CN110333089B - Self-adaptive profiling system test bed - Google Patents
Self-adaptive profiling system test bed Download PDFInfo
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- CN110333089B CN110333089B CN201910590647.7A CN201910590647A CN110333089B CN 110333089 B CN110333089 B CN 110333089B CN 201910590647 A CN201910590647 A CN 201910590647A CN 110333089 B CN110333089 B CN 110333089B
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- 238000009331 sowing Methods 0.000 claims description 4
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
The invention relates to a self-adaptive profiling test bed which comprises a mechanical structure part, a hydraulic system part and a control system part, wherein the three parts work cooperatively. The road surface state is simulated through the hydraulic system, the working conditions of fluctuation and left and right unevenness of the ground are effectively simulated through the cooperation of the two hydraulic cylinders, the constant-pressure variable pump is selected as the power element, so that a better energy-saving effect is achieved, the system is prevented from heating, the pressure compensation system is adopted, the accurate adjustment of the flow of the system is ensured, and then the accurate control of the speed of the hydraulic cylinders is realized.
Description
Technical Field
The invention relates to a self-adaptive profiling test bed, in particular to a self-adaptive profiling system test bed of a planting machine.
Background
In six links of grain production, the mechanization level of the planting link is lower. The transplanting and seeding equipment needs working parts to realize self-adaptive profiling according to the ground fluctuation state so as to ensure stable seeding depth and transplanting precision, and the existing planting machinery has poor mechanical adaptability, so that the problems of incapability of meeting planting agronomic requirements, low working efficiency and the like of the working quality are caused. Therefore, research on the self-adaptive profiling key technology of the planting machinery equipment is urgently needed, the adaptability and the operation quality of the planting machinery are improved, and an equipment foundation is provided for promoting the agricultural economic development.
Disclosure of Invention
The invention aims to provide a self-adaptive profiling system test bed which can simulate the ground through the cooperation of a hydraulic cylinder, and respectively realize the lifting and horizontal leveling of a planting mechanism by taking two electric push rods as actuating elements, so that the designed self-adaptive profiling system can be verified and optimized.
The invention adopts the following technical scheme:
the self-adaptive profiling test bed comprises a mechanical structure part, a hydraulic system part and a control system part; the mechanical structure part comprises a leveling plate 1 for simulating transplanting and sowing equipment in the actual production process, wherein the leveling plate 1 is connected with a connecting plate 2 in parallel and close arrangement, the connecting plate 2 is centered on the plane center of the connecting plate, first, second, third and fourth waist-shaped sliding grooves 21, 22, 26 and 28 are symmetrically arranged around the connecting plate, and bolts are arranged in each waist-shaped sliding groove and are connected with the leveling plate 1 through the bolts; a first push rod connecting frame 15 is arranged on one side of the leveling plate 1, a connecting disc 30 is arranged in the middle of the connecting plate 2 in an opening mode, the connecting disc 30 is limited by the leveling plate 1 and the connecting plate 2 through bolts respectively, the leveling plate 1 can rotate within a range of +/-10 degrees around the circle center of the connecting disc 30, bolts in a first waist-shaped sliding groove, a second waist-shaped sliding groove, a third waist-shaped sliding groove and a fourth waist-shaped sliding groove slide in the rotating process respectively, and the position of the connecting plate 2 is fixed; the left side and the right side of the upper layer of the connecting plate are symmetrically provided with a first upper layer lug 3 of the connecting plate and a second upper layer lug 24 of the connecting plate respectively, the first upper layer lug 3 of the connecting plate is rotationally connected with a first upper connecting plate 35, and the second upper layer lug 24 of the connecting plate is rotationally connected with a second upper connecting plate 4; the left side and the right side of the lower layer of the connecting plate are symmetrically provided with a first lower layer lug 38 and a second lower layer lug 39 respectively, the first lower layer lug 38 of the connecting plate is rotationally connected with the first lower connecting plate 36, and the second lower layer lug 17 of the connecting plate is rotationally connected with the second lower connecting plate 37; a first push rod base 14 is welded on one side surface of the connecting plate, the first push rod base 14 is rotationally connected with the bottom of the first electric push rod 13, and the top of the first electric push rod 13 is rotationally connected with a first push rod connecting frame 15; when the first electric push rod is at the initial position, the first electric push rod is at half of the stroke, and the controller controls the expansion and contraction of the first