CN107672678B - Automatic regulating system for tractor mass center position - Google Patents
Automatic regulating system for tractor mass center position Download PDFInfo
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- CN107672678B CN107672678B CN201710881727.9A CN201710881727A CN107672678B CN 107672678 B CN107672678 B CN 107672678B CN 201710881727 A CN201710881727 A CN 201710881727A CN 107672678 B CN107672678 B CN 107672678B
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- tractor
- sensor
- hydraulic
- controller
- hydraulic device
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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)
- Lifting Devices For Agricultural Implements (AREA)
- Operation Control Of Excavators (AREA)
Abstract
the invention provides an automatic regulating system for the position of the mass center of a tractor, which comprises a controller, a speed sensor, an accelerator pedal displacement sensor, a machine-liquid separation engine, a hydraulic device, a balancing weight, a resistance sensor and a displacement sensor, wherein the controller, the speed sensor, the accelerator pedal displacement sensor, the machine-liquid separation engine, the hydraulic device and the balancing weight are arranged on the tractor; the machine-liquid separation engine is connected with a hydraulic device, and the hydraulic device is connected with a balancing weight; the controller is connected with the speed sensor, the accelerator pedal displacement sensor, the hydraulic device, the resistance sensor and the displacement sensor; the speed sensor and the accelerator pedal displacement sensor are respectively used for detecting the walking speed of the tractor and the displacement of the accelerator pedal; the resistance sensor and the displacement sensor are respectively used for detecting the transverse resistance and the longitudinal displacement of the machine tool; the controller is used for controlling the hydraulic device to adjust the force arm of the counterweight block so as to keep the position of the mass center of the tractor unchanged. The tractor can automatically adjust the position of the mass center of the tractor, reduces the slip rate and the stress resistance of the tractor tire, and effectively avoids the tire abrasion.
Description
Technical Field
the invention belongs to the technical field of tractors, and particularly relates to an automatic adjusting system for the mass center position of a tractor.
Background
The tractor is a self-propelled power machine used for towing and driving the operation machine to complete various movable operations, and can also be used as fixed operation power.
tractor among the prior art all adopts the balancing weight of fixed arm of force suspension fixed weight, leads to tractor barycenter position one and becomes, when being furnished with different machines and implements different during operation, barycenter position is also fixed unchangeable, easily causes the increase of tire slip ratio, the resistance that receives, and the easy wearing and tearing tire, remains further improvement.
Disclosure of Invention
The invention aims to provide an automatic adjusting system for the center of mass position of a tractor, which can automatically adjust the arm of force of a balancing weight according to the state of the whole tractor after the tractor hitches a machine tool, so that the center of mass of the tractor is always kept balanced at the center position.
The invention provides an automatic regulating system for the position of the mass center of a tractor, which comprises a controller, a speed sensor, an accelerator pedal displacement sensor, a machine-liquid separation engine, a hydraulic device, a balancing weight, and a resistance sensor and a displacement sensor which are arranged on a tractor machine tool, wherein the controller, the speed sensor, the accelerator pedal displacement sensor, the machine-liquid separation engine, the hydraulic device and the balancing weight are arranged on the tractor;
The machine-liquid separation engine is connected with a hydraulic device, and the hydraulic device is connected with a balancing weight; the controller is connected with the speed sensor, the accelerator pedal displacement sensor, the hydraulic device, the resistance sensor and the displacement sensor;
The speed sensor and the accelerator pedal displacement sensor are respectively used for detecting the walking speed of the tractor and the displacement of the accelerator pedal;
The resistance sensor and the displacement sensor are respectively used for detecting the transverse resistance and the longitudinal displacement of the tractor tool;
The controller is used for controlling the hydraulic device to adjust the force arm of the counterweight block according to the balance position of the tractor in the operation process so as to keep the position of the mass center of the tractor unchanged; the balance position is obtained by calculation according to the walking speed of the tractor, the displacement of an accelerator pedal, the transverse resistance of the machine tool and the longitudinal displacement of the machine tool and based on the angle between the arm of force of the balancing weight and the ground and the position information of a gyroscope built in the controller.
