction of the frame assembly 1. By locking the attachment suspension mechanism 2 at this alignment position, it is convenient for the working attachment 6 to operate normally when the single-bridge tractor is driving straight. Among them, the driving member 33 can be a motor rack, a motor lead screw, an electric cylinder, a cylinder, etc.

[0044] Such as Figure 2 and Figure 6 As shown, in the embodiment of the present utility model, the suspension restraint mechanism 3 further includes a guiding member 32 provided on the attachment suspension mechanism 2. The guiding member 32 is used to guide the locking pin 31 to insert into the locking ring 12 when the locking pin 31 is aligned with the locking ring 12. The guiding member 32 can be structures such as a guide rail and a guide sleeve. For example, the locking pin 31 can be slidably arranged in the guide sleeve, and through the guiding of the guide sleeve, it is convenient for the locking pin 31 to accurately enter and exit the locking ring 12.

[0045] Such as Figure 6 As shown, in the embodiment of the present utility model, the suspension restraint mechanism 3 further includes a state sensing element 34 for detecting whether the locking pin 31 is inserted into the locking ring 12. Through the state sensing element 34, the state of the suspension restraint mechanism 3 can be obtained, so as to facilitate online monitoring and control. The state sensing element 34 can be a distance sensor, a position sensor, a travel switch, etc.

[0046] Such as Figure 2 As shown, in the embodiment of the present utility model, there are many ways to realize the rotational connection between the attachment suspension mechanism 2 and the frame assembly 1. For example, a slewing bearing mechanism 7 can be provided between the frame assembly 1 and the attachment suspension mechanism 2. The slewing bearing mechanism includes a fixed support seat 71 provided on the frame assembly 1 and a support movable seat 72 rotatably mounted on the fixed support seat 71. The rotational center axis of the support movable seat 72 extends vertically and can rotate relative to the fixed support seat. The attachment suspension mechanism 2 is provided on the support movable seat 72. Through the rotational cooperation between the fixed support seat 71 and the support movable seat 72, the rotational connection can be realized and the connection strength can be ensured. Of course, the frame assembly 1 and the attachment suspension mechanism 2 can also be rotationally connected by means of bearings, pin shafts, turntables, etc.

[0047] Such as Figure 5As shown, in the embodiment of the present utility model, a pivot limiting mechanism 4 is further provided between the frame assembly 1 and the attachment suspension mechanism 2. The pivot limiting mechanism 4 is used to limit the single maximum steering angle of the attachment suspension mechanism 2 starting from the straight-ahead state coaxial with the frame assembly 1.

[0048] As Figure 5 shown, in the embodiment of the present utility model, there are many forms of setting the pivot limiting mechanism 4. For example, the pivot limiting mechanism 4 includes a lower limit block 42 provided on the fixed support seat 71 and an upper limit block 41 provided on the support movable seat 72. The lower limit block 42 is used to abut against the upper limit block 41 when the support movable seat 72 swings horizontally by a preset angle. Through the abutment of the upper limit block 41 and the lower limit block 42, mechanical limitation of the maximum steering angle of the frame assembly 1 relative to the attachment suspension mechanism 2 is realized. Further, the number of the lower limit blocks 42 is two groups, and the two groups of lower limit blocks 42 are arranged at intervals along the circumferential direction of the fixed support seat 71. The upper limit block 41 is located between the two groups of lower limit blocks 42. By setting two groups of lower limit blocks 42, steering limitation in two directions of the frame assembly 1 can be realized. Or the number of the upper limit blocks 41 is two groups, and the two groups of upper limit blocks 41 are arranged at intervals along the circumferential direction of the support movable seat 72. The lower limit block 42 is provided between the two groups of upper limit blocks 41, and this structure can also achieve the effect of steering limitation in two directions.

[0049] As Figure 5 shown, in the embodiment of the present utility model, an angle sensing element 43 is further provided on the fixed support seat 71 or the support movable seat 72. The angle sensing element 43 is used to detect the included angle between the frame assembly 1 and the attachment suspension mechanism 2. The angle sensing element 43 can be an angle sensor, a position sensor, etc. By setting the angle sensing element 43, it is convenient for the controller to obtain the steering angle of the frame assembly 1 relative to the attachment suspension mechanism 2.

[0050] For the frame assembly 1 of a towed small agricultural implement, since the lateral resistance of the small agricultural implement caused by soil scraping is small, the attachment suspension mechanism 2 should be in a locked state when the frame assembly 1 steers, so as to prevent the small agricultural implement from being thrown off when the frame assembly 1 steers.

