CN107318276B - Two hydro-cylinders hydraulic pressure two-way reversible plough of no singularity - Google Patents
Two hydro-cylinders hydraulic pressure two-way reversible plough of no singularity Download PDFInfo
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- CN107318276B CN107318276B CN201710684002.0A CN201710684002A CN107318276B CN 107318276 B CN107318276 B CN 107318276B CN 201710684002 A CN201710684002 A CN 201710684002A CN 107318276 B CN107318276 B CN 107318276B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B15/00—Elements, tools, or details of ploughs
- A01B15/02—Plough blades; Fixing the blades
- A01B15/04—Shares
- A01B15/06—Interchangeable or adjustable shares
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
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Abstract
The invention relates to a singularity-free two-oil-cylinder hydraulic bidirectional turnover plow which comprises a suspension bracket, hydraulic oil cylinders, a rotary plow bracket, depth wheels and two groups of plow bodies in 180 degrees, wherein the rotary plow bracket is arranged on the suspension bracket, and the hydraulic oil cylinders are arranged between the rotary plow bracket and the suspension bracket; the suspension bracket comprises a lower suspension beam and an upper suspension beam; a rotating shaft is arranged at the midpoint of the lower suspension beam; two hydraulic oil cylinder mounting seats which are not on the same horizontal plane are symmetrically arranged on the upper hanging frame at the side of the rotary plow frame; the rotary plow frame comprises a rotary shaft sleeve and a rotary shaft; horizontally welding a turnover beam and a balance beam on two sides of the rotary shaft sleeve; a coordination driving assembly is arranged in a mounting hole of the turnover beam, and the rotary plow frame and the coordination driving assembly have the same angular displacement motion law; the coordination driving assembly comprises a central shaft and two driving arms, and the two driving arms are arranged in an angle of 180 degrees; the hydraulic cylinder is provided with two, and two hydraulic cylinders are connected with the hydraulic cylinder mounting base and the two driving arms of the coordination driving assembly respectively. The invention fundamentally eliminates the singularity problem of the traditional reversible plough in the turning process.
Description
Technical Field
The invention belongs to the technical field of agricultural mechanical equipment, and particularly relates to a singularity-free two-cylinder hydraulic bidirectional turnover plow for mechanical tillage.
Background
The bidirectional turnover plow is agricultural mechanical equipment for plowing the land, can turn the upper soil with low fertility to the lower layer, turn the better soil of the lower layer to the upper layer and bury stubbles, weeds, fertilizers, pests and the like into the soil, and can also loosen the soil, thereby keeping proper air and moisture in the soil to be beneficial to the growth of crops.
With the rapid development of agricultural machinery, reversible plows have become more widely used. A traditional bidirectional turnover plow mainly adopts a reciprocating single hydraulic cylinder to drive a crank rocker mechanism to realize turnover movement of the plow. The process has the problems that the overturning operation is complex, the operation time is long, the overturning reliability is poor, the working position is unstable, the angular velocity requirement is over, dead points exist in the working process of the hydraulic oil cylinder, the push rod of the hydraulic oil cylinder is easy to deform and the like in the actual working process, and the fundamental reason of the problems is that the crank rocker mechanism is singular in the overturning process.
Singularities are an essential property of the organization. When the mechanism is in an odd state, the velocity jacobian matrix is a singular matrix, the mechanism obtains redundant uncontrollable freedom degrees or the mechanism is stiffened to reduce the freedom degrees, and the indexes of the mechanism such as precision, rigidity, driving performance, motion stability and operability and the like are obviously reduced. Therefore, how to cross or avoid the singular position in the actual working process is a problem which must be solved when designing the mechanism. The analysis and optimization [ J ] of the reversible plough turnover mechanism, agricultural machinery science and report, 2005, 36(5):36-40 ], and the like, which are published by Wang Jian, Peak, Wu Chengwu and the like, take a 1LF-435A type reversible plough as an example, establish a mathematical model of the vertical oil cylinder turnover mechanism, and give an angular velocity condition that a plough frame crosses a dead point (singular position) by means of inertia, namely the plough frame can complete turnover only when reaching or exceeding the critical angular velocity value within a preset turnover time, and the limited condition enables a mechanism to generate larger inertia force in the turnover process, and can directly influence the driving performance and the motion stability of the mechanism. In addition, although the mechanism can cross over the singular position under the inertia effect, near the singular position, the inverse dynamic equation of the mechanism leads the mechanism to be out of control due to multiple solutions, and the operability and the rigidity are poor.