electric push rod 13 according to the feedback signal of the inclination angle sensor so that the leveling plate 1 is always in a horizontal state; a connecting plate middle lug 40 is arranged at the middle position of the connecting plate; the connecting bracket 7 is used for connecting the self-adaptive profiling mechanism with the base; a second push rod base 18 is fixedly arranged on the connecting bracket 7; the bottom of the second electric push rod 33 is rotationally connected with the second push rod base 18, and the top of the second electric push rod 33 is rotationally connected with the middle lug 40 of the connecting plate; when the hydraulic cylinder is at the initial position, the second electric push rod is in a half stroke, and the controller controls the expansion and contraction of the second electric push rod 18 according to the expansion and contraction states of the first hydraulic cylinder 12 and the second hydraulic cylinder 34 so as to realize the vertical adjustment of the leveling plate according to the road surface state simulated by the hydraulic cylinders; the left side and the right side of the upper layer of the connecting bracket 7 are symmetrically provided with a first upper layer lug 6 of the connecting bracket and a second upper layer lug 25 of the connecting bracket respectively, the first upper layer lug of the connecting bracket is rotationally connected with a first upper connecting plate 35, and the second upper layer lug 17 of the connecting bracket is rotationally connected with a second upper connecting plate 24; the left side and the right side of the lower layer of the connecting bracket are symmetrically provided with a first lower layer lug 6 of the connecting bracket and a second lower layer lug 17 of the connecting bracket respectively, the first lower layer lug 6 of the connecting bracket is rotationally connected with a first lower connecting bracket 36, and the second lower layer lug 17 of the connecting bracket is rotationally connected with a second lower connecting bracket 37; the hydraulic system part comprises a power element, and the power element is a constant-pressure variable pump; the oil outlet of the constant-pressure variable pump is connected with two loops in parallel, one of which is connected with the oil inlet of the overflow valve; the oil outlet of the overflow valve is connected with a cooler and used for cooling hot oil flowing out of the overflow valve; the other path of the oil outlet of the constant pressure variable pump is connected with a filter with a display, the oil outlet of the filter with the display is connected in parallel with two paths, one path of the oil outlet of the filter with the display is connected with a first differential relief valve, the oil outlet of the first differential relief valve is connected with a first three-position four-way proportional reversing valve, a pressure oil port of the first differential relief valve is connected with a first shuttle valve, and the first differential relief valve and the first shuttle valve jointly form a first pressure compensation system; two oil ports of the first three-position four-way proportional reversing valve are connected with a first one-way valve group which is in a hydraulic control mode and used for locking the position of the first hydraulic cylinder; the first hydraulic cylinder is a single-piston rod double-acting hydraulic cylinder; the other path of the oil outlet of the filter A5 with display is connected with a second constant-difference pressure reducing valve, the oil outlet of the second constant-difference pressure reducing valve is connected with a second three-position four-way proportional reversing valve, a pressure oil port of the second constant-difference pressure reducing valve is connected with a second shuttle valve, and the second constant-difference pressure reducing valve and the second shuttle valve form a second pressure compensation system together; two oil ports of the second three-position four-way proportional reversing valve are connected with a second one-way valve group, and the second one-way valve group is in a hydraulic control mode; the control system portion includes: the wire pulling sensor is arranged on the first hydraulic cylinder, the second hydraulic cylinder, the first electric push rod and the second electric push rod, and acquires the travel information of the first hydraulic cylinder, the second hydraulic cylinder, the first electric push rod and the second electric push rod in real time; the angle sensor is used for measuring the level state of the leveling plate, the stay wire sensor and the angle sensor are respectively connected with the analog input module, and the analog input module is connected with the controller; the controller is connected with the analog output module, and the analog output module is used for: the analog quantity signal output by the hydraulic proportional valve is controlled by an amplifier, the positive and negative of the output signal control the position of the proportional valve connected to the system, and the magnitude of the output signal controls the opening of a throttling orifice of the proportional valve, so that the speed of the hydraulic cylinder is controlled; meanwhile, the analog quantity output by the analog quantity output module is connected to a PWM speed regulator, and the PWM speed regulator controls the speed of the corresponding electric push rod in a step-down speed regulation mode.