[0051] In the embodiment of the present utility model, the tractor steering device further includes a lifting mechanism provided on the attachment suspension mechanism 2. The lifting mechanism is used to lift the towed working attachment 6.

[0052] Further, as Figure 2As shown, the attachment suspension mechanism 2 includes a suspension mechanism main body and a suspension pull arm 21. The front end of the suspension pull arm 21 is swingably hinged to the suspension mechanism main body, and the rear end is used to mount the working attachment 6. A lifting mechanism 5 is provided between the suspension pull arm 21 and the suspension mechanism main body. The small agricultural implement can be lifted by the lifting mechanism 5 to further avoid the influence of the lateral resistance of soil scraping on the overall steering of the vehicle frame. Of course, this is only the most preferred solution. Sometimes, for the sake of simplifying the operation, when towing a small agricultural implement for operation, steering can be directly carried out.

[0053] In an embodiment of the present invention, the attachment suspension mechanism 2 further includes a balance pull arm 22, and the balance pull arm 22 is used to tow the working attachment 6 to maintain balance.

[0054] In an embodiment of the present invention, the lifting mechanism 5 can be a lifting cylinder.

[0055] In an embodiment of the present invention, the lifting mechanism 5 can also drive the working attachment 6 to insert into the soil.

[0056] To achieve the above object, the present invention also provides a tractor. Among them, the tractor includes the tractor steering device described above. Since the tractor adopts all the technical solutions of the above embodiments, it at least has the beneficial effects brought by the above embodiments, which will not be repeated here.

[0057] In an embodiment of the present invention, the traveling mechanism 11 of the tractor is preferably a crawler 111. The crawler 111 has a large force-bearing area and better stability. Of course, the traveling mechanism 11 of a single-bridge tractor can also be wheels.

[0058] In an embodiment of the present invention, the tractor can be driven by a wheel-side motor 112, and the wheel-side motor 112 can be powered by a battery.

[0059] In an embodiment of the present invention, the tractor can be a single-bridge tractor, which is composed of a single vehicle bridge and wheel-side motors 112 distributed on both sides of the single vehicle bridge. Compared with the existing two-bridge tractors, the use of a set of vehicle bridges can be reduced, the structure is more concise, the body is more compact, and in-situ steering can be achieved, the operation is more flexible, and the production cost is lower. At the same time, the wheel-side motors 112 are directly installed on both sides of the single vehicle bridge, and the wheel-side motors 112 can be closer to the traveling mechanism 11, and the transmission efficiency is higher.

[0060] The following uses the specific steering process of a single-bridge tractor to illustrate the effect of the tractor steering device in the present invention.

[0061] As Figure 3 and Figure 4As shown in the figure, when a single-bridge tractor is towing a large agricultural implement and turning, if the suspension restraint mechanism 3 remains locked, the lateral soil scraping resistance on the agricultural implement during the turning of the frame assembly 1 will be very large, and the tractor will be very prone to rollover or structural component fracture accidents. Therefore, during the turning operation, the suspension restraint mechanism 3 needs to be kept in the unlocked state. After the suspension restraint mechanism 3 is unlocked, during the turning process of the frame assembly 1, the implement suspension mechanism 2 can swing left and right horizontally relative to the frame assembly 1. Thus, when the frame assembly 1 is turning, the position and working direction of the working implement 6 can be kept fixed. After the frame assembly 1 completes the turning, only need to control the frame assembly 1 to drive straight. Under the influence of the included angle between the traction force and the working direction of the working implement 6, the working direction of the working implement 6 will gradually approach the driving direction of the frame assembly 1 until they completely coincide. And through this step-by-step turning strategy, it can effectively reduce the influence of the lateral soil scraping resistance on the single-bridge tractor when the single-bridge tractor is towing a large agricultural implement and turning.

[0062] Furthermore, when the target turning angle of the frame assembly 1 does not exceed the single maximum turning angle of the pivot limit mechanism, the wheel hub motors 112 on both sides of the frame assembly 1 can be directly controlled to rotate differentially, so that the frame assembly 1 rotates relative to the implement suspension mechanism 2 to the target turning angle, and then control the frame assembly 1 to drive straight, and the turning operation can be completed.

[0063] When the target turning angle of the frame assembly 1 is greater than the single maximum turning angle, multiple-step turning is required. The specific operation includes: controlling the wheel hub motors 112 to rotate differentially to perform the turning operation, so that the suspension mechanism pivots relative to the frame assembly 1 by a first turning angle; then controlling the wheel hub motors 112 to rotate at the same speed, so that the frame assembly 1 drives straight; then continue to perform the turning operation along the original pivoting direction, repeating multiple times until the target turning angle is reached, where the first turning angle of each turn is not greater than the single maximum turning angle.

