CN105340402B - The horizontal automaton of forward type tractor pendent eT - Google Patents
The horizontal automaton of forward type tractor pendent eT Download PDFInfo
- Publication number
- CN105340402B CN105340402B CN201510843200.8A CN201510843200A CN105340402B CN 105340402 B CN105340402 B CN 105340402B CN 201510843200 A CN201510843200 A CN 201510843200A CN 105340402 B CN105340402 B CN 105340402B
- Authority
- CN
- China
- Prior art keywords
- module
- port
- resistance
- seat
- hinged
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B59/00—Devices specially adapted for connection between animals or tractors and agricultural machines or implements
- A01B59/06—Devices specially adapted for connection between animals or tractors and agricultural machines or implements for machines mounted on tractors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Abstract
The invention discloses a kind of horizontal automaton of forward type tractor pendent eT, belong to agricultural machinery technological field.In order to effectively solve the problem of tractor pendent eT level is automatically controlled, the other end of bracing wire is connected through mounting box with swing rod one end；The swing rod other end is hinged with mounting box, and angular displacement sensor is set in hinged place；The middle part of swing rod and one end of spring are hinged, and the other end and the mounting box of spring are hinged；Angular transducer is arranged on tractor；Tilt-lift oil cylinder is connected by hydraulic control valve with the hydraulic system on tractor.Angular transducer is not provided with the farm implements of tractor pendent eT of the present invention, is easy to tractor to change suspension farm implements, otherwise, also to remove angular transducer, tractor could change the farm implements of suspension；Controller it is simple in construction, be easy to make, fault rate is low, be easy to promote；Controller function is reasonable in design, and working state of system is shown by indicator lamp, user-friendly.
Description
Technical field
Controlled automatically the present invention relates to agricultural machinery technological field, more particularly to a kind of forward type tractor pendent eT level
Device processed.
Background technology
Site preparation is common operation in agricultural, still, because tractor pendent eT does not have horizontal automaton, is put down
Whole soil is uneven, and emergence rate one is straightforward during influence sowing, or depth one of the rice shoot transplanted in soil is straightforward.At present
Tractor suspension system be substantially to use three-point hitch, the device using hydraulic jack drive left and right lift arm around machine
Frame is rotated, and is driven left and right lifting arm to pull lower pull bar, is realized the purpose of lifting farm implements.When hitch is in a certain height,
The farm implements of suspension are irremovable with respect to the position of tractor, i.e., tractor is walked swings on uneven road, with regard to band
The farm implements of dynamic suspension also swing in horizontal direction so that farm implements can not laterally be in horizontal cultivation condition.Someone carries
Go out and a raising rod of suspension arrangement is changed into a balancing cylinder (such as patent 201410360990.X), from operation principle
The level control to hanging farm implements can be realized.But, complicated, the manufacturing cost height of control method and system；So, it is raw
The controller for needing a kind of manufacturing cost relatively low, effective to pendent eT horizontal adjustment in production.
The content of the invention
In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to provide a kind of forward type tractor pendent eT level certainly
Dynamic control device.
In order to achieve the above object, the technical solution adopted in the present invention is：A kind of forward type tractor pendent eT water
Flat automaton, including upper connecting rod, right lift arm, right lift cylinder, tilt-lift oil cylinder, bottom right pull bar, lower-left pull bar,
Left lifting arm, left lift arm, left lift cylinder, lifting arm axle, the first bracing wire fixed mount, bracing wire, the second bracing wire fixed mount, oil cylinder
Position detecting device；Wherein, one end of the upper connecting rod is fixed on the rear portion of tractor, the lifting arm axle and tractor rear portion
It is hinged；One end of the left lift arm is fixedly connected with lifting the left end of arm axle, one end and the right side of lifting arm axle of right lift arm
End is fixedly connected；One end of left lift cylinder is hinged with tractor rear portion, and the other end is hinged with left lift arm；Right lift cylinder
One end is hinged with tractor rear portion, and the other end is hinged with right lift arm；One end of lower-left pull bar and one end of bottom right pull bar with
The rear portion of tractor is hinged；One end of left lifting arm and the other end of left lift arm are hinged, the other end of left lifting arm and lower-left
Pull bar is hinged；One end of tilt-lift oil cylinder and the other end of right lift arm are hinged, and the other end is hinged with bottom right pull bar；Inclination is carried
Set on the piston rod of oil-lifting jar and the second bracing wire fixed mount is set on the first bracing wire fixed mount, the cylinder body of tilt-lift oil cylinder；Draw
Line is located on the second bracing wire fixed mount, and one end of bracing wire is hinged with the first bracing wire fixed mount, the other end and the oil cylinder position of bracing wire
Detection means is put to be connected；The other end of lower-left pull bar, bottom right pull bar and upper connecting rod mounts farm implements；
The cylinder position detector includes：Swing rod, spring, angular displacement sensor and mounting box；Wherein, the pendulum
Bar, spring, angular displacement sensor are installed in mounting box；The other end of bracing wire is connected through mounting box with swing rod one end；Pendulum
The bar other end is hinged with mounting box, and angular displacement sensor is set in hinged place；The middle part of swing rod and one end of spring are hinged, spring
The other end be hinged with mounting box；
The horizontal automaton of forward type tractor pendent eT also includes angular transducer, controller, hydraulic pressure
Control valve, initialization button, vernier knob, hand/adaptive switched switch, manually adjust switch, speed switching switch；Wherein, it is described
Angular transducer is arranged on tractor；The angular transducer, hydraulic control valve, initialization button, vernier knob, hand/from
Switching switch, manually adjust switch, speed switching switch be connected with controller；It is provided with what is be connected with host computer on controller
Interface；Tilt-lift oil cylinder is connected by hydraulic control valve with the hydraulic system on tractor.