Further, the mechanical structure part further comprises a base, the base is composed of a first base supporting beam 5, a second base supporting beam 8, a third base supporting beam 9, a first base supporting longitudinal beam 41 and a second base supporting longitudinal beam 42, and the second base supporting beam 8 and the third base supporting beam 9 are used for bearing a counterweight 10; the base is supported by base supporting legs 11, and base supporting legs 11 and base supporting longitudinal beams are welded and fixed.
Furthermore, two ends of the first base supporting beam 5 are respectively connected with the rod cavity of the first hydraulic cylinder 12 and the rod cavity of the second hydraulic cylinder 34, and the rod-free cavity of the first hydraulic cylinder 12 and the rod-free cavity of the second hydraulic cylinder 34 are respectively connected with the bottom of the connecting bracket 7.
Further, the controller is in computer group communication, and the signals of the sensor and the output signals of the analog output module are collected and recorded in real time and used for post-processing analysis.
Further, the self-adaptive profiling test bed is used for a simulation experiment of transplanting and sowing equipment.
The invention has the beneficial effects that:
1) The road surface state is simulated through the hydraulic system, the working conditions of fluctuation and left and right unevenness of the ground are effectively simulated through the cooperation of the two hydraulic cylinders, the constant-pressure variable pump is selected as the power element, so that a better energy-saving effect is achieved, the system is prevented from heating, the pressure compensation system is adopted, the accurate adjustment of the flow of the system is ensured, and then the accurate control of the speed of the hydraulic cylinders is realized. The hydraulic system adopts the check valve group as the pressure lock, and the locking effect is good.
2) The lifting and horizontal adjustment of the transplanting mechanism are realized through the two electric push rods, so that the transplanting mechanism is easy to control, quick in response and low in cost. The motion speed of the electric push rod can be adjusted through the PWM speed regulator, and the sensitivity of the system can be adjusted.
3) The collected signals can be stored on the computer in real time for later processing analysis through communication between the computer and the controller.
Drawings
FIG. 1 is a plan view (top view) of the adaptive profiling system test stand of the present invention;
fig. 2 is a left side view of fig. 1.
Fig. 3 is a top view of fig. 1.
In fig. 1-3: 1-leveling plates 2-connecting plates 3-connecting plates first upper layer lugs 4-second upper connecting plates 5-first base supporting beams 6-connecting brackets first lower layer lugs 7-connecting brackets 8-second base supporting beams 9-third base supporting beams 10-weights 11-base supporting legs 12-first hydraulic cylinders 13-first electric push rods 14-first push rod bases 15-first push rod connecting frames 16-connecting brackets first upper layer lugs 17-connecting brackets second lower layer lugs 18-second push rod bases 19-connecting bracket reinforcing ribs 20-first bolts 21-first waist-shaped sliding grooves 22-second waist-shaped sliding grooves 23-second bolts 24-connecting plates second upper layer lugs 25-third pins 26-connecting brackets second upper layer lugs 27-third bolts 28-fourth waist-shaped sliding grooves 29-fourth bolts 30-connecting discs 31-fifth bolts 32-sixth bolts-second electric push rods 34-second hydraulic cylinders 35-first upper connecting plates 36-second lower connecting plates 37-second lower connecting plates 38-second lower layer lugs 39-second lower layer lugs 40-second connecting plates middle supporting beams 40-second base supporting beams.
Fig. 4 is a hydraulic schematic of the present invention, fig. 4:
the hydraulic system comprises an A1-an oil tank A2-a constant pressure variable pump A3-a cooler A4-an overflow valve A5-a filter A6-a first constant-difference reducing valve A7-a first three-position four-way proportional reversing valve A8-a first shuttle valve A9-a first one-way valve group A10-a first hydraulic cylinder A11-a second constant-difference reducing valve A12-a second three-position four-way proportional reversing valve A13-a second shuttle valve A14-a second one-way valve group A15-a second hydraulic cylinder.
FIG. 5 is a control system diagram of the adaptive profiling system test stand of the present invention.
Detailed Description
The invention will be further described with reference to the drawings and specific examples.
Fig. 1-3 are block diagrams of the present invention.
