CN107063651A - A kind of full landform excitation test platform in tractor suspension system farmland - Google Patents
A kind of full landform excitation test platform in tractor suspension system farmland Download PDFInfo
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- CN107063651A CN107063651A CN201611143120.2A CN201611143120A CN107063651A CN 107063651 A CN107063651 A CN 107063651A CN 201611143120 A CN201611143120 A CN 201611143120A CN 107063651 A CN107063651 A CN 107063651A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
Abstract
The present invention relates to agricultural machinery technological field, more particularly to a kind of full landform excitation test platform in tractor suspension system farmland, it includes base, workbench, L-type plate and trifilar suspension structure, the base is provided with multiple first driving parts, the bottom surface of the workbench position corresponding with first driving part is respectively equipped with the bearing with spherical outside surface being hinged with first driving part, the different postures to control the workbench；The top surface of the workbench is provided with the L-type plate, and the side plate of the L-type plate is provided with the trifilar suspension structure, and the trifilar suspension structure connects the second driving part.Different postures of the invention by controlling workbench, simulated farmland basic geological study, realization is articulated in operation of the agricultural machinery and implement of trifilar suspension structure in different croplands landform, and laboratory simulations environment is provided for the Operation control research of tractor and agricultural machinery and implement.
Description
Technical field
Swash the present invention relates to agricultural machinery experimental technique field, more particularly to a kind of full landform in tractor suspension system farmland
Encourage test platform.
Background technology
Tractor is mounted by its suspension and ploughs the different work equipments such as site preparation, sowing, field management, in agricultural production
In play a significant role.Because farm work is with a varied topography changeable, the work tool posture of tractor body posture and its mounting
The change of different amplitudes and different frequency will be produced with landform, if do not adjusted to tractor and the work tool of suspension
It is whole, it will all directly affect operation effectiveness.Land level scraper horizontal attitude is controlled in the tilling depth control of such as Subsoiler, grading operation
Deng.In the control technology research process such as tilling depth, level land, seeding operation are carried out, it is often necessary to be controlled system to field
Experiment and test.Due to being limited by agricultural production season, some experiments can not often continue to carry out.For the ease of in experiment
Influence of the different farm work landform to tractor suspension system and different work equipment Operation control effect is studied in room, having must
Develop the tractor suspension system test platform encouraged suitable for full landform, simulation climbing, inclination, obstacle detouring, the various works such as jolt
Handling situations under condition, are that tractor and the research of agricultural machinery and implement Operation control provide laboratory simulations environment.
Document " agricultural machinery virtual test intersection control routine " (garden is sternly big etc., agricultural mechanical journal, in August, 2011, the
The phase of volume 42 the 8th) devise a four-degree-of-freedom emulation platform, by bracket, reversing frame, mobile platform, isolator, hydraulic cylinder and
Rotary motor etc. is constituted, realize tractor is vibrated when field walk, turned to, the simulations of 4 postures such as roll and pitching it is imitative
Very.In conjunction with farmland dimensional Modeling Technology, travel speed, side under the crop field physical features that progress tractor is generated in virtual environment
To with balance control, the crop row for allowing tractor edge to generate at random is travelled.Document " the self-propelled agricultural machinery based on virtual reality
Test Research " (Wang Fei, China Agricultural University, 2014) proposes a kind of dynamic landform of Vega Prime that is based on and in real time may be used
Depending on the implementation method of change, the visualization virtual performance experiment of agricultural machinery is realized.
The studies above realizes test simulation of the agricultural machinery on artificially generated terrain using virtual reality technology, with compared with
Good effect.But there is problems with：(1) agricultural machinery and implement Operation control is not bound with, the void of the overall posture of agricultural machinery is only realized
Intend motion simulation；(2) take exercises needs first to set up farmland threedimensional model by virtual reality technology before emulating, and then could carry out
Simulated test, technical difficulty is big, and process is complicated.
The content of the invention
(1) technical problem to be solved
The present invention provides a kind of tractor suspension system farmland full landform excitation test platform, being capable of simulated farmland basis ground
Shape, realization is articulated in operation of the agricultural machinery and implement of trifilar suspension structure in different croplands landform, is the work of tractor and agricultural machinery and implement
Industry control research provides laboratory simulations environment.
