A kind of tractor pendent eT self-level(l)ing device and its collecting methodTechnical field
The present invention relates to the technical fields of agricultural machinery, are specifically related to a kind of tractor pendent eT self-level(l)ing deviceAnd its collecting method.
Background technique
With the development of science and technology, more and more mechanical equipments are employed in agricultural production, therefore, agricultural machineryWhether structure rationally becomes focus concerned by people.
Based on needing smooth paddy field due to Rice Production, therefore, it is necessary to using agricultural machineries such as beatersBy leveling paddy field.But due under the mud of paddy field hard place there are problems that left and right or front and back are uneven so that be linked with workThe tractor of industry unit shakes during operation, to cause entire Complete working unit to roll, especially for wide cutFor agricultural machinery and implement, when wide cut agricultural machinery and implement roll, wherein one end of agricultural machinery and implement is easy to penetrate in soil because of shaking,Problem that is light then causing whole field injustice, damage that is heavy then causing agricultural machinery and implement cause damages, can also be with some potential safety problems.Although driver can adjust the horizontal operation state of the Complete working unit of suspension by manual operation, it is ensured that wide cut is efficientAgricultural machinery and implement left and right it is horizontal always, driver is difficult or cannot achieve.
Summary of the invention
For the above-mentioned problems in the prior art, it is now intended to provide a kind of tractor pendent eT self-level(l)ing deviceAnd its collecting method, by acquiring the displacement sensor in the inclination data and leveling unit that are located on tractor chassisThen the related data of acquisition is controlled automatic leveling hydraulic control unit work by data after electronic control unit data processingMake, to control leveling unit movement, so that entire Complete working unit is in horizontal operation state always, that is, guarantees agricultural machinery and implementLeft and right is horizontal always, prevents and one end is made to penetrate the problem of causing in soil because of shaking, safety guarantee is higher；AndAnd the method for the data acquisition of above-mentioned self-level(l)ing device is provided, it can be simple, efficient and accurately by the bottom surface in operation fieldFlatness reflects, consequently facilitating pendent eT self-level(l)ing device is accurate and reasonably carries out Levelling operation, guarantees to makeIndustry unit is in horizontal operation state always, can protect equipment, while can also improve operating efficiency, improves agricultural production waterIt is flat.
Specific technical solution is as follows:
A kind of tractor pendent eT self-level(l)ing device, has the feature that, comprising: electronic control unit, detectionUnit, leveling unit and automatic leveling hydraulic control unit, wherein
Electronic control unit is set in tractor driving room；
Detection unit is obliquity sensor, and detection unit is set on the body of tractor chassis, and detection unit is parallelIt is arranged in tractor chassis, when tractor is horizontally arranged, the measurement axis of detection unit is equally horizontal positioned；
Leveling unit includes hydraulic cylinder assembly and displacement sensor, and the lower end of hydraulic cylinder assembly is articulated with the lower-left of tractor verticallyOn the middle part of pull rod or bottom right pull rod, the upper end of hydraulic cylinder assembly is articulated with left lift arm that is corresponding and connecting tractor or the right side mentionsIt rises on arm, and displacement sensor is set on hydraulic cylinder assembly and monitors the piston position of the leveling cyclinder in hydraulic cylinder assembly；
Automatic leveling hydraulic control unit, which is set on tractor and is electrically connected, electronic control unit, while automatic tuneFlat hydraulic control unit, which is also electrically connected, leveling unit, and displacement sensor and obliquity sensor are electrically connected in electronicsOn the input module of control unit.
Above-mentioned a kind of tractor pendent eT self-level(l)ing device, wherein tractor is not provided with a left side for leveling unitLift lever is hinged between lower pull rod or bottom right pull rod and corresponding left lift arm or right lift arm, and in the piston of leveling cyclinderWhen in an intermediate position, the length of hydraulic cylinder assembly is equal to the length of lift lever.
A kind of above-mentioned tractor pendent eT self-level(l)ing device, wherein electronic control unit is provided with output module,Output module signal is connected with automatic leveling hydraulic control unit.
Above-mentioned a kind of tractor pendent eT self-level(l)ing device, wherein output module is PWM (English: PulseWidth Modulation, Chinese: pulse width modulation) output module.
Above-mentioned a kind of tractor pendent eT self-level(l)ing device, wherein electronic control unit includes that gear selection is openedIt closes, tilt angle setting knob and sensitivity set knob, GSS Gear Select Switch, tilt angle setting knob and sensitivitySetting knob be all set on the electronic control unit panel of electronic control unit, and GSS Gear Select Switch be divided into a left side mention, stop,The right side mentions and automatic four gears.
A kind of above-mentioned tractor pendent eT self-level(l)ing device, wherein the range of choice of tilt angle setting knobIt is -30 °~30 °.
