CN110398935A - Land wheel speed measuring device and walking working rig electric-control system based on the device - Google Patents
Land wheel speed measuring device and walking working rig electric-control system based on the device Download PDFInfo
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- CN110398935A CN110398935A CN201910510928.7A CN201910510928A CN110398935A CN 110398935 A CN110398935 A CN 110398935A CN 201910510928 A CN201910510928 A CN 201910510928A CN 110398935 A CN110398935 A CN 110398935A
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- 239000000725 suspension Substances 0.000 claims abstract description 46
- 239000000523 sample Substances 0.000 claims description 21
- 230000001105 regulatory effect Effects 0.000 claims description 8
- 239000012530 fluid Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000003780 insertion Methods 0.000 claims description 2
- 230000037431 insertion Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 3
- 238000013440 design planning Methods 0.000 abstract description 2
- 238000012360 testing method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000001629 suppression Effects 0.000 description 2
- 238000003971 tillage Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
- G05B2219/1103—Special, intelligent I-O processor, also plc can only access via processor
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
A kind of walking working rig electric-control system the invention discloses land wheel speed measuring device and based on the device, the land wheel speed measuring device include adjusting rod, fixed plate, suspension and land wheel.Land wheel speed measuring device of the present invention using when be mounted in working rig rack, establish signal with working rig control unit and connect, the travel speed for Collecting operation machine.The case where land wheel speed measuring device structure design planning of the present invention is reasonable, has good ground profiling effect, is not likely to produce skidding, can apply on existing operation machine equipment, and improvement cost is low, easy to maintain, and measuring accuracy is high.Walking working rig electric-control system based on the land wheel speed measuring device, pass through the comparison result to operating speed and land wheel speed measuring device feedback signal, the power output of Working mechanism is controlled, it can be achieved that efficient matchings to operating speed and travel speed, improve operation effectiveness and operating efficiency.
Description
Technical field
The invention belongs to agricultural machinery technological fields, and in particular to a kind of land wheel on agriculture walking machine tests the speed dress
It sets and the working rig electric-control system based on the land wheel speed measuring device.
Background technique
It is mechanical for the automated job walked in field, it is existing in order to make its operating speed match with its speed of travel
Have and velocity sensor is usually set on motive power outputting apparatus in technology, with monitoring results mechanical wheel revolving speed and operating equipment
Power output state.It is but generally longer in view of the drive path of big machinery, it is difficult to the case where avoiding power loss and skidding, institute
To have error between the output data and the actual speed of travel of vehicle of the motive power outputting apparatus of velocity sensor acquisition.
Summary of the invention
Technical purpose of the invention provides a kind of land wheel that can monitor the practical speed of travel of walking Work machine and tests the speed
Device, and the walking working rig electric-control system based on the land wheel speed measuring device, to make up the deficiencies in the prior art.
A kind of land wheel speed measuring device, is mounted in the rack of walking working rig, which is characterized in that including adjusting rod, admittedly
Fixed board, suspension and land wheel:
The rear and front end of the suspension is respectively equipped with a lateral axle sleeve, and front-end shaft sleeve is for installing fixing axle, rear end axle sleeve
For installing land axle；
The inner opposite end of the fixing axle stretches out axle sleeve and is fixed in the rack, and suspension is hinged by fixing axle and rack,
I.e. suspension can be swung up and down centered on fixing axle；
Land wheel is located at the outside of suspension, and the land axle is located at land wheel center, and the inner opposite end of land axle is inserted into rear axle
In set, lateral ends are fixedly connected with land wheel, and land wheel drives land axle synchronous rotary during rolling on the ground, land wheel
Outer surface is equipped with anti-slip mechanism；
The inner opposite end of the rear end axle sleeve is equipped with the first speed probe, for detecting the revolving speed of land axle, the first revolving speed
The signal output end of sensor is connect with the control unit of working rig electric-control system；
Fixed plate is laterally arranged, and inner opposite end is fixedly mounted on the rack；The lower section of fixed plate is arranged in suspension, passes through tune
Pole is connect with fixed plate, and the middle part of suspension is equipped with lateral axis hole, and suspension upper surface is equipped with to be connected to the lateral axis hole
Opening；The adjusting rod is made of vertical pivot and bottom horizontal axis in inverted T shaped, and the bottom horizontal axis is mounted on the lateral axis hole
Interior, fixed plate, which is equipped with, is mounted hole, and vertical pivot top passes through the limit installation hole, and vertical pivot bottom end passes through the opening and bottom
The connection of portion's horizontal axis, the opening are the long hole that front-rear direction extends, and make suspension (505) during swinging up and down, bottom transverse
Axis (506) can the rotation in suspension (505)；
The vertical pivot of the adjusting rod is cased with spring at the position between fixed plate and suspension, and upper and lower the two of the spring
End is pressed in fixed plate and suspension, is compressed land wheel on the ground by suspension.