Disclosure of Invention
The invention provides a hydraulic bidirectional reversible plough without two singular oil cylinders, which fundamentally eliminates the singular problem in the overturning process of the traditional bidirectional plough, in order to solve the technical problems in the prior art.
The technical scheme adopted by the invention for solving the technical problems in the prior art is as follows:
a singularity-free hydraulic bidirectional turnover plow with two oil cylinders comprises a suspension bracket, hydraulic oil cylinders, a rotary plow frame and two groups of plow bodies which are arranged on the rotary plow frame in a 180-degree mirror symmetry manner, wherein a depth limiting wheel is arranged on the rotary plow frame corresponding to each group of plow bodies; the rotary plow frame is arranged on the suspension bracket through a rotating shaft, and a hydraulic oil cylinder for driving the rotary plow frame to overturn is arranged between the rotary plow frame and the suspension bracket; the suspension bracket comprises a lower suspension beam and an upright post vertically and fixedly arranged in the middle of the lower suspension beam, and the upper end part of the upright post is fixedly connected with an upper suspension beam which is arranged in parallel with the lower suspension beam; the middle point of the upper suspension beam is superposed with the upper end point of the upright post; a shaft hole is arranged at the middle point of the lower suspension beam, and a rotating shaft is assembled in the shaft hole; two hydraulic oil cylinder mounting seats are symmetrically arranged on the upper suspension rack on the side of the rotary plow frame, and the mounting positions of the hydraulic oil cylinders of the two hydraulic mounting seats are not on the same horizontal plane; motor vehicle connecting seats are symmetrically and fixedly arranged on the lower suspension beam on the opposite side of the rotary plow frame, and the motor vehicle connecting seats are fixedly arranged on the upright posts; the rotary plow frame comprises a rotary shaft sleeve, and the rotary shaft sleeve is arranged on a rotary shaft on the suspension frame; a plough frame is welded on the rotating shaft sleeve; horizontally welding a turnover beam at one side of the rotary shaft sleeve close to the end of the suspension bracket; a balance beam is welded on the rotating shaft sleeve on the opposite side of the turnover beam and is fixedly connected with the plow frame; the horizontal central line of the turnover beam is provided with a mounting hole, the mounting hole penetrates through the turnover beam, and the axis of the mounting hole is parallel to the axis of the rotary shaft sleeve; a coordination driving assembly is arranged in a mounting hole of the turnover beam, the coordination driving assembly comprises a central shaft and two driving arms, the two driving arms are respectively and fixedly arranged at two ends of the central shaft, and the two driving arms are arranged in an angle of 180 degrees; the central shaft is hinged in the mounting hole of the turnover beam, and the other ends of the two driving arms are respectively provided with a hinged shaft; the distances from the centers of the two articulated shafts to the center of the central shaft are equal; the hydraulic oil cylinder body of one of the hydraulic oil cylinders is connected with the hydraulic oil cylinder mounting seat on the suspension bracket; the hydraulic push rod at the other end of the hydraulic oil cylinder is connected with the articulated shaft at the corresponding side of the coordination drive component; the hydraulic cylinder body of the other hydraulic cylinder is connected with the other hydraulic cylinder mounting seat on the suspension bracket; the hydraulic push rod at the other end of the hydraulic oil cylinder is connected with the articulated shaft at the corresponding side of the coordination driving component; the rotary plow frame and the coordination drive component have the same angular displacement motion law; the height of the upright post is more than or equal to 2 times of the distance between the center of the mounting hole of the turnover beam and the center of the rotary shaft sleeve of the rotary plow frame; the center distance between the two hydraulic oil cylinder installation seats is more than or equal to 2 times of the center distance of the two articulated shafts of the coordination driving assembly.
The invention has the advantages and positive effects that: due to the adoption of the technical scheme, the invention has the following advantages:
1. the motion redundancy turnover mechanism obtained by adopting the design can thoroughly eliminate the mechanism singularity problem existing in the turnover process of the traditional reversible plow, and effectively improves the dexterity and the operability of the reversible plow.
2. Compared with the traditional bidirectional turnover plow, the driving mode of the combined drive of the double hydraulic oil cylinders is adopted, the mechanism has stronger bearing capacity, and can be used for the design of large-scale heavy-load bidirectional turnover plow.
3. This application compares with two-way turnover plow of tradition, and the plow frame upset in-process does not have the angular velocity requirement more well, and the upset process is more steady reliable, still can effectively reduce rocking about the tractor, and the reliability and the stability of system are higher, still can choose for use low-speed upset motion law or the sinusoidal acceleration motion law of not having the impact according to operating condition, and the range of application is wider.
