Agricultural machinery wheel steering angle detection structure and harvester

Abstract

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

Description

Technical Field

[0001] This utility model relates to the field of harvester auxiliary driving technology, specifically to an agricultural machinery wheel steering angle detection structure and a harvester. Background Technology

[0002] With the continuous development of agricultural mechanization, the methods of agricultural production and harvesting are gradually shifting from manual to mechanized, greatly improving agricultural production efficiency. At the same time, the number of sensors on combine harvesters is also constantly increasing, promoting the intelligent development of combine harvesters and making the realization of assisted driving technology on combine harvesters possible.

[0003] In the field of modern vehicle technology, driver assistance technology has become one of the core functions for improving vehicle safety and operational efficiency. Among them, high-precision navigation is a key link in realizing advanced functions such as lane keeping, automatic lane changing, and route planning. During navigation, vehicles need to comprehensively utilize multiple technical means to ensure driving accuracy. In addition to relying on GPS satellite positioning system, inertial measurement unit (IMU) and map data, it is also necessary to monitor the wheel steering angle in real time to ensure that the actual driving trajectory of the vehicle is consistent with the planned path.

[0004] Existing technologies for monitoring wheel steering angles utilize the change in resistance of a sliding rheostat caused by wheel steering to move, thereby detecting the wheel's deflection angle. However, in the operating environment of combine harvesters, factors such as dust and frequent vibrations can easily affect the accuracy of the resistance, leading to measurement errors and making it difficult to meet the requirements of high-precision navigation. Furthermore, there is a lag issue in the signal conversion process. Utility Model Content

[0005] The technical problem to be solved by this utility model is: how to achieve synchronous detection of the steering angle of harvester wheels and improve detection accuracy.

[0006] The technical solution of this utility model to solve the above-mentioned technical problems is as follows:

[0007] This utility model provides a steering angle detection structure for agricultural machinery wheels, including an axle assembly. The axle assembly is equipped with a steering cylinder and an angle sensor. The output end of the steering cylinder is equipped with a motion transmission component, and the detection end of the angle sensor is equipped with a sensor swing arm. The sensor swing arm is at a right angle or an acute angle to the steering cylinder. One end of the motion transmission component is connected to the sensor swing arm, and the steering cylinder can drive the sensor swing arm to swing through the motion transmission component. Steering mechanisms are provided at both ends of the axle assembly, and tires are provided on the steering mechanisms. The output end of the steering cylinder is connected to the steering mechanism.

[0008] The beneficial effects of this utility model are:

[0009] This utility model has a simple structure and can be installed on existing harvester axles, resulting in low modification costs. The steering cylinder synchronously drives the steering mechanism and the sensor swing arm, reducing the difference in their transmission paths. The swing of the sensor swing arm and the movement of the steering mechanism are highly synchronized, and the motion reference points are the same, resulting in small synchronization errors and improving the timeliness and detection accuracy of signal feedback. In addition, both the steering cylinder and the angle sensor are fixed on the axle assembly, making the structure stable and less susceptible to vibration interference.

[0010] Based on the above technical solution, the present invention can be further improved as follows.

[0011] Furthermore, the motion transmission component includes a movable bracket and a transmission rod. The movable bracket is fixed to the output end of the steering cylinder, one end of the transmission rod is hinged to the movable bracket, and the other end of the transmission rod is hinged to the sensor swing arm.

[0012] The movable support can move linearly with the extension and retraction of the output end of the steering cylinder. The transmission rod can transmit this linear motion to the sensor swing arm. At the same time, the hinge structure at both ends of the transmission rod can compensate for the angle change of the sensor swing arm relative to the output end of the steering cylinder, resulting in good stability of the sensor swing arm movement.

[0013] Furthermore, the two ends of the transmission rod are provided with rod end joint bearings, and the movable bracket and the sensor swing arm are respectively provided with hinge shafts, with the rod end joint bearings sleeved on the corresponding hinge shafts.

[0014] The performance at both ends of the transmission rod remains stable with low motion resistance, thus reducing power loss and wear.

[0015] Furthermore, the rod end spherical bearing is a self-lubricating ball-end rod end spherical bearing.

[0016] It facilitates greater flexibility, prevents structural interference caused by installation errors or structural deformation, avoids stress concentration leading to deformation of the hinge shaft or transmission rod, has good performance stability, and high precision for continuous operation.

