CN107654447B - Control system and control method of tractor electric control lifting device - Google Patents
Control system and control method of tractor electric control lifting device Download PDFInfo
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- CN107654447B CN107654447B CN201710999185.5A CN201710999185A CN107654447B CN 107654447 B CN107654447 B CN 107654447B CN 201710999185 A CN201710999185 A CN 201710999185A CN 107654447 B CN107654447 B CN 107654447B
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- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 238000003466 welding Methods 0.000 claims description 28
- 230000008569 process Effects 0.000 claims description 8
- 238000007667 floating Methods 0.000 claims description 7
- 238000012546 transfer Methods 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 3
- 239000002689 soil Substances 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 11
- 238000011161 development Methods 0.000 abstract description 7
- 238000012423 maintenance Methods 0.000 abstract description 4
- 230000007547 defect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 9
- 230000018109 developmental process Effects 0.000 description 6
- 238000009434 installation Methods 0.000 description 3
- 230000002265 prevention Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000002420 orchard Substances 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000009418 agronomic effect Effects 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
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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
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
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- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Lifting Devices For Agricultural Implements (AREA)
Abstract
A control system and a control method of an electric control lifting device of a tractor comprise the following steps: a lifting control system, a force position control system, a transportation locking mechanism, a tilling depth limiting mechanism and the like; the application provides a control mode and a technical solution combining mechanical control and electronic technology, which can replace electric elements of a control panel of the existing electric control lifting system, realize multiple functions of the control panel, and solve the defects of lag signals of a control mode of the mechanical lifting system, difficulty in ensuring stroke, unadjustable proportion of a comprehensive control mode of force and position and the like. Meanwhile, the control comfort is improved, the labor intensity of a driver is reduced, the control precision of the agriculture is improved, and the requirements of the electric control lifting device on the control comfort and all requirements of a user for controlling the farm tools can be met. The control system has the characteristics of compact structure, reliable control system, simple control method, high safety, lower maintenance cost and the like, and plays a positive promotion role in the application and development of the electric control technology on the high-end tractor.
Description
Technical Field
The application belongs to the field of tractors, and relates to a control system and a control method of an electric control lifting device of a tractor.
Background
With the continuous innovation of the emerging scientific technology, particularly the rapid development of high-new technologies such as computer technology, electronic control, artificial intelligence, network communication and the like, the development of the tractor industry is greatly influenced. In recent years, the electric control technology is increasingly applied to tractors, and tractors with more than 44kW are widely applied to electric control lifting devices abroad, and tractors with more than 75kW are also applied in batches in China. The application of the electric control lifting device effectively improves the maneuvering performance of the tractor, reduces the labor intensity of a driver, improves the level of agricultural precision operation, enhances the safety protection function of the tractor, and provides favorable conditions for the intelligent development of the tractor in the future.
The elements of the electric control lifting device in the prior art mainly comprise: lifting valve block, controller, control panel, force transducer, angle sensor and afterbody button etc. wherein the function that control panel mainly realized has: force control, position control, force and position comprehensive control, floating control, tilling depth limiting, lifting and descending speed control, transportation locking and the like. Because the control panel belongs to plastic parts, a circuit system and an electric appliance control element are arranged in the control panel, and special safety protection measures such as rainwater prevention, sun prevention, theft prevention and the like are required to be carried out on the control panel.
For the tractor with the cab, the cab is reserved with a position for installing the control platform, so that the control panel can be reasonably installed and effectively protected. However, for orchard tractors, cab-free tractors and the like, due to limited operation space of the whole machine, an operation platform and safety protection measures are not properly installed, so that operation is inconvenient, meanwhile, the phenomena of ageing and damage of a control panel, unstable signals, signal loss and the like are aggravated, the application and popularization of an electric control lifting system on the tractor are further influenced, and the development of an electronic control system in the tractor industry is influenced.
