CN107255164B - Agricultural power mechanical device based on wireless control signal and control method - Google Patents
Agricultural power mechanical device based on wireless control signal and control method Download PDFInfo
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- CN107255164B CN107255164B CN201710406749.XA CN201710406749A CN107255164B CN 107255164 B CN107255164 B CN 107255164B CN 201710406749 A CN201710406749 A CN 201710406749A CN 107255164 B CN107255164 B CN 107255164B
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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
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- 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
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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
- F16H61/32—Electric motors actuators or related electrical control means therefor
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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
- F16H63/04—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
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- 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
Abstract
The utility model provides an agricultural power machinery and control method based on wireless control signal, include main control unit device (2) that are used for exporting electrical control signal, set up to be connected and shift through the motor control with the output port of main control unit device (2) and the first final controlling element of throttle manipulation, set up to be connected and brake the separation and reunion through telescopic cylinder control with the output port of main control unit device (2), turn to and the second final controlling element of annex lift manipulation, signal through main control unit device (2), shift by motor control and throttle manipulation, brake the separation and reunion by telescopic cylinder control, turn to and annex lift manipulation, no longer manual shift formula manual operation, consequently, the automatic driving of agricultural power machinery has been realized.
Description
Technical Field
The invention relates to an agricultural power mechanical device, in particular to an agricultural power mechanical device based on a wireless control signal and a control method.
Background
The agricultural power mechanical device provides driving power for agricultural operation equipment, so the agricultural power mechanical device is important agricultural equipment, and in the existing agricultural power mechanical devices, manual gear shifting type manual operation is also adopted, and as the agricultural machinery is mainly applied to fields to carry out various operations, but some special operation occasions such as greenhouses have height and other limitations, so that operators cannot operate on the agricultural machinery or even can operate on the agricultural machinery on the basis of special inconvenience and danger easily occurs.
The technical scheme of the invention is applied based on the prior technical problems, technical features and technical effects.
Disclosure of Invention
The object of the invention is an agricultural power machine device based on wireless control signals,
the invention aims to provide an agricultural power machine control method based on wireless control signals.
In order to overcome the technical defects, the invention aims to provide an agricultural power machine device and a control method based on wireless control signals, so that automatic driving of the agricultural power machine device is realized.
In order to achieve the purpose, the invention adopts the technical scheme that: the system comprises a main control unit device used for outputting an electric control signal, a first execution device which is arranged to be connected with an output port of the main control unit device and controls gear shifting and an accelerator through a motor, and a second execution device which is arranged to be connected with an output port of the main control unit device and controls brake clutch, steering and accessory lifting through a telescopic cylinder.
The main control unit device, the first executing device and the second executing device are designed, the motor controls gear shifting and accelerator operation through signals of the main control unit device, the telescopic cylinder controls brake clutch, steering and accessory lifting operation, manual gear shifting type manual operation is not needed, and therefore automatic driving of the agricultural power mechanical device is achieved.
The invention designs that a first execution device and a second execution device are connected with a main control unit device in a mode of controlling a motor and a telescopic cylinder to realize operation.
The invention designs that the device also comprises a wireless signal output device, the second execution device is set to comprise a brake clutch execution device, a steering execution device and an accessory lifting adjustment execution device,
the first executing device is arranged to comprise a gear shifting executing device and a throttle executing device,
the output port of the wireless signal output device is connected with the input port of the main control unit device in a wireless signal connection mode, and the control port of the gear shifting execution device, the control port of the brake clutch execution device, the control port of the steering execution device, the control port of the accelerator execution device and the control port of the accessory lifting adjustment execution device are connected with the output port of the main control unit device in a wired signal connection mode.
The invention designs a gear shifting execution device which comprises a longitudinal shaft gear shifting device and a transverse shaft gear shifting device, wherein the longitudinal shaft gear shifting device comprises a fisheye bearing, a longitudinal sliding rod, a locking handle I, a longitudinal shaft sliding outer cylinder sleeve, a longitudinal shaft sliding inner cylinder sleeve, a longitudinal shaft motor and a microswitch I, the longitudinal shaft sliding outer cylinder sleeve is connected with a shell of a gear shifter, the longitudinal shaft motor is connected with a rack, the longitudinal shaft sliding inner cylinder sleeve is arranged in the longitudinal shaft sliding outer cylinder sleeve and is connected with the longitudinal shaft sliding outer cylinder sleeve in a sliding way, the longitudinal shaft sliding inner cylinder sleeve is connected with an output end shaft of the longitudinal shaft motor and is arranged in the longitudinal shaft sliding inner cylinder sleeve, the locking handle I is arranged between the longitudinal sliding rod and the longitudinal shaft sliding inner cylinder sleeve and is connected with the longitudinal sliding rod and the longitudinal shaft sliding inner cylinder sleeve in a plugging way, the longitudinal sliding rod is connected with a stop lever through the fisheye bearing, and the microswitch I is connected with an output end shaft of the longitudinal shaft motor,
the cross shaft gear shifting device is arranged to comprise a connecting rocker arm, a transverse sliding rod fixing sleeve, a locking handle II, a micro switch II and a cross shaft motor, the cross shaft motor is arranged to be connected with the rack, the micro switch II is arranged to be connected with an output end shaft of the cross shaft motor, the output end shaft of the cross shaft motor is arranged to be connected with one end head of the transverse sliding rod fixing sleeve, the other end head of the transverse sliding rod fixing sleeve is arranged to be connected with the transverse sliding rod, the transverse sliding rod is arranged to be connected with a stop lever through the connecting rocker arm, the locking handle II is arranged between the transverse sliding rod fixing sleeve and the transverse sliding rod, the locking handle II is arranged to be connected with the transverse sliding rod fixing sleeve and the transverse sliding rod in a plug-in mode, the connecting rocker arm is arranged to be an L-shaped rod body, the transverse shaft motor and the transverse sliding rod are arranged to be distributed in an up-down arrangement mode, a control port of the longitudinal shaft motor and a control port of the transverse shaft motor are respectively arranged to be a control port of a gear shifting execution device, and an output port of the micro switch I and an output port of the micro switch II are respectively arranged to be connected with an output port of a wireless signal output device.
The invention designs a brake clutch actuating device which comprises a clutch brake cylinder, a cylinder nut, a clutch rocker, a clutch pull rod, a brake pull rod and a brake rocker, wherein the cylinder nut is connected with a telescopic part of a clutch cylinder 43, the clutch pull rod and the brake pull rod are respectively connected with the cylinder nut in a sliding way, the clutch pull rod is connected with the clutch rocker, the brake pull rod is connected with the brake rocker and the brake rocker is connected with a brake pedal, the clutch rocker is connected with the clutch pedal, reset springs are respectively arranged between the brake pedal and a machine frame and between the clutch pedal and the machine frame, the clutch rocker is connected with a swinging end part of the clutch pedal, the middle part of the brake rocker is rotatably connected with the machine frame through a pin shaft, one end part of the brake rocker is connected with the brake pedal, the other end part of the brake rocker is connected with the brake pull rod, the clutch pull rod and the brake pull rod are respectively arranged in a sliding hole on the side part of the cylinder nut, an adjusting nut is arranged between the adjusting nut and the cylinder nut, and a control port of the clutch brake cylinder is arranged as a control port of the brake clutch brake actuating device.
The invention designs that the steering execution device is arranged as a steering oil cylinder, the steering oil cylinder is arranged to be connected with the steering crank arm, and a control port of the steering oil cylinder is arranged as a control port of the steering execution device.