Above-mentioned a kind of tractor pendent eT self-level(l)ing device, wherein sensitivity sets the range of choice of knob as 0~1.
A kind of collecting method, the number for tractor pendent eT self-level(l)ing device described in above-mentioned any oneAccording to acquisition, including the following steps:
Step S1, obliquity sensor detect the tilt data of the body of tractor, measure pitch angle, the pitching of tractorAngular speed, roll angle and roll angular velocity information, meanwhile, displacement sensor detects the piston position Information Number of leveling cyclinderAccording to, and tilt data and piston position information data are inputted into electronic control unit；
Step S2, electronic control unit carries out data processing, and outputs signal to automatic leveling hydraulic control unit, controlsThe movement of automatic leveling hydraulic control unit；
Step S3, automatic leveling hydraulic control unit control leveling cyclinder movement.
Step S4, circulating repetition step S1 to S3.
Above-mentioned a kind of collecting method, wherein obliquity sensor detects the tilt data conduct of the body of tractorThe angle of Complete working unit and horizontal plane.
A kind of above-mentioned collecting method, wherein the piston position information data of displacement sensor detection leveling cyclinderThe output offset angle of self-level(l)ing device as Complete working unit, and offset angle is exported with the angle of Complete working unit and horizontal planeDegree forms closed loop.
The good effect of above-mentioned technical proposal is:
Above-mentioned tractor pendent eT self-level(l)ing device and its collecting method, self-level(l)ing device include electronicsControl unit, detection unit, automatic leveling hydraulic control unit and leveling unit, realize and exist to tractor and Complete working unitIts equilibrium-like timely can be detected by the displacement sensor in detection unit and leveling unit when shaking in operation processThe data of state are simultaneously transmitted to after electronic control unit and carry out data processing, and pass through electronic control unit and transmit signal and adjust to automaticFlat hydraulic control unit controls the leveling cyclinder in leveling unit by automatic leveling hydraulic control unit and acts, so thatEntire Complete working unit is in horizontal operation state always, i.e., guarantee agricultural machinery and implement or so are horizontal always, prevents hanging bar gap from drawingThe double swerve of the Complete working unit self-excited oscillation influence and Complete working unit that rise, prevents and makes one end penetrate mud because of shakingCaused loss in soil improves safety guarantee；Meanwhile the method for the data acquisition for self-level(l)ing device is additionally provided,The information such as pitch angle, rate of pitch, roll angle and the roll angular speed of tractor, warp are measured by obliquity sensorAngle after data processing as Complete working unit and horizontal plane, also, the cylinder piston position detected by displacement sensorInformation, as the output offset angle of the self-level(l)ing device of Complete working unit after data processing, and make its with Complete working unit withThe angle of horizontal plane forms closed loop, thus simply, efficiently and accurately reflect the ground flat degree in operation field, thusIt has been convenient for self-level(l)ing device accurate and has reasonably carried out Levelling operation, has guaranteed that Complete working unit is in horizontal operation state always,The effect of protection mechanical equipment has been not only acted as, while can also play the role of improving operating efficiency, to be integrally improved agricultureIndustry production level.
Detailed description of the invention
Fig. 1 is a kind of structure chart of the embodiment of tractor pendent eT self-level(l)ing device of the invention；
Fig. 2 is a preferred embodiment of the present invention the structure chart of hydraulic circuit connection；
Fig. 3 is a preferred embodiment of the present invention the structure chart of electrical connection.
In attached drawing: 1, tractor；11, lower-left pull rod；12, bottom right pull rod；2, Complete working unit；3, detection unit；4, electronicsControl unit；41, input module；42, output module；51, right lift arm；52, lift lever；6, leveling unit；61, leveling oilCylinder；62, displacement sensor；63, left lift arm；7, automatic leveling hydraulic control unit；71, distributor is promoted；711, Zuo Ti electricityMagnet valve；712, the right side mentions solenoid valve.
Specific embodiment
It is real below in order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present inventionIt applies example combination attached drawing 1 and technical solution provided by the invention is specifically addressed to attached drawing 3, but the following contents is not as of the inventionIt limits.
Fig. 1 is a kind of structure chart of the embodiment of tractor pendent eT self-level(l)ing device of the invention.Such as Fig. 1 instituteShow, self-level(l)ing device provided in this embodiment includes: electronic control unit 4, detection unit 3, leveling unit 6 and automatic tuneFlat hydraulic control unit 7 realizes that the leveling of Complete working unit 2 controls by self-level(l)ing device.
