CN108040518A - The tractor hanging and control method of a kind of adjustable farm implements height and angle of heel - Google Patents
The tractor hanging and control method of a kind of adjustable farm implements height and angle of heel Download PDFInfo
- Publication number
- CN108040518A CN108040518A CN201711145177.0A CN201711145177A CN108040518A CN 108040518 A CN108040518 A CN 108040518A CN 201711145177 A CN201711145177 A CN 201711145177A CN 108040518 A CN108040518 A CN 108040518A
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- farm implements
- axle sleeve
- hydraulic cylinder
- sliding block
- heel
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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
- A01B59/00—Devices specially adapted for connection between animals or tractors and agricultural machines or implements
- A01B59/06—Devices specially adapted for connection between animals or tractors and agricultural machines or implements for machines mounted on tractors
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- Life Sciences & Earth Sciences (AREA)
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Lifting Devices For Agricultural Implements (AREA)
Abstract
The present invention provides a kind of adjustable farm implements height and the tractor hanging and control method of angle of heel, the device includes hydraulic pump, first hydraulic cylinder, slide, first sliding block, head rod, couple support plate, main shaft, second hydraulic cylinder, rack, gear mounting axle sleeve etc., gear mounting axle sleeve is installed on main shaft, the both ends of main shaft are by bearings in connection support plate, the piston rod of first hydraulic cylinder is connected with the first sliding block, first sliding block is slidably connected with slide, both ends of first connecting rod point and the first sliding block and couple support plate and be hinged, rack is installed on the piston rod of second hydraulic cylinder, the upper gear parts engagement of rack and pinion hitching axis set, farm implements are articulated in gear hitching axis and put on.This hair can adjust farm implements and ground relative angle and height according to the inclined degree of tractor body, so that tilling depth of the tractor in cultivating procedure is consistent so that arable land is more uniform.
Description
Technical field
The present invention relates to tractor hangings more particularly to the tractor of a kind of adjustable farm implements height and angle of heel to hang
Device and control method.
Background technology
With the raising of Tendency of Agricultural Machinery in Chinaization level, also obtained applied to mountain and hill tractor equipment suspension arrangement
A degree of development.China's hilly and mountainous land tractor leveling technology is to obtain hills mountain by the adjustment up and down of drive axle at present
The level of the fuselage of ground tractor.Tractor in there are the operational process in the mountain and hill area of certain gradient, due to
The effect of vehicle attitude control, if still using common three-link hitch, due to tractor body and traditional three-link hitch
For rigid connection, after tractor body obtains leveling, it can so that the embedded depth that tractor is suspended in transverse plane is different.
Therefore in farming, difference will be generated with right side soil cultivation depth on the left of tractor, so as to influence soil cultivation effect.
The content of the invention
For deficiency exists in the prior art, the tractor the present invention provides a kind of adjustable farm implements height and angle of heel hangs
Hang device and control method available for the middle fraction horsepower tractor in mountain and hill operation, can realize farm implements to mountain and hill
The uniform farming in field so that soil cultivation uniform depth in transverse plane is changed the soil cultivation effect of mountain and hill
It is kind.
The present invention achieves the above technical objects by the following technical means.
