CN101850722A - Hydraulic driven remote control tractor - Google Patents
Hydraulic driven remote control tractor Download PDFInfo
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- CN101850722A CN101850722A CN 201010140506 CN201010140506A CN101850722A CN 101850722 A CN101850722 A CN 101850722A CN 201010140506 CN201010140506 CN 201010140506 CN 201010140506 A CN201010140506 A CN 201010140506A CN 101850722 A CN101850722 A CN 101850722A
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Abstract
The invention discloses a hydraulic driven remote control tractor. A control system of the tractor adopts a method for controlling a hydraulic motor by combining a singlechip and an electromagnetic valve to realize real-time and flexible control of travel direction and speed of the tractor. Two oil pumps supply hydraulic pressure to a driving hydraulic motor of the tractor and a working hydraulic motor for driving an agricultural implement respectively so as to solve the problem that a single oil pump supplies insufficient hydraulic pressure to the driving hydraulic motor of the tractor and the working hydraulic motor for driving the agricultural implement.
Description
Technical field
The present invention relates to a kind of remote control tractor, relate in particular to a kind of hydraulic driven remote control tractor.
Background technology
The running gear of farm tractor in the market generally adopts mechanical drive change speed gear box and steering hardware; but complicated, effort that the mechanical type transfer gear box is handled; and need often gearshift, commutation during the trac. operation; finish a working cycle; usually need repeatedly shift gears and commutate; greatly reduce operability, alerting ability and the traveling comfort of machinery, increased the labour intensity of navigating mate, reduced operating efficiency.
Summary of the invention
The purpose of this invention is to provide a kind of stepless change, flexible operation, hydraulically powered remote control tractor that operating efficiency is high.
The technical scheme that realizes the foregoing invention purpose is: a kind of hydraulic driven remote control tractor, comprise frame, track adjusting wheel, drive wheel, water tank, diesel engine, storage battery, controller, hydraulic reservoir, described track adjusting wheel and drive wheel are installed in the both sides, following front and back of frame, track adjusting wheel is connected by crawler belt with drive wheel, state the centre that water tank, diesel engine, hydraulic reservoir are installed in frame successively, between diesel engine and the water tank centrifugal pump is installed, between hydraulic reservoir and the diesel engine gear case is installed; The power wheel of described centrifugal pump is connected with driving wheel in the gear case by belt and the power wheel of diesel engine, and water tank, centrifugal pump, cooling vessel are interconnected by water pipe, it is characterized in that:
Described hydraulic reservoir by oil pipe respectively with the driving wheel that is installed in gear case on the walking oil pump be connected with operation oil pump on the driven gear,
Also be provided with intermediate drive gear in the described gear case and be used for controlling the shift fork that intermediate drive gear is shifted;
Described HM Hydraulic Motor has two to be installed in respectively on the left and right driving wheel;
Described cooling vessel be installed in hydraulic oil pipe around;
Described walking oil pump is connected with two HM Hydraulic Motor by the walking pressure distributor, and is connected with the oil cylinder of control farm implements lifting;
Described operation oil pump is connected with the HM Hydraulic Motor that drives farm implements work by the operation pressure distributor;
Described controller is made up of the remote controller that transmits, wireless receiving circuit, decoding circuit, micro controller system, driving circuit, relay.
Described walking pressure distributor is made up of 4 solenoid directional control valves, 4 electromagnetic speed-adjusting valves and a by pass valve and a flow regulating valve.
Described job assignment device is made up of reducing valve and governor valve.
Between walking pressure distributor and hoist cylinder control cock being installed is connected.
The principle of work of hydraulic driven remote control tractor of the present invention:
Behind the diesel engine starting of trac., the driving gear in the driven gear case rotates, and driving gear drives the walking oil pump and provides hydraulic pressure to the walking pressure distributor.Remote controller sends signal, the signal of the transmission that wireless receiving circuit will receive is sent to decoding circuit, decoding circuit is sent to micro controller system with signal after signal is decoded, micro controller system is sent to driving circuit with signal after to signal conditioning, the driving circuit starting relay controls the modulated pressure oil flow direction, pressure and flow to the solenoid directional control valve and the electromagnetic speed-adjusting valve of walking pressure distributor, control tractor hydraulic motor rotary speed and turning to, thus the lifting of direction of travel and the speed of travel and the farm implements of trac. controlled.
