CN107255164A - Farm power mechanical device and control method based on wireless control signal - Google Patents
Farm power mechanical device and control method based on wireless control signal Download PDFInfo
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- CN107255164A CN107255164A CN201710406749.XA CN201710406749A CN107255164A CN 107255164 A CN107255164 A CN 107255164A CN 201710406749 A CN201710406749 A CN 201710406749A CN 107255164 A CN107255164 A CN 107255164A
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 239000004065 semiconductor Substances 0.000 claims description 69
- 230000007935 neutral effect Effects 0.000 claims description 37
- 230000009471 action Effects 0.000 claims description 31
- 230000008569 process Effects 0.000 claims description 10
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- 230000006835 compression Effects 0.000 claims description 8
- 238000007906 compression Methods 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 230000005622 photoelectricity Effects 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 7
- 230000033228 biological regulation Effects 0.000 claims description 6
- 230000007423 decrease Effects 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 3
- 239000003921 oil Substances 0.000 description 58
- 238000010586 diagram Methods 0.000 description 13
- 239000010720 hydraulic oil Substances 0.000 description 11
- 230000000694 effects Effects 0.000 description 10
- 230000033001 locomotion Effects 0.000 description 8
- 239000007788 liquid Substances 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
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- 230000008602 contraction Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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- 238000004088 simulation Methods 0.000 description 1
- 239000010902 straw Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000011800 void material Substances 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/26—Generation or transmission of movements for final actuating mechanisms
- F16H61/28—Generation or transmission of movements for final actuating mechanisms with at least one movement of the final actuating mechanism being caused by a non-mechanical force, e.g. power-assisted
- F16H61/2807—Generation or transmission of movements for final actuating mechanisms with at least one movement of the final actuating mechanism being caused by a non-mechanical force, e.g. power-assisted using electric control signals for shift actuators, e.g. electro-hydraulic control therefor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
- F02D11/06—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance
- F02D11/10—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/26—Generation or transmission of movements for final actuating mechanisms
- F16H61/28—Generation or transmission of movements for final actuating mechanisms with at least one movement of the final actuating mechanism being caused by a non-mechanical force, e.g. power-assisted
- F16H61/32—Electric motors actuators or related electrical control means therefor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
- F16H63/02—Final output mechanisms therefor; Actuating means for the final output mechanisms
- F16H63/04—Final output mechanisms therefor; Actuating means for the final output mechanisms a single final output mechanism being moved by a single final actuating mechanism
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
- F16H63/02—Final output mechanisms therefor; Actuating means for the final output mechanisms
- F16H63/30—Constructional features of the final output mechanisms
- F16H63/3023—Constructional features of the final output mechanisms the final output mechanisms comprising elements moved by fluid pressure
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
- F02D11/06—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance
- F02D11/10—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
- F02D2011/101—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type characterised by the means for actuating the throttles
- F02D2011/102—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type characterised by the means for actuating the throttles at least one throttle being moved only by an electric actuator
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
- F16H2061/1208—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures with diagnostic check cycles; Monitoring of failures
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Guiding Agricultural Machines (AREA)
- Mechanical Control Devices (AREA)
Abstract
A kind of farm power mechanical device and control method based on wireless control signal, include the main control unit device for exporting automatically controlled signal（2）, it is set to and main control unit device（2）Output port connection and by motor control shift gears and power control the first performs device, be set to and main control unit device（2）Output port connection and control brake clutch, steering and annex to lift the second performs device manipulated by telescoping cylinder, pass through main control unit device（2）Signal, by motor control gearshift and power control, control brake clutch, steering and annex lifting to manipulate by telescoping cylinder, no longer manual shift formula manually operates, it is achieved that the automation of farm power mechanical device drives.
Description
First, technical field
The present invention relates to a kind of farm power mechanical device, especially a kind of farm power machinery dress based on wireless control signal
Put and control method.
2nd, background technology
Farm power mechanical device provides driving power for agricultural operation equipment, therefore farm power mechanical device is a kind of important
Agricultural equipment, be also all that manual shift formula is manually operated, due to agricultural machinery master in existing farm power mechanical device
Apply and various operations are carried out in field, but some special different areas of activity such as greenhouses have height and other aspects are limited,
Prevent operator is enabled from the operation on agricultural machinery or i.e. on agricultural machinery, operation is also especially inconvenient, easily occurs
Danger, currently there are no a kind of farm power mechanical device based on wireless control signal and control method, realizes farm power
The automation of mechanical device drives.
Based on existing technical problem, technical characteristic and technique effect, the application technical scheme of the present invention is made.
3rd, the content of the invention
The object of the present invention is a kind of farm power mechanical device based on wireless control signal,
The object of the present invention is a kind of farm power mechanical control method based on wireless control signal.
In order to overcome above-mentioned technical disadvantages, it is an object of the invention to provide a kind of farm power based on wireless control signal
Mechanical device and control method, it is achieved that the automation of farm power mechanical device drives.
To reach above-mentioned purpose, the present invention is adopted the technical scheme that：Include the master control list for exporting automatically controlled signal
Element apparatus, be set to be connected with the output port of main control unit device and by motor control shift gears and power control first
Performs device, be set to be connected with the output port of main control unit device and by telescoping cylinder control brake clutch, turn to and
The second performs device that annex lifting is manipulated.
Due to devising main control unit device, the first performs device and the second performs device, pass through main control unit device
Signal, by motor control gearshift and power control, controls brake clutch, steering and annex lifting to manipulate, no longer hand by telescoping cylinder
Dynamic shift type is manually operated, it is achieved that the automation of farm power mechanical device drives.
The present invention is devised, the first performs device and in the way of controlled motor and telescoping cylinder realize control action
Two performs devices are connected with main control unit device.
The present invention is devised, and also includes wireless signal output device, the second performs device be set to include brake from
Performs device, steering actuator and annex lift adjustment performs device are closed,
First performs device is set to include gearshift performs device and throttle actuating device,
The output port of wireless signal output device is set to defeated with main control unit device by way of wireless signal is connected
The control port of inbound port connection and performs device of shifting gears, the control port of brake clutch performs device, steering actuator
Control port, the control port of the control port of throttle actuating device and annex lift adjustment performs device is set to by having
The mode of line signal connection is connected with the output port of main control unit device.
The present invention is devised, and gearshift performs device is set to include longitudinal axis gearshift and transverse axis gearshift, the longitudinal axis
Gearshift is set to include flake bearing, longitudinal slide bar, locking handle I, longitudinal axis slip outer sleeve, longitudinal axis slip inner cylinder
Set, longitudinal axis motor and microswitch I, the longitudinal axis slide outer sleeve and are set to couple with the shell of selector and the setting of longitudinal axis motor
To couple with frame, longitudinal axis slip inner cylinder is set in longitudinal axis slip outer sleeve and the longitudinal axis slides inner cylinder set and is set to and indulges
Axle slides the connection of outer sleeve slidingtype, and the longitudinal axis slides inner cylinder set and is set to the output end axle of longitudinal axis motor couple and longitudinally slide
Bar is arranged on the longitudinal axis and slided in interior jacket casing, is provided with locking handle I between jacket casing in longitudinal slide bar and the longitudinal axis are slided and locks
Only handle I is set to couple with longitudinal slide bar and longitudinal axis slip inner cylinder set plug-in type, and longitudinal slide bar is set to by flake bearing
Couple with pin and microswitch I be set to couple with the output end axle of longitudinal axis motor,
Transverse axis gearshift is set to include connecting rocker arm, horizontal sliding bar, horizontal sliding bar fixed cover, locking handle II, fine motion
Switch II and transverse axis motor, transverse axis motor is set to couple with frame and microswitch II is set to output with transverse axis motor
Axle connection is held, the output end axle of transverse axis motor is set to couple with one end termination of horizontal sliding bar fixed cover, and horizontal sliding bar is fixed
The other end termination of set is set to couple with horizontal sliding bar, horizontal sliding bar be set to pin couple by connecting rocker arm and
Locking handle II is provided between horizontal sliding bar fixed cover and horizontal sliding bar, locking handle II is set to and horizontal sliding bar fixed cover
With horizontal sliding bar plug-in type connection and connecting rocker arm is set to L-shaped rhabodoid, transverse axis motor and horizontal sliding bar be set to be in
The mode of being arranged above and below is distributed, and the control port of longitudinal axis motor and the control port of transverse axis motor are respectively set to performs device of shifting gears
Control port, the output port of microswitch I and the output port of microswitch II are respectively set to and wireless signal is exported
The output port connection of device.