On the basis of above scheme, further improvement or preferred scheme further include:
The land wheel includes circular torus, and the anti-slip mechanism is the multiple bulge-structures being distributed along torus even circumferential.
The bulge-structure is cylindrical, and central axes are located in the radial line of torus.
The quantity of the bulge-structure is typically no less than 8.
First speed probe is rotary encoder, and the power output end and land axle of the rotary encoder are driven
Connection.
A kind of walking working rig electric-control system based on land wheel speed measuring device as described above, the working rig of the working rig
Structure is driven by hydraulic motor, and the hydraulic motor is driven by hydraulic system to be rotated, it is characterised in that:
The electric-control system includes that control unit, first speed probe, the second speed probe and solenoid-operated proportional are adjusted
Valve, the electromagnetic proportion regulating are mounted in the input fluid path of hydraulic motor, and control signal input and control unit connect
It connects；Second speed probe is mounted on the power output end of hydraulic motor, and signal output end and described control unit connect
It connects, the revolving speed exported for detecting hydraulic motor, the feedback signal that control unit is exported according to the first, second speed probe,
The aperture of the electromagnetic proportion regulating is controlled, realizes the adjusting to hydraulic motor output revolving speed, completes to travel speed to working rig
The matching of degree and operating speed.
The utility model has the advantages that
Land wheel speed measuring device of the present invention using when be mounted in working rig rack, establish signal with working rig control unit and connect,
Can Collecting operation machine actual travel speed.Land wheel speed measuring device structure design planning of the present invention is reasonable, has good ground
Profiling effect, can be applied on existing operation machine equipment, and improvement cost is low, be easy to tie up the case where being not likely to produce skidding
Shield, measuring accuracy are high.Based on the working rig electric-control system of the land wheel speed measuring device, by testing the speed to operating speed and land wheel
The comparison result of device feedback signal controls the power output of Working mechanism, it can be achieved that height to operating speed and travel speed
Effect matching, improves operation effectiveness and operating efficiency.
Detailed description of the invention
Fig. 1 is the overall structure diagram of combine；
Fig. 2 is schematic diagram of the land wheel speed measuring device on working rig；
Fig. 3 is the structural schematic diagram of land wheel speed measuring device；
Fig. 4 is the schematic diagram of the section structure of suspension；
Fig. 5 is the control flow chart of electric-control system.
Specific embodiment
For the technical solution and working principle that the present invention is furture elucidated, with reference to the accompanying drawing with specific embodiment to this
Specific introduction is done in invention.
A kind of land wheel speed measuring device, is mounted in the rack of walking working rig, and the present embodiment is to transplant combine
For distance explanation.
A kind of transplanting combine as shown in Figure 1, by covering suppression mechanism 1, planting mechanism 2, trench digging reshaping device
3, rotary tillage ditching mechanism 4, land wheel speed measuring device 5, electric-control system 6, hydraulic system 7, trifilar suspension system 8, tractor 9 and machine
The part such as frame forms.The covering suppression mechanism 1, planting mechanism 2, trench digging reshaping device 3, rotary tillage ditching mechanism 4, land wheel test the speed
Device 5, electric-control system 6, hydraulic system 7 are installed in the rack, and the front end of rack by trifilar suspension system 8 and is drawn
Machine connection, is walked on field level by tractor-drawn.
The land wheel speed measuring device includes the component parts such as adjusting rod 501, fixed plate 502, suspension 505 and land wheel 509.