Compared with the control mode in the mechanical lifting device in the prior art, the application can realize force control, position control, comprehensive force and position control and floating control, and has a simple handle operation structure. However, control signals of the force control handle and the position control handle are easy to lag, the stroke is difficult to ensure, the proportion of the force and position comprehensive control mode is not adjustable, and the control of the descending speed of the farm tool is required to be controlled by a special descending speed control valve.
In the published literature similar to the content of the application, the content of the 'tractor plow electric control intelligent system and method, 201610014488.2' patent is compared, and the patent is mainly aimed at a strong pressure type control mode and a force position adjustment type control mode, and an operation panel is adopted for operation control.
The application relates to an electric control device and a method for adjusting the hydraulic suspension position of a tractor, which are compared with the content of the patent 201410843680.3, and the main innovation points of the patent are as follows: the control part adopts a display and a control panel.
The application relates to a tractor operation depth resistance-position adjusting electric control device and a method thereof, which are compared with the content of the patent of 201410837573.X, and the main innovation points of the patent are as follows: the control part adopts a display and a control panel.
The application is different from the above-mentioned patent document, in that the control system of the electric control lifting device is fixed on the tractor floor for lifting, lowering, floating position control and tilling depth mode control of farm tools, and the installation mode and control structure are completely different.
Disclosure of Invention
The application aims to provide a control system and a control method of an electric control lifting device of a tractor. The lifting control system, the force position control system, the transportation locking mechanism and the tilling depth limiting mechanism are designed, so that not only can the original control panel of the electric control lifting device and the functions of mechanical lifting control be realized, but also the defects and shortcomings of the control panel and the mechanical lifting control are avoided, and a good foundation is laid for the combination of mechanical control and electric control technology.
In order to achieve the technical purpose of the application, the application adopts the following technical scheme: a steering system for an electrically controlled lifting device of a tractor, comprising: the device comprises a lifting control system, a force position control system, a transportation locking mechanism, a tilling depth limiting mechanism and a mounting bolt; the lifting control system and the force position control system are respectively fixed on the tractor floor by mounting bolts, a screw rod on the transportation locking mechanism is screwed into a threaded hole on the lifting control system, and the tilling depth limiting mechanism is arranged in a corresponding floor threaded hole on the tractor floor.
The lift control system includes: the control pin shaft assembly, the lifting control support welding assembly, the lifting control handle, the locking nut, the locking gasket, the belleville spring, the control friction plate and the tightening bolt; the operating pin shaft assembly is inserted into a cylindrical hole on the lifting operating support welding assembly, the operating pin shaft assembly and the lifting operating support welding assembly are screwed by a screwing bolt, the operating friction plate, the lifting operating handle and the two butterfly springs are sleeved on a pin shaft on the operating pin shaft assembly in sequence, a locking gasket and a locking nut are arranged, and the locking nut is locked by the locking gasket.
The steering pin assembly includes: the control pin shaft, the screw and the angle sensor; the angle sensor pin shaft on the angle sensor is inserted into the control pin shaft hole on the control pin shaft, then the angle sensor hole on the angle sensor is aligned with the mounting hole on the control pin shaft, and then the angle sensor pin shaft and the mounting hole are screwed by a screw.
The lifting operation support welding piece comprises: lifting handle connecting plates, limiting seats, control base plates and tightening screw pipes; the control backing plate is fixedly connected with the tightening screw pipe, then a welding piece of the control backing plate and the tightening screw pipe is fixedly connected inside the lifting handle connecting plate, and then the limiting seat is fixedly connected in a hole on the lifting handle connecting plate.
The force level control system comprises: the device comprises an operating pin shaft assembly, a force position operating support welding assembly, a force position operating handle, a locking nut, a locking gasket, a butterfly spring, an operating friction plate and a tightening bolt; the control pin shaft assembly is inserted into a force position control support hole on the force position control support welding assembly, the control pin shaft assembly and the force position control support welding assembly are screwed by using a screwing bolt, the control friction plate, the force position control handle and the two butterfly springs are sleeved on a pin shaft of the control pin shaft assembly in sequence, a locking gasket and a locking nut are arranged, and the locking nut is locked by using the locking gasket.