Further, controller includes power module, microprocessor module, reverse connecting protection module, initialization module, input
Output module, angle-sensor module, stay wire sensor module, balance adjustments module, balance indicating module, hand/automatic switchover
Module, manual regulating module, speed handover module, two drive modules；Wherein, initialization module, microprocessor module, input
Output module, angle-sensor module, stay wire sensor module, balance adjustments module, balance indicating module, hand/automatic switchover
Module, manual regulating module, speed handover module, the power port of drive module are powered by power module；Outside 12V power supplys
It is connected by reverse connecting protection module with power module；It is angle-sensor module, stay wire sensor module, balance adjustments module, flat
Indicating module, hand/automatic switching module, manual regulating module, speed handover module, drive module weigh and microprocessor module
It is connected；Input/output module connects host computer and microprocessor module；Drive module is connected with hydraulic control valve；Angular transducer
Module is connected with angular transducer；Initialization module is connected with initialization button；Stay wire sensor module and angular displacement sensor
It is connected；Balance adjustments module is connected with vernier knob；Hand/automatic switching module is connected with hand/adaptive switched switch；Manually adjust mould
Block is connected with manually adjusting switch；Speed handover module is connected with speed switching switch.
Further, the power module includes external power source input seat H101, switch socket SW01, voltage stabilizing chip
U101, polarity free capacitor C03, C05, polar capacitor C04, C06, resistance R101 and power supply indicator D101；Wherein, external power source
Input seat H101 electrode input end mouthful is connected with switch socket SW01 one end, switch socket the SW01 other end, voltage stabilizing core
Piece U101 power input port, polarity free capacitor C03 one end be connected with polar capacitor C04 positive pole after as the first power supply
Output port；Voltage stabilizing chip U101 output port of power source, polarity free capacitor C05 one end, polar capacitor C06 positive pole are connected
Afterwards as second source output port；Voltage stabilizing chip U101 grounding ports ground connection；Resistance R101 one end and power supply indicator
D101 positive pole is connected, and the other end is connected with the first output port of power source；Polarity free capacitor C03, C05 other end, polarity electricity
Hold C04, C06 negative pole, power supply indicator D101 negative poles are grounded after being connected；
The microprocessor module is control chip U1；
The reverse connecting protection module includes this pipe Q4 and resistance R10 that rubs；Wherein, rub this pipe Q4 source ground, and drain electrode is made
It is connected for the input for this pipe Q4 that rubs with power input stand H101 negative input mouthful, gate pole is connected with resistance R10 one end,
First output port of power source of resistance R10 another termination power module；
The initialization module is an initialization button access seat ZERO-SET；Initialize button access seat ZERO-SET
First port be connected with the I/O ports of microprocessor module, initialization button access seat ZERO-SET second port ground connection；
The input/output module is a USB access seats UART；USB access seats UART first port and power module
Second source output port be connected, USB accesses seat UART second port ground connection, USB access seats UART the 3rd port with
Control chip U1 data sending terminal mouthful is connected；USB access seats UART the 4th port and control chip U1 data receiver
Mouth is connected；
The angle-sensor module is an angular transducer access seat A1；Angular transducer access seat A1 first end
Mouth is connected with the second source output port of power module, and angular transducer access seat A1 second port is with control chip U1's
First simulation input port is connected, angular transducer access seat A1 the 3rd port ground connection；
The stay wire sensor module is an angular displacement sensor access seat A2；The first of stay wire sensor access seat A2
Port is connected with the second source output port of power module, stay wire sensor access seat A2 second port and control chip U1
The second simulation input port be connected, stay wire sensor access seat A2 the 3rd port ground connection；
The balance adjustments module is a vernier knob access seat A3；Vernier knob access seat A3 first port and electricity
The second source output port of source module is connected, vernier knob access seat A3 second port and control chip U1 the 3rd simulation
Input port is connected, vernier knob access seat A3 the 3rd port ground connection；
The balance indicating module includes resistance R7, R8, R9, R205, optocoupler T3, and rub this pipe Q3, balance indicator lamp D106；
Wherein, resistance R205 one end is connected with balancing indicator lamp D106 positive pole, balance indicator lamp D106 negative pole and this pipe Q3 that rubs
Drain electrode be connected, the gate pole for this pipe Q3 that rubs is connected with resistance R7 one end, and the source electrode for this pipe Q3 that rubs is connected with resistance R8 one end
After be grounded；The resistance R7 other end and the resistance R8 other end are connected after being connected with optocoupler T3 emitter stage；Resistance R205's is another
One end is connected after being connected with optocoupler T3 colelctor electrode with the first output port of power source of power module；Optocoupler T3 light emitting diode
Positive pole is connected with resistance R9 one end, and the negative pole of optocoupler T3 light emitting diode is connected with control chip U1 I/O ports；Resistance
The R9 other end is connected with the second source output port of power module；
The hand/adaptive switched module include automatic pilot lamp D102, manually indicate D103, resistance R103, resistance R104 and
Hand/adaptive switched selection seat C1；Wherein, hand/adaptive switched selection seat C1 first port is connected with control chip U1 I/O ports,