4. Compared with the bidirectional reversible plough adopting the redundant driving mode, the bidirectional reversible plough has the advantages that the load distribution of the two hydraulic drivers is uniquely determined, the over-constraint condition cannot occur, the distribution of the driving force of the mechanism is not required to be realized by a complex force and position hybrid control method and a high-cost controller, and the mechanism control system is simple in structure and low in cost.
5. Compared with a bidirectional turnover plow with high pairs (gear pairs and cam pairs) in a turnover mechanism, the bidirectional turnover plow has the advantages that only low pairs (rotating pairs and moving pairs) are contained in the mechanical structure, point or line contact is realized between two components with high pair connection, and surface contact is realized between two components with low pair connection, so that compared with the bidirectional turnover plow with high pairs (gear pairs and cam pairs) in the turnover mechanism, the bidirectional turnover plow has stronger overall rigidity and bearing capacity of the mechanism, good wear resistance of the moving pairs and longer service life.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a sectional view taken along line A-A of FIG. 1;
FIG. 3 is a schematic view of a rotary plow frame construction;
FIG. 4 is a schematic view of a coordinated drive assembly;
FIG. 5 is a schematic perspective view of the present invention;
FIG. 6 is a schematic structural view of a first working state of the present invention;
fig. 7 is a structural schematic diagram of a second working state of the invention.
FIG. 8 is a schematic structural view of the present invention in a non-operating state (90 degrees clockwise from the first operating state or 90 degrees counterclockwise from the second operating state);
FIG. 9 is a diagrammatic view of the mechanism of the present invention;
fig. 10 is a determinant of matrix a.
In the figure: 1. a suspension bracket; 1-1, a lower suspension beam; 1-2, upright posts; 1-3, hanging the beam on; 1-4, a hydraulic oil cylinder mounting base; 1-5, a hydraulic oil cylinder mounting base; 1-6, a motor vehicle connecting seat; 1-7, a motor vehicle connecting seat; 2a, a hydraulic oil cylinder; 2b, a hydraulic oil cylinder; 3. rotating the plow frame; 3-1, rotating the shaft sleeve; 3-2, plough frame; 3-3, overturning the beam; 3-30, mounting holes; 3-4, a balance beam; 3-5, coordinating a driving component; 3-51, a central shaft; 3-52, a drive arm; 3-53, a drive arm; 3-54, a hinged shaft; 3-55, and a hinged shaft; 4. a plow body; 5. a depth wheel; 6. a rotating shaft.
Detailed Description
For a further understanding of the invention, its nature and utility, reference should be made to the following examples, taken in conjunction with the accompanying drawings, in which:
referring to fig. 1 to 5, a singularity-free two-cylinder hydraulic bidirectional turnover plow comprises a suspension bracket 1, hydraulic cylinders, a rotary plow frame 3, two groups of plow bodies 4 which are arranged on the rotary plow frame in a 180-degree mirror symmetry manner, and depth limiting wheels 5 which are arranged on the rotary plow frame corresponding to each group of plow bodies; the rotary plow frame 3 is arranged on the suspension bracket 1 through a rotating shaft 6, and a hydraulic oil cylinder for driving the rotary plow frame to overturn is arranged between the rotary plow frame 3 and the suspension bracket 1; the suspension bracket 1 comprises a lower suspension beam 1-1 and an upright post 1-2 vertically and fixedly arranged in the middle of the lower suspension beam 1-1, and the upper end part of the upright post 1-2 is fixedly connected with an upper suspension beam 1-3 arranged in parallel with the lower suspension beam 1-1; the middle point of the upper suspension beam 1-3 is superposed with the upper end point of the upright post 1-2; a shaft hole 1-10 is arranged at the midpoint of the lower suspension beam 1-1, and a rotating shaft 6 is assembled in the shaft hole; two hydraulic oil cylinder mounting seats 1-4 and 1-5 are symmetrically arranged on the upper hanging frame 1-3 at the side of the rotary plow frame 3, and the hydraulic oil cylinder mounting positions of the two hydraulic mounting seats are not on the same horizontal plane; motor vehicle connecting seats 1-6 are symmetrically and fixedly arranged on the lower suspension beam 1-1 on the opposite side of the rotary plow frame 3, and motor vehicle connecting seats 1-7 are fixedly arranged on the upright posts 1-2; the rotary plow frame 3 comprises a rotary shaft sleeve 3-1, and the rotary shaft sleeve is arranged on a rotary shaft 6 on the suspension bracket; a plough frame 3-2 is welded on the rotary