The rear and front end of the suspension 505 is respectively provided with a lateral axle sleeve, and front-end shaft sleeve is for installing fixing axle, rear end
Axle sleeve is for installing land axle 507.Axle sleeve is stretched out at the laterally inserted front-end shaft sleeve of fixing axle, inside and outside both ends, and inside (is leaned on
The side of nearly rack) axle sleeve is stretched out in one end, and is fixed in the rack, and outside (side far from rack) one end passes through nut
Locking prevents from being detached from from axle sleeve.Suspension 505 is realized hingedly by fixing axle 504 and rack, consolidates suspension 505
It is swung up and down centered on dead axle 504.
The land wheel 509 be equipped with a circular torus, torus centre be equipped with a central axle sleeve with pin hole, it is described in
Spindle sleeve is connect by support rod with the torus of periphery.The land axle 507 uses pin shaft, can be connected by lockings such as split pins
Part is fixed in central axle sleeve.The land wheel 509 is equipped with anti-slip mechanism, as shown in figure 3, in the present embodiment, the torus
Outside weldings have 8 Small Cylindricals, land wheel when being contacted with ground, can prevent land wheel from skidding, and the Small Cylindrical is uniformly arranged
On torus, central axes are located at land wheel 509(torus in other words) radial line on, the quantity of Small Cylindrical generally be no less than 8
It is a.
The inner opposite end of the land axle 507 is installed in the axle sleeve of rear end, lateral ends and the fixed company of land wheel 509
It connects, land wheel 509 is mounted on the outside of suspension 505, the land wheel 509 and ground face contact by the land axle 507, on ground
507 synchronous rotary of land axle is driven during upper rolling.
The inner opposite end of the rear end axle sleeve is equipped with the first speed probe 508, in the present embodiment, first revolving speed
Sensor 508 uses rotary encoder, and the power intake and land axle 507 of the rotary encoder are sequentially connected, and rotation is compiled
The signal output end of code device is connect with the control unit of working rig electric-control system 6.As shown in figure 3, land axle 507 passes through bearing
515, circlip is fixed in floating arm axle sleeve, and the first speed probe 508 is fixed by screw 511 with sensor fixation plate 512,
Sensor fixation plate 512 is connect with floating arm axle sleeve by soldering 513, and 508 spindle nose of the first speed probe and land axle 507 are logical
It is fixed to cross holding screw 514, prevents the relative rotation between spindle nose and land axle 507.
The suspension 505 is located at the lower section of fixed plate 502, and the middle part of suspension 505 is equipped with a lateral axis hole, in transverse direction
The top of axis hole, suspension 505 are equipped with the opening being connected to the lateral axis hole.The inner opposite end of the fixed plate 502 is fixed
It is mounted on the rack, the adjusting rod 501 is made of vertical pivot and bottom horizontal axis 506 in inverted T shaped, and the bottom horizontal axis 506 is installed
In the lateral axis hole.The fixed plate 502, which is equipped with, holds the limit installation hole that vertical pivot passes through, and vertical pivot bottom end passes through suspension
In opening insertion suspension 505, it is connect with bottom horizontal axis 506.The opening is the long hole that front-rear direction extends, and makes suspension
505 during swinging up and down, and bottom horizontal axis 506 can rotate in suspension.
The vertical pivot of the adjusting rod 501 is cased with spring 503, institute at the position between fixed plate 502 and suspension 505
The upper/lower terminal for stating spring 503 is pressed in fixed plate 502 and suspension 505, is pressed on land wheel 509 by suspension 505
On ground.During the form of working rig, when there is fluctuating on ground, land wheel drives suspension 505 to swing up and down, bottom horizontal axis
506 rotate in the lateral axis hole of suspension, to ensure that adjusting rod 501 is not stuck with fixed plate 502.
The electric-control system 6 is made of sensor mechanism, control unit and executing agency etc..In the present embodiment, the biography
Sensor mechanism includes first speed probe 508 and the second speed probe；Described control unit uses PLC controller；
The executing agency includes electromagnetic proportion regulating.
The planting mechanism 2 is driven by hydraulic motor, and the hydraulic motor is driven by hydraulic system to be rotated, the execution
Mechanism includes electromagnetic proportion regulating, and the electromagnetic proportion regulating is arranged in the input fluid path of hydraulic motor.The electromagnetism
The control signal input of ratio adjusting valve is connect with control unit, adjusts control aperture by PLC controller.Second revolving speed
Sensor is mounted on the transmission mechanism of hydraulic motor output end, and signal output end is connect with control unit.