Hand/adaptive switched selection seat C1 second port is connected with automatic pilot lamp D102 negative pole, and the 3rd of hand/adaptive switched selection seat C1 the
Port is connected with the negative pole of manual indicator lamp, and hand/adaptive switched selection seat C1 the 4th port is hanging, hand/adaptive switched selection seat C1
Fifth port ground connection；Automatic pilot lamp D102 positive pole is connected with resistance R103 one end, resistance the R103 other end and electricity
First output port of power source of source module；Manual indicator lamp D104 positive pole is connected with resistance R104 one end, resistance R104's
First output port of power source of the other end and power module；
The manual regulating module is one and manually adjusts switch access seat C2；Manually adjust the first of switch access seat C2
Port and the 4th port are connected with control chip U1 I/O ports；Manually adjust switch access seat C2 second port and the
Three ports are hanging, manually adjust switch access seat C2 fifth port ground connection；
The speed handover module is a speed switching switch access seat C3；The first of speed switching switch access seat C3
Port and the 4th port are connected with control chip U1 I/O ports；Speed switching switch access seat C3 second port and the
Three ports are hanging, speed switching switch access seat C3 fifth port ground connection；
The drive module include resistance R1, R2, R3, R203, optocoupler T1, rub this pipe Q1, diode D1, light emitting diode
D104 and driving valve socket vale1；Wherein, diode D1 positive poles, light emitting diode D104 negative poles, magnetic valve socket vale1
One end is connected after being connected with the drain electrode for this pipe Q1 that rubs, and the gate pole for this pipe Q1 that rubs is connected with resistance R1 one end, the source for this pipe Q1 that rubs
Pole is grounded after being connected with resistance R2 one end；Light emitting diode D104 positive poles are connected with resistance R203 one end；Magnetic valve socket
After the vale1 other end, the resistance R203 other ends, diode D1 negative poles, optocoupler T1 colelctor electrode are connected and power module the
One output port of power source is connected；The resistance R1 other end and the resistance R2 other end are connected after being connected with optocoupler T1 emitter stage；
Optocoupler T1 light emitting diode positive pole is connected with resistance R3 one end, optocoupler T1 light emitting diode negative pole and control chip U1's
I/O ports are connected；The resistance R3 other end is connected with the second source output port of power module；Four of hydraulic control valve connect
Mouth is connected with two driving valve socket vale1 of two drive modules.
The present invention has an advantageous effect in that compared with background technology：
1st, angular transducer is not provided with the farm implements of tractor pendent eT, is easy to tractor to change suspension farm implements, otherwise,
Angular transducer is also removed, tractor could change the farm implements of suspension；
2nd, controller is simple in construction, is easy to making, fault rate is low, be easy to promote；
3rd, it can avoid burning control circuit because of power positive cathode wrong with positive-negative connected protection circuit；
4th, drive module anti-parallel diodes protection circuit, it is to avoid the reverse self-induced e.m.f produced by electromagnetic valve coil
Damaged circuit；
5th, controller function is reasonable in design, and working state of system is shown by indicator lamp, user-friendly.
6th, with reset circuit, when farm implements are horizontal, because setting angle sensor can not possibly be strictly in
Level, so setting reset circuit to enable the controller to the accurate original state for judging farm implements.
7th, with fine setting module, implement linkage can produce certain deformation after a certain period of use time so that farm implements
Occur micro inclination, by finely tuning module, user can be facilitated voluntarily to adjust farm implements and recover horizontality.
Brief description of the drawings
Fig. 1 is tractor pendent eT structural representation of the present invention；
Fig. 2 is the structural representation of controller of the present invention；
Fig. 3 is the power module circuitry figure of controller of the present invention；
Fig. 4 is the microprocessor module circuit diagram of controller of the present invention；
Fig. 5 is the reverse connecting protection module circuit diagram of controller of the present invention；
Fig. 6 is the initialization module circuit diagram of controller of the present invention；
Fig. 7 is the input/output module circuit diagram of controller of the present invention；
Fig. 8 is the angle-sensor module circuit diagram of controller of the present invention；
Fig. 9 is the stay wire sensor module circuit diagram of controller of the present invention；
Figure 10 is the balance adjustments module circuit diagram of controller of the present invention；
Figure 11 is the balance indicating module circuit diagram of controller of the present invention；
Figure 12 is hand/automatic switching module circuit diagram of controller of the present invention；
Figure 13 is that controller of the present invention manually adjusts circuit diagram；
Figure 14 is the speed handover module circuit diagram of controller of the present invention；
Figure 15 is the drive module circuit diagram of controller of the present invention；
Figure 16 is control flow chart of the present invention；
Figure 17 is timer interrupt program flow chart of the present invention；
In figure：Upper connecting rod 1, right lift arm 2, right lift cylinder 3, tilt-lift oil cylinder 4, bottom right pull bar 5, lower-left pull bar 6,
Left lifting arm 7, left lift arm 8, left lift cylinder 9, lifting arm axle 10, the first bracing wire fixed mount 11, bracing wire 12, the second bracing wire are consolidated
Determine frame 13, cylinder position detector 14, swing rod 15, spring 16, angular displacement sensor 17, mounting box 18.
Embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples.