(2) technical scheme
In order to solve the above-mentioned technical problem, the present invention provides a kind of full landform excitation experiment in tractor suspension system farmland and put down
Platform, including base, workbench, L-type plate and trifilar suspension structure, the base are provided with multiple first driving parts, the work
The bottom surface position corresponding with first driving part for making platform is respectively equipped with the ectosphere being hinged with first driving part
Spherical bearing, the different postures to control the workbench；The top surface of the workbench is provided with the L-type plate, the L-type plate
Side plate is provided with the trifilar suspension structure, and the trifilar suspension structure connects the second driving part, to drive at described 3 points
The action of suspended structure.
Wherein, the trifilar suspension structure includes the upper bracket and two symmetrical cloth being arranged on the side plate of the L-type plate
Upper connecting rod is hinged on the undersetting put, the upper bracket, lower pull bar is hinged on each undersetting, to form trifilar suspension
Position, the middle part of the lower pull bar vertically is hinged one end of lifting arm, and the other end of the lifting arm is hinged lift arm,
The lift arm is hinged on the lift arm bearing being arranged on the side plate of the L-type plate, is passed through between two lift arms
Lift arm crossbeam is connected, and the middle part for carrying crossbeam connects second driving part.
Wherein, the base is provided with multiple first driving part bearings, the first driving part bearing and is hinged institute
State the first driving part.
Wherein, the bottom surface of the workbench position corresponding with the first driving part bearing is respectively equipped with spherical outside surface
Bearing spider, the bearing with spherical outside surface bearing is provided with the bearing with spherical outside surface.
Wherein, first driving part is the first electric cylinder, and one end of first electric cylinder is hinged on described first
On driving part bearing, the other end of first electric cylinder is hinged the bearing with spherical outside surface.
Wherein, the bottom plate of the L-type plate is provided with the second driving part bearing, the second driving part bearing and is hinged
Second driving part.
Wherein, second driving part is the second electric cylinder, and one end of second electric cylinder is hinged on described second
On driving part bearing, the other end of second electric cylinder is hinged the middle part of the lift arm crossbeam.
Wherein, the base is provided with 3 first driving parts being distributed in equilateral triangle.
Wherein, the bottom surface of the base is provided with self-locking universal wheel.
Wherein, the workbench is provided with the gyroscope to detect the workbench working condition.
(3) beneficial effect
The manual feed silicon chip mechanism that the present invention is provided, has the characteristics that compared to prior art：
1st, the full landform excitation test platform in tractor suspension system farmland that the present invention is provided, passes through the first driving part pair
The driving of workbench, can control the posture of workbench, can simulate the different croplands such as level land, hillside fields, depression, projection, pit
Basic geological study, while various agricultural machinery and implement are mounted in trifilar suspension structure, by the second driving part to trifilar suspension structure
Driving, can simulate level land of the agricultural machinery and implement in different croplands landform, climbing, descending, roll, jolt, the operation feelings such as obstacle detouring
Condition, realizes full landform operating mode excitation, the test platform not only simplify system architecture, using also more convenient.
2nd, the full landform excitation test platform in tractor suspension system farmland that the present invention is provided, by the first electric cylinder and outside
The engagement of spherical bearing, realizes the control to the different postures of workbench；Pass through the second electric cylinder being arranged on the floor of L-type plate
The middle part of lift arm crossbeam is connected, so as to realize the difference action to trifilar suspension structure.
3rd, the full landform excitation test platform in tractor suspension system farmland that the present invention is provided, by setting on the table
Gyroscope, the different postures of workbench can be detected in real time and corresponding control structure is fed back in time, so that convenient adjust in good time
It is whole.
