CN108382457A - A kind of tractor self-steering remodeling method and control method - Google Patents
A kind of tractor self-steering remodeling method and control method Download PDFInfo
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- CN108382457A CN108382457A CN201810012433.7A CN201810012433A CN108382457A CN 108382457 A CN108382457 A CN 108382457A CN 201810012433 A CN201810012433 A CN 201810012433A CN 108382457 A CN108382457 A CN 108382457A
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- steering
- tractor
- way magnetic
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- magnetic valve
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/065—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by specially adapted means for varying pressurised fluid supply based on need, e.g. on-demand, variable assist
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/08—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by type of steering valve used
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/09—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by means for actuating valves
- B62D5/091—Hydraulic steer-by-wire systems, e.g. the valve being actuated by an electric motor
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Guiding Agricultural Machines (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of tractor self-steering remodeling methods, including：Step 1, the connected pipes of the tractor manual steering ends device P and oil pump are cut off, the first two-position three way magnetic valve is added on the oil circuit；Step 2, input and output oil pipe steering cylinder being connected with the ends manual steering device A, B is cut off, and adds the second two-position three way magnetic valve and third two-position three way magnetic valve respectively on the oil circuit；Step 3, a three position four-way electromagnetic valve is installed in tractor steering oil circuit, which is arranged in parallel with the original manual steering device of tractor, and is connect with step 1 with the two-position three way magnetic valve of the addition in step 2；Step 4, suitable position installs steering controller on tractor；Step 5, navigator and satellite antenna are installed on tractor, complete auto-steering transformation.Tractor self-steering remodeling method provided by the invention has automatically controlled integrated level height, the advantages such as controllability and good reliability.
Description
Technical field
The invention belongs to the course changing control technologies of tractor, and in particular to tractor self-steering modification scheme.
Background technology
It is often right in order to ensure ideal operation effectiveness during the different farm work such as ridging, sowing, plant protection
The accuracy of tractor travel track proposes higher requirement.If it is intended to ensureing straight traveling rail under pilot steering pattern
Mark, driver needs ceaselessly adjustment direction disk, larger so as to cause the labor intensity of driver and the sense tired out of work.It drags
Machine drawing auto-steering driving technology can discharge the both hands of operator on the tractor to a certain extent, and mitigate its labor intensity.
Currently, dilatory machine automatic drive navigation system and automatic steering control technology are gradually popular on the market, and
It is welcome by wide farmers.Have self-navigation however, current and drive the tractor of function often higher price.If energy
Auto-steering transformation is carried out on the basis of peasant household's original tractor, then can both be subtracted by satellite navigation and automatic steering control
The working strength of light peasant, and the spending of peasant can be greatlyd save.
Invention content
The problems of in actual application for existing tractor self-steering technology, it needs a kind of at low cost
And tractor self-steering modification scheme easy to implement.
For this purpose, problem to be solved by this invention is to provide a kind of tractor self-steering remodeling method, and it is basic herein
It is upper that corresponding control method is provided, to overcome the defect present in the prior art.
To solve the above-mentioned problems, tractor self-steering remodeling method provided by the invention, including：
Step 1, the connected pipes of the tractor manual steering ends device P and oil pump are cut off, the one or two is added on the oil circuit
Position-3-way solenoid valve；
Step 2, input and output oil pipe steering cylinder being connected with the ends manual steering device A, B is cut off, and is divided on the oil circuit
The second two-position three way magnetic valve and third two-position three way magnetic valve are not added；
Step 3, a three position four-way electromagnetic valve is installed in tractor steering oil circuit, the solenoid valve and tractor are original
Manual steering device is arranged in parallel, and is connect with step 1 with the two-position three way magnetic valve of the addition in step 2；
Step 4, suitable position installs steering controller on tractor；
Step 5, navigator and satellite antenna are installed on tractor, complete auto-steering transformation.
Further, the three position four-way electromagnetic valve is arranged in tractor steering oil circuit, P mouthfuls be connected to oil pump
The 3. mouth of first two-position three way magnetic valve connects, and A, B mouthful electric with second, third two-position three way for being connected to steering cylinder respectively
The 3. mouth of magnet valve connects；
The steering controller is connected to navigator, and is separately connected the first two-position three way magnetic valve, the second two-position three way
The coil-end of solenoid valve, third two-position three way magnetic valve and three position four-way electromagnetic valve.