The tractor hanging of a kind of adjustable farm implements height and angle of heel, which is characterized in that including hydraulic pump, the first liquid
Cylinder pressure, slide, the first sliding block, head rod, connection support plate, main shaft, lower connecting plate, second hydraulic cylinder, rack, gear are hung
Spindle set, obliquity sensor, upper junction plate, the first reversal valve, the second reversal valve, electronic control unit, rising button, decline are pressed
Button and angle of heel adjustment knob；
The first hydraulic cylinder and slide are fixed on along vehicle heading level on vehicle body, the work of the first hydraulic cylinder
Stopper rod end is fixedly connected with first sliding block, and first sliding block is slidably connected with slide, and the one of the head rod
End is hinged with the first sliding block, and the bottom of the other end connection support plate of head rod is hinged；
The major axis horizontal is set, and the gear mounting axle sleeve is removably installed in one end of main shaft, the main shaft
The other end passes through bearings in one end of connection support plate through connection support plate, and the gear mounting axle sleeve passes through axis
Hold the other end for being supported on connection support plate；
The second hydraulic cylinder is fixed on along vehicle vertical direction on vehicle body, and rack is fixed on the piston rod of second hydraulic cylinder
On, the rack is engaged through connection support plate and with the gear parts of gear mounting axle sleeve one end, and gear mounts the another of axle sleeve
One end is mounted with farm implements；
The obliquity sensor installation is put on the gear hitching axis, the hydraulic pump and first hydraulic cylinder and the second liquid
Cylinder pressure is connected respectively by the first pipeline and the second pipeline, and being respectively equipped with the first electromagnetism on first pipeline and the second pipeline changes
To valve and the second solenoid directional control valve, the obliquity sensor, the first solenoid directional control valve, the second solenoid directional control valve, rising button, under
Drop button and rotation button are electrically connected with electronic control unit signal, and the obliquity sensor is transferred to electronic control unit to be believed
Number, the electronic control unit control adjusts the signal of knob transmission, the first electricity according to rising button, declines button and angle of heel
Magnetic reversal valve and the second solenoid directional control valve are to control the flexible of the piston rod of first hydraulic cylinder and second hydraulic cylinder.
Preferably, for the gear mounting axle sleeve with main shaft by key connection, the locking nut is installed on gear hitching axis
The end of set and main shaft, by gear hitching axis cover locking on main shaft.
Preferably, guide rail is further included, the guide rail is vertically fixed on vehicle body, and the connection support plate is formed with guide rail
The prismatic pair of one vertical direction, connection support plate can be slided up and down along guide rail.
Preferably, the connection support plate is equipped with through hole, and the guide rail passes through the through hole.
Preferably, the lower connecting plate and upper junction plate on fixed vehicle body are further included, the both ends of the guide rail are individually fixed in
On lower connecting plate and upper junction plate.
Preferably, the gear hitching axis put on the mounting for setting and including triangular shape distribution there are three farm implements mounting point
Point, the second sliding block connecting rod and the 3rd connecting rod, the mounting point are fixed on gear hitching axis and put on, second sliding block and
Three sliding blocks are located in the sliding slot that gear mounting axle sleeve back plate is formed with connecting plate before slide, second sliding block and the 3rd sliding block energy
It is slided in sliding slot, the second sliding block connecting rod and the 3rd connecting rod are fixedly connected respectively with the second sliding block and the 3rd sliding block,
The top of the farm implements is fixed in mounting point, and farm implements bottom side both ends are individually fixed in the second sliding block connecting rod and the 3rd connecting rod
On.
Preferably, the first electro-hydraulic proportional flow valve being electrically connected with electronic control unit and the second electric-hydraulic proportion stream are further included
Valve is measured, first electro-hydraulic proportional flow valve is arranged on the first pipeline.
Preferably, gyroscope is further included, the gyroscope is installed on tractor chassis front axle, and and electronic control unit
Electrical connection, for measuring the vertical and horizontal grade signal on ground；
A kind of control method of the tractor hanging of adjustable farm implements angle of heel, the control method are tractor on mound
Under the operating environment of mound mountainous region, according to the current position of the fore-and-aft tilt degree, sideways pitch and farm implements on ground, farm implements are ploughed
It is adjusted deeply, specifically includes following steps：
Electronic control unit receives the ground head fall signal of ground gyroscope and the gear of obliquity sensor transmission is hung
The angular signal of spindle set, two kinds of signals are calculated after the algorithm process of electronic control unit and currently measure longitudinal slope
The preferable plowing position of the lower farm implements of degree, electronic control unit is according to the ideal position of the prediction to the first solenoid directional control valve and second
Solenoid directional control valve sends instruction, controls the action of first hydraulic cylinder and second hydraulic cylinder, and pass through the first electro-hydraulic proportional flow valve,
Second electro-hydraulic proportional flow valve adjusts the movement rate of first hydraulic cylinder and second hydraulic cylinder piston rod, ensures that farm implements are only lifted
Liter or lowering action, and without spinning movement, so as to ensure that the tilling depth for hanging farm implements is reasonable, and so that motor torque is steady
It is fixed；
Electronic control unit receives the ground cross fall signal of ground gyroscope and the gear hitching axis of obliquity sensor
The angular signal of set, after handling the angular signal of ground cross fall signal and gear mounting axle sleeve, to the first electromagnetism
Reversal valve and the second solenoid directional control valve send instruction, control second hydraulic cylinder action, so as to ensure that the angle of heel for hanging farm implements begins
It is identical with the angle of heel of tractor chassis eventually；
Electronic control unit according to the gear of obliquity sensor mount the angular signal of axle sleeve, ground sideways pitch
The real time data of the fore-and-aft tilt degree on real time data and ground, calculates the corner of gear mounting axle sleeve and the transverse direction on ground is inclined
The deviation of the fore-and-aft tilt degree of the corner and ground of deviation and gear mounting axle sleeve between gradient, if deviation, which is in, allows model
In enclosing, then adjusted without equipment, it is on the contrary then carry out equipment adjustment, it repeats the above process afterwards.