shaft sleeve 3-1; horizontally welding a turnover beam 3-3 at one side of the rotary shaft sleeve 3-1 close to the end of the suspension bracket 1; a balance beam 3-4 is welded on the rotary shaft sleeve 3-1 at the opposite side of the turnover beam 3-3, and the balance beam 3-4 is fixedly connected with the plow frame 3-2; the horizontal central line of the turnover beam 3-3 is provided with a mounting hole 3-30, the mounting hole penetrates through the turnover beam 3-3, and the axis of the mounting hole is parallel to the axis of the rotary shaft sleeve 3-1; a coordination driving assembly 3-5 is arranged in a mounting hole 3-30 of the turnover beam 3-3, the coordination driving assembly 3-5 comprises a central shaft 3-51 and two driving arms 3-52 and 3-53, the two driving arms are respectively and fixedly arranged at two ends of the central shaft 3-51, and the two driving arms are arranged in an angle of 180 degrees; the central shaft 3-51 is hinged in a mounting hole 3-30 of the overturning beam 3-3, and the other ends of the two driving arms are respectively provided with a hinge shaft 3-54 and a hinge shaft 3-55; the distances from the centers of the two articulated shafts to the center of the central shaft are equal; the hydraulic oil cylinder is provided with two hydraulic oil cylinders 2a and 2b respectively, and a hydraulic oil cylinder body of one hydraulic oil cylinder 2a is connected with hydraulic oil cylinder mounting seats 1-4 on the suspension bracket; the hydraulic push rod at the other end of the hydraulic oil cylinder is connected with the articulated shafts 3-54 at the corresponding side of the coordination driving component; the hydraulic cylinder body of the other hydraulic cylinder 2b is connected with the other hydraulic cylinder mounting seat 1-5 on the suspension bracket; the other end of the hydraulic push rod of the hydraulic oil cylinder is connected with the articulated shafts 3-55 at the corresponding side of the coordination driving component; the rotary plow frame 3 and the coordination drive component 3-5 have the same angular displacement motion law; the geometrical constraint conditions that the rotary plow frame can realize the non-singular reciprocating turnover motion are as follows: the height of the upright post 1-2 is more than or equal to 2 times of the distance between the center of the mounting hole 3-30 of the turnover beam 3-3 and the center of the rotary shaft sleeve 3-1 of the rotary plow frame; the center distance between the two hydraulic oil cylinder installation seats 1-4 and 1-5 is more than or equal to 2 times of the center distance of the two articulated shafts 3-54 and 3-55 of the coordination driving component.
Referring to fig. 6 to 10, a singularity-free two-cylinder hydraulic reversible plough is driven by the combination of a hydraulic cylinder 2a and a hydraulic cylinder 2b to drive a coordinated driving assembly 3-5 to rotate around a mounting hole 3-30, the hydraulic cylinders 2a and 2b drive the coordinated driving assembly 3-5 to transmit force to a rotary plough frame 3 to drive the rotary plough frame 3 to realize 180-degree reciprocating reversible movement around a shaft hole 1-10, and the singularity-free two-cylinder hydraulic reversible plough can be freely switched between a first working state, a second working state and a non-working state, which are respectively shown in fig. 6, 7 and 8. In addition, in the singularity-free two-cylinder hydraulic reversible plow turning mechanism shown in fig. 9, the number of degrees of freedom of the mechanism is 1, and the number of degrees of freedom of the mechanism and the number of driving members are both 2, and the turning mechanism belongs to a motion redundancy mechanism according to the definition of a redundancy mechanism.
A mechanism sketch of a double-cylinder hydraulic bidirectional reversible plough without singularity as shown in figure 9 is established, and a coordinate system Oxy, L is established in the sketch OA 、L OG 、L AB 、L AC 、L BD 、L CE 、L EG 、L GD The lengths of the line segments between the two points are represented by theta, and the included angles between the axes OA, BC, BD, CE and x are represented by theta 0 、θ 1 、θ 2 、θ 3 And (4) showing.
Establishing a motion model of the singularity-free two-cylinder hydraulic bidirectional reversible plough, and obtaining theta according to geometric constraint conditions 2 And theta 3 Is expressed as
Write closed-loop vector equation for closed-loop kinematic chain OACEGO
Write closed-loop vector equation for closed-loop kinematic chain OABDGO
According to the formulas (3) and (4), the actual assembly relationship can be combined
The formulas (1) to (6) are motion models of the hydraulic bidirectional reversible plough with two oil cylinders without singularity.