The present invention is devised, and brake clutch performs device is set to include clutch brake oil cylinder, cylinder nut, clutch and shaken
Arm, clutch rod, brake bar and brake rocker arm and cylinder nut is set to couple with the pars contractilis of clutch oil cylinder 43, clutch
Pull bar and brake bar are respectively set to couple with cylinder nut slidingtype and clutch rod is set to couple with clutch rocking arm,
Brake bar is set to be set to couple with brake pedal with brake rocker arm and brake rocker arm, and clutch rocking arm is set to and clutch
Pedal couples and back-moving spring is respectively arranged between brake pedal and frame, clutch pedal and frame, and clutch rocking arm is set
It is set to and couples with the swing end of clutch pedal and the pars intermedia of brake rocker arm is provided with bearing pin and gantry rotation formula and joined
Connect, one end end of brake rocker arm is set to couple with brake pedal and the other end end of brake rocker arm is set to and braked
Pull bar couples, and clutch rod and brake bar are separately positioned in the sliding eye of the side surface part of cylinder nut and in brake bar
End head be provided with adjusting nut, regulation spring is provided between adjusting nut and cylinder nut, clutch brake oil cylinder
Control port is set to the control port of brake clutch performs device.
The present invention is devised, and steering actuator is set to steering cylinder and steering cylinder is set to turning to connecting lever connection
Connect, the control port of steering cylinder is set to the control port of the control port of steering actuator.
The present invention is devised, and is turned to brake clutch hydraulic control device and is set to include steering constant current overflow oil pump, turns
To three-position four-way electromagnetic directional valve, Double throttle check valve, clutch brake three-position four-way electromagnetic directional valve and unloading valve,
Turn to three-position four-way electromagnetic directional valve and be provided with P ports, T-port, A ports and B ports and clutch brake 3-position 4-way
Solenoid directional control valve is provided with P ports, T-port, A ports and B ports, and unloading valve is provided with P ports, T-port and turns to perseverance
The output port of slime flux stream oil pump be respectively set to the P ports of unloading valve, turn to three-position four-way electromagnetic directional valve P ports and
The P ports connection of clutch brake three-position four-way electromagnetic directional valve, the A ports for turning to three-position four-way electromagnetic directional valve are set to pass through
Double throttle check valve connects with the port A2 of the steering cylinder of steering actuator and turns to the B of three-position four-way electromagnetic directional valve
Port is set to connect with the port B2 of the steering cylinder of steering actuator by Double throttle check valve, clutch brake three
The A ports of four-way electromagnetic reversing valve are set to connect with the port A1 of clutch brake oil cylinder and clutch brake 3-position 4-way electromagnetism
The B ports of reversal valve are set to connect with the port B1 of clutch brake oil cylinder.
The present invention is devised, throttle actuating device be set to include throttle linear electric motors, accelerator rod, bracing wire stopper and
Compression spring and accelerator rod is set to couple with the output end axle of throttle linear electric motors, acceleration cable is set to be serially connected in oil
In door pull bar and the end head of acceleration cable is provided with bracing wire stopper, compression spring is arranged on bracing wire stopper and accelerator rod
Between and the control ports of throttle linear electric motors is set to the control port of throttle actuating device.
The present invention is devised, and annex lift adjustment performs device is set to lift adjustment oil cylinder and lift adjustment oil cylinder is set
Put between frame and annex, the control port of lift adjustment oil cylinder is set to the control end of annex lift adjustment performs device
Mouthful.
The present invention is devised, annex lift adjustment perform hydraulic control device be set to include lifting constant current flood pump and
Three-position four-way electromagnetic directional valve is lifted, lifting three-position four-way electromagnetic directional valve is provided with P ports, T-port, A ports and B ports simultaneously
And the output port of lifting constant current flood pump is set to connect with lifting the P ports of three-position four-way electromagnetic directional valve, lifts three
The A ports of four-way electromagnetic reversing valve are set to connect simultaneously with the A1 ports of the lift adjustment oil cylinder of annex lift adjustment performs device
And the B ports of lifting three-position four-way electromagnetic directional valve are set to the B1 with the lift adjustment oil cylinder of annex lift adjustment performs device
Port is connected.
The present invention is devised, and wireless signal output device is set to button remote control and wireless signal output device is set
For include I grade of button, II grade of button, III grade of button, IV grade of button, R grades of buttons, N grades of buttons, lifting button, left-hand rotation button,
Right-hand rotation button, decline button 101, stop button, starting button, oiling button, subtract oily button 105, standby I button, standby II button
And transmitting block, I grade of button, II grade of button, III grade of button, IV grade of button, R grades of buttons, N grades of buttons, lifting button, left-hand rotations are pressed
Button, right-hand rotation button, decline button 101, stop button, starting button, oiling button, subtract oily button 105, standby I button and standby II
Button is respectively set to be connected with the input port of transmitting block.
The present invention is devised, and main control unit device is set to include wireless reception block, MCU chip, protection circuit, straight line
Motor control and oil cylinder control, the input port of linear electric motors control are connected with MCU chip output port, the input of oil cylinder control
Port is set to be connected with the output port of wireless reception block, and circuit protection circuit is set to connect with input power.
Linear electric motors control is set to include photoelectrical coupler U3, resistance R31, resistance R32, metal-oxide-semiconductor Q2, photoelectric coupling
Device U4, resistance R34, resistance R35, metal-oxide-semiconductor Q4, photoelectrical coupler U5, resistance R37, resistance R38, metal-oxide-semiconductor Q3, photoelectrical coupler
U6, resistance R40, resistance R41, metal-oxide-semiconductor Q5 and current detector current1, interface P2.0, P2.1, P2.2 of MCU chip and
P2.3 is respectively set to the MCU with photoelectrical coupler U3, photoelectrical coupler U4 MCU, photoelectrical coupler U5 MCU and photoelectricity coupling
Clutch U6 MCU connections, photoelectrical coupler U3 output interface is set to be connected with metal-oxide-semiconductor Q2 and photoelectricity by resistance R31
Coupler U3 output interface is set to by resistance R32 and GND, and photoelectrical coupler U4 output interface is set to lead to
Cross that resistance R34 is connected with metal-oxide-semiconductor Q4 and photoelectrical coupler U4 output interface is set to by resistance R35 and GND,
Photoelectrical coupler U5 output interface is set to be connected with metal-oxide-semiconductor Q3 by resistance R37 and photoelectrical coupler U5 output connects
Mouth is set to by resistance R38 and GND, and photoelectrical coupler U6 output interface is set to by resistance R40 and metal-oxide-semiconductor
Q5 connections and photoelectrical coupler U6 output interface are set to by resistance R41 and GND.
Oil cylinder control is set to include photoelectrical coupler U7, resistance R50, resistance R51, resistance R52, resistance R53, MOS
Pipe Q6 and inductance coil L1 and photoelectrical coupler U7 one of input interface are set to and received the output port of block 201
Connection, photoelectrical coupler U7 one of input interface is set to be connected and photoelectrical coupler with the earth by resistance R50
U7 other in which input interface is set to be connected with the earth by resistance R51, and photoelectrical coupler U7 output interface is set
To be connected by resistance R52 with metal-oxide-semiconductor Q6, photoelectrical coupler U7 output interface is connected simultaneously by resistance R53 with power cathode
And metal-oxide-semiconductor Q6 one of interface is set to be connected with power cathode, metal-oxide-semiconductor Q6 other in which interface is set to pass through
Inductance coil L1 is connected with positive source.
Protection circuit is set to include reverse-connection protection circuit, over-voltage fault diagnostic circuit and over current fault diagnostic circuit,
Reverse-connection protection circuit is set to include relay K1 and diode D4 and diode D4 positive pole are set to and key
Switch connection is opened, diode D4 negative pole is set to be connected with relay K1 control interface and relay K1 power supply connects
Mouth is set to be connected with external power supply by fuse.