[0017] Furthermore, a guide cylinder is fixed on the outer wall of the steering cylinder, and a guide rod is slidably disposed inside the guide cylinder, with one end of the guide rod connected to the movable bracket.

[0018] By using guide rods, deformation and movement of the moving bracket around the steering cylinder are avoided, thus improving the stability of the moving bracket and reducing stress concentration and mechanical wear.

[0019] Furthermore, a sensor bracket is also fixed on the bridge assembly, and the angle sensor is fixed on the sensor bracket.

[0020] Easy to assemble and disassemble, reducing maintenance costs.

[0021] Furthermore, the steering mechanism includes a steering seat and a motor mounting seat. One side of the steering seat is fixed to the end of the axle assembly, and the other side of the steering seat is rotatably connected to the motor mounting seat via a vertically arranged rotating shaft. A steering arm is provided on the motor mounting seat and located on one side of the rotating shaft. A steering linkage is hinged on the steering arm, and one end of the steering linkage is hinged to the output end of the steering cylinder. The tire is mounted on the motor mounting seat.

[0022] The output of the steering cylinder drives the steering linkage, which in turn causes the steering arm and motor mount to deflect, thus achieving wheel steering. The deflection of the motor mount and the swing of the sensor arm are both referenced to the cylinder body of the steering cylinder, and their motion transmission paths are similar, resulting in small synchronization errors. This improves the accuracy of wheel steering angle detection.

[0023] Furthermore, one end of the steering linkage is provided with a hinged ball joint, and the output end of the steering cylinder is provided with a hinged ball seat, with the hinged ball joint connected to the hinged ball seat.

[0024] It avoids stress concentration caused by tire bumps, reduces mechanical wear, and has a long service life.

[0025] Furthermore, one side of the steering seat is connected to the end of the axle assembly via a flange.

[0026] It features strong connection strength, long service life, easy disassembly and assembly, and the entire steering seat is replaceable, resulting in low maintenance costs.

[0027] This utility model provides a harvester, including a frame, and also includes the above-mentioned agricultural machinery wheel steering angle detection structure, with the axle assembly installed at the front of the chassis of the frame.

[0028] With its simple structure, it can be installed on existing harvester bridges, resulting in low modification costs; it improves the timeliness and detection accuracy of signal feedback; and its stable structure is less susceptible to vibration interference. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of this utility model.

[0030] Figure 2 for Figure 1 Enlarged detailed view of part A from below.

[0031] Figure 3 This is a schematic diagram of the angle sensor structure.

[0032] In the accompanying drawings, the technical features represented by each reference numeral are as follows:

[0033] 1-Axle assembly; 2-Steering cylinder; 3-Tire; 4-Angle sensor; 41-Sensor control arm; 5-Moving bracket; 6-Transmission rod; 61-Rod end joint bearing; 7-Guide rod; 8-Sensor bracket; 9-Steering seat; 10-Motor mounting base; 11-Steering arm; 12-Steering linkage; 13-Hinged ball joint. Detailed Implementation

[0034] The principles and features of this utility model are described below. The examples given are only for explaining this utility model and are not intended to limit the scope of this utility model.

[0035] This utility model refers to Figure 1-3 .

[0036] This utility model provides a steering angle detection structure for agricultural machinery wheels, including an axle assembly 1. The axle assembly 1 is equipped with a steering cylinder 2 and an angle sensor 4. The output end of the steering cylinder 2 is equipped with a motion transmission component, and the detection end of the angle sensor 4 is equipped with a sensor swing arm 41. The sensor swing arm 41 is at a right angle or an acute angle to the steering cylinder 2. One end of the motion transmission component is connected to the sensor swing arm 41, and the steering cylinder 2 can drive the sensor swing arm 41 to swing through the motion transmission component. Steering mechanisms are provided at both ends of the axle assembly 1, and tires 3 are provided on the steering mechanisms. The output end of the steering cylinder 2 is connected to the steering mechanism.

[0037] principle:

[0038] The axle assembly 1, which houses the steering wheels of the harvester, is typically the front axle and is considered existing technology. When the harvester turns, there is no relative movement between the axle assembly 1 and the frame. The steering mechanism is mounted on the axle assembly 1, and the tires 3 are mounted on the steering mechanism. The steering cylinder 2 is a two-way cylinder, preferably a double-rod two-way cylinder, with the piston rod serving as the output end of the steering cylinder 2. When the piston rod of the steering cylinder 2 moves left and right, it synchronously drives the steering mechanism to swing left and right, thereby steering the wheels. Simultaneously, the steering cylinder 2 synchronously drives the motion transmission components, which in turn drive the sensor swing arm 41 to swing. The angle sensor 4 outputs a corresponding voltage value based on the swing amplitude of the sensor swing arm 41. The angle sensor 4 can be a swing arm type or a rotating shaft type, with a swing arm perpendicular to the output shaft fixed to its output shaft.