The force level manipulation support weldment comprises: a force position handle connecting plate, an operating base plate and a tightening screw pipe; the control backing plate is fixedly connected with the tightening screw pipe, and then a welding piece of the control backing plate and the tightening screw pipe is fixedly connected inside the connecting plate of the force handle.
The transport locking mechanism includes: a positioning knob and a limiting plate; the positioning knob is fixedly connected to the limiting plate.
The tilling depth limiting nail mechanism is arranged in a threaded hole in the floor of the tractor.
The control method of the control system of the tractor electric control lifting device comprises the following steps:
【1】 The driver selects a preliminary tilling control mode according to the softness of matched tools and soil, the force position control handle of the force position control system can transmit mechanical signals of the force position control handle to the angle sensor through the control pin shaft, the angle sensor converts the mechanical signals into electric signals, the electric signals enter the controller, and the controller selects the tilling control mode according to the transmitted signals of the force position control handle, so that the force control, the position control, the force position comprehensive control and the floating control are realized; the force position control handle is pressed to the lowest position for simple force control, the highest position is mentioned as simple position control, and any position in the middle is force position integrated control;
【2】 After a proper cultivation depth control mode is selected, a lifting control handle of a lifting control system is rotated, a mechanical signal of the lifting control handle can be transmitted to an angle sensor through a control pin shaft, the angle sensor converts the mechanical signal into an electric signal, the electric signal enters a controller to further control a lifting valve, the lifting valve controls the action of an implement, and finally, the lifting control handle controls the lifting or lowering of the implement; lifting the operating handle upwards, so that the machine tool is lifted; lifting the control handle to press downwards, and then descending the machine; the lifting or descending speed of the lifting control handle determines the lifting or descending speed of the machine tool, and the lifting and descending speed can be controlled;
【3】 The lifting control handle is tightly pressed under the action force of the control friction plate and the belleville spring, and a driver can screw in and out the lock nut according to the working requirement to adjust the pressing force, so that the lifting control handle is prevented from loosening in the working process; the lifting control handle can stay at any position, so that the implement can be fixed at any position;
【4】 After the tilling depth is selected in the tilling process, a driver can screw in and out the tilling depth limiting mechanism to limit the lowest position of the lifting control handle, so that the tilling depth is controlled;
【5】 When the driver needs long-distance transportation or transfer, the lifting control handle is lifted to the highest position, and the limiting plate is rotated, so that the lifting control handle can be locked, and the machine tool is prevented from falling in the transportation or transfer process.
By adopting the technical scheme, the application can achieve the following beneficial effects:
1. the application provides a special control mode and technical solution combining mechanical control and electronic technology, wherein the mode can be used in other fields and has a pushing effect on the future intelligent development;
2. compared with the control panel for electric control lifting in the prior art, the application has the advantages that: firstly, various functions of the electric control panel, such as lifting and descending, control of stopping, lifting and descending speeds of the handle at any position, locking of a transportation state, spacing of tilling depth and the like, can be realized, the cost is far lower than the price of the electric control panel in the prior art, and the purchasing cost and the maintenance cost are reduced; secondly, for tractors without cabs, such as 44-75 kW compact tractors, orchard tractors and the like, the reliability and the safety protection function of mechanical operation are superior to those of an electric control panel in the prior art; thirdly, the installation and the operation are convenient, and the device is directly installed at the position of the original mechanical lifting device operating handle on the floor of the tractor, so that a larger installation space is not required; fourth, inherit the traditional custom manipulation mode, facilitate users' use;
3. compared with the traditional mechanical control mode, the application comprises the electric control element, namely the angle sensor, can convert the rotating angle displacement signals of the lifting control handle and the force position control handle into electric signals, realizes the control of the lifting valve plate and the selection of the tilling mode by the controller in the electric control lifting by utilizing the combination of the mechanical control and the electric control element, simultaneously controls the lifting and descending speed of the farm tool according to the rotating speed of the control handle by a user, removes the descending speed regulating valve on the traditional mechanical lifter, and improves the reliability of the system. Meanwhile, the force and position control proportion of the comprehensive force and position control mode in the tilling depth control mode is not adjustable in the function of the existing mechanical lifter, the stepless adjustment of the control proportion can be realized, the control precision of agriculture is improved, and the control signal is stable and reliable and has high sensitivity;
4. according to the transportation locking mechanism, the limiting effect is realized by means of motion interference between the highest position limiting closing piece and the lifting control handle in the transportation state, and the two mutually perpendicular planes are mutually perpendicular, so that the design conception is ingenious, and the structure is simple and compact;
5. the butterfly spring, the control friction plate, the control handle and the lock nut realize that the control handle stops rotating at any position, so that the structure is compact and the control is reliable;
6. the tilling depth limiting mechanism is arranged on the floor of the tractor, and the lowering displacement of the control handle is realized by adjusting the height of the tilling depth limiting nails from the floor, so that the tilling depth limiting of the farm tool is realized.
