CN110155160A - Steering gear for tractors - Google Patents
Steering gear for tractors Download PDFInfo
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- CN110155160A CN110155160A CN201910360083.8A CN201910360083A CN110155160A CN 110155160 A CN110155160 A CN 110155160A CN 201910360083 A CN201910360083 A CN 201910360083A CN 110155160 A CN110155160 A CN 110155160A
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- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims 2
- 230000005540 biological transmission Effects 0.000 abstract description 8
- 239000003921 oil Substances 0.000 description 14
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
本发明提供一种用于拖拉机的转向装置，其包括一个转向电机和一个传动齿轮组，其中该传动齿轮组包括至少一个主动齿轮、至少一个与该主动齿轮相啮合的从动齿轮和一个齿轮轴，其中该主动齿轮与该转向电机的输出轴端相连接，该从动齿轮与该主动齿轮相啮合，其中该齿轮轴的一端被连接至该从动齿轮，另一端适于被连接至该拖拉机的转向阀轴。
The invention provides a steering device for a tractor, which includes a steering motor and a transmission gear set, wherein the transmission gear set includes at least one driving gear, at least one driven gear meshed with the driving gear, and a gear shaft , wherein the driving gear is connected to the output shaft end of the steering motor, the driven gear is meshed with the driving gear, wherein one end of the gear shaft is connected to the driven gear, and the other end is adapted to be connected to the tractor steering valve shaft.
Description
技术领域technical field
本发明涉及拖拉机，尤其涉及一种用于拖拉机的转向装置。The present invention relates to tractors, in particular to a steering device for tractors.
背景技术Background technique
拖拉机是常见的农业机械，其可被用作耕地、播种、施肥等农业作业的动力源。拖拉机包括车体、发动机、传动系统、转向系统等部件。转向系统大多为液压驱动，包括转向盘、转向柱、转向油泵、转向油缸、转向油管、转向桥及车轮等。不转向时，转向油泵的液压油通过转向器的中间位流回油箱；当需要转向时，通过方向盘控制转向器转动使之处于工作位，转向油泵的液压油通过转向器的工作位的进油支路流入转向油缸，进而驱动转向桥及轮胎，使拖拉机根据需要调整行驶方向。Tractors are common agricultural machinery, which can be used as a power source for agricultural operations such as plowing, sowing, and fertilizing. Tractors include car body, engine, transmission system, steering system and other components. Steering systems are mostly hydraulically driven, including steering wheels, steering columns, steering oil pumps, steering cylinders, steering oil pipes, steering bridges and wheels. When not turning, the hydraulic oil of the steering oil pump flows back to the oil tank through the middle position of the steering gear; The branch road flows into the steering oil cylinder, and then drives the steering axle and tires, so that the tractor can adjust the driving direction according to needs.
为了提高拖拉机的能效，降低操作人员的劳动强度，提高土地的利用效率，自动驾驶拖拉机在现代农业中将得到越来越广泛的应用。在正常工作状态下，拖拉机不需要人工操作，只有在必要情况下，才被切换至人工驾驶模式。因此，拖拉机自动驾驶技术应运而生。一般地，拖拉机自动驾驶系统包括导航装置，其通常包括GNSS定位模块、RTK差分基站、通讯模块、角度传感器、电控转向器、航向控制器、导航显示器等。基于差分GNSS和实时姿态校正技术完成对作业车辆的精准定位，通过检测实际转向角度，闭环控制作业车辆的动态转向，从而实现轨迹跟踪的目的。In order to improve the energy efficiency of tractors, reduce the labor intensity of operators, and improve the efficiency of land use, self-driving tractors will be more and more widely used in modern agriculture. Under normal working conditions, the tractor does not require manual operation, and is switched to manual driving mode only when necessary. Therefore, tractor automatic driving technology came into being. Generally, a tractor autopilot system includes a navigation device, which usually includes a GNSS positioning module, an RTK differential base station, a communication module, an angle sensor, an electronically controlled steering unit, a heading controller, a navigation display, and the like. Based on differential GNSS and real-time attitude correction technology, the precise positioning of the operating vehicle is completed. By detecting the actual steering angle, the dynamic steering of the operating vehicle is closed-loop controlled, so as to achieve the purpose of trajectory tracking.