Beneficial effects of the present invention：
1) the configuration of the present invention is simple, it is easy to operate, it, can be according to dilatory when hillside tractor is because of leveling generation body sway
The inclined degree of locomotive body can pass through the phase that rack and pinion mounts axle sleeve manually or electronic control unit automatically controls
To moving to adjust farm implements and the relative angle on ground；
2) present invention by controlling first hydraulic cylinder piston rod and the flexible of the second liquid presses piston pole that can adjust simultaneously
Farm implements compared with ground height so that tilling depth of the tractor in cultivating procedure is consistent so that arable land it is more uniform；
3) present invention is when controlling farm implements to rise or fall, by controlling the first electro-hydraulic proportional flow valve and the second electro-hydraulic ratio
Example flow valve adjustment first hydraulic cylinder piston rod and second hydraulic cylinder piston rod movement rate, ensure farm implements only carry out lifting or
Lowering action, and without spinning movement, so as to ensure that the tilling depth for hanging farm implements is reasonable, and motor torque is stablized.
Description of the drawings
Fig. 1 is the structure diagram of the tractor hanging of a kind of adjustable farm implements height of the present invention and angle of heel.
Fig. 2 is the A-A sectional views of Fig. 1.
Fig. 3 is the structure diagram of connection support plate of the present invention.
Fig. 4 is the mounting overall schematic of farm implements of the present invention.
Fig. 5 is the mounting partial schematic diagram of farm implements of the present invention.
Fig. 6 is farm implements "Left"-deviationist schematic diagram of the present invention.
Fig. 7 is farm implements Right deviation schematic diagram of the present invention.
Fig. 8 is the implementation schematic diagram of the tractor hanging of a kind of adjustable farm implements height of the present invention and angle of heel.
Fig. 9 is that the present invention adjusts the schematic diagram that farm implements rise.
Figure 10 is control process flow diagram flow chart when tractor hillside fields is spent with fore-and-aft tilt.
Figure 11 is control process flow diagram flow chart when tractor hillside fields has sideways pitch.
Wherein：1- hydraulic pumps；2- first hydraulic cylinders；3- slides；The first sliding blocks of 4-；5- head rods；6- connection supports
Plate；7- main shafts, 8- guide rails；9- lower connecting plates 9；10- second hydraulic cylinders；11- racks 11；12- gear hitching axis；13- locking screws
It is female；14- obliquity sensors 14；15- upper junction plates 15；The second solenoid directional control valves of 16-；The first solenoid directional control valves of 17-；18- electronics
Control unit；Connecting plate, the second sliding blocks of 20- before 19- slides；The second connecting rods of 21-；The 3rd sliding blocks of 22-；The 3rd connecting rods of 23-；
24- farm implements；25- vehicle bodies；The upper mounting points of 26-；The first electro-hydraulic proportional flow valves of 27-；The second electro-hydraulic proportional flow valves of 28-；29- tops
Spiral shell instrument.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment the present invention is further illustrated, but protection scope of the present invention is simultaneously
It is without being limited thereto.