Referring to fig. 1-3, a leveling plate 1 is a leveled mechanism, which is used for simulating transplanting and sowing equipment in the actual production process, determining the posture of the leveling plate according to feedback signals of an installed angle sensor, and customizing the shape and the size of the leveling plate according to actual requirements;
the leveling plate 1 is connected with other elements through a connecting plate 2, the length and width of the connecting plate 2 are 500mm, 500mm and 20mm respectively, a first waist-shaped chute 21, a second waist-shaped chute 22, a third waist-shaped chute 26 and a fourth waist-shaped chute 28 are symmetrically processed on the connecting plate 2, the chutes are equal-width chutes, the width of the connecting plate is 20mm, a first bolt 20 is installed in the waist-shaped first chute, a second bolt 23 is installed in the second waist-shaped chute, a third bolt 27 is installed in the third waist-shaped chute, a fourth bolt 29 is installed in the fourth waist-shaped chute, and the connection between the leveling plate 1 and the connecting plate 2 is realized through the bolts;
a first push rod connecting frame 15 is welded on one side of the leveling plate 1;
a connecting disc 30 is arranged in the middle of the connecting plate 2 through a hole; the diameter of the connecting disc 30 is 130mm, the thickness of the connecting disc 30 is 10mm, the connecting disc 30 is connected with the leveling plate 1 and the connecting plate 2 through the fifth bolt 31 and the sixth bolt 32, the leveling plate 1 can rotate within the range of +/-10 degrees around the circle center of the connecting disc 30, and in the rotating process, the first bolt, the second bolt, the third bolt and the fourth bolt respectively slide in corresponding sliding grooves, and the position of the connecting plate 2 is fixed;
the left side and the right side of the upper layer of the connecting plate are symmetrically welded with a first upper layer lug 3 of the connecting plate and a second upper layer lug 24 of the connecting plate respectively, holes with the diameter of 16.5mm are drilled on the lugs of the upper layer of the connecting plate, the first upper layer lug 3 of the connecting plate is connected with the first upper connecting plate 35 through a pin shaft, a certain rotational freedom degree is arranged between the first upper layer lug 3 of the connecting plate and the first upper connecting plate, the diameter of the pin shaft is 14mm, the length of the pin shaft is 70mm, the second upper layer lug 24 of the connecting plate is connected with the second upper connecting plate 4 through a pin shaft, a certain rotational freedom degree is arranged between the first upper layer lug and the second upper layer lug, the diameter of the pin shaft is 14mm, and the length of the pin shaft is 70mm;
the left side and the right side of the lower layer of the connecting plate are symmetrically welded with a first lower layer lug 38 and a second lower layer lug 39 of the connecting plate respectively, holes with the diameter of 16.5mm are drilled on the lugs of the lower layer of the connecting plate, the lugs 38 of the first lower layer of the connecting plate are connected with the first lower connecting plate 36 through pin shafts, a certain degree of rotation freedom is provided between the lugs of the first lower layer of the connecting plate and the first lower connecting plate 36, the diameter of the pin shafts is 14mm, the length of the pin shafts is 70mm, the lugs 17 of the second lower layer of the connecting plate are connected with the second lower connecting plate 37 through pin shafts, a certain degree of rotation freedom is provided between the lugs of the second lower layer of the connecting plate and the second lower connecting plate, the diameter of the pin shafts is 14mm, and the length of the pin shafts is 70mm;
a first push rod base 14 is welded on one side surface of the connecting plate, the first push rod base is connected with the bottom of the first electric push rod 13 through a pin shaft, the diameter of the pin shaft is 6mm, the length of the pin shaft is 40mm, the top of the first electric push rod 13 is connected with the first push rod connecting frame 15 through the pin shaft, the stroke of the electric push rod is 200mm, and the power and the speed of the electric push rod can be selected according to requirements. When the electric push rod is at the initial position, the electric push rod is in half of the stroke, namely stretches out by 100mm, and the controller controls the electric push rod to stretch out and draw back according to the feedback signal of the inclination angle sensor so as to realize the self-adaptive leveling of the leveling plate.