furthermore, the hydraulic device comprises a hydraulic pump, an electromagnetic valve, a hydraulic oil cylinder and a push-pull rod, the hydraulic pump is connected with the electromagnetic valve and the hydraulic oil cylinder, the hydraulic oil cylinder is connected with the push-pull rod, and the push-pull rod is connected with the counterweight block;
the electromagnetic valve is connected with the controller and used for receiving a control instruction sent by the controller, controlling the hydraulic pump to output hydraulic oil to the hydraulic oil cylinder and controlling the push-pull rod to push the counterweight block to move so as to adjust the force arm of the counterweight block.
Furthermore, the hydraulic device also comprises a hydraulic oil tank, a filter, an overflow valve and a control circuit, wherein the hydraulic oil tank is connected with the filter, the filter and the overflow valve are connected with the hydraulic pump, and the control circuit is connected with the electromagnetic valve.
Furthermore, the system also comprises a display installed on the tractor, wherein the display is connected with the controller through a CAN bus and is used for displaying the working condition parameters of the tractor; the working condition parameters comprise the operation speed of the tractor, an engine signal, the position of the mass center of the tractor and the information of the tractor tool.
Furthermore, the machine-liquid separation engine is provided with a hydraulic output port, and the hydraulic output port is connected with a hydraulic device.
Furthermore, the tractor implement is a traction plough, the traction plough comprises a lifting arm, and the displacement sensor is connected with the lifting arm.
Further, the balancing weight is arranged at the front end of the tractor.
Compared with the prior art, the invention has the beneficial effects that: can be through perception tractor speed and machines and tools state automatic change tractor balancing weight push-and-pull rod arm of force length to reach automatically regulated tractor barycenter position and balanced purpose, reduced the rate of slip and the atress resistance of tractor tire, the effectual tire wear of having avoided.
Drawings
FIG. 1 is a layout view of an automatic adjustment system for the position of the center of mass of a tractor according to the present invention;
FIG. 2 is a schematic diagram of the automatic adjustment system for the center of mass position of a tractor according to the present invention;
Fig. 3 is a schematic diagram of an application of the automatic adjusting system for the position of the center of mass of the tractor according to the invention.
reference numbers in the figures:
1-a machine-liquid separation engine; 2-a balancing weight; 3-a speed sensor; 4-a controller; 5-a display; 6-accelerator pedal displacement sensor; 7-a resistance sensor; 8-a displacement sensor; 9-a hydraulic oil tank; 10-a filter; 11-a hydraulic pump; 12-a solenoid valve; 13-a hydraulic oil cylinder; 14-a push-pull rod; 15-an overflow valve; 16-control circuit.
Detailed Description
The present invention is described in detail with reference to the embodiments shown in the drawings, but it should be understood that these embodiments are not intended to limit the present invention, and those skilled in the art should understand that functional, methodological, or structural equivalents or substitutions made by these embodiments are within the scope of the present invention.
referring to fig. 1, the tractor equipped with the traction plough is provided with an automatic adjusting system for the position of the center of mass of the tractor, and the system is composed of a machine-liquid separation engine 1, a balancing weight 2, a speed sensor 3, a controller 4, an agricultural display 5, an accelerator pedal displacement sensor 6, a resistance sensor 7 and a displacement sensor 8.
The engine-liquid separation engine 1 is provided with a special hydraulic output port, the power of the engine can be directly transmitted to a hydraulic system, and a hydraulic oil conveying pipeline is not required to be additionally added to the whole tractor.
