CN111559209B - Traction seat height control system and method and tractor - Google Patents
Traction seat height control system and method and tractor Download PDFInfo
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- CN111559209B CN111559209B CN202010421811.4A CN202010421811A CN111559209B CN 111559209 B CN111559209 B CN 111559209B CN 202010421811 A CN202010421811 A CN 202010421811A CN 111559209 B CN111559209 B CN 111559209B
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- oil cylinder
- traction seat
- lifting
- piston rod
- height
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
- B60D1/42—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for being adjustable
- B60D1/46—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for being adjustable vertically
- B60D1/465—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for being adjustable vertically comprising a lifting mechanism, e.g. for coupling while lifting
Abstract
The invention provides a traction seat height control system, a traction seat height control method and a tractor, wherein the traction seat is connected with a lifting oil cylinder piston rod through a lifting swing arm, and the system comprises: the displacement sensor is used for acquiring the telescopic displacement of a piston rod of the lifting oil cylinder and is electrically connected with the controller; the controller is connected with a lifting control valve for controlling the extension and contraction of a piston rod of the lifting oil cylinder; the lifting control valve is electrically connected with the lifting oil cylinder. The invention can realize the accurate control of the height of the traction seat, is beneficial to the adjustment of the height of the traction seat by a driver, and improves the maneuverability, the accuracy and the operation efficiency of the swing and hang traction vehicle.
Description
Technical Field
The invention belongs to the technical field of heavy-duty automobile driving assistance, and particularly relates to a traction seat height control system and method and a tractor.
Background
Get rid of and hang the tractor and can be according to the high adjustment fifth wheel height of trailer towing pin, articulate the back, the accessible lifts the fifth wheel and makes the trailer landing leg liftoff, the operation of receiving and releasing the landing leg has been avoided, because of the many unique advantages of hanging of its car, in harbour, steel mill, the commodity circulation garden obtains the wide application, the problem that needs constantly adjust the fifth wheel height and different height trailer articulate has also been brought simultaneously, drive the tractor by a driver at present, another personnel observes the high deviation of fifth wheel and trailer towing pin, constantly adjust the height of fifth wheel through the cooperation of two people and realize articulating, the mobility of getting rid of and hanging the tractor has indirectly been reduced to this method, articulate slowly, had both wasted the manpower, and efficiency has been reduced again.
Therefore, how to adjust the height of the traction seat of the tractor to the height suitable for the traction pin of the trailer quickly and efficiently by a driver is a problem which needs to be solved by the technical personnel in the field.
Disclosure of Invention
In view of the above-mentioned deficiencies of the prior art, the present invention provides a traction seat height control system, method and tractor to solve the above-mentioned technical problems.
In a first aspect, the present invention provides a traction seat height control system, wherein the traction seat is connected to a lift cylinder piston rod through a lift swing arm, the system comprising:
the displacement sensor is used for acquiring the telescopic displacement of a piston rod of the lifting oil cylinder and is electrically connected with the controller; the controller is connected with a lifting control valve for controlling the extension and contraction of a piston rod of the lifting oil cylinder; the lifting control valve is electrically connected with the lifting oil cylinder.
Furthermore, the displacement sensor is a pull rope type displacement sensor, a sensor body of the pull rope type displacement sensor is installed on a cylinder body of the lifting oil cylinder, a pull rope of the pull rope type displacement sensor is connected to the extending end of the piston rod, and the pull rope is parallel to the axial direction of the lifting oil cylinder.
Furthermore, the installation position of the sensor body of the pull rope type displacement sensor on the cylinder body of the lifting oil cylinder is flush with the starting point position of the piston rod, and the linear displacement of the pull rope type displacement sensor pull rope is equal to the telescopic stroke of the oil cylinder.
Furthermore, the controller is electrically connected with the touch display screen, and the controller and the touch display screen are both installed on the cab operation platform.
Furthermore, the lifting control valve is installed on the frame longitudinal beam, and the stretching of the lifting oil cylinder is controlled through the reversing valve.
In a second aspect, the present invention provides a fifth wheel height control method, comprising:
collecting position structure parameters of a traction seat, a lifting swing arm and a lifting oil cylinder;
establishing a relation function of the telescopic displacement of a piston rod of the lifting oil cylinder and the ground clearance of the traction seat based on the position structure parameters of the traction seat, the lifting swing arm and the lifting oil cylinder;
acquiring the current displacement of a piston rod of the lifting oil cylinder according to a displacement signal of the displacement sensor;
calculating the actual height of the traction seat according to the current displacement and the relation function;
and controlling the lifting oil cylinder piston rod to stretch and retract through a lifting control valve until the actual height of the traction seat is equal to the ground clearance of the traction seat matched with the height of the traction pin to be hung.