The invention designs that the steering brake clutch hydraulic control device comprises a steering constant-flow overflow oil pump, a steering three-position four-way electromagnetic directional valve, a double one-way throttle valve, a clutch brake three-position four-way electromagnetic directional valve and an unloading valve,
the steering three-position four-way electromagnetic directional valve is provided with a P port, a T port, an A port and a B port, the clutch and brake three-position four-way electromagnetic directional valve is provided with a P port, a T port, an A port and a B port, the unloading valve is provided with a P port and a T port, the output port of the steering constant-current overflow oil pump is respectively communicated with the P port of the unloading valve, the P port of the steering three-position four-way electromagnetic directional valve and the P port of the clutch and brake three-position four-way electromagnetic directional valve, the A port of the steering three-position four-way electromagnetic directional valve is communicated with the port A2 of a steering oil cylinder of a steering execution device through a double one-way throttle valve, the B port of the steering three-position four-way electromagnetic directional valve is communicated with the port B2 of the steering oil cylinder of the steering execution device through a double one-way throttle valve, the A port of the clutch and brake three-position four-way electromagnetic directional valve is communicated with the port A1 of the clutch and brake oil cylinder, and the B port of the clutch and brake three-position four-way electromagnetic directional valve is communicated with the port B1 of the clutch and brake oil cylinder.
The invention designs that an accelerator execution device comprises an accelerator linear motor, an accelerator pull rod, a pull wire stop head and a compression spring, wherein the accelerator pull rod is connected with an output end shaft of the accelerator linear motor, an accelerator pull wire is connected in series in the accelerator pull rod, the pull wire stop head is arranged at the end part of the accelerator pull wire, the compression spring is arranged between the pull wire stop head and the accelerator pull rod, and a control port of the accelerator linear motor is arranged as a control port of the accelerator execution device.
The invention designs that the accessory lifting adjusting execution device is arranged as a lifting adjusting oil cylinder, the lifting adjusting oil cylinder is arranged between the rack and the accessory, and a control port of the lifting adjusting oil cylinder is arranged as a control port of the accessory lifting adjusting execution device.
The invention designs that an accessory lifting regulation execution hydraulic control device comprises a lifting constant-current overflow pump and a lifting three-position four-way electromagnetic directional valve, wherein the lifting three-position four-way electromagnetic directional valve is provided with a P port, a T port, an A port and a B port, the output port of the lifting constant-current overflow pump is communicated with the P port of the lifting three-position four-way electromagnetic directional valve, the A port of the lifting three-position four-way electromagnetic directional valve is communicated with an A1 port of a lifting regulation oil cylinder of an accessory lifting regulation execution device, and the B port of the lifting three-position four-way electromagnetic directional valve is communicated with a B1 port of the lifting regulation oil cylinder of the accessory lifting regulation execution device.
The invention designs that the wireless signal output device is arranged as a button remote controller and comprises a first-gear button, a second-gear button, a third-gear button, a fourth-gear button, a R-gear button, a N-gear button, a lifting button, a left-turning button, a right-turning button, a descending button 101, a parking button, a starting button, an oil filling button, an oil reducing button 105, a standby I button, a standby II button and a transmitting block, wherein the first-gear button, the second-gear button, the third-gear button, the IV-gear button, the R-gear button, the N-gear button, the lifting button, the left-turning button, the right-turning button, the descending button 101, the parking button, the starting button, the oil filling button, the oil reducing button 105, the standby I button and the standby II button are respectively arranged to be connected with an input port of the transmitting block.
The invention designs that a main control unit device comprises a wireless receiving block, an MCU chip, a protection circuit, a linear motor control and an oil cylinder control, wherein an input port of the linear motor control is connected with an output port of the MCU chip, an input port of the oil cylinder control is connected with an output port of the wireless receiving block, and the circuit protection circuit is connected with an input power supply.
Linear electric motor control sets up to include optoelectronic coupler U3, resistance R31, resistance R32, MOS pipe Q2, optoelectronic coupler U4, resistance R34, resistance R35, MOS pipe Q4, optoelectronic coupler U5, resistance R37, resistance R38, MOS pipe Q3, optoelectronic coupler U6, resistance R40, resistance R41, MOS pipe Q5 and current detector current1, the interface P2.0 of MCU chip, P2.1, P2.2 and P2.3 set up respectively to the MCU with optoelectronic coupler U3, optoelectronic coupler U4's MCU, optoelectronic coupler U5's MCU and optoelectronic coupler U6's MCU are connected, optoelectronic coupler U3's output interface sets up to be connected with MOS pipe Q2 through resistance R31 and optoelectronic coupler U3's output interface sets up to pass through resistance R32 and battery negative pole, optoelectronic coupler U4's output interface sets up to be connected with MOS pipe Q4 through resistance R34 and optoelectronic coupler U4's output interface sets up to pass through resistance R35 and battery negative pole through resistance R6 and output coupler U5 sets up to pass through the output interface and output resistor R37 and battery negative pole through optoelectronic coupler U6 and output resistor R6 and battery negative pole.
The oil cylinder control is set to include a photoelectric coupler U7, a resistor R50, a resistor R51, a resistor R52, a resistor R53, an MOS pipe Q6 and an inductance coil L1, one input interface of the photoelectric coupler U7 is set to be connected with an output port of the receiving block 201, one input interface of the photoelectric coupler U7 is set to be connected with the ground through the resistor R50, the other input interface of the photoelectric coupler U7 is set to be connected with the ground through the resistor R51, the output interface of the photoelectric coupler U7 is set to be connected with the MOS pipe Q6 through the resistor R52, the output interface of the photoelectric coupler U7 is connected with a negative electrode of a power supply through the resistor R53, one interface of the MOS pipe Q6 is set to be connected with a negative electrode of the power supply, and the other interface of the MOS pipe Q6 is set to be connected with a positive electrode of the power supply through the inductance coil L1.
The protection circuit is set to comprise a reverse connection protection circuit, an overvoltage fault diagnosis circuit and an overcurrent fault diagnosis circuit,
the reverse connection protection circuit is set to include relay K1 and diode D4 and the positive pole of diode D4 sets up to be connected with the key-operated switch, and diode D4's negative pole sets up to be connected with relay K1's control interface and relay K1's power source sets up to be connected with external power source through the fuse.
The overvoltage fault diagnosis circuit comprises a resistor R4, a resistor R5, a resistor R6, a resistor R7, an operational amplifier block U1, a resistor R1, a photoelectric coupler U2, a resistor R3 and an MOS (metal oxide semiconductor) tube Q1, wherein the cathode of the operational amplifier block U1 is connected with the anode of a power supply through the resistor R4, the cathode of the operational amplifier block U1 is connected with the cathode of the power supply through the resistor R5, the anode of the operational amplifier block U1 is connected with the ground through the resistor R6, the anode of the operational amplifier block U1 is connected with the cathode of the power supply through the resistor R7, the output interfaces of the operational amplifier block U1 are respectively connected with one of the input interfaces of the resistor R1 and the photoelectric coupler U2, one of the output interfaces of the photoelectric coupler U2 is connected with the input interface of the MOS tube Q1 through the resistor R2, one of the input interfaces of the photoelectric coupler U2 is connected with the cathode of the power supply and one of the output interfaces of the MOS tube Q1 is connected with the cathode of the MOS tube Q1, one of the output interfaces of the MOS tube Q1 is connected with the other output interface of the MOS tube Q1, one of the output interface of the photoelectric coupler U2 is connected with the output interface of the MOS tube Q1,
overcurrent fault diagnosis circuit sets up to including current detector current1, current detector current 1's interface IN + set up respectively into with MOS pipe Q2, MOS pipe Q3, MOS pipe Q4 and MOS pipe Q5 intercommunication, current detector's power supply has the inside voltage stabilizing circuit of main control unit device to provide the power, current detector samples linear electric motor's current IN real time and converts linear electric motor's current into the analog quantity and handle for the MCU chip.
