Steer-by-wire system for tractor chassis

Abstract

The utility model relates to tractor technical field, concretely is a kind of for tractor chassis's wire control steering system, including steering wheel, steering shaft, speed reduction mechanism, motor, electric controller, steering rack, planet carrier, left planet wheel and right planet wheel, speed reduction mechanism is connected with motor transmission;Steering shaft is sequentially provided with steering wheel, torque sensor, speed reduction mechanism, electromagnetic clutch and steering gear from top to bottom, steering gear is engaged with steering rack.The wire control steering system for tractor chassis described above is through setting steering gear, steering rack, planet carrier, left planet wheel, right planet wheel, left motor, right motor, speed sensor, wireless tire pressure sensor, steering rack displacement sensor and other components, ensure that wire control steering process is stable, improve tractor steering stability;The utility model hardware arrangement is simple, and cost is lower, and hardware utilization is higher, and work stability and safety performance are better.

Description

Technical Field

[0001] This utility model relates to the field of tractor technology, specifically to a steer-by-wire system for tractor chassis. Background Technology

[0002] Traditional tractor chassis steering systems rely primarily on hydraulic and mechanical forces for steering control, which is labor-intensive and requires significant effort from the driver. With the rapid development of intelligent tractor chassis, steer-by-wire has become a crucial element in this process. Steer-by-wire technology has matured and is now applied to various tractor chassis. However, existing steer-by-wire systems suffer from poor operational stability, complex hardware layout, high costs, and low hardware utilization. Utility Model Content

[0003] The purpose of this invention is to provide a steer-by-wire system for tractor chassis to overcome the problems existing in the prior art.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows: A steer-by-wire system for a tractor chassis includes a steering wheel, a steering shaft, a reduction mechanism, a motor, an electric controller, a steering rack, a planetary carrier, a left planetary gear, and a right planetary gear, wherein the reduction mechanism is connected to the motor via a drive. The steering shaft, from top to bottom, is equipped with a steering wheel, torque sensor, reduction mechanism, electromagnetic clutch, and steering gear. The steering gear meshes with the steering rack, which in turn meshes with a steering rack displacement sensor. The left side of the steering rack is connected to the left steering tie rod and the left wheel, while the right side is connected to the right steering tie rod and the right wheel. Wireless tire pressure sensors are installed on the inner sides of both the left and right wheels. The middle part of the planetary carrier meshes with the steering rack. The left end of the planetary carrier meshes with one end of the left planetary gear, and the other end of the left planetary gear is connected to the left motor. The right end of the planetary carrier meshes with one end of the right planetary gear, and the other end of the right planetary gear is connected to the right motor. The electric controller is communicatively connected to the torque sensor and the wireless tire pressure sensor. The electric controller is also electrically connected to the vehicle speed sensor, the steering rack displacement sensor, and the alarm via wires. The torque sensor is used to detect the torque and angle signals of the steering shaft, the vehicle speed sensor is used to detect the tractor speed signal, the steering rack displacement sensor is used to detect the steer-by-wire displacement signal generated by the steering rack, and the wireless tire pressure sensor is used to detect the pressure values ​​of the left and right wheels. The electric controller collects the torque and angle signals from the torque sensor, the tractor speed signal, the steer-by-wire displacement signal from the steering rack, and the pressure values ​​of the left and right wheels.

[0005] Based on the above technical solution, the present invention can be further improved as follows: As a further improvement to the above technical solution, the reduction mechanism includes a meshing large gear and a small gear. The large gear of the reduction mechanism is mounted on the steering shaft, and the small gear of the reduction mechanism is connected to the output shaft of the motor.

[0006] As a further improvement to the above technical solution, the motor is a road-sensing / assist motor, which can be used as both a road-sensing motor and an assist motor.

[0007] As a further improvement to the above technical solution, the planetary carrier adopts a left-right symmetrical structure.

[0008] As a further improvement to the above technical solution, both ends of the planetary carrier are gear-shaped.

[0009] As a further improvement to the above technical solution, a roller screw is provided on the inner side of the steering rack, and the middle part of the planetary carrier is connected to the roller screw.

[0010] As a further improvement to the above technical solution, the planetary carrier adopts an I-shaped structure.

[0011] As a further improvement to the above technical solution, the electric controller is connected to the torque sensor via a CAN bus, and the motor, left motor, right motor and electric controller are connected via hard wires.