As described in Figure 5, the output signal of first, second speed probe is sent to PLC control after A/D is converted
Device (two PLC refer to the same device in figure), completes the comparison to travel speed and plant operating speed in PLC controller,
The aperture of electromagnetic proportion regulating is controlled to adjust when two above-mentioned speed mismatch according to preset execution standard, thus
The revolving speed of hydraulic motor output is adjusted, that is, adjusts the plant operating speed of planting mechanism, until the second speed probe feedback
Revolving speed is matched with the travel speed that the first speed probe is fed back.Generally travel speed is faster, and operating speed is faster, traveling speed
Degree slows down, and operating speed slows down.
The present embodiment land wheel speed measuring device is during the work time, it can be achieved that height profiling to ground, by spring by ground
Wheel compresses on the ground, it is not easy to and it skids, and cooperates further anti-slip mechanism, be remarkably improved the accuracy to test the speed, from
And improve operation effectiveness.Based on the electric-control system of above-mentioned land wheel speed measuring device, using the adjustment mechanism of closed-loop control, it can be achieved that right
The efficient matchings of working rig travel speed and operating speed, significantly improve operating efficiency.
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, the present invention
Claimed range is delineated by the appended claims, the specification and equivalents thereof from the appended claims.
Claims (6)
1. a kind of land wheel speed measuring device, is mounted in the rack of walking working rig, which is characterized in that including adjusting rod (501),
Fixed plate (502), suspension (505) and land wheel (509):
The rear and front end of the suspension (505) is respectively equipped with a lateral axle sleeve, and front-end shaft sleeve is for installing fixing axle, rear end
Axle sleeve is for installing land axle (507)；
The inner opposite end of the fixing axle stretches out axle sleeve and is fixed in the rack, suspension (505) by fixing axle (504) with
Rack is hinged, i.e., suspension (505) can be swung up and down centered on fixing axle (504)；
Land wheel (509) is located at the outside of suspension (505), and the land axle (507) is located at land wheel (509) center, land axle
(507) in inner opposite end insertion rear end axle sleeve, lateral ends are fixedly connected with land wheel (509), and land wheel (509) rolls on the ground
Land axle (507) synchronous rotary is driven in dynamic process, the outer surface of land wheel (509) is equipped with anti-slip mechanism；
The inner opposite end of the rear end axle sleeve is equipped with the first speed probe (508), for detecting turning for land axle (507)
The signal output end of speed, the first speed probe (508) is connect with the control unit of working rig electric-control system (6)；
Fixed plate (502) is laterally arranged, and inner opposite end is fixedly mounted on the rack；Suspension (505) is arranged in fixed plate
(502) lower section is connect by adjusting rod (501) with fixed plate (502), and the middle part of suspension (505) is equipped with lateral axis hole, is hanged
Floating arm upper surface is equipped with the opening being connected to the lateral axis hole；The adjusting rod (501) is in inverted T shaped, by vertical pivot and bottom transverse
Axis (506) is constituted, and the bottom horizontal axis (506) is mounted in the lateral axis hole, and fixed plate (502), which is equipped with, to be mounted
Hole, vertical pivot top pass through the limit installation hole, and vertical pivot bottom end passes through the opening and connect with bottom horizontal axis (506), described to open
Mouth is the long hole that front-rear direction extends, and makes suspension (505) during swinging up and down, bottom horizontal axis (506) can be in suspension
(505) rotation in；
The vertical pivot of the adjusting rod (501) is cased with spring at the position between fixed plate (502) and suspension (505)
(503), the upper/lower terminal of the spring (503) is pressed in fixed plate (502) and suspension (505), passes through suspension
(505) land wheel (509) are compressed on the ground.
2. a kind of land wheel speed measuring device according to claim 1, which is characterized in that the land wheel (509) includes circular
Torus, the anti-slip mechanism are the multiple bulge-structures being distributed along torus even circumferential.
3. a kind of land wheel speed measuring device according to claim 2, which is characterized in that the bulge-structure is cylindrical,
Central axes are located in the radial line of torus.