As shown in figure 1, the present invention includes upper connecting rod 1, right lift arm 2, right lift cylinder 3, tilt-lift oil cylinder 4, bottom right
Pull bar 5, lower-left pull bar 6, left lifting arm 7, left lift arm 8, left lift cylinder 9, lifting arm axle 10, the first bracing wire fixed mount 11,
Bracing wire 12, the second bracing wire fixed mount 13, cylinder position detector 14, swing rod 15, spring 16, angular displacement sensor 17, installation
Box 18, angular transducer (not shown), controller (not shown), hydraulic control valve (not shown), host computer
(not shown), initialization button (not shown), vernier knob (not shown), hand/adaptive switched switch are (in figure not
Show), manually adjust switch (not shown), speed switching switch (not shown)；Wherein, the one of the upper connecting rod 1
End is fixed on the rear portion of tractor, and the lifting arm axle 10 is hinged with tractor rear portion；One end of the left lift arm 8 and lifting
The left end of arm axle 10 is fixedly connected, and one end of right lift arm 2 is fixedly connected with lifting the right-hand member of arm axle 10；Left lift cylinder 9
One end is hinged with tractor rear portion, and the other end is hinged with left lift arm 8, and interface point is d points；One end of right lift cylinder 3 is with dragging
Machine drawing rear portion is hinged, and the other end is hinged with right lift arm 2, and interface point is c points；One end of lower-left pull bar 6 and the one of bottom right pull bar 5
The rear portion with tractor is held to be hinged；One end of left lifting arm 7 and the other end of left lift arm 8 are hinged, left lifting arm 7 it is another
End is hinged with lower-left pull bar 6, and pin joint is h points；One end of tilt-lift oil cylinder 4 and the other end of right lift arm 2 are hinged, another
End is hinged with bottom right pull bar 5, and pin joint is g points；First bracing wire fixed mount 11 is set on the piston rod of tilt-lift oil cylinder 4, inclined
Second bracing wire fixed mount 13 is set on the cylinder body of oblique lift cylinder 4；Bracing wire 12 is located on the second bracing wire fixed mount 13, bracing wire 12
One end be hinged with the first bracing wire fixed mount 11, the other end of bracing wire 12 is connected with cylinder position detector 14；The oil cylinder
Position detecting device 14 includes：Swing rod 15, spring 16, angular displacement sensor 17 and mounting box 18；Wherein, the swing rod 15, bullet
Spring 16, angular displacement sensor 17 are installed in mounting box 18；The other end of bracing wire 12 passes through mounting box 18 and the one end of swing rod 15
It is connected；The other end of swing rod 15 is hinged with mounting box 18, and angular displacement sensor 17 is set in hinged place；The middle part of swing rod 15 and spring
16 one end is hinged, and the other end and the mounting box 18 of spring 16 are hinged.
The angular transducer is arranged on tractor, and cylinder position detector 14 is arranged on tractor or farm implements
On, the other end of lower-left pull bar 6, bottom right pull bar 5 and upper connecting rod 1 mounts farm implements；Tilt-lift oil cylinder 4 passes through hydraulic control valve
It is connected with the hydraulic system on tractor.
As shown in Fig. 2 controller include power module, it is microprocessor module, reverse connecting protection module, initialization module, defeated
Enter output module, angle-sensor module, stay wire sensor module, balance adjustments module, balance indicating module, hand/cut automatically
Change the mold block, manual regulating module, speed handover module, two drive modules；Wherein, initialization module, microprocessor module, defeated
Enter output module, angle-sensor module, stay wire sensor module, balance adjustments module, balance indicating module, hand/cut automatically
Mold changing block, manual regulating module, speed handover module, the power port of drive module are powered by power module；Outside 12V electricity
Source is connected by reverse connecting protection module with power module；Angle-sensor module, stay wire sensor module, balance adjustments module,
Balance indicating module, hand/automatic switching module, manual regulating module, speed handover module, drive module with microprocessor mould
Block is connected；Input/output module connects host computer and microprocessor module；Drive module is connected with hydraulic control valve；Angle sensor
Device module is connected with angular transducer；Initialization module is connected with initialization button；Stay wire sensor module and angle displacement transducer
Device 17 is connected；Balance adjustments module is connected with vernier knob；Hand/automatic switching module is connected with hand/adaptive switched switch；Adjust manually
Mould preparation block is connected with manually adjusting switch；Speed handover module is connected with speed switching switch.
As shown in figure 3, power module, which includes external power source, inputs seat H101, switch socket SW01, voltage stabilizing chip U101, nothing
Polar capacitor C03, C05, polar capacitor C04, C06, resistance R101 and power supply indicator D101；Wherein, external power source input seat
H101 electrode input end mouthful (port 1) is connected with switch socket SW01 one end, switch socket the SW01 other end, voltage stabilizing core
Conduct after piece U101 power input port (port 3), polarity free capacitor C03 one end are connected with polar capacitor C04 positive pole
First output port of power source (port VCC1)；Voltage stabilizing chip U101 output port of power source (port 2), polarity free capacitor C05
One end, polar capacitor C06 positive pole are used as second source output port (port VCC2) after being connected；Voltage stabilizing chip U101 ground connection
Port is grounded；Resistance R101 one end is connected with power supply indicator D101 positive pole, the other end and the first output port of power source (end
Mouth VCC1) it is connected；Polarity free capacitor C03, C05 other end, polar capacitor C04, C06 negative pole, power supply indicator D101 are born
It is grounded after being extremely connected；The voltage stabilizing chip U101 can use model AS1117 (5V) product, but not limited to this.
As shown in figure 4, microprocessor module is control chip U1；The control chip U1 can use model
STC89C52RC product, but not limited to this.
As shown in figure 5, reverse connecting protection module includes this pipe Q4 and resistance R10 that rubs；Wherein, rub this pipe Q4 source ground,
Drain and be connected as the input (port D) for this pipe Q4 that rubs with power input stand H101 negative input mouthful (port 2), gate pole
It is connected with resistance R10 one end, the first output port of power source (port VCC1) of resistance R10 another termination power module.
As shown in fig. 6, initialization module is an initialization button access seat ZERO-SET；Initialize button access seat
ZERO-SET first port is connected with the I/O ports of microprocessor module, and the second of initialization button access seat ZERO-SET
Port is grounded.
As shown in fig. 7, input/output module is a USB access seats UART；USB access seats UART first port and electricity
The second source output port (port VCC2) of source module is connected, USB access seats UART second port ground connection, USB access seats
UART the 3rd port is connected with control chip U1 data sending terminal mouthful；USB access seats UART the 4th port and control core
Piece U1 data receiver port is connected.
