CN103264629A - Vehicle body leveling device for mountain agricultural robot - Google Patents
Vehicle body leveling device for mountain agricultural robot Download PDFInfo
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- CN103264629A CN103264629A CN2013102209642A CN201310220964A CN103264629A CN 103264629 A CN103264629 A CN 103264629A CN 2013102209642 A CN2013102209642 A CN 2013102209642A CN 201310220964 A CN201310220964 A CN 201310220964A CN 103264629 A CN103264629 A CN 103264629A
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Abstract
The invention discloses a vehicle body leveling device for a mountain agricultural robot. The vehicle body leveling device comprises an upper limit switch (1), a fixed rod (2), a lower limit switch (3), a movable vehicle frame (4), a tilt-angle sensor (5), a vehicle body (6), a single-rod piston hydraulic cylinder (7) and a fixed vehicle frame (8). The upper limit switch (1) is fixed at the upper end of the fixed rod (2). The lower end of the fixed rod (2) is fixed on the fixed vehicle frame (8). The lower limit switch (3) is fixed on a cylinder body of the single-rod piston hydraulic cylinder (7). The tilt-angle sensor (5) is fixed at a position under the center of the movable vehicle frame (4). A piston rod of the single-rod piston hydraulic cylinder (7) is fixed on the fixed vehicle frame (8). The cylinder body of the single-rod piston hydraulic cylinder (7) is fixed with the movable vehicle frame (4). The vehicle body leveling device provides equipment support for realizing automatic leveling or remote-controlled leveling of the vehicle body of the mountain agricultural robot, and improves the adaptability of the mountain agricultural robot under complex environment conditions.
Description
Technical field
The present invention relates to a kind of vehicle attitude control device, especially be applied to the vehicle attitude control device of mountain farming robot, belong to vehicle attitude control device technique field.
Background technology
The mountain farming robot operates mainly in intersected country, and in order to adapt to complicated terrain environment requirement, the vehicle attitude control device becomes the active demand of mountain farming robot.The vehicle attitude control device is used more in engineering truck, and technology is comparative maturity also, because the particularity of mountain farming robot working environment, the application of vehicle attitude control device on the mountain farming robot seldom.The vehicle attitude control device has improved comformability and the stability of mountain farming robot under complicated environmental condition, has satisfied its needs in actual applications.Therefore, the present invention proposes a kind of mountain farming robot automobile body leveling equipment that can satisfy the complex environment requirement.
Summary of the invention
In order to overcome the shortcoming of mountain farming robot comformability and poor stability under the complex-terrain environment, the invention provides a kind of mountain farming robot automobile body leveling equipment, this device has improved comformability and the stability of mountain farming robot under complicated environmental condition for the automatic leveling of vehicle body or the remote control leveling that realizes the mountain farming robot provides hardware support.
Technical scheme of the present invention is: a kind of mountain farming robot automobile body leveling equipment comprises upper limit position switch (1), fixed link (2), lower position switch (3), movable carriage (4), obliquity sensor (5), vehicle body (6), single-rod piston hydraulic actuating cylinder (7) and fixing vehicle frame (8).Upper limit position switch (1) is fixed on the upper end of fixed link (2), the lower end of fixed link (2) is fixed on fixedly on the vehicle frame (8), lower position switch (3) is fixed on the cylinder body of single-rod piston hydraulic actuating cylinder (7), obliquity sensor (5) is fixed on the centre lower position of movable carriage (4), the piston rod of single-rod piston hydraulic actuating cylinder (7) is fixed on fixedly on the vehicle frame (8), and the cylinder body of single-rod piston hydraulic actuating cylinder (7) and movable carriage (4) are fixing.
Obliquity sensor is used for obtaining the inclination information of vehicle body on the mountain region, the bound bit switch is used for limiting the final position of stroke up and down of hydraulic cylinder body, fixed link makes upper limit position switch link to each other with fixing vehicle frame, the piston rod of single-rod piston hydraulic actuating cylinder is fixed on fixedly and keeps motionless on the vehicle frame, cylinder body and the movable carriage of single-rod piston hydraulic actuating cylinder fix, movable carriage is moved along with the up-and-down movement of hydraulic cylinder body, and vehicle body then moves along with the motion of movable carriage.This vehicle attitude control device is combined with levelling control system and is used, levelling control system is made the leveling control command by obliquity information and the limit switch status information of obtaining vehicle body, up-and-down movement by control circuit control hydraulic cylinder body comes vehicle body is adjusted then, thereby makes the mountain farming robot carry out vehicle attitude control.