现有的电控转向装置主要包括控制流量的比例控制原件(比例换向阀)、液压锁、溢流阀、控制开关等元件。在作业过程中，如果检测到拖拉机未在预设的路线上作业，则导航控制器发出指令使比例换向阀工作在相应的工作位，转向泵的一部分油液通过转向器的中间位流回油箱，另一部分油液通过比例换向阀的工作位的进油支路进入转向油缸，进而驱动转向桥、转向轮胎等部件实现转向，完成行驶方向调整，使拖拉机按照规定路线行驶。然而，现有拖拉机的车液压油路没有电磁控制回路，如果使拖拉机实现自动驾驶，需要对其进行油路改造，成本高昂，同时稳定性也不好控制。此外，现有用于拖拉机，尤其是用于自动驾驶拖拉机的转向装置并不能确定拖来机车轮的实际转向角度，因此导致拖拉机在自动驾驶模式下无法准确控制拖拉机沿预设行驶路径行驶。Existing electronically controlled steering devices mainly include components such as proportional control elements (proportional directional valves) for controlling flow, hydraulic locks, overflow valves, and control switches. During the operation, if it is detected that the tractor is not working on the preset route, the navigation controller will issue an instruction to make the proportional reversing valve work at the corresponding working position, and a part of the oil of the steering pump will flow back through the middle position of the steering gear. The other part of the oil enters the steering cylinder through the oil inlet branch of the working position of the proportional directional valve, and then drives the steering axle, steering tires and other components to realize steering, completes the adjustment of the driving direction, and makes the tractor drive according to the specified route. However, the hydraulic oil circuit of the existing tractor does not have an electromagnetic control circuit. If the tractor is to be driven automatically, the oil circuit needs to be modified, which is costly and the stability is not easy to control. In addition, the existing steering devices for tractors, especially for automatic driving tractors, cannot determine the actual steering angle of the wheels of the tractor, so that the tractor cannot accurately control the tractor to travel along the preset driving path in the automatic driving mode.
发明内容Contents of the invention
本发明的一个主要目的在于提供一种用于拖拉机的转向装置，其中本发明用于拖拉机的转向装置可使拖拉机在自动驾驶模式下，更准确地控制拖拉机沿其预设行驶路径行驶。尤其是，当拖拉机被控制转向，其车轮的实际转向角度与必要转向角度不一致时，本发明用于拖拉机的转向装置能够检测到车轮的实际转向角度与必要转向角度的差值，以便拖拉机的自动驾驶系统能够进一步控制该拖拉机的转向。A main purpose of the present invention is to provide a steering device for a tractor, wherein the steering device for a tractor of the present invention can enable the tractor to more accurately control the tractor to travel along its preset travel path in an automatic driving mode. Especially, when the tractor is controlled to turn, and the actual steering angle of its wheels is inconsistent with the necessary steering angle, the steering device for the tractor of the present invention can detect the difference between the actual steering angle of the wheels and the necessary steering angle, so that the tractor can automatically The steering system can further control the steering of the tractor.
本发明的另一个目的在于提供一种用于拖拉机的转向装置，其中本发明用于拖拉机的转向装置可在不对现有拖拉机进行较大改动的情况下，应用于现有拖拉机。Another object of the present invention is to provide a steering device for a tractor, wherein the steering device for a tractor of the present invention can be applied to an existing tractor without major modifications to the existing tractor.
本发明的其它目的和特点通过下述的详细说明得以充分体现并可通过所附权利要求中特地指出的手段和装置的组合得以实现。Other objects and features of the present invention will be fully realized by the following detailed description and can be realized by the combination of means and means particularly pointed out in the appended claims.