The middle position of the connecting plate is welded with a connecting plate middle lug 40;
the connecting bracket 7 is used for connecting the self-adaptive profiling mechanism with the base; the connecting bracket is formed by welding four square pipes with the cross section of 30mmx and 30mm, the wall thickness of the connecting bracket is 2.5mm, and a connecting bracket reinforcing rib 19 is welded between the two vertical square pipes and used for reinforcing the structural strength; a second push rod base 18 is welded at the middle position of the connecting bracket reinforcing rib 19;
the bottom of the second electric push rod 33 is connected with the second push rod base 18 through a pin shaft, the top of the second electric push rod 33 is connected with the middle lug 40 of the connecting plate through a pin shaft, the stroke of the second electric push rod is 300mm, and the power and the speed of the second electric push rod can be selected according to requirements. When in the initial position, the second electric push rod is in half of the stroke, namely stretches out by 150mm, and the controller controls the second electric push rod to stretch according to the stretching state of the first hydraulic cylinder 12 and the second hydraulic cylinder 34 so as to realize the vertical adjustment of the leveling plate according to the road surface state simulated by the hydraulic cylinders.
The left side and the right side of the upper layer of the connecting bracket 7 are symmetrically welded with a first upper layer lug 6 of the connecting bracket and a second upper layer lug 25 of the connecting bracket respectively, holes with the diameter of 28.5mm are formed in the upper layer lugs of the connecting bracket, the first upper layer lugs of the connecting bracket are connected with a first upper connecting plate 35 through pin shafts, a certain rotational freedom degree is formed between the first upper layer lugs of the connecting bracket and the first upper connecting plate 35, the diameter of the pin shafts is 28mm, the length of the pin shafts is 100mm, the second upper layer lugs 17 of the connecting bracket are connected with a second upper connecting plate 24 through pin shafts, a certain rotational freedom degree is formed between the second upper layer lugs of the connecting bracket and the second upper connecting plate 24, and the diameter of the pin shafts is 28mm, and the length of the pin shafts is 100mm;
the left side and the right side of the lower layer of the connecting bracket are symmetrically welded with a first lower layer lug 6 of the connecting bracket and a second lower layer lug 17 of the connecting bracket respectively, holes with the diameter of 16.5mm are formed in the lugs of the lower layer of the connecting bracket, the first lower layer lug 6 of the connecting bracket is connected with a first lower connecting bracket 36 through a pin shaft, a certain rotational freedom degree is formed between the lugs of the first lower layer lug 6 of the connecting bracket and the first lower connecting bracket 36, the diameter of the pin shaft is 28mm, the length of the pin shaft is 100mm, the second lower layer lug 17 of the connecting bracket is connected with a second lower connecting bracket 37 through a pin shaft, a certain rotational freedom degree is formed between the lugs of the connecting bracket and the second lower layer lug, the diameter of the pin shaft is 28mm, and the length of the pin shaft is 100mm;
the base consists of a first base support cross beam 5, a second base support cross beam 8, a third base support cross beam 9, a first base support longitudinal beam 41 and a second base support longitudinal beam 42, wherein the base support cross beam consists of square tubes with the cross section of 30mmx and 30mm, the wall thickness of 2.75mm and the length of 720mm, and the base support longitudinal beam consists of square tubes with the cross section of 30mmx and 30mm, the wall thickness of 2.5mm and the length of 600mm; the second base support beam 8 and the third base support beam 9 are used for bearing a counterweight 10 so as to improve the stability of the structure; the base is supported by base supporting legs 11, the number of the base supporting legs is 6, the base supporting legs are square tubes with the cross sections of 30mmx30mm, the wall thickness of the square tubes is 2.75mm, the length of the square tubes is 150mm, and the base supporting legs are welded with the base supporting longitudinal beams;
the two ends of the first base supporting beam 5 are respectively connected with a rod cavity of the first hydraulic cylinder 12 and a rod cavity of the second hydraulic cylinder 34, and a rodless cavity of the first hydraulic cylinder 12 and a rodless cavity of the second hydraulic cylinder 34 are connected with the bottom of the connecting bracket 7.
Fig. 4 is a schematic diagram of a hydraulic system of the present invention.
