CN106954401B - Manual and automatic navigation integrated crawler combine harvester steering system - Google Patents

Abstract

The invention relates to the technical field of combine harvester steering systems, in particular to a manual and automatic navigation integrated tracked combine harvester steering system; it includes a left steering cylinder, a right steering cylinder, a three-position five-way reversing valve, a first hydraulic pump, Valve, the first two-position three-way electromagnetic reversing valve, the second two-position three-way electromagnetic reversing valve, two-position two-way electromagnetic reversing valve, three-position four-way electromagnetic reversing valve, the second hydraulic pump, electric proportional overflow Flow valve, potentiometer, amplifying board, two-position switch, four-position switch, steering controller, computer; manual and automatic navigation integrated crawler combine harvester steering system of the present invention, its manual and automatic control can be operated independently without interfering with each other ;It can still adjust the size of the turning radius in the automatic navigation mode, and can manually operate the knob switch to control the steering; its automatic navigation mode provides considerable convenience for the operation of the harvester, making the steering operation of the harvester more effective. Intuitive and simple, it can be operated on a computer, and has a good market value.

Description

Manual and automatic navigation integrated crawler combine harvester steering system

technical field

The invention relates to the technical field of a combine harvester steering system, in particular to a manual and automatic navigation integrated crawler belt combine harvester steering system.

Background technique

Since the 21st century, driven by biotechnology and information technology, "precision agriculture" with the core of improving the utilization rate of agricultural resources and protecting the agricultural ecological environment has developed rapidly. As a core key technology of precision agriculture, automatic navigation of agricultural machinery is widely used in agricultural production processes such as farming, sowing, fertilizing, spraying, and harvesting. Among them, the automatic navigation of the combine harvester is an important way to realize the intelligence, efficiency and precision of harvesting operations. The application of combine harvester automatic navigation can optimize the harvesting path, reduce repeated operation areas, improve the work efficiency and work quality of the harvester; through assisted driving, the labor intensity of the driver can be reduced. Most of the existing crawler combine harvesters are fully manual operation, and the left and right steering is manually controlled through the steering handle. The steering principle is: after the left (right) pulls the steering handle, the left (right) steering cylinder pushes the left (right) side brake. Friction plates, the left (right) track decelerates or brakes completely, and the track on the other side maintains the original speed to realize differential steering on both sides. The degree of combination of the friction plates determines the turning radius, the tighter the combination, the better the braking effect and the smaller the turning radius. For crawler combine harvesters, the existing steering system cannot be directly connected to the automatic navigation system. The purpose of the present invention is to design a manual and automatic navigation integrated crawler combine harvester steering system. After the system is connected to the automatic navigation system, it can Realize the automatic control of steering; and, when the automatic navigation system is not used, the original manual steering will not be affected.