依本发明，能够实现前述目的和其他目的和目的的本发明用于拖拉机的转向装置包括：According to the present invention, the steering device for a tractor of the present invention capable of achieving the aforementioned object and other objects and purposes includes:
一个转向电机；和a steering motor; and
一个传动齿轮组，其中该传动齿轮组包括至少一个主动齿轮、至少一个与该主动齿轮相啮合的从动齿轮和一个齿轮轴，其中该主动齿轮与该转向电机的输出轴端相连接，该从动齿轮与该主动齿轮相啮合，其中该齿轮轴的一端被连接至该从动齿轮，另一端适于被连接至该拖拉机的转向阀轴。A transmission gear set, wherein the transmission gear set includes at least one driving gear, at least one driven gear meshed with the driving gear and a gear shaft, wherein the driving gear is connected with the output shaft end of the steering motor, the slave A driven gear meshes with the driving gear, wherein one end of the gear shaft is connected to the driven gear and the other end is adapted to be connected to a steering valve shaft of the tractor.
通过对随后的描述和附图的理解，本发明进一步的目的和目的将得以充分体现。Further objects and objects of the invention will fully appear from an understanding of the ensuing description and accompanying drawings.
本发明的这些和其它目的、特点和目的，通过下述的详细说明，附图和权利要求得以充分体现。These and other objects, features and objects of the present invention are fully demonstrated by the following detailed description, drawings and claims.
附图说明Description of drawings
图1A显示的是依本发明实施例的拖拉机。Figure 1A shows a tractor according to an embodiment of the present invention.
图1B显示的是依本发明实施例的拖拉机自动驾驶系统。FIG. 1B shows a tractor automatic driving system according to an embodiment of the present invention.
图2是上述依本发明实施例的拖拉机的侧视图。Fig. 2 is a side view of the above tractor according to the embodiment of the present invention.
图3是上述依本发明实施例的拖拉机的另一侧视图。Fig. 3 is another side view of the above tractor according to the embodiment of the present invention.
图4是上述依本发明实施例的拖拉机的转向组件的立体图。Fig. 4 is a perspective view of the steering assembly of the above-mentioned tractor according to the embodiment of the present invention.
图5是上述依本发明实施例的拖拉机的转向组件的侧视图。Fig. 5 is a side view of the steering assembly of the above tractor according to the embodiment of the present invention.
图6显示的是上述依本发明实施例的拖拉机的转向组件的局部结构。Fig. 6 shows the partial structure of the steering assembly of the above-mentioned tractor according to the embodiment of the present invention.
图7是上述依本发明实施例的拖拉机的转向组件的横向剖视图。Fig. 7 is a transverse cross-sectional view of the steering assembly of the above-mentioned tractor according to the embodiment of the present invention.
图8是上述依本发明实施例的拖拉机的转向组件的纵向剖视图。Fig. 8 is a longitudinal sectional view of the steering assembly of the above-mentioned tractor according to the embodiment of the present invention.
具体实施方式Detailed ways
以下描述用于揭露本发明以使本领域技术人员能够实现本发明。以下描述中的优选实施例只作为举例，本领域技术人员可以想到其他显而易见的变型。在以下描述中界定的本发明的基本原理可以应用于其他实施方案、变形方案、改进方案、等同方案以及没有背离本发明的精神和范围的其他技术方案。The following description serves to disclose the present invention to enable those skilled in the art to carry out the present invention. The preferred embodiments described below are only examples, and those skilled in the art can devise other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, variations, improvements, equivalents and other technical solutions without departing from the spirit and scope of the present invention.
本领域技术人员应理解的是，在本发明的揭露中，术语“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系是基于附图所示的方位或位置关系，其仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此上述术语不能理解为对本发明的限制。Those skilled in the art should understand that in the disclosure of the present invention, the terms "vertical", "transverse", "upper", "lower", "front", "rear", "left", "right", " The orientation or positional relationship indicated by "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present invention and simplified description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, so the above terms should not be construed as limiting the present invention.