Referring to fig. 4, the power element of the hydraulic system is a constant pressure variable pump, the constant pressure variable pump can always maintain the output pressure unchanged, when the system is unloaded, the output flow of the constant pressure variable pump is small, the constant pressure variable pump is only used for maintaining the internal leakage of the system, the energy-saving effect is good, and when the system does not reach the set pressure, the displacement of the constant pressure variable pump is maximum; the constant-voltage variable pump is driven by a three-phase asynchronous alternating current motor, the rated power of the motor is 2.2kW, and the rated rotating speed is 2900rpm; the constant-pressure variable pump absorbs oil from the oil tank; the oil outlet of the constant pressure variable pump is connected with two loops in parallel, one of the loops is connected with the oil inlet of the overflow valve, the overflow valve is a safety valve, unloading pressure can be manually adjusted by a worker, and when the system pressure exceeds rated pressure, the overflow valve is opened to unload, so that the system pressure is prevented from being too high; the oil outlet of the overflow valve is connected with a cooler, and the cooler can be used for cooling hot oil flowing out of the overflow valve and preventing the system oil temperature from being too high; the other path of the oil outlet of the constant pressure variable pump is connected with the filter with the display, and the proportional valve is very sensitive to oil pollution because the proportional valve is adopted in the system, so the filter with the display has higher filtering precision, and can display the blocking condition to prompt the staff to replace in time;
the oil outlet of the filter with display is connected with two paths in parallel, one path of the oil outlet of the filter is connected with a first differential relief valve, the oil outlet of the first differential relief valve is connected with a first three-position four-way proportional reversing valve, the pressure oil port of the first differential relief valve is connected with a first shuttle valve, the first differential relief valve and the first shuttle valve jointly form a pressure compensation system, the first three-position four-way proportional reversing valve can be ensured to have no relation with the load size due to the fact that the flow is only related to a control signal, and the control precision is improved; when the first three-position four-way proportional reversing valve is connected to the system, the first hydraulic cylinder does not have a rod cavity for oil feeding, and when the first three-position four-way proportional reversing valve is connected to the system, the first hydraulic cylinder has a rod cavity for oil feeding; two oil ports of the first three-position four-way proportional reversing valve are connected with a first check valve group which is in a hydraulic control mode and can be used for locking the position of the first hydraulic cylinder A10;
the other path of the oil outlet of the filter A5 with display is connected with a second constant-difference pressure reducing valve A11, the oil outlet of the second constant-difference pressure reducing valve A11 is connected with a second three-position four-way proportional reversing valve A12, the pressure oil port of the second constant-difference pressure reducing valve A11 is connected with a second shuttle valve A13, the second constant-difference pressure reducing valve A11 and the second shuttle valve A13 jointly form a pressure compensation system, the passing flow of the second three-position four-way proportional reversing valve A12 can be ensured to be only related to a control signal but not related to the load, and the control precision is improved; when the left position of the second three-position four-way proportional reversing valve A12 is connected into the system, the second hydraulic cylinder A15 does not have a rod cavity for oil feeding, and when the right position of the second three-position four-way proportional reversing valve is connected into the system, the second hydraulic cylinder A15 has a rod cavity for oil feeding; two oil ports of the second three-position four-way proportional reversing valve are connected with a second one-way valve group A14, and the second one-way valve group A14 is in a hydraulic control mode and can be used for locking the position of a second hydraulic cylinder A15.
Fig. 5 is a control system diagram of the present invention.
Referring to fig. 5, two hydraulic cylinders and two electric push rods are provided with stay wire sensors, the stay wire sensors are used for acquiring travel information of the hydraulic cylinders and the electric push rods in real time, the stay wire sensors supply power for 24V, and 4-20mA analog quantity is output;
the angle sensor is used for measuring the horizontal state of the leveling plate, the angle sensor supplies power for 24V, 4-20mA analog quantity is output, 12-20mA current is output when the angle is 0-90 degrees, and 4-12mA current is output when the angle is-90-0 degrees;
the output signals of the stay wire sensor and the angle sensor are input into an analog input module, and the analog input module is used for sending the analog input module to the controller for processing;
the controller sends control signals to the analog output module, and the analog output module has two functions: 1, an amplifier controls a hydraulic proportional valve to output analog signals, the positive and negative of the output signals can control which position of the proportional valve is connected into a system, the size of the output signals can control the opening of a throttling orifice of the proportional valve, and then the speed of a hydraulic cylinder is controlled; the amplification gain of the amplifier is matched with the selected proportional valve; 2, the analog quantity output by the analog quantity output module is connected to a PWM speed regulator, the PWM speed regulator controls the speed of the electric push rod in a step-down speed regulation mode according to the size of an input signal, and the speed regulation mode is constant torque speed regulation and is suitable for occasions with small thrust changes of the electric push rod;
the controller is in computer group communication, and can collect and record the signals of the sensor and the output signals of the analog output module in real time for post-processing analysis.