The invention relates to a gear control method of an agricultural power machine based on a wireless control signal, which is further described by combining with an embodiment, wherein the embodiment is used for illustrating the invention and not for further limiting the invention. The method comprises the following steps: the method comprises the steps of outputting signals to initialize, judging whether to execute parking actions, judging whether to execute gear shifting actions when executing the parking actions, judging whether a current gear is a neutral gear or not, a previous gear is not the neutral gear or not, whether the previous gear is the neutral gear or not and give an alarm, whether the current gear is the neutral gear or not and is effective when the previous gear is the neutral gear, whether a target gear is the neutral gear or not, whether the neutral gear is the target gear or not and give an alarm, whether the neutral gear is the target gear or not and whether the target gear is the neutral gear or not and whether to execute starting actions, whether to execute starting actions and execute accelerator plus-minus actions, whether to execute accelerator plus-minus actions and execute alarm processing or not, whether to execute alarm processing and save data or not, and whether to save data and whether to initialize the output signals or not.
In the technical scheme, the main control unit device for controlling the motor and the telescopic cylinder, the first executing device and the second executing device are important technical characteristics, and in the technical field of agricultural power machinery devices and control methods based on wireless control signals, the agricultural power machinery device has novelty, creativity and practicability, and terms in the technical scheme can be explained and understood by patent documents in the technical field.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of the present invention;
fig. 2 is a longitudinal axis shifting device schematic of the inventive shift actuator 3;
fig. 3 is a schematic diagram of a cross-axle shifting device of the shift actuator 3 according to the invention;
FIG. 4 is a schematic view of a brake clutch actuator 4 according to the present invention;
FIG. 5 is a schematic view of a throttle actuator 6 of the present invention;
FIG. 6 is a schematic diagram of the connection relationship between the wireless signal output device 1 and the main control unit device 2 according to the present invention;
FIG. 7 is a circuit diagram of the linear motor control 24 of the present invention;
FIG. 8 is a circuit diagram of the cylinder control 25 of the present invention;
fig. 9 is a circuit diagram of the protection circuit 23 of the present invention;
FIG. 10 is a hydraulic diagram of the steering brake clutch hydraulic control apparatus of the present invention;
FIG. 11 is a hydraulic diagram of the attachment lift adjustment implement hydraulic control of the present invention;
FIG. 12 is a flow chart of a method for controlling a gear of an agricultural power machine based on a wireless control signal according to the present invention.
Detailed Description
Terms such as "having," "including," and "comprising," as used with respect to the present invention, are to be understood as not specifying the presence or addition of one or more other elements or combinations thereof, in accordance with the examination guidelines.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Furthermore, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is an embodiment of the present invention, which is specifically described with reference to the accompanying drawings, and includes a wireless signal output device 1, a main control unit device 2, a gear shift executing device 3, a brake clutch executing device 4, a steering executing device 5, an accelerator executing device 6, and an accessory lifting adjustment executing device 7,
the output port of the wireless signal output device 1 is connected with the input port of the main control unit device 2 in a wireless signal connection mode, and the control port of the gear shifting execution device 3, the control port of the brake clutch execution device 4, the control port of the steering execution device 5, the control port of the accelerator execution device 6 and the control port of the accessory lifting adjusting execution device 7 are connected with the output port of the main control unit device 2 in a wired signal connection mode.
In the present embodiment, the shift actuator 3 is configured to include a longitudinal axis shifter and a transverse axis shifter, the longitudinal axis shifter is configured to include a fisheye bearing 312, a longitudinal sliding rod 314, a locking handle i 315, a longitudinal sliding outer sleeve 316, a longitudinal sliding inner sleeve 317, a longitudinal axis motor 318 and a microswitch i 319, the longitudinal sliding outer sleeve 316 is configured to be coupled to the housing of the shifter and the longitudinal axis motor 318 is configured to be coupled to the frame, the longitudinal sliding inner sleeve 317 is disposed in the longitudinal sliding outer sleeve 316 and the longitudinal sliding inner sleeve 317 is configured to be slidably coupled to the longitudinal sliding outer sleeve 316, the longitudinal sliding inner sleeve 317 is configured to be coupled to the output end shaft of the longitudinal motor 318 and the longitudinal sliding rod 314 is disposed in the longitudinal sliding inner sleeve 317, the locking handle i 315 is disposed between the longitudinal sliding inner sleeve 317 and the longitudinal sliding inner sleeve 314 and the locking handle i is configured to be plug-coupled to the longitudinal sliding inner sleeve 314 and the longitudinal sliding inner sleeve 317, the longitudinal sliding rod 314 is configured to be coupled to the blocking rod via the fisheye bearing 312 and the microswitch 319 is configured to be coupled to the output end shaft of the longitudinal sliding inner sleeve 319,
the transverse shaft gear shifting device comprises a connecting rocker arm 322, a transverse sliding rod 323, a transverse sliding rod fixing sleeve 325, a locking handle II 324, a micro switch II 326 and a transverse shaft motor 327, wherein the transverse shaft motor 327 is connected with a rack, the micro switch II 326 is connected with an output end shaft of the transverse shaft motor 327, the output end shaft of the transverse shaft motor 327 is connected with one end head of the transverse sliding rod fixing sleeve 325, the other end head of the transverse sliding rod fixing sleeve 325 is connected with the transverse sliding rod 323, the transverse sliding rod 323 is connected with a stop lever through the connecting rocker arm 322, the locking handle II 324 is arranged between the transverse sliding rod fixing sleeve 325 and the transverse sliding rod 323, the locking handle II 324 is connected with the transverse sliding rod fixing sleeve 325 and the transverse sliding rod 323 in a plug-in mode, the connecting rocker arm 322 is arranged into an L-shaped rod body, and the transverse shaft motor 327 and the transverse sliding rod 323 are arranged in an up-down arrangement mode,
the control port of the vertical shaft motor 318 and the control port of the horizontal shaft motor 327 are respectively set as the control ports of the gear shifting executing device 3, and the output port of the micro switch I319 and the output port of the micro switch II 326 are respectively set to be connected with the output port of the wireless signal output device 1.
The longitudinal shaft motor 318 drives the longitudinal shaft sliding inner cylinder sleeve 317 to move, the longitudinal shaft sliding inner cylinder sleeve 317 is connected with the longitudinal sliding rod 314 through the locking handle I315, when the locking handle I315 is screwed down to clamp the longitudinal sliding rod 314, the longitudinal shaft sliding inner cylinder sleeve 317 drives the longitudinal sliding rod 314 to move, the longitudinal sliding rod 314 is connected through the fisheye bearing 312, the other end of the fisheye bearing 312 is directly sleeved at the bottom of the stop lever, therefore, when the longitudinal shaft motor 318 moves, the movement of the stop lever is controlled through the longitudinal shaft sliding inner cylinder sleeve 317, the longitudinal sliding rod 314 and the fisheye bearing 312, but the directions are opposite, namely when the longitudinal shaft motor 318 extends forwards, the actual movement direction of the stop lever on the longitudinal shaft is backward, the locking handle I315 is used for switching between remote control and manual operation, when the locking handle I315 is taken out, gear shifting can be manually performed, the direction of the fisheye bearing 312 can be adjusted through a nut in the middle, the installation can be ensured, the microswitch I319 is marked at the longitudinal position of the neutral position, whether the longitudinal shaft is in the neutral position or not is known through the state of the microswitch I319, the movement length of the longitudinal shaft motor 318 is selected according to the distance from the gear I to the gear II, the transverse shaft motor 327 is connected with the transverse sliding rod 323 through the transverse sliding rod fixing sleeve 325, the transverse shaft motor 327 drives the transverse sliding rod 323 to move, the transverse sliding rod 323 is connected with the blocking rod through the connecting rocker arm 322, the blocking rod is driven to move by the transverse shaft motor 327, the movement direction of the transverse shaft motor 327 is opposite to the movement direction of the blocking rod, the transverse and longitudinal manual operation and the remote control operation are the same, the locking handle II 324 is screwed in and out of the locking hole to realize the separation of the transverse shaft linear motor and the transverse gear mechanical structure, and the microswitch II 326 is used for determining the position of the transverse neutral position.