As shown in Figure 1, the tractor hanging of a kind of adjustable farm implements height of the present invention and angle of heel, including liquid
Press pump 1, first hydraulic cylinder 2, slide 3, the first sliding block 4, head rod 5, connection support plate 6,7, two guide rails 8 of main shaft, under
Connecting plate 9, second hydraulic cylinder 10, rack 11, gear mounting axle sleeve 12, locking nut 13, obliquity sensor 14, upper junction plate
15th, the first solenoid directional control valve 17, the second solenoid directional control valve 16, electronic control unit 18, the first electro-hydraulic proportional flow valve 27, second
Electro-hydraulic proportional flow valve 28 and gyroscope 29.
First hydraulic cylinder 2 and slide 3 are horizontal positioned along vehicle heading, are fixed on vehicle body.The work of first hydraulic cylinder 2
Stopper rod end is fixedly connected with first sliding block 4, and first sliding block 4 is slidably connected with slide 3, and sliding block 4 is formed with slide 3
The prismatic pair of vehicle longitudinal axis horizontal direction.One end of head rod 5 and the first sliding block 4 are hinged, head rod 5 it is another
The bottom of end connection support plate 6 is hinged.
Two guide rails 8 are placed along vehicle vertical direction, and 8 one end of guide rail is fixed on lower connecting plate 9, the other end is fixed on
On connecting plate 15；Lower connecting plate 9, upper junction plate 15 are separately fixed on vehicle body.As shown in Figures 2 and 3, couple in support plate 6
Multiple through holes are offered, two guide rails 8 are each passed through the through hole in connection support plate 6, form the prismatic pair of a vertical direction, connection
Support plate 6 is connect can vertically to slide on guide rail by prismatic pair.
Main shaft 7 is horizontally disposed, and gear mounting axle sleeve 12 is connected by key with main shaft 7, and locking nut 13 is installed on gear extension
Gear mounting axle sleeve 12 is lock onto on main shaft 7 by the end of spindle set 12 and main shaft 7, and connection support plate 6 limits gear mounting
The degree of freedom of the longitudinal horizontal direction of axle sleeve 12.The other end of main shaft 7 passes through bearings and is joining through connection support plate 6
One end of support plate 6 is connect, the gear mounting axle sleeve 12 is coupling the other end of support plate 6 by bearings.
Second hydraulic cylinder 10 is fixed on along vehicle vertical direction on vehicle body, and rack 11 is fixed on the piston of second hydraulic cylinder 10
On bar, the rack 11 is engaged through connection support plate 6 and with the gear parts of 12 one end of gear mounting axle sleeve, passes through rack 11
Move up and down so that gear mount the corresponding angle of 12 positive and negative rotation of axle sleeve.Obliquity sensor 14 is mounted on gear and mounts axle sleeve
On 12, the dip angle signal line of obliquity sensor is connected with 18 signal acquisition terminal of electronic control unit.Gyroscope 29 is installed on
It on tractor chassis front axle, and is electrically connected with electronic control unit 18, for measuring the head fall on ground and cross fall letter
Number.
As shown in figure 4, set the mounting for including triangular shape distribution there are three farm implements mounting point on gear mounting axle sleeve 12
The 26, second connecting rod 21 of point and the 3rd connecting rod 23, mounting point 26 are fixed on gear mounting axle sleeve 12, as shown in figure 5, being side
Just farm implements mount, and the second sliding block 20 and the 3rd sliding block 22 are located at what gear mounting 12 back plate of axle sleeve was formed with connecting plate 19 before slide
In sliding slot, the second sliding block 20 and the 3rd sliding block 22 can slide in sliding slot, the second connecting rod 21 and the 3rd connecting rod 23 respectively with
Second sliding block 20 is fixedly connected with the 3rd sliding block 22, and when installing farm implements, the second sliding block 20 and the 3rd sliding block 22 are slided to both ends, will
The column of farm implements 24 is fixed on pin at upper mounting point 26, moves the second sliding block 20 and the 3rd sliding block 22 afterwards so that second connects
Extension bar 21, the 3rd connecting rod 22 and the lower hitch point connecting pin of farm implements 24 are mutually fixed.