Specifically, electronic control unit 4 is set in 1 driver's cabin of tractor, electronic control unit is manipulated convenient for driver4, meanwhile, electronic control unit 4 includes GSS Gear Select Switch again, knob is arranged for tilt angle and sensitivity sets knob, andAnd GSS Gear Select Switch, tilt angle setting knob and sensitivity setting knob are all set in the electronics of electronic control unit 4On 4 panel of control unit, convenient for manipulation, meanwhile, GSS Gear Select Switch is divided into that a left side mentions, stops, the right side mentions and automatic four gears, justManual drive and manual leveling operation are carried out in driver, while also providing selection gear for automatic leveling.
Specifically, detection unit 3 is obliquity sensor, detection unit 3 is set on the body on 1 chassis of tractor, and is examinedIt surveys unit 3 and is parallel to the setting of 1 chassis of tractor, when tractor 1 is horizontally arranged, the same level of measurement axis of detection unit 3 is putIt sets.More specifically, axis is parallel with the vehicle body X/Y axis of tractor 1 installs for the X/Y measurement of obliquity sensor, and needs to meetWhen tractor 1 is horizontally arranged, the X/Y measurement axis of obliquity sensor is horizontal positioned, and the peace of its long side and 1 vertical consistency of tractorReload request, guarantee detection unit 3 detect data accuracy, thus after data processing can accurately as Complete working unit 2 withThe angle of horizontal plane, to guarantee the levelling effect of self-level(l)ing device.
Specifically, being provided with leveling unit 6 on the pull rod once and corresponding lift arm of tractor 1, wherein leveling unit6 include hydraulic cylinder assembly and displacement sensor 62, and the lower end of hydraulic cylinder assembly is articulated with lower-left pull rod 11 or the bottom right of tractor 1 verticallyOn the middle part of pull rod 12, the upper end of hydraulic cylinder assembly is articulated with left lift arm 63 or right lift arm corresponding and that connect tractor 1On 51, i.e. when the lower end of hydraulic cylinder assembly is articulated on the lower-left pull rod 11 of tractor 1, the upper end of hydraulic cylinder assembly is then articulated with and dragsOn the left lift arm 63 that machine drawing 1 connects or when the lower end of hydraulic cylinder assembly is articulated on the bottom right pull rod 12 of tractor 1, oil cylinderThe upper end of assembly is then articulated on the right lift arm 51 connecting with tractor 1, so that hydraulic cylinder assembly can be adjusted at any time Complete working unit 2Equilibrium state, realize Levelling operation；And displacement sensor 62 is set on hydraulic cylinder assembly and monitors the tune in hydraulic cylinder assemblyThe piston position of flat oil cylinder 61, the position for the piston that displacement sensor 62 is detected constantly in leveling cyclinder 61 are automaticThe output offset angle of levelling device, which provides, calculates basis, is easy to implement automatic leveling operation.
More specifically, tractor 1 be not provided with leveling unit 6 lower-left pull rod 11 or bottom right pull rod 12 with it is corresponding leftLift lever 52 is hinged between lift arm 63 or right lift arm 51, i.e. leveling unit 6 is set to lower-left pull rod 11 and left lift armWhen between 63, lift lever 52 is then set between bottom right pull rod 12 and right lift arm 51 or leveling unit 6 is set to bottom right drawingWhen between bar 12 and right lift arm 51, then lift lever 52 is set between lower-left pull rod 11 and left lift arm 63, also, is being leveledWhen the piston of oil cylinder 61 is in an intermediate position, the length of hydraulic cylinder assembly is equal to the length of lift lever 52, so that more reasonable structure, is adjustedPut down it is more acurrate, thus ensure that Complete working unit 2 always in horizontality, more conducively realization automatic leveling operation.
Fig. 2 is a preferred embodiment of the present invention the structure chart of hydraulic circuit connection；Fig. 3 is a preferred embodiment of the present inventionElectrical connection structure chart.As shown in Figure 1, Figure 2 and shown in Fig. 3, automatic leveling hydraulic control unit 7 is set on tractor 1And electrical connection has electronic control unit 4, while automatic leveling hydraulic control unit 7 is also electrically connected leveling unit 6, andDisplacement sensor 62 and obliquity sensor are electrically connected on the input module 41 of electronic control unit 4, pass through electronic controlThe input module 41 of unit 4 receives the related data that displacement sensor 62 and obliquity sensor measure and carries out data processing,It is transmitted signals on automatic leveling hydraulic control unit 7 again, leveling unit 6 is controlled by automatic leveling hydraulic control unit 7In leveling cyclinder 61 act, to guarantee that Complete working unit 2 remains horizontality, realize automatic leveling operation.Also, fromDynamic leveling hydraulic control unit 7, which goes back hydraulic connecting, promotion distributor 71, and the promotion for controlling Complete working unit 2 operates.