Over-voltage fault diagnostic circuit is set to include resistance R4, resistance R5, resistance R6, resistance R7, amplifier block U1, resistance
R1, photoelectrical coupler U2, resistance R2 and resistance R3 and metal-oxide-semiconductor Q1, amplifier block U1 negative pole are set to by resistance R4 and power supply
Positive pole is connected and amplifier block U1 negative pole is set to be connected with power cathode by resistance R5, and amplifier block U1 positive pole is set to
It is connected by resistance R6 with the earth and amplifier block U1 positive pole is set to be connected with power cathode by resistance R7, amplifier block U1
Output interface be respectively set to be connected with resistance R1 and photoelectrical coupler U2 one of input interface, photoelectrical coupler U2
One of output interface be set to be connected with metal-oxide-semiconductor Q1 input interfaces by resistance R2, wherein the one of photoelectrical coupler U2
Individual input interface is set to be connected with power cathode and photoelectrical coupler U2 one of output interface is set to pass through
Resistance R3 is connected with power cathode, and photoelectrical coupler U2 other in which output interface is set to the negative pole company with diode D4
Connect and metal-oxide-semiconductor Q1 one of output interface is set to be connected with relay K1, metal-oxide-semiconductor Q1 other in which is defeated
Outgoing interface is set to be connected with power cathode,
Over current fault diagnostic circuit is set to include current detector current1, current detector current1 interface IN
+ be respectively set to connect with metal-oxide-semiconductor Q2, metal-oxide-semiconductor Q3, metal-oxide-semiconductor Q4 and metal-oxide-semiconductor Q5, the power supply of current detector has main control unit
Mu balanced circuit inside device provides power supply, and the electric current of current detector real-time sampling linear electric motors turns the electric current of linear electric motors
Analog quantity is changed into be handled to MCU chip.
The present invention is devised, a kind of mechanical gear control method of the farm power based on wireless control signal, with reference to
Embodiment, is further described to the present invention, and following examples are intended to illustrate invention rather than limitation of the invention further.
Its step is：Output signal is initialized, if perform parking action, when performing parking action, if perform gearshift dynamic
Make, when performing gear shifting action, whether current gear is neutral, preceding gear is not neutral, whether preceding gear arrives neutral, preceding gear
Less than neutral and alarmed, current gear is that neutral and preceding gear are effective to neutral, and whether target gear is neutral, target
Gear is not neutral, neutral to target gear, and neutral is effective and alarmed to target gear, and neutral does not have to target gear
Effect and target gear are neutral and are made whether to perform starting-up action, are to perform starting-up action and be made whether to perform throttle
Plus-minus is acted, and is to perform throttle plus-minus to act and be made whether to perform alert process, is to perform alert process and be
No data are preserved, and are that data preserve and are made whether that output signal is initialized.
In the technical program, the main control unit device of controlled motor and telescoping cylinder, the first performs device and second are performed
Device is important technical characteristic, in farm power mechanical device and the technical field of control method based on wireless control signal
In, with novelty, creative and practicality, the term in the technical program is all that can use patent in the art
Document is explained and understood.
4th, illustrate
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing skill
The accompanying drawing used required in art description is briefly described, it should be apparent that, drawings in the following description are only the present invention
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
These accompanying drawings obtain other accompanying drawings.
Fig. 1 is schematic diagram of the invention；
Fig. 2 is the longitudinal axis gearshift schematic diagram of the gearshift performs device 3 of the present invention；
Fig. 3 is the transverse axis gearshift schematic diagram of the gearshift performs device 3 of the present invention；
Fig. 4 is the schematic diagram of brake clutch performs device 4 of the invention；
Fig. 5 is the schematic diagram of throttle actuating device 6 of the invention；
Fig. 6 is wireless signal output device 1 and the annexation schematic diagram of main control unit device 2 of the invention；
Fig. 7 controls 24 circuit diagram for the linear electric motors of the present invention；
Fig. 8 controls 25 circuit diagram for the oil cylinder of the present invention；
Fig. 9 is the circuit diagram of the protection circuit 23 of the present invention；
Figure 10 is the hydraulic diagram of the steering brake clutch hydraulic control device of the present invention；
Figure 11 performs the hydraulic diagram of hydraulic control device for the annex lift adjustment of the present invention；
Figure 12 is the flow chart of the mechanical gear control method of the farm power based on wireless control signal of the present invention.
5th, embodiment
According to guidelines for examination, such as " having ", "comprising" and " comprising " term used in the present invention should be understood to not
Allot the presence or addition of one or more of the other element or its combination.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify description, rather than indicate or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that indicating or implying relative importance.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
As long as in addition, technical characteristic involved in invention described below different embodiments non-structure each other
It can just be combined with each other into conflict.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1 is one embodiment of the present of invention, and the present embodiment is illustrated with reference to accompanying drawing, includes wireless signal output dress
Put 1, main control unit device 2, gearshift performs device 3, brake clutch performs device 4, steering actuator 5, throttle actuating device 6
With annex lift adjustment performs device 7,
The output port of wireless signal output device 1 is set to by way of wireless signal is connected and main control unit device 2
The control port of input port connection and performs device 3 of shifting gears, the control port of brake clutch performs device 4, steering are performed
The control port of the control port of device 5, the control port of throttle actuating device 6 and annex lift adjustment performs device 7 is set
It is connected for the output port by way of being connected wire signal with main control unit device 2.
In the present embodiment, gearshift performs device 3 is set to include longitudinal axis gearshift and transverse axis gearshift, the longitudinal axis
Gearshift be set to include flake bearing 312, longitudinal slide bar 314, locking handle I 315, the longitudinal axis slide outer sleeve 316, it is vertical
Axle slides interior jacket casing 317, longitudinal axis motor 318 and microswitch I 319, and longitudinal axis slip outer sleeve 316 is set to outer with selector
Shell couples and longitudinal axis motor 318 is set to couple with frame, and the longitudinal axis slides interior jacket casing 317 and is arranged on longitudinal axis slip outer sleeve
In 316 and the longitudinal axis slide in jacket casing 317 be set to slide the slidingtype of outer sleeve 316 with the longitudinal axis and couple, the longitudinal axis slides interior jacket casing
317 be set to couple with the output end axle of longitudinal axis motor 318 and longitudinal slide bar 314 be arranged on the longitudinal axis slide in jacket casing 317,
Locking handle I 315 is provided between jacket casing 317 and locking handle I 315 is set in longitudinal slide bar 314 and the longitudinal axis are slided
The plug-in type of jacket casing 317 couple in being slided with longitudinal slide bar 314 and the longitudinal axis, longitudinal slide bar 314 be set to by flake bearing 312 and
Pin couples and microswitch I 319 is set to couple with the output end axle of longitudinal axis motor 318,
Transverse axis gearshift is set to include connecting rocker arm 322, horizontal sliding bar 323, horizontal sliding bar fixed cover 325, locking hand
Handle II 324, microswitch II 326 and transverse axis motor 327, transverse axis motor 327 are set to couple with frame and microswitch II
326 are set to couple with the output end axle of transverse axis motor 327, and the output end axle of transverse axis motor 327 is set to consolidate with horizontal sliding bar
Surely one end termination connection of set 325, the other end termination of horizontal sliding bar fixed cover 325 is set to couple with horizontal sliding bar 323, horizontal
It is set to by connecting rocker arm 322 with pin couple and in horizontal sliding bar fixed cover 325 and horizontal sliding bar 323 to slide bar 323
Between be provided with locking handle II 324, locking handle II 324 is set to insert with horizontal sliding bar fixed cover 325 and horizontal sliding bar 323
Connect formula connection and connecting rocker arm 322 be set to L-shaped rhabodoid, transverse axis motor 327 and horizontal sliding bar 323 be set to be in above and below
Arrangement mode is distributed,
The control port of longitudinal axis motor 318 and the control port of transverse axis motor 327 are respectively set to the control of gearshift performs device 3
Port, the output port of microswitch I 319 and the output port of microswitch II 326 are respectively set to export with wireless signal
The output port connection of device 1.
Longitudinal axis motor 318 drives the longitudinal axis to slide interior jacket casing 317 and moved, and the longitudinal axis slides interior jacket casing 317 and passes through locking handle I
315 are connected with longitudinal slide bar 314, when locking handle I 315, which is spun down, blocks longitudinal slide bar 314, and the longitudinal axis slides interior jacket casing
317 will drive longitudinal slide bar 314 to move, and longitudinal slide bar 314 is connected by flake bearing 312, and the other end of flake bearing 312 is straight
Female connector is in the bottom of pin, so when longitudinal axis motor 318 is moved, and interior jacket casing 317, longitudinal and of slide bar 314 are slided by the longitudinal axis
Flake bearing 312 controls the movement of pin, but direction is opposite, that is to say, that when longitudinal axis motor 318 is forward extended out, pin exists
The actual motion direction of the longitudinal axis is backward, and locking handle I 315 is for switching remote control and manually, when locking handle I 315
Can manually it be shifted gears when taking out, the direction of flake bearing 312 can be adjusted by middle nut, so may insure it
Install, microswitch I 319 is to be marked on neutral position lengthwise position, and whether the longitudinal axis is learnt by the state of microswitch I 319
In neutral state, the selection of the movement length of longitudinal axis motor 318 depends on I gear to the distance of II gear, and transverse axis motor 327 passes through
Horizontal sliding bar fixed cover 325 is connected with horizontal sliding bar 323, and transverse axis motor 327 will drive horizontal sliding bar 323 to move, laterally sliding
Bar 323 is connected by connecting rocker arm 322 with pin, and such transverse axis motor 327 will drive pin to move, same transverse axis motor
327 movement reversely and pin moving direction on the contrary, horizontal and vertical identical with the operation of remote control manually, pass through locking handle
II 324 screw in and screw out on locking hole to realize that transverse axis linear electric motors are separated with transverse direction gear mechanical structure, microswitch
II 326 be the position for determining athwart void.
