Steering control device of unmanned road roller

Abstract

The utility model relates to the technical field of intelligent road building equipment in the engineering machinery industry, and discloses a steering control device of an unmanned road roller, which comprises a front vehicle body, a rear vehicle body and an unmanned control system, a fixing frame is fixedly connected into the front vehicle body. The steering control device of the unmanned road roller solves the problems that an existing unmanned road roller has defects in the automatic steering control technology, a small part of angle sensors are installed for measuring the steering angle, but in the mode, the angle sensors need to be welded to a vehicle body during installation and use, the vehicle body is greatly changed, and the workload is large; and horizontal or vertical calibration cannot be carried out on the position of the sensor, so that the precision of the sensor becomes poor, and the defects of poor universality, higher cost and the like are further caused.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent road construction equipment in the engineering machinery industry, in particular to a steering control device for an unmanned road roller. Background Art

[0002] With the rapid development of my country's construction industry, road construction, as an important part of the infrastructure construction of the highway industry, requires strict control of technical indicators and construction processes. This has led to an increasing use of road rollers. Road rollers are always in a shaking state during work, which can easily cause driver fatigue. It is difficult for drivers to concentrate on completing precise construction in a fatigued state, which reduces work efficiency. Therefore, applying unmanned driving technology to road rollers can solve the above problems.

[0003] Existing unmanned road rollers still have defects in the automatic steering control technology. A small number of them are equipped with angle sensors for measuring steering angles. However, this method requires welding to the vehicle body during installation and use, which requires major modifications to the vehicle body and is labor-intensive. In addition, the position of the sensor cannot be calibrated horizontally or vertically, resulting in poor accuracy, poor versatility, and high cost. Utility Model Content

[0004] (1) Technical problems solved

[0005] In response to the shortcomings of the existing technology, the utility model provides a steering control device for an unmanned roller, which has the advantages of being easy to install as a whole and having high angle measurement accuracy. It solves the problem of the existing unmanned roller installing an angle sensor for measuring the steering angle, but this method needs to be welded to the vehicle body during installation and use, which requires large changes to the vehicle body and a large workload; and it is impossible to calibrate the position of the sensor horizontally or vertically, which makes its accuracy worse, and then causes many defects such as poor versatility and high cost.

[0006] (2) Technical solution

[0007] The technical solution of the utility model for solving the above-mentioned technical problems is as follows: A steering control device for an unmanned roller, comprising a front body, a rear body and an unmanned control system, the front body and the rear body being movably connected to hydraulic levers located at the front and rear sides of the arm through a boom, a fixed frame being fixedly connected inside the front body, a solid shaft running through the top and bottom of the fixed frame being fixedly connected inside the fixed frame, the left end of the boom extending into the inside of the fixed frame and being rotatably connected to the front body through the solid shaft, a flange being fixedly connected to the bottom of the solid shaft, a first gear being fixedly connected between the top of the flange and the bottom of the fixed frame, an adjusting device being fixedly connected to the bottom side of the boom located outside the fixed frame, a second gear meshing with the first gear being rotatably connected to the top of the adjusting device away from one end of the boom, a sensing device being fixedly connected to the bottom of the adjusting device, and the second gear being fixedly connected to the sensing device.

[0008] The beneficial effects of the present utility model are as follows: when the roller needs to turn, one side of the two hydraulic levers extends and the other side contracts, so that an angle is formed between the front and rear vehicle bodies, and an angle is formed between the boom and the subsequent vehicle body and the front vehicle body; then the boom drives the adjusting device, and the adjusting device drives the second gear to move, and the second gear revolves around the first gear. Since the second gear and the first gear are meshed with each other and the first gear is fixed on the front vehicle body, the second gear rotates while revolving, and the angle of the rotation is received by the sensor device and converted into a signal transmitted to the unmanned driving control system. Then, the control system can monitor the turning angle of the roller. When the turning angle needs to be adjusted, the control system controls the hydraulic lever to change the steering angle, so that the roller can automatically turn during driving to achieve its unmanned driving purpose.

[0009] 1) The steering control device for the unmanned roller has the advantage of monitoring the turning angle of the roller.

[0010] 2) The steering control device for the unmanned roller has the advantage of controlling the steering angle of the roller to achieve unmanned operation.