The speed sensor 3 is arranged at the bottom of the tractor between the engine and the clutch and used for detecting the operation traveling speed of the tractor; the accelerator pedal displacement sensor 6 is arranged below the accelerator pedal and used for detecting the force of the driver stepping on the accelerator pedal.
an angle displacement sensor 8 of the machine tool is arranged beside the lifting arm or is directly connected with the lifting arm to directly monitor the position change of the lifting arm; the load resistance sensor 7 is connected with the controller 4 through a cable, and the load resistance sensor collects the load resistance of the tractor head in the tillage process of the tractor head traction plough, converts the load resistance into an electric signal and transmits the electric signal to the controller for monitoring the change of the load resistance of the tractor.
The agricultural display 5 is connected with the controller 4 through the CAN bus, CAN replace a vehicle-mounted display terminal, integrates the original instrument of the tractor and a vehicle-mounted display system, and displays the operation speed, the engine signal, the mass center position and the conditions of the tractor tool in real time through the CAN bus.
Referring to fig. 1 and 2, the automatic adjustment executing system is a hydraulic system, and includes a hydraulic oil tank 9, a filter 10, a hydraulic pump 11, an electromagnetic valve 12, a hydraulic oil cylinder 13, a push-pull rod 14, an overflow valve 15, and a control circuit 16. The hydraulic system directly outputs power through the engine-liquid separation engine 1, the electromagnetic valve 12 outputs current according to a control instruction sent by the controller 4, the hydraulic pump 11 outputs corresponding hydraulic oil according to current and hydraulic proportion, the hydraulic pump 11 outputs hydraulic oil to the hydraulic oil cylinder 13, and the push-pull rod 14 is controlled through the hydraulic oil cylinder 13 to realize the change of the front-back distance of the counterweight block 2, so that the adjustment of the mass center balance is achieved. The hydraulic oil quantity is controlled by current, and the hydraulic oil quantity is easy to control.
Referring to fig. 3, the controller 4 selects a TMS320F28335DSP chip as a control core of the electric control system, which is simple, convenient and powerful, the collected signals enter corresponding pins of the chip after being processed by the input circuit, the DSP performs operation analysis on the input signal parameters, outputs control signals according to a control strategy stored therein, and controls the output displacement of the hydraulic pump 11 by driving the electromagnetic valve 12. The peripheral circuit comprises a power supply circuit, a reset circuit, a JTAG download port, an external expansion RAM, an external expansion FLASH and a CAN interface circuit, and provides an expansion function.
The input parameters of the system comprise displacement of an accelerator pedal, running speed of a tractor, transverse resistance of a machine tool, longitudinal displacement and an angle between a balancing weight force arm and the ground, the balance position of the tractor is judged by sensing the angle of the force arm and the position of a gyroscope in a controller, when the tractor works on a mounted plough, the running speed of the tractor, the transverse resistance of the machine tool and the longitudinal displacement are matched as parameters, the length of the balancing weight force arm is taken as a control target, closed-loop control is carried out, the length of the force arm of a push-pull rod of the balancing weight is changed through a hydraulic oil cylinder, and the position of the center.