As shown in figure 8, angle-sensor module is an angular transducer access seat A1；Angular transducer access seat A1's
First port is connected with the second source output port (port VCC2) of power module, angular transducer access seat A1 the second end
Mouth is connected with control chip U1 the first simulation input port, angular transducer access seat A1 the 3rd port ground connection.
As shown in figure 9, stay wire sensor module is an angular displacement sensor access seat A2；Stay wire sensor access seat A2
First port be connected with the second source output port (port VCC2) of power module, the second of stay wire sensor access seat A2
Port is connected with control chip U1 the second simulation input port, stay wire sensor access seat A2 the 3rd port ground connection.
As shown in Figure 10, balance adjustments module is a vernier knob access seat A3；The first of vernier knob access seat A3
Port is connected with the second source output port (port VCC2) of power module, vernier knob access seat A3 second port and control
Coremaking piece U1 the 3rd simulation input port is connected, vernier knob access seat A3 the 3rd port ground connection.
As shown in figure 11, balance indicating module include resistance R7, R8, R9, R205, optocoupler T3, rub this pipe Q3, balance indicate
Lamp D106；Wherein, resistance R205 one end is connected with balancing indicator lamp D106 positive pole, and balance indicator lamp D106 negative pole is with rubbing
This pipe Q3 drain electrode is connected, and the gate pole for this pipe Q3 that rubs is connected with resistance R7 one end, the source electrode for this pipe Q3 that rubs and the one of resistance R8
End is grounded after being connected；The resistance R7 other end and the resistance R8 other end are connected after being connected with optocoupler T3 emitter stage；Resistance
The R205 other end is connected after being connected with optocoupler T3 colelctor electrode with the first output port of power source (port VCC1) of power module；
Optocoupler T3 light emitting diode positive pole is connected with resistance R9 one end, the negative pole and control chip U1 of optocoupler T3 light emitting diode
I/O ports be connected；The resistance R9 other end is connected with the second source output port (port VCC2) of power module.
As shown in figure 12, hand/adaptive switched module includes automatic pilot lamp D102, indicates D103, resistance R103, resistance manually
R104 and hand/adaptive switched selection seat C1；Wherein, hand/adaptive switched selection seat C1 first port (port 1) is with control chip U1's
I/O ports are connected, and hand/adaptive switched selection seat C1 second port (port 2) is connected with automatic pilot lamp D102 negative pole, and hand/
Adaptive switched selection seat C1 the 3rd port (port 3) is connected with the negative pole of manual indicator lamp, and the 4th of hand/adaptive switched selection seat C1 the
Vacantly, hand/adaptive switched selection seat C1 fifth port (port 5) is grounded for port (port 4)；Automatic pilot lamp D102 positive pole with
Resistance R103 one end is connected, the resistance R103 other end and the first output port of power source (port VCC1) of power module；Hand
Dynamic indicator lamp D104 positive pole is connected with resistance R104 one end, and the resistance R104 other end and the first power supply of power module are defeated
Exit port (port VCC1).
As shown in figure 13, manual regulating module manually adjusts switch access seat C2 for one；Manually adjust switch access seat
C2 first port and the 4th port are connected with control chip U1 I/O ports (P21, P22, but not limited to this).Adjust manually
Whole switch access seat C2 second port and the 3rd port are hanging, manually adjust switch access seat C2 fifth port ground connection.
As shown in figure 14, speed handover module is a speed switching switch access seat C3；Speed switching switch access seat
C3 first port and the 4th port are connected with control chip U1 I/O ports (P23, P24, but not limited to this)；Speed is cut
Second port and the 3rd port for changing switch access seat C3 are hanging, speed switching switch access seat C3 fifth port ground connection.
As shown in figure 15, this automatic horizontal controller includes two drive modules.Drive module include resistance R1, R2, R3,
R203, optocoupler T1, rub this pipe Q1, diode D1, light emitting diode D104 and driving valve socket vale1；Wherein, diode D1 is being just
Pole, light emitting diode D104 negative poles, magnetic valve socket vale1 one end are connected after being connected with the drain electrode for this pipe Q1 that rubs, and rub this pipe
Q1 gate pole is connected with resistance R1 one end, and the source electrode for this pipe Q1 that rubs is grounded after being connected with resistance R2 one end；Light emitting diode
D104 positive poles are connected with resistance R203 one end；The magnetic valve socket vale1 other end, the resistance R203 other ends, diode D1
Negative pole, optocoupler T1 colelctor electrode are connected after being connected with the first output port of power source (port VCC1) of power module；Resistance R1's
The other end and resistance the R2 other end are connected after being connected with optocoupler T1 emitter stage；Optocoupler T1 light emitting diode positive pole and resistance
R3 one end is connected, and optocoupler T1 light emitting diode negative pole is connected with control chip U1 I/O ports；The resistance R3 other end with
The second source output port (port VCC2) of power module is connected；Four interfaces of hydraulic control valve and two drive modules
Two driving valve socket vale1 are connected.