Drawings
FIG. 1 is a schematic diagram of a control system of an electrically controlled lifting device of a tractor according to the present application;
FIG. 2 is a schematic diagram of a lift control system of a control system of an electrically controlled lift device of a tractor according to the present application;
FIG. 3 is a right-hand structural schematic diagram of FIG. 2;
FIG. 4 is a schematic view of a control pin assembly of a control system of an electrically controlled lifting device of a tractor according to the present application;
FIG. 5 is a schematic view of an angle sensor of a control system of an electrically controlled lifting device of a tractor according to the present application;
FIG. 6 is a schematic diagram of a welded structure of a lifting control support of a control system of an electrically controlled lifting device of a tractor according to the present application;
FIG. 7 is a schematic diagram of a force level control system of a control system of an electrically controlled lifting device of a tractor according to the present application;
FIG. 8 is a schematic diagram of a welding structure of a force position control support of a control system of an electric control lifting device of a tractor;
FIG. 9 is a schematic diagram of a transport locking mechanism of a handling system of an electrically controlled lift device for a tractor according to the present application;
FIG. 10 is a schematic view of the operating system of the electrically controlled lifting device of the tractor in a configuration in which the lifting handle is not limited in the operating state;
FIG. 11 is a schematic view of a control system of an electrically controlled lifting device for a tractor according to the present application, in which a lifting control handle is limited at the highest position of the conveying state;
fig. 12 is a schematic diagram of a control method of an electric lifting device for a tractor according to the present application.
Detailed Description
The application is further described below with reference to the accompanying drawings. As shown in fig. 1 to 12, an operation system of an electric control lifting device of a tractor mainly includes: the device comprises a lifting control system 1, a force position control system 2, a transportation locking mechanism 3, a tilling depth limiting mechanism 4 and a mounting bolt 5; as shown in fig. 1, the lifting control system 1 and the force position control system 2 are respectively fixed on the tractor floor by using mounting bolts 5, a screw D on the transportation locking mechanism 3 is screwed into a threaded hole W on the lifting control system 1, and finally the tilling depth limiting mechanism 4 is mounted in a corresponding floor threaded hole Y on the tractor floor.
As is apparent from fig. 2 and 3, the lift control system 1 includes: the control pin shaft assembly 1.1, the lifting control support welding assembly 1.2, the lifting control handle 1.3, the locking nut 1.4, the locking gasket 1.5, the butterfly spring 1.6, the control friction plate 1.7 and the tightening bolt 1.8; the control pin shaft assembly 1.1 is inserted into a cylindrical hole B on the lifting control support welding assembly 1.2, the control pin shaft assembly 1.1 and the lifting control support welding assembly 1.2 are screwed by using a screwing bolt 1.8, a control friction plate 1.7, a lifting control handle 1.3 and two belleville springs 1.6 are sleeved on a pin shaft of the control pin shaft assembly 1.1 in sequence, a locking gasket 1.5 and a locking nut 1.4 are arranged, and the locking nut 1.4 is locked by using the locking gasket 1.5, so that the assembly of the lifting control system 1 is completed. The lifting control handle 1.3 is rotated, mechanical signals are transmitted to the controller 6 through the angle sensor 1.1.3, the mechanical signals are converted into electrical signals, the output electrical signals enter the lifting valve 7, the lifting, descending, floating and other control functions of the machine tool 8 can be realized, meanwhile, the rotation speed of the control handle 1.3 is controlled, the lifting and descending control of the machine tool 8 can be realized, the faster the rotation speed is, the faster the lifting and descending speed is, and vice versa. The function of the belleville springs 1.6 and the operating friction plates 1.7 is to keep the lifting operating handle 1.3 fixed in any position.