First solenoid directional control valve, 16 actuator port is connected with 2 epicoele actuator port of first hydraulic cylinder.First solenoid directional control valve
16 oil inlet is connected with the oil outlet of the first electro-hydraulic proportional flow valve 27, the oil inlet and liquid of the first electro-hydraulic proportional flow valve 27
1 oil outlet of press pump is connected.The control signal wire and electronic control of first solenoid directional control valve 16 and the first electro-hydraulic proportional flow valve 27
The signal output terminal of unit 18 is connected, for the control to the first solenoid directional control valve 16.Second solenoid directional control valve, 17 working oil
Mouth is connected with 10 epicoele actuator port of second hydraulic cylinder, the oil inlet and the second electro-hydraulic proportional flow valve of the second solenoid directional control valve 17
28 oil outlet is connected, and the inlet of the second electro-hydraulic proportional flow valve 28 is connected with 1 oil outlet of hydraulic pump.Second solenoid directional control valve
17 and second the control signal wire of electro-hydraulic proportional flow valve 28 be connected with the signal output terminal of electronic control unit 18, for pair
The control of second solenoid directional control valve 17.Electronic unit 18 be equipped with to control the rising buttons of farm implements 24, declines button and
Angle of heel adjusts knob.
The control method of the tractor hanging of a kind of adjustable farm implements height of the present invention and angle of heel, is dilatory
Machine is right according to the current position of the fore-and-aft tilt degree, sideways pitch and farm implements 13 on ground under hilly and mountainous land operating environment
The tilling depth of farm implements 13 is adjusted, and specifically includes following steps：
As shown in Figure 10, electronic control unit 6 receives the ground head fall signal of ground gyroscope 29 and inclination angle senses
The angular signal for the gear mounting axle sleeve 12 that device 14 transmits, two kinds of signals are after the algorithm process of electronic control unit 18, meter
It calculates and draws the current preferable plowing position for measuring farm implements 13 under head fall, electronic control unit 18 is according to the ideal bit of the prediction
It puts to the first solenoid directional control valve 17 and the second solenoid directional control valve 16 and sends instruction, control first hydraulic cylinder 1 and second hydraulic cylinder 2
Action, and pass through the first electro-hydraulic proportional flow valve 27, the second electro-hydraulic proportional flow valve 28 adjustment 1 and second hydraulic pressure of first hydraulic cylinder
The movement rate of 2 piston rod of cylinder ensures that farm implements 13 only carry out lifting or lowering action, and without spinning movement, so as to ensure
It is reasonable to hang the tilling depth of farm implements 24, and motor torque is stablized；
As shown in figure 11, electronic control unit 6 receives the ground cross fall signal of ground gyroscope 29 and inclination angle sensing
Device 14 gear mounting axle sleeve 12 angular signal, to ground cross fall signal and gear mounting axle sleeve 12 angular signal into
After row processing, instruction is sent to the first solenoid directional control valve 17 and the second solenoid directional control valve 16, control second hydraulic cylinder 2 acts, from
And ensure that the angle of heel of suspension farm implements 24 is identical with the angle of heel of tractor chassis always；
Electronic control unit 18 mounts the angular signal of axle sleeve 12 according to the gear of obliquity sensor 14, the transverse direction on ground is inclined
The real time data of the real time data of gradient and the fore-and-aft tilt degree on ground calculates corner and the ground of gear mounting axle sleeve 12
Sideways pitch between deviation and gear mounting axle sleeve 12 corner and ground fore-and-aft tilt degree deviation, if deviation
In permissible range, then adjusted without equipment, it is on the contrary then carry out equipment adjustment, it repeats the above process afterwards.
Wherein farm implements is controlled to rise, electronic control unit 18 controls the first solenoid directional control valve 161DT to obtain electric, the second electromagnetism and changes
Obtained to valve 173DT it is electric, as shown in figure 9,10 piston rod of second hydraulic cylinder driving sliding block 4 moved right along slide 3, sliding block 4 promotes
Connecting rod 5 moves so that connection support plate 6 is moved upwards along guide rail 8.At the same time, second hydraulic cylinder 10 rises, and remains
Wheel and rack relative position remains unchanged.At this point, farm implements together with gear hitching axis with the rising of 2 piston rod of first hydraulic cylinder
And rise, farm implements is made to reach desired locations.At this point, electronic control unit 18 sends electric signal so that the first solenoid directional control valve
162DT dead electricity, the second solenoid directional control valve 174DT dead electricity, first hydraulic cylinder 2 are acted with 10 stopping of second hydraulic cylinder, farm implements and tooth
It is constant that wheel hitching axis are maintained at designated position, and farm implements rise adjusting process and terminate.