Contents of the invention

The object of the present invention is to address the defects and deficiencies of the prior art, and provide a manual and automatic navigation integrated crawler combine harvester steering system, which includes a left steering cylinder, a right steering cylinder, a three-position five-way reversing valve, a first hydraulic pump, overflow valve; the three-position five-way reversing valve and the first hydraulic pump are connected through oil pipes; the first hydraulic pump is connected to the fuel tank with oil pipes; the overflow valve is connected to the three-position five-way reversing valve and the oil pipe On the oil pipe between the first hydraulic pumps, the other end of the overflow valve is connected to the oil tank with the oil pipe; the oil return port of the three-position five-way reversing valve is connected to the oil tank with the oil pipe; it is characterized in that it also includes the first two three One-way electromagnetic reversing valve, second two-position three-way electromagnetic reversing valve, two-position two-way electromagnetic reversing valve, three-position four-way electromagnetic reversing valve, second hydraulic pump, electric proportional relief valve, potentiometer, amplifier Board, two-position switch, four-position switch, steering controller, computer; there is a two-position two-way electromagnetic reversing valve between the oil return pipeline of the right steering oil cylinder and the three-position five-way reversing valve; the left reversing oil cylinder and the three-position reversing valve The oil supply pipeline between the five-position reversing valve is provided with a first two-position three-way electromagnetic reversing valve; the oil supply pipeline between the right reversing oil cylinder and the three-position five-way reversing valve is provided with a second two-way solenoid valve. One-position three-way electromagnetic reversing valve; the connecting pipeline connects the first two-position three-way electromagnetic reversing valve to the left side of the three-position four-way electromagnetic reversing valve; the connecting pipeline connects the second two-position three-way electromagnetic reversing valve Connect to the right side of the three-position four-way electromagnetic reversing valve; connect the oil supply interface of the three-position four-way electromagnetic reversing valve to the second hydraulic pump and the electric proportional relief valve; connect the connecting pipeline to connect the three-position four-way The oil return port of the electromagnetic reversing valve is connected to the oil tank; the connecting pipeline connects the second hydraulic pump and the electric proportional relief valve to the oil tank respectively; the second hydraulic pump is connected to the engine transmission shaft through the belt, and the engine transmission shaft drives the hydraulic pressure through the belt. Pump; the wire connects the potentiometer, the amplifying board and the electric proportional overflow valve in series, the wire connects the first two-position three-way solenoid valve reversing valve and the second two-position three-way solenoid valve reversing valve After the circuit is connected in parallel, one end is connected to the two-position switch, and the other end is connected to the negative pole of the harvester power supply; the two-position switch is connected to the positive pole of the harvester power supply; the wire connects the left and right positions of the three-position four-way electromagnetic directional valve respectively Steering controller and four-position switch, the other end of the steering controller is respectively connected to the four-position switch and the computer with a wire; the other end of the four-position switch is connected to the two-position switch and the first two-position three-way electromagnetic reversing valve through a wire; The other end of the left side and the right side of the three-position four-way electromagnetic reversing valve is connected to the two-position two-way electromagnetic reversing valve with wires, and the other end of the two-position two-way electromagnetic reversing valve is connected to the negative pole of the power supply of the harvester.

After adopting the above structure, the beneficial effects of the present invention are: the manual and automatic navigation integrated crawler combine harvester steering system according to the present invention, its manual and automatic control can be operated independently without interfering with each other; The size of the turning radius can be adjusted; when using automatic navigation, if the navigation system deviates, you can manually adjust the direction of the harvester at any time, without conflicting with automatic navigation; when not using automatic navigation, it will not affect the original manual steering at all; it The advanced automatic navigation mode provides considerable convenience for the operation of the harvester, making the steering operation of the harvester more intuitive and simple, and can be operated on a computer, which has a good market value.

Description of drawings

The accompanying drawings described here are used to provide a further understanding of the present invention and constitute a part of the application, but do not constitute an improper limitation of the present invention. In the accompanying drawings:

Fig. 1 is a schematic diagram of the hydraulic steering system of the present invention;

Fig. 2 is a circuit diagram of the electric control steering part of the present invention.

Explanation of reference signs:

1-left steering cylinder, 2-right steering cylinder, 3-three-position five-way reversing valve, 4-first hydraulic pump, 5-overflow valve, 6-first two-position three-way electromagnetic reversing valve, 7- The second two-position three-way electromagnetic directional valve, 8-two-position two-way electromagnetic directional valve, 9-three-position four-way electromagnetic directional valve, 10-the second hydraulic pump, 11-electric proportional relief valve, 12- Potentiometer, 13-amplifier board, 14-two-position switch, 15-four-position switch, 16-steering controller, 17-computer.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments, wherein the schematic embodiments and descriptions are only used to explain the present invention, but are not intended to limit the present invention.

As shown in Figure 1-2, the manual and automatic navigation integrated crawler combine harvester steering system described in this specific embodiment includes a left steering cylinder 1, a right steering cylinder 2, a three-position five-way reversing valve 3, a first Hydraulic pump 4, overflow valve 5; the three-position five-way reversing valve 3 and the first hydraulic pump 4 are connected through an oil pipe; the first hydraulic pump 4 is connected to the oil tank with an oil pipe; the overflow valve 5 is connected to the three On the oil pipe between the five-position five-way reversing valve 3 and the first hydraulic pump 4, the other end of the overflow valve 5 is connected to the oil tank with the oil pipe; the oil return port of the three-position five-way reversing valve 3 is connected to the oil tank with the oil pipe; It is characterized in that it also includes a first two-position three-way electromagnetic reversing valve 6, a second two-position three-way electromagnetic reversing valve 7, a two-position two-way electromagnetic reversing valve 8, a three-position four-way electromagnetic reversing valve 9, Second hydraulic pump 10, electric proportional overflow valve 11, potentiometer 12, amplifier board 13, two-position switch 14, four-position switch 15, steering controller 16, computer 17; There is a two-position two-way electromagnetic reversing valve 8 between the five-way reversing valve 3; a first two-position three-way electromagnetic reversing valve is provided on the oil supply pipeline between the left reversing cylinder 1 and the three-position five-way reversing valve 3. The reversing valve 6; the oil supply pipeline between the right reversing oil cylinder 2 and the three-position five-way reversing valve 3 is provided with a second two-position three-way electromagnetic reversing valve 7; the connecting pipeline connects the first two-position three-way The electromagnetic reversing valve 6 is connected to the left side of the three-position, four-way electromagnetic reversing valve 9; the connecting pipeline connects the second two-position, three-way electromagnetic reversing valve 7 to the right side of the three-position, four-way electromagnetic reversing valve 9; The connecting pipeline connects the oil supply interface of the three-position four-way electromagnetic reversing valve 9 to the second hydraulic pump 10 and the electric proportional relief valve 11; the connecting pipeline connects the oil return port of the three-position four-way electromagnetic reversing valve 9 to the Oil tank; the connecting pipeline connects the second hydraulic pump 10 and the electric proportional overflow valve 11 to the oil tank respectively; the second hydraulic pump 10 is connected with the engine drive shaft through a belt, and the engine drive shaft drives the hydraulic pump 10 through a belt; the wire connects the potentiometer 12. The amplifying board 13 and the electric proportional overflow valve 11 are connected in series, and the wire connects the first two-position three-way solenoid valve reversing valve 6 and the second two-position three-way solenoid valve reversing valve 7 in series. The two series circuits described above After parallel connection, one end is connected to the two-position switch 14, and the other end is connected to the negative pole of the harvester power supply; the two-position switch 14 is connected to the positive pole of the harvester power supply; Connect the steering controller 16 and the four-position switch 15, the other end of the steering controller 16 is respectively connected to the four-position switch 15 and the computer 17 with a wire; the other end of the four-position switch 15 is connected to the two-position switch 14 and the first two Between the three-way electromagnetic reversing valve 6; the other ends of the left side and the right side of the three-position four-way electromagnetic reversing valve 9 are connected to the two-position two-way electromagnetic reversing valve 8 with wires, and the two-position two-way electromagnetic reversing valve The other end of the valve 8 is connected to the harvester power negative pole.

Further: the potentiometer 12 is a rotary potentiometer.

Further: the four-position switch 15 is a rotary four-position switch.

The manual and automatic navigation integrated crawler combine harvester steering system described in the present invention has its working principle as follows:

1. Manual control steering

When the two-position switch 14 is disconnected, it is in the manual steering mode. At this time, all electro-hydraulic components are not powered. Pull the operating handle to the left, and the three-position five-way reversing valve 3 will change direction. The first hydraulic pump 4 is on the pulley of the harvester. Driven to pump out the hydraulic oil, it flows through the three-position five-way reversing valve 3 and then enters the first two-position three-way electromagnetic reversing valve 6, and then enters the left steering cylinder 1, and the left steering cylinder 1 pushes the brake pad to work, and the left track Stationary, the harvester turns left; pull the operating handle to the right, the three-position five-way reversing valve 3 changes direction, and the first hydraulic pump 4 pumps out hydraulic oil driven by the belt pulley of the harvester, and flows through the three-position five-way reversing After the valve 3 enters the second two-position three-way electromagnetic reversing valve 7, then enters the right steering oil cylinder 2, and the right steering oil cylinder 2 promotes the work of the brake pad, and the right crawler belt is stationary to realize the right steering of the harvester. Adjust the overflow value of overflow valve 5 to change the turning radius. When the operating handle is not pulled, the three-position five-way reversing valve 3 is in the neutral position, and the two-position two-way electromagnetic reversing valve 8 is in the normally open state when there is no electricity, and the hydraulic oil springs in the left steering cylinder 1 and right steering cylinder 2 Under the action of force, it flows back into the oil tank through the two-position two-way electromagnetic reversing valve 8 and the three-position five-way reversing valve 3, and the hydraulic oil pumped out by the first hydraulic pump 4 directly flows into the fuel tank through the three-position five-way reversing valve 3; In the manual control state, the three-position four-way electromagnetic reversing valve 9 is in the neutral position, the engine transmission shaft drives the hydraulic pump 10 to work through the belt, and the hydraulic oil pumped by the second hydraulic pump 10 passes through the three-position four-way electromagnetic reversing valve 9 The neutral goes directly to the tank, and the electric steering doesn't work.

2. Autopilot system controls steering

When the two-position switch 14 is closed, it is the automatic navigation mode.

(1) The two-position switch 14 is closed, the first two-position three-way electromagnetic reversing valve 6, the second two-position three-way electromagnetic reversing valve 7, and the electric proportional overflow valve 11 are energized, and the first two-position three-way electromagnetic reversing valve The directional valve 6 and the second 2-position 3-way electromagnetic directional valve 7 are reversing, the manual operation oil circuit is cut off, and pulling the operating handle no longer works. At this time, the 3-position 5-way directional valve 3 is in the neutral position, and the first hydraulic pump 4 The pumped hydraulic oil flows through the three-position five-way reversing valve 3 and then directly flows into the oil tank, and the manual steering system does not work.

(2) When the four-position switch 15 is turned off, the three-position four-way electromagnetic reversing valve 9 is in the neutral position at this time, and the hydraulic oil pumped out by the second hydraulic pump 10 flows through the three-position four-way electromagnetic reversing valve 9 and then directly flows into the In the oil tank, the harvester runs straight; when the four-position switch 15 is connected to the steering controller 16, the steering controller 16 receives the steering command from the computer 17 and outputs an electric signal for control; when outputting the left steering signal, the three-position four-way electromagnetic reversing valve The left side of 9 is energized for reversing, the two-position two-way electromagnetic reversing valve 8 is energized for reversing, and the hydraulic oil pumped out by the second hydraulic pump 15 flows through the left side of the three-position four-way electromagnetic reversing valve 9 into the first two Three-position electromagnetic reversing valve 6, and then enter the left steering oil cylinder 1 to realize the left steering of the harvester; When the valve 8 is energized and reversing, the hydraulic oil pumped by the second hydraulic pump 10 flows through the right side of the three-position four-way electromagnetic reversing valve 9 and enters the second two-position three-way electromagnetic reversing valve 7, and then enters the right steering cylinder 2. Realize the right turning of the harvester. When the steering controller 16 outputs an electric signal, the two-position two-way electromagnetic reversing valve 8 is energized, the two-position two-way electromagnetic reversing valve 8 changes direction, the oil return circuit of the steering oil cylinder is cut off, and the oil in the oil cylinder cannot be returned to the oil tank. Steering state. When the steering controller 16 has no electric signal, the two-position two-way electromagnetic reversing valve 8 is not powered, and the reversing is in a normally-on state. Through the electromagnetic reversing valve 8 and the three-position five-way reversing valve 3, it flows back into the oil tank.

3. In automatic navigation mode, adjust the turning radius

As shown in Figure 2, the potentiometer 12 and the amplifying board 13 are used in combination to adjust the current passing through the electric proportional relief valve 11 without changing the voltage at both ends of the electric proportional relief valve 11 to adjust the electric proportional relief valve. The overflow value of 11, adjust the pressure of the electrohydraulic system, change the stroke of the jack rod of the steering cylinder, and adjust the turning radius.

4. The switch between manual/automatic navigation, when the automatic navigation system is not used, does not affect the manual steering operation, and the manual mode or automatic navigation mode is selected by opening or closing the two-position switch 14. The opening or closing of the two-position switch 14 determines the passage and disconnection of the first two-position three-way electromagnetic reversing valve 6 and the second two-position three-way electromagnetic reversing valve 7, so as to realize the first two-position three-way electromagnetic reversing valve 6 And the reversing of the second two-position three-way electromagnetic reversing valve 7, when not using the automatic navigation system, does not affect the manual steering operation.

5. When using the automatic navigation system, you can manually control the steering at any time without switching the working mode

In the automatic navigation mode, the two-position switch 14 is closed, and by turning the four-position switch 15, the four-position switch 15 is manually controlled to control the steering, and the four-position switch 15 is manually transferred to the left position of the three-position four-way electromagnetic reversing valve 9 , the left side of the three-position four-way electromagnetic reversing valve 9 is energized for reversing, the two-position two-way electromagnetic reversing valve 8 is energized for reversing, and the hydraulic oil pumped by the second hydraulic pump 10 flows through the three-position four-way electromagnetic reversing valve The left side of 9 enters the first two-position three-way electromagnetic reversing valve 6, and then enters the left steering oil cylinder 1 to realize the left steering of the harvester; the four-position switch 15 is manually transferred to the right side of the three-position four-way electromagnetic reversing valve 9 position, the right side of the three-position four-way electromagnetic reversing valve 9 is energized for reversing, the two-position two-way electromagnetic reversing valve 8 is energized for reversing, and the hydraulic oil pumped by the second hydraulic pump 10 flows through the three-position four-way electromagnetic reversing The right side of the valve 9 enters the second two-position three-way electromagnetic reversing valve 7, and then enters the right steering oil cylinder 2 to realize the right steering of the harvester. Manually turn the four-position switch 15 to connect the three-position four-way electromagnetic reversing valve 9, the two-position two-way electromagnetic reversing valve 8 is energized, the two-position two-way electromagnetic reversing valve 8 changes direction, and the oil return circuit of the steering cylinder is cut off , the oil in the oil cylinder cannot return to the oil tank, and the steering state remains. When the four-position switch 15 is manually turned to disconnect the three-position four-way electromagnetic reversing valve 9, the two-position two-way electromagnetic reversing valve 8 will be de-energized, and the reversing will be in the normally-on state, and the hydraulic pressure in the left steering cylinder 1 and right steering cylinder 2 will Under the action of the oil spring force, it flows back into the oil tank through the two-position two-way electromagnetic reversing valve 8 and the three-position five-way reversing valve 3 . In the automatic navigation mode, it is realized that there is no need to switch to the manual mode for manual steering.

In the manual and automatic navigation integrated tracked combine harvester steering system described in the present invention, its manual and automatic control can be operated independently without interfering with each other; it can still adjust the size of the turning radius in the automatic navigation mode. When there is a deviation in the navigation system, you can manually adjust the direction of the harvester at any time without conflicting with the automatic navigation; Considerable convenience makes the steering operation of the harvester more intuitive and simple, and can be operated on a computer, which has a very good market value.

The above is only a preferred embodiment of the present invention, so all equivalent changes or modifications made according to the structure, features and principles described in the scope of the patent application of the present invention are included in the scope of the patent application of the present invention.

Claims (1)

1. Manual and automatic navigation integrated crawler combine harvester steering system, which includes left steering cylinder (1), right steering cylinder (2), three-position five-way reversing valve (3), first hydraulic pump (4), overflow The flow valve (5); the three-position five-way reversing valve (3) is connected with the first hydraulic pump (4) through the oil pipe; the first hydraulic pump (4) is connected to the oil tank with the oil pipe; the overflow valve (5) Use the oil pipe to connect to the oil pipe between the three-position five-way reversing valve (3) and the first hydraulic pump (4), and the other end of the overflow valve (5) is connected to the oil tank with the oil pipe; the three-position five-way reversing valve ( 3) The oil return port is connected to the oil tank with an oil pipe; it is characterized in that it also includes a first two-position three-way electromagnetic reversing valve (6), a second two-position three-way electromagnetic reversing valve (7), a two-position two-way Through electromagnetic directional valve (8), three-position four-way electromagnetic directional valve (9), second hydraulic pump (10), electric proportional relief valve (11), potentiometer (12), amplifier board (13), The two-position switch (14), the four-position switch (15), the steering controller (16), the computer (17); the oil return line of the right steering cylinder (2) and the three-position five-way reversing valve (3). There is a two-position two-way electromagnetic reversing valve (8); the oil supply pipeline between the left reversing oil cylinder (1) and the three-position five-way reversing valve (3) is provided with a first two-position three-way electromagnetic reversing valve (6); the second two-position three-way electromagnetic reversing valve (7) is provided on the oil supply pipeline between the right reversing oil cylinder (2) and the three-position five-way reversing valve (3); the connecting pipeline connects the first The one-two-position three-way electromagnetic reversing valve (6) is connected to the left side of the three-position four-way electromagnetic reversing valve (9); the connecting pipeline connects the second two-position three-way electromagnetic reversing valve (7) to the three-position The four-way electromagnetic reversing valve (9) is on the right side; the connecting pipeline connects the oil supply interface of the three-position four-way electromagnetic reversing valve (9) to the second hydraulic pump (10) and the electric proportional relief valve (11); The connecting pipeline connects the oil return port of the three-position four-way electromagnetic reversing valve (9) into the fuel tank; the connecting pipeline connects the second hydraulic pump (10) and the electric proportional overflow valve (11) respectively into the fuel tank; the second The hydraulic pump (10) is connected to the engine transmission shaft through the belt, and the engine transmission shaft drives the second hydraulic pump (10) through the belt; the wire connects the potentiometer (12), the amplifier board (13) and the electric proportional overflow valve (11) in series , the wire connects the first two-position three-way solenoid valve reversing valve (6) and the second two-position three-way solenoid valve reversing valve (7) in series, and after the two series circuits are connected in parallel, one end is connected to the two-position switch ( 14), the other end is connected to the negative pole of the harvester power supply; the two-position switch (14) is connected to the positive pole of the harvester power supply; the wire connects the left and right positions of the three-position four-way electromagnetic reversing valve (9) to the steering The controller (16) and the four-position switch (15), the other end of the steering controller (16) is respectively connected to the four-position switch (15) and the computer (17) with a wire; the other end of the four-position switch (15) is connected to the computer through a wire Between the two-position switch (14) and the first two-position three-way electromagnetic reversing valve (6); the other ends of the left and right sides of the three-position four-way electromagnetic reversing valve (9) are connected to the two-position by wires The two-way electromagnetic reversing valve (8), the other end of the two-position two-way electromagnetic reversing valve (8) is connected to the negative pole of the power supply of the harvester; the potentiometer (12) is a rotary potentiometer; the four-position switch (15 ) is a rotary four-position switch.

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