In this embodiment, the adaptive profiling test stand is used for simulation experiments of transplanting and seeding equipment.
The foregoing is a preferred embodiment of the present invention, and various changes and modifications may be made therein by those skilled in the art without departing from the general inventive concept, and such changes and modifications should be considered as falling within the scope of the claimed invention.
Claims (3)
1. The utility model provides a self-adaptation profile modeling test bench which characterized in that:
comprises a mechanical structure part, a hydraulic system part and a control system part;
the mechanical structure part comprises a leveling plate (1) for simulating transplanting and sowing equipment in the actual production process, the leveling plate (1) is connected with a connecting plate (2) in parallel and close arrangement, the connecting plate (2) is provided with a first waist-shaped chute (21), a second waist-shaped chute, a third waist-shaped chute and a fourth waist-shaped chute (22, 26 and 28) around the center of the plane of the connecting plate, and bolts are arranged in the waist-shaped chutes and are connected with the leveling plate (1) through the bolts; a first push rod connecting frame (15) is arranged on one side of the leveling plate (1), a connecting disc (30) is installed in the middle of the connecting plate (2) through holes, the connecting disc (30) is limited by bolts, the leveling plate (1) can rotate within a range of +/-10 degrees around the circle center of the connecting disc (30), bolts in a first waist-shaped sliding groove, a second waist-shaped sliding groove, a third waist-shaped sliding groove and a fourth waist-shaped sliding groove slide in the rotating process respectively, and the positions of the connecting plates (2) are fixed; the left side and the right side of the upper layer of the connecting plate are symmetrically provided with a first upper layer lug (3) of the connecting plate and a second upper layer lug (24) of the connecting plate respectively, the first upper layer lug (3) of the connecting plate is rotationally connected with a first upper connecting plate (35), and the second upper layer lug (24) of the connecting plate is rotationally connected with a second upper connecting plate (4); the left side and the right side of the lower layer of the connecting plate are symmetrically provided with a first lower layer lug (38) and a second lower layer lug (39) respectively, the first lower layer lug (38) of the connecting plate is rotationally connected with the first lower connecting plate (36), and the second lower layer lug (39) of the connecting plate is rotationally connected with the second lower connecting plate (37); a first push rod base (14) is welded on one side surface of the connecting plate, the first push rod base (14) is rotationally connected with the bottom of the first electric push rod (13), and the top of the first electric push rod (13) is rotationally connected with a first push rod connecting frame (15); when the electric control device is at the initial position, the first electric push rod is in a half stroke, and the controller controls the expansion and contraction of the first electric push rod (13) according to the feedback signal of the inclination angle sensor so as to enable the leveling plate (1) to be in a horizontal state all the time; a connecting plate middle lug (40) is arranged in the middle of the connecting plate; the connecting bracket (7) is used for connecting the self-adaptive profiling mechanism with the base; a second push rod base (18) is fixedly arranged on the connecting bracket (7); the bottom of the second electric push rod (33) is rotationally connected with the second push rod base (18), and the top of the second electric push rod (33) is rotationally connected with the middle lug (40) of the connecting plate; when the hydraulic control device is at the initial position, the second electric push rod is in a half of a stroke, and the controller controls the expansion and contraction of the second electric push rod (33) according to the expansion and contraction states of the first hydraulic cylinder (12) and the second hydraulic cylinder (34) so as to realize the vertical adjustment of the leveling plate according to the road surface state simulated by the hydraulic cylinders; the left side and the right side of the upper layer of the connecting bracket (7) are symmetrically provided with a first lower layer lug (6) of the connecting bracket and a second upper layer lug (26) of the connecting bracket respectively, the first upper layer lug of the connecting bracket is rotationally connected with a first upper connecting plate (35), and the second upper layer lug (26) of the connecting bracket is rotationally connected with a second upper connecting plate (4); the left side and the right side of the lower layer of the connecting bracket are symmetrically provided with a first lower layer lug (6) of the connecting bracket and a second lower layer lug (17) of the connecting bracket respectively, the first lower layer lug (6) of the connecting bracket is rotationally connected with a first lower connecting plate (36), and the second lower layer lug (17) of the connecting bracket is rotationally connected with a second lower connecting plate (37);