可以理解的是，术语“一”应理解为“至少一”或“一个或多个”，即在一个实施例中，一个元件的数量可以为一个，而在另外的实施例中，该元件的数量可以为多个，术语“一”不能理解为对数量的限制。It can be understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element The quantity can be multiple, and the term "a" cannot be understood as a limitation on the quantity.
参考本发明说明书附图之图1A至图8，依本发明实施例的拖拉机自动驾驶系统包括路径检测器41、控制模块42、转向电机43和转向组件44，其中该路径检测器41被设置用于检测该拖拉机的当前行驶路径，其中该控制模块42与该路径检测器41可通电地相连接和被设置能够根据该路径检测器41检测到的该拖拉机的当前行驶路径确定该拖拉机的当前行驶路径相对该拖拉机的预设行驶路径的偏离，其中该转向电机43与该控制模块42可通电地相连接，该控制模块42被进一步设置能够根据该拖拉机的当前行驶路径相对该拖拉机的预设行驶路径的偏离控制该转向电机43的动力输出，其中该转向组44被设置在该转向电机43和该拖拉机的转向轴11之间，以使该转向组件44能够被该转向电机43驱动，从而驱动该拖拉机的转向轴11转动和使该拖拉机转向。Referring to Figures 1A to 8 of the accompanying drawings of the present invention, the tractor automatic driving system according to the embodiment of the present invention includes a path detector 41, a control module 42, a steering motor 43 and a steering assembly 44, wherein the path detector 41 is configured to For detecting the current driving path of the tractor, wherein the control module 42 is electrically connected to the path detector 41 and configured to determine the current driving path of the tractor according to the current driving path of the tractor detected by the path detector 41 The deviation of the path relative to the tractor’s preset travel path, wherein the steering motor 43 is electrically connected to the control module 42, and the control module 42 is further configured to be able to travel relative to the tractor’s preset travel path according to the current travel path of the tractor The deviation of the path controls the power output of the steering motor 43, wherein the steering group 44 is arranged between the steering motor 43 and the steering shaft 11 of the tractor, so that the steering assembly 44 can be driven by the steering motor 43, thereby driving The steering shaft 11 of the tractor turns and steers the tractor.
值得注意的是，依本发明实施例的拖拉机自动驾驶系统的路径检测器41可是利用实时动态载波相位差分技术(RTK)的路径检测器。进一步地，本发明拖拉机自动驾驶系统的路径检测器41包括用于接收RTK定位信号的RTK天线3和与该RTK天线3可通电地相连接的当前路径生成模块45，其中该RTK天线接收到的定位信号被传输给该当前路径生成模块45，其中该当前路径生成模块45被设置能够根据接收到的该定位信号生成该拖拉机的当前行驶路径。进一步地，该当前路径生成模块45与该控制模块42可通电地相连接，以将该当前路径生成模块45生成的该拖拉机的当前行驶路径发送给该控制模块42，该控制模块42被设置能够比较拖拉机的当前行驶路径和其预设行驶路径，并由此确定该拖拉机的当前行驶路径相对该拖拉机的预设行驶路径的偏离。相应地，为了解决该拖拉机的当前行驶路径相对该拖拉机的预设行驶路径的偏离，该控制模块42被设置能够根据相应偏离，控制该拖拉机转向和使其沿该预设行驶路径行驶。It should be noted that the path detector 41 of the tractor automatic driving system according to the embodiment of the present invention can be a path detector using real-time dynamic carrier phase difference technology (RTK). Further, the path detector 41 of the tractor automatic driving system of the present invention includes an RTK antenna 3 for receiving RTK positioning signals and a current path generation module 45 that is electrically connected to the RTK antenna 3, wherein the RTK antenna receives The positioning signal is transmitted to the current path generation module 45, wherein the current path generation module 45 is configured to generate the current driving path of the tractor according to the received positioning signal. Further, the current path generation module 45 is electrically connected to the control module 42, so as to send the current driving path of the tractor generated by the current path generation module 45 to the control module 42, and the control module 42 is configured to be able to The tractor's current travel path is compared with its preset travel path, and thus the deviation of the tractor's current travel path relative to the tractor's preset travel path is determined. Correspondingly, in order to solve the deviation of the tractor's current driving path relative to the tractor's preset driving path, the control module 42 is configured to control the tractor to turn and drive along the preset driving path according to the corresponding deviation.