Further, the steering controller controls the first two-position three way magnetic valve, the second two-position three way magnetic valve, third
Two-position three way magnetic valve and three position four-way electromagnetic valve cooperatively form automatic steering control circuit, and can manually turn with tractor
It is switched over to control loop.
Further, the 2. mouth of first two-position three way magnetic valve is connected with oil pump out of the mouth, the first two-position three way
The 1. mouth of solenoid valve is connected with the P of manual steering device mouths.
Further, the 1. mouth of second, third two-position three way magnetic valve respectively with the A of manual steering device mouths and B
Mouth connection, the 2. mouth of second, third two-position three way magnetic valve are connect with the oil inlet end of steering cylinder with oil outlet end respectively.
Further, the three position four-way electromagnetic valve belongs to parallel relationship with manual drive steering gear on oil circuit.
Further, the navigator is connect with satellite antenna, and is connect by data cable with steering controller.
Further, the steering controller has automatic steering control pattern and manual steering control model, by outer
Portion's triggering steering controller can switch between automatic steering control pattern and manual steering control model.
To solve the above-mentioned problems, tractor self-steering structural control method provided by the invention comprising：
Steering controller controls the first two-position three way magnetic valve and the hydraulic oil that steering pump exports is transferred to automatic Pilot
With the P mouths of three position four-way electromagnetic valve；Control A, B mouth of second, third two-position three way magnetic valve by three position four-way electromagnetic valve simultaneously
The oil communication of oil circuit and tractor steering oil cylinder end is controlled by three position four-way electromagnetic valve according to steering into auto-steering pattern
The command signal that device processed generates controls the aperture of its valve port, with the wheel steering of automatic control of tractor；
Steering controller controls the first two-position three way magnetic valve and the hydraulic oil that steering pump exports is transferred to manual drive
The P mouths of steering gear；Second, third two-position three way magnetic valve is controlled simultaneously by A, B mouth oil circuit of manual drive steering gear and is drawn
The oil communication of machine steering oil cylinder end is directly controlled the wheel of tractor by manual drive steering gear into manual steering pattern
It turns to.
Further, the GPS signal or Big Dipper signal of satellite are received by satellite antenna, and the signal is transferred to and is led
Navigate instrument, calculates the course information of tractor by navigator fusion Inertia information, and the information is exported to steering controller and is used
In calculating to the control instruction of wheel steering angle, and then pass through the wheel steering angle that three position four-way electromagnetic valve controls tractor.
In general, tractor self-steering modification scheme provided by the invention, mainly has technological merit below：
1. tractor self-steering modification scheme provided by the invention, can be by being transformed the original tractor of peasant household
It realizes self-navigation course changing control, the spending of peasant can be greatlyd save.
2. tractor self-steering modification scheme provided by the invention, wherein the three position four-way electromagnetic valve added and two
Position-3-way solenoid valve is connected with controller on circuit.Its spool moving direction and valve opening can be controlled by controller, into
And realize automatic steering control, there are automatically controlled integrated level height, the advantages such as controllability and good reliability.
Description of the drawings
It is further illustrated the present invention below in conjunction with the drawings and specific embodiments.
Fig. 1 is the flow chart that the present invention carries out tractor self-steering transformation；
Fig. 2 is embodiment schematic diagram of the modification scheme of the present invention in front-wheel single cylinder turns to tractor transformation；
Fig. 3 is embodiment schematic diagram of the modification scheme of the present invention in the double oil cylinders of front-wheel turn to tractor transformation；
Fig. 4 is embodiment schematic diagram of the modification scheme of the present invention in the transformation of front and back wheel single cylinder four-wheel steering tractor；
Fig. 5 is embodiment schematic diagram of the modification scheme of the present invention in the double oil cylinder four-wheel steering tractor transformations of front and back wheel.