the hydraulic system part comprises a power element, and the power element is a constant-pressure variable pump; the oil outlet of the constant-pressure variable pump is connected with two loops in parallel, one of which is connected with the oil inlet of the overflow valve; the oil outlet of the overflow valve is connected with a cooler and used for cooling hot oil flowing out of the overflow valve; the other path of the oil outlet of the constant pressure variable pump is connected with a filter with a display, the oil outlet of the filter with the display is connected in parallel with two paths, one path of the oil outlet of the filter with the display is connected with a first differential relief valve, the oil outlet of the first differential relief valve is connected with a first three-position four-way proportional reversing valve, a pressure oil port of the first differential relief valve is connected with a first shuttle valve, and the first differential relief valve and the first shuttle valve jointly form a first pressure compensation system; two oil ports of the first three-position four-way proportional reversing valve are connected with a first one-way valve group which is in a hydraulic control mode and used for locking the position of the first hydraulic cylinder; the first hydraulic cylinder is a single-piston rod double-acting hydraulic cylinder; the other path of the oil outlet of the filter (A5) with the display is connected with a second constant-difference pressure reducing valve, the oil outlet of the second constant-difference pressure reducing valve is connected with a second three-position four-way proportional reversing valve, a pressure oil port of the second constant-difference pressure reducing valve is connected with a second shuttle valve, and the second constant-difference pressure reducing valve and the second shuttle valve form a second pressure compensation system together; two oil ports of the second three-position four-way proportional reversing valve are connected with a second one-way valve group which is in a hydraulic control mode and used for locking the position of a second hydraulic cylinder;
the control system portion includes: the stay wire sensors are arranged on the first hydraulic cylinder and the second hydraulic cylinder and the first electric push rod and the second electric push rod, and acquire the travel information of the first hydraulic cylinder and the second hydraulic cylinder and the travel information of the first electric push rod and the travel information of the second electric push rod in real time; the angle sensor is used for measuring the level state of the leveling plate, the stay wire sensor and the angle sensor are respectively connected with the analog input module, and the analog input module is connected with the controller; the controller is connected with the analog output module, the analog output module amplifies the analog signal output by the analog output module and then controls the hydraulic proportional valve, the positive and negative of the output signal control the position of the proportional valve connected to the system, the magnitude of the output signal control the opening of the throttle orifice of the proportional valve, and then the speed of the hydraulic cylinder is controlled; meanwhile, the analog quantity output by the analog quantity output module is connected to a PWM speed regulator, and the PWM speed regulator controls the speed of the corresponding electric push rod in a step-down speed regulation mode;
the mechanical structure part further comprises a base, wherein the base consists of a first base supporting beam (5), a second base supporting beam (8), a third base supporting beam (9), a first base supporting longitudinal beam (41) and a second base supporting longitudinal beam (42), and the second base supporting beam (8) and the third base supporting beam (9) are used for bearing a counterweight (10); the base is supported by base supporting legs (11), and the base supporting legs (11) are welded and fixed with the base supporting longitudinal beams;
the controller is in computer group communication, and the signals of the sensor and the output signals of the analog output module are collected and recorded in real time and used for post-processing analysis.
2. The adaptive profiling test stand of claim 1, wherein: the two ends of the first base support beam (5) are respectively connected with a rod cavity of the first hydraulic cylinder (12) and a rod cavity of the second hydraulic cylinder (34), and a rodless cavity of the first hydraulic cylinder (12) and a rodless cavity of the second hydraulic cylinder (34) are respectively connected with the bottom of the connecting bracket (7).
3. The adaptive profiling test stand of claim 1, wherein: the self-adaptive profiling test bed is used for a simulation test of transplanting and seeding equipment.
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| CN111141507B (en) * | 2019-12-30 | 2021-06-01 | 农业农村部南京农业机械化研究所 | Automatic leveling test bench |
| CN111959604B (en) * | 2020-07-27 | 2021-10-29 | 农业农村部南京农业机械化研究所 | Multi-mode steering system |
| CN114352598A (en) * | 2022-01-27 | 2022-04-15 | 广东皓耘科技有限公司 | Hydraulic cylinder proportional valve adjusting method and device, controller and storage medium |
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