Further, the relationship function includes:
Further, the method further comprises:
the lifting control valve controls the piston rod of the lifting oil cylinder to reset;
controlling the extension of a piston rod of a lifting oil cylinder through a lifting control valve, and acquiring the current displacement of the piston rod in the extension process in real time through a displacement sensor;
calculating the actual height of the traction seat according to the relation function and the current displacement, and judging whether the actual height reaches the height matched with the ground clearance of the traction seat:
and if so, controlling the lifting oil cylinder piston rod to stop extending through the lifting control valve.
In a third aspect, the invention provides a throwing and hanging traction vehicle, which comprises the traction seat height control system provided by the first aspect.
The beneficial effect of the invention is that,
according to the traction seat height control system, method and tractor, the telescopic displacement of the piston rod of the lifting oil cylinder is collected in real time through the displacement sensor, and then the piston rod of the lifting oil cylinder is controlled to extend out to the target position through the pre-established relation function of the telescopic displacement of the piston rod of the lifting oil cylinder and the ground clearance of the traction seat, so that the height of the traction seat is accurately controlled, a driver can adjust the height of the traction seat, and the maneuverability, accuracy and operation efficiency of the swing and hang tractor are improved.
In addition, the invention has reliable design principle, simple structure and very wide application prospect.
Drawings
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a block diagram of an embodiment of a fifth wheel height control system according to the present invention;
FIG. 2 is a layout diagram of an exemplary embodiment of a fifth wheel height control system according to the present invention;
FIG. 3 is a simplified diagram of a fifth wheel lift mechanism in an embodiment of a fifth wheel height control system provided by the present invention;
in the above fig. 1, 2: 1, a controller; 2, a displacement sensor; 3, lifting a control valve; 4, an oil cylinder; and 5, a traction seat.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Example 1
Referring to fig. 1 and fig. 2, the present embodiment provides a fifth wheel height control system, including:
the device comprises a controller 1, a pull rope type displacement sensor 2, a lifting control valve 3, a lifting oil cylinder 4 and a traction seat 5. Wherein controller 1 installs in the inside platform of driver's cabin, and stay cord formula displacement sensor 2 installs on lift cylinder 4, and lift control valve 2 installs in the solebar, and lift cylinder 4 one end is fixed in the frame, and the other end links to each other with the swing arm that lifts. The pull rope type displacement sensor 2 is used for measuring the telescopic stroke of a piston rod of the lifting oil cylinder, the controller 1 is provided with an electronic control unit ECU, the ECU collects pull rope displacement information of the pull rope type displacement sensor 2, the ground clearance numerical value of the traction seat is obtained through calculation of a programmed function relation, and the establishment of the function relation depends on a traction seat lifting mechanism.
Example 2
The present embodiment provides a fifth wheel height control system, comprising:
the device comprises a controller 1, an analog quantity displacement sensor 2, a lifting control valve 3, a lifting oil cylinder 4 and a traction seat 5. The controller 1 is installed on an inner platform of a cab, laser of the analog displacement sensor 2 is irradiated on a telescopic end of a piston rod of the lifting oil cylinder, the laser beam is coincided with the axis of the piston rod, the telescopic displacement of the piston rod of the lifting oil cylinder is measured, the lifting control valve 2 is installed on a frame longitudinal beam, and the telescopic movement of the lifting oil cylinder is controlled through a reversing valve. One end of the lifting oil cylinder 4 is fixed on the frame, and the other end is connected with the lifting swing arm. The controller 1 is provided with an electronic control unit ECU, the ECU collects displacement information detected by the analog displacement sensor 2, and the numerical value of the ground clearance of the traction seat is obtained through calculation by a programmed function relation, and the establishment of the function relation depends on the traction seat lifting mechanism. The controller 1 is further electrically connected with the touch display screen, the controller 1 and the touch display screen are both installed on the cab operation platform, and a driver can check the current height of the traction seat through the touch display screen and output the required height of the traction seat through the touch display screen.
Example 3
The embodiment provides a traction seat height control method, which comprises the following steps:
and S1, collecting the position structure parameters of the traction seat, the lifting swing arm and the lifting oil cylinder.