In sum, mountain farming robot automobile body leveling equipment provided by the invention is combined with levelling control system and is used, obtain the inclination information of vehicle body by obliquity sensor, limit the final position of stroke up and down of hydraulic cylinder body by limit switch, movable carriage is moved along with the up-and-down movement of hydraulic cylinder body, vehicle body then moves along with the motion of movable carriage, thereby make vehicle body carry out leveling, this vehicle attitude control device has improved comformability and the stability of mountain farming robot under complicated environmental condition for the automatic leveling of vehicle body or the remote control leveling that realizes the mountain farming robot provides hardware support.
Description of drawings
Further specify the present invention below in conjunction with accompanying drawing.
Fig. 1 is vehicle attitude control apparatus structure scheme drawing.
Fig. 2 is the scheme drawing of vehicle body when reaching maximum leveling angle.
Among the figure: the 1st, upper limit position switch, the 2nd, fixed link, the 3rd, lower position switch, the 4th, movable carriage, the 5th, obliquity sensor, the 6th, vehicle body, the 7th, single-rod piston hydraulic actuating cylinder, the 8th, fixing vehicle frame, the 9th, slope leaning angle, the 10th, slope.
The specific embodiment
Fig. 1 is vehicle attitude control apparatus structure scheme drawing of the present invention.Obliquity sensor is used for obtaining vehicle body in the inclination information in mountain region, the bound bit switch is used for limiting the final position of stroke up and down of hydraulic cylinder body, the piston rod of hydraulic actuating cylinder is fixed on fixedly and keeps motionless on the vehicle frame and cylinder body carries out up-and-down movement, the vehicle attitude control control system used of combining with this vehicle attitude control device is handled the status information of the inclination information of vehicle body and limit switch and is moved accordingly by control circuit control hydraulic cylinder body, when the hydraulic cylinder body up-and-down movement of left side, move accordingly in the left side of movable carriage, thereby make the vehicle body left side carry out corresponding up-and-down movement, when the hydraulic cylinder body up-and-down movement of right side, move accordingly in the right side of movable carriage, thereby make the vehicle body right side carry out corresponding up-and-down movement, by the continuous adjustment to vehicle body, thereby make the mountain farming robot carry out vehicle attitude control.
Fig. 2 is the scheme drawing of vehicle body of the present invention when reaching maximum leveling angle.Among the figure, the mountain farming robot works on the slope that the angle of inclination is α and vehicle body is in horizontality, at this moment, the right side hydraulic cylinder body is not mobile, and the left side hydraulic cylinder body is in the range final position, and the tilt angle alpha on this slope namely is the maximum adjustable straight angle degree of vehicle body, when the angle of inclination of mountain farming robot during greater than the flat angle [alpha] of maximum adjustable, vehicle body will be no longer can leveling, so the mountain farming robot will be avoided the generation of this kind situation in the course of the work as far as possible.
According to above-mentioned description, the related work personnel can carry out various change and modification fully in the scope that does not depart from this invention technological thought.The technical scope of this invention is not limited to the content on the specification sheets, and all any modifications of doing within the spirit and principles in the present invention and be equal to replacement etc. all should be included within protection scope of the present invention.