Brief description of the drawings
Fig. 1 encourages the structure chart of test platform for the full landform in tractor suspension system farmland that the present invention is provided；
The structure chart that Fig. 2 is connected for the first electric cylinder that the present invention is provided with workbench；
Trifilar suspension structure and the structure chart of the first driving part that Fig. 3 provides for the present invention；
Fig. 4 connects showing for control system for the full landform excitation test platform in tractor suspension system farmland that the present invention is provided
It is intended to；
In figure, 1：Base；2：Workbench；3：L-type plate；4：First driving part bearing；5：Bearing with spherical outside surface；6：Spherical outside surface
Bearing spider；7：First electric cylinder；8：Upper bracket；9：Undersetting；10：Upper connecting rod；11：Lower pull bar；12：Lifting arm；13：Lifting
Arm；14：Lift arm bearing；15：Lift arm crossbeam；16：Second driving part bearing；17：Second electric cylinder；18：Gyroscope；
19：Self-locking universal wheel.
Embodiment
For the ease of understanding the present invention, the present invention is described more fully below with reference to relevant drawings.In accompanying drawing
Give the better embodiment of the present invention.The preferred embodiments of the present invention are these are only, the special of the present invention is not thereby limited
Sharp scope, equivalent structure or equivalent flow conversion that every utilization description of the invention and accompanying drawing content are made, directly or
Connect and be used in other related technical fields, be included within the scope of the present invention.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The implication that technical staff is generally understood that is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " including one or more
The arbitrary and all combination of related Listed Items.
The present invention provides a kind of tractor suspension system farmland full landform excitation test platform, being capable of simulated farmland basis ground
Shape, realization is articulated in operation of the agricultural machinery and implement of trifilar suspension structure in different croplands landform, is the work of tractor and agricultural machinery and implement
Industry control research provides laboratory simulations environment.
As Figure 1-3, a kind of full landform excitation experiment in tractor suspension system farmland is provided in the embodiment of the present invention flat
Platform, including base 1, workbench 2, L-type plate 3 and trifilar suspension structure, base 1 are provided with multiple first driving parts, specifically,
Base 1 is provided with multiple first driving part bearings 4, and the first driving part bearing 4 is fixedly connected by bolt with base 1,
Each first driving part is respectively hinged on the first corresponding driving part bearing 4.The bottom surface of workbench 2 provided with it is multiple with
The one-to-one bearing with spherical outside surface 5 of first driving part, and the first driving part is hinged with bearing with spherical outside surface 5, specifically, work
The bottom surface of platform 2 is provided with multiple bearing with spherical outside surface bearings 6, and bearing with spherical outside surface bearing 6 is fastened on workbench 2 by dormant bolt,
The position of the driving part bearing 4 of bearing with spherical outside surface bearing 6 and first is corresponded, and bearing with spherical outside surface bearing 6 is provided with ectosphere
Spherical bearing 5.By controlling different first driving parts, it is possible to achieve the different postures of workbench 2, thus simulate level land, hillside fields,
The different croplands landform such as depression, projection, pit.Specifically, the first driving part is the first electric cylinder 7, the one of the first electric cylinder 7
End is hinged on the first driving part bearing 4, and the other end of the first electric cylinder 7 is hinged bearing with spherical outside surface 5.The top surface of workbench 2
Provided with L-type plate 3, the bottom plate of L-type plate 3 is arranged on workbench 2, and the side plate of L-type plate 3 is provided with according to tractor trifilar suspension system
The trifilar suspension structure that system is set, the trifilar suspension structure is used for hanging various agricultural machinery and implement, and trifilar suspension structure connection second is driven
Dynamic component, second driving part can drive the various actions of trifilar suspension structure, so as to drive agriculture by trifilar suspension structure
The overall lifting of equipment and fall.