As can be seen from fig. 4 and 5, the operating pin assembly 1.1 comprises: the control pin shaft 1.1.1, the screw 1.1.2 and the angle sensor 1.1.3; the pin F on the angle sensor 1.1.3 is inserted into the pin hole E on the operating pin 1.1.1, the angle sensor hole A on the angle sensor 1.1.3 is aligned with the mounting hole G on the operating pin 1.1.1, and then the two are screwed by the screw 1.1.2. The assembly of the actuating pin 1.1.1 and the angle sensor 1.1.3 is completed. The rotation of the control pin shaft 1.1.1 drives the pin shaft on the angle sensor 1.1.3 to rotate, the change of the rotation angle is converted into an electric signal, the electric signal is output from the signal output port H of the angle sensor 1.1.3, and the electric signal enters the controller 6 for processing, so that the one-to-one correspondence between the rotation angle of the control handle and the control system is realized.
As can be seen from fig. 6, the lifting control mount weldment 1.2 comprises: lifting handle connecting plate 1.2.1, limit seat 1.2.2, control backing plate 1.2.3 and tightening screw 1.2.4; the control base plate 1.2.3 and the tightening screw pipe 1.2.4 are fixedly connected together, then the welding parts of the control base plate 1.2.3 and the tightening screw pipe are fixedly connected in the lifting handle connecting plate 1.2.1, and then the limiting seat 1.2.2 is fixedly connected in a hole on the lifting handle connecting plate 1.2.1, so that the fixing of the welding parts 1.2 of the lifting control support is completed.
As shown in fig. 7, the force level control system 2 includes: the device comprises a control pin shaft assembly 1.1, a force position control support welding assembly 2.1, a force position control handle 2.2, a lock nut 1.4, a lock gasket 1.5, a butterfly spring 1.6, a control friction plate 1.7 and a tightening bolt 1.8; the operating pin shaft assembly 1.1 is inserted into a support hole C on the force position operating support welding piece 2.1, the operating pin shaft assembly 1.1 and the force position operating support welding piece 2.1 are screwed by using a screwing bolt 1.8, an operating friction plate 1.7, a force position operating handle 2.2 and two belleville springs 1.6 are sleeved on a pin shaft of the operating pin shaft assembly 1.1 in sequence, a locking gasket 1.5 and a locking nut 1.4 are arranged, the locking nut 1.4 is locked by using the locking gasket 1.5, and the assembly of the force position control system 2 is completed. The mechanical signal is converted into an electric signal through the angle sensor 1.1.3 by rotating the power position control handle 2.2, the electric signal enters the controller 6, and the controller 6 selects a tilling depth control mode according to the transmitted signal of the power position control handle 2.2, so that the power control, the position control, the power position comprehensive control and the floating control are realized. The lowest position is force control, the highest position is position control, and any position in the middle is force position comprehensive control. When the force position control handle 2.2 selects any position in the middle, the control mode is force position comprehensive control, the proportion of the force position comprehensive control middle position control and the force control electric signal is different, the operation control mode of the machine tool is different, and when the machine tool is closer to the highest position, the proportion of the position control electric signal of the machine tool 8 is larger than the force control electric signal, and the position control plays a leading role; the closer to the lowest position, the greater the proportion of the force control signal of the implement 8 is than the position control signal, the force control being dominant. The belleville springs 1.6 and the operating friction plates 1.7 function to hold the operating handle 1.3 in any position against rotation.
As can be seen from fig. 8, the force level manipulation bracket weldment 2.1 comprises: a force position handle connecting plate 2.1.1, an operating base plate 2.1.2 and a tightening screw tube 2.1.3; the control base plate 2.1.2 and the tightening screw pipe 2.1.3 are fixedly connected together, and then the welding parts of the control base plate 2.1.2 and the tightening screw pipe are welded in the force handle connecting plate 2.1.1, so that the lifting control support welding part 2.1 is fixedly connected.
As shown in fig. 9, 10 and 11, the transport lock mechanism 3 includes: a positioning knob 3.1 and a limiting plate 3.2; the positioning knob 3.1 is fixedly connected on the limiting plate 3.2. Fig. 10 shows the position of the limiting plate 3.2 when the operating state of the lifting lever 1.3 is not limited. At this time, the lifting operation handle 1.3 can be rotated arbitrarily within the operation range. Fig. 11 shows the position of the limiting plate 3.2 when the highest position of the lifting handle 1.3 in the transport state of the tractor is limited, at this time, the lifting handle 1.3 is pulled to the highest position to contact with the side edge M of the lifting handle connecting plate 1.2.1, the limiting plate 3.2 is rotated to clamp the groove N on the P surface of the lifting handle 1.3, and the movement of the lifting handle 1.3 and the limiting plate 3.2 interfere and interlock in two mutually perpendicular planes, so that the rotation of the lifting handle 1.3 is limited.
As shown in fig. 1, 10 and 11, the tilling depth limiting mechanism 4 is installed in a threaded hole Y of the floor, the highest position of the lifting control handle 1.3 is limited by a side edge M of the lifting handle connecting plate 1.2.1, and the tilling depth limiting is controlled by adjusting the height of the tilling depth limiting mechanism 4 from the floor to adjust the downward moving position of the lifting control handle 1.3, so that the tilling depth limiting of the farm implement is realized.
As shown in fig. 12, a control mode and a technical solution combining mechanical control and electronic technology are provided for a schematic diagram of a control method of an electric lifting device of a tractor according to the present application.
Next, with reference to fig. 1 and with reference to fig. 2 to 12, a specific working situation of a control system and a control method of an electric control lifting device for a tractor according to an embodiment of the application will be described.
1) The driver selects a preliminary tilling depth control mode according to the conditions of matched tools, soil softness and the like, the force position control handle 2.2 of the rotary force position control system 2 is pressed to the lowest position to be simple force control, the highest position is mentioned to be simple position control, and any position in the middle is force position comprehensive control.
2) After a proper cultivation depth control mode is selected, the lifting control handle 1.3 of the lifting control system 1 is rotated, when lifting is carried out upwards, the machine tool 8 is lifted, when pressing downwards, the machine tool 8 is lowered, the lifting speed of the machine tool 8 is determined by the lifting speed or the lowering speed of the handle, and the lifting speed and the lowering speed can be controlled.
3) Lifting the control handle 1.3 compresses tightly under the effort of control friction disc 1.7 and belleville spring 1.6, and the driver can screw in, unscrew the lock nut and adjust the size of compressing force according to the work needs to the handle can stay in arbitrary position and fix.
4) After the cultivation depth is selected in the cultivation process, a driver can screw in and out the cultivation depth limiting mechanism 4 to limit the lowest position of the lifting control handle 1.3, so that the cultivation depth is controlled.
5) When the driver needs long-distance transportation or transfer, the lifting control handle 1.3 is lifted to the highest position, the limiting plate 3.2 is rotated, and the lifting control handle 1.3 can be locked as shown in fig. 12, so that the machine tool 8 is prevented from falling in the transportation or transfer process.
Here, it is also necessary to explain a point that the force and position control ratio of the force and position integrated control mode can be adjusted steplessly, so as to meet the control of the user on the agronomic precision.