In the present embodiment, brake clutch performs device 4 be set to include clutch brake oil cylinder 43, cylinder nut 44,
Clutch Rocker arm 45, clutch rod 46, brake bar 48 and brake rocker arm 49 and cylinder nut 44 is set to and clutch oil cylinder 43
Pars contractilis connection, clutch rod 46 and brake bar 48 are respectively set to couple with the slidingtype of cylinder nut 44 and clutch drawing
Bar 46 is set to couple with clutch Rocker arm 45, brake bar 48 be set to brake rocker arm 49 and brake rocker arm 49 be set to
Brake pedal couples, and clutch Rocker arm 45 is set to couple with clutch pedal and in brake pedal and frame, clutch pedal and machine
Back-moving spring is respectively arranged between frame, clutch Rocker arm 45 is set to couple and brake rocker arm with the swing end of clutch pedal
49 pars intermedia is provided with bearing pin and coupled with gantry rotation formula, and one end end of brake rocker arm 49 is set to and brake pedal
Couple and the other end end of brake rocker arm 49 is set to couple with brake bar 48,48 points of clutch rod 46 and brake bar
It is not arranged in the sliding eye of the side surface part of cylinder nut 44 and the end head of brake bar 48 is provided with adjusting nut,
Regulation spring is provided between adjusting nut and cylinder nut 44, the control port of clutch brake oil cylinder 43 is set to brake clutch
The control port of performs device 4.
The action of clutch brake oil cylinder 43 is that clutch pedal and clutch brake are oily while controlling clutch pedal and brake pedal
The connected mode of cylinder 43 is that clutch brake oil cylinder 43 is connected with cylinder nut 44 by the screw thread on oil cylinder axle, cylinder nut 44
Be connected with clutch Rocker arm 45 by pivot pin, clutch Rocker arm 45 be directly with clutch pedal by together with a sleeve weld,
Sleeve is enclosed on brake axle, but not fixation can be rotated against on brake axle, and clutch brake oil cylinder 43 is fixed on cylinder bracket
On, it is rotatable at the tie point of cylinder bracket and clutch brake oil cylinder 43, cylinder bracket is fixed on change by fixing hole
On fast box body, the control clutch pedal of clutch brake oil cylinder 43 and brake pedal step on process：When clutch brake oil cylinder 43 shrinks
Drive cylinder nut 44 move backward, cylinder nut 44 move backward to the conduit of cylinder nut 44 foremost when drive clutch shake
Arm 45 is moved backward, while cylinder nut 44 is pulled back brake rocker arm 49 by brake bar 48, due to clutch pedal and
Clutch Rocker arm 45 is welded to together that brake rocker arm 49 is adapted to brake axle and is fixed together simultaneously, finally realizes clutch brake oil cylinder
43 contraction clutch pedals and the action stepped on of brake pedal, when clutch brake oil cylinder 43 stretches out, another on clutch pedal
Part is connected by hole with back-moving spring, is also connected with another part on brake rocker arm 49 by hole with back-moving spring, when
Each back-moving spring is stretched when being operated for clutch pedal and brake pedal, when clutch brake oil cylinder 43 stretches out, clutch pedal
And brake pedal returns to the state that the first beginning and end step on by respective back-moving spring.
In the present embodiment, steering actuator 5 is set to steering cylinder and steering cylinder is set to turning to connecting lever
Connection.
The control port of steering cylinder is set to the control port of the control port of steering actuator 5.
Extended or shunk by forward and reverse drive steering cylinder of the highly pressurised liquid of steering cylinder, so as to drive steering
Connecting lever carries out angle swinging.
In the present embodiment, turn to brake clutch hydraulic control device be set to include steering constant current overflow oil pump 501,
Turn to three-position four-way electromagnetic directional valve 502, Double throttle check valve 504, clutch brake three-position four-way electromagnetic directional valve 505 and off-load
Valve 507,
Turn to three-position four-way electromagnetic directional valve 502 and be provided with P ports, T-port, A ports and B ports and clutch brake three four
Electric change valve 505 is provided with P ports, T-port, A ports and B ports, and unloading valve 507 is provided with P ports, T-port simultaneously
And turn to the output port of constant current overflow oil pump 501 be respectively set to the P ports of unloading valve 507, turn to 3-position 4-way electromagnetism
The P ports of reversal valve 502 are connected with the P ports of clutch brake three-position four-way electromagnetic directional valve 505, are turned to 3-position 4-way electromagnetism and are changed
It is set to connect with the port A2 of the steering cylinder of steering actuator 5 by Double throttle check valve 504 to the A ports of valve 502
And the B ports for turning to three-position four-way electromagnetic directional valve 502 are set to by Double throttle check valve 504 and steering actuator 5
Steering cylinder port B2 connection, the A ports of clutch brake three-position four-way electromagnetic directional valve 505 are set to and clutch brake
The port A1 of oil cylinder 43 is connected and the B ports of clutch brake three-position four-way electromagnetic directional valve 505 are set to and clutch brake oil
The port B1 connections of cylinder 43.
The effect of unloading valve 507 is, when without using this hydraulic circuit, it is ensured that turn to what constant current overflow oil pump 501 came out
Highly pressurised liquid is by the off-load of unloading valve 507, when using this hydraulic circuit, and the not off-load of unloading valve 507 turns to 3-position 4-way electricity
The effect of magnetic reversal valve 502 is, when using this hydraulic circuit, it is ensured that enter the direction of the hydraulic oil of Double throttle check valve 504,
So as to ensure into the direction of the steering cylinder of steering actuator 5, during without using this hydraulic circuit, steering 3-position 4-way electricity
The pipeline of magnetic reversal valve 502 is all obstructed, and the effect of Double throttle check valve 504 is that control enters the steering of steering actuator 5
The flow of oil cylinder, so that the effect for controlling the speed clutch brakes three-position four-way electromagnetic directional valve 505 of steering angle is to make
During with this hydraulic circuit, it is ensured that enter the direction of the hydraulic oil of clutch brake oil cylinder 43, during without using this hydraulic circuit, the clutch
The pipeline for three-position four-way electromagnetic directional valve 505 of braking is obstructed, exemplified by having turned left, the liquid come out from steering constant current overflow oil pump 501
Force feed flows into the port P and unloading valve 507 that turn to three-position four-way electromagnetic directional valve 502 port P, and main control unit device 2 is connecing
After the left rotaring signal for receiving wireless signal transmitting device 1, control turns to the work of three-position four-way electromagnetic directional valve 502 and unloading valve 507
Work so that the inside of unloading valve 507 is obstructed, hydraulic oil is only from the port B outflows for turning to three-position four-way electromagnetic directional valve 502
The port B2 of the steering cylinder of steering actuator 5, hydraulic pressure are flowed into by the right one-way choke valve of Double throttle check valve 504
Oil does not throttle in pipelines of the port B to port B2, and port A2 of the hydraulic oil again from the steering cylinder of steering actuator 5 flows
Go out, the left side one-way throttle valve of Double throttle check valve 504 is passed through from the port A2 hydraulic oil flowed out, hydraulic oil can be saved in pipeline
Hydraulic oil flows into the port A for turning to three-position four-way electromagnetic directional valve 502 to stream simultaneously, then by turning to three-position four-way electromagnetic directional valve
502 port T outflows, stepping on clutch makes clutch brake oil cylinder 43 retract, the hydraulic oil come out from steering constant current overflow oil pump 501
The port P of clutch brake three-position four-way electromagnetic directional valve 505 and the port P of unloading valve 507 are flowed into, main control unit device 2 is connecing
After the stop sign for receiving wireless signal transmitting device 1, control clutch brake three-position four-way electromagnetic directional valve 505 and unloading valve 507
Work so that the inside of unloading valve 507 is obstructed, hydraulic oil only flows from the port P of clutch brake three-position four-way electromagnetic directional valve 505
Inbound port B flows out to the port B1 of clutch brake oil cylinder 43, then is flowed out from the port A1 of clutch brake oil cylinder 43, is flowed into clutch
The port A for three-position four-way electromagnetic directional valve 505 of braking flows out from the port T of clutch brake three-position four-way electromagnetic directional valve 505 again.
