Manual-automatic integrated drive-by-wire system, unmanned harvester and test device

Abstract

The utility model discloses a manual-automatic integrated drive-by-wire system, an unmanned harvester and a testing device, the manual-automatic integrated drive-by-wire system comprises a manual actuating mechanism and an automatic actuating mechanism, the manual actuating mechanism comprises a manual turntable, a manual pull rod hinged with the manual turntable, an angle rotating arm hinged with the manual pull rod, an angle measuring bracket and an angle sensor; a handle is arranged on the manual rotating disc, the manual rotating disc is driven to rotate by pulling the handle, then the manual pull rod and the angle rotating arm are driven to move, the angle sensor obtains angle data information of the angle rotating arm, and the angle sensor transmits the data information to the automatic executing mechanism. The automatic executing mechanism comprises an automatic rotating arm, a servo motor connected with the automatic rotating arm, an automatic pull rod hinged to the automatic rotating arm and a main speed change mechanism input rod hinged to the automatic pull rod, data information of the angle sensor is transmitted to the servo motor, and the servo motor is connected with a remote control module. And the motion of the servo motor is controlled through the remote control module.

Description

Technical Field

[0001] The utility model relates to the field of manual-automatic control structures, in particular to a manual-automatic wire control system, an unmanned harvester and a test device. Background Art

[0002] Intelligent and unmanned agricultural production has become a trend in modern agricultural development. Unmanned harvesters enable round-the-clock operation during the busy farming season, significantly improving agricultural machinery efficiency. However, in achieving this, the harvester's underlying control-by-wire system becomes a key factor limiting its performance. This control-by-wire system typically consists of an ECU controller, a CAN bus, and a wire-controlled unit, encompassing functions such as start / stop, throttle adjustment, clutch control, steering, braking, and shifting. Although control-by-wire technology has been widely adopted in agricultural machinery, its adaptability to field operations remains limited. Existing low-level control-by-wire modification technology, based on the original harvester, designs and modifies the power source connection mechanism for each operating mechanism, replacing the original mechanical handle connection structure. Through a central control system, the actions of each power source are controlled, simulating the actions of a human operator and achieving unmanned operation.

[0003] Chinese patent application publication number CN117616980A discloses a design method for a manual-automatic combined harvester, a combined harvester, and an operating method. The combined harvester has manual-automatic control capabilities, but its adaptability to field operations still exhibits certain limitations:

[0004] ① The operation effect is unstable in the field operation scenario: the motor used in the existing technology is an electric push rod, and the electric push rod is a telescopic linear motion, but the input rod of the main transmission mechanism of the harvester is a rotational motion, and the installation of the existing electric push rod is only connected by one bolt. As a result, when the electric push rod is extended or retracted, the rotation of the input rod of the main transmission mechanism of the harvester will reversely affect the installation position of the electric push rod, resulting in the extension and retraction of the electric push rod is not accurate, especially when the field operation shakes greatly, the operation effect is unstable, that is, the electric push rod controls its extension and retraction to the specified position, but actually does not make the input rod of the main transmission mechanism of the harvester reach the specified position.

[0005] ② After the agricultural machinery is modified, the performance and operating feel of the whole machine are reduced: During manual operation, after the main speed change handle is pushed into place, the angle sensor reads the current position and controls the electric push rod to extend a certain distance. Since the electric push rod has a slow extension and retraction speed, it takes a while for the input rod of the main speed change mechanism to reach the specified position, and it is impossible to achieve the fast response of the original mechanical connection. Utility Model Content

[0006] The purpose of the utility model is to provide a manual-automatic wire control system, an unmanned harvester and a test device to solve the problems of long response time, delay and poor output of existing manual-automatic unmanned harvesters.

[0007] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a manual-automatic integrated wire control system, comprising a manual actuator and an automatic actuator, the manual actuator comprising a manual turntable, a manual pull rod hinged to the manual turntable, an angle rotation arm hinged to the manual pull rod, an angle measuring bracket for installing the angle rotation arm, and an angle sensor installed on the angle measuring bracket; a handle is provided on the manual turntable, and the manual turntable is rotated by pulling the handle, which in turn drives the manual pull rod and the angle rotation arm to move, so that the angle sensor obtains the angle data information of the angle rotation arm, and the angle sensor transmits the data information to the automatic actuator.

