CN107672678A - A kind of automatic regulating system of tractor centroid position - Google Patents
A kind of automatic regulating system of tractor centroid position Download PDFInfo
- Publication number
- CN107672678A CN107672678A CN201710881727.9A CN201710881727A CN107672678A CN 107672678 A CN107672678 A CN 107672678A CN 201710881727 A CN201710881727 A CN 201710881727A CN 107672678 A CN107672678 A CN 107672678A
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- China
- Prior art keywords
- tractor
- hydraulic
- centroid position
- sensor
- controller
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
- B62D37/04—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Lifting Devices For Agricultural Implements (AREA)
Abstract
The invention provides a kind of automatic regulating system of tractor centroid position, including controller, velocity sensor, accelerator pedal displacement sensor, machine liquid escape engine, hydraulic means, balancing weight and the resistive force sensor and displacement transducer being installed on equipment being installed on tractor；Machine liquid escape engine is connected with hydraulic means, and hydraulic means is connected with balancing weight；Controller is connected with velocity sensor, accelerator pedal displacement sensor, hydraulic means, resistive force sensor and displacement transducer；Velocity sensor and accelerator pedal displacement sensor are respectively used to detect the tractor speed of travel and accelerator pedal displacement；Resistive force sensor and displacement transducer are respectively used to lateral resistance and the length travel of measuring tool；Controller is used for the arm of force for controlling hydraulic means regulation balancing weight, to keep tractor centroid position constant.The present invention can automatically adjust tractor centroid position, reduce the slip rate and stress resistance of tractor tire, effectively prevent tire wear.
Description
Technical field
The invention belongs to tractor technical field, and in particular to a kind of automatic regulating system of tractor centroid position.
Background technology
Tractor is the self-propelled motor machine for drawing and driving Work machine to complete every mobile operation, can also be done
Fixed operation power.
Tractor of the prior art hangs the balancing weight of fixed weight using fixed force arm sling, causes tractor barycenter position
Put it is unalterable, when equipped with different equipments implement different operating when, centroid position also immobilizes, easily cause tire slippage rate,
The resistance increase being subject to, and tire easy to wear, are further improved.
The content of the invention
It can be automatically adjusted it is an object of the invention to provide a kind of according to the complete machine state after tractor mounting equipment
The balancing weight arm of force so that tractor barycenter ensures to remain automatically adjusting for the tractor centroid position of balance in center
System.
The invention provides a kind of automatic regulating system of tractor centroid position, including the control being installed on tractor
Device, velocity sensor, accelerator pedal displacement sensor, machine liquid escape engine, hydraulic means, balancing weight and it is installed on tractor
Resistive force sensor and displacement transducer on equipment；
Machine liquid escape engine is connected with hydraulic means, and hydraulic means is connected with balancing weight；Controller and velocity sensor,
Accelerator pedal displacement sensor, hydraulic means, resistive force sensor and displacement transducer connection；
Velocity sensor and accelerator pedal displacement sensor are respectively used to detect the tractor speed of travel and gas pedal position
Move；
Resistive force sensor and displacement transducer are respectively used to detect lateral resistance and the length travel of tractor equipment；
Controller is used for the equilbrium position according to tractor in operation process, the power of control hydraulic means regulation balancing weight
Arm, to keep tractor centroid position constant；Wherein, equilbrium position is according to the tractor speed of travel, accelerator pedal displacement, equipment
Lateral resistance, equipment length travel, and the angle based on the balancing weight arm of force and ground and the gyroscope that is built in controller
Positional information calculation obtains.
Further, hydraulic means includes hydraulic pump, magnetic valve, hydraulic jack and pull bar, hydraulic pump and magnetic valve and
Hydraulic jack is connected, and hydraulic jack is connected with pull bar, and pull bar is connected with the balancing weight；
Magnetic valve is connected with controller, the control instruction sent for receiving controller, control hydraulic pump output hydraulic pressure oil
Into hydraulic jack, control pull bar promotes balancing weight movement, to adjust the arm of force of the balancing weight.
Further, hydraulic means also includes hydraulic oil container, cleaner, overflow valve and control circuit, hydraulic oil container and filter
Clear device connection, cleaner and overflow valve are connected with hydraulic pump, and control circuit is connected with magnetic valve.