In the present embodiment, throttle actuating device 6 is set to include throttle linear electric motors 65, accelerator rod 61, bracing wire
Stopper 62 and compression spring 63 and accelerator rod 61 is set to couple with the output end axle of throttle linear electric motors 65, acceleration cable
64 are set to be serially connected in accelerator rod 61 and the end head of acceleration cable 64 are provided with bracing wire stopper 62, compression spring 63
It is arranged between bracing wire stopper 62 and accelerator rod 61 and the control port of throttle linear electric motors 65 is set to throttle and performs dress
Put 6 control port.
Drive accelerator rod 61 to left movement when throttle linear electric motors 65 shrink, can be drawn when compression spring 63 is compressed to
During dynamic acceleration cable 64, bracing wire stopper 62 drives acceleration cable 64 to left movement, now throttle increasing, when throttle linear electric motors 65
When stretching moves right, compression spring 63 resets, and acceleration cable 64 is automatic to the right toward pulling back by external springs, and now throttle subtracts
It is small.
In the present embodiment, annex lift adjustment performs device 7 is set to lift adjustment oil cylinder and lift adjustment oil cylinder
It is arranged between frame and annex, the control port of lift adjustment oil cylinder is set to the control of annex lift adjustment performs device 7
Port.
By lift adjustment oil cylinder, the distance between regulation annex and frame, so as to adjust whether annex is in work shape
State.
In the present embodiment, annex lift adjustment performs hydraulic control device and is set to include lifting constant current flood pump
701 are provided with P ports, T-port, A ends with lifting three-position four-way electromagnetic directional valve 702, lifting three-position four-way electromagnetic directional valve 702
Mouthful and B ports and lift constant current flood pump 701 output port be set to lift three-position four-way electromagnetic directional valve 702 P
Port is connected, and the A ports of lifting three-position four-way electromagnetic directional valve 702 are set to the lifting with annex lift adjustment performs device 7
The A1 ports of regulation oil cylinder connect and lift the B ports of three-position four-way electromagnetic directional valve 702 and are set to and annex lift adjustment
The B1 ports connection of the lift adjustment oil cylinder of performs device 7.
The effect of lifting three-position four-way electromagnetic directional valve 702 is, when using this hydraulic circuit, it is ensured that enter annex lifting
Adjust the direction of the lift adjustment oil cylinder of performs device 7, during without using this hydraulic circuit, the lifting three-position four-way electromagnetic directional valve
I.e. 702 can to provide off-load port P and port T-phase logical, by taking lifting as an example, the liquid come out from lifting constant current flood pump 701
Force feed flows into the port P of lifting three-position four-way electromagnetic directional valve 702, and main control unit device 2 is receiving wireless signal transmitting device 1
Promotion signal after, control lifting three-position four-way electromagnetic directional valve 702 work, hydraulic oil from lifting three-position four-way electromagnetic directional valve
702 port P flows into the port A1 that port A flows out to the lift adjustment oil cylinder of annex lift adjustment performs device 7, then from annex
The port B1 outflows of the lift adjustment oil cylinder of lift adjustment performs device 7, are flowed into lifting three-position four-way electromagnetic directional valve 702
Port B is again from the port T outflows of lifting three-position four-way electromagnetic directional valve 702.
In the present embodiment, wireless signal output device 1 is set to button remote control and wireless signal output device 1 is set
It is set to and includes I grade of button 11, II grade of button 12, III grade of button 13, IV grade of button 14, R grades of buttons 15, N grades of buttons 16, liftings
Button 17, left-hand rotation button 18, right-hand rotation button 19, decline button 101, stop button 102, starting button 103, oiling button 104,
Subtract oily button 105, standby I button 106, standby II button 107 and transmitting block 108, I grade of button 11, II grade of button 12, III grade of button
13rd, IV grade of button 14, R grades of buttons 15, N grades of buttons 16, lifting button 17, left-hand rotation button 18, right-hand rotation button 19, decline button
101st, stop button 102, starting button 103, oiling button 104, subtract oily button 105, standby 1 button 106 and standby 107 points of II button
It is not set to be connected with the input port of transmitting block 108.
In the present embodiment, main control unit device 2 is set to include wireless reception block 201, MCU chip 202, protection electricity
Road 23, linear electric motors control 24 and oil cylinder control 25, the input port and the output port of MCU chip 202 of linear electric motors control 24
Connection, the input port of oil cylinder control 25 is set to be connected with the output port of wireless reception block 201, and circuit protection circuit 23 is set
It is set to and connects with input power.
Linear electric motors control 24 is set to include photoelectrical coupler U3, resistance R31, resistance R32, metal-oxide-semiconductor Q2, photoelectricity coupling
Clutch U4, resistance R34, resistance R35, metal-oxide-semiconductor Q4, photoelectrical coupler U5, resistance R37, resistance R38, metal-oxide-semiconductor Q3, photoelectric coupling
Device U6, resistance R40, resistance R41, metal-oxide-semiconductor Q5 and current detector current1, interface P2.0, P2.1, P2.2 of MCU chip
The MCU and photoelectricity with photoelectrical coupler U3 MCU, photoelectrical coupler U4 MCU, photoelectrical coupler U5 are respectively set to P2.3
Coupler U6 MCU connections, photoelectrical coupler U3 output interface is set to be connected with metal-oxide-semiconductor Q2 and light by resistance R31
Electric coupler U3 output interface is set to by resistance R32 and GND, and photoelectrical coupler U4 output interface is set to
It is connected by resistance R34 with metal-oxide-semiconductor Q4 and photoelectrical coupler U4 output interface is set to bear by resistance R35 and battery
Pole, photoelectrical coupler U5 output interface be set to be connected with metal-oxide-semiconductor Q3 by resistance R37 and photoelectrical coupler U5 output
Interface is set to by resistance R38 and GND, and photoelectrical coupler U6 output interface is set to by resistance R40 and MOS
Pipe Q5 connections and photoelectrical coupler U6 output interface are set to by resistance R41 and GND.
Oil cylinder control 25 be set to include photoelectrical coupler U7, resistance R50, resistance R51, resistance R52, resistance R53,
Metal-oxide-semiconductor Q6 and inductance coil L1 and photoelectrical coupler U7 one of input interface are set to and received the output of block 201
Port is connected, and photoelectrical coupler U7 one of input interface is set to be connected and photoelectricity coupling with the earth by resistance R50
Clutch U7 other in which input interface is set to be connected with the earth by resistance R51, photoelectrical coupler U7 output interface
It is set to be connected with metal-oxide-semiconductor Q6 by resistance R52, photoelectrical coupler U7 output interface is connected by resistance R53 and power cathode
Connect and metal-oxide-semiconductor Q6 one of interface is set to be connected with power cathode, metal-oxide-semiconductor Q6 other in which interface is set to
It is connected by inductance coil L1 with positive source.
Protection circuit 23 is set to include reverse-connection protection circuit, over-voltage fault diagnostic circuit and over current fault diagnosis electricity
Road,
Reverse-connection protection circuit is set to include relay K1 and diode D4 and diode D4 positive pole are set to and key
Switch connection is opened, diode D4 negative pole is set to be connected with relay K1 control interface and relay K1 power supply connects
Mouth is set to be connected with external power supply by fuse.