The control system and the control method of the tractor electric control lifting device provide a control mode and a technical solution combining mechanical control and electronic technology, and have the advantages of innovation and novel method. The application can completely replace the electrical elements of the control panel of the existing electric control lifting system, can realize multiple functions of the control panel, simultaneously solves the defects of lag signals, difficult guarantee of travel, unadjustable proportion of the comprehensive control mode of the force position and the like of the control mode of the mechanical lifting system, has the characteristics of compact structure, reliable control system, high safety, convenient maintenance, relatively low maintenance cost and the like, simultaneously improves the operation comfort, lightens the labor intensity of a driver, improves the control precision of the agriculture, can meet the requirements of the electric control lifting device on the operation comfort and all requirements of users for operating the agriculture, and plays a pushing role in the application development of the industry on high-end quality tractors by adopting electric control technology.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present application, and is not intended to limit the whole of the present application, but it is to be understood that the present application is described in detail with reference to the foregoing embodiment, and that modifications in form or equivalents of some of the technical features described in the foregoing embodiment may be made by those skilled in the art. Modifications, equivalents, and the like, which are all intended to be included within the spirit and scope of the present application, are intended to be included within the scope of the present application.
Claims (2)
1. A steering system for an electrically controlled lifting device of a tractor, comprising: the device comprises a lifting control system (1), a force position control system (2), a transportation locking mechanism (3), a tilling depth limiting mechanism (4) and a mounting bolt (5); the method is characterized in that: the lifting control system (1) and the force position control system (2) are respectively fixed on the floor of the tractor by mounting bolts (5), a screw (D) on the transportation locking mechanism (3) is screwed into a threaded hole (W) on the lifting control system (1), and the tilling depth limiting mechanism (4) is mounted in a floor threaded hole (Y) corresponding to the floor of the tractor; the lift control system (1) comprises: the control pin shaft assembly (1.1), the lifting control support welding assembly (1.2), the lifting control handle (1.3), the locking nut (1.4), the locking gasket (1.5), the belleville spring (1.6), the control friction plate (1.7) and the tightening bolt (1.8); the method comprises the steps of inserting a control pin assembly (1.1) into a cylindrical hole (B) on a lifting control support welding assembly (1.2), screwing the control pin assembly (1.1) and the lifting control support welding assembly (1.2) by using a screwing bolt (1.8), sleeving a control friction plate (1.7), a lifting control handle (1.3) and two belleville springs (1.6) on a pin on the control pin assembly (1.1) in sequence, installing a locking gasket (1.5) and a locking nut (1.4), and locking the locking nut (1.4) by using the locking gasket (1.5); the operating pin assembly (1.1) comprises: a control pin shaft (1.1.1), a screw (1.1.2) and an angle sensor (1.1.3); inserting an angle sensor pin shaft (F) on the angle sensor (1.1.3) into an operating pin shaft hole (E) on the operating pin shaft (1.1.1), aligning the angle sensor hole (A) on the angle sensor (1.1.3) with a mounting hole (G) on the operating pin shaft (1.1.1), and screwing the angle sensor pin shaft (F) and the operating pin shaft hole (E) by using a screw (1.1.2); the lifting control support weldment (1.2) comprises: lifting handle connecting plates (1.2.1), limiting seats (1.2.2), operating base plates (1.2.3) and tightening coils (1.2.4); the control base plate (1.2.3) and the tightening screw pipe (1.2.4) are fixedly connected together, then a welding piece of the control base plate and the tightening screw pipe is fixedly connected in the lifting handle connecting plate (1.2.1), and then the limit seat (1.2.2) is fixedly connected in a hole on the lifting handle connecting plate (1.2.1); the force position control system (2) comprises: the device comprises an operating pin shaft assembly (1.1), a force position operating support welding assembly (2.1), a force position operating handle (2.2), a lock nut (1.4), a lock gasket (1.5), a belleville spring (1.6), an operating friction plate (1.7) and a tightening bolt (1.8); inserting the operating pin shaft assembly (1.1) into a force position operating support hole (C) on the force position operating support welding assembly (2.1), screwing the operating pin shaft assembly (1.1) and the force position operating support welding assembly (2.1) by using a screwing bolt (1.8), sleeving an operating friction plate (1.7), a force position operating handle (2.2) and two belleville springs (1.6) on a pin shaft of the operating pin shaft assembly (1.1) in sequence, installing a locking gasket (1.5) and a locking nut (1.4), and locking the locking nut (1.4) by using the locking gasket (1.5); the force level manipulation abutment weldment (2.1) comprises: a force position handle connecting plate (2.1.1), an operating base plate and a tightening screw pipe; the control backing plate is fixedly connected with the tightening screw pipe, and then a welding piece of the control backing plate and the tightening screw pipe is fixedly connected in the force handle connecting plate (2.1.1); the transport locking mechanism (3) comprises: a positioning knob (3.1) and a limiting plate (3.2); the positioning knob (3.1) is fixedly connected on the limiting plate (3.2).
2. The control system of an electrically controlled lifting device for a tractor as claimed in claim 1, wherein: the specific control method comprises the following steps:
【1】 The driver selects a preliminary tilling depth control mode according to the softness of matched tools and soil, a force position control handle (2.2) of a force position control system (2) can transmit mechanical signals of the force position control handle (2.2) to an angle sensor (1.1.3) through a control pin shaft, the angle sensor (1.1.3) converts the mechanical signals into electric signals, the electric signals enter a controller (6), and the controller (6) selects a tilling depth control mode according to the transmitted signals of the force position control handle (2.2), so that force control, position control, force position comprehensive control and floating control are realized; the force position control handle (2.2) is pressed to the lowest position for simple force control, the highest position is mentioned as simple position control, and any position in the middle is force position integrated control;
【2】 After a proper cultivation depth control mode is selected, a lifting control handle (1.3) of a lifting control system (1) is rotated, a mechanical signal of the lifting control handle (1.3) can be transmitted to an angle sensor (1.1.3) through a control pin shaft, the angle sensor (1.1.3) converts the mechanical signal into an electric signal, the electric signal enters a controller (6) to further control a lifting valve (7), the lifting valve (7) controls the action of an implement (8), and finally, the lifting control handle (1.3) controls the lifting or lowering of the implement (8); lifting the control handle (1.3) to pull upwards, and lifting the machine tool (8); lifting the control handle (1.3) to press downwards, and then the machine tool (8) descends; the lifting or descending rotation speed of the lifting control handle (1.3) determines the lifting or descending speed of the machine tool (8), and the lifting and descending speed can be controlled;
【3】 The lifting control handle (1.3) is pressed under the acting force of the control friction plate (1.7) and the butterfly spring (1.6), and a driver can screw in and out the locking nut according to the working requirement so as to adjust the pressing force and prevent the lifting control handle (1.3) from loosening in the working process; the lifting control handle (1.3) can stay at any position, so that the fixing of the machine tool (8) at any position is realized;
【4】 After the tilling depth is selected in the tilling process, a driver can screw in and screw out the tilling depth limiting mechanism (4) to limit the lowest position of the lifting control handle (1.3), so that the tilling depth is controlled;
【5】 When a driver needs long-distance transportation or transfer, the lifting control handle (1.3) is lifted to the highest position, and the lifting control handle (1.3) can be locked by rotating the limiting plate (3.2), so that the machine tool (8) is prevented from falling in the transportation or transfer process.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710999185.5A CN107654447B (en) | 2017-10-24 | 2017-10-24 | Control system and control method of tractor electric control lifting device |
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| CN201710999185.5A CN107654447B (en) | 2017-10-24 | 2017-10-24 | Control system and control method of tractor electric control lifting device |
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| CN107654447A CN107654447A (en) | 2018-02-02 |
| CN107654447B true CN107654447B (en) | 2023-11-07 |
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