[0011] On the basis of the above technical solution, the present invention can also be improved as follows.

[0012] Furthermore, the adjusting device includes a first component, a second component and a third component. The two sides of the second component are movably connected to the first component and the third component respectively. The sensing device is fixedly connected to the first component, and the third component is fixedly connected to the upper arm.

[0013] The beneficial effect of adopting the above further solution is that since the second gear is fixed to the upper arm through the adjustment device, by setting the first component, the second component and the third component to be movable connections, the height and position of the second gear can be adjusted so that it is fully engaged with the first gear.

[0014] Furthermore, the first component includes a circular ring portion and a first sliding portion, the circular ring portion is provided with an axial hole, and the circular ring portion is provided with limiting holes in a circular array along the center of the axial hole; the first sliding portion is provided with no less than two parallel first movable holes; the first component is threadedly connected to the sensing device through the limiting hole.

[0015] The beneficial effect of adopting the above further scheme is that by setting the circular ring part, the sensing device and the second gear are limited, and by setting two parallel first movable holes, the second component and the first component are limited to horizontal linear movement, so as to achieve the purpose of horizontal calibration of the second gear.

[0016] Furthermore, the second component includes a second sliding portion and a third sliding portion, and both the second sliding portion and the third sliding portion are provided with a second movable hole adapted to the first movable hole.

[0017] The beneficial effect of adopting the above further scheme is that the second component is the core component for calibrating the position of the second gear, the second sliding part of the second component is placed horizontally and is slidingly connected to the first component; the third sliding part is placed vertically and is slidingly connected to the third component, and then the second component can drive the first component to move in a vertical direction, thereby achieving the purpose of vertical calibration of the second gear.

[0018] Furthermore, the third component includes a fourth sliding portion and a fixed portion, and a third movable hole adapted to the second movable hole is provided inside the fourth sliding portion; the third component is fixedly connected to the upper arm through the fixed portion.

[0019] The beneficial effect of adopting the above-mentioned further scheme is that the third component is the support body of the adjustment device. Since the second gear and the sensor device are relatively small in size, by setting a fixing part, during installation, only the fixing part needs to be fixed to the arm by bolts, glue or other means, so that the weight of the sensor device and the second gear can be borne, thereby achieving the purpose of small changes to the vehicle body and less workload; by setting the fourth sliding part, the second component can move vertically along the fourth sliding part, and then drive the first component to move vertically, so as to achieve the purpose of vertical calibration of the second gear.

[0020] Furthermore, a limiting buckle is provided through the internal overlapping part of the first movable hole and the second movable hole, and the internal overlapping part of the third movable hole and the second movable hole. The limiting buckle is locked, and the first component, the second component, and the third component are fixedly connected.

[0021] The beneficial effect of adopting the above further scheme is that by setting a limit buckle, when the second gear is calibrated for horizontal and vertical movement and is fully engaged with the first gear, the buckle is locked. At this time, the first component, the second component, and the third component cannot move, and then the position of the second gear is fixed, so that it can rotate with the first gear, and then the rotation angle can be recorded.

[0022] Furthermore, the sensing device includes a housing, a rotating shaft, a sliding contact, a conductor, a voltage lead-out track and three terminals. The interior of the housing is rotatably connected to the rotating shaft, which passes through the housing and the shaft hole in sequence and is fixedly connected to the second gear.

[0023] The beneficial effect of adopting the above further solution is that by providing a rotating shaft, the rotating shaft is fixedly connected to the second gear, and the rotation of the second gear drives the rotating shaft to rotate together, so that the rotation angle of the second gear is recorded in the sensor device.

[0024] Furthermore, the inside of the shell is fixedly connected to a sliding contact, the outside of the rotating shaft is fixedly connected to a conductor sleeved on the outside of the sliding contact, one end of the conductor is fixedly connected to a voltage lead-out track movably connected to a middle terminal, and the terminals on both sides are fixedly connected to the two ends of the sliding contact respectively; the three terminals are all electrically connected to the unmanned driving control system.