In the present embodiment, the brake clutch actuator 4 is configured to include a clutch brake cylinder 43, a cylinder nut 44, a clutch rocker 45, a clutch pull 46, a brake pull 48 and a brake rocker 49, and the cylinder nut 44 is configured to be coupled with an expansion portion of the clutch cylinder 43, the clutch pull 46 and the brake pull 48 are respectively configured to be slidably coupled with the cylinder nut 44 and the clutch pull 46 is configured to be coupled with the clutch rocker 45, the brake pull 48 is configured to be coupled with the brake rocker 49 and the brake rocker 49 is configured to be coupled with a brake pedal, the clutch rocker 45 is configured to be coupled with the clutch pedal and a return spring is respectively disposed between the brake pedal and a chassis, the clutch rocker 45 is configured to be coupled with a swing end of the clutch pedal and a middle portion of the brake rocker 49 is configured to be rotatably coupled with the chassis through a pin, one end portion of the brake rocker 49 is configured to be coupled with the brake pedal and the other end portion of the brake rocker 49 is configured to be coupled with the brake pull 48, the clutch pull 46 and the brake pull 48 are respectively disposed in a sliding hole of a side portion of the cylinder nut 44 and a control port of the brake cylinder actuator 43.
The action of separation and reunion brake hydro-cylinder 43 is simultaneous control clutch pedal and brake pedal, the connected mode of separation and reunion brake hydro-cylinder 43 is that separation and reunion brake hydro-cylinder 43 and hydro-cylinder nut 44 are connected through the epaxial screw thread of hydro-cylinder, hydro-cylinder nut 44 and separation and reunion rocking arm 45 are connected through the pivot, separation and reunion rocking arm 45 is direct and the separation and reunion pedal is in the same place through a sleeve welding, the muffjoint is epaxial at the brake, but not fixed relatively rotation on the brake axis, separation and reunion brake hydro-cylinder 43 fixes on the hydro-cylinder support, the junction point department of hydro-cylinder support and separation and reunion brake hydro-cylinder 43 is rotatable, the hydro-cylinder support is fixed on the gearbox box through the fixed orifices, separation and reunion brake hydro-cylinder 43 control separation and reunion pedal and brake pedal step on the process: when the clutch brake cylinder 43 contracts, the cylinder nut 44 is driven to move backwards, when the cylinder nut 44 moves backwards to the foremost end of the groove of the cylinder nut 44, the clutch rocker arm 45 is driven to move backwards, meanwhile, the cylinder nut 44 pulls the brake rocker arm 49 backwards through the brake pull rod 48, as the clutch pedal and the clutch rocker arm 45 are welded together, and the brake rocker arm 49 is suitable for a brake shaft to be fixed together, the actions of contracting the clutch pedal and stepping the brake pedal of the clutch brake cylinder 43 are finally realized, when the clutch brake cylinder 43 extends out, another element on the clutch pedal is connected with the return spring through the hole, and is also connected with the return spring through the other element on the brake rocker arm 49, when the clutch pedal and the brake pedal are stepped down, the respective return spring is stretched, and when the clutch brake cylinder 43 extends out, the clutch pedal and the brake pedal return to the initial non-stepped state through the respective return spring.
In the present embodiment, the steering actuator 5 is provided as a steering cylinder and the steering cylinder is provided in association with a steering crank arm.
The control port of the steering cylinder is set as the control port of the steering actuator 5.
The steering oil cylinder is driven to extend or contract through the forward and reverse directions of the high-pressure liquid of the steering oil cylinder, so that the steering crank arm is driven to swing in an angle mode.
In the embodiment, the steering brake clutch hydraulic control device is provided to comprise a steering constant-flow overflow oil pump 501, a steering three-position four-way electromagnetic directional valve 502, a double one-way throttle valve 504, a clutch brake three-position four-way electromagnetic directional valve 505 and an unloading valve 507,
the steering three-position four-way electromagnetic directional valve 502 is provided with a P port, a T port, an A port and a B port, the clutch and brake three-position four-way electromagnetic directional valve 505 is provided with a P port, a T port, an A port and a B port, the unloading valve 507 is provided with a P port and a T port, the output port of the steering constant-current overflow oil pump 501 is respectively communicated with the P port of the unloading valve 507, the P port of the steering three-position four-way electromagnetic directional valve 502 and the P port of the clutch and brake three-position four-way electromagnetic directional valve 505, the A port of the steering three-position four-way electromagnetic directional valve 502 is communicated with the port A2 of the steering cylinder of the steering execution device 5 through the double one-way throttle valve 504, the B port of the steering three-position four-way electromagnetic directional valve 502 is communicated with the port B2 of the steering cylinder of the steering execution device 5 through the double one-way throttle valve 504, the A port of the clutch and brake three-position four-way electromagnetic directional valve 505 is communicated with the port A1 of the clutch and brake cylinder 43, and the B port of the clutch and brake three-position four-position electromagnetic directional valve 505 is communicated with the port B1 of the clutch and brake cylinder 43.
The unloading valve 507 is used for ensuring that high-pressure liquid discharged by the steering constant-flow overflow oil pump 501 is unloaded through the unloading valve 507 when the hydraulic circuit is not used, the unloading valve 507 is not unloaded when the hydraulic circuit is used, the steering three-position four-way electromagnetic directional valve 502 is used for ensuring the direction of hydraulic oil entering the double one-way throttle valve 504 when the hydraulic circuit is used, so that the direction of a steering oil cylinder entering the steering execution device 5 is ensured, when the hydraulic circuit is not used, a pipeline of the steering three-position four-way electromagnetic directional valve 502 is not communicated, the double one-way throttle valve 504 is used for controlling the flow of the steering oil cylinder entering the steering execution device 5, so that the speed of a steering angle is controlled, the clutch brake three-position four-way electromagnetic directional valve 505 is used for ensuring the direction of the hydraulic oil entering the clutch brake cylinder 43 when the hydraulic circuit is used, and when the hydraulic circuit is not used, the pipeline of the clutch and brake three-position four-way electromagnetic directional valve 505 is not communicated, for example, when the vehicle is turned left, the hydraulic oil from the steering constant-flow overflow oil pump 501 flows into the port P of the steering three-position four-way electromagnetic directional valve 502 and the port P of the unloading valve 507, the main control unit device 2 controls the operation of the steering three-position four-way electromagnetic directional valve 502 and the operation of the unloading valve 507 after receiving the left turn signal of the wireless signal transmitting device 1, so that the inside of the unloading valve 507 is not communicated, the hydraulic oil only flows out from the port B of the steering three-position four-way electromagnetic directional valve 502 and flows into the port B2 of the steering cylinder of the steering execution device 5 through the right one-way throttle valve of the two one-way throttle valve 504, the hydraulic oil is not throttled in the pipeline from the port B to the port B2, the hydraulic oil then flows out from the port A2 of the steering cylinder of the steering execution device 5, the hydraulic oil flowing out from the port A2 passes through the left one-way throttle valve of the two-way throttle valve 504, hydraulic oil can be throttled in a pipeline and simultaneously flows into a port A of the three-position four-way electromagnetic steering valve 502, then flows out through a port T of the three-position four-way electromagnetic steering valve 502, the clutch is stepped down to enable the clutch brake cylinder 43 to retract, the hydraulic oil from the constant-flow overflow oil pump 501 flows into a port P of the three-position four-way electromagnetic clutch valve 505 and a port P of the unloading valve 507, the main control unit device 2 receives a stop signal of the wireless signal transmitting device 1 and controls the three-position four-way electromagnetic clutch valve 505 and the unloading valve 507 to work, so that the unloading valve 507 is not communicated internally, the hydraulic oil only flows into the port B of the three-position four-way electromagnetic clutch valve 505 from the port P of the three-position four-way electromagnetic clutch brake valve 505 and flows into a port B1 of the clutch brake cylinder 43, then flows out from the port A1 of the clutch brake cylinder 43, flows into the port A of the three-position four-way electromagnetic clutch valve 505 and then flows out from the port T of the three-position four-way electromagnetic clutch valve 505.