Let d 1 ＝L BD ，d 2 ＝L CE Then the input velocity vector of the hydraulic oil cylinder of the mechanism is
The vector of the output angular velocity of the rotating plow frame is expressed as
By differentiating the equation (5) and equation (6) with respect to time, the velocity constraint equation between the input and output of the mechanism can be obtained
Aω＝Bv (9)
Wherein A is the output Jacobian matrix and B is the input Jacobian matrix. The velocity map model of the mechanism thus obtained is
v＝B -1 Aω (10)
The velocity jacobian of the mechanism is
J＝B -1 A (11)
In the formula a 11 ＝-L OA [L AB sin(θ 0 +θ 1 )+L OG cosθ 0 +L GD sinθ 0 ]
a 12 ＝-L AB [L OA sin(θ 0 +θ 1 )-L OG cosθ 1 +L GD sinθ 1 ]
a 21 ＝L OA [L AC sin(θ 0 +θ 1 )-L OG cosθ 0 +L EG sinθ 0 ]
a 22 ＝L AC [L OA sin(θ 0 +θ 1 )-L OG cosθ 1 -L EG sinθ 1 ]
And judging whether the hydraulic bidirectional reversible plough with the two oil cylinders has a singular configuration or not according to whether the absolute values of the absolute values A and the absolute values B are zero or not. Due to d i Not equal to 0, i is 1, 2, so | B | ═ d 1 d 2 And not equal to 0, therefore, whether singularity occurs in the turning process of the hydraulic bidirectional turning plow with the two oil cylinders can be judged by calculating | A |. Since A is a square matrix, the expression of the determinant is
|A|＝L AC L OA (L AB sin(θ 0 +θ 1 )+L OG cosθ 0 +L GD sinθ 0 )(L OG cosθ 1 -L OA sin(θ 0 +θ 1 )+L EG sinθ 1 )
+L AB L OA (L AC sin(θ 0 +θ 1 )-L OG cosθ 0 +L EG sinθ 0 )(L OA sin(θ 0 +θ 1 )-L OG cosθ 1 +L GD sinθ 1 ) (12)
According to the constructional features of the suspension 1 and the coordinated drive assemblies 3-5, has L AB ＝L AC 、L EG ＝L GD Is established based on a given output motion relationship theta 0 ＝θ 1 Can be obtained by substituting formula (12)
According to the formula (13), when L is EG >2L AB And L is OG ≥2L OA When the absolute value A is constantly larger than 0, the hydraulic bidirectional reversible plough without the singular two oil cylinders does not have singular configuration in the whole working space. Aiming at the structural size range of the actual middle suspension frame of the engineering, the structural parameters of the hydraulic bidirectional turnover plow with two non-singular oil cylinders are designed as follows: l is a radical of an alcohol OA ＝300mm、L OG ＝750mm、L AB ＝L AC ＝120mm、L E LGD 400mm, the law of turning motion of plough frame is theta 0 ＝θ 1 ＝πsin 2 (0.25t), the determinant of A can be obtained by substituting the above parameters and expressions into the formula (13), as shown in FIG. 10. As can be seen from fig. 10, the determinant of a does not have the condition equal to 0, which proves that under the conditions of the set of structural parameters and the motion law, no singular configuration exists in the process of realizing the reciprocating 180-degree turnover of the plow frame.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (1)
1. A singularity-free hydraulic bidirectional turnover plow with two oil cylinders comprises a suspension bracket, hydraulic oil cylinders, a rotary plow frame and two groups of plow bodies which are arranged on the rotary plow frame in a 180-degree mirror symmetry manner, wherein a depth limiting wheel is arranged on the rotary plow frame corresponding to each group of plow bodies; the rotary plow frame is arranged on the suspension bracket through a rotating shaft, and a hydraulic oil cylinder for driving the rotary plow frame to overturn is arranged between the rotary plow frame and the suspension bracket;
the method is characterized in that: the suspension bracket comprises a lower suspension beam and an upright post vertically and fixedly arranged in the middle of the lower suspension beam, and the upper end part of the upright post is fixedly connected with an upper suspension beam which is arranged in parallel with the lower suspension beam; the middle point of the upper suspension beam is superposed with the upper end point of the upright post; a shaft hole is arranged at the midpoint of the lower suspension beam, and a rotating shaft is assembled in the shaft hole; two hydraulic oil cylinder mounting seats are symmetrically arranged on the upper suspension beam at the side of the rotary plow frame, and the mounting positions of the hydraulic oil cylinders of the two hydraulic mounting seats are not on the same horizontal plane; motor vehicle connecting seats are symmetrically and fixedly arranged on the lower suspension beam on the opposite side of the rotary plow frame, and the motor vehicle connecting seats are fixedly arranged on the upright posts;