In figure：1- front-wheel single cylinders turn to the steering cylinder of tractor, 2- manual drive steering gears, 3- steering pumps, 4-
Oil tank, 5- oil pumps end two-position three way magnetic valve, 6- steering oil cylinder end two-position three way magnetic valves, 7- automatic Pilots 3-position 4-way electricity
Magnet valve, 8- controllers, 9- navigators, 10- satellite antennas, the double oil cylinders of 11- front-wheels turn to the steering cylinder of tractors, before and after 12-
Take turns the steering cylinder of single cylinder four-wheel steering tractor, 13- flow divider-combiners, the double oil cylinder four-wheel steering tractors of 14- front and back wheels
Steering cylinder.
Specific implementation mode
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
The present invention is based on three two-position three way magnetic valves, a three position four-way electromagnetic valve, steering controller and corresponding
The steering of existing tractor can be transformed in navigation device, can carry out auto-steering.
Specifically, the specific execution unit using three position four-way electromagnetic valve as automatic steering control, passes through three two
Three-way magnetic valve is linked into the oil circuit of the original course changing control of tractor, and with it is manual in the original course changing control oil circuit of tractor
It drives steering gear to be set up in parallel, then forms two rotation controls arranged side by side between the steering cylinder of tractor and steering pump
Oil circuit：One be the automatic steering control oil circuit that is controlled by three position four-way electromagnetic valve and another be original manual drive steering gear
The manual steering of control controls oil circuit.
Meanwhile three two-position three way magnetic valves are controlled to realize in automatic steering control oil circuit and hand using steering controller
Switch between dynamic course changing control oil circuit.
If by manual steering control oil circuit control connection between the steering cylinder and steering pump of tractor, by driving manually
Steering gear is sailed to carry out manually controlling tractor steering.
It is connected to if being controlled by automatic steering control oil circuit between the steering cylinder and steering pump of tractor, is controlled by turning to
Device processed obtains the course information of tractor according to navigation device, and forms control instruction accordingly to control three position four-way electromagnetic valve
Automatic control of tractor turns to.
Principle accordingly, this programme can complete the transformation to tractor self-steering by following flow (referring to Fig. 1)：
Step 1, a two-position three way magnetic valve is added in the connection oil circuit of tractor manual steering device and oil pump.
Step 2, a two-position three way is added respectively on the input and output oil circuit that steering cylinder is connected with manual steering device
Solenoid valve.
Step 3, in tractor steering oil circuit install a three position four-way electromagnetic valve, P mouthfuls be connected to the two of oil pump
The 3. mouth of position-3-way solenoid valve connects, A, B mouthfuls of 3. mouths with two two-position three way magnetic valves for being connected to steering cylinder respectively
Connection.
Step 4, suitable position installs steering controller, while three will added in step 1 to step 3 on tractor
Corresponding ports connection in the coil-end and controller of position four-way solenoid valve and two-position three way magnetic valve；It is controlled by steering controller
The spool moving direction and valve opening of three position four-way electromagnetic valve and two-position three way magnetic valve processed.
Step 5, satellite antenna and navigator are installed on tractor, while navigator being connected with controller by cable
It connects, completes auto-steering transformation.
The transformation to the automatic steering control of tractor can be completed accordingly, the pattern switching on steering controller can be passed through
Button realizes the switching between tractor self-steering pattern and manual steering pattern.
For said program, carry out further instruction below by way of some specific application examples.
Embodiment 1：
As shown in Fig. 2, the present embodiment 1 provides a kind of auto-steering modification scheme of front-wheel single cylinder steering tractor.
It is the tractor steering oil channel structures schematic diagram before transformation on the left of Fig. 2, right side is that improved tractor steering oil channel structures show
It is intended to.Its auto-steering remodeling method includes：
Step 1, a two-position three way magnetic valve 5 is added in the connection oil circuit of tractor manual steering device 2 and oil pump 3.
The 2. mouth of the two-position three way magnetic valve 5 is connected with the oil outlet of oil pump 3,1. mouth and the manual steering device 2 of two-position three way magnetic valve 5
P mouths be connected.
Step 2, the input and output oil that the steering cylinder 1 of tractor is connected with manual steering device 2 is turned in front-wheel single cylinder
A two-position three way magnetic valve 6 is added respectively in road.The 1. mouth of two two-position three way magnetic valves 6 A with manual steering device 2 respectively
Mouth is connect with B mouthfuls, and the 2. mouth of two two-position three way magnetic valves 6 is connect with the oil inlet end of steering cylinder 1 with oil outlet end respectively.
Step 3, in tractor steering oil circuit install a three position four-way electromagnetic valve 7, P mouthfuls be connected to oil pump 3
The 3. mouth of two-position three way magnetic valve 5 connects, A, B mouthfuls respectively with two two-position three way magnetic valves 6 being connected to steering cylinder 1
3. mouth connects, T mouthfuls connect with oil tank 4, carry out oil return.The three position four-way electromagnetic valve 7 added exists with manual drive steering gear 2
Belong to parallel relationship on oil circuit.
Step 4, suitable position installs automatic steering controller 8 on tractor, while will be added in step 1 to step 3
Three position four-way electromagnetic valve 7, two-position three way magnetic valve 5 and 6 coil-end of two-position three way magnetic valve and the corresponding end on controller 8 added
Mouth connection.Three position four-way electromagnetic valve 7, two-position three way magnetic valve 5 and the spool of two-position three way magnetic valve 6 are controlled by controller 8 to move
Dynamic direction and valve opening
Step 5, satellite antenna 10 and navigator 9 are installed on tractor, while navigator 9 and controller 8 are passed through into line
Cable connects, and completes auto-steering transformation.
In the auto-steering modification scheme that this example is completed, operation of the automatic steering controller 8 as entire course changing control
The switching between tractor self-steering pattern and manual steering pattern is realized centrally through mode switch button thereon.
If into manual steering pattern：
Automatic steering controller 8 controls two-position three way magnetic valve 5 and switches to the hydraulic oil for exporting steering pump 3 manually
Drive the P mouths of steering gear 2；Simultaneously control two two-position three way magnetic valves 6 by A, B mouth oil circuit of manual drive steering gear 2 with drag
The input and output oil communication at 1 end of machine drawing steering cylinder so that between steering pump 3 and tractor steering oil cylinder 1 via
Manual drive steering gear 2 is connected to, that is, enters manual steering control model.It is controlled in this mode by manual drive steering gear 2
The wheel steering angle of tractor.
If into auto-steering pattern：
The hydraulic oil that steering pump 3 exports is transferred to by the control two-position three way magnetic valve 5 of automatic steering controller 8 to be driven automatically
Sail the P mouths with three position four-way electromagnetic valve 7；Two two-position three way magnetic valves 6 are controlled simultaneously by A, B mouth of three position four-way electromagnetic valve 7
The input and output oil communication of oil circuit and tractor steering oil cylinder 1 so that steering pump 3 and tractor steering oil cylinder 1 it
Between via three position four-way electromagnetic valve 7 be connected to, that is, enter automatic steering control pattern.In this mode by three position four-way electromagnetic valve 7
The command signal generated according to controller 8 controls the aperture of its valve port, to control the wheel steering of tractor.
Meanwhile being used to receive the GPS signal or Big Dipper signal of satellite using satellite antenna 10, and the signal is transferred to
Navigator 9, navigator 9 merges Inertia information and calculates the course information of tractor, and the information is exported to steering controller 8
For calculating the control instruction to wheel steering angle, and then pass through the wheel steering angle of the control tractor of three position four-way electromagnetic valve 7.
Embodiment 2：
As shown in figure 3, the present embodiment 2 provides a kind of auto-steering modification scheme of the double oil cylinders steering tractors of front-wheel.
It is the tractor steering oil channel structures schematic diagram before transformation on the left of Fig. 3, right side is that improved tractor steering oil channel structures show
It is intended to.Its auto-steering remodeling method includes：
Step 1, a two-position three way magnetic valve 5 is added in the connection oil circuit of tractor manual steering device 2 and oil pump 3.
The 2. mouth of the two-position three way magnetic valve 5 is connected with the oil outlet of oil pump 3,1. mouth and the manual steering device 2 of two-position three way magnetic valve 5
P mouths be connected.
Step 2, the input and output oil that the steering cylinder 11 for turning to tractor in the double oil cylinders of front-wheel is connected with manual steering device 2
A two-position three way magnetic valve 6 is added respectively in road.The 1. mouth of two two-position three way magnetic valves 6 A with manual steering device 2 respectively
Mouth is connect with B mouthfuls, and the 2. mouth of two two-position three way magnetic valves 6 is connect with the oil inlet end of steering cylinder 11 with oil outlet end respectively.
Step 3, in tractor steering oil circuit install a three position four-way electromagnetic valve 7, P mouthfuls be connected to oil pump 3
The 3. mouth of two-position three way magnetic valve 5 connects, A, B mouthfuls respectively with two two-position three way magnetic valves 6 being connected to steering cylinder 11
3. mouth connection, T mouthful connect with oil tank 4, progress oil return.The three position four-way electromagnetic valve 7 added and manual drive steering gear 2
Belong to parallel relationship on oil circuit.
Step 4, suitable position installs automatic steering controller 8 on tractor, while will be added in step 1 to step 3
The three position four-way electromagnetic valve 7 that adds, two-position three way magnetic valve 5 and the coil-end of two-position three way magnetic valve 6 with it is corresponding on controller 8
Port connects.The spool of three position four-way electromagnetic valve 7, two-position three way magnetic valve 5 and two-position three way magnetic valve 6 is controlled by controller 8
Moving direction and valve opening
Step 5, satellite antenna 10 and navigator 9 are installed on tractor, while navigator 9 and controller 8 are passed through into line
Cable connects, and completes auto-steering transformation.
In the auto-steering modification scheme that this example is completed, operation of the automatic steering controller 8 as entire course changing control
The switching between tractor self-steering pattern and manual steering pattern is realized centrally through mode switch button thereon.
If into manual steering pattern：
Automatic steering controller 8 controls two-position three way magnetic valve 5 and switches to the hydraulic oil for exporting steering pump 3 manually
Drive the P mouths of steering gear 2；Simultaneously control two two-position three way magnetic valves 6 by A, B mouth oil circuit of manual drive steering gear 2 with drag
The input and output oil communication at 11 end of machine drawing steering cylinder, so that being passed through between steering pump 3 and tractor steering oil cylinder 11
It is connected to by manual drive steering gear 2, that is, enters manual steering control model.It is controlled in this mode by manual drive steering gear 2
The wheel steering angle of tractor processed.
If into auto-steering pattern：
The hydraulic oil that steering pump 3 exports is transferred to by the control two-position three way magnetic valve 5 of automatic steering controller 8 to be driven automatically
Sail the P mouths with three position four-way electromagnetic valve 7；Two two-position three way magnetic valves 6 are controlled simultaneously by A, B mouth of three position four-way electromagnetic valve 7
The input and output oil communication of oil circuit and tractor steering oil cylinder 11, so that steering pump 3 and tractor steering oil cylinder 11
Between via three position four-way electromagnetic valve 7 be connected to, that is, enter automatic steering control pattern.In this mode by three position four-way electromagnetic valve
7 command signals generated according to controller 8 control the aperture of its valve port, to control the wheel steering of tractor.
Meanwhile being used to receive the GPS signal or Big Dipper signal of satellite using satellite antenna 10, and the signal is transferred to
Navigator 9, navigator 9 merges Inertia information and calculates the course information of tractor, and the information is exported to steering controller 8
For calculating the control instruction to wheel steering angle, and then pass through the wheel steering angle of the control tractor of three position four-way electromagnetic valve 7.
Embodiment 3：
As shown in figure 4, the present embodiment 3 provides a kind of auto-steering transformation of front and back wheel single cylinder four-wheel steering tractor
Scheme.It is the tractor steering oil channel structures schematic diagram before transformation on the left of Fig. 4, right side is improved tractor steering oil circuit knot
Structure schematic diagram.Its auto-steering remodeling method includes：
Step 1, a two-position three way magnetic valve 5 is added in the connection oil circuit of tractor manual steering device 2 and oil pump 3.
The 2. mouth of the two-position three way magnetic valve 5 is connected with the oil outlet of oil pump 3,1. mouth and the manual steering device 2 of two-position three way magnetic valve 5
P mouths be connected.
Step 2, one is added respectively on the input and output oil circuit that two flow divider-combiners 13 are connected with manual steering device 2
Two-position three way magnetic valve 6.Two flow divider-combiners 13 are connected with the steering cylinder 12 of front and back wheel single cylinder four-wheel steering tractor.
The 1. mouth of two two-position three way magnetic valves 6 is connect with the A of manual steering device 2 mouths with B mouthfuls respectively, two two-position three way magnetic valves 6
2. mouth connect respectively with the 1. mouth of two flow divider-combiners 13.
Step 3, in tractor steering oil circuit install a three position four-way electromagnetic valve 7, P mouthfuls be connected to oil pump 3
The 3. mouth of two-position three way magnetic valve 5 connects, A, B mouthfuls respectively with two two-position three way magnetic valves being connected to flow divider-combiner 13
6 3. mouth connection, T mouthfuls connect with oil tank 4, carry out oil return.The three position four-way electromagnetic valve 7 added and manual drive steering gear
2 belong to parallel relationship on oil circuit.
Step 4, suitable position installs automatic steering controller 8 on tractor, while will be added in step 1 to step 3
The three position four-way electromagnetic valve 7 that adds, two-position three way magnetic valve 5 and the coil-end of two-position three way magnetic valve 6 with it is corresponding on controller 8
Port connects.The spool of three position four-way electromagnetic valve 7, two-position three way magnetic valve 5 and two-position three way magnetic valve 6 is controlled by controller 8
Moving direction and valve opening
Step 5, satellite antenna 10 and navigator 9 are installed on tractor, while navigator 9 and controller 8 are passed through into line
Cable connects, and completes auto-steering transformation.
In the auto-steering modification scheme that this example is completed, operation of the automatic steering controller 8 as entire course changing control
The switching between tractor self-steering pattern and manual steering pattern is realized centrally through mode switch button thereon.
If into manual steering pattern：
Automatic steering controller 8 controls two-position three way magnetic valve 5 and switches to the hydraulic oil for exporting steering pump 3 manually
Drive the P mouths of steering gear 2；Two two-position three way magnetic valves 6 are controlled simultaneously to distinguish A, B mouth oil circuit of manual drive steering gear 2
Be connected to the 1. mouth of flow divider-combiner 13, so with the input and output oil communication of steering cylinder 12 so that steering pump 3
It is connected to via manual drive steering gear 2 between tractor steering oil cylinder 12, that is, enters manual steering control model.In the pattern
Under the wheel steering angle of tractor is controlled by manual drive steering gear 2.
If into auto-steering pattern：
The hydraulic oil that steering pump 3 exports is transferred to by the control two-position three way magnetic valve 5 of automatic steering controller 8 to be driven automatically
Sail the P mouths with three position four-way electromagnetic valve 7；Two two-position three way magnetic valves 6 are controlled simultaneously by A, B mouth of three position four-way electromagnetic valve 7
Oil circuit is connected to the 1. mouth of flow divider-combiner 13 respectively, so with the input and output oil communication of steering cylinder 12 so that
It is connected to via three position four-way electromagnetic valve 7 between steering pump 3 and tractor steering oil cylinder 12, that is, enters automatic steering control mould
Formula.Control the aperture of its valve port according to the command signal that controller 8 generates by three position four-way electromagnetic valve 7 in this mode, to
Control the wheel steering of tractor.
Meanwhile being used to receive the GPS signal or Big Dipper signal of satellite using satellite antenna 10, and the signal is transferred to
Navigator 9, navigator 9 merges Inertia information and calculates the course information of tractor, and the information is exported to steering controller 8
For calculating the control instruction to wheel steering angle, and then pass through the wheel steering angle of the control tractor of three position four-way electromagnetic valve 7.
Embodiment 4：
As shown in figure 5, the present embodiment 4 provides a kind of auto-steering transformation of the double oil cylinder four-wheel steering tractors of front and back wheel
Scheme.It is the tractor steering oil channel structures schematic diagram before transformation on the left of Fig. 5, right side is improved tractor steering oil circuit knot
Structure schematic diagram.Its auto-steering remodeling method includes：
Step 1, a two-position three way magnetic valve 5 is added in the connection oil circuit of tractor manual steering device 2 and oil pump 3.
The 2. mouth of the two-position three way magnetic valve 5 is connected with the oil outlet of oil pump 3,1. mouth and the manual steering device 2 of two-position three way magnetic valve 5
P mouths be connected.
Step 2, one is added respectively on the input and output oil circuit that two flow divider-combiners 13 are connected with manual steering device 2
Two-position three way magnetic valve 6.Two flow divider-combiners 13 are connected with the steering cylinder 14 of the double oil cylinder four-wheel steering tractors of front and back wheel.
The 1. mouth of two two-position three way magnetic valves 6 is connect with the A of manual steering device 2 mouths with B mouthfuls respectively, two two-position three way magnetic valves 6
2. mouth connect respectively with the 1. mouth of two flow divider-combiners 13.
Step 3, in tractor steering oil circuit install a three position four-way electromagnetic valve 7, P mouthfuls be connected to oil pump 3
The 3. mouth of two-position three way magnetic valve 5 connects, A, B mouthfuls respectively with two two-position three way magnetic valves being connected to flow divider-combiner 13
6 3. mouth connection, T mouthfuls connect with oil tank 4, carry out oil return.The three position four-way electromagnetic valve 7 added and manual drive steering gear
2 belong to parallel relationship on oil circuit.
Step 4, suitable position installs automatic steering controller 8 on tractor, while will be added in step 1 to step 3
The three position four-way electromagnetic valve 7 that adds, two-position three way magnetic valve 5 and the coil-end of two-position three way magnetic valve 6 with it is corresponding on controller 8
Port connects.The spool of three position four-way electromagnetic valve 7, two-position three way magnetic valve 5 and two-position three way magnetic valve 6 is controlled by controller 8
Moving direction and valve opening
Step 5, satellite antenna 10 and navigator 9 are installed on tractor, while navigator 9 and controller 8 are passed through into line
Cable connects, and completes auto-steering transformation.
In the auto-steering modification scheme that this example is completed, operation of the automatic steering controller 8 as entire course changing control
The switching between tractor self-steering pattern and manual steering pattern is realized centrally through mode switch button thereon.
If into manual steering pattern：
Automatic steering controller 8 controls two-position three way magnetic valve 5 and switches to the hydraulic oil for exporting steering pump 3 manually
Drive the P mouths of steering gear 2；Two two-position three way magnetic valves 6 are controlled simultaneously to distinguish A, B mouth oil circuit of manual drive steering gear 2
Be connected to the 1. mouth of flow divider-combiner 13, so with the input and output oil communication of steering cylinder 14 so that steering pump 3
It is connected to via manual drive steering gear 2 between tractor steering oil cylinder 14, that is, enters manual steering control model.In the pattern
Under the wheel steering angle of tractor is controlled by manual drive steering gear 2.
If into auto-steering pattern：
The hydraulic oil that steering pump 3 exports is transferred to by the control two-position three way magnetic valve 5 of automatic steering controller 8 to be driven automatically
Sail the P mouths with three position four-way electromagnetic valve 7；Two two-position three way magnetic valves 6 are controlled simultaneously by A, B mouth of three position four-way electromagnetic valve 7
Oil circuit is connected to the 1. mouth of flow divider-combiner 13 respectively, so with the input and output oil communication of steering cylinder 14 so that
It is connected to via three position four-way electromagnetic valve 7 between steering pump 3 and tractor steering oil cylinder 14, that is, enters automatic steering control mould
Formula.Control the aperture of its valve port according to the command signal that controller 8 generates by three position four-way electromagnetic valve 7 in this mode, to
Control the wheel steering of tractor.
Meanwhile being used to receive the GPS signal or Big Dipper signal of satellite using satellite antenna 10, and the signal is transferred to
Navigator 9, navigator 9 merges Inertia information and calculates the course information of tractor, and the information is exported to steering controller 8
For calculating the control instruction to wheel steering angle, and then pass through the wheel steering angle of the control tractor of three position four-way electromagnetic valve 7.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (9)
1. tractor self-steering remodeling method, which is characterized in that including：
Step 1, the connected pipes of the tractor manual steering ends device P and oil pump are cut off, the one or two three is added on the oil circuit
Three-way electromagnetic valve；
Step 2, input and output oil pipe steering cylinder being connected with the ends manual steering device A, B is cut off, and is added respectively on the oil circuit
Add the second two-position three way magnetic valve and third two-position three way magnetic valve；
Step 3, a three position four-way electromagnetic valve is installed in tractor steering oil circuit, the solenoid valve is original manually with tractor
Steering gear is arranged in parallel, and is connect with step 1 with the two-position three way magnetic valve of the addition in step 2；
Step 4, suitable position installs steering controller on tractor；
Step 5, navigator and satellite antenna are installed on tractor, complete auto-steering transformation.
2. tractor self-steering remodeling method according to claim 1, which is characterized in that the three position four-way electromagnetic valve
It is arranged in tractor steering oil circuit, P mouthfuls connect with the 3. mouth for the first two-position three way magnetic valve for being connected to oil pump, A, B
Mouth is connect with the 3. mouth for second, third two-position three way magnetic valve for being connected to steering cylinder respectively；
The steering controller is connected to navigator, and is separately connected the first two-position three way magnetic valve, the second two-position three-way electromagnetic
The coil-end of valve, third two-position three way magnetic valve and three position four-way electromagnetic valve.
3. tractor self-steering remodeling method according to claim 2, which is characterized in that the steering controller control
First two-position three way magnetic valve, the second two-position three way magnetic valve, third two-position three way magnetic valve and three position four-way electromagnetic valve cooperation
Automatic steering control circuit is formed, and can be switched over the manual steering control loop in tractor.
4. tractor self-steering remodeling method according to claim 2, which is characterized in that first two-position three way
The 2. mouth of solenoid valve is connected with oil pump out of the mouth, and the 1. mouth of the first two-position three way magnetic valve is connected with the P of manual steering device mouths.
5. tractor self-steering remodeling method according to claim 2, which is characterized in that described second, third two
The 1. mouth of position-3-way solenoid valve is connect with the A of manual steering device mouths with B mouthfuls respectively, second, third two-position three way magnetic valve is 2.
Mouth is connect with the oil inlet end of steering cylinder with oil outlet end respectively.
6. tractor self-steering remodeling method according to claim 1, which is characterized in that the navigator and satellite day
Line connects, and is connect by data cable with steering controller.
7. tractor self-steering remodeling method according to claim 1, which is characterized in that the course changing control utensil
There are automatic steering control pattern and manual steering control model, it can be in automatic steering control pattern by external trigger steering controller
Switch between manual steering control model.
8. rotating direction control method is transformed in tractor self-steering, which is characterized in that including：
Steering controller controls the first two-position three way magnetic valve and the hydraulic oil that steering pump exports is transferred to automatic Pilot with three
The P mouths of position four-way solenoid valve；Control A, B mouth oil circuit of second, third two-position three way magnetic valve by three position four-way electromagnetic valve simultaneously
With the oil communication at tractor steering oil cylinder end, into auto-steering pattern, by three position four-way electromagnetic valve according to steering controller
The command signal of generation controls the aperture of its valve port, with the wheel steering of automatic control of tractor；
Steering controller controls the first two-position three way magnetic valve and the hydraulic oil that steering pump exports is transferred to manual drive steering
The P mouths of device；Second, third two-position three way magnetic valve is controlled simultaneously to turn A, B the mouth oil circuit and tractor of manual drive steering gear
The wheel steering of tractor is directly controlled by manual drive steering gear to the oil communication at oil cylinder end into manual steering pattern.
9. tractor self-steering structural control method according to claim 8, which is characterized in that connect by satellite antenna
The GPS signal or Big Dipper signal of satellite are received, and the signal is transferred to navigator, is calculated by navigator fusion Inertia information
The course information of tractor, and the information is exported to steering controller and is used to calculate the control instruction to wheel steering angle, in turn
The wheel steering angle of tractor is controlled by three position four-way electromagnetic valve.
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| CN201810012433.7A CN108382457B (en) | 2018-01-05 | 2018-01-05 | Automatic steering transformation method and control method for tractor |
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| CN201810012433.7A CN108382457B (en) | 2018-01-05 | 2018-01-05 | Automatic steering transformation method and control method for tractor |
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| CN108382457B (en) | 2021-09-10 |
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