[0039] This utility model has a simple structure and can be installed on existing harvester bridges, resulting in low modification costs. The steering cylinder 2 synchronously drives the steering mechanism and the sensor swing arm 41, reducing the difference in their transmission paths. The swing of the sensor swing arm 41 and the movement of the steering mechanism are highly synchronized, and the motion reference points are the same, resulting in small synchronization errors and improving the timeliness and detection accuracy of signal feedback. In addition, both the steering cylinder 2 and the angle sensor 4 are fixed on the bridge assembly 1, making the structure stable and less susceptible to vibration interference.

[0040] Furthermore, the motion transmission component includes a movable bracket 5 and a transmission rod 6. The movable bracket 5 is fixed to the output end of the steering cylinder 2, one end of the transmission rod 6 is hinged to the movable bracket 5, and the other end of the transmission rod 6 is hinged to the sensor swing arm 41.

[0041] The movable bracket 5 can move linearly with the extension and retraction of the output end of the steering cylinder 2. The transmission rod 6 can transmit this linear motion to the sensor swing arm 41. At the same time, the hinge structure at both ends of the transmission rod 6 can compensate for the angle change of the sensor swing arm 41 relative to the output end of the steering cylinder 2, and the sensor swing arm 41 has good stability.

[0042] Furthermore, the two ends of the transmission rod 6 are provided with rod end joint bearings 61, and the movable bracket 5 and the sensor swing arm 41 are respectively provided with hinge shafts, and the rod end joint bearings 61 are sleeved on the corresponding hinge shafts.

[0043] The performance of both ends of the transmission rod 6 remains stable with low motion resistance, thus reducing power loss and wear.

[0044] Furthermore, the rod end spherical bearing 61 is a self-lubricating ball-end rod end spherical bearing.

[0045] It facilitates greater flexibility, prevents structural interference caused by installation errors or structural deformation, avoids stress concentration leading to deformation of the hinge shaft or transmission rod 6, has good performance stability, and high precision for continuous operation.

[0046] Furthermore, a guide cylinder is fixed on the outer wall of the steering cylinder 2, and a guide rod 7 is slidably disposed inside the guide cylinder, with one end of the guide rod 7 connected to the movable bracket 5.

[0047] Preferably, one end of the guide rod 7 is welded to or fixedly connected to the movable bracket 5 by bolts; the guide rod 7 and the movable bracket 5 have good synchronization. In addition, one end of the guide rod 7 can also be hinged to the movable bracket 5.

[0048] The guide rod 7 prevents the movable support 5 from deforming and moving around the steering cylinder 2, thus improving the stability of the movable support 5 and reducing stress concentration and mechanical wear.

[0049] Furthermore, a sensor bracket 8 is also fixed on the bridge assembly 1, and the angle sensor 4 is fixed on the sensor bracket 8.

[0050] Easy to assemble and disassemble, reducing maintenance costs.

[0051] Furthermore, the steering mechanism includes a steering seat 9 and a motor mounting seat 10. One side of the steering seat 9 is fixed to the end of the axle assembly 1, and the other side of the steering seat 9 is rotatably connected to the motor mounting seat 10 via a vertically arranged rotating shaft. A steering arm 11 is provided on the motor mounting seat 10 at a position on one side of the rotating shaft. A steering link 12 is hinged on the steering arm 11, and one end of the steering link 12 is hinged to the output end of the steering cylinder 2. The tire 3 is provided on the motor mounting seat 10.

[0052] Preferably, a hub motor is provided on the motor mounting base 10, and the tire 3 is mounted on the hub motor.

[0053] The output end of the steering cylinder 2 drives the steering linkage 12 to move, which in turn causes the steering arm 11 and the motor mounting base 10 to deflect, thereby achieving wheel steering. The deflection of the motor mounting base 10 and the swing of the sensor swing arm 41 are both referenced to the cylinder body of the steering cylinder 2, and the motion transmission paths are similar, resulting in small synchronization errors. This improves the accuracy of wheel steering angle detection.