The full landform excitation test platform in tractor suspension system farmland that the present invention is provided, by the first driving part to work
Make the driving of platform 2, the posture of workbench 2 can be controlled, the different croplands such as level land, hillside fields, depression, projection, pit can be simulated
Basic geological study, while various agricultural machinery and implement are mounted in trifilar suspension structure, by the second driving part to trifilar suspension structure
Driving, can simulate level land of the agricultural machinery and implement in different croplands landform, climbing, descending, roll, jolt, the operation feelings such as obstacle detouring
Condition, realizes full landform operating mode excitation, the test platform not only simplify system architecture, using also more convenient；This experiment porch
Tractor trifilar suspension system is combined with the Multi-dimension Motion Platform, is that tractor and agricultural machinery and implement Operation control provide full landform excitation
Simulation test platform, solve agricultural machinery by being limited the problem of can not carrying out field test operation season；By setting not
With operation landform, full landform can not only be carried out to the overall posture of agricultural machinery and encourage Work condition analogue, and combine 3 points of tractor
The Operation control of suspension and agricultural machinery and implement carries out full landform excitation Work condition analogue, is built furthermore, it is not necessary that carrying out three-dimensional to farmland
Mould, can directly simulate level land, climbing, descending, roll, jolt, the working condition such as obstacle detouring, reduce operation difficulty.
The full landform excitation test platform in tractor suspension system farmland that the present invention is provided, L-type plate 3 includes bottom plate and side
Plate, side plate is perpendicular to workbench 2, and for the trifilar suspension structure of fixation test platform, bottom plate passes through fixing bolt and workbench 2
It is adjacent to and is fixedly connected, stable support is provided for the three-point hitch of test platform.
In the present embodiment, trifilar suspension structure includes the upper bracket 8 and two symmetrical cloth being arranged on the side plate of L-type plate 3
The undersetting 9 put, wherein, it is hinged with upper bracket 8 on upper connecting rod 10, each undersetting 9 and is hinged with lower pull bar 11, is formed
Trifilar suspension position, the middle part of lower pull bar 11 vertically is hinged one end of lifting arm 12, and the other end of lifting arm 12 is hinged
One end of lift arm 13, the other end of lift arm 13 is hinged lift arm bearing 14, and the lift arm bearing 14 is arranged on L-type plate 3
On side plate, connected between two lift arms 13 by lift arm crossbeam 15, the middle part of lift arm crossbeam 15 connects the second drive division
Part.
The full landform excitation test platform in tractor suspension system farmland that the present invention is provided, by the first driving part and outside
The engagement of spherical bearing 5, realizes the control to the different postures of workbench 2；Driven by be arranged on the bottom plate of L-type plate 3 second
The middle part of dynamic component connection lift arm crossbeam 15, so as to control the different actions of trifilar suspension structure.
In the present embodiment, the bottom plate of L-type plate 3 is provided with the second driving part bearing 16, the second driving part bearing 16
It is hinged the second driving part.Specifically, the bottom of the second driving part bearing 16 is fixed on the bottom plate of L-type plate 3 by dormant bolt
Upper surface, for supporting and fixing the second driving part.
In the present embodiment, the second driving part is the second electric cylinder 17, and one end of the second electric cylinder 17 is hinged on the second drive
On dynamic component bearing 16, the other end of the second electric cylinder 17 is hinged the middle part of lift arm crossbeam 15.The tractor that the present invention is provided
The full landform excitation test platform in suspension farmland, the lower end of the second driving electric cylinder 17 passes through bearing pin and the second driving part branch
Seat 16 is hinged, and the upper end of the second driving electric cylinder 17 is hinged by bearing pin with lift arm crossbeam 15, for driving lift arm crossbeam
Lifting and whereabouts so that the various actions of lower pull bar 11 are realized in the effect for passing through lift arm crossbeam 15.
In the present embodiment, base 1 is provided with 3 the first driving part bearings 4 being distributed in equilateral triangle, workbench 2
Bottom surface is provided with 3 bearing with spherical outside surface bearings 6 being distributed in equilateral triangle, and the drive division of bearing with spherical outside surface bearing 6 and first
Part bearing 4 is corresponded, it is to be understood that the first electric cylinder 7 and bearing with spherical outside surface 5 are also equipped with three and in equilateral triangle
Arrangement, each electric cylinder 7 is connected to the bottom surface of workbench 3 by bearing with spherical outside surface 5.