[0008] Preferably, the automatic actuator includes an automatic rotating arm, a servo motor connected to the automatic rotating arm, an automatic pull rod hinged to the automatic rotating arm, and a main transmission mechanism input rod hinged to the automatic pull rod. The data information of the angle sensor is transmitted to the servo motor, and the servo motor is connected to a remote control module, and the movement of the servo motor is controlled by the remote control module.

[0009] Preferably, the manual turntable and one end of the manual pull rod are connected through a first fisheye bearing, and the other end of the manual pull rod is connected to the angle rotation arm through a second fisheye bearing.

[0010] Preferably, the automatic rotating arm and one end of the automatic pull rod are connected through a third fisheye bearing, and the other end of the automatic pull rod is connected to the input rod of the main transmission mechanism through a fourth fisheye bearing.

[0011] Preferably, both ends of the manual pull rod and the automatic pull rod are provided with threaded sections.

[0012] The utility model discloses an unmanned harvester with a manual-automatic wire control system, comprising a harvester frame, a harvester chassis and a main speed change mechanism of the harvester. The manual turntable is rotatably arranged on the harvester frame, the angle measuring bracket is installed on the harvester chassis, the servo motor is installed on the harvester frame, the automatic pull rod passes through the harvester chassis and is connected to the input rod of the main speed change mechanism, and the input rod of the main speed change mechanism is connected to the main speed change mechanism of the harvester.

[0013] The utility model discloses a test device for a manual-automatic integrated wire control system, comprising an I-shaped frame, a first scale plate arranged at one end of a first transverse arm of the I-shaped frame, and a second scale plate arranged at one end of a second transverse arm, wherein the manual turntable is rotatably arranged on the first scale plate, the angle measuring bracket is mounted on the other end of the first transverse arm, the servo motor is mounted on the second transverse arm via a connecting frame, a detection turntable is rotatably arranged on the second scale plate, and the input rod of the main transmission mechanism is connected to the detection turntable.

[0014] Preferably, a vertical arm is provided between the first horizontal arm and the second horizontal arm, and the first horizontal arm, the second horizontal arm and the vertical arm are aluminum profiles, which are connected by angle brackets.

[0015] Preferably, pointers are provided on the detection turntable and the manual turntable.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] The utility model's manual-automatic wire-controlled system has enhanced stability and precision, and incorporates a servo motor as a power source, achieving characteristics such as high speed, high torque, and precise control of speed and rotational stroke. This greatly improves stability and precision during field operations, enabling the harvester to perform better both in automated and manual operation. The improved operating experience: When used in a harvester, the combination of a handle-angle sensor and a servo motor enables precise manual control, allowing the operator to more easily control the harvester's movement. This improvement enhances the operating experience, making operation more intuitive and convenient.

[0018] Improved overall effect: The main speed manual-automatic wire control system combines stability, precision and ease of operation. Through experimental verification and modified design, the performance and practicality of the system have been improved, bringing significant benefits to the development and application of unmanned harvesters. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a structural diagram of an unmanned harvester with a manual-automatic wire control system according to the present invention;

[0020] Figure 2 This is a structural diagram of the test device of the manual-automatic wire control system of the present utility model.

[0021] Figure numerals: 1. I-frame; 11. First scale plate; 12. Second scale plate; 13. Connecting frame; 14. Detection turntable; 15. Angle code; 23. Harvester frame; 25. Servo motor; 26. Automatic rotating arm; 27. Third fisheye bearing; 28. Automatic pull rod; 29. ​​Fourth fisheye bearing; 30. Main transmission mechanism input rod; 31. Harvester chassis; 32. Angle measuring bracket; 33. Angle rotating arm; 34. Second fisheye bearing; 35. Angle sensor; 36. Manual pull rod; 37. First fisheye bearing; 38. Manual turntable; 39. Handle. DETAILED DESCRIPTION

[0022] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0023] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," "the other end," and the like, indicating directions or positions, are based on the directions or positions shown in the accompanying drawings and are intended solely to facilitate the description of this utility model and simplify the description. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0024] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "provided with," "connected," etc. should be understood in a broad sense. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0025] 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.