When farm implements will be worked, the shift fork of gear case top is turned to, make the engagement of intermediate drive gear and driven gear, drive intermediate drive gear by driving gear and drive the driven gear rotation, driven gear rotating band action industry oil pump provides hydraulic pressure to the operation pressure distributor, by the intensity of manual regulation reducing valve and governor valve control farm implements work motor.
Diesel engine drives centrifugal pump work, quickens water-circulating, and water cooling system is started working, and hydraulic oil is carried out water cooling, reduces hydraulic fluid temperature, guarantees trac. and farm implements normal operation.
Compared with prior art, hydraulic driven remote control tractor of the present invention has the following advantages:
1) control system of trac. has adopted the combine method of modulated pressure motor of micro controller system and electromagnetic valve, realized to trac. direction of travel and speed in real time, control flexibly.
2) provide hydraulic pressure to the driving HM Hydraulic Motor of trac. and the working hydraulic pressure motor that drives farm implements respectively by two oil pumps, solved the problem that the hydraulic pressure deficiency is provided to the driving HM Hydraulic Motor of trac. and the working hydraulic pressure motor that drives farm implements by single oil pump.
3) hydraulic oil is carried out water cooling, solved the warm too high problem that influences normal operation of hydraulic oil oil in the working process.
Description of drawings
Fig. 1 is the structural representation of hydraulic driven remote control tractor of the present invention.
Fig. 2 is the structural representation of the walking pressure distributor of hydraulic driven remote control tractor of the present invention.
Fig. 3 is the structural representation of the job assignment device of hydraulic driven remote control tractor of the present invention.
Fig. 4 is the control block diagram of the controller of hydraulic driven remote control tractor of the present invention.
Fig. 5 is the circuit diagram of the controller of hydraulic driven remote control tractor of the present invention.
The specific embodiment
The specific embodiment that provides below in conjunction with accompanying drawing and contriver is described in further detail hydraulic driven remote control tractor of the present invention.
Fig. 1 has provided the structural representation of hydraulic driven remote control tractor of the present invention, comprise frame 16, track adjusting wheel 1, drive wheel 19, water tank 2, diesel engine 5, storage battery 6, controller 10, hydraulic reservoir 17, described track adjusting wheel 1 and drive wheel 19 are installed in the both sides, following front and back of frame 16, track adjusting wheel 1 is connected by crawler belt 23 with drive wheel 20, state the centre that water tank 2, diesel engine 5, hydraulic reservoir 17 are installed in frame 16 successively, between diesel engine 5 and the water tank 2 centrifugal pump 3 is installed, between hydraulic reservoir 17 and the diesel engine 5 gear case 7 is installed; The power wheel of described centrifugal pump 3 is connected with driving gear in the gear case 7 by belt 4 and the power wheel of diesel engine 5, and water tank 2, centrifugal pump 3, cooling vessel 18 are interconnected by water pipe,
Described hydraulic reservoir 14 by oil pipe respectively with the driving gear that is installed in gear case 7 on walking oil pump 22 be connected with operation oil pump 21 on the driven gear,
Also be provided with intermediate drive gear 8 in the described gear case 3 and be used for controlling the shift fork 9 that intermediate drive gear is shifted;
Described HM Hydraulic Motor 20 has two to be installed in respectively on the left and right driving wheel 19;
Described cooling vessel 18 be installed in hydraulic oil pipe around;
Described walking oil pump 22 is connected with the oil cylinder that is used to control the farm implements lifting by walking pressure distributor 15 and two HM Hydraulic Motor 20; Between walking pressure distributor 15 and hoist cylinder control cock 13 being installed is connected.
Described operation oil pump 21 is connected with the HM Hydraulic Motor that drives farm implements work by operation pressure distributor 14;
Described controller 10 is made up of the remote controller that transmits, wireless receiving circuit, decoding circuit, micro controller system, driving circuit, relay.
Described walking pressure distributor 15 is made up of 4 solenoid directional control valves 11 and 4 electromagnetic speed-adjusting valves 12.