In the present embodiment, workbench 3 is provided with gyroscope 18, the working condition to detect workbench 3, and gyroscope 18 is
A kind of angular speed motion detection apparatus, when being respectively controlled by control system to the first electric cylinder 7, workbench 3 will
Corresponding action is produced, now, the gyroscope 18 on workbench 3 is acted together with workbench 3, therefore, and it can detect work
Make the action situation of platform 8, and the action data signal of workbench 3 is fed back into control system, control system with setting by joining
Several mutual comparison, to realize the real-time control to the first electric cylinder 7, so as to adjust the action situation of workbench 3 in real time.
In the present embodiment, the bottom surface of base 1 is provided with self-locking universal wheel 19, specifically, the lower surface of base 1 is close to 4 angles
Position be respectively mounted 1 self-locking universal wheel, 19,4 square distributions of self-locking universal wheel, for supporting whole test platform,
And facilitate the movement of test platform.
It is understood that in order to realize the control respectively to workbench 3 and trifilar suspension structure, as shown in figure 4,3
First electric cylinder 7 and 1 the second electric cylinder 17 connect electric cylinder controller 20 respectively, and electric cylinder controller 20 is " one, which enters four, goes out "
Type controller, electric cylinder controller 20 receives the control signal that human-computer interaction terminal 21 is sent, respectively to 3 the first electric cylinders 7
It is independently controlled with 1 the second electric cylinder 17, electric cylinder controller 20 connects 3 first respectively by electric cylinder driver 22
Electric cylinder 7 and 1 the second electric cylinder 17, it is to be understood that electric cylinder driver 22 can be arranged on base 1.
Electric cylinder controller 20 adjusts the level of workbench 2 by the stroke of the push rod of 3 the first electric cylinders 7 of control
Posture, so that the different croplands surface configuration such as level land, hillside fields, depression, projection, pit is simulated, for the mould being fixed on workbench 3
Intend tractor suspension system trifilar suspension structure and its mounting agricultural machinery and implement provide level land, climbing, descending, roll, jolt, more
The landform excitation of the farmland such as barrier.
The software of the full landform excitation experiment in the operation tractor suspension system of human-computer interaction terminal 21 farmland, the software includes 3
Item function, the running parameter setting of test platform, simulation control, the real-time monitoring of test platform parameters of test platform.
Working platform parameter setting includes landform excitation parameters and set and the setting of trifilar suspension job parameter, and landform excitation parameters include ground
The face angle of gradient, length of grade, side tilt angle, roll the duration, amplitude of continuously jolting, continuous pitch frequency, when continuously jolting lasting
Between, obstacle height of projection, obstacle pit depth, the parameter such as continuous obstacle quantity；Trifilar suspension job parameter, which is set, mainly to be set
Put trifilar suspension lifting or descent altitude and the frequency.The simulation control of test platform is the test platform running parameter according to setting
Control parameter is generated, the second electric cylinder 17, the first electric cylinder 7 respectively to test platform are controlled, and make it according to default
Test platform running parameter carries out analog simulation.Test platform parameter monitoring mainly monitors the terrain information that realistic simulation goes out, three
The parameters such as actual adjustable height, the posture of workbench 3, the stroke of the push rod of each electric cylinder of point suspended structure.
In process of the test, according to farmland lineament, the basic earth's surface shape such as level land, hillside fields, depression, projection, pit is built
State, user need to be only simply provided using human-computer interaction terminal 21, each basic surface configuration of software self assemble, you can
Directly simulation tractor level land, climbing, descending, roll, jolt, the working condition such as obstacle detouring, simplify the operation stream of user
Journey, reduces operation difficulty.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God is with principle, and any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (10)
1. a kind of full landform excitation test platform in tractor suspension system farmland, it is characterised in that including base, workbench, L-type
Plate and trifilar suspension structure, the base are provided with multiple first driving parts, and the bottom surface of the workbench is driven with described first
The corresponding position of dynamic component is respectively equipped with the bearing with spherical outside surface being hinged with first driving part, to control the work
The different postures of platform；The top surface of the workbench is provided with the L-type plate, and the side plate of the L-type plate is provided with the trifilar suspension
Structure, the trifilar suspension structure connects the second driving part, the action to drive the trifilar suspension structure.