Collecting the vertical distance h from the swing center of the traction seat to the turning center of the lifting swing arm and the vertical distance h from the turning center of the lifting swing arm to the supporting point of the oil cylinder1Vertical distance h from oil cylinder supporting point to ground2The vertical distance h from the swing center of the traction seat to the panel of the traction seat3The distance a from the swing arm turning center to the traction seat turning center, the distance b from the swing arm turning center to the connection point of the extending end of the oil cylinder, the distance c from the traction seat turning center to the connection point of the extending end of the oil cylinder, the distance e from the oil cylinder supporting point to the swing arm turning center and the installation distance l of the lifting oil cylinder.
The above-mentioned positional structural parameters are all intrinsic parameters of the tractor.
And S2, establishing a relation function between the telescopic displacement of the piston rod of the lifting oil cylinder and the ground height of the traction seat based on the position structure parameters of the traction seat, the lifting swing arm and the lifting oil cylinder.
H＝h+h1+h2+h3(1)
H is the height of the matched traction seat from the ground, and H is the vertical distance from the swing center of the traction seat to the turning center of the lifting swing arm; h is1The vertical distance from the turning center of the lifting swing arm to the supporting point of the oil cylinder is set; h is2The vertical distance from the supporting point of the oil cylinder to the ground is set; h is3The swing center of the traction seat is vertically distant from the traction seat panel.
h＝a·sin(β+θ1) (2)
Wherein a is the distance from the swing arm turning center to the swing center of the traction seat; theta1Is aThe included angle between the two components is b; beta is an included angle between b and a horizontal line of the turning center of the swing arm; and b is the distance from the turning center of the swing arm to the connecting point of the extending end of the oil cylinder.
Wherein c is the distance from the swing center of the traction seat to the connecting point of the extending end of the oil cylinder.
Wherein, theta2Is an included angle between e and a horizontal line of the turning center of the swing arm; and L is the real-time distance between the oil cylinder supporting point and the extending end.
L＝l+Δl (6)
Wherein, the delta l lifts the piston rod of the oil cylinder to move telescopically; l is the installation distance of the lifting oil cylinder.
The relation function of the telescopic displacement of the piston rod of the lifting oil cylinder and the ground height of the traction seat can be obtained by the formulas (1) to (6):
s3, obtaining the current displacement of the piston rod of the lifting oil cylinder according to the displacement signal of the displacement sensor, calculating the actual height of the traction seat according to the current displacement and the relation function, and controlling the lifting oil cylinder piston rod to stretch and contract until the actual height of the traction seat is equal to the ground clearance of the traction seat matched with the height of the traction pin to be hung through a lifting control valve.
The height of the towing pin can be known by a driver according to the type of the towing pin to be hung, and the ground clearance of the towing seat matched with the height can be further known. And inputting the ground clearance H of the matched traction seat by a touch display screen, and storing the ground clearance H into the controller 1 as a comparison standard.
When the vehicle is specifically implemented, the traction seat is installed at one end of a lifting swing arm, one end, far away from the traction seat, of the lifting swing arm is hinged to the frame, the lifting swing arm and the hinged center line of the frame are horizontally arranged along the width direction of the vehicle, the traction seat can swing up and down around the hinged center line, and the height of the traction seat is adjusted through the up-and-down swing of the traction seat.
The lifting swing arm is driven by the lifting oil cylinder 4, the lower end of the lifting oil cylinder 4 is hinged with the frame, and the upper end of the lifting oil cylinder 4 is hinged with the middle part of the lifting swing arm. When the lifting oil cylinder 4 extends or contracts, the lifting swing arm rotates up and down around the hinged center of the lifting swing arm and the frame, so that the traction seat moves up and down, the adjusting angle between the lifting swing arm and the horizontal line is 0-30 degrees under the normal condition, and the oil way is controlled through an electric control reversing valve in the lifting control valve to realize the extension and retraction of the piston rod of the lifting oil cylinder.
The driver can input the actual required height of the traction seat into the controller 1 according to the height of the traction pin of the trailer, and the electronic control unit ECU can input the required height value of the traction seat, compare the calculation result of the real-time height of the traction seat, automatically control the lifting control valve and realize the lifting of the traction seat until the input required height value is reached.
Example 4
The present embodiment provides a get rid of and hang a traction vehicle, and this get rid of and hang a traction vehicle adopts the traction seat height control system that embodiment 1 provided.
The specific expansion control process comprises the following steps: controlling the piston rod of the lifting oil cylinder to reset through the lifting control valve, controlling the piston rod of the lifting oil cylinder to stretch out through the lifting control valve, acquiring the current displacement of the piston rod in the stretching process in real time through a displacement sensor, calculating the actual height of the traction seat according to the relation function and the current displacement, and judging whether the actual height reaches the ground clearance of the matched traction seat: and if so, controlling the lifting oil cylinder piston rod to stop extending through the lifting control valve. In the telescopic control process, the controller sends the actual height of the traction seat to the touch display screen in real time for display and output.