[0012] The beneficial effects of this utility model are as follows: The steer-by-wire system for tractor chassis of this utility model ensures smooth steer-by-wire process and improves the stability of tractor steering by setting up components such as steering gear, steering rack, planetary carrier, left planetary gear, right planetary gear, left motor, right motor, vehicle speed sensor, wireless tire pressure sensor, and steering rack displacement sensor; therefore, the hardware layout of this utility model is simple, the cost is low, the hardware utilization rate is high, and the working stability and safety performance are good. Attached Figure Description

[0013] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0014] Figure 1 This is a schematic diagram of the structure of a steer-by-wire system for a tractor chassis provided in a preferred embodiment of the present invention; In the diagram: 1. Steering wheel; 2. Steering shaft; 3. Torque sensor; 4. Reduction mechanism; 5. Motor; 6. Electromagnetic clutch; 7. Electric controller; 8. Steering gear; 9. Steering rack; 10. Planetary carrier; 111. Left planetary gear; 112. Right planetary gear; 121. Left motor; 122. Right motor; 131. Left steering tie rod; 132. Right steering tie rod; 141. Left wheel; 142. Right wheel; 15. Vehicle speed sensor; 16. Wireless tire pressure sensor; 17. Steering rack displacement sensor; 18. Alarm; 19. CAN bus; 20. Hard wire. Detailed Implementation

[0015] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. These drawings are simplified schematic diagrams, which are only used to illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0016] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0017] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0018] like Figure 1As shown, a preferred embodiment of the present invention provides a steer-by-wire system for a tractor chassis, including a steering wheel 1, a steering shaft 2, a reduction mechanism 4, a motor 5, an electronic control unit (ECU) 7, a steering rack 9, a planetary carrier 10, a left planetary gear 111 and a right planetary gear 112, wherein the reduction mechanism 4 is connected to the motor 5 in a transmission manner.

[0019] The steering shaft 2 is provided with a steering wheel 1, a torque sensor 3, a reduction mechanism 4, an electromagnetic clutch 6 and a steering gear 8 from top to bottom. The steering gear 8 meshes with the steering rack 9. The steering rack 9 cooperates with the steering rack displacement sensor 17. The left side of the steering rack 9 is connected to the left steering tie rod 131 and the left wheel 141 in sequence. The right side of the steering rack 9 is connected to the right steering tie rod 132 and the right wheel 142 in sequence. Wireless tire pressure sensors 16 are provided on the inner side of both the left wheel 141 and the right wheel 142.

[0020] The middle part of the planetary carrier 10 engages with the steering rack 9. The left end of the planetary carrier 10 meshes with one end of the left planetary gear 111, and the other end of the left planetary gear 111 is connected to the left motor 121. The right end of the planetary carrier 10 meshes with one end of the right planetary gear 112, and the other end of the right planetary gear 112 is connected to the right motor 122.

[0021] The electric controller 7 is communicatively connected to the torque sensor 3 and the wireless tire pressure sensor 16. The electric controller 7 is also electrically connected to the vehicle speed sensor 15, the steering rack displacement sensor 17, and the alarm 18 via wires. The torque sensor 3 is used to detect the torque and angle signals of the steering shaft 2. The vehicle speed sensor 15 is used to detect the tractor speed signal. The steering rack displacement sensor 17 is used to detect the steer-by-wire displacement signal generated by the steering rack 9. The wireless tire pressure sensor 16 is used to detect the pressure values ​​of the left wheel 141 and the right wheel 142. The electric controller 7 collects the torque and angle signals from the torque sensor 3, the tractor speed signal, the steer-by-wire displacement signal from the steering rack 9, and the pressure values ​​of the left wheel 141 and the right wheel 142.

[0022] Preferably, the reduction mechanism 4 includes a meshing large gear and a small gear. The large gear of the reduction mechanism 4 is mounted on the steering shaft 2, and the small gear of the reduction mechanism 4 is connected to the output shaft of the motor 5.

[0023] Preferably, the electric controller 7 is connected to the torque sensor 3 via a CAN bus 19, and the motor 5, left motor 121, right motor 122 and electric controller 7 are connected via a hard wire 20, which improves signal transmission and control effect.

[0024] The motor 5 used in this invention is a road-sensing / assist motor, which can be used as a road-sensing motor or as an assist motor.

[0025] In this embodiment, the planetary carrier 10 adopts a left-right symmetrical structure, and both ends of the planetary carrier 10 are gear-shaped. The planetary carrier 10 adopts an I-shaped structure, and a roller screw is provided on the inner side of the steering rack 9. The middle part of the planetary carrier 10 is connected to the roller screw. By adopting the planetary roller screw mechanism, the steering displacement can be precisely controlled, and the driver's steering intention can be accurately realized.