the system senses the distribution condition of the mass center of the whole tractor behind the mounted plough, and influences on the mass center of the tractor according to parameters such as resistance, operation speed and the like in the operation process, a hydraulic engine is used for directly providing power for a hydraulic pump, a proportional solenoid valve is used as a control module, a push-pull rod of a mounted counterweight block is adjusted by an accurate control actuator cylinder (namely a hydraulic oil cylinder), automatic adjustment of the position of the mass center is achieved, stress balance in the operation process of the tractor is guaranteed, the slip rate and the stress resistance of tires of the tractor are reduced, tire abrasion is effectively avoided, the service life of the tractor is prolonged, the failure rate of the tractor and machines is effectively reduced, and the control is simple and convenient.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (7)
1. An automatic adjusting system for the position of the mass center of a tractor is characterized by comprising a controller, a speed sensor, an accelerator pedal displacement sensor, a machine-liquid separation engine, a hydraulic device, a balancing weight, and a resistance sensor and a displacement sensor which are arranged on a tractor machine tool, wherein the controller, the speed sensor, the accelerator pedal displacement sensor, the machine-liquid separation engine, the hydraulic device and the balancing weight are arranged on the tractor;
The machine-liquid separation engine is connected with the hydraulic device, and the hydraulic device is connected with the balancing weight; the controller is connected with the speed sensor, the accelerator pedal displacement sensor, the hydraulic device, the resistance sensor and the displacement sensor;
The speed sensor and the accelerator pedal displacement sensor are respectively used for detecting the walking speed of the tractor and the displacement of the accelerator pedal;
The resistance sensor and the displacement sensor are respectively used for detecting the transverse resistance and the longitudinal displacement of the tractor tool;
The controller is used for judging the balanced position of the tractor in the operation process by taking the walking speed of the tractor, the displacement of an accelerator pedal, the transverse resistance of the tractor, the longitudinal displacement of the tractor and the angle of the arm of force of the counter weight and the ground as input parameters, sensing the angle of the arm of force of the counter weight and the angle of the ground and the gyroscope in the controller, and based on the balanced position, matching the walking speed of the tractor, the transverse resistance of the tractor and the longitudinal displacement of the tractor as parameters, taking the length of the arm of force of the counter weight as a control target, carrying out closed-loop control, and changing the length of the arm of force of the counter weight by the hydraulic device.
2. The automatic adjusting system for the center of mass position of the tractor as claimed in claim 1, wherein the hydraulic device comprises a hydraulic pump, an electromagnetic valve, a hydraulic cylinder and a push-pull rod, the hydraulic pump is connected with the electromagnetic valve and the hydraulic cylinder, the hydraulic cylinder is connected with the push-pull rod, and the push-pull rod is connected with the counterweight block;
the electromagnetic valve is connected with the controller and used for receiving a control instruction sent by the controller, controlling the hydraulic pump to output hydraulic oil to the hydraulic oil cylinder and controlling the push-pull rod to push the counterweight block to move so as to adjust the arm of force of the counterweight block.
3. The automatic adjusting system of the position of the center of mass of the tractor according to claim 2, wherein the hydraulic device further comprises a hydraulic oil tank, a filter, an overflow valve and a control circuit, the hydraulic oil tank is connected with the filter, the filter and the overflow valve are connected with the hydraulic pump, and the control circuit is connected with the solenoid valve.
4. The automatic adjusting system for the center of mass position of the tractor as claimed in claim 1 or 2, further comprising a display mounted on the tractor, wherein the display is connected with the controller through a CAN bus and used for displaying operating condition parameters of the tractor; the working condition parameters comprise tractor operation speed, engine signals, tractor mass center position and tractor tool information.
5. The automatic adjusting system for the position of the center of mass of the tractor according to claim 1, wherein the machine-liquid separation engine is provided with a hydraulic output port, and the hydraulic output port is connected with the hydraulic device.
6. The automatic adjustment system for the position of the center of mass of a tractor according to claim 1, wherein said tractor implement is a tractor plow, said tractor plow comprising a lift arm, said displacement sensor being connected to said lift arm.
7. The automatic adjusting system of the position of the center of mass of the tractor as claimed in claim 1, wherein the weight is provided 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 CN107672678A (en) | 2018-02-09 |
| CN107672678B true CN107672678B (en) | 2019-12-10 |
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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 |
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| CN (1) | CN107672678B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111577884B (en) * | 2020-05-28 | 2021-06-08 | 合肥工业大学 | Speed change control method for tillage operation of wheeled tractor |
Family Cites Families (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 |
| CN102001282B (en) * | 2010-10-28 | 2013-02-27 | 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 |
| KR101668667B1 (en) * | 2014-10-01 | 2016-10-26 | 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 |
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2017
- 2017-09-26 CN CN201710881727.9A patent/CN107672678B/en active Active
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