2. the full landform excitation test platform in tractor suspension system farmland according to claim 1, it is characterised in that described
Trifilar suspension structure includes being arranged on upper bracket and two undersettings being arranged symmetrically on the side plate of the L-type plate, it is described on
Upper connecting rod is hinged on bearing, lower pull bar is hinged on each undersetting, to form trifilar suspension position, the lower pull bar edge
The middle part of axial direction is hinged one end of lifting arm, and the other end of the lifting arm is hinged lift arm, and the lift arm is hinged on
It is arranged on the lift arm bearing on the side plate of the L-type plate, is connected between two lift arms by lift arm crossbeam, institute
State middle part connection second driving part for carrying crossbeam.
3. the full landform excitation test platform in tractor suspension system farmland according to claim 2, it is characterised in that described
Base is provided with multiple first driving part bearings, the first driving part bearing and is hinged first driving part.
4. the full landform excitation test platform in tractor suspension system farmland according to claim 3, it is characterised in that described
The bottom surface of the workbench position corresponding with the first driving part bearing is respectively equipped with bearing with spherical outside surface bearing, the ectosphere
Spherical bearing bearing is provided with the bearing with spherical outside surface.
5. the full landform excitation test platform in tractor suspension system farmland according to claim 4, it is characterised in that described
First driving part is the first electric cylinder, and one end of first electric cylinder is hinged on the first driving part bearing, institute
The other end for stating the first electric cylinder is hinged the bearing with spherical outside surface.
6. the full landform excitation test platform in tractor suspension system farmland according to claim 2, it is characterised in that described
The bottom plate of L-type plate is provided with the second driving part bearing, the second driving part bearing and is hinged second driving part.
7. the full landform excitation test platform in tractor suspension system farmland according to claim 6, it is characterised in that institute
The second driving part is stated for the second electric cylinder, one end of second electric cylinder is hinged on the second driving part bearing,
The other end of second electric cylinder is hinged the middle part of the lift arm crossbeam.
8. the full landform excitation test platform in tractor suspension system farmland according to any one of claim 1-7, it is special
Levy and be, the base is provided with 3 first driving parts being distributed in equilateral triangle.
9. the full landform excitation test platform in tractor suspension system farmland according to any one of claim 1-7, it is special
Levy and be, the bottom surface of the base is provided with self-locking universal wheel.
10. the full landform excitation test platform in tractor suspension system farmland according to any one of claim 1-7, it is special
Levy and be, the workbench is provided with the gyroscope to detect the workbench working condition.
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| CN201611143120.2A CN107063651A (en) | 2016-12-07 | 2016-12-07 | A kind of full landform excitation test platform in tractor suspension system farmland |
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Cited By (1)
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| CN110333089A (en) * | 2019-07-02 | 2019-10-15 | 农业农村部南京农业机械化研究所 | A kind of adaptive copying system testing stand |
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| CN104913939A (en) * | 2015-06-10 | 2015-09-16 | 西北农林科技大学 | Mountain micro tractor test rig |
| CN204796095U (en) * | 2015-06-25 | 2015-11-25 | 山东润鑫机械装备有限公司 | Novel multi -functional tractor three point suspension assembly |
| CN204944822U (en) * | 2015-09-18 | 2016-01-06 | 内蒙古农业大学 | Potato digger plow tractive resistance proving installation |
| CN205040191U (en) * | 2015-09-28 | 2016-02-24 | 浙江玉马机械有限公司 | Three -point linkage and have this three -point linkage's agricultural vehicle |
| CN105388031A (en) * | 2015-12-08 | 2016-03-09 | 南京农业大学 | Soil bin test trolley |
| CN205538259U (en) * | 2015-12-08 | 2016-08-31 | 南京农业大学 | Experimental platform truck of soil box |
| CN106053046A (en) * | 2016-07-19 | 2016-10-26 | 农业部南京农业机械化研究所 | Soil bin test table |
| CN106092413A (en) * | 2016-07-19 | 2016-11-09 | 农业部南京农业机械化研究所 | Soil bin test test platform |
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Application publication date: 20170818 |