[0064] When the specification type of the working implement 6 is a small agricultural implement, since the lateral resistance between soil scraping and the small agricultural implement is negligible compared to the whole tractor, turning can be directly carried out in the locked state.

[0065] In summary, the present utility model combines the actual working scenarios of the tractor, considers the influence of different types of agricultural implements on the turning of the single-bridge tractor, rotatably arranges the implement suspension mechanism 2 and locks it through the suspension restraint mechanism 3, and adaptively changes the state of the suspension restraint mechanism 3 according to the type of the agricultural implement, which can increase the turning stability of the single-bridge tractor when the single-bridge tractor is carrying different agricultural implements and turning.

[0066] In the description of the present utility model, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present utility model, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0067] In the present utility model, unless otherwise clearly specified and defined, terms such as "installed", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and may be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0068] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", 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 utility model. In this specification, the schematic representations of the above terms do not necessarily refer 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 or examples described in this specification and the features of different embodiments or examples.

[0069] Although the embodiments of the present utility model have been described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present utility model. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present utility model.

Claims

1. A tractor steering device, characterized in that, The tractor steering device includes: a frame assembly (1); and an implement suspension mechanism (2), pivotally connected to the tail of the frame assembly (1) and used for dragging a working implement (6); and a suspension restraint mechanism (3) for locking control between the implement suspension mechanism (2) and the frame assembly (1), and the locking mode of the suspension restraint mechanism (3) is a pin-type locking.

2. The tractor steering device according to claim 1, wherein, The tractor steering device further includes a lifting mechanism provided on the implement suspension mechanism (2), and the lifting mechanism is used for lifting the dragged working implement (6).

3. The tractor steering device according to claim 2, characterized in that, The implement suspension mechanism (2) includes a suspension mechanism main body and a suspension pull arm (21). The front end of the suspension pull arm (21) is swingably hinged to the suspension mechanism main body, and the rear end is provided with the working implement (6). The lifting mechanism (5) is arranged between the suspension pull arm (21) and the suspension mechanism main body.

4. The tractor steering device according to claim 1, characterized in that, The suspension restraint mechanism (3) includes a locking ring (12) provided on the frame assembly (1) and a locking pin (31) provided on the implement suspension mechanism (2). The locking pin (31) is controlled by a driving member (33), and the driving member (33) is used for controlling the locking pin (31) to insert into the locking ring (12) when the locking pin (31) is aligned with the locking ring (12).

5. The tractor steering device according to claim 4, characterized in that, The suspension restraint mechanism (3) further includes a guiding member (32) provided on the implement suspension mechanism (2), and the guiding member (32) is used for guiding the locking pin (31) to insert into the locking ring (12) when the locking pin (31) is aligned with the locking ring (12).

6. The tractor steering device according to claim 1, characterized in that, The implement suspension mechanism (2) and the frame assembly (1) are connected through a slewing bearing mechanism (7). The slewing bearing mechanism (7) includes a fixed support seat (71) provided on the frame assembly (1) and a support movable seat (72) rotatably mounted on the fixed support seat (71). The rotation center axis of the support movable seat (72) extends vertically, and the implement suspension mechanism (2) is provided on the support movable seat (72).

7. The tractor steering device according to any one of claims 1 to 6, characterized in that, A pivot limit mechanism (4) is further provided between the frame assembly (1) and the implement suspension mechanism (2), and the pivot limit mechanism (4) is used for limiting the single maximum steering angle of the implement suspension mechanism (2) starting from the straight-ahead state coaxial with the frame assembly (1).

8. The tractor steering device according to claim 7, characterized in that, The pivot limit mechanism (4) includes a lower limit block (42) provided on the frame assembly (1) and an upper limit block (41) provided on the implement suspension mechanism (2). The lower limit block (42) is used for abutting against the upper limit block (41) when the implement suspension mechanism (2) horizontally swings through a preset angle.

9. The tractor steering device according to claim 8, characterized in that, The number of the lower limit blocks (42) is two groups, and the two groups of lower limit blocks (42) are arranged at intervals along the circumferential direction of the fixed support seat (71), and the upper limit block (41) is located between the two groups of lower limit blocks (42); or The number of the upper limit blocks (41) is two groups, and the two groups of upper limit blocks (41) are arranged at intervals along the circumferential direction of the support movable seat (72), and the lower limit block (42) is arranged between the two groups of upper limit blocks (41).

10. A tractor, characterized in that, It includes the tractor steering device according to any one of claims 1 to 9.

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