[0025] The beneficial effect of adopting the above-mentioned further scheme is that the two ends of the sliding contact are connected with terminal blocks, and the sliding contact is accompanied by current when in use. By setting a conductor, when the rotating shaft rotates, the conductor rotates outside the sliding contact. The resistance value changes due to the different contact positions of the conductor and the sliding contact, and the current is transmitted to the terminal located in the middle position through the voltage lead-out track, and then the current is transmitted to the unmanned driving control system and converted into a signal, so that the unmanned driving control system can monitor the turning angle of the roller. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the structure of the utility model;

[0027] Figure 2 This is a schematic diagram of the connection structure of the utility model;

[0028] Figure 3 This is a top view of the first component of the utility model;

[0029] Figure 4 This is a top view of the second component of the utility model;

[0030] Figure 5 This is a top view of the third component of the utility model;

[0031] Figure 6 This is a top sectional view of the sensing device of the present invention.

[0032] In the figure: 1. upper arm; 2. hydraulic lever; 3. fixed frame; 4. solid shaft; 5. flange; 6. first gear; 7. adjusting device; 71. first component; 711. annular portion; 712. first sliding portion; 713. shaft hole; 714. limiting hole; 715. first movable hole; 72. second component; 721. second sliding portion; 722. third sliding portion; 723. second movable hole; 73. third component; 731. fourth sliding portion; 732. fixed portion; 733. third movable hole; 8. second gear; 9. sensing device; 91. housing; 92. rotating shaft; 93. sliding contact; 94. conductor; 95. voltage lead-out track. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0034] Embodiment 1, by Figure 1-6A steering control device for an unmanned road roller is provided. The utility model includes a front body, a rear body and an unmanned driving control system. The front body and the rear body are movably connected to the hydraulic levers 2 located on the front and rear sides of the arm 1 through a boom 1. A fixed frame 3 is fixedly connected to the interior of the front body. A solid shaft 4 running through the top and bottom of the fixed frame 3 is fixedly connected to the interior of the fixed frame 3. The left end of the boom 1 extends into the interior of the fixed frame 3 and is rotatably connected to the front body through the solid shaft 4. A flange 5 is fixedly connected to the bottom of the solid shaft 4. A first gear 6 is fixedly connected between the top of the flange 5 and the bottom of the fixed frame 3. An adjusting device 7 is fixedly connected to the bottom side of the boom 1 located outside the fixed frame 3. The adjusting device 7 is rotatably connected to the top of the first gear 6 away from one end of the boom 1. A second gear 8 is meshed with a gear 6, and a sensing device 9 is fixedly connected to the bottom of the adjusting device 7. The adjusting device 7 includes a first component 71, a second component 72 and a third component 73. The two sides of the second component 72 are movably connected to the first component 71 and the third component 73 respectively. The sensing device 9 is fixedly connected to the first component 71. The first component 71 includes a circular ring portion 711 and a first sliding portion 712. The circular ring portion 711 is provided with an axial hole 713, and the circular ring portion 711 is provided with a limiting hole 714 in a circular array along the center of the axial hole 713; the first sliding portion 712 is provided with no less than two parallel first movable holes 715; the first component 71 is threadedly connected to the sensing device 9 through the limiting hole 714, and by setting The annular portion 711 limits the position of the sensing device 9 and the second gear 8. By setting two parallel first movable holes 715, the second component 72 and the first component 71 are limited to horizontal linear movement to achieve the purpose of horizontal calibration of the second gear 8. The second component 72 includes a second sliding portion 721 and a third sliding portion 722. The second sliding portion 721 and the third sliding portion 722 are both provided with a second movable hole 723 that matches the first movable hole 715. The second component 72 is the core component for position calibration of the second gear 8. The second sliding portion 721 of the second component 72 is placed horizontally and is slidably connected to the first component 71; the third sliding portion 722 is placed vertically and is slidably connected to the third component 73. Component 72 can drive first component 71 to move in a vertical direction, thereby achieving the purpose of vertical calibration of second gear 8. Third component 73 includes fourth sliding portion 731 and fixing portion 732. A third movable hole 733 adapted to second movable hole 723 is opened inside the fourth sliding portion 731. Third component 73 is fixedly connected to the boom 1 via fixing portion 732. Third component 73 is a support body of adjustment device 7. Since the second gear 8 and sensor device 9 are relatively small in size, by providing fixing portion 732, during installation, only fixing portion 732 to boom 1 by bolts, gluing or other means can bear the weight of sensor device 9 and second gear 8, thereby achieving the purpose of minimal modification to the vehicle body and less workload.By providing the fourth sliding portion 731, the second component 72 can move vertically along the fourth sliding portion 731, and then drive the first component 71 to move vertically, so as to achieve the purpose of vertical calibration of the second gear 8. The third component 73 is fixedly connected to the arm 1. Since the second gear 8 is fixed to the arm 1 through the adjustment device 7, the first component 71, the second component 72 and the third component 73 are all movably connected, so that the second gear 8 can adjust its height and position to fully mesh with the first gear 6. The internal overlapping parts of the first movable hole 715 and the second movable hole 723, and the internal overlapping parts of the third movable hole 733 and the second movable hole 723 are all penetrated by limited buckles. The limited buckles The first component 71, the second component 72 and the third component 73 are locked and fixedly connected. By setting a limit buckle, when the second gear 8 is calibrated for horizontal and vertical movement and fully engaged with the first gear 6, the buckle is locked. At this time, the first component 71, the second component 72 and the third component 73 cannot move, and the position of the second gear 8 is fixed, so that it can rotate with the first gear 6, and then the rotation angle can be recorded; the second gear 8 is fixedly connected to the sensor device 9, and the sensor device 9 includes a housing 91, a shaft 92, a sliding contact 93, a conductor 94, a voltage lead-out track 95 and three terminal blocks. The internal rotation of the housing 91 is connected to the shaft 92, and the shaft 9 2 sequentially penetrates the housing 91 and the shaft hole 713 and is fixedly connected to the second gear 8. A rotating shaft 92 is provided, which is fixedly connected to the second gear 8. The rotation of the second gear 8 drives the rotating shaft 92 to rotate together, thereby recording the rotation angle of the second gear 8 in the sensing device 9. The interior of the housing 91 is fixedly connected to a sliding contact 93. The exterior of the rotating shaft 92 is fixedly connected to a conductor 94 sleeved on the exterior of the sliding contact 93. One end of the conductor 94 is fixedly connected to a voltage lead-out track 95 movably connected to a middle terminal. The terminal blocks on both sides are fixedly connected to the two ends of the sliding contact 93 respectively; the three terminals are electrically connected to the unmanned driving control system, and the two ends of the sliding contact 93 are fixedly connected to the two ends of the sliding contact 93. The ends are connected to terminals. When in use, sliding contact 93 carries current. By providing a conductor 94, when shaft 92 rotates, conductor 94 rotates outside sliding contact 93. The different contact positions between conductor 94 and sliding contact 93 cause the resistance value to change. The current is then transmitted through voltage lead-out rail 95 to the terminal located in the middle. The current is then transmitted to the unmanned driving control system and converted into a signal, allowing the unmanned driving control system to monitor the turning angle of the roller. When the turning angle needs to be adjusted, the control system controls the hydraulic lever 2 to change the steering angle, thereby allowing the roller to automatically turn during operation, achieving the purpose of unmanned driving.