the rotary plow frame comprises a rotary shaft sleeve, and the rotary shaft sleeve is arranged on the rotary shaft on the suspension bracket; a plough frame is welded on the rotating shaft sleeve; horizontally welding a turnover beam at one side of the rotary shaft sleeve close to the end of the suspension bracket; a balance beam is welded on the rotating shaft sleeve on the opposite side of the turnover beam and is fixedly connected with the plow frame; the horizontal central line of the turnover beam is provided with a mounting hole, the mounting hole penetrates through the turnover beam, and the axis of the mounting hole is parallel to the axis of the rotary shaft sleeve;
a coordination driving assembly is arranged in a mounting hole of the turnover beam, the coordination driving assembly comprises a central shaft and two driving arms, the two driving arms are respectively and fixedly arranged at two ends of the central shaft, and the two driving arms are arranged in an angle of 180 degrees; the central shaft is hinged in the mounting hole of the turnover beam, and the other ends of the two driving arms are respectively provided with a hinged shaft; the distances from the centers of the two articulated shafts to the center of the central shaft are equal;
the hydraulic cylinder body of one of the hydraulic cylinders is connected with a hydraulic cylinder mounting seat on the suspension bracket, and the hydraulic push rod at the other end of the hydraulic cylinder is connected with a hinged shaft on the corresponding side of the coordination driving assembly; the hydraulic cylinder body of the other hydraulic cylinder is connected with the other hydraulic cylinder mounting seat on the suspension bracket, and the hydraulic push rod at the other end of the hydraulic cylinder is connected with the hinge shaft at the corresponding side of the coordination driving component;
the rotary plow frame and the coordination drive assembly have the same angular displacement motion rule, and the height of the upright post is more than or equal to 2 times of the distance between the center of the mounting hole of the turnover beam and the center of the rotary shaft sleeve of the rotary plow frame; the center distance between the two hydraulic oil cylinder installation seats is more than or equal to 2 times of the center distance of the two articulated shafts of the coordination drive assembly;
the two hydraulic oil cylinders are driven in a combined mode, the driving coordination driving assembly 3-5 is driven to rotate around the mounting hole 3-30, force is transmitted to the rotary plough frame through the driving coordination driving assembly by the two hydraulic oil cylinders, the rotary plough frame is driven to realize 180-degree reciprocating turnover motion around the shaft hole, and free switching among a first working state, a second working state and a non-working state of the hydraulic bidirectional turnover plough without the two oil cylinders is achieved.
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| CN101058185A (en) * | 2007-05-31 | 2007-10-24 | 西安理工大学 | Non-singular completely isotropic space mobile parallel mechanism |
| CN101444153A (en) * | 2008-12-26 | 2009-06-03 | 辽宁现代农机装备有限公司 | Semi-mounted and high-speed amplitude modulated hydraulic reversing plough |
| CN201682746U (en) * | 2009-11-06 | 2010-12-29 | 山东国丰机械有限公司 | Bidirectional hydraulic reversible plow |
| KR101217724B1 (en) * | 2012-07-23 | 2013-01-02 | 이세원 | Deep plowing for a plow |
| CN202679911U (en) * | 2012-05-23 | 2013-01-23 | 李增杰 | Hydraulic swivel plow matched with large-duty loader |
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2017
- 2017-08-11 CN CN201710684002.0A patent/CN107318276B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101058185A (en) * | 2007-05-31 | 2007-10-24 | 西安理工大学 | Non-singular completely isotropic space mobile parallel mechanism |
| CN101444153A (en) * | 2008-12-26 | 2009-06-03 | 辽宁现代农机装备有限公司 | Semi-mounted and high-speed amplitude modulated hydraulic reversing plough |
| CN201682746U (en) * | 2009-11-06 | 2010-12-29 | 山东国丰机械有限公司 | Bidirectional hydraulic reversible plow |
| CN202679911U (en) * | 2012-05-23 | 2013-01-23 | 李增杰 | Hydraulic swivel plow matched with large-duty loader |
| KR101217724B1 (en) * | 2012-07-23 | 2013-01-02 | 이세원 | Deep plowing for a plow |
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