In this embodiment, the accelerator actuator 6 is configured to include an accelerator linear motor 65, an accelerator pull rod 61, a cable stopper 62 and a compression spring 63, the accelerator pull rod 61 is configured to be coupled to an output end shaft of the accelerator linear motor 65, the accelerator pull rod 64 is configured to be connected in series in the accelerator pull rod 61, the cable stopper 62 is disposed at an end of the accelerator pull rod 64, the compression spring 63 is disposed between the cable stopper 62 and the accelerator pull rod 61, and a control port of the accelerator linear motor 65 is configured to be a control port of the accelerator actuator 6.
When the accelerator linear motor 65 contracts to drive the accelerator pull rod 61 to move leftwards, and when the compression spring 63 is compressed to pull the accelerator pull wire 64, the pull wire stopper 62 drives the accelerator pull wire 64 to move leftwards, the accelerator is increased at the moment, when the accelerator linear motor 65 extends out and moves rightwards, the compression spring 63 resets, the accelerator pull wire 64 is automatically pulled backwards towards the right side by an external spring, and the accelerator is reduced at the moment.
In the present embodiment, the attachment lift adjustment actuator 7 is provided as a lift adjustment cylinder and the lift adjustment cylinder is provided between the frame and the attachment, and a control port of the lift adjustment cylinder is provided as a control port of the attachment lift adjustment actuator 7.
The distance between the accessory and the rack is adjusted through lifting the adjusting oil cylinder, so that whether the accessory is in a working state or not is adjusted.
In this embodiment, the hydraulic accessory lift adjustment execution control device is configured to include a lift constant-flow overflow pump 701 and a lift three-position four-way electromagnetic directional valve 702, the lift three-position four-way electromagnetic directional valve 702 is provided with a P port, a T port, an a port, and a B port, an output port of the lift constant-flow overflow pump 701 is configured to communicate with the P port of the lift three-position four-way electromagnetic directional valve 702, the a port of the lift three-position four-way electromagnetic directional valve 702 is configured to communicate with the A1 port of the lift adjustment cylinder of the accessory lift adjustment execution device 7, and the B port of the lift three-position four-way electromagnetic directional valve 702 is configured to communicate with the B1 port of the lift adjustment cylinder of the accessory lift adjustment execution device 7.
The lifting three-position four-way electromagnetic directional valve 702 has the functions that when the hydraulic circuit is used, the direction of the hydraulic oil entering the lifting adjusting oil cylinder of the accessory lifting adjusting execution device 7 is ensured, when the hydraulic circuit is not used, the lifting three-position four-way electromagnetic directional valve 702 can provide unloading, namely, the port P is communicated with the port T, for example, lifting is performed, hydraulic oil from the lifting constant-flow overflow pump 701 flows into the port P of the lifting three-position four-way electromagnetic directional valve 702, the main control unit device 2 controls the lifting three-position four-way electromagnetic directional valve 702 to work after receiving a lifting signal of the wireless signal transmitting device 1, the hydraulic oil flows into the port A of the lifting adjusting oil cylinder of the accessory lifting adjusting execution device 7 from the port P of the lifting three-position four-way electromagnetic directional valve 702 and flows out from the port A1 of the lifting adjusting oil cylinder of the accessory lifting adjusting execution device 7 from the port B1 of the lifting adjusting oil cylinder of the accessory lifting adjusting execution device 7 to the port B of the lifting three-position four-way electromagnetic directional valve 702.
In the present embodiment, the wireless signal output apparatus 1 is provided as a button remote controller and the wireless signal output apparatus 1 is provided to include an i-range button 11, an ii-range button 12, an iii-range button 13, an iv-range button 14, an R-range button 15, an N-range button 16, a raise button 17, a left turn button 18, a right turn button 19, a lower button 101, a park button 102, a start button 103, a fuel-up button 104, a fuel-down button 105, an i-standby button 106, an ii-standby button 107, and a launch block 108, and the i-range button 11, the ii-range button 12, the iii-range button 13, the iv-range button 14, the R-range button 15, the N-range button 16, the raise button 17, the left turn button 18, the right turn button 19, the lower button 101, the park button 102, the start button 103, the fuel-up button 104, the fuel-down button 105, the 1-standby button 106, and the ii-standby button 107 are respectively provided in connection with the input port of the launch block 108.
In this embodiment, the main control unit device 2 is configured to include a wireless receiving block 201, an MCU chip 202, a protection circuit 23, a linear motor control 24, and a cylinder control 25, wherein an input port of the linear motor control 24 is connected to an output port of the MCU chip 202, an input port of the cylinder control 25 is configured to be connected to an output port of the wireless receiving block 201, and the circuit protection circuit 23 is configured to be connected to an input power supply.
Linear electric motor control 24 sets up to include optoelectronic coupler U3, resistance R31, resistance R32, MOS pipe Q2, optoelectronic coupler U4, resistance R34, resistance R35, MOS pipe Q4, optoelectronic coupler U5, resistance R37, resistance R38, MOS pipe Q3, optoelectronic coupler U6, resistance R40, resistance R41, MOS pipe Q5 and current detector current1, the interface P2.0 of MCU chip, P2.1, P2.2 and P2.3 set up respectively to the MCU with optoelectronic coupler U3, optoelectronic coupler U4's MCU, optoelectronic coupler U5's MCU and optoelectronic coupler U6's MCU connect, optoelectronic coupler U3's output interface sets up to be connected with MOS pipe Q2 through resistance R31 and optoelectronic coupler U3's output interface sets up to pass through resistance R32 and battery negative pole, optoelectronic coupler U4's output interface sets up to pass through resistance R34 and MOS pipe Q4 and optoelectronic coupler U4's output interface sets up to pass through optoelectronic coupler R35 and MOS pipe Q5 and output resistor R37 and battery negative pole setting up to pass through optoelectronic coupler U6 and output resistor R37 and battery negative pole through optoelectronic coupler U6.
The oil cylinder control 25 is set to include a photoelectric coupler U7, a resistor R50, a resistor R51, a resistor R52, a resistor R53, a MOS tube Q6 and an inductance coil L1, and one input interface of the photoelectric coupler U7 is set to be connected to an output port of the receiving block 201, one input interface of the photoelectric coupler U7 is set to be connected to the ground through the resistor R50 and the other input interface of the photoelectric coupler U7 is set to be connected to the ground through the resistor R51, an output interface of the photoelectric coupler U7 is set to be connected to the MOS tube Q6 through the resistor R52, an output interface of the photoelectric coupler U7 is connected to a negative electrode of a power supply through the resistor R53 and one interface of the MOS tube Q6 is set to be connected to a negative electrode of the power supply, and the other interface of the MOS tube Q6 is set to be connected to a positive electrode of the power supply through the inductance coil L1.
The protection circuit 23 is configured to include a reverse connection protection circuit, an overvoltage fault diagnosis circuit and an overcurrent fault diagnosis circuit,
the reverse connection protection circuit is arranged to comprise a relay K1 and a diode D4, the anode of the diode D4 is arranged to be connected with the key-on switch, the cathode of the diode D4 is arranged to be connected with a control interface of the relay K1, and a power interface of the relay K1 is arranged to be connected with an external power supply through a fuse.
The overvoltage fault diagnosis circuit comprises a resistor R4, a resistor R5, a resistor R6, a resistor R7, an operational amplifier block U1, a resistor R1, a photoelectric coupler U2, a resistor R3 and an MOS (metal oxide semiconductor) tube Q1, wherein the cathode of the operational amplifier block U1 is connected with the anode of a power supply through the resistor R4, the cathode of the operational amplifier block U1 is connected with the cathode of the power supply through the resistor R5, the anode of the operational amplifier block U1 is connected with the ground through the resistor R6, the anode of the operational amplifier block U1 is connected with the cathode of the power supply through the resistor R7, the output interfaces of the operational amplifier block U1 are respectively connected with one of the input interfaces of the resistor R1 and the photoelectric coupler U2, one of the output interfaces of the photoelectric coupler U2 is connected with the input interface of the MOS tube Q1 through the resistor R2, one of the input interfaces of the photoelectric coupler U2 is connected with the cathode of the power supply and one of the output interfaces of the MOS tube Q1 is connected with the cathode of the MOS tube Q1, one of the output interfaces of the MOS tube Q1 is connected with the other output interface of the MOS tube Q1, one of the output interface of the photoelectric coupler U2 is connected with the output interface of the MOS tube Q1,
overcurrent fault diagnosis circuit sets up to including current detector current1, current detector current 1's interface IN + set up respectively into with MOS pipe Q2, MOS pipe Q3, MOS pipe Q4 and MOS pipe Q5 intercommunication, current detector's power supply has the inside voltage stabilizing circuit of main control unit device 2 to provide the power, current detector samples linear electric motor's current IN real time and converts linear electric motor's current into the analog quantity and handle for the MCU chip.