Further, the system also includes the display being installed on tractor, and display passes through CAN and controller
Connection, for showing the duty parameter of tractor；Wherein, duty parameter includes tractor work speed, engine signal, drawn
Machine centroid position and tractor equipment information.
Further, machine liquid escape engine is provided with hydraulic pressure delivery outlet, and hydraulic pressure delivery outlet is connected with hydraulic means.
Further, tractor equipment is trailed plough, and trailed plough includes lift arm, and displacement transducer is connected with lift arm.
Further, balancing weight is located at the front end of tractor.
Compared with prior art the beneficial effects of the invention are as follows：Can be automatic by perceiving tractor speed and equipment state
Change tractor balancing weight pull bar torque arm length, so as to reach the purpose for automatically adjusting tractor centroid position and balance, drop
The low slip rate and stress resistance of tractor tire, effectively avoids tire wear.
Brief description of the drawings
Fig. 1 is a kind of layout drawing of the automatic regulating system of tractor centroid position of the present invention；
Fig. 2 is a kind of structural representation of the automatic regulating system of tractor centroid position of the present invention；
Fig. 3 is a kind of application schematic diagram of the automatic regulating system of tractor centroid position of the present invention.
Label in figure：
1- machine liquid escape engines；2- balancing weights；3- velocity sensors；4- controllers；5- displays；6- gas pedals position
Displacement sensor；7- resistive force sensors；8- displacement transducers；9- hydraulic oil containers；10- cleaners；11- hydraulic pumps；12- magnetic valves；
13- hydraulic jacks；14- pull bars；15- overflow valves；16- control circuits.
Embodiment
The present invention is described in detail for shown each embodiment below in conjunction with the accompanying drawings, but it should explanation, these
Embodiment is not limitation of the present invention, those of ordinary skill in the art according to these embodiment institute work energy, method,
Or equivalent transformation or replacement in structure, belong within protection scope of the present invention.
Join shown in Fig. 1, the automatic regulating system of tractor centroid position is disposed with the tractor equipped with trailed plough, this is
System is passed by machine liquid escape engine 1, balancing weight 2, velocity sensor 3, controller 4, agricultural display 5, accelerator pedal displacement
Sensor 6, resistive force sensor 7, displacement transducer 8 form.
Machine liquid escape engine 1 has special hydraulic pressure delivery outlet, engine power can be transferred directly into hydraulic system, dragged
Machine drawing complete machine is without another liquid feeding pressure pipeline road.
Velocity sensor 3 is arranged on the dilatory motor spindle between engine and clutch, for detecting tractor work row
Walk speed；Accelerator pedal displacement sensor 6 is installed on below gas pedal, for detecting the power that driver tramples gas pedal
Degree.
The angle displacement sensor 8 of equipment is arranged on by lift arm, or is directly connected with lift arm, and directly monitoring carries
Rise the change in location of arm；Load resistance sensor 7 is connected by cable with controller 4, by gathering dilatory head trailed plough
The load resistance size in cultivating procedure is carried out, is transformed into electric signal and is transferred to controller, for monitoring tractor load resistance
The change of power.
Agricultural is connected with display 5 by CAN with controller 4, alternative vehicle-mounted display terminal, and it is former to integrate tractor
Instrument, Vehicular display device display system, pass through CAN real-time display tractor work speed, engine signal, centroid position
And tractor equipment situation.
Join shown in Fig. 1 and Fig. 2, the execution system that automatically adjusts is hydraulic system, including hydraulic oil container 9, cleaner 10, liquid
Press pump 11, magnetic valve 12, hydraulic jack 13, pull bar 14, overflow valve 15, control circuit 16 form.The hydraulic system is directly logical
Cross machine liquid escape engine 1 and export power, the control instruction output current that magnetic valve 12 is sent according to controller 4, according to electricity
Stream exports corresponding The hydraulic oil with hydraulic proportional hydraulic pump 11, and the output hydraulic pressure of hydraulic pump 11 oil is arrived in hydraulic jack 13, passed through
The control pull bar 14 of hydraulic jack 13 realizes the conversion of the longitudinal separation of balancing weight 2, so as to reach the regulation of barycenter balance.The system
In executive component from the Hydraulic Elements such as magnetic valve 12, hydraulic pump 11 and hydraulic jack 13, it is easy to operate, pass through current control
The hydraulic oil, it is easily controllable.