Over-voltage fault diagnostic circuit is set to include resistance R4, resistance R5, resistance R6, resistance R7, amplifier block U1, resistance
R1, photoelectrical coupler U2, resistance R2 and resistance R3 and metal-oxide-semiconductor Q1, amplifier block U1 negative pole are set to by resistance R4 and power supply
Positive pole is connected and amplifier block U1 negative pole is set to be connected with power cathode by resistance R5, and amplifier block U1 positive pole is set to
It is connected by resistance R6 with the earth and amplifier block U1 positive pole is set to be connected with power cathode by resistance R7, amplifier block U1
Output interface be respectively set to be connected with resistance R1 and photoelectrical coupler U2 one of input interface, photoelectrical coupler U2
One of output interface be set to be connected with metal-oxide-semiconductor Q1 input interfaces by resistance R2, wherein the one of photoelectrical coupler U2
Individual input interface is set to be connected with power cathode and photoelectrical coupler U2 one of output interface is set to pass through
Resistance R3 is connected with power cathode, and photoelectrical coupler U2 other in which output interface is set to the negative pole company with diode D4
Connect and metal-oxide-semiconductor Q1 one of output interface is set to be connected with relay K1, metal-oxide-semiconductor Q1 other in which is defeated
Outgoing interface is set to be connected with power cathode,
Over current fault diagnostic circuit is set to include current detector current1, current detector current1 interface IN
+ be respectively set to connect with metal-oxide-semiconductor Q2, metal-oxide-semiconductor Q3, metal-oxide-semiconductor Q4 and metal-oxide-semiconductor Q5, the power supply of current detector has main control unit
Mu balanced circuit inside device 2 provides power supply, and the electric currents of current detector real-time sampling linear electric motors is by the electric current of linear electric motors
Analog quantity is converted into be handled to MCU chip.
Oily signal will be added and subtracted to MCU chip by receiving block 201, and MCU chip performs internal processes and passes through P2.0-P2.3 pin controls
U3-U6 photoelectrical couplers processed being opened and closing, and photoelectrical coupler controls corresponding metal-oxide-semiconductor conducting, it is assumed that define M2 motors electricity
Stream is that motor shrinks when flowing from left to right, and corresponding mechanical action increases for throttle, then when there is fueling signal, master chip MCU
Controlling switch MCU_IO_P2.0 and MCU_IO_P2.3 are low level, and correspondence U3 and U6 causes metal-oxide-semiconductor Q2 and Q5 to turn on.Together
When controlling switch MCU_IO_P2.1 and MCU_IO_P2.2 be high level, correspondence metal-oxide-semiconductor Q3 and Q4 are not turned on.Then electric current is from 12V
Metal-oxide-semiconductor Q5 is flowed to power cathode by metal-oxide-semiconductor Q2, electric current is flows from left to right, and motor shrinks, and throttle is increased.
Because X-axis motor is identical with the hardware principle of plus-minus oil control with the hardware controls of y-axis motor, pin is connect not
Together.So the circuit diagram of linear electric motors control herein does not draw X-axis linear electric motors and Y-axis linear electric motors.Receiving block 201 is same
Sample by gear signal to MCU chip, MCU chip perform internal processes by the pin of MCU chip control photoelectrical coupler so as to
The break-make of metal-oxide-semiconductor is controlled, and then controls X-axis motor and y-axis motor action.
Receiving block 201 directly controls photoelectrical coupler, by taking left-hand rotation as an example, when left rotaring signal is high level, U7 photoelectricity couplings
Clutch conducting 12V voltages are added to metal-oxide-semiconductor Q6 grid, and then control metal-oxide-semiconductor Q6 conducting, the access of hydraulic electromagnetic valve coil one end
Negative pole.Because the other end accesses 12V then hydraulic buttery valve coil workings.So as to control hydraulic oil to flow to left steering.
Because the hardware controls of right-hand rotation, stop-start, lifting are identical with the hardware principle of left-hand rotation, simply pin is connect not
Together.So hardware circuit diagram of the oil cylinder electric operation control circuit figure not by right-hand rotation, stop-start, lifting is drawn herein.Receiving block 201 is straight
Connect control photoelectrical coupler.Advantage of this is that, the pin of MCU chip can be reduced as far as possible.Control is simple.
Reverse-connection protection circuit uses relay K1, diode D4.When reverse power connection, D4 diodes are not turned on, so that after
Electrical equipment is unable to adhesive.
Over-voltage fault diagnostic circuit, partial pressure detection is carried out using to anode, when detected value exceedes comparator U1 "+"
End setting magnitude of voltage, controls photoelectrical coupler U2 to control the metal-oxide-semiconductor Q1 to be come control relay coil one end by comparator
No access GND.When voltage exceedes setting value, comparator U1 output ends are 0V, and photoelectrical coupler U2 is not turned on, then MOS
Pipe Q2 grids and source voltage are 0V, and metal-oxide-semiconductor is not turned on.So as to which relay coil one end cannot connect to negative pole.
Over current fault diagnostic circuit seals in current detection sensor in the middle of metal-oxide-semiconductor Q4 source electrodes and GND
Current1, output voltage signal gives master chip MCU pins, and this voltage signal is analog signalses, and MCU chip is by detecting electricity
Current corresponding current value is may know that during pressure whether in allowed band, if it exceeds permissible value MCU chip directly stops to H
The control of bridge metal-oxide-semiconductor.
A kind of mechanical gear control method of the farm power based on wireless control signal, with reference to embodiment, to this hair
Bright to further describe, following examples are intended to illustrate invention rather than limitation of the invention further.Its step is：Output
Signal is initialized, if perform parking action, when performing parking action, if gear shifting action is performed, when performing gearshift
During action, whether current gear is neutral, and preceding gear is not neutral, and whether preceding gear arrives neutral, preceding gear less than neutral and
Alarmed, current gear is that neutral and preceding gear are effective to neutral, whether target gear is neutral, and target gear is not sky
Gear, neutral to target gear, neutral is effective and alarmed to target gear, and neutral is not imitated and target shift to target gear
Neutral is in position and is made whether to perform starting-up action, is to perform starting-up action and be made whether to perform the action of throttle plus-minus,
It is to perform throttle plus-minus to act and be made whether to perform alert process, is to perform alert process and be made whether that data are protected
Deposit, be that data preserve and are made whether that output signal is initialized.
Wherein gearshift program is direction of action and sequence of movement and the actuation time for controlling X-axis and y-axis motor.Pass through
Manually gearshift Row control X-axis and the direction of action and order of Y-axis linear electric motors are real so as to control push-and-pull gear lever for simulation
Existing gear switching.Throttle Opening Control program is to be used to control throttle motor action direction and speed.PWM letters are exported by throttle program
Number control H bridges hardware circuit and then the linear electric motors at throttle are controlled to carry out push pull maneuver to throttle and can control push-and-pull
Speed.Starting parking procedure is the direction and time worked for control oil pump, passes through stretching for the parking procedure's control cylinder that starts to walk
Contracting is the action of brake pedal and clutch pedal.Fault detect alert program is to be used to detect outside during each control action
Signal, executing agency and hardware circuit have inerrancy.Providing alarm convenient working person when an error occurs can check
Failure.Power-failure memory program is remembered currently for storing power down suddenly in related data during power-off, such as shift process
State, can continue to operate gear when recovering normal.
In the present embodiment, the effect for applying tractor in warmhouse booth preferably, meet continually turn to will
Ask, improve the efficiency of agricultural operation.
The present invention has lower feature：
1st, due to devising main control unit device 2, the first performs device and the second performs device, main control unit device 2 is passed through
Signal, by motor control gearshift and power control, controls brake clutch, steering and annex lifting to manipulate, no longer hand by telescoping cylinder
Dynamic shift type is manually operated, it is achieved that the automation of farm power mechanical device drives.
2nd, due to devising line signal output apparatus 1 and main control unit device 2, it is controlled, is improved by three Digital sums
The unfailing performance of electric signal.
3rd, due to devising gearshift performs device 3 and throttle actuating device 6, by the stroke of motor, control bit is improved
The precision put.
4th, due to devising brake clutch performs device 4, steering actuator 5 and annex lift adjustment performs device 7, lead to
Telescoping cylinder is crossed, the required precision of operating position is met, the unfailing performance of action is realized.
5th, due to devise the present invention technical characteristic, the effect of set in the independent of technical characteristic and each other,
Shown by experiment, property indices of the invention are at least 1.7 times for existing property indices, have by assessing
There is good market value.
Also the main control unit device 2 of other and controlled motor and telescoping cylinder, the first performs device and second perform dress
The technical characteristic for putting connection is all one of embodiments of the invention, and each technical characteristic of embodiment described above can be carried out
Arbitrary combination, to meet Patent Law, patent regulation and the requirement of guidelines for examination, no longer to each in above-described embodiment
The embodiment of all possible combination of technical characteristic is all described.
Therefore it is every to include in the farm power mechanical device and control method technical field based on wireless control signal
There is internal layer 1 to be set to the technology contents of the mixture of the high pressure formation of chemical fertilizer and straw or leaves of plants body all in this hair
In bright protection domain.