Farm implements is controlled to decline, electronic control unit 18 sends control signal so that the first solenoid directional control valve 162DT of control is obtained
Electricity, the second solenoid directional control valve 174DT obtain it is electric, as shown in figure 8,10 piston rod of second hydraulic cylinder driving sliding block 4 transported to the left along slide 3
Dynamic, sliding block 4 pulls connecting rod 5 to move so that connection support plate 6 is moved downward along guide rail 8.At the same time, second hydraulic cylinder 10
Decline, remain that wheel and rack relative position remains unchanged；At this point, with the first liquid together with farm implements and gear mounting axle sleeve 12
The decline of 2 piston rod of cylinder pressure and decline, farm implements reach desired locations.At this point, electronic control unit 18 sends electric signal so that the
One solenoid directional control valve 162DT dead electricity, the second solenoid directional control valve 174DT dead electricity, first hydraulic cylinder 2 stop dynamic with second hydraulic cylinder 10
Make, farm implements and gear hitching axis are maintained at that designated position is constant, and farm implements decline adjusting process terminates.
During the rise and fall of farm implements 24 are adjusted, if the displacement of first hydraulic cylinder 2 and second hydraulic cylinder 10 differs
It causes, 11 relative position of wheel and rack of the axle sleeve 12 of gear mounting at this time changes, and gear mounting axle sleeve 12 will occur to turn
Dynamic, obliquity sensor 14 can detect that the change of pitch angle amount of gear mounting axle sleeve 12, and be sent to electronic control unit 18, when the
For one hydraulic cylinder 2 so that after the connection decline of support plate 6, electronic control unit 18 controls the first solenoid directional control valve 162DT dead electricity,
First solenoid directional control valve 16 reaches middle position, and 2 stop motion of first hydraulic cylinder, electronic control unit 18 is by controlling the second electromagnetism to change
Second hydraulic cylinder 10 is adjusted to valve 17, so as to adjust 11 position of rack, due to the gear in rack 11 and gear mounting axle sleeve 12
Part is intermeshed, and gear, which mounts axle sleeve 12, to generate rotation, so as to eliminate the change of pitch angle amount of obliquity sensor 14, above-mentioned behaviour
It ensure that the displacement of second hydraulic cylinder 10 is identical with the final mean annual increment movement amount of first hydraulic cylinder 2, so that wheel and rack
11 relative positions are constant.At this point, electronic control unit 18 sends electric signal so that during the second solenoid directional control valve 17 of control switches to
Position, so as to which farm implements 24 and gear mounting axle sleeve 12 are maintained at designated position, the lift adjustment process of farm implements 24 terminates.
As shown in Figures 6 and 7, left-leaning or Right deviation occurs for adjustment farm implements 24, and electronic control unit 18 controls second hydraulic cylinder 10
Piston rod elongation or shrink so that gear mounting axle sleeve 12 rotate, so as to which farm implements 24 be driven to rotate, refer to its arrival
Positioning is put.
The embodiment is preferred embodiment of the invention, but present invention is not limited to the embodiments described above, not
Away from the present invention substantive content in the case of, those skilled in the art can make it is any it is conspicuously improved, replace
Or modification all belongs to the scope of protection of the present invention.