[0035] Working principle:

[0036] When the roller needs to turn, the two hydraulic levers 2 extend on one side and contract on the other side, so that an angle is formed between the front and rear vehicle bodies, and the boom 1 forms an angle between the subsequent vehicle body and the front vehicle body; then the boom 1 drives the adjusting device 7, and the adjusting device 7 drives the second gear 8 to move, and the second gear 8 revolves around the first gear 6. Since the second gear 8 and the first gear 6 are meshed with each other, and the first gear 6 is fixed on the front vehicle body, the second gear 8 rotates while revolving. The angle of rotation is received by the sensor device 9 and converted into a signal transmitted to the unmanned driving control system. Then, the control system can monitor the turning angle of the roller. When the turning angle needs to be adjusted, the control system controls the hydraulic lever 2 to change the steering angle, so that the roller can automatically turn during driving to achieve its unmanned driving purpose.

[0037] Innovation implementation steps:

[0038] Step 1: The two hydraulic levers 2 are extended on one side and retracted on the other side to form an angle between the front and rear vehicle bodies;

[0039] Step 2: The arm 1 forms an angle between the vehicle body and the front vehicle body; then the arm 1 drives the adjustment device 7;

[0040] Step 3: The adjusting device 7 drives the second gear 8 to move, and the second gear 8 revolves around the first gear 6;

[0041] Step 4: The second gear 8 rotates while revolving, and the angle of rotation is received by the sensor device 9;

[0042] Step 5: The sensor device 9 transmits the current to the unmanned driving control system and converts it into a signal;

[0043] Step 6: The unmanned driving control system outputs a signal to control the hydraulic lever 2 to change the steering angle of the roller.