Above-described embodiment is the farm power mechanical device provided by the present invention based on wireless control signal and control
A kind of way of realization of method, according to scheme provided by the present invention other deformation, increase or reduce composition therein or
Step, or the present invention is used for other technical fields close with the present invention, belong to protection scope of the present invention.
Claims (10)
1. a kind of farm power mechanical device based on wireless control signal, it is characterized in that：Include for exporting automatically controlled signal
Main control unit device（2）, it is set to and main control unit device（2）Output port connection and by motor control gearshift and
First performs device of power control, is set to and main control unit device（2）Output port connect and pass through telescoping cylinder control
The second performs device that brake clutch processed, steering and annex lifting are manipulated.
2. the farm power mechanical device according to claim 1 based on wireless control signal, it is characterized in that：According to control
Motor and telescoping cylinder realize the mode of control action the first performs device and the second performs device and main control unit device（2）Even
Connect.
3. the farm power mechanical device according to claim 1 based on wireless control signal, it is characterized in that：Also include
Wireless signal output device（1）, the second performs device is set to include brake clutch performs device（4）, steering actuator
（5）With annex lift adjustment performs device（7）, the first performs device is set to include gearshift performs device（3）Held with throttle
Luggage is put（6）,
Wireless signal output device（1）Output port be set to by way of wireless signal is connected with main control unit device
（2）Input port connection and performs device of shifting gears（3）Control port, brake clutch performs device（4）Control port,
Steering actuator（5）Control port, throttle actuating device（6）Control port and annex lift adjustment performs device（7）
Control port be set to by way of wire signal is connected with main control unit device（2）Output port connection.
4. the farm power mechanical device according to claim 3 based on wireless control signal, it is characterized in that：Gearshift is performed
Device（3）It is set to include longitudinal axis gearshift and transverse axis gearshift, longitudinal axis gearshift is set to include flake axle
Hold（312）, longitudinal slide bar（314）, locking handle I（315）, the longitudinal axis slide outer sleeve（316）, the longitudinal axis slide in jacket casing（317）、
Longitudinal axis motor（318）With microswitch I（319）, longitudinal axis slip outer sleeve（316）Be set to couple with the shell of selector and
Longitudinal axis motor（318）It is set to couple with frame, the longitudinal axis slides interior jacket casing（317）It is arranged on the longitudinal axis and slides outer sleeve（316）In
And the longitudinal axis slides interior jacket casing（317）It is set to slide outer sleeve with the longitudinal axis（316）Slidingtype couples, and the longitudinal axis slides interior jacket casing
（317）It is set to and longitudinal axis motor（318）The connection of output end axle and longitudinal slide bar（314）It is arranged on the longitudinal axis and slides interior jacket casing
（317）In, in longitudinal slide bar（314）Interior jacket casing is slided with the longitudinal axis（317）Between be provided with locking handle I（315）And locking
Handle I（315）It is set to and longitudinal slide bar（314）Interior jacket casing is slided with the longitudinal axis（317）Plug-in type couples, longitudinal slide bar（314）
It is set to by flake bearing（312）Couple with pin and microswitch I（319）It is set to and longitudinal axis motor（318）It is defeated
Go out to hold axle to couple,
Transverse axis gearshift is set to include connecting rocker arm（322）, horizontal sliding bar（323）, horizontal sliding bar fixed cover（325）、
Locking handle II（324）, microswitch II（326）With transverse axis motor（327）, transverse axis motor（327）It is set to couple with frame
And microswitch II（326）It is set to and transverse axis motor（327）Output end axle connection, transverse axis motor（327）Output end
Axle is set to and horizontal sliding bar fixed cover（325）One end termination connection, horizontal sliding bar fixed cover（325）Other end termination set
It is set to and horizontal sliding bar（323）Connection, horizontal sliding bar（323）It is set to by connecting rocker arm（322）Couple with pin and
Horizontal sliding bar fixed cover（325）And horizontal sliding bar（323）Between be provided with locking handle II（324）, locking handle II（324）If
It is set to and horizontal sliding bar fixed cover（325）And horizontal sliding bar（323）Plug-in type couples and connecting rocker arm（322）It is set to L words
Shape rhabodoid, transverse axis motor（327）And horizontal sliding bar（323）It is set in arrangement mode distribution, longitudinal axis motor up and down（318）'s
Control port and transverse axis motor（327）Control port be respectively set to shift gears performs device（3）Control port, microswitch
Ⅰ（319）Output port and microswitch II（326）Output port be respectively set to and wireless signal output device（1）'s
Output port is connected.
5. the farm power mechanical device according to claim 3 based on wireless control signal, it is characterized in that：Brake clutch
Performs device（4）It is set to include clutch brake oil cylinder（43）, cylinder nut（44）, clutch rocking arm（45）, clutch rod
（46）, brake bar（48）And brake rocker arm（49）And cylinder nut（44）It is set to the pars contractilis connection with clutch oil cylinder 43
Connect, clutch rod（46）And brake bar（48）It is respectively set to and cylinder nut（44）Slidingtype couples and clutch rod
（46）It is set to and clutch rocking arm（45）Connection, brake bar（48）It is set to and brake rocker arm（49）And brake rocker arm（49）
It is set to couple with brake pedal, clutch rocking arm（45）Be set to couple with clutch pedal and brake pedal and frame, from
Close and be respectively arranged with back-moving spring, clutch rocking arm between pedal and frame（45）It is set to couple with the swing end of clutch pedal
And brake rocker arm（49）Pars intermedia be provided with bearing pin and couple with gantry rotation formula, brake rocker arm（49）One end end
It is set to brake pedal couple and brake rocker arm（49）Other end end be set to and brake bar（48）Connection, clutch
Pull bar（46）And brake bar（48）It is separately positioned on cylinder nut（44）Side surface part sliding eye in and in brake bar
（48）End head be provided with adjusting nut, in adjusting nut and cylinder nut（44）Between be provided with regulation spring, clutch is stopped
Car oil cylinder（43）Control port be set to brake clutch performs device（4）Control port,
Or steering actuator（5）It is set to steering cylinder and steering cylinder is set to couple with turning to connecting lever, steering cylinder
Control port be set to steering actuator（5）Control port control port,
Or steering brake clutch hydraulic control device is set to include steering constant current overflow oil pump（501）, turn to 3-position 4-way
Solenoid directional control valve（502）, Double throttle check valve（504）, clutch brake three-position four-way electromagnetic directional valve（505）And unloading valve
（507）, turn to three-position four-way electromagnetic directional valve（502）It is provided with P ports, T-port, A ports and B ports and clutch brake three
Position four-way electromagnetic reversing valve（505）It is provided with P ports, T-port, A ports and B ports, unloading valve（507）Be provided with P ports,
T-port and turn to constant current overflow oil pump（501）Output port be respectively set to and unloading valve（507）P ports, turn to three
Position four-way electromagnetic reversing valve（502）P ports and clutch brake three-position four-way electromagnetic directional valve（505）P ports connection, turn to
Three-position four-way electromagnetic directional valve（502）A ports be set to by Double throttle check valve（504）With steering actuator（5）'s
The port A2 of steering cylinder is connected and is turned to three-position four-way electromagnetic directional valve（502）B ports be set to by double unidirectional sections
Flow valve（504）With steering actuator（5）Steering cylinder port B2 connection, clutch brake three-position four-way electromagnetic directional valve
（505）A ports be set to and clutch brake oil cylinder（43）Port A1 connection and clutch brake 3-position 4-way electromagnetic switch
Valve（505）B ports be set to and clutch brake oil cylinder（43）Port B1 connection.
6. the farm power mechanical device according to claim 3 based on wireless control signal, it is characterized in that：Throttle is performed
Device（6）It is set to include throttle linear electric motors（65）, accelerator rod（61）, bracing wire stopper（62）And compression spring（63）And
And accelerator rod（61）It is set to and throttle linear electric motors（65）Output end axle connection, acceleration cable（64）It is set to be serially connected in
Accelerator rod（61）In and in acceleration cable（64）End head be provided with bracing wire stopper（62）, compression spring（63）It is arranged on
Bracing wire stopper（62）With accelerator rod（61）Between and throttle linear electric motors（65）Control port be set to throttle and perform dress
Put（6）Control port.