Described job assignment device 14 is made up of reducing valve 25 and governor valve 26.
Fig. 2 has provided the structural representation of the walking pressure distributor of hydraulic driven remote control tractor of the present invention, first branch line of the walking oil pipe that is communicated with walking oil pump 22 is communicated with solenoid directional control valve 11 first ports, second port of solenoid directional control valve 11 is communicated with by the input end of oil pipe with the first work motor 20, the mouth of the first work motor 20 is communicated with solenoid directional control valve 11 the 3rd port by oil pipe, the 4th port of solenoid directional control valve 11 is communicated with oil return pipe, on the input end bonded assembly oil pipe of second port of solenoid directional control valve 11 and the first work motor 20, electromagnetic speed-adjusting valve 12 is installed, on the first work mouth of motor 20 and solenoid directional control valve 11 the 3rd port bonded assembly oil pipe, the electromagnetic speed-adjusting valve is installed, between first port of solenoid directional control valve 11 and the 4th port, is connected with by pass valve 24.
Second wire joint, the second work motor of the walking oil pipe that is communicated with walking oil pump 22, concrete link is with first branch line.
The three branch of the walking oil pipe that is communicated with walking oil pump 22 is communicated with solenoid directional control valve first port, second port of solenoid directional control valve is communicated with by the input end of oil pipe with first hoist cylinder, the mouth of first hoist cylinder is communicated with solenoid directional control valve the 3rd port by oil pipe, the 4th port of solenoid directional control valve is communicated with oil return pipe, on the three branch of the oil pipe of being expert at flow regulating valve 27 is installed.
Between walking pressure distributor 15 and hoist cylinder control cock 13 being installed is connected.
The 4th branch line of the walking oil pipe that is communicated with walking oil pump 22 is connected with second hoist cylinder, and concrete link is with three branch.
Fig. 3 is the structural representation of the job assignment device of hydraulic driven remote control tractor of the present invention, and operation oil pump 21 is connected with the HM Hydraulic Motor that drives farm implements work by operation tubing, and reducing valve 25 and governor valve 26 compositions are installed on operation tubing successively.
Fig. 4 has provided the control block diagram of the controller of hydraulic driven remote control tractor of the present invention, comprises the remote controller be made up of power supply, keyboard control circuit, encode circuit and radio transmitter and wireless receiving circuit, decoding circuit, micro controller system, driving circuit, relay.Wireless receiving circuit is sent to decoding circuit with the signal that the remote controller that receives sends, decoding circuit is sent to micro controller system with signal after signal is decoded, micro controller system is sent to driving circuit with signal after to signal conditioning, the driving circuit starting relay carries out on-off control to the solenoid directional control valve and the electromagnetic speed-adjusting valve of walking distributing box, to realize the distribution to hydraulic fluid pressure and flow.
Fig. 5 is the circuit diagram of the controller of hydraulic driven remote control tractor of the present invention, and chip U1 (ULN2803) the 1st～8 pin meets P10～P17 respectively, the 9th pin ground connection, and the 10th pin power connection (12), the 11st～18 pin meets J7～J0 respectively.
Chip U2 (ULN2803) the 1st～6 pin meets P30～P31, P34～P37 respectively, the 9th pin ground connection, and the 10th pin power connection (12V), the 13rd～18 pin meets J13～J8 respectively.
Chip U3 (7805) the 1st pin power connection (12V), between power supply (12V) and the 2nd pin, be in series with polar capacitor C25, be in series with capacitor C 24, the 3 pin power connections (5V) between the 1st pin and the 2nd pin, connect with the 2nd pin at the 3rd pin and be in series with capacitor C 23 and ground connection.
Chip U5 (74HC14) the 1st～6 pin meets P10IN, P10, P11IN, P11, P12IN, P12 respectively, the 7th pin ground connection, and the 14th pin power connection (5V), the 8th～13 pin meets P13, P13IN, P14, P14IN, P15, P15IN respectively.
Chip U6 (74HC14) the 1st～6 pin meets P10IN, P10, P11IN, P11, P12IN, P12 respectively, the 7th pin ground connection, and the 14th pin power connection (5V), the 8th～13 pin meets P31, P31IN, P43, P34IN, P35, P35IN respectively.