[0044] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0045] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A steering control device for an unmanned roller, comprising a front body, a rear body and an unmanned control system, wherein the front body and the rear body are movably connected to hydraulic levers (2) located at the front and rear sides of the arm (1) through a boom (1), a fixed frame (3) is fixedly connected to the interior of the front body, a solid shaft (4) passing through the top and bottom of the fixed frame (3) is fixedly connected to the interior of the fixed frame (3), the left end of the boom (1) extends into the interior of the fixed frame (3) and is rotatably connected to the front body through the solid shaft (4), and is characterized in that: The bottom of the solid shaft (4) is fixedly connected to a flange (5), a first gear (6) is fixedly connected between the top of the flange (5) and the bottom of the fixed frame (3), an adjusting device (7) is fixedly connected to the bottom side of the large arm (1) outside the fixed frame (3), the adjusting device (7) is rotatably connected to a second gear (8) meshing with the first gear (6) away from the top of one end of the large arm (1), a sensing device (9) is fixedly connected to the bottom of the regulating device (7), the second gear (8) is fixedly connected to the sensing device (9), and the sensing device (9) is electrically connected to an unmanned driving control system.

2. The steering control device for an unmanned road roller according to claim 1, characterized in that: The regulating device (7) comprises a first component (71), a second component (72) and a third component (73); the two sides of the second component (72) are movably connected to the first component (71) and the third component (73), respectively; the sensing device (9) is fixedly connected to the first component (71); and the third component (73) is fixedly connected to the upper arm (1).

3. The steering control device for an unmanned road roller according to claim 2, characterized in that: The first component (71) includes a circular ring portion (711) and a first sliding portion (712); the circular ring portion (711) is provided with an axial hole (713), and the circular ring portion (711) is provided with a circular array of limiting holes (714) along the center of the axial hole (713); the first sliding portion (712) is provided with at least two parallel first movable holes (715); the first component (71) is threadedly connected to the sensor device (9) through the limiting holes (714).

4. The steering control device for an unmanned road roller according to claim 3, characterized in that: The second component (72) comprises a second sliding portion (721) and a third sliding portion (722), and the second sliding portion (721) and the third sliding portion (722) are both provided with a second movable hole (723) adapted to the first movable hole (715).

5. The steering control device for an unmanned road roller according to claim 4, characterized in that: The third component (73) includes a fourth sliding portion (731) and a fixing portion (732); a third movable hole (733) adapted to the second movable hole (723) is provided inside the fourth sliding portion (731); and the third component (73) is fixedly connected to the upper arm (1) via the fixing portion (732).

6. The steering control device for an unmanned road roller according to claim 5, characterized in that: The inner overlapping portion between the first movable hole (715) and the second movable hole (723), and the inner overlapping portion between the third movable hole (733) and the second movable hole (723) are both penetrated by a limit buckle, and the limit buckle is locked, so that the first component (71), the second component (72), and the third component (73) are fixedly connected.

7. The steering control device for an unmanned road roller according to claim 3, characterized in that: The sensing device (9) comprises a housing (91), a rotating shaft (92), a sliding contact (93), a conductor (94), a voltage lead-out track (95) and three connection terminals. The interior of the housing (91) is rotatably connected to the rotating shaft (92), which sequentially passes through the housing (91) and the shaft hole (713) and is fixedly connected to the second gear (8).

8. The steering control device for an unmanned road roller according to claim 7, characterized in that: The interior of the housing (91) is fixedly connected to a sliding contact (93); the exterior of the rotating shaft (92) is fixedly connected to a conductor (94) sleeved on the exterior of the sliding contact (93); one end of the conductor (94) is fixedly connected to a voltage lead-out track (95) movably connected to a middle terminal; the terminal blocks on both sides are fixedly connected to the two ends of the sliding contact (93) respectively; and the three terminal blocks are all electrically connected to an unmanned driving control system.

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