7. the farm power mechanical device according to claim 3 based on wireless control signal, it is characterized in that：Annex is lifted
Adjust performs device（7）It is set to lift adjustment oil cylinder and lift adjustment oil cylinder is arranged between frame and annex, rising-falling tone
The control port of fuel-economizing cylinder is set to annex lift adjustment performs device（7）Control port,
Or annex lift adjustment performs hydraulic control device and is set to include lifting constant current flood pump（701）With lifting three four
Electric change valve（702）, lift three-position four-way electromagnetic directional valve（702）It is provided with P ports, T-port, A ports and B ports simultaneously
And lifting constant current flood pump（701）Output port be set to lifting three-position four-way electromagnetic directional valve（702）P ports connect
It is logical, lift three-position four-way electromagnetic directional valve（702）A ports be set to and annex lift adjustment performs device（7）Rising-falling tone
The A1 ports of fuel-economizing cylinder connect and lift three-position four-way electromagnetic directional valve（702）B ports be set to and annex lift adjustment
Performs device（7）Lift adjustment oil cylinder B1 ports connection.
8. the farm power mechanical device according to claim 3 based on wireless control signal, it is characterized in that：Wireless signal
Output device（1）It is set to button remote control and wireless signal output device（1）It is set to include I grade of button（11）、Ⅱ
Shelves button（12）, III grade of button（13）, IV grade of button（14）, R grades of buttons（15）, N grades of buttons（16）, lifting button（17）, it is left
Turn button（18）, right-hand rotation button（19）, decline button（101）, stop button（102）, starting button（103）, oiling button
（104）, subtract oily button（105）, standby I button（106）, standby II button（107）And transmitting block（108）, I grade of button（11）, II grade
Button（12）, III grade of button（13）, IV grade of button（14）, R grades of buttons（15）, N grades of buttons（16）, lifting button（17）, turn left
Button（18）, right-hand rotation button（19）, decline button（101）, stop button（102）, starting button（103）, oiling button
（104）, subtract oily button（105）, standby I button（106）With standby II button（107）It is respectively set to and transmitting block（108）Input
Port is connected.
9. the farm power mechanical device according to claim 3 based on wireless control signal, it is characterized in that：Main control unit
Device（2）It is set to include wireless reception block（201）, MCU chip（202）, protection circuit（23）, linear electric motors control（24）
With oil cylinder control（25）, linear electric motors control（24）Input port and MCU chip（202）Output port is connected, oil cylinder control
（25）Input port be set to and wireless reception block（201）Output port connection, circuit protection circuit（23）Be set to
Input power connects,
Linear electric motors are controlled（24）It is set to include photoelectrical coupler U3, resistance R31, resistance R32, metal-oxide-semiconductor Q2, photoelectric coupling
Device U4, resistance R34, resistance R35, metal-oxide-semiconductor Q4, photoelectrical coupler U5, resistance R37, resistance R38, metal-oxide-semiconductor Q3, photoelectrical coupler
U6, resistance R40, resistance R41, metal-oxide-semiconductor Q5 and current detector current1, interface P2.0, P2.1, P2.2 of MCU chip and
P2.3 is respectively set to the MCU with photoelectrical coupler U3, photoelectrical coupler U4 MCU, photoelectrical coupler U5 MCU and photoelectricity coupling
Clutch U6 MCU connections, photoelectrical coupler U3 output interface is set to be connected with metal-oxide-semiconductor Q2 and photoelectricity by resistance R31
Coupler U3 output interface is set to by resistance R32 and GND, and photoelectrical coupler U4 output interface is set to lead to
Cross that resistance R34 is connected with metal-oxide-semiconductor Q4 and photoelectrical coupler U4 output interface is set to by resistance R35 and GND,
Photoelectrical coupler U5 output interface is set to be connected with metal-oxide-semiconductor Q3 by resistance R37 and photoelectrical coupler U5 output connects
Mouth is set to by resistance R38 and GND, and photoelectrical coupler U6 output interface is set to by resistance R40 and metal-oxide-semiconductor
Q5 connections and photoelectrical coupler U6 output interface are set to by resistance R41 and GND,
Oil cylinder is controlled（25）It is set to include photoelectrical coupler U7, resistance R50, resistance R51, resistance R52, resistance R53, MOS
Pipe Q6 and inductance coil L1 and photoelectrical coupler U7 one of input interface are set to and received the output port of block 201
Connection, photoelectrical coupler U7 one of input interface is set to be connected and photoelectrical coupler with the earth by resistance R50
U7 other in which input interface is set to be connected with the earth by resistance R51, and photoelectrical coupler U7 output interface is set
To be connected by resistance R52 with metal-oxide-semiconductor Q6, photoelectrical coupler U7 output interface is connected simultaneously by resistance R53 with power cathode
And metal-oxide-semiconductor Q6 one of interface is set to be connected with power cathode, metal-oxide-semiconductor Q6 other in which interface is set to pass through
Inductance coil L1 is connected with positive source,
Protection circuit（23）It is set to include reverse-connection protection circuit, over-voltage fault diagnostic circuit and over current fault diagnostic circuit,
Reverse-connection protection circuit is set to include relay K1 and diode D4 and diode D4 positive pole are set to and key
Switch connection is opened, diode D4 negative pole is set to be connected with relay K1 control interface and relay K1 power supply connects
Mouth is set to be connected with external power supply by fuse,
Over-voltage fault diagnostic circuit be set to include resistance R4, resistance R5, resistance R6, resistance R7, amplifier block U1, resistance R1,
Photoelectrical coupler U2, resistance R2 and resistance R3 and metal-oxide-semiconductor Q1, amplifier block U1 negative pole are set to by resistance R4 and positive source
Connect and amplifier block U1 negative pole is set to be connected with power cathode by resistance R5, amplifier block U1 positive pole is set to pass through
Resistance R6 is connected with the earth and amplifier block U1 positive pole is set to be connected with power cathode by resistance R7, and amplifier block U1's is defeated
Outgoing interface is respectively set to be connected with resistance R1 and photoelectrical coupler U2 one of input interface, photoelectrical coupler U2 its
In an output interface be set to be connected with metal-oxide-semiconductor Q1 input interfaces by resistance R2, one of them of photoelectrical coupler U2 is defeated
Incoming interface is set to be connected with power cathode and photoelectrical coupler U2 one of output interface is set to by resistance
R3 is connected with power cathode, and photoelectrical coupler U2 other in which output interface is set to be connected simultaneously with diode D4 negative pole
And metal-oxide-semiconductor Q1 one of output interface is set to be connected with relay K1, metal-oxide-semiconductor Q1 other in which output connects
Mouth is set to be connected with power cathode,
Over current fault diagnostic circuit is set to include current detector current1, current detector current1 interface IN
+ be respectively set to connect with metal-oxide-semiconductor Q2, metal-oxide-semiconductor Q3, metal-oxide-semiconductor Q4 and metal-oxide-semiconductor Q5, the power supply of current detector has main control unit
Device（2）Internal mu balanced circuit provides power supply, and the electric currents of current detector real-time sampling linear electric motors is by the electricity of linear electric motors
Circulation changes analog quantity into and handled to MCU chip.
10. a kind of mechanical gear control method of farm power based on wireless control signal, its step is：Output signal is carried out just
Beginningization, if perform parking action, when performing parking action, if perform gear shifting action, when performing gear shifting action, currently
Whether gear is neutral, and preceding gear is not neutral, and whether preceding gear arrives neutral, and preceding gear is less than neutral and is alarmed, when
Preceding gear is that neutral and preceding gear are effective to neutral, and whether target gear is neutral, and target gear is not neutral, neutral to target
Gear, neutral to target gear effectively and is alarmed, neutral to target gear do not imitate with target gear as neutral and
It is made whether to perform starting-up action, is to perform starting-up action and be made whether to perform the action of throttle plus-minus, is to perform throttle to add
Subtract and act and be made whether to perform alert process, be to perform alert process and be made whether that data are preserved, be that data are preserved
And it is made whether that output signal is initialized.
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| CN201095364Y (en) * | 2006-03-04 | 2008-08-06 | 杨铭域 | Accelerator operation system |
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Effective date of registration: 20231124 Address after: G2-96, Entrepreneurship Incubation Base, Changqing Lake Campus, Shandong Normal University, Guyunhu Street Office, Changqing District, Jinan City, Shandong Province, 250300 Patentee after: Jinan Hongtai Tiansheng Digital Technology Co.,Ltd. Address before: 271209 Guodu Industrial Park, Xintai City, Tai'an City, Shandong Province Patentee before: TAI'AN TAISHAN GUOTAI TRACTORS CO.,LTD. |
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