[0026] Example 1

[0027] like Figure 1As shown, this embodiment discloses an unmanned harvester, which includes a manual-automatic wire control system, a harvester frame 23, a harvester chassis 31 and a harvester main speed change mechanism;

[0028] The manual-automatic wire control system includes a manual actuator and an automatic actuator. The manual actuator includes a manual turntable 38, a manual pull rod 36 hinged to the manual turntable 38, an angle rotation arm 33 hinged to the manual pull rod 36, an angle measuring bracket 32 ​​for installing the angle rotation arm 33, and an angle sensor 35 installed on the angle measuring bracket 32; a handle 39 is provided on the manual turntable 38, and the manual turntable 38 is rotated by pulling the handle 39, and then the manual pull rod 36 and the angle rotation arm 33 are driven to move, so that the angle sensor 35 obtains the angle data information of the angle rotation arm 33, and the angle sensor 35 transmits the data information to the automatic actuator. The automatic actuator includes an automatic rotating arm 26, a servo motor 25 connected to the automatic rotating arm 26, an automatic pull rod 28 articulated to the automatic rotating arm 26, and a main transmission mechanism input rod 30 articulated to the automatic pull rod 28. A manual turntable 38 is connected to one end of the manual pull rod 36 via a first fisheye bearing 37, and the other end of the manual pull rod 36 is connected to the angle rotation arm 33 via a second fisheye bearing 34. The automatic rotating arm 26 is connected to one end of the automatic pull rod 28 via a third fisheye bearing 27, and the other end of the automatic pull rod 28 is connected to the main transmission mechanism input rod 30 via a fourth fisheye bearing 29. Data from the angle sensor 35 is transmitted to the servo motor 25, which is connected to a remote control module that controls the movement of the servo motor 25.

[0029] The manual turntable 38 is rotatably set on the harvester frame 23, the angle measuring bracket 32 ​​is installed on the harvester chassis 31, the servo motor 25 is installed on the harvester frame 23, the automatic pull rod 28 passes through the harvester chassis 31 and is connected to the main speed change mechanism input rod 30, and the main speed change mechanism input rod 30 is connected to the harvester main speed change mechanism.

[0030] Both ends of the manual pull rod 36 and the automatic pull rod 28 are provided with threaded sections. The threaded sections are provided for realizing a threaded connection with the fisheye bearing. The total length of the pull rod includes the combination of the length of the pull rod body and the length of the fisheye bearing. The total length of the pull rod can be changed by adjusting the depth of the thread screwing.

[0031] Example 2

[0032] like Figure 2As shown, the test device of this embodiment is used to verify the performance of the manual-automatic wire control system, including an I-shaped frame 1, a first dial 11 provided at one end of the first cross arm of the I-shaped frame 1, and a second dial 12 provided at one end of the second cross arm. The manual dial 38 is rotatably provided on the first dial 11, the angle measuring bracket 32 ​​is mounted on the other end of the first cross arm, the servo motor 25 is mounted on the second cross arm via the connecting frame 13, the detection dial 14 is rotatably provided on the second dial 12, and the main transmission mechanism input rod 30 is connected to the detection dial 14.

[0033] A vertical arm is provided between the first horizontal arm and the second horizontal arm. The first horizontal arm, the second horizontal arm and the vertical arm are aluminum profiles, and the aluminum profiles are connected by angle brackets 15.

[0034] The detection turntable 14 and the manual turntable 38 are provided with pointers. The pointers are used to indicate the angular position of the turntable on the scale plate.

[0035] The automatic control system of this utility model uses a servo motor as the rotational power source, offering high speed, high torque, and precise control of speed and rotational range. A remote control module can be used to directly control the servo motor's motion, addressing unstable field operation and enabling precise manual control. Specifically, the rotation angle is manually input, and an angle sensor reads the real-time angle and simultaneously controls the servo motor to rotate accordingly. The servo motor's rotating arm pulls a double-ended screw, driving the input rod of the harvester's main transmission mechanism. Replacing the linear motion power source of the electric push rod with the rotary power source of the servo motor resolves the issue of inaccurate linear telescopic input using an electric push rod. The servo motor is mounted to the harvester frame via two bolts, improving operational stability during high-vibration field operations. While the electric push rod has a limited speed, the servo motor's high speed and high torque improve the achievable response speed during manual operation. Specifically, when manually operating the harvester's main transmission handle, the servo motor drives the input rod of the harvester's main transmission mechanism for a quick and precise response.