Specifically, electronic control unit 4 is provided with output module 42, electronic control unit 4 is connected by output module 42Automatic leveling hydraulic control unit 7.Wherein, 42 signal of output module is connected to that a left side mentions solenoid valve 711 and the right side mentions solenoid valve 712On, and output module 42 is PWM output module, receives obliquity sensor and position by the input module 41 of electronic control unit 4The detection signal of displacement sensor 62 is simultaneously handled, and then mentions solenoid valve to a left side respectively by the PWM output module of electronic control unit 4711 and/or the right side mention solenoid valve 712 and export pwm control signal, solenoid valve 711 is mentioned to a left side and/or the right side mentions solenoid valve to realize712 opening and closing, to realize promotion operation.
When driver's manual manipulation, leveling unit 6 is directly controlled by electronic control unit 4 and for promoting working rigGroup 2 lift unit work, without detection, effect directly and quickly；When being in automatic gear, need to first pass through single as detectionThe obliquity sensor of member 3 and the displacement sensor 62 of hydraulic cylinder assembly are balanced detection, and the signal data that will test is transmitted toElectronic control unit 4, then automatic leveling hydraulic control unit 7 is transmitted a signal to by electronic control unit 4, by adjusting automaticallyFlat hydraulic control unit 7 controls the leveling cyclinder 61 in leveling unit 6 and acts, to complete automatic leveling operation, guarantees operationUnit 2 is in horizontal job state always.
As preferred embodiment, the range of choice that knob is arranged in tilt angle is -30 °~30 °, sensitivity setting rotationThe range of choice of button is 0~1, and range of choice is wide, so that the modification scope of self-level(l)ing device is wider, adaptability is higher.
The present embodiment additionally provides a kind of data acquisition side for above-mentioned 1 pendent eT self-level(l)ing device of tractorMethod, including the following steps:
Step S1, obliquity sensor detect the tilt data of the body of tractor 1, measure the pitch angle of tractor 1, bowElevation angle speed, roll angle and roll angular velocity information, meanwhile, displacement sensor 62 detects the piston position of leveling cyclinder 61Information data, and tilt data and piston position information data are inputted into electronic control unit 4；
Step S2, electronic control unit 4 carries out data processing, and outputs signal to automatic leveling hydraulic control unit 7, controlsAutomatic leveling hydraulic control unit 7 processed acts；
Step S3, automatic leveling hydraulic control unit 7 control leveling cyclinder 61 and act.
Step S4, circulating repetition step S1 to S3.
At this point, the tilt data of the body for the tractor 1 that obliquity sensor will test can eliminate tractor 1 and working rig22 self-excited oscillations of Complete working unit due to caused by trifilar suspension rod piece gap of group influence, and obtain making caused by due to ground or so injusticeThe double swerve angle of industry unit 2, the angle on the basis of 0 ° of horizontal plane, after data processing as Complete working unit 2 and horizontal planeDegree；Also, the piston position information data that displacement sensor 62 detects leveling cyclinder 61 is used as Complete working unit 2 after data processingSelf-level(l)ing device output offset angle, and the output offset angle is closed with the angle formation of Complete working unit 2 and horizontal planeRing.It is simple, efficient and accurately reflect the ground flat degree in operation field by above-mentioned collecting method, fromAnd be convenient for self-level(l)ing device accurate and reasonably carried out Levelling operation, guarantee that Complete working unit 2 is in horizontal operation shape alwaysState has not only acted as the effect of protection mechanical equipment, while can also play the role of improving operating efficiency, to be integrally improvedLevel of agricultural production.
Self-level(l)ing device provided in this embodiment includes electronic control unit 4, detection unit 3, the hydraulic control of automatic levelingUnit 7 and leveling unit 6 processed；Detect balance when 1 operation of tractor respectively by detection unit 3 and displacement sensor 62The piston position information of state and leveling cyclinder 61 is handled and is transmitted signals to information by electronic control unit 4Automatic leveling hydraulic control unit 7, then the control to leveling unit 6 is realized by automatic leveling hydraulic control unit 7, so that operationUnit 2 remains horizontal operation state, prevents shaking and tilt problem, and safety guarantee is higher；And it providesA kind of collecting method for above-mentioned self-level(l)ing device, it is simple, efficient and accurately by the Land leveling in operation fieldDegree reflects, and has been convenient for self-level(l)ing device accurate and has reasonably carried out Levelling operation, to guarantee that agricultural machinery and implement begin when operationIt is in horizontality eventually.
The above is only preferred embodiments of the present invention, are not intended to limit the implementation manners and the protection scope of the present invention, rightFor those skilled in the art, it should can appreciate that and all replace with being equal made by description of the invention and diagramatic contentIt changes and obviously changes obtained scheme, should all be included within the scope of the present invention.