As shown in figure 16, automatic horizontal controller after powered up, carries out program initialization setting, at the beginning of program by host computer
After beginning is provided with, host computer is separated with controller, controller is per at regular intervals to data progress single treatment.Arrive
Up to after operation time, the control parameter stored in control chip U1 is read.Implement linkage can be produced after a certain period of use time
Raw certain deformation so that micro inclination occurs for farm implements, can adjust farm implements by adjusting the fine setting parameter in control parameter
Recover horizontality.After control chip has read control parameter, then judge whether initialization button is pressed, if pressing
By the data zero setting of angular transducer 12, and store, sensor values are directly read if not pressing, because when farm implements are in
During horizontal level, the angular transducer of installation can not possibly strictly be in level, so setting initialization button to make control
Device processed can accurately judge the original state of farm implements.Sensor in the present invention has two, and two sensors are all placed on
On tractor, controller draws the angular values of farm implements by the numerical value of two sensors, because the agriculture of tractor pendent eT
Angular transducer is not provided with tool, is easy to tractor to change suspension farm implements, otherwise, angular transducer is also removed, tractor is
The farm implements of suspension can be changed；Then the state of hand/adaptive switched switch is judged, if hand/adaptive switched switch is in manual mode,
Close and interrupt；If manually adjusting switch is in lifting position, rising signals are exported to drive module, hydraulic control valve control is inclined
Oblique lift cylinder 4 performs vertical motion；If manually adjusting switch is in down position, dropping signal is exported to drive module,
Hydraulic control valve control tilt-lift oil cylinder 4 performs down maneuver；Such as manually adjust switch in an intermediate position, then tilt-lift
The stop motion of oil cylinder 4.Interruption is reopened after the completion of each action of manual control.Automatic position is in hand/adaptive switched switch
Put, then controller reads the speed control parameter prestored in the controller, switch the position judgment speed of switch according to speed
Angle value, draws control signal.
As shown in figure 17, it is timer interrupt program flow chart.It is automatic to reset timing after timer interruption is produced
Device parameter, hydraulic control valve, hydraulic control valve control tilt-lift oil cylinder 4 are output to by the control signal drawn under automatic mode
Automatic horizontal control action is performed, principal function is returned after having performed.
Claims (3)
1. a kind of horizontal automaton of forward type tractor pendent eT, it is characterised in that including upper connecting rod（1）, the right side carries
Rise arm（2）, right lift cylinder（3）, tilt-lift oil cylinder（4）, bottom right pull bar（5）, lower-left pull bar（6）, left lifting arm（7）, it is left
Lift arm（8）, left lift cylinder（9）, lifting arm axle（10）, the first bracing wire fixed mount（11）, bracing wire（12）, the second bracing wire fixes
Frame（13）, cylinder position detector（14）；Wherein, the upper connecting rod（1）One end be fixed on the rear portion of tractor, it is described to carry
Rise arm axle（10）It is hinged with tractor rear portion；The left lift arm（8）One end with lifting arm axle（10）Left end be fixedly connected,
Right lift arm（2）One end with lifting arm axle（10）Right-hand member be fixedly connected；Left lift cylinder（9）One end and tractor rear portion
It is hinged, the other end and left lift arm（8）It is hinged；Right lift cylinder（3）One end be hinged with tractor rear portion, the other end is carried with the right side
Rise arm（2）It is hinged；Lower-left pull bar（6）One end and bottom right pull bar（5）Rear portion of the one end with tractor be hinged；Left lifting arm
（7）One end and left lift arm（8）The other end be hinged, left lifting arm（7）The other end and lower-left pull bar（6）It is hinged；Tilt
Lift cylinder（4）One end and right lift arm（2）The other end be hinged, the other end and bottom right pull bar（5）It is hinged；Tilt-lift oil
Cylinder（4）Piston rod on the first bracing wire fixed mount is set（11）, tilt-lift oil cylinder（4）Cylinder body on set the second bracing wire to fix
Frame（13）；Bracing wire（12）It is located in the second bracing wire fixed mount（13）On, bracing wire（12）One end and the first bracing wire fixed mount（11）
It is hinged, bracing wire（12）The other end and cylinder position detector（14）It is connected；Lower-left pull bar（6）, bottom right pull bar（5）And pull-up
Bar（1）The other end mount farm implements；
The cylinder position detector（14）Including：Swing rod（15）, spring（16）, angular displacement sensor（17）And mounting box
（18）；Wherein, the swing rod（15）, spring（16）, angular displacement sensor（17）It is installed in mounting box（18）It is interior；Bracing wire（12）
The other end pass through mounting box（18）With swing rod（15）One end is connected；Swing rod（15）The other end and mounting box（18）It is hinged, in hinge
Meet place and angular displacement sensor is set（17）；Swing rod（15）Middle part and spring（16）One end be hinged, spring（16）The other end
With mounting box（18）It is hinged；
The horizontal automaton of forward type tractor pendent eT also includes angular transducer, controller, hydraulic control
Valve, initialization button, vernier knob, hand/adaptive switched switch, manually adjust switch, speed switching switch；Wherein, the angle
Sensor is arranged on tractor；The angular transducer, hydraulic control valve, initialization button, vernier knob, hand/adaptive switched
Switch, manually adjust switch, speed switching switch be connected with controller；Connecing of being connected with host computer is provided with controller
Mouthful；Tilt-lift oil cylinder（4）It is connected by hydraulic control valve with the hydraulic system on tractor.
2. the horizontal automaton of tractor pendent eT according to claim 1, it is characterised in that controller includes
Power module, microprocessor module, reverse connecting protection module, initialization module, input/output module, angle-sensor module, drawing
Line sensor assembly, balance adjustments module, balance indicating module, hand/automatic switching module, manual regulating module, speed switching
Module, two drive modules；Wherein, initialization module, microprocessor module, input/output module, angle-sensor module, drawing
Line sensor assembly, balance adjustments module, balance indicating module, hand/automatic switching module, manual regulating module, speed switching
Module, the power port of drive module are powered by power module；Outside 12V power supplys pass through reverse connecting protection module and power module
It is connected；Angle-sensor module, stay wire sensor module, balance adjustments module, balance indicating module, hand/automatic switching module,
Manual regulating module, speed handover module, drive module are connected with microprocessor module；Input/output module connects host computer
And microprocessor module；Drive module is connected with hydraulic control valve；Angle-sensor module is connected with angular transducer；Initialization
Module is connected with initialization button；Stay wire sensor module is connected with angular displacement sensor；Balance adjustments module and vernier knob
It is connected；Hand/automatic switching module is connected with hand/adaptive switched switch；Manual regulating module is connected with manually adjusting switch；Speed is cut
Mold changing block is connected with speed switching switch.