Chip U7 (74HC14) the 1st～6 pin meets P36IN, P36, P37IN, P37, INT-IN, INT respectively, the 7th pin ground connection, the 14th pin power connection (5V).
Core machine U8 (AT89S51) the 1st～8 pin, 10～11 pins, 14～17 pins are connected with P10IN～P17IN, P30IN～P31IN, P34IN～P37IN through diode D20, D11, D12, D13, D14, D15, D16, D17, D14, D18, D19, D21, D22, D23, D24 respectively; The 9th pin series resistance R1 ground connection, and polar capacitor C4 and switch SW 1 connect the 5V power supply; 18th, positive brilliant Y1 in parallel, capacitor C 5, capacitor C ground connection between 19 pins; The 20th pin ground connection; The 40th pin power connection (5V), between be in series with capacitor C 2, polar capacitor C3 and ground connection; The 30th pin power connection (5V); The 21st pin connects chip PT2272 the 13rd pin; The 22nd pin is in parallel with chip PT2272 the 12nd pin and chip U9 (74HC14) the 1st pin; The 23rd pin is in parallel with chip PT2272 the 11st pin and chip U9 (74HC14) the 2nd pin; The 24th pin is in parallel with chip PT2272 the 10th pin and chip U9 (74HC14) the 13rd pin.
Chip PT2272 the 1st～9 a pin end ground connection in parallel, a chip termination FST-8 the 2nd pin; 14th, 18 pins connect chip FST-8 the 3rd, 4 pins respectively; 15th, 16 pins are connected with resistance R 2; The 18th pin and connect parallel connection power supply (5V) between chip FST-8 the 4th pin, capacitor C 1 ground connection.
Chip U9 the 7th pin ground connection, the 14th pin power connection (5V), the 12nd pin connect core machine U8 the 9th pin.
Chip J1 (24V-Electromag Relay) the 1st pin and connect core and meet J0,2nd, 5 pins and connect power connection (12V), the 5th pin polar capacitor C31 in parallel ground connection, the 4th pin is through resistance R 3, polar capacitor C30 ground connection, the 4th pin meets JUN1 through diode D31,3rd, be connected to diode D1 between 1 pin, the 3rd pin connects power connection (12V).
Chip J1～same the J0 of J14 connection mode omits.
Chip JP2 the 1st pin meets GND, the 2nd pin power connection (12V), and the 5th～18 pin meets JUN14～JUN1, and the 5th～18 pin connects successively and is connected to diode D44～D55, D60～61 and capacitor C 34～45, C50～51 and ground connection.
Table 1 has provided the working cycle table of the walking pressure distributor of hydraulic driven remote control tractor of the present invention: table 1 working cycle table.
Annotate: in the form+connection of table mark.
Claims (4)
1. hydraulic driven remote control tractor, comprise frame (16), track adjusting wheel (1), drive wheel (19), water tank (2), diesel engine (5), storage battery (6), controller (10), hydraulic reservoir (17), described track adjusting wheel (1) and drive wheel (19) are installed in the both sides, following front and back of frame (16), track adjusting wheel (1) is connected by crawler belt (23) with drive wheel (20), state water tank (2), diesel engine (5), hydraulic reservoir (17) is installed in the centre of frame (16) successively, between diesel engine (5) and the water tank (2) centrifugal pump (3) is installed, between hydraulic reservoir (17) and the diesel engine (5) gear case (7) is installed; The power wheel of described centrifugal pump (3) is connected with driving wheel in the gear case (7) by belt (4) and the power wheel of diesel engine (5), and water tank (2), centrifugal pump (3), cooling vessel (18) are interconnected by water pipe, it is characterized in that:
Described hydraulic reservoir (17) by oil pipe respectively with the driving gear that is installed in the gear case (7) on walking oil pump (22) be connected with operation oil pump (21) on the driven gear,
Also be provided with intermediate drive gear (8) in the described gear case (3) and be used for controlling the shift fork (9) that intermediate drive gear is shifted;
Described HM Hydraulic Motor (20) has two to be installed in respectively on the left and right driving wheel (19);
Described cooling vessel (18) be installed in hydraulic oil pipe around;
Described walking oil pump (22) is connected with two HM Hydraulic Motor (20) by walking pressure distributor (15), and is connected with the oil cylinder of control farm implements lifting;
Described operation oil pump (21) is connected with the HM Hydraulic Motor that drives farm implements work by operation pressure distributor (14);
Described controller (10) is made up of the remote controller that transmits, wireless receiving circuit, decoding circuit, micro controller system, driving circuit, relay.