Claims (1)
1. mountain farming robot automobile body leveling equipment is characterized in that:
This device comprises upper limit position switch (1), fixed link (2), lower position switch (3), movable carriage (4), obliquity sensor (5), vehicle body (6), single-rod piston hydraulic actuating cylinder (7) and fixing vehicle frame (8); Upper limit position switch (1) is fixed on the upper end of fixed link (2), the lower end of fixed link (2) is fixed on fixedly on the vehicle frame (8), lower position switch (3) is fixed on the cylinder body of single-rod piston hydraulic actuating cylinder (7), obliquity sensor (5) is fixed on the centre lower position of movable carriage (4), the piston rod of single-rod piston hydraulic actuating cylinder (7) is fixed on fixedly on the vehicle frame (8), and the cylinder body of single-rod piston hydraulic actuating cylinder (7) and movable carriage (4) are fixing;
Described obliquity sensor is used for obtaining the inclination information of vehicle body on the mountain region;
Described bound bit switch is used for limiting the final position of stroke up and down of hydraulic cylinder body;
The piston rod of described single-rod piston hydraulic actuating cylinder is fixed on fixedly and keeps motionless on the vehicle frame, cylinder body and the movable carriage of single-rod piston hydraulic actuating cylinder fix, movable carriage is moved along with the up-and-down movement of hydraulic cylinder body, vehicle body then moves along with the motion of movable carriage, by vehicle body is adjusted, thereby make the mountain farming robot carry out vehicle attitude control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013102209642A CN103264629A (en) | 2013-05-29 | 2013-05-29 | Vehicle body leveling device for mountain agricultural robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013102209642A CN103264629A (en) | 2013-05-29 | 2013-05-29 | Vehicle body leveling device for mountain agricultural robot |
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| CN103264629A true CN103264629A (en) | 2013-08-28 |
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| CN2013102209642A Pending CN103264629A (en) | 2013-05-29 | 2013-05-29 | Vehicle body leveling device for mountain agricultural robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106029989A (en) * | 2014-01-24 | 2016-10-12 | Ihc工程商业有限公司 | Trenching apparatus with levelling means |
| CN106386384A (en) * | 2016-11-22 | 2017-02-15 | 浙江三锋实业股份有限公司 | Adjustable shovel guide rail bracket of tree moving machine |
| CN108748074A (en) * | 2018-06-12 | 2018-11-06 | 芜湖乐创电子科技有限公司 | A kind of walking robot climbing auxiliary system constructional device |
| CN111506075A (en) * | 2020-05-11 | 2020-08-07 | 山东大学 | AGV attitude adjusting method and system |
| CN111645478A (en) * | 2020-05-27 | 2020-09-11 | 农业农村部南京农业机械化研究所 | Wheeled farmland management robot with flexible profiling chassis and profiling control method |
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| JP2000159156A (en) * | 1998-11-20 | 2000-06-13 | Yanmar Agricult Equip Co Ltd | Car hight and attitude controller of farm-working machine for travelling |
| CN201240814Y (en) * | 2008-07-29 | 2009-05-20 | 郭选庭 | Leveling device for lifting platform of contact net working vehicle |
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2013
- 2013-05-29 CN CN2013102209642A patent/CN103264629A/en active Pending
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| JPH11220931A (en) * | 1991-11-01 | 1999-08-17 | Yanmar Agricult Equip Co Ltd | Horizontal controller in agricultural working machine |
| JPH05330461A (en) * | 1992-05-29 | 1993-12-14 | Kubota Corp | Working vehicle |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106029989A (en) * | 2014-01-24 | 2016-10-12 | Ihc工程商业有限公司 | Trenching apparatus with levelling means |
| US9945097B2 (en) | 2014-01-24 | 2018-04-17 | Ihc Engineering Business Limited | Trench apparatus with leveling means |
| CN106029989B (en) * | 2014-01-24 | 2019-01-04 | Ihc工程商业有限公司 | Ditching equipment with leveling unit |
| CN106386384A (en) * | 2016-11-22 | 2017-02-15 | 浙江三锋实业股份有限公司 | Adjustable shovel guide rail bracket of tree moving machine |
| CN108748074A (en) * | 2018-06-12 | 2018-11-06 | 芜湖乐创电子科技有限公司 | A kind of walking robot climbing auxiliary system constructional device |
| CN111506075A (en) * | 2020-05-11 | 2020-08-07 | 山东大学 | AGV attitude adjusting method and system |
| CN111645478A (en) * | 2020-05-27 | 2020-09-11 | 农业农村部南京农业机械化研究所 | Wheeled farmland management robot with flexible profiling chassis and profiling control method |
| CN111645478B (en) * | 2020-05-27 | 2021-07-20 | 农业农村部南京农业机械化研究所 | Wheeled farmland management robot with flexible profiling chassis and profiling control method |
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Application publication date: 20130828 |
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