The receiving block 201 sends an oil adding and reducing signal to the MCU chip, the MCU chip executes an internal program to control the opening and closing of the U3-U6 photoelectric couplers through the P2.0-P2.3 pins, the photoelectric couplers control the corresponding MOS tubes to be conducted, the motor shrinkage is assumed when M2 motor current is defined to flow from left to right, the corresponding mechanical action is the accelerator increase, when an oil adding signal exists, the main chip MCU control pin MCU _ IO _ P2.0 and MCU _ IO _ P2.3 are at low level, and the corresponding U3 and U6 are conducted to cause the conduction of the MOS tubes Q2 and Q5. Meanwhile, the control pins MCU _ IO _ P2.1 and MCU _ IO _ P2.2 are at high level, and the corresponding MOS transistors Q3 and Q4 are not conducted. Then the current flows from 12V to MOS tube Q5 to the cathode of the power supply through MOS tube Q2, the current flows from left to right, the motor is contracted, and the accelerator is increased.
As the hardware principle of the hardware control of the X-axis motor and the hardware principle of the hardware control of the Y-axis motor are the same as that of the hardware control of the oil adding and reducing, the pins are different. The circuit diagram of the linear motor control here does not draw the X-axis linear motor and the Y-axis linear motor. The receiving block 201 also sends a gear signal to the MCU chip, and the MCU chip executes an internal program to control the on/off of the MOS transistor by controlling the photoelectric coupler through the pin of the MCU chip, thereby controlling the operation of the X-axis motor and the Y-axis motor.
The receiving block 201 directly controls the photoelectric coupler, taking left turn as an example, when the left turn signal is high level, the U7 photoelectric coupler switches on 12V voltage and applies to the gate of the MOS transistor Q6, and then controls the switching on of the MOS transistor Q6, and one end of the coil of the hydraulic electromagnetic valve is connected to the negative electrode. And the other end is connected with 12V, so that the hydraulic electromagnetic valve coil works. Thereby controlling the flow of hydraulic oil to turn left.
Because the hardware control of right turning, parking starting and lifting is the same as the hardware principle of left turning, only the connected pins are different. Therefore, the circuit diagram of the oil cylinder control circuit does not show a hardware circuit diagram of right turning, parking, starting and lifting. The receiving block 201 directly controls the photocoupler. This has the advantage that the pins of the MCU chip can be reduced as much as possible. The control is simple.
The reverse connection protection circuit adopts a relay K1 and a diode D4. When the power supply is reversely connected, the D4 diode is not conducted, so that the relay cannot be attracted.
The overvoltage fault diagnosis circuit is used for detecting the voltage division of the positive electrode of the battery, and when the detected value exceeds the set voltage value of the + end of the comparator U1, the comparator controls the photoelectric coupler U2 so as to control the MOS tube Q1 to control whether one end of the relay coil is connected to the negative electrode of the battery. When the voltage exceeds a set value, the output end of the comparator U1 is 0V, the photoelectric coupler U2 is not conducted, the grid and source voltages of the MOS tube Q2 are 0V, and the MOS tube is not conducted. So that one end of the relay coil cannot be connected to the negative electrode.
The overcurrent fault diagnosis circuit is characterized in that a current detection sensor current1 is connected in series between a source electrode of an MOS (metal oxide semiconductor) transistor Q4 and a negative electrode of a battery, a voltage signal is output to a pin of a main chip MCU (microprogrammed control Unit), the voltage signal is an analog signal, the MCU chip can know whether a current value corresponding to the current is in an allowable range or not when detecting voltage, and the MCU chip directly stops controlling the H-bridge MOS transistor if the current value exceeds the allowable value.
The invention is further described below with reference to the following embodiments, which are intended to illustrate the invention but not to limit the invention further. The method comprises the following steps: the output signal is initialized, whether the parking action is executed or not, whether the gear shifting action is executed or not when the parking action is executed or not, whether the current gear is a neutral gear or not, the previous gear is not a neutral gear, whether the previous gear is a neutral gear or not, and the previous gear is not a neutral gear and is a neutral gear and gives an alarm, whether the current gear is a neutral gear and is effective until the previous gear is a neutral gear, whether the target gear is a neutral gear, and the target gear is not a neutral gear, and is a neutral gear to a target gear, and gives an alarm, whether the neutral gear is not effective until the target gear is a neutral gear and is a neutral gear, and whether the starting action is executed or not, whether the starting action is executed and the accelerator plus-minus action is executed or not, whether the accelerator plus-minus action is executed and the alarm is executed and whether the alarm is executed and the data is saved, and whether the output signal is initialized or not is executed.
The gear shifting program is used for controlling the action direction, the action sequence and the action time of the X-axis motor and the Y-axis motor. The action directions and the sequence of the X-axis linear motor and the Y-axis linear motor are controlled by simulating a manual gear shifting process, so that the push-pull gear lever is controlled, and gear switching is realized. The throttle control program is used for controlling the action direction and speed of the throttle motor. The PWM signal is output through an accelerator program to control an H-bridge hardware circuit so as to control a linear motor at the accelerator to perform push-pull action on the accelerator and control the speed of push-pull. The starting and stopping program is used for controlling the working direction and time of the oil pump, and the stretching of the oil cylinder, namely the actions of the brake pedal and the clutch pedal, are controlled by the starting and stopping program. The fault detection alarm program is used for detecting whether an external signal, an execution mechanism and a hardware circuit have errors in the process of each control action. When an error occurs, an alarm prompt is given, so that an operator can check the fault conveniently. The power failure memory program is used for storing relevant data during power failure, for example, the current state is required to be memorized when power failure occurs suddenly in the gear shifting process, and the gear can be continuously operated when the normal state is recovered.
In the embodiment, the tractor applied to the greenhouse has the best effect, meets the requirement of frequent steering, and improves the efficiency of agricultural operation.
The invention has the following characteristics:
1. the main control unit device 2, the first executing device and the second executing device are designed, the motor controls gear shifting and accelerator operation through signals of the main control unit device 2, the telescopic cylinder controls brake clutch, steering and accessory lifting operation, manual gear shifting type manual operation is omitted, and therefore automatic driving of the agricultural power mechanical device is achieved.
2. Because the line signal output device 1 and the main control unit device 2 are designed and controlled by three-digit numbers, the reliability of electric signals is improved.
3. Due to the fact that the gear shifting executing device 3 and the accelerator executing device 6 are designed, the accuracy of the control position is improved through the stroke of the motor.
4. Because the brake clutch actuating device 4, the steering actuating device 5 and the accessory lifting adjusting actuating device 7 are designed, the precision requirement of an operating position is met through the telescopic cylinder, and the reliability of action is realized.
5. Due to the design of the technical characteristics of the invention, tests show that each performance index of the invention is at least 1.7 times of the existing performance index under the action of the single and mutual combination of the technical characteristics, and the invention has good market value through evaluation.
Still other features associated with the main control unit 2 for controlling the motor and the telescopic cylinder, the first actuator and the second actuator are all embodiments of the present invention, and the features of the above-mentioned embodiments can be combined arbitrarily, and in order to meet the requirements of patent laws, patent practice rules and examination guidelines, all possible combinations of the features of the above-mentioned embodiments will not be described again.