如附图之图1A至图8所示，依本发明实施例的拖拉机自动驾驶系统的该路径检测器41进一步包括至少一个天线支架2，其中该天线支架2被设置用于固定RTK天线3。如附图之图1A至图8所示，本发明拖拉机自动驾驶系统的该路径检测器41进一步包括一个控制盒6和至少一个被设置在该控制盒6的接收天线4，其中该当前路径生成模块45被设置在该控制盒6内，该接收天线4被设置用于接收和传输信号。该路径检测器41进一步包括至少一个安装支架5，其中该安装支架5用于固定该控制盒6。优选地，该控制模块42和该当前路径生成模块45均被设置在该控制盒内。更优选地，该控制模块42和该当前路径生成模块45形成自同一个程序化的存储介质。As shown in FIG. 1A to FIG. 8 of the accompanying drawings, the path detector 41 of the tractor automatic driving system according to the embodiment of the present invention further includes at least one antenna bracket 2 , wherein the antenna bracket 2 is configured to fix the RTK antenna 3 . As shown in Figure 1A to Figure 8 of the accompanying drawings, the path detector 41 of the tractor automatic driving system of the present invention further includes a control box 6 and at least one receiving antenna 4 arranged on the control box 6, wherein the current path generates A module 45 is arranged inside the control box 6 and the receiving antenna 4 is arranged for receiving and transmitting signals. The path detector 41 further includes at least one mounting bracket 5 , wherein the mounting bracket 5 is used to fix the control box 6 . Preferably, both the control module 42 and the current path generation module 45 are arranged in the control box. More preferably, the control module 42 and the current path generation module 45 are formed from the same programmed storage medium.
如附图之图1A至图8所示，依本发明实施例的拖拉机自动驾驶系统进一步包括至少一个用于检测拖拉机车轮的转向角度的角度检测器50，其中该角度检测器50包括至少一个与该控制模块42可通电地相连接的角度传感器9，其中该角度传感器9被设置能够检测拖拉机车轮的转向角度，并将检测到的拖拉机车轮的转向角度发送给该控制模块42，以使该控制模块42能够确定或知道该拖拉机的车轮的实际转向角度。As shown in Figure 1A to Figure 8 of the accompanying drawings, the tractor automatic driving system according to the embodiment of the present invention further includes at least one angle detector 50 for detecting the steering angle of the tractor wheels, wherein the angle detector 50 includes at least one and The control module 42 can be electrically connected to the angle sensor 9, wherein the angle sensor 9 is configured to detect the steering angle of the tractor wheels, and send the detected steering angle of the tractor wheels to the control module 42, so that the control Module 42 is able to determine or know the actual steering angle of the tractor's wheels.