Although the present invention has been described in detail by referring to the drawings in connection with the preferred embodiments, the present invention is not limited thereto. Various equivalent modifications or substitutions can be made on the embodiments of the present invention by those skilled in the art without departing from the spirit and scope of the present invention, and these modifications or substitutions are within the scope of the present invention/any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (2)
1. A fifth wheel height control method, the method comprising:
collecting position structure parameters of a traction seat, a lifting swing arm and a lifting oil cylinder;
establishing a relation function of the telescopic displacement of a piston rod of the lifting oil cylinder and the ground clearance of the traction seat based on the position structure parameters of the traction seat, the lifting swing arm and the lifting oil cylinder;
acquiring the current displacement of a piston rod of the lifting oil cylinder according to a displacement signal of the displacement sensor;
calculating the actual height of the traction seat according to the current displacement and the relation function;
controlling the lifting oil cylinder piston rod to stretch and retract through a lifting control valve until the actual height of the traction seat is equal to the ground clearance of the traction seat matched with the height of the traction pin to be hung;
the relationship function includes:
2. The method of claim 1, further comprising:
the lifting control valve controls the piston rod of the lifting oil cylinder to reset;
controlling the extension of a piston rod of a lifting oil cylinder through a lifting control valve, and acquiring the current displacement of the piston rod in the extension process in real time through a displacement sensor;
calculating the actual height of the traction seat according to the relation function and the current displacement, and judging whether the actual height reaches the height matched with the ground clearance of the traction seat:
and if so, controlling the lifting oil cylinder piston rod to stop extending through the lifting control valve.
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| CN202010421811.4A CN111559209B (en) | 2020-05-18 | 2020-05-18 | Traction seat height control system and method and tractor |
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| CN202010421811.4A CN111559209B (en) | 2020-05-18 | 2020-05-18 | Traction seat height control system and method and tractor |
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| CN111559209A CN111559209A (en) | 2020-08-21 |
| CN111559209B true CN111559209B (en) | 2021-07-20 |
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| CN202107480U (en) * | 2011-06-16 | 2012-01-11 | 南京奥特电气有限公司 | Synchronization control device for hydraulic lifting |
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| CN204750334U (en) * | 2015-05-21 | 2015-11-11 | 武汉运盛特种汽车制造有限公司 | Integral type lifts saddle |
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| CN109607420A (en) * | 2018-12-26 | 2019-04-12 | 苏州艾沃意特汽车设备有限公司 | Lifting mechanism networking and lifting mechanism synchronous method |
| CN111156208A (en) * | 2018-11-08 | 2020-05-15 | 陕西汽车集团有限责任公司 | Unmanned mining vehicle lifting control system and method and mining vehicle |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT515156B1 (en) * | 2013-11-04 | 2015-11-15 | Scharmüller Josef Ing | drawbar |
| US10752237B2 (en) * | 2017-10-27 | 2020-08-25 | Cnh Industrial America Llc | System and method for automatically leveling an agricultural implement |
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2020
- 2020-05-18 CN CN202010421811.4A patent/CN111559209B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202107480U (en) * | 2011-06-16 | 2012-01-11 | 南京奥特电气有限公司 | Synchronization control device for hydraulic lifting |
| CN104773044A (en) * | 2015-03-06 | 2015-07-15 | 中国重汽集团济南动力有限公司 | Hanging device for low-speed traction vehicle |
| CN204750334U (en) * | 2015-05-21 | 2015-11-11 | 武汉运盛特种汽车制造有限公司 | Integral type lifts saddle |
| CN106829813A (en) * | 2017-01-19 | 2017-06-13 | 徐工消防安全装备有限公司 | A kind of walking of boom type high-altitude operation vehicle dynamic balance control device and method |
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| CN111559209A (en) | 2020-08-21 |
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Effective date of registration: 20230613 Address after: No. 583, Jiyan Road, Huaiyin District, Jinan City, Shandong Province, 250000 Patentee after: China National Heavy Duty Truck Group Ji'nan Special Vehicle Co.,Ltd. Address before: Shengjing tangwangshan Road North Panwang Road West, Zhangqiu City, Jinan City, Shandong Province 250200 Patentee before: China National Heavy Duty Truck Group Jinan Power Co.,Ltd. |