Therefore, in the technical field of agricultural power machinery devices and control methods based on wireless control signals, all technical contents including the inner layer 1 which is a mixture formed by chemical fertilizer and plant straws or plant leaf bodies under high pressure are within the protection scope of the invention.
The above embodiment is only one implementation form of the agricultural power machine and the control method based on the wireless control signal provided by the invention, and other variations of the scheme provided by the invention, such as adding or reducing components or steps therein, or applying the invention to other technical fields close to the invention, belong to the protection scope of the invention.
Claims (8)
1. An agricultural power mechanical device based on wireless control signals is characterized in that: comprises a main control unit device (2) used for outputting an electric control signal, a first execution device which is arranged to be connected with an output port of the main control unit device (2) and controls gear shifting and accelerator operation through a motor, a second execution device which is arranged to be connected with an output port of the main control unit device (2) and controls brake clutch, steering and accessory lifting operation through a telescopic cylinder,
also comprises a wireless signal output device (1), a second execution device is arranged to comprise a brake clutch execution device (4), a steering execution device (5) and an accessory lifting adjustment execution device (7), a first execution device is arranged to comprise a gear shifting execution device (3) and an accelerator execution device (6),
the output port of the wireless signal output device (1) is connected with the input port of the main control unit device (2) in a wireless signal connection mode, and the control port of the gear shifting execution device (3), the control port of the brake clutch execution device (4), the control port of the steering execution device (5), the control port of the accelerator execution device (6) and the control port of the accessory lifting adjusting execution device (7) are connected with the output port of the main control unit device (2) in a wired signal connection mode,
the gear shift actuation device (3) is designed to comprise a longitudinal-axis gear shift device and a transverse-axis gear shift device, the longitudinal-axis gear shift device is designed to comprise a fisheye bearing (312), a longitudinal slide bar (314), a locking handle I (315), a longitudinal-axis sliding outer sleeve (316), a longitudinal-axis sliding inner sleeve (317), a longitudinal-axis motor (318) and a microswitch I (319), the longitudinal-axis sliding outer sleeve (316) is designed to be coupled to the housing of the gear shifter and the longitudinal-axis motor (318) is designed to be coupled to the machine frame, the longitudinal-axis sliding inner sleeve (317) is arranged in the longitudinal-axis sliding outer sleeve (316) and the longitudinal-axis sliding inner sleeve (317) is designed to be slidably coupled to the longitudinal-axis sliding outer sleeve (316), the longitudinal-axis sliding inner sleeve (317) is designed to be coupled to the output of the longitudinal-axis motor (318) and the longitudinal slide bar (314) is designed to be arranged in the longitudinal-axis sliding inner sleeve (317), the locking handle I (315) is arranged between the longitudinal slide bar (314) and the longitudinal-axis sliding inner sleeve (317), the locking handle (315) is designed to be coupled to the longitudinal-axis sliding inner sleeve (314) and the longitudinal-axis sliding sleeve (314) is designed to be coupled to the longitudinal-axis sliding sleeve (319) via the longitudinal-axis bearing (312) and the output-axis sliding inner sleeve (319) to the microswitch I (319),
the transverse shaft gear shifting device comprises a connecting rocker arm (322), a transverse sliding rod (323), a transverse sliding rod fixing sleeve (325), a locking handle II (324), a microswitch II (326) and a transverse shaft motor (327), wherein the transverse shaft motor (327) is connected with the frame, the microswitch II (326) is connected with an output end shaft of the transverse shaft motor (327), an output end shaft of the transverse shaft motor (327) is connected with one end head of the transverse sliding rod fixing sleeve (325), the other end head of the transverse sliding rod fixing sleeve (325) is connected with the transverse sliding rod (323), the transverse sliding rod (323) is connected with a stop lever through the connecting rocker arm (322), the locking handle II (324) is arranged between the transverse sliding rod fixing sleeve (325) and the transverse sliding rod (323), the locking handle II (324) is connected with the transverse sliding rod fixing sleeve (325) and the transverse sliding rod (323) in a plugging manner, the connecting rocker arm (322) is arranged into an L-shaped rod body, the transverse shaft motor (323) and the transverse sliding rod (323) are arranged in an up-down arrangement manner, a control port of the longitudinal shaft motor (318) and a control port of the transverse shaft motor (327) are respectively arranged into an execution port of an execution device I, and an output port of the microswitch I (319), and an execution signal output port of the microswitch II are respectively connected with an execution device (326),
brake separation and reunion final controlling element (4) sets up to include separation and reunion brake cylinder (43), hydro-cylinder nut (44), separation and reunion rocking arm (45), separation and reunion pull rod (46), brake pull rod (48) and brake rocking arm (49) and hydro-cylinder nut (44) set up to couple with the flexible portion of separation and reunion brake cylinder (43), separation and reunion pull rod (46) and brake pull rod (48) set up respectively to couple with hydro-cylinder nut (44) slidingtype and separation and reunion pull rod (46) set up to couple with separation and reunion rocking arm (45), brake pull rod (48) set up to couple with brake rocking arm (49) and brake rocking arm (49) set up to couple with the brake pedal, separation and reunion rocking arm (45) set up to couple with the clutch pedal and brake pedal with the frame respectively, separation and reunion rocking arm (45) set up to couple with the swing end of clutch pedal and the centre of brake rocking arm (49) is provided with the frame rotary through the round pin axle, the one end of brake rocking arm (49) sets up to couple with brake pedal and the other end of brake rocking arm (49) sets up to couple with brake pull rod (48) and the other end of nut (44) and brake cylinder nut (44) and the regulation portion of adjusting nut (48) and adjusting nut (48) is provided with the end of adjusting nut (44) respectively and the end of brake cylinder nut (48) between the slide adjusting nut (48), the control port of the clutch brake oil cylinder (43) is set as the control port of the brake clutch actuating device (4),
the steering execution device (5) is arranged as a steering oil cylinder, the steering oil cylinder is arranged to be connected with the steering crank arm, and a control port of the steering oil cylinder is arranged as a control port of the steering execution device (5).
2. The wireless control signal based agricultural power machine of claim 1, wherein: the first execution device and the second execution device are connected with the main control unit device (2) according to a mode of controlling the motor and the telescopic cylinder to realize operation.
3. The wireless control signal based agricultural power machine of claim 1, wherein: the steering brake clutch hydraulic control device is arranged to comprise a steering constant-flow overflow oil pump (501), a steering three-position four-way electromagnetic directional valve (502), a double one-way throttle valve (504), a clutch brake three-position four-way electromagnetic directional valve (505) and an unloading valve (507), the steering three-position four-way electromagnetic directional valve (502) is provided with a P port, a T port, an A port and a B port, the clutch and brake three-position four-way electromagnetic directional valve (505) is provided with a P port, a T port, an A port and a B port, the unloading valve (507) is provided with a P port and a T port, the output port of the steering constant-current overflow oil pump (501) is respectively communicated with the P port of the unloading valve (507), the P port of the steering three-position four-way electromagnetic directional valve (502) and the P port of the clutch and brake three-position four-way electromagnetic directional valve (505), the A port of the steering three-position four-way electromagnetic directional valve (502) is communicated with the port A2 of a steering cylinder of the steering execution device (5) through a double one-way throttle valve (504), and the B port of the steering three-position four-way electromagnetic directional valve (502) is communicated with the port B2 of the steering cylinder of the steering execution device (5) through the double one-way throttle valve (504), the port A of the clutch-brake three-position four-way electromagnetic directional valve (505) is communicated with the port A1 of the clutch-brake oil cylinder (43), and the port B of the clutch-brake three-position four-way electromagnetic directional valve (505) is communicated with the port B1 of the clutch-brake oil cylinder (43).