如附图之图1A至图8所示，依本发明实施例的拖拉机自动驾驶系统的该角度检测器50进一步包括一个活动支架8和至少一个固定支架7，其中该活动支架8用来将角度传感器9安装在该拖拉机的轮边轴上，其中该固定支架7的一端与该拖拉机的转向车桥连接，另一端与该角度传感器9的传感器输出轴连接，当该拖拉机自动驾驶系统，例如该控制模块42，给出一个转向信号时，该活动支架8带着该角度传感器9一起转动，而该固定支架7将会固定该角度传感器9的角度传感器输出轴。进一步地，该角度传感器9将车轮的转向角度转变成一个电信号，并被输出给控制模块42。As shown in Figure 1A to Figure 8 of the accompanying drawings, the angle detector 50 of the tractor automatic driving system according to the embodiment of the present invention further includes a movable bracket 8 and at least one fixed bracket 7, wherein the movable bracket 8 is used to convert the angle The sensor 9 is installed on the wheel axle of the tractor, wherein one end of the fixed bracket 7 is connected with the steering axle of the tractor, and the other end is connected with the sensor output shaft of the angle sensor 9, when the tractor automatic driving system, such as the When the control module 42 gives a steering signal, the movable bracket 8 rotates together with the angle sensor 9 , and the fixed bracket 7 will fix the angle sensor output shaft of the angle sensor 9 . Further, the angle sensor 9 converts the steering angle of the wheel into an electrical signal, which is output to the control module 42 .
如附图之图1A至图8所示，依本发明实施例的拖拉机自动驾驶系统的该转向组件44包括转向轴11、第一转向柱12、齿轮箱13、第二转向柱14、第一支撑轴承15、支撑垫16、第一联轴器17、第二联轴器18、转向电机19、齿轮轴20、主动齿轮21、从动齿轮22、上箱体23、左油封24、第一卡簧25、第二支撑轴承26、第二卡簧27、下箱体28、第三卡簧29、第三支撑轴承30、第四卡簧31、右油封32等部件。As shown in Figure 1A to Figure 8 of the accompanying drawings, the steering assembly 44 of the tractor automatic driving system according to the embodiment of the present invention includes a steering shaft 11, a first steering column 12, a gearbox 13, a second steering column 14, a first Support bearing 15, support pad 16, first coupling 17, second coupling 18, steering motor 19, gear shaft 20, driving gear 21, driven gear 22, upper case 23, left oil seal 24, first Circlip 25, the second support bearing 26, the second circlip 27, lower casing 28, the 3rd circlip 29, the 3rd support bearing 30, the 4th circlip 31, right oil seal 32 etc. parts.
如附图之图1A至图8所示，进一步地，依本发明实施例的拖拉机自动驾驶系统的该转向组件44的该第一转向柱12的上端通过螺栓固定在该上箱体23，该转向轴11通过该支撑垫16与该第一转向柱12连接，该转向轴11通过该第一联轴器17与该齿轮轴20的一端连接在一起，该齿轮轴20的另一端适于通过该第二联轴器18与该拖拉机的转向阀轴连接在一起，该拖拉机的转向阀轴通过该第一支撑轴承15与该第二转向柱14连接在一起。As shown in Figure 1A to Figure 8 of the accompanying drawings, further, the upper end of the first steering column 12 of the steering assembly 44 of the tractor automatic driving system according to the embodiment of the present invention is fixed to the upper box body 23 by bolts, the The steering shaft 11 is connected with the first steering column 12 through the support pad 16, the steering shaft 11 is connected with one end of the gear shaft 20 through the first coupling 17, and the other end of the gear shaft 20 is suitable for passing through The second coupling 18 is connected with the steering valve shaft of the tractor, and the steering valve shaft of the tractor is connected with the second steering column 14 through the first supporting bearing 15 .
如附图之图1A至图8所示，进一步地，该齿轮箱13包括该上箱体23和该下箱体28，该齿轮箱13的该上箱体23和该下箱体28通过螺栓固定在一起。如附图之图1A至图8所示，进一步地，该齿轮轴20的一端通过该第二支撑轴承26与该上箱体23相连接，该齿轮轴20的另一端通过该第三支撑轴承30与该下箱体28相连接。进一步的，为了确保密封，该齿轮箱13的该上箱体23与该齿轮轴20之间设置了左油封24，该齿轮箱13的该下箱体28与该齿轮轴20之间设置了右油封32。进一步地，为了保证轴承的旋转精度，在该第二支撑轴承26的一边设置了该第一卡簧25,该第二支撑轴承26的另一边设置了该第二卡簧27。进一步的，为了保证轴承的旋转精度，在该第三支撑轴承30的一边设置了该第三卡簧29,在该第三支撑轴承30的另一边设置了该第四卡簧31。进一步的，该转向电机19通过螺栓固定在该上箱体23。进一步的，该转向电机19的输出轴端与该主动齿轮21相连接，该主动齿轮21与该从动齿轮22相啮合在一起，从而使该转向电机19能够通过该主动齿轮21驱动该从动齿轮22转动，从而使得该转向电机19驱动力通过该主动齿轮21与该从动齿轮22被传递给该齿轮轴20。As shown in Figure 1A to Figure 8 of the accompanying drawings, further, the gear case 13 includes the upper case 23 and the lower case 28, the upper case 23 and the lower case 28 of the gear case 13 are bolted fixed together. As shown in Figure 1A to Figure 8 of the accompanying drawings, further, one end of the gear shaft 20 is connected with the upper case 23 through the second support bearing 26, and the other end of the gear shaft 20 is connected through the third support bearing 30 is connected to the lower box body 28 . Further, in order to ensure sealing, a left oil seal 24 is set between the upper case body 23 of the gear case 13 and the gear shaft 20, and a right oil seal is set between the lower case body 28 of the gear case 13 and the gear shaft 20. Oil seal 32. Further, in order to ensure the rotation accuracy of the bearing, the first snap spring 25 is arranged on one side of the second support bearing 26, and the second snap spring 27 is arranged on the other side of the second support bearing 26. Further, in order to ensure the rotation accuracy of the bearing, the third snap spring 29 is arranged on one side of the third support bearing 30 , and the fourth snap spring 31 is arranged on the other side of the third support bearing 30 . Further, the steering motor 19 is fixed to the upper case 23 by bolts. Further, the output shaft end of the steering motor 19 is connected with the driving gear 21, and the driving gear 21 is meshed with the driven gear 22, so that the steering motor 19 can drive the driven gear 21 through the driving gear 21. The gear 22 rotates, so that the driving force of the steering motor 19 is transmitted to the gear shaft 20 through the driving gear 21 and the driven gear 22 .
如附图之图1A至图8所示，依本发明实施例，本发明进一步提供一种用于拖拉机的转向装置，其包括一个转向电机19和一个传动齿轮组60，其中该传动齿轮组60包括至少一个主动齿轮21、至少一个与该主动齿轮21相啮合的从动齿轮22和一个齿轮轴20，其中该主动齿轮21与该转向电机19的输出轴端相连接，该从动齿轮22与该主动齿轮21与相啮合，其中该齿轮轴20的一端被连接至该从动齿轮22，另一端被连接至该拖拉机的转向阀轴，从而使得该转向电机19产生的驱动力能够通过该传动齿轮组60被传递给该拖拉机的转向阀轴和使该拖拉机的车轮被该驱动力驱动转向。As shown in Figure 1A to Figure 8 of the accompanying drawings, according to an embodiment of the present invention, the present invention further provides a steering device for a tractor, which includes a steering motor 19 and a transmission gear set 60, wherein the transmission gear set 60 Comprising at least one driving gear 21, at least one driven gear 22 meshed with the driving gear 21 and a gear shaft 20, wherein the driving gear 21 is connected with the output shaft end of the steering motor 19, the driven gear 22 is connected with the The driving gear 21 is meshed with, wherein one end of the gear shaft 20 is connected to the driven gear 22, and the other end is connected to the steering valve shaft of the tractor, so that the driving force generated by the steering motor 19 can pass through the transmission Gear set 60 is transmitted to the steering valve shaft of the tractor and causes the wheels of the tractor to be steered by the driving force.
如附图之图1A至图8所示，依本发明实施例的用于拖拉机的转向装置进一步包括至少一个角度检测器50，其中该角度检测器50被设置用于检测该拖拉机的车轮的实际转向角度。如附图之图1A至图8所示，依本发明实施例的用于拖拉机的转向装置进一步包括一个齿轮箱13，其中该主动齿轮21和该从动齿轮22被设置在该齿轮箱13。进一步地，该齿轮箱13包括一个上箱体23和一个自该上箱体延伸的下箱体28。优选地，该齿轮轴20的与该拖拉机的转向阀轴相连接的一端通过一个支撑轴承(例如，该第二支撑轴承26)与该下箱体28相连接，该齿轮轴20的另一端通过另一个支撑轴承(例如，该第三支撑轴承30)与该上箱体23相连接。As shown in Figure 1A to Figure 8 of the accompanying drawings, the steering device for a tractor according to an embodiment of the present invention further includes at least one angle detector 50, wherein the angle detector 50 is configured to detect the actual position of the wheels of the tractor. steering angle. As shown in FIG. 1A to FIG. 8 of the accompanying drawings, the steering device for a tractor according to an embodiment of the present invention further includes a gear box 13 , wherein the driving gear 21 and the driven gear 22 are disposed on the gear box 13 . Further, the gear box 13 includes an upper box body 23 and a lower box body 28 extending from the upper box body. Preferably, one end of the gear shaft 20 connected to the steering valve shaft of the tractor is connected to the lower case 28 through a support bearing (for example, the second support bearing 26 ), and the other end of the gear shaft 20 is connected to the lower case through Another support bearing (for example, the third support bearing 30 ) is connected with the upper case 23 .
因此，拖拉机通过该拖拉机自动驾驶系统在自动驾驶模式下，可根据其当前行驶路径，确定拖拉机是否偏离其预设行驶路径，和在发生偏离时，自动控制该拖拉机转动方向和在其预设行驶路径上行驶。尤其是，本发明拖拉机自动驾驶系统可在对现有拖拉机进行较小的改动下，即可实现自动驾驶。甚至是，当本发明拖拉机自动驾驶系统被用于现有拖拉机时，对拖拉机的整体结构没有明显影响。此外，本发明拖拉机自动驾驶系统相比现有拖拉机自动驾驶系统，结构简单、成本低廉和易于使用。通过上述的说明内容，本领域技术人员完全可以在不偏离本项发明技术思想的范围内，进行多样的变更以及修改，如将主动轮改用蜗杆，从动轮改用为涡轮，都在本发明的保护范围之内。本发明的未尽事宜，属于本领域技术人员的公知常识。Therefore, the tractor can determine whether the tractor deviates from its preset driving path according to its current driving path in the automatic driving mode through the tractor automatic driving system, and when the deviation occurs, automatically control the turning direction of the tractor and drive in its preset driving path. drive on the path. In particular, the tractor automatic driving system of the present invention can realize automatic driving with minor modifications to existing tractors. Even, when the tractor automatic driving system of the present invention is used in an existing tractor, it has no obvious influence on the overall structure of the tractor. In addition, compared with the existing tractor automatic driving system, the tractor automatic driving system of the present invention is simple in structure, low in cost and easy to use. Through the above description, those skilled in the art can make various changes and modifications within the scope of not departing from the technical idea of the present invention, such as changing the driving wheel to a worm, and changing the driven wheel to a turbine, all within the scope of the present invention. within the scope of protection. Matters not covered in the present invention belong to the common knowledge of those skilled in the art.
本领域的技术人员应理解，上述描述及附图中所示的本发明的实施例只作为举例而并不限制本发明。It should be understood by those skilled in the art that the embodiments of the present invention shown in the foregoing description and drawings are only examples and do not limit the present invention.
本发明的目的已经完整并有效地实现。本发明的功能及结构原理已在实施例中展示和说明，在没有背离所述原理下，本发明的实施方式可以有任何变形或修改。The objects of the present invention have been fully and effectively accomplished. The functions and structural principles of the present invention have been shown and described in the embodiments, and the embodiments of the present invention may have any deformation or modification without departing from the principles.
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