[0036] The above is only an embodiment of the present invention, and common knowledge such as the specific structure and characteristics of the scheme are not described in detail here. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is limited by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claim involved.

Claims

1. A manual-automatic wire control system, characterized by: The invention comprises a manual actuator and an automatic actuator, wherein the manual actuator comprises a manual turntable (38), a manual pull rod (36) hinged to the manual turntable (38), an angle rotation arm (33) hinged to the manual pull rod (36), an angle measurement bracket (32) for mounting the angle rotation arm (33), and an angle sensor (35) mounted on the angle measurement bracket (32); a handle (39) is provided on the manual turntable (38), and the manual turntable (38) is rotated by pulling the handle (39), thereby driving the manual pull rod (36) and the angle rotation arm (33) to move, so that the angle sensor (35) obtains angle data information of the angle rotation arm (33), and the angle sensor (35) transmits the data information to the automatic actuator.

2. The manual-automatic control-by-wire system according to claim 1, characterized in that: The automatic actuator includes an automatic rotating arm (26), a servo motor (25) connected to the automatic rotating arm (26), an automatic pull rod (28) hinged to the automatic rotating arm (26), and a main transmission mechanism input rod (30) hinged to the automatic pull rod (28). The data information of the angle sensor (35) is transmitted to the servo motor (25). The servo motor (25) is connected to a remote control module, and the movement of the servo motor (25) is controlled by the remote control module.

3. The manual-automatic control-by-wire system according to claim 2, characterized in that: The manual turntable (38) and one end of the manual pull rod (36) are connected via a first fisheye bearing (37), and the other end of the manual pull rod (36) and the angle rotation arm (33) are connected via a second fisheye bearing (34).

4. The manual-automatic control-by-wire system according to claim 3, characterized in that: The automatic rotating arm (26) and one end of the automatic pull rod (28) are connected via a third fisheye bearing (27), and the other end of the automatic pull rod (28) is connected to the main transmission mechanism input rod (30) via a fourth fisheye bearing (29).

5. The manual-automatic control-by-wire system according to claim 4, characterized in that: Both ends of the manual pull rod (36) and the automatic pull rod (28) are provided with threaded sections.

6. An unmanned harvester using the manual-automatic wire control system according to claim 5, characterized in that: The invention comprises a harvester frame (23), a harvester chassis (31) and a harvester main transmission mechanism, wherein the manual turntable (38) is rotatably arranged on the harvester frame (23), the angle measuring bracket (32) is mounted on the harvester chassis (31), the servo motor (25) is mounted on the harvester frame (23), the automatic pull rod (28) passes through the harvester chassis (31) and is connected to the main transmission mechanism input rod (30), and the main transmission mechanism input rod (30) is connected to the harvester main transmission mechanism.

7. A test device for the automated manual-by-wire system according to claim 5, characterized in that: The invention comprises an I-shaped frame (1), a first scale plate (11) arranged at one end of a first cross arm of the I-shaped frame (1), and a second scale plate (12) arranged at one end of a second cross arm, wherein the manual turntable (38) is rotatably arranged on the first scale plate (11), the angle measuring bracket (32) is mounted on the other end of the first cross arm, the servo motor (25) is mounted on the second cross arm via a connecting frame (13), a detection turntable (14) is rotatably arranged on the second scale plate (12), and the main transmission mechanism input rod (30) is connected to the detection turntable (14).

8. The test device according to claim 7, characterized in that: A vertical arm is provided between the first horizontal arm and the second horizontal arm. The first horizontal arm, the second horizontal arm and the vertical arm are aluminum profiles, and the aluminum profiles are connected by angle brackets (15).

9. The test device according to claim 7, characterized in that: Pointers are provided on the detection turntable (14) and the manual turntable (38).

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