[0054] Furthermore, one end of the steering linkage 12 is provided with a hinged ball joint 13, and the output end of the steering cylinder 2 is provided with a hinged ball seat, with the hinged ball joint 13 connected to the hinged ball seat.

[0055] It avoids stress concentration caused by tire bumps, reduces mechanical wear, and has a long service life.

[0056] Furthermore, one side of the steering seat 9 is connected to the end of the axle assembly 1 via a flange.

[0057] It features strong connection strength, long service life, and easy disassembly and assembly. The entire steering seat 9 is replaceable, resulting in low maintenance costs.

[0058] This utility model provides a harvester, including a frame and the aforementioned agricultural machinery wheel steering angle detection structure, with the axle assembly 1 mounted on the front of the chassis of the frame.

[0059] With its simple structure, it can be installed on existing harvester bridges, resulting in low modification costs; it improves the timeliness and detection accuracy of signal feedback; and its stable structure is less susceptible to vibration interference.

[0060] In the description of this utility model, it should be understood that if descriptive terms indicating orientation, direction, or positional relationship appear, such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," etc., the orientation or positional relationship indicated in this specification is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of understanding this utility model and simplifying the description, and does not indicate or imply that the part, element, or whole referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this utility model.

[0061] Furthermore, if sequential descriptive terms such as "first," "second," etc., appear, their purpose in this specification is for ease of understanding or simplification. For example, to distinguish multiple technical features of the same type or function, which must be mentioned separately, this specification may use prefixes or suffixes to differentiate them. Therefore, they should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, features defined with "first," "second," etc., may explicitly or implicitly include at least one of those features. In the description of this utility model, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0062] In this utility model, if descriptive terms describing structural relationships are used, such as "installation," "connection," "joining," and "fixing," they should be interpreted broadly unless otherwise explicitly specified and limited. For example, "installation," "connection," and "joining" can refer to a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium; it can refer to the internal communication of two components or the interaction between two components. "Fixing" can refer to an integral fixation or a detachable fixation using fasteners; it can be a direct fixation or a fixation through an intermediate medium. For those skilled in the art, the specific meaning of the above descriptive terms in this utility model can be understood based on the specific circumstances, the context, and the coherence of the preceding and following text.

[0063] In this utility model, if descriptive terms containing subordinate or connecting meanings appear, such as "above" or "below" the second feature, they should not be interpreted restrictively unless otherwise explicitly specified and limited. For example, "above" or "below" can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. For those skilled in the art, the specific meaning of the above descriptive terms in this utility model can be understood according to the specific circumstances, the context, and the coherence of the preceding and following text.

[0064] Furthermore, "above," "on top of," and "above" the first feature in relation to the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "under," and "below" the first feature in relation to the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0065] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. The illustrative expressions of the above terms in this specification do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments, examples, and features described in this specification, and such combinations or integrations should all fall within the scope of the present invention.

[0066] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Variations, modifications, substitutions, and modifications made by those skilled in the art to the above embodiments within the scope of information available through public channels and in conjunction with the technical teachings given in this application are still covered within the protection scope of this application.

Claims

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

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

3. The agricultural machine wheel turning angle detecting structure according to claim 2, characterized by: The transmission rod (6) is also provided with rod end joint bearings (61) at both ends. The movable bracket (5) and the sensor swing arm (41) are respectively provided with hinge shafts, and the rod end joint bearings (61) are sleeved on the corresponding hinge shafts.

4. The agricultural machine wheel turning angle detecting structure according to claim 3, characterized by: The rod end spherical bearing (61) is a self-lubricating ball joint rod end spherical bearing.

5. The agricultural machine wheel turning angle detecting structure according to claim 4, characterized by: A guide cylinder is also fixed on the outer wall of the steering cylinder (2), and a guide rod (7) is slidably provided inside the guide cylinder. One end of the guide rod (7) is connected to the movable bracket (5).

6. The agricultural machine wheel turning angle detecting structure according to claim 1, characterized by: The bridge assembly (1) is also fixed with a sensor bracket (8), and the angle sensor (4) is fixed on the sensor bracket (8).

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

8. The agricultural machine wheel turning angle detection structure according to claim 7, characterized by: One end of the steering linkage (12) is also provided with a hinged ball head (13), and the output end of the steering cylinder (2) is provided with a hinged ball seat, and the hinged ball head (13) is connected to the hinged ball seat.

9. The agricultural machine wheel turning angle detecting structure according to claim 7, characterized by: One side of the steering seat (9) is connected to the end of the axle assembly (1) via a flange.

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

Images