3. the horizontal automaton of tractor pendent eT according to claim 2, it is characterised in that the power supply mould
Block includes external power source and inputs seat H101, switch socket SW01, voltage stabilizing chip U101, polarity free capacitor C03, C05, polar capacitor
C04, C06, resistance R101 and power supply indicator D101；Wherein, external power source input seat H101 electrode input end mouthful and switch
Socket SW01 one end is connected, switch socket the SW01 other end, voltage stabilizing chip U101 power input port, polarity free capacitor
C03 one end be connected with polar capacitor C04 positive pole after as the first output port of power source；Voltage stabilizing chip U101 power supply output
Port, polarity free capacitor C05 one end, polar capacitor C06 positive pole are used as second source output port after being connected；Voltage stabilizing chip
U101 grounding ports ground connection；Resistance R101 one end is connected with power supply indicator D101 positive pole, the other end and the first power supply
Output port is connected；Polarity free capacitor C03, C05 other end, polar capacitor C04, C06 negative pole, power supply indicator D101
Negative pole is grounded after being connected；
The microprocessor module is control chip U1；
The reverse connecting protection module includes this pipe Q4 and resistance R10 that rubs；Wherein, rub this pipe Q4 source ground, and drain electrode is as rubbing
This pipe Q4 input is connected with power input stand H101 negative input mouthful, and gate pole is connected with resistance R10 one end, resistance
First output port of power source of R10 another termination power module；
The initialization module is an initialization button access seat ZERO-SET；Initialize the of button access seat ZERO-SET
Single port is connected with the I/O ports of microprocessor module, initialization button access seat ZERO-SET second port ground connection；
The input/output module is a USB access seats UART；The of USB accesses seat UART first port and power module
Two output port of power source are connected, USB access seats UART second port ground connection, USB access seats UART the 3rd port and control
Chip U1 data sending terminal mouthful is connected；USB access seats UART the 4th port and control chip U1 data receiver port phase
Even；
The angle-sensor module is an angular transducer access seat A1；Angular transducer access seat A1 first port with
The second source output port of power module is connected, angular transducer access seat A1 second port and the first of control chip U1
Simulation input port is connected, angular transducer access seat A1 the 3rd port ground connection；
The stay wire sensor module is an angular displacement sensor access seat A2；Stay wire sensor access seat A2 first port
It is connected with the second source output port of power module, the of stay wire sensor access seat A2 second port and control chip U1
Two simulation input ports are connected, stay wire sensor access seat A2 the 3rd port ground connection；
The balance adjustments module is a vernier knob access seat A3；Vernier knob access seat A3 first port and power supply mould
The second source output port of block is connected, vernier knob access seat A3 second port and control chip U1 the 3rd simulation input
Port is connected, vernier knob access seat A3 the 3rd port ground connection；
The balance indicating module includes resistance R7, R8, R9, R205, optocoupler T3, and rub this pipe Q3, balance indicator lamp D106；Its
In, resistance R205 one end is connected with balancing indicator lamp D106 positive pole, and balance indicator lamp D106 negative pole is with rubbing this pipe Q3's
Drain electrode is connected, and the gate pole for this pipe Q3 that rubs is connected with resistance R7 one end, after the source electrode for this pipe Q3 that rubs is connected with resistance R8 one end
Ground connection；The resistance R7 other end and the resistance R8 other end are connected after being connected with optocoupler T3 emitter stage；Resistance R205's is another
End is connected after being connected with optocoupler T3 colelctor electrode with the first output port of power source of power module；Optocoupler T3 light emitting diode is just
Pole is connected with resistance R9 one end, and the negative pole of optocoupler T3 light emitting diode is connected with control chip U1 I/O ports；Resistance R9
The other end be connected with the second source output port of power module；
The hand/adaptive switched module include automatic pilot lamp D102, manual indicator lamp D103, resistance R103, resistance R104 and hand/
Adaptive switched selection seat C1；Wherein, hand/adaptive switched selection seat C1 first port is connected with control chip U1 I/O ports, and hand/
Adaptive switched selection seat C1 second port is connected with automatic pilot lamp D102 negative pole, hand/adaptive switched selection seat C1 the 3rd end
Mouth is connected with the negative pole of manual indicator lamp, and hand/adaptive switched selection seat C1 the 4th port is hanging, hand/adaptive switched selection seat C1's
Fifth port is grounded；Automatic pilot lamp D102 positive pole is connected with resistance R103 one end, resistance the R103 other end and power supply
First output port of power source of module is connected；Manual indicator lamp D103 positive pole is connected with resistance R104 one end, resistance R104
The other end be connected with the first output port of power source of power module；
The manual regulating module is one and manually adjusts switch access seat C2；Manually adjust switch access seat C2 first port
It is connected with the 4th port with control chip U1 I/O ports；Manually adjust switch access seat C2 second port and the 3rd end
Mouth is hanging, manually adjusts switch access seat C2 fifth port ground connection；
The speed handover module is a speed switching switch access seat C3；Speed switching switch access seat C3 first port
It is connected with the 4th port with control chip U1 I/O ports；Speed switching switch access seat C3 second port and the 3rd end
Mouth is hanging, and speed switching switch access seat C3 fifth port is grounded；