Claims (9)
1. the tractor hanging of a kind of adjustable farm implements height and angle of heel, which is characterized in that including hydraulic pump (1), first
Hydraulic cylinder (2), slide (3), the first sliding block (4), head rod (5), connection support plate (6), main shaft (7), second hydraulic cylinder
(10), rack (11), gear mounting axle sleeve (12), obliquity sensor (14), the first solenoid directional control valve (17), the second electromagnetic switch
Valve (16), electronic control unit (18), rising button, declines button and angle of heel adjustment knob；
The first hydraulic cylinder (2) and slide (3) are fixed on along vehicle heading level on vehicle body, the first hydraulic cylinder
(2) piston-rod end is fixedly connected with first sliding block (4), and first sliding block (4) is slidably connected with slide (3), institute
It is hinged to state one end and the first sliding block (4) of head rod (5), the bottom of the other end connection support plate (6) of head rod (5)
End is hinged；
The main shaft (7) is horizontally disposed, and the gear mounting axle sleeve (12) is removably installed in one end of main shaft (7), described
The other end of main shaft (7) passes through bearings in one end of connection support plate (6), the gear through connection support plate (6)
It mounts axle sleeve (12) and is coupling the other end of support plate (6) by bearings；
The second hydraulic cylinder (10) is fixed on along vehicle vertical direction on vehicle body, and rack (11) is fixed on second hydraulic cylinder (10)
Piston rod on, the rack (11) through connection support plate (6) and with gear mounting axle sleeve (12) one end gear parts nibble
It closes, the other end and the farm implements (24) of gear mounting axle sleeve (12) mount；
Obliquity sensor (14) installation is mounted with the gear on axle sleeve (12), the hydraulic pump (1) and first hydraulic cylinder
(2) connected by the first pipeline and the second pipeline with second hydraulic cylinder (10), divided on first pipeline and the second pipeline respectively
Not She You the first solenoid directional control valve (17) and the second solenoid directional control valve (16), the obliquity sensor (14), the first electromagnetic switch
Valve (17), the second solenoid directional control valve (16), rising button, declines button and angle of heel adjustment knob are and electronic control unit
(18) signal is electrically connected, and the obliquity sensor (14) transfers signal, the electronic control unit to electronic control unit (18)
(18) signal transferred according to rising button, declines button and rotation button, the first solenoid directional control valve of control (17) and the second electricity
Magnetic reversal valve (16) is to control the flexible of the piston rod of first hydraulic cylinder (2) and second hydraulic cylinder (10).
2. the tractor hanging of adjustable farm implements height according to claim 1 and angle of heel, which is characterized in that described
Gear mounting axle sleeve (12) with main shaft (7) by key connection, the locking nut (13) be installed on gear mounting axle sleeve (12) and
Gear mounting axle sleeve (12) is lock onto on main shaft (7) by the end of main shaft (7).
3. the tractor hanging of adjustable farm implements height according to claim 1 and angle of heel, which is characterized in that also wrap
Guide rail (8) is included, the guide rail (8) is vertically fixed on vehicle body, and the connection support plate (6) forms one vertically with guide rail (8)
The prismatic pair in direction, connection support plate (6) can be slided up and down along guide rail (8).
4. the tractor hanging of adjustable farm implements height according to claim 3 and angle of heel, which is characterized in that described
Couple support plate (6) and be equipped with through hole, the guide rail (8) passes through the through hole.
5. the tractor hanging of adjustable farm implements height according to claim 3 and angle of heel, which is characterized in that also wrap
The lower connecting plate (9) and upper junction plate (15) on fixed vehicle body are included, the both ends of the guide rail (8) are individually fixed in lower connecting plate
(9) and on upper junction plate (15).
6. the tractor hanging of adjustable farm implements height according to claim 1 and angle of heel, which is characterized in that described
It is set on gear mounting axle sleeve (12) there are three farm implements mounting point, mounting point (26), the second sliding block including triangular shape distribution
Connecting rod (21) and the 3rd connecting rod (22), the mounting point (26) are fixed on gear mounting axle sleeve (12), and described second slides
Block (20) and the 3rd sliding block (22) are located in the sliding slot that gear mounting axle sleeve (12) back plate is formed with connecting plate (19) before slide, institute
It states the second sliding block (20) and the 3rd sliding block (22) can slide in sliding slot, the second sliding block connecting rod (21) and the 3rd connecting rod
(22) it is fixedly connected respectively with the second sliding block (20) and the 3rd sliding block (22), mounting point is fixed on the top of the farm implements (24)
(26) on, farm implements (24) bottom side both ends are individually fixed in the second sliding block connecting rod (21) and the 3rd connecting rod (22).