2. hydraulic driven remote control tractor according to claim 1 is characterized in that: described walking pressure distributor (15) is made up of 4 solenoid directional control valves (11), 4 electromagnetic speed-adjusting valves (12) and a by pass valve (24) and a flow regulating valve (27).
3. hydraulic driven remote control tractor according to claim 1 is characterized in that: described job assignment device (14) is made up of reducing valve (25) and governor valve (26).
4. hydraulic driven remote control tractor according to claim 1 is characterized in that: control cock (13) is installed is connected between walking pressure distributor (15) and hoist cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010140506 CN101850722B (en) | 2010-04-07 | 2010-04-07 | Hydraulic driven remote control tractor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010140506 CN101850722B (en) | 2010-04-07 | 2010-04-07 | Hydraulic driven remote control tractor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101850722A true CN101850722A (en) | 2010-10-06 |
| CN101850722B CN101850722B (en) | 2013-04-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010140506 Expired - Fee Related CN101850722B (en) | 2010-04-07 | 2010-04-07 | Hydraulic driven remote control tractor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101850722B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105422277A (en) * | 2015-12-18 | 2016-03-23 | 陕西航天动力高科技股份有限公司 | Stepless free speed regulating diesel engine and centrifugal pump assembly |
| CN105723843A (en) * | 2016-01-14 | 2016-07-06 | 西北农林科技大学 | Multifunctional wheeled orchard working vehicle |
| CN106080185A (en) * | 2016-07-26 | 2016-11-09 | 永州田源机械装备有限公司 | It is applied to the intelligent Hydraulic Power Transmission System of agricultural machinery |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2719683Y (en) * | 2004-08-18 | 2005-08-24 | 赵玉民 | Multifunctional creeper type tractor |
| CN101518223A (en) * | 2009-04-03 | 2009-09-02 | 西北农林科技大学 | Self-propelled remote control spraying machine |
| CN201633539U (en) * | 2010-04-07 | 2010-11-17 | 西北农林科技大学 | Hydraulic drive remote control tractor |
-
2010
- 2010-04-07 CN CN 201010140506 patent/CN101850722B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2719683Y (en) * | 2004-08-18 | 2005-08-24 | 赵玉民 | Multifunctional creeper type tractor |
| CN101518223A (en) * | 2009-04-03 | 2009-09-02 | 西北农林科技大学 | Self-propelled remote control spraying machine |
| CN201633539U (en) * | 2010-04-07 | 2010-11-17 | 西北农林科技大学 | Hydraulic drive remote control tractor |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105422277A (en) * | 2015-12-18 | 2016-03-23 | 陕西航天动力高科技股份有限公司 | Stepless free speed regulating diesel engine and centrifugal pump assembly |
| CN105422277B (en) * | 2015-12-18 | 2018-01-05 | 陕西航天动力高科技股份有限公司 | Stepless free regulating speed diesel oil engine centrifugal pump group is closed |
| CN105723843A (en) * | 2016-01-14 | 2016-07-06 | 西北农林科技大学 | Multifunctional wheeled orchard working vehicle |
| CN105723843B (en) * | 2016-01-14 | 2018-07-10 | 西北农林科技大学 | A kind of multi-funcitonal wheel orchard operation vehicle |
| CN106080185A (en) * | 2016-07-26 | 2016-11-09 | 永州田源机械装备有限公司 | It is applied to the intelligent Hydraulic Power Transmission System of agricultural machinery |
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| Publication number | Publication date |
|---|---|
| CN101850722B (en) | 2013-04-10 |
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Granted publication date: 20130410 Termination date: 20160407 |
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