Join shown in Fig. 3, controller 4 is from control core of the TMS320F28335DSP chips as electric-control system, simple side
Just, powerful, the signal of collection enters the respective pins of chip after input circuit is handled, and DSP joins to the signal of input
Number carries out operational analysis, and according to the control strategy output control signal being stored therein, liquid is controlled by drive magnetic valve 12
The output displacement of press pump 11.Peripheral circuit includes power circuit, reset circuit, JTAG and downloads mouth, extend out RAM, extend out FLASH, CAN
Interface circuit, there is provided expanded function.
The system input parameter have accelerator pedal displacement, Running Speed of Tractor, equipment lateral resistance, length travel and
The balancing weight arm of force and the angle on ground, by the position judgment tractor balance position for perceiving gyroscope in arm of force angle and controller
Put, when tractor ploughs progress operation in carry, using the travel speed of tractor, equipment lateral resistance, length travel as parameter
Matching, using balancing weight torque arm length as control targe, closed-loop control is carried out, so as to change balancing weight pull bar by hydraulic jack
Torque arm length, to keep tractor centroid position constant.
The system is by the complete machine of tractor barycenter distribution condition after perceiving carry plough, and according to being subject in operation process
Influence of the parameter such as resistance and operating speed to tractor barycenter, power is provided directly to hydraulic pump using machine liquid engine,
Using proportion magnetic valve as control module, pressurized strut (i.e. hydraulic jack) is accurately controlled to adjust the pull bar of carry balancing weight, it is real
Automatically adjusting for existing centroid position, ensure that the stress balance during tractor work, reduces the sliding of tractor tire
Rate and stress resistance, effectively prevent tire wear, add the service life of tractor, and then significantly reduce tractor
And the fault rate of equipment, and control easy.
Those listed above is a series of to be described in detail only for feasibility embodiment of the invention specifically
Bright, they simultaneously are not used to limit the scope of the invention, all equivalent implementations made without departing from skill spirit of the present invention
Or change should be included in the scope of the protection.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.
Claims (7)
- A kind of 1. automatic regulating system of tractor centroid position, it is characterised in that including be installed on tractor controller, Velocity sensor, accelerator pedal displacement sensor, machine liquid escape engine, hydraulic means, balancing weight and it is installed on tractor machine Resistive force sensor and displacement transducer on tool；The machine liquid escape engine is connected with the hydraulic means, and the hydraulic means is connected with the balancing weight；The control Device processed is connected with the velocity sensor, accelerator pedal displacement sensor, hydraulic means, resistive force sensor and displacement transducer；The velocity sensor and accelerator pedal displacement sensor are respectively used to detect the tractor speed of travel and gas pedal position Move；The resistive force sensor and displacement transducer are respectively used to detect lateral resistance and the length travel of tractor equipment；The controller is used for the equilbrium position according to tractor in operation process, controls and matches somebody with somebody described in the hydraulic means regulation The arm of force of pouring weight, to keep tractor centroid position constant；Wherein, the equilbrium position according to the tractor speed of travel, Accelerator pedal displacement, equipment lateral resistance, equipment length travel, and the angle based on the balancing weight arm of force and ground and it is built in institute The positional information calculation for stating the gyroscope in controller obtains.
- A kind of 2. automatic regulating system of tractor centroid position according to claim 1, it is characterised in that the hydraulic pressure Device includes hydraulic pump, magnetic valve, hydraulic jack and pull bar, and the hydraulic pump is connected with the magnetic valve and hydraulic jack, The hydraulic jack is connected with the pull bar, and the pull bar is connected with the balancing weight；The magnetic valve is connected with the controller, the control instruction sent for receiving the controller, controls the hydraulic pressure Pump output hydraulic pressure oil is arrived in the hydraulic jack, controls the pull bar to promote the balancing weight movement, to adjust the counterweight The arm of force of block.
- A kind of 3. automatic regulating system of tractor centroid position according to claim 2, it is characterised in that the hydraulic pressure Device also includes hydraulic oil container, cleaner, overflow valve and control circuit, and the hydraulic oil container is connected with the cleaner, described Cleaner and overflow valve are connected with the hydraulic pump, and the control circuit is connected with the magnetic valve.
- 4. the automatic regulating system of a kind of tractor centroid position according to claim 1 or 2, it is characterised in that also wrap The display being installed on tractor is included, the display is connected by CAN with the controller, for showing tractor Duty parameter；Wherein, the duty parameter includes tractor work speed, engine signal, tractor centroid position and dragged Machine drawing equipment information.
- A kind of 5. automatic regulating system of tractor centroid position according to claim 1, it is characterised in that the machine liquid Escape engine is provided with hydraulic pressure delivery outlet, and the hydraulic pressure delivery outlet is connected with the hydraulic means.
- 6. the automatic regulating system of a kind of tractor centroid position according to claim 1, it is characterised in that described dilatory Machine equipment is trailed plough, and the trailed plough includes lift arm, and institute's displacement sensors are connected with the lift arm.
- A kind of 7. automatic regulating system of tractor centroid position according to claim 1, it is characterised in that the counterweight Block is located at the front end of the tractor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710881727.9A CN107672678B (en) | 2017-09-26 | 2017-09-26 | Automatic regulating system for tractor mass center position |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710881727.9A CN107672678B (en) | 2017-09-26 | 2017-09-26 | Automatic regulating system for tractor mass center position |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107672678A true CN107672678A (en) | 2018-02-09 |
| CN107672678B CN107672678B (en) | 2019-12-10 |
Family
ID=61138035
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710881727.9A Active CN107672678B (en) | 2017-09-26 | 2017-09-26 | Automatic regulating system for tractor mass center position |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107672678B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111577884A (en) * | 2020-05-28 | 2020-08-25 | 合肥工业大学 | Speed change control method for tillage operation of wheeled tractor |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS53142719A (en) * | 1977-05-17 | 1978-12-12 | Kubota Ltd | Weight balancing device of tractor |
| JPS5427121A (en) * | 1977-07-28 | 1979-03-01 | Kubota Ltd | Weight balancing system for tractor |
| RU2340504C1 (en) * | 2007-05-28 | 2008-12-10 | Федеральное государственное образовательное учреждение высшего профессионального образования "Воронежский государственный аграрный университет имени К.Д. Глинки" (ФГОУ ВПО ВГАУ им. К.Д. Глинки) | Tractor |
| CN102001282A (en) * | 2010-10-28 | 2011-04-06 | 中国农业大学 | Running system of caterpillar tractor with adjustable center of gravity |
| CN103693119A (en) * | 2012-09-27 | 2014-04-02 | 王荣 | Gravity center height-adjustable hand tractor |
| KR20160039718A (en) * | 2014-10-01 | 2016-04-12 | 대호 (주) | Mounting structure of weight which is mounted on front of tractor |
| CN206481580U (en) * | 2017-02-14 | 2017-09-12 | 湖北工业大学 | A kind of tractor gravity adjusting device |
-
2017
- 2017-09-26 CN CN201710881727.9A patent/CN107672678B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS53142719A (en) * | 1977-05-17 | 1978-12-12 | Kubota Ltd | Weight balancing device of tractor |
| JPS5427121A (en) * | 1977-07-28 | 1979-03-01 | Kubota Ltd | Weight balancing system for tractor |
| RU2340504C1 (en) * | 2007-05-28 | 2008-12-10 | Федеральное государственное образовательное учреждение высшего профессионального образования "Воронежский государственный аграрный университет имени К.Д. Глинки" (ФГОУ ВПО ВГАУ им. К.Д. Глинки) | Tractor |
| CN102001282A (en) * | 2010-10-28 | 2011-04-06 | 中国农业大学 | Running system of caterpillar tractor with adjustable center of gravity |
| CN103693119A (en) * | 2012-09-27 | 2014-04-02 | 王荣 | Gravity center height-adjustable hand tractor |
| KR20160039718A (en) * | 2014-10-01 | 2016-04-12 | 대호 (주) | Mounting structure of weight which is mounted on front of tractor |
| CN206481580U (en) * | 2017-02-14 | 2017-09-12 | 湖北工业大学 | A kind of tractor gravity adjusting device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111577884A (en) * | 2020-05-28 | 2020-08-25 | 合肥工业大学 | Speed change control method for tillage operation of wheeled tractor |
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| Publication number | Publication date |
|---|---|
| CN107672678B (en) | 2019-12-10 |
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