7. the tractor hanging of adjustable farm implements height according to claim 1 and angle of heel, which is characterized in that also wrap
Include the first electro-hydraulic proportional flow valve (27) being electrically connected with electronic control unit (18) and the second electro-hydraulic proportional flow valve (28), institute
It states on the first electro-hydraulic proportional flow valve (27) setting and the first pipeline.
8. the tractor hanging of adjustable farm implements height according to claim 7 and angle of heel, which is characterized in that also wrap
Gyroscope (29) is included, the gyroscope (29) is installed on tractor chassis front axle, and is electrically connected with electronic control unit (18),
For measuring the head fall on ground and cross fall signal.
9. a kind of control method of the tractor hanging of adjustable farm implements height as claimed in claim 8 and angle of heel,
Be characterized in that, the control method for tractor under hilly and mountainous land operating environment, according to the fore-and-aft tilt degree on ground, laterally incline
Gradient and the current position of farm implements (13), are adjusted the tilling depth of farm implements (13), specifically include following steps：
Electronic control unit (18) receives the ground head fall signal of gyroscope (29) and the tooth of obliquity sensor (14) transmission
The angular signal of wheel mounting axle sleeve (12), two kinds of signals are calculated and work as after the algorithm process of electronic control unit (18)
Before measure the preferable plowing positions of farm implements under head fall (13), electronic control unit (18) according to the ideal position of the prediction to
First solenoid directional control valve (17) and the second solenoid directional control valve (16) send instruction, control first hydraulic cylinder (1) and second hydraulic cylinder
(2) action, and pass through the first electro-hydraulic proportional flow valve (27), the second electro-hydraulic proportional flow valve (28) adjustment first hydraulic cylinder
(1) and the movement rate of second hydraulic cylinder (2) piston rod, ensure that farm implements (13) only carry out lifting or lowering action, and without
Spinning movement so as to ensure that the tilling depth for hanging farm implements (24) is reasonable, and causes motor torque to stablize；
Electronic control unit (6) receives the gear mounting of the ground cross fall signal and obliquity sensor (14) of gyroscope (29)
The angular signal of axle sleeve (12), after handling the angular signal of ground cross fall signal and gear mounting axle sleeve (12),
Instruction is sent to the first solenoid directional control valve (17) and the second solenoid directional control valve (16), control second hydraulic cylinder (2) acts, so as to protect
The angle of heel of card suspension farm implements (24) is identical with the angle of heel of tractor chassis always；
Electronic control unit (18) mounts the angular signal of axle sleeve (12), the transverse direction on ground according to the gear of obliquity sensor (14)
The real time data of the real time data of gradient and the fore-and-aft tilt degree on ground, calculate gear mounting axle sleeve (12) corner with
The deviation of the fore-and-aft tilt degree of the corner and ground of deviation and gear mounting axle sleeve (12) between the sideways pitch on ground,
If deviation is in permissible range, adjusted without equipment, it is on the contrary then carry out equipment adjustment, it repeats the above process afterwards.
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| CN109588075A (en) * | 2018-10-18 | 2019-04-09 | 江苏大学 | A kind of adjustable farm implements roll the suspension arrangement and control method of posture and tilling depth |
| CN109699219A (en) * | 2019-02-27 | 2019-05-03 | 北京农业智能装备技术研究中心 | Pendent eT and its leveling system and control method after tractor |
| CN110663295A (en) * | 2019-11-13 | 2020-01-10 | 长沙桑铼特农业机械设备有限公司 | Rotary cultivator based on worm and gear leveling and automatic leveling method thereof |
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| CN111357417A (en) * | 2020-05-07 | 2020-07-03 | 山西农业大学 | Self-adaptive mechanism of suspension device of hilly and mountain tractor |
| CN112075153A (en) * | 2020-07-29 | 2020-12-15 | 盐城工学院 | Be used for hilly area agricultural vehicle intelligence suspension |
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| CN112444641A (en) * | 2020-11-06 | 2021-03-05 | 中国科学院合肥物质科学研究院 | Device for detecting running speed and sinking depth of tractor in paddy field environment |
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Application publication date: 20180518 |