4. a kind of land wheel speed measuring device according to claim 2 or 3, which is characterized in that the quantity of the protrusion is not less than 8
It is a.
5. a kind of land wheel speed measuring device according to claim 2, which is characterized in that first speed probe is rotation
Encoder, the power output end of the rotary encoder and land axle (507) are sequentially connected.
6. a kind of walking working rig electric-control system based on land wheel speed measuring device as described in claim 1, the working rig
Working mechanism is driven by hydraulic motor, and the hydraulic motor is driven by hydraulic system to be rotated, it is characterised in that: the automatically controlled system
System (6) includes control unit, first speed probe, the second speed probe and electromagnetic proportion regulating, the electromagnetism
Ratio adjusting valve is mounted in the input fluid path of hydraulic motor, and control signal input is connect with described control unit；It is described
Second speed probe is mounted on the power output end of hydraulic motor, and signal output end is connect with described control unit, is used for
Detect the revolving speed of hydraulic motor output, the feedback signal that control unit is exported according to first, second speed probe, control
The aperture of the electromagnetic proportion regulating, realize to hydraulic motor output revolving speed adjusting, complete to working rig travel speed with
The matching of operating speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910510928.7A CN110398935A (en) | 2019-06-13 | 2019-06-13 | Land wheel speed measuring device and walking working rig electric-control system based on the device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910510928.7A CN110398935A (en) | 2019-06-13 | 2019-06-13 | Land wheel speed measuring device and walking working rig electric-control system based on the device |
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| Publication Number | Publication Date |
|---|---|
| CN110398935A true CN110398935A (en) | 2019-11-01 |
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ID=68324161
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910510928.7A Pending CN110398935A (en) | 2019-06-13 | 2019-06-13 | Land wheel speed measuring device and walking working rig electric-control system based on the device |
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| CN (1) | CN110398935A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101785386A (en) * | 2010-01-26 | 2010-07-28 | 中国农业大学 | Adjusting device used for sowing depth automatic control system |
| CN103597936A (en) * | 2013-10-11 | 2014-02-26 | 赵玉茹 | Fertilizer-applying tape-laying film-coating multifunctional seeder |
| CN204518419U (en) * | 2015-02-05 | 2015-08-05 | 许昌同兴现代农业科技有限公司 | Towed transplanter automatic speed measuring device |
| CN105864228A (en) * | 2016-05-06 | 2016-08-17 | 广西大学 | Control system for mechanical electrical and hydraulic speed for operation vehicle |
| CN106973599A (en) * | 2017-01-18 | 2017-07-25 | 江苏大学 | A kind of planting mechanism transverse direction and longitudinal direction copying device and control method |
| CN206658449U (en) * | 2017-04-24 | 2017-11-24 | 福建农林大学 | One kind can floating suspension formula drill for sowing in lines |
| CN209821655U (en) * | 2019-06-13 | 2019-12-20 | 农业农村部南京农业机械化研究所 | Land wheel speed measuring device and walking type operation machine electric control system based on same |
-
2019
- 2019-06-13 CN CN201910510928.7A patent/CN110398935A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101785386A (en) * | 2010-01-26 | 2010-07-28 | 中国农业大学 | Adjusting device used for sowing depth automatic control system |
| CN103597936A (en) * | 2013-10-11 | 2014-02-26 | 赵玉茹 | Fertilizer-applying tape-laying film-coating multifunctional seeder |
| CN204518419U (en) * | 2015-02-05 | 2015-08-05 | 许昌同兴现代农业科技有限公司 | Towed transplanter automatic speed measuring device |
| CN105864228A (en) * | 2016-05-06 | 2016-08-17 | 广西大学 | Control system for mechanical electrical and hydraulic speed for operation vehicle |
| CN106973599A (en) * | 2017-01-18 | 2017-07-25 | 江苏大学 | A kind of planting mechanism transverse direction and longitudinal direction copying device and control method |
| CN206658449U (en) * | 2017-04-24 | 2017-11-24 | 福建农林大学 | One kind can floating suspension formula drill for sowing in lines |
| CN209821655U (en) * | 2019-06-13 | 2019-12-20 | 农业农村部南京农业机械化研究所 | Land wheel speed measuring device and walking type operation machine electric control system based on same |
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