4. The wireless control signal based agricultural power machine of claim 1, wherein: accelerator actuating device (6) set up to include accelerator linear electric motor (65), accelerator pull rod (61), stay wire keep off head (62) and compression spring (63) and accelerator pull rod (61) set up to the output end coupling with accelerator linear electric motor (65), accelerator pull wire (64) set up to concatenate in accelerator pull rod (61) and be provided with stay wire keep off head (62) in the end portion of accelerator pull wire (64), compression spring (63) set up between stay wire keep off head (62) and accelerator pull rod (61) and the control port of accelerator linear electric motor (65) sets up to the control port of accelerator actuating device (6).
5. The wireless control signal based agricultural power machine of claim 1, wherein: the accessory lifting adjusting execution device (7) is arranged to be a lifting adjusting oil cylinder, the lifting adjusting oil cylinder is arranged between the rack and the accessory, and a control port of the lifting adjusting oil cylinder is arranged to be a control port of the accessory lifting adjusting execution device (7).
6. The wireless control signal based agricultural power machine of claim 5, wherein: the hydraulic control device for the accessory lifting adjustment execution is set to comprise a lifting constant-flow overflow pump (701) and a lifting three-position four-way electromagnetic directional valve (702), the lifting three-position four-way electromagnetic directional valve (702) is provided with a P port, a T port, an A port and a B port, the output port of the lifting constant-flow overflow pump (701) is set to be communicated with the P port of the lifting three-position four-way electromagnetic directional valve (702), the A port of the lifting three-position four-way electromagnetic directional valve (702) is set to be communicated with the A1 port of a lifting adjustment oil cylinder of the accessory lifting adjustment execution device (7), and the B port of the lifting three-position four-way electromagnetic directional valve (702) is set to be communicated with the B1 port of the lifting adjustment oil cylinder of the accessory lifting adjustment execution device (7).
7. The wireless control signal based agricultural power machine of claim 1, wherein: wireless signal output device (1) sets up to the button remote controller and wireless signal output device (1) sets up to including I shelves button (11), II shelves button (12), III shelves button (13), IV shelves button (14), R shelves button (15), N shelves button (16), promote button (17), turn left button (18), turn right button (19), decline button (101), stop button (102), start button (103), refuel button (104), subtract oily button (105), be equipped with I button (106), be equipped with II button (107) and transmission piece (108), I shelves button (11), II shelves button (12), III shelves button (13), IV button (14), R shelves button (15), N shelves button (16), promote button (17), turn left button (18), turn right button (19), decline button (101), stop button (102), start button (103), refuel button (104), subtract oily button (105), be equipped with button (106) and be equipped with input port that II button (107) set up to be connected with transmission piece (108) respectively.
8. The wireless control signal based agricultural power machine of claim 1, wherein: the main control unit device (2) is arranged to comprise a wireless receiving block (201), an MCU chip (202), a protection circuit (23), a linear motor control (24) and an oil cylinder control (25), wherein an input port of the linear motor control (24) is connected with an output port of the MCU chip (202), an input port of the oil cylinder control (25) is arranged to be connected with an output port of the wireless receiving block (201), the circuit protection circuit (23) is arranged to be connected with an input power supply,
linear electric motor control (24) sets up to include optoelectronic coupler U3, resistance R31, resistance R32, MOS pipe Q2, optoelectronic coupler U4, resistance R34, resistance R35, MOS pipe Q4, optoelectronic coupler U5, resistance R37, resistance R38, MOS pipe Q3, optoelectronic coupler U6, resistance R40, resistance R41, MOS pipe Q5 and current detector current1, the interface P2.0 of MCU chip, P2.1, P2.2 and P2.3 set up respectively to the MCU with optoelectronic coupler U3, optoelectronic coupler U4's MCU, optoelectronic coupler U5's MCU and optoelectronic coupler U6's MCU connect, optoelectronic coupler U3's output interface sets up to be connected through resistance R31 and MOS pipe Q2 and optoelectronic coupler U3's output interface sets up to pass through resistance R32 and battery negative pole through optoelectronic coupler R6, optoelectronic coupler U4's output interface sets up to pass through resistance R34 and MOS pipe Q4 and the output interface sets up to pass through resistance R35 and battery resistor R4 and the output interface sets up to pass through optoelectronic coupler U6 and battery negative pole through optoelectronic coupler U6 and output coupler U5 and negative pole through optoelectronic coupler U6,
the oil cylinder control (25) is set to comprise a photoelectric coupler U7, a resistor R50, a resistor R51, a resistor R52, a resistor R53, an MOS (metal oxide semiconductor) tube Q6 and an inductance coil L1, one input interface of the photoelectric coupler U7 is set to be connected with an output port of the wireless receiving block (201), one input interface of the photoelectric coupler U7 is set to be connected with the ground through the resistor R50, the other input interface of the photoelectric coupler U7 is set to be connected with the ground through the resistor R51, the output interface of the photoelectric coupler U7 is set to be connected with the MOS tube Q6 through the resistor R52, the output interface of the photoelectric coupler U7 is connected with a negative pole of a power supply through the resistor R53, one interface of the MOS tube Q6 is set to be connected with a negative pole of the power supply, the other interface of the MOS tube Q6 is set to be connected with a positive pole of the power supply through the inductance coil L1,
the protection circuit (23) is arranged to include a reverse connection protection circuit, an overvoltage fault diagnosis circuit and an overcurrent fault diagnosis circuit,
the reverse connection protection circuit is arranged to comprise a relay K1 and a diode D4, the anode of the diode D4 is arranged to be connected with the key-on switch, the cathode of the diode D4 is arranged to be connected with the control interface of the relay K1, the power interface of the relay K1 is arranged to be connected with an external power supply through a fuse,
the overvoltage fault diagnosis circuit is arranged to comprise a resistor R4, a resistor R5, a resistor R6, a resistor R7, an operational amplifier block U1, a resistor R1, a photoelectric coupler U2, a resistor R3 and an MOS (metal oxide semiconductor) tube Q1, the cathode of the operational amplifier block U1 is arranged to be connected with the anode of a power supply through the resistor R4 and the cathode of the operational amplifier block U1 is arranged to be connected with the cathode of the power supply through the resistor R5, the anode of the operational amplifier block U1 is arranged to be connected with the ground through the resistor R6 and the anode of the operational amplifier block U1 is arranged to be connected with the cathode of the power supply through the resistor R7, the output interfaces of the operational amplifier block U1 are respectively arranged to be connected with one of the input interfaces of the resistor R1 and the photoelectric coupler U2, one of the output interfaces of the photoelectric coupler U2 is arranged to be connected with the input interface of the MOS tube Q1 through the resistor R2, one of the input interfaces of the photoelectric coupler U2 is arranged to be connected with the cathode of the power supply and one of the output interfaces of the photoelectric coupler U2 is arranged to be connected with the cathode of the MOS tube Q1, the output interface of the other output interface of the photoelectric coupler U2 is arranged to be connected with the cathode of the MOS tube Q1, and the output interface of the MOS tube Q1 is arranged to be connected with the power supply, one of the output interface of the MOS tube Q1,
overcurrent fault diagnosis circuit sets up to including current detector current1, current detector current 1's interface IN + set up respectively into with MOS pipe Q2, MOS pipe Q3, MOS pipe Q4 and MOS pipe Q5 intercommunication, current detector's power supply has the inside voltage stabilizing circuit of main control unit device (2) to provide the power, current detector samples linear electric motor's current IN real time and converts linear electric motor's current into the analog quantity and handle for the MCU chip.
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| CN201710406749.XA CN107255164B (en) | 2017-06-02 | 2017-06-02 | Agricultural power mechanical device based on wireless control signal and control method |
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| CN107255164B true CN107255164B (en) | 2023-02-28 |
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| CN206845875U (en) * | 2017-06-02 | 2018-01-05 | 泰安泰山国泰拖拉机制造有限公司 | Farm power mechanical device based on wireless control signal |
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| CN201095364Y (en) * | 2006-03-04 | 2008-08-06 | 杨铭域 | Accelerator operation system |
| CN102767198A (en) * | 2012-07-09 | 2012-11-07 | 山推工程机械股份有限公司 | Control system and control method of bulldozer |
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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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