The drive module include resistance R1, R2, R3, R203, optocoupler T1, rub this pipe Q1, diode D1, light emitting diode D104
With magnetic valve socket vale1；Wherein, diode D1 positive poles, light emitting diode D104 negative poles, magnetic valve socket vale1 one end
Be connected after be connected with the drain electrode for this pipe Q1 that rubs, the gate pole for this pipe Q1 that rubs is connected with resistance R1 one end, the source electrode for this pipe Q1 that rubs and
Resistance R2 one end is grounded after being connected；Light emitting diode D104 positive poles are connected with resistance R203 one end；Magnetic valve socket vale1
The other end, the resistance R203 other ends, diode D1 negative poles, optocoupler T1 colelctor electrode be connected after and power module the first power supply
Output port is connected；The resistance R1 other end and the resistance R2 other end are connected after being connected with optocoupler T1 emitter stage；Optocoupler T1
Light emitting diode positive pole be connected with resistance R3 one end, optocoupler T1 light emitting diode negative pole and control chip U1 I/O ends
Mouth is connected；The resistance R3 other end is connected with the second source output port of power module；Four interfaces of hydraulic control valve with
Two magnetic valve socket vale1 of two drive modules are connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510843200.8A CN105340402B (en) | 2015-11-26 | 2015-11-26 | The horizontal automaton of forward type tractor pendent eT |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510843200.8A CN105340402B (en) | 2015-11-26 | 2015-11-26 | The horizontal automaton of forward type tractor pendent eT |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105340402A CN105340402A (en) | 2016-02-24 |
| CN105340402B true CN105340402B (en) | 2017-10-03 |
Family
ID=55316705
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510843200.8A Active CN105340402B (en) | 2015-11-26 | 2015-11-26 | The horizontal automaton of forward type tractor pendent eT |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105340402B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108803644A (en) * | 2018-07-20 | 2018-11-13 | 浙江大学宁波理工学院 | The horizontal automatic control device of mounted implement |
| CN109328511A (en) * | 2018-11-22 | 2019-02-15 | 上海宏英智能科技有限公司 | A kind of tractor pendent eT self-level(l)ing device and its collecting method |
| CN113016249A (en) * | 2021-03-01 | 2021-06-25 | 伊犁师范大学 | Agricultural machine rear suspension automatic leveling device |
| CN113655784B (en) * | 2021-06-22 | 2023-06-23 | 中国船舶重工集团公司第七0七研究所 | Double-diesel outboard-mounted control device and method for measuring unmanned ship |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1033374A (en) * | 1962-04-11 | 1966-06-22 | Massey Ferguson Ltd | Improvements in or relating to agricultural machines |
| FR2448843A1 (en) * | 1979-02-16 | 1980-09-12 | Lemoine Attelages Sa | "THREE POINT" HITCH THAT CAN BE USED AS WELL BEFORE AS AT THE BACK OF AN INDUSTRIAL, AGRICULTURAL VEHICLE, FOR PUBLIC WORKS, OR FORESTRY, FOR EXAMPLE A TRACTOR |
| JPH088803B2 (en) * | 1987-05-18 | 1996-01-31 | 井関農機株式会社 | Tilt control device for agricultural work machines |
| US20040140109A1 (en) * | 2003-01-16 | 2004-07-22 | Deere & Company, A Delaware Corporation | Three-point hitch having flotation |
| CN104938072B (en) * | 2015-05-29 | 2016-11-02 | 浙江理工大学 | Double balancing cylinder transverse horizontal control device |
| CN105027718A (en) * | 2015-08-11 | 2015-11-11 | 青岛国润电子有限公司 | Device for automatically adjusting and balancing tractor rear-suspension through electric control |
| CN205179666U (en) * | 2015-11-26 | 2016-04-27 | 浙江理工大学 | Horizontal automatic control device of forward type tractor suspension unit |
-
2015
- 2015-11-26 CN CN201510843200.8A patent/CN105340402B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105340402A (en) | 2016-02-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105340402B (en) | The horizontal automaton of forward type tractor pendent eT | |
| CN104938072B (en) | Double balancing cylinder transverse horizontal control device | |
| CN105309079B (en) | The horizontal automaton of tractor pendent eT | |
| CN205179666U (en) | Horizontal automatic control device of forward type tractor suspension unit | |
| CN205179665U (en) | Horizontal automatic control device of tractor suspension unit | |
| CN108243635B (en) | Automatic control device and control method for tilling depth of tractor rotary tillage unit | |
| CN102835273B (en) | Intelligent growth and cultivation device for earth-cultivated plant | |
| CN204498604U (en) | A kind of automatic balancing arrangement | |
| CN205992147U (en) | A kind of new aquaculture on-line monitoring device | |
| CN105900551B (en) | The tilling depth detecting and controlling system and tilling depth control method of suspension type agricultural machinery | |
| CN206466047U (en) | A kind of potting soil information collecting device | |
| CN204994230U (en) | Plough complete machine copying device | |
| CN109429586A (en) | It is a kind of collection in the ranks, between strain weeding function one the device that weeds with a hoe | |
| CN103460857A (en) | Moving type soil removing and furrowing machine for grapes | |
| CN207948028U (en) | A kind of tractor rotary tillage unit tilling depth automatic control device | |
| CN209994821U (en) | Automatic control device of large-scale rice direct seeding operation unit | |
| CN113597851A (en) | Big rice direct seeding operation unit control device and method based on Beidou system | |
| CN205179664U (en) | A linkage for connecting paddy field beating machine | |
| CN205389428U (en) | Seedling device is inserted with hot pepper in saline and alkaline land | |
| CN207802702U (en) | A kind of electronic three-point hitch of tractor | |
| CN204443286U (en) | The multirow cotton top-cutting machine of intelligent accurate cotton topping device and formation | |
| CN207543845U (en) | A kind of edible fungus mycelium stimulation knife | |
| CN208462571U (en) | A kind of nursery tree support frame | |
| CN216626699U (en) | Profiling header system and harvester | |
| CN208175267U (en) | Automatic leveling plough rotation all-in-one machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |