CN106973617A - Grass-cutting head Intelligent electronic control system, control method, governor motion and hay mover - Google Patents
Grass-cutting head Intelligent electronic control system, control method, governor motion and hay mover Download PDFInfo
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- CN106973617A CN106973617A CN201710152347.1A CN201710152347A CN106973617A CN 106973617 A CN106973617 A CN 106973617A CN 201710152347 A CN201710152347 A CN 201710152347A CN 106973617 A CN106973617 A CN 106973617A
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 230000005611 electricity Effects 0.000 claims 1
- 239000003921 oil Substances 0.000 description 22
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- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 230000003321 amplification Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 238000003199 nucleic acid amplification method Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 244000025254 Cannabis sativa Species 0.000 description 2
- 244000173297 Medicago polymorpha Species 0.000 description 2
- 235000017823 Medicago polymorpha Nutrition 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 2
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- 238000005516 engineering process Methods 0.000 description 1
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- 230000002045 lasting effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/42—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a horizontal axis, e.g. cutting-cylinders
- A01D34/54—Cutting-height adjustment
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/74—Cutting-height adjustment
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/835—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes
- A01D34/86—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes for use on sloping ground, e.g. on embankments or in ditches
Abstract
The present invention relates to a kind of grass-cutting head Intelligent electronic control system, control method, Intelligent adjustment mechanism and hay mover.The Intelligent electronic control system includes double component sensors, measuring amplifier, electronic controller ECU and the proportion magnetic valve being sequentially connected electrically, double component sensors include torsion torque sensor and load cell, it is installed on the installation center axle of grass-cutting head, torsion torque sensor is used to detect the torsion that grass-cutting head relative contact is subject to, and load cell is used to detect the pressure that grass-cutting head relative contact is born；Measuring amplifier is used to the signal detected being converted to data signal；Electronic controller ECU is used to control signal being delivered to the proportion magnetic valve；Proportion magnetic valve is used to be controlled the rotary oil cylinder and/or hoist cylinder of grass-cutting head.Technical scheme, inclination and/or height by Intelligent adjustment grass-cutting head so that the grass-cutting head of hay mover can adapt to being uneven for road surface automatically, adapt to various operating modes.
Description
Technical field
Present invention relates generally to hay mover field, and in particular to a kind of grass-cutting head Intelligent electronic control system, control method, regulation
Mechanism and hay mover.
Background technology
It is well known that lawn or branch in highway both sides or park, are substantially manually cut using a kind of the hand-held of small shape
The small mower of careless machine or hand push or manually, electrically instrument, its inefficiency, labor intensive are more, mowing height is difficult to adjust
Save and there are problems that.
And general hay mover is run into when road surface is uneven, it is necessary to manually be cut to adjust in grass cutting action
The height and rotation grass-cutting head of toothed burclover so that grass-cutting head is with contacting bottom surface keeping parallelism, and height is suitable.But adjusted manually
Operate the degree of accuracy poor in journey, height and the optimum distance on grass-cutting head and ground have a certain distance, cause mowing effect poor, and
And often the part low on road surface does not reach the effect of mowing, while the problem of there is inefficiency.
Therefore, in order to adapt to the demands of different operating modes, the grass-cutting head of hay mover can be made to adapt on working level direction
Height changes, and grass-cutting head is carried out automatic lifting and is contacted with realizing that grass-cutting head is parallel with road surface all the time；Again can be in positive negative side
To slope on work so that grass-cutting head carry out automatic rotation with realize it is parallel with road surface all the time contact, so as to no matter ground
Be uneven or angle of inclination is different, the consistent of mowing height can be realized, it is necessary to propose a kind of new hay mover skill
Art, while stating function in realization, can simplify structure, reduce cost so that hay mover is easy to intellectualized operation and used.
The content of the invention
It is an object of the invention to provide a kind of grass-cutting head Intelligent electronic control system, control method, governor motion and hay mover,
Automatic liftings or rotation are carried out to solve not adapt to various complex working conditions when the grass-cutting head of existing hay mover closes on contact surface
The problem of Intelligent adjustment function.
The present invention is intended to provide a kind of grass-cutting head Intelligent electronic control system, the Intelligent electronic control system includes what is be sequentially connected electrically
Double component sensors, measuring amplifier, electronic controller ECU and proportion magnetic valve, wherein, described pair of component sensor includes turning round
Force snesor and load cell, described pair of component sensor are installed on the installation center axle of the grass-cutting head, the torsion
Sensor is used to detect torsion suffered when the grass-cutting head relative contact is tilted, and the load cell is used to detect institute
State the pressure that the relatively described contact surface of grass-cutting head is born；The measuring amplifier is used for detect described pair of component sensor
Signal is converted to data signal；The signal that the electronic controller ECU is used to transmit the measuring amplifier enters with setting value
Row compares calculating, and control signal is delivered into the proportion magnetic valve；The proportion magnetic valve is used for the rotation to grass-cutting head
Oil cylinder and/or hoist cylinder are controlled.
Above-mentioned Intelligent electronic control system, the proportion magnetic valve further comprises the first magnetic valve and the second magnetic valve, institute
The rotary oil cylinder that the first magnetic valve is used to control the grass-cutting head is stated, second magnetic valve is used for the liter for controlling the grass-cutting head
Oil cylinder drops.
Above-mentioned Intelligent electronic control system, the torsion torque sensor and load cell can be resistance sheet type sensor.
Above-mentioned Intelligent electronic control system, the Intelligent electronic control system may also include control crank, the control crank and institute
Electronic controller ECU electrical connections are stated, for controlling the electronic controller ECU manually.
Above-mentioned Intelligent electronic control system, the Intelligent electronic control system can also further comprise torsion button and loaded button,
The torsion button and loaded button are electrically connected with the electronic controller ECU respectively, for separately or concurrently on/off institute
State controls of the electronic controller ECU to the rotary oil cylinder and hoist cylinder.
Above-mentioned Intelligent electronic control system, the Intelligent electronic control system may also include LED worklight and display, the LED
Portable lamp shows that the display is used for described for the working condition to the torsion torque sensor, load cell
The operation result of torsion torque sensor, the testing result of load cell and the electronic controller ECU is shown.
The present invention also provides a kind of intelligent control method of above-mentioned Intelligent electronic control system, and methods described includes：
Suffered torsion when detecting that the grass-cutting head relative contact is tilted by torsion torque sensor；
The pressure that the relatively described contact surface of the grass-cutting head is born is detected by load cell；
The signal that the torsion torque sensor and/or load cell are detected is converted to by digital letter by measuring amplifier
Number；
The signal for being transmitted the measuring amplifier by electronic controller ECU is compared calculating with setting value, and will
Control signal is delivered to the proportion magnetic valve；
The rotary oil cylinder and/or hoist cylinder of grass-cutting head are controlled by the proportion magnetic valve.
Present invention additionally comprises a kind of Intelligent adjustment mechanism for including above-mentioned Intelligent electronic control system, the Intelligent adjustment mechanism
Also include rotary oil cylinder and hoist cylinder, the rotary oil cylinder is electrically connected with first magnetic valve；The hoist cylinder and institute
State the electrical connection of the second magnetic valve.
Present invention additionally comprises a kind of hay mover for including above-mentioned Intelligent adjustment mechanism, the hay mover also includes work
Arm, the working arm connects the grass-cutting head by connecting shaft, and the working arm connects the hoist cylinder, and the connecting shaft connects
Connect the rotary oil cylinder.
Above-mentioned hay mover, the hay mover also includes sensor axle bed and mounting box, and the sensor axle bed is installed on
On the installation center axle of the grass-cutting head, described pair of component sensor is installed on the sensor axle bed, the installation box cover
Outside described pair of component sensor and the sensor axle bed.
The grass-cutting head intelligent control of the present invention makes full use of the self gravitation of grass-cutting head and the support force feedback on road surface, by pressing
Power/torsion signal passes through signal converter-measuring amplifier, is converted into voltage signal (A/D processes), then by Electronic Control
After device ECU, output current signal (D/A processes), finally by the proportion magnetic valve that control signal type is direct proportion current relationship,
Control hydraulic jack acts to adjust inclination and the height of grass-cutting head so that hay mover reaches that automatic adaptation road surface is rugged
Effect.
The Intelligent electronic control system of the present invention can control grass-cutting head when closing on contact ground, automated intelligent lifting or rotation
Adjust, and the Intelligent adjustment mechanism and hay mover comprising the Intelligent electronic control system are simple and compact for structure, automaticity is high, operation
It is convenient, while realizing that the method for the control is simple and easy to apply, it is easy to widely popularize.
Brief description of the drawings
Fig. 1 is the Intelligent electronic control system schematic diagram of the embodiment of the present invention；
Fig. 2 is the Intelligent electronic control system structural representation of the embodiment of the present invention；
Fig. 3 is the dimensional structure diagram that hay mover of the embodiment of the present invention is applied；
Fig. 4 is the grass-cutting head of the embodiment of the present invention and the structural representation of connector；
Fig. 5 is stressing conditions schematic diagram of the grass-cutting head of the embodiment of the present invention on standard road surface；
Fig. 6 is the clockwise torsion signal that grass-cutting head of the embodiment of the present invention is produced on the slope of right side operating position
Figure；
Fig. 7 is the anticlockwise torsion signal that grass-cutting head of the embodiment of the present invention is produced on the slope of right side operating position
Figure；
Fig. 8 is the clockwise torsion signal that grass-cutting head of the embodiment of the present invention is produced on the slope of left side operating position
Figure；
Fig. 9 is the anticlockwise torsion signal that grass-cutting head of the embodiment of the present invention is produced on the slope of left side operating position
Figure.
Embodiment
Below in conjunction with drawings and examples, the embodiment to the present invention is described in more details, so as to energy
Enough more fully understand the solution of the present invention and the advantage of its various aspects.However, specific embodiments described below and reality
Apply the purpose that example is only explanation, rather than limitation of the present invention.
General hay mover is run into when road surface is uneven, it is necessary to manually adjust grass-cutting head in grass cutting action
Height and rotation grass-cutting head, but the operation degree of accuracy is poor during manual regulation, causes mowing effect poor, and efficiency is low
Under.For this present invention is intended to provide a kind of hay mover of intelligent control grass-cutting head, passes through the electro-hydraulic automatic control of Intelligent adjustment mechanism
Principle processed, makes full use of the self gravitation of grass-cutting head and the support force feedback on road surface, and then to the high and low position of grass-cutting head with inclining
Rake angle is controlled.
As shown in figure 1, the Intelligent electronic control system of grass-cutting head of the present invention mainly includes double component sensor, measuring amplifiers
12nd, electronic controller ECU13, proportion magnetic valve 14.
Wherein double component sensors include torsion torque sensor 10 and load cell 11 again.Double component sensors, which are installed on, to be cut
On the installation center axle of toothed burclover 4.Torsion torque sensor is used to detect torsion suffered when the relative contact of grass-cutting head 4 is tilted
Power, load cell 11 is used to detect the pressure that the relatively described contact surface of the grass-cutting head 4 is born.
The signal that measuring amplifier 12 is used to detect described pair of component sensor is converted to data signal.
The signal that electronic controller ECU13 is used to transmit measuring amplifier is compared calculating with setting value, and will control
Signal processed is delivered to the proportion magnetic valve 14.
Proportion magnetic valve 14 is used to be controlled the rotary oil cylinder 8 and/or hoist cylinder 9 of grass-cutting head.Proportion magnetic valve
14 include the first magnetic valve and the second magnetic valve, and first magnetic valve is used for the rotary oil cylinder 8 for controlling the grass-cutting head 4, institute
State the hoist cylinder 9 that the second magnetic valve is used to control the grass-cutting head 4.
Intelligent electronic control system passes through signal converter-measuring amplifier by pressure/torsion signal, is converted into voltage signal
(A/D processes) (typically may be configured as 0-10V), after electronic controller ECU13, the current signal (D/A processes) (one of output
As may be configured as 300-600mA), finally by control signal type be direct proportion current relationship proportion magnetic valve 14, control liquid
Compressing cylinder --- rotary oil cylinder and/or hoist cylinder 8/9 are acted, and to adjust inclination and the height of grass-cutting head 4, reach automatic adaptation
The rugged effect on road surface.
The structural representation of Intelligent electronic control system is as shown in Figure 2.Load cell 11 is responsible for collection grass-cutting head 4 and is being moved through
Load pressure variable signal-rated load in journey, passes to measuring amplifier 12, and measuring amplifier 12 is changed by amplification
Into low-voltage (0-10V) data signal, be then passed to electronic controller ECU13, electronic controller ECU13 by with programming
Programmed instruction in software 20 is compared, and output current signal (300-600ma) controls the unlatching of proportion magnetic valve 14, controls liquid
Press oil the flexible lifting/lowering to realize grass-cutting head 4 for the arm hoist cylinder 9 that pushes the work forward.
Torsion torque sensor 10 is responsible for collecting torsion variable signal of the grass-cutting head 4 in motion process, and signal passes to signal
Converter-measuring amplifier 12, measuring amplifier 12 is converted into low-voltage (0-10V) data signal, Ran Houchuan by amplification
Electronic controller ECU13 is passed, electronic controller ECU13 with the programmed instruction in programming software by comparing, output current letter
Number (300-600ma) controls the unlatching of proportion magnetic valve 14, control hydraulic oil promote grass-cutting head rotary oil cylinder 8 it is flexible come it is real
Existing grass-cutting head 4 just/reverse rotation.
Torsion torque sensor 10, load cell 11 can select the sensor of diversified forms, and in the present embodiment preferably one
Very thin resistance strain gage is planted, it utilizes the strain effect of resistance material, perceive axial strain and radial strain.Torsion torque sensor
10th, load cell 11 can be directly installed on inside sensor axle bed, and its mounting means can be strongly gluing or other specific
Fixed form, for measuring torsion on grass-cutting head 4 and load change.
As shown in figure 1, measuring amplifier 12 can have multigroup sensor interface Y1A, Y1B, Y2A, Y2B, Y3A, Y3B, Y4A,
Y4B, can also be increased or decreased according to different operating modes, can there is one group of output interface Com1, Com2.
As shown in Fig. 2 in order to flexibly control, the Intelligent electronic control system may also include control crank 19, it is described with it is described
Electronic controller ECU13 is electrically connected, for setting the numerical value in the electronic controller ECU13 manually.
Set control crank 19, can switch at any time it is manually operated, by swinging the direction of control crank 19, such as left and right
Direction for grass-cutting head 4 just/counter-rotating, fore-and-aft direction be grass-cutting head 4 raising and lowering, certainly this be not it is fixed, can
To be adjusted according to operating habit.
The Intelligent electronic control system may also include torsion button 15 and loaded button 16, and the torsion button 15 and load are pressed
Button 16 is electrically connected with the electronic controller ECU respectively, for electronic controller ECU13 described in separately or concurrently on/off
Control to the rotary oil cylinder 8 and hoist cylinder 9.
Further, for the ease of showing and observing, the Intelligent electronic control system may also include LED worklight 17,18 with
Display 21, the LED worklight 17,18 is used to carry out the working condition of the torsion torque sensor 10, load cell 11
It has been shown that, the display 21 is used for the torsion torque sensor 10, the testing result of load cell 11 and the electronics control
Device ECU13 processed operation result is shown.Now, control crank 19, torsion button 15 and loaded button 16, LED worklight
17 and 18 can simultaneously with display, programmable controller (only showing programming software in present embodiment figure) and electronic controller
ECU13 is electrically connected.
As shown in Fig. 2 torsion button 15, loaded button 16, LED worklight 17, LED worklight 18, control crank 19, volume
Range controller (programming software 20), display 21, by wire harness and CAN network connection, to reach intelligence, are automatically controlled
Purpose.
This Intelligent electronic control system may carry out free control according to the demand of different operating modes, and pass through on the control panel
LED worklight 17,18 shows its working condition, when only needing to grass-cutting head 4 and rotating, can open torsion button 15, then LED works
Make lamp 17 bright, close loaded button 16；When only needing to the lifting of grass-cutting head 4, loaded button 16 is opened, LED worklight 18 is bright, closed
Close torsion button 15；When not only needing grass-cutting head 4 to rotate but also needing mowing lifting, while opening torsion button 15 and loaded button
16, LED worklight 17 and LED worklight 18 are simultaneously bright.
Setting for initial value can also be carried out on grass-cutting head standard working face by the programming software 20 on programmable controller
Put and return to zero, and show on the display 21, so that sensor can accurately be measured, feeds back and adjusted.
The intelligent control method of above-mentioned Intelligent electronic control system, is mainly included the following steps that：
Suffered torsion when detecting that the grass-cutting head relative contact is tilted by torsion torque sensor；
The pressure that the relatively described contact surface of the grass-cutting head is born is detected by load cell；
The signal that the torsion torque sensor and/or load cell are detected is converted to by digital letter by measuring amplifier
Number；
The signal for being transmitted the measuring amplifier by electronic controller ECU is compared calculating with setting value, and will
Control signal is delivered to the proportion magnetic valve；
The rotary oil cylinder and/or hoist cylinder of grass-cutting head are controlled by the proportion magnetic valve.
The Intelligent adjustment mechanism for including above-mentioned Intelligent electronic control system that the present invention is provided, in addition to rotary oil cylinder and lifting oil
Cylinder, the rotary oil cylinder is electrically connected with first magnetic valve；The hoist cylinder is electrically connected with second magnetic valve.
As shown in figure 3, being installed on the application schematic diagram in Operation Van for intelligent, automatically controlled, all-hydraulic hay mover of the invention.
Hay mover includes chassis 1, mounting bracket 2, working arm 3, grass-cutting head 4, connecting shaft 5, sensor axle bed 6, mounting box 7, grass-cutting head rotation
Turn oil cylinder 8, working arm hoist cylinder 9, Intelligent electronic control system etc..
Wherein working arm 3 connects the grass-cutting head 4 by connecting shaft 5, and the working arm 3 connects the hoist cylinder 9, institute
State connecting shaft 5 and connect the rotary oil cylinder 8.Grass-cutting head 4 can revolve under the driving of rotary oil cylinder 8 with the installation center axle of itself
Turn；Lifting is can be achieved in working arm 3 under the driving of hoist cylinder 9, and grass-cutting head 4 can also be realized under the drive of working arm 3
Lower lifting.
As shown in figure 4, sensor axle bed 6 is installed on the installation center axle of the grass-cutting head 4, the company in such as the present embodiment
Spindle 5.Described pair of component sensor is mountable on the sensor axle bed 6, and the mounting box 7 covers in described pair of component sensing
Device and the outside of sensor axle bed 6 so that sensor axle bed 6 is between mounting box 7 and grass-cutting head connecting shaft 5.
Sensor axle bed 6 and measuring amplifier 12 all can be played effectively in the mounting box 7 on the top of grass-cutting head 4
Waterproof, anti-pollution, anticollision etc. are acted on.
Sensor axle bed 6 can be connected with the connecting shaft 5 and mounting box 7 of grass-cutting head 4 by high-strength bolt and self-locking nut,
Ensure be connected firmly, it is reliable while have dismounting, replacing, function easy to maintenance again.
The present invention the various operating modes of mowing functional adaptation, grass-cutting head can road right side work can also road left side
Work, can work on the slope of both forward and reverse directions.
During work, the feedback that the stress change in the motion process of grass-cutting head 4 is the road surface profile in front of work to provide,
If work front has height to change in the horizontal direction, a torsion signal can be produced, grass-cutting head 4 is carried out by this mechanism
Rotate and contacted with realizing that the backing roll 22 of the lower section of grass-cutting head 4 is parallel with road surface all the time, as shown in Figure 4, Figure 5；If work front
There is height to change in vertical direction, then can produce a load signal, grass-cutting head 4 is lifted to realize by this mechanism
The backing roll 22 of the lower section of grass-cutting head 4 is parallel with road surface all the time to be contacted.So, no matter ground being uneven or tilts
Angle is different, can be transferred through the automatic regulation function of Intelligent electronic control system, realizes the consistent of mowing height, while improving work
Efficiency.
As shown in figure 5, when grass-cutting head is parallel with contact surface, its working condition belonged on standard road surface, suffered torsion
Power is 0, and grass-cutting head is supported power F by the backing roll 22 of lower section in the fulcrum of left and right two, in its center of gravity by self gravitation
G。
As shown in fig. 6, the clockwise torsion that grass-cutting head of the embodiment of the present invention 4 is produced on the slope of right side operating position
Power and load schematic.It should be noted that clockwise and counter clockwise direction, left and right directions referred to herein is sat with people
It is observation benchmark in driver's cabin.
Under such a working condition, when certain point is with ramp interface on grass-cutting head, in the presence of gravity G, in the point
A upward supporting role power is generated, then can produce a torsion T, now torsion torque sensor can pass to this torsion T
Measuring amplifier 12, measuring amplifier 12 is converted into low-voltage (0-10V) data signal by amplification, is then passed to electronics
Controller ECU13, electronic controller ECU13 with the programmed instruction in programming software by comparing, output current signal (300-
600ma) control the unlatching of proportion magnetic valve 14, control hydraulic oil promotes the flexible of grass-cutting head rotary oil cylinder 8 to realize mowing
First 4 reverse rotation.
Grass-cutting head can leave slope after rotation, in the presence of gravity G, then can produce a downward power, now bear
Set sensor 11 is responsible for collecting load pressure variable signal-rated load of the grass-cutting head 4 in motion process, passes to measurement
Amplifier 12, measuring amplifier 12 is converted into low-voltage (0-10V) data signal by amplification, is then passed to Electronic Control
Device ECU13, electronic controller ECU13 with the programmed instruction in programming software 20 by comparing, output current signal (300-
600ma) control the unlatching of proportion magnetic valve 14, control hydraulic oil the flexible of arm hoist cylinder 9 that push the work forward realizes mowing
First 4 decline.
The synchronous lasting progress of the two actions, until grass-cutting head backing roll and slope parallel contact, release.
Following figure is identical with this primitive reason.
Fig. 7 is the anticlockwise torsion signal that grass-cutting head of the embodiment of the present invention is produced on the slope of right side operating position
Figure.Fig. 8 is the clockwise torsion schematic diagram that grass-cutting head of the embodiment of the present invention is produced on the slope of left side operating position.Figure
9 be the anticlockwise torsion schematic diagram that grass-cutting head of the embodiment of the present invention is produced on the slope of left side operating position.
Finally it should be noted that：Obviously, above-described embodiment is only intended to clearly illustrate example of the present invention, and simultaneously
The non-restriction to embodiment.For those of ordinary skill in the field, it can also do on the basis of the above description
Go out other various forms of changes or variation.There is no necessity and possibility to exhaust all the enbodiments.And thus drawn
Among the obvious changes or variations that Shen goes out is still in protection scope of the present invention.
Claims (10)
1. a kind of grass-cutting head Intelligent electronic control system, it is characterised in that the Intelligent electronic control system includes double points be sequentially connected electrically
Quantity sensor, measuring amplifier, electronic controller ECU and proportion magnetic valve, wherein,
Described pair of component sensor includes torsion torque sensor and load cell, and described pair of component sensor is installed on the mowing
On the installation center axle of head, the torsion torque sensor is used to detect torsion suffered when the grass-cutting head relative contact is tilted
Power, the load cell is used to detect the pressure that the relatively described contact surface of the grass-cutting head is born；
The signal that the measuring amplifier is used to detect described pair of component sensor is converted to data signal；
The signal that the electronic controller ECU is used to transmit the measuring amplifier is compared calculating with setting value, and will
Control signal is delivered to the proportion magnetic valve；
The proportion magnetic valve is used to be controlled the rotary oil cylinder and/or hoist cylinder of grass-cutting head.
2. Intelligent electronic control system as claimed in claim 1, it is characterised in that the proportion magnetic valve include the first magnetic valve and
Second magnetic valve, first magnetic valve is used for the rotary oil cylinder for controlling the grass-cutting head, and second magnetic valve is used to control
The hoist cylinder of the grass-cutting head.
3. Intelligent electronic control system as claimed in claim 1, it is characterised in that the torsion torque sensor and load cell are electricity
Hinder sheet type sensor.
4. Intelligent electronic control system as claimed in claim 1, it is characterised in that the Intelligent electronic control system also includes manipulating hand
Handle, the control crank is electrically connected with the electronic controller ECU, for controlling the electronic controller ECU manually.
5. Intelligent electronic control system as claimed in claim 1, it is characterised in that the Intelligent electronic control system also includes torsion button
And loaded button, the torsion button and loaded button are electrically connected with the electronic controller ECU respectively, for separately or concurrently
Controls of the electronic controller ECU to the rotary oil cylinder and hoist cylinder described on/off.
6. Intelligent electronic control system as claimed in claim 1, it is characterised in that the Intelligent electronic control system also includes LED operation
Lamp and display, the LED worklight is used to show the working condition of the torsion torque sensor, load cell, institute
Stating display is used for the computing to the torsion torque sensor, the testing result of load cell and the electronic controller ECU
As a result shown.
7. a kind of intelligent control method of Intelligent electronic control system as described in any one of claim 1 to 6, it is characterised in that institute
The method of stating includes：
Suffered torsion when detecting that the grass-cutting head relative contact is tilted by torsion torque sensor；
The pressure that the relatively described contact surface of the grass-cutting head is born is detected by load cell；
The signal that the torsion torque sensor and/or load cell are detected is converted to by data signal by measuring amplifier；
The signal for being transmitted the measuring amplifier by electronic controller ECU is compared calculating with setting value, and will control
Signal is delivered to the proportion magnetic valve；
The rotary oil cylinder and/or hoist cylinder of grass-cutting head are controlled by the proportion magnetic valve.
8. a kind of Intelligent adjustment mechanism of the Intelligent electronic control system comprising described in any one of claim 1 to 6, it is characterised in that
The Intelligent adjustment mechanism also includes rotary oil cylinder and hoist cylinder, and the rotary oil cylinder is electrically connected with first magnetic valve；
The hoist cylinder is electrically connected with second magnetic valve.
9. a kind of hay mover of the Intelligent adjustment mechanism comprising described in claim 8, it is characterised in that the hay mover also includes
Working arm, the working arm connects the grass-cutting head by connecting shaft, and the working arm connects the hoist cylinder, the connection
Axle connects the rotary oil cylinder.
10. hay mover as claimed in claim 9, it is characterised in that the hay mover also includes sensor axle bed and mounting box,
The sensor axle bed is installed on the installation center axle of the grass-cutting head, and described pair of component sensor is installed on the sensor
On axle bed, the mounting box covers in described pair of component sensor and sensor axle bed outside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710152347.1A CN106973617A (en) | 2017-03-15 | 2017-03-15 | Grass-cutting head Intelligent electronic control system, control method, governor motion and hay mover |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN109429731A (en) * | 2018-09-30 | 2019-03-08 | 吉林省农业科学院 | One kind hugging careless device |
| CN110149889A (en) * | 2018-02-14 | 2019-08-23 | 创科（澳门离岸商业服务）有限公司 | The method of the operation of non-autonomous electric gardening tool and the non-autonomous electric gardening tool of control |
| CN110663351A (en) * | 2019-11-06 | 2020-01-10 | 湖北国拓重工科技有限责任公司 | Ridge height induction lifting device |
| IT201800009635A1 (en) * | 2018-10-19 | 2020-04-19 | Mdb Srl Con Socio Unico | MULTI-PURPOSE REMOTE-CONTROLLED VEHICLE |
| WO2020161001A1 (en) * | 2019-02-04 | 2020-08-13 | Kverneland Group Kerteminde As | A mower for an agricultural machine |
| EP3831187A1 (en) * | 2019-12-04 | 2021-06-09 | MULAG FAHRZEUGWERK Heinz Wössner GmbH & CO. KG | Boom work device, self-propelled work machine with such a boom work device and method for detecting the loads acting on the boom |
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Effective date of registration: 20190715 Address after: 226406 Chengcha Town Industrial Concentration Zone, Rudong County, Nantong City, Jiangsu Province (Six Groups of Samsung Village) Applicant after: Jiangsu Saio Intelligent Technology Co.,Ltd. Address before: 226400 Chengcha Town Industrial Concentration Zone, Rudong County, Nantong City, Jiangsu Province Applicant before: DEMAY INTELLIGENT EQUIPMENT CO.,LTD. |
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Inventor after: Chen Chen Inventor after: Yue Huibin Inventor after: Deng Xiaofei Inventor after: Gu Qingya Inventor before: Yue Huibin Inventor before: Deng Xiaofei Inventor before: Gu Qingya |
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Application publication date: 20170725 |