[0026] After acquiring the torque and angle signals from the torque sensor 3, the tractor speed signal, the steer-by-wire displacement signal from the steering rack 9, and the pressure values ​​of the left wheel 141 and the right wheel 142, the electronic controller 7 enters the following working mode, and the process flow is as follows: 1. Normal working mode of steer-by-wire: Electromagnetic clutch 6 is in the disengaged state, and motor 5 provides road feel; 2. Steering-by-wire failure mode: Electromagnetic clutch 6 is in the closed state, and motor 5 provides steering assistance; 3. Tire blowout alarm mode: The electric controller 7 is equipped with a control program for tractor blowout tires. The control program makes the working process of the tractor blowout tires include the following steps: 1) Collect the pressure value of the wireless tire pressure sensor 16, and determine whether a blowout has occurred based on the pressure value. If a blowout has occurred, determine which tire has blown out. If no blowout has occurred, continue to collect the pressure value of the wireless tire pressure sensor 16; 2) After the electric controller 7 collects the blowout signal, it activates the alarm 18 to issue a blowout warning message.

[0027] Compared with the prior art, the present invention, using the above technical solution, has the following technical effects: The steer-by-wire system for tractor chassis of the present invention, through the setting of components such as steering gear 8, steering rack 9, planetary carrier 10, left planetary gear 111, right planetary gear 112, left motor 121, right motor 122, vehicle speed sensor 15, wireless tire pressure sensor 16, and steering rack displacement sensor 17, ensures smooth steer-by-wire process and improves the stability of tractor steering; therefore, the hardware layout of the present invention is simple, the cost is low, the hardware utilization rate is high, and the working stability and safety performance are good.

[0028] Any descriptions not covered in the above specific embodiments of this utility model belong to the well-known technology in the field, and can be implemented by referring to the well-known technology.

[0029] Based on the preferred embodiments of this utility model described above, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A steer-by-wire system for a tractor chassis, characterized in that: It includes a steering wheel, steering shaft, reduction mechanism, motor, electric controller, steering rack, planetary carrier, left planetary gear and right planetary gear, and the reduction mechanism is connected to the motor drive; The steering shaft, from top to bottom, is equipped with a steering wheel, torque sensor, reduction mechanism, electromagnetic clutch, and steering gear. The steering gear meshes with the steering rack, which in turn meshes with a steering rack displacement sensor. The left side of the steering rack is connected to the left steering tie rod and the left wheel, while the right side is connected to the right steering tie rod and the right wheel. Wireless tire pressure sensors are installed on the inner sides of both the left and right wheels. The middle part of the planetary carrier meshes with the steering rack. The left end of the planetary carrier meshes with one end of the left planetary gear, and the other end of the left planetary gear is connected to the left motor. The right end of the planetary carrier meshes with one end of the right planetary gear, and the other end of the right planetary gear is connected to the right motor. The electric controller is communicatively connected to the torque sensor and the wireless tire pressure sensor. The electric controller is also electrically connected to the vehicle speed sensor, the steering rack displacement sensor, and the alarm via wires. The torque sensor is used to detect the torque and angle signals of the steering shaft, the vehicle speed sensor is used to detect the tractor speed signal, the steering rack displacement sensor is used to detect the steer-by-wire displacement signal generated by the steering rack, and the wireless tire pressure sensor is used to detect the pressure values ​​of the left and right wheels. The electric controller collects the torque and angle signals from the torque sensor, the tractor speed signal, the steer-by-wire displacement signal from the steering rack, and the pressure values ​​of the left and right wheels.

2. The steer-by-wire system for a tractor chassis according to claim 1, characterized in that: The reduction mechanism includes a large gear and a small gear that mesh with each other. The large gear of the reduction mechanism is mounted on the steering shaft, and the small gear of the reduction mechanism is connected to the output shaft of the motor.

3. The steer-by-wire system for a tractor chassis according to claim 1, characterized in that: The motor is a road feel / assist motor, which functions as both a road feel motor and an assist motor.

4. The steer-by-wire system for a tractor chassis according to claim 1, characterized in that: The planetary carrier adopts a left-right symmetrical structure.

5. The steer-by-wire system for a tractor chassis according to claim 4, characterized in that: Both ends of the planetary carrier are gear-shaped.

6. The steer-by-wire system for a tractor chassis according to claim 5, characterized in that: A roller screw is provided on the inner side of the steering rack, and the middle part of the planetary carrier is connected to the roller screw.

7. The steer-by-wire system for a tractor chassis according to claim 1, characterized in that: The planetary carrier adopts an I-shaped structure.

8. The steer-by-wire system for a tractor chassis according to claim 1, characterized in that: The electric controller is connected to the torque sensor via a CAN bus, and the motor, left motor, right motor and electric controller are connected via hardwire.

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