CN112326268A - Paddy field tractor slips rate and sunken degree detection device - Google Patents
Paddy field tractor slips rate and sunken degree detection device Download PDFInfo
- Publication number
- CN112326268A CN112326268A CN202011235541.4A CN202011235541A CN112326268A CN 112326268 A CN112326268 A CN 112326268A CN 202011235541 A CN202011235541 A CN 202011235541A CN 112326268 A CN112326268 A CN 112326268A
- Authority
- CN
- China
- Prior art keywords
- tractor
- module
- swing arm
- faceplate
- detection module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 128
- 238000012545 processing Methods 0.000 claims abstract description 23
- 238000005259 measurement Methods 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims description 11
- 210000000078 claw Anatomy 0.000 claims description 10
- 230000006835 compression Effects 0.000 claims description 6
- 238000007906 compression Methods 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 20
- 238000009434 installation Methods 0.000 description 16
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 238000011897 real-time detection Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 208000035657 Abasia Diseases 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/013—Wheels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/03—Endless-tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
- B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Lifting Devices For Agricultural Implements (AREA)
Abstract
本发明涉及检测自动化技术领域,具体涉及一种水田拖拉机打滑率和下陷深度检测装置,包括主挂载架部件、输出轴转速检测模块、下陷深度检测模块、轮式测速模块、检测数据处理模块;所述主挂载架部件设置在拖拉机主梁上,所述输出轴转速检测模块、下陷深度检测模块均设置在主挂载架部件上,输出轴转速检测模块连接至拖拉机驱动主轴以检测拖拉机驱动主轴转速;所述轮式测速模块设置在下陷深度检测模块上以检测拖拉机行驶速度,所述输出轴转速检测模块、下陷深度检测模块、轮式测速模块能够将检测数据传输至检测数据处理模块。本发明的优点在于:相对于现有技术,检测水田拖拉机打滑率和下陷深度时不会受到泥水干扰,因而检测精度较高。
The present invention relates to the technical field of detection automation, in particular to a paddy field tractor skid rate and subsidence depth detection device, comprising a main mounting frame component, an output shaft speed detection module, a subsidence depth detection module, a wheel speed measurement module, and a detection data processing module; The main mounting frame part is arranged on the main beam of the tractor, and the output shaft speed detection module and the sag depth detection module are both arranged on the main mounting frame part, and the output shaft speed detection module is connected to the tractor drive main shaft to detect the tractor drive Spindle speed; the wheel speed measurement module is set on the subsidence depth detection module to detect the tractor driving speed, and the output shaft speed detection module, subsidence depth detection module and wheel speed measurement module can transmit detection data to the detection data processing module. The invention has the advantages that: compared with the prior art, when detecting the paddy field tractor's slip rate and subsidence depth, it will not be disturbed by muddy water, so the detection accuracy is higher.
Description
技术领域technical field
本发明涉及检测自动化技术领域,具体涉及一种水田拖拉机打滑率和下陷深度检测装置。The invention relates to the technical field of detection automation, in particular to a device for detecting the slip rate and subsidence depth of a paddy field tractor.
背景技术Background technique
拖拉机在水田环境下行走和作业时,由于此类土壤水分过大、土壤坚实度小而导致拖拉机轮子或履带的打滑和下陷。打滑和下陷降低了拖拉机的行驶通过性和操作性,增加了燃油消耗,严重时可造成拖拉机无法行走作业,降低了水田环境下拖拉机的作业效率,进而影响到水田粮食产出的成本。When a tractor walks and operates in a paddy field environment, the wheels or tracks of the tractor will slip and sag due to excessive soil moisture and low soil firmness. Slippage and subsidence reduce the tractor's driving ability and operability, increase fuel consumption, and in severe cases can cause the tractor to be unable to walk and operate, reduce the tractor's operating efficiency in the paddy field environment, and then affect the cost of grain output in paddy fields.
拖拉机打滑率检测尤为重要,现有技术中,例如公开号为CN204882084U的中国实用新型专利公开了一种拖拉机打滑率检测装置,包括光栅板、接近开关、控制器和显示器,所述的光栅板与驱动轮的轮毂固定,光栅板的外周间隔设有多个感应片,所述的感应片以轮毂中心轴为中心圆形分布,所述的接近开关设置在光栅板的侧部且刚好与上述感应片的运动轨迹正对,接近开关和显示器均与控制器电性连接。该拖拉机打滑率检测装置能在不影响机械工况直接测试完成,测试结果准确。另外,现有技术中,常规车辆的打滑率是通过测量出驱动主轴转速和车体速度后计算得出。驱动主轴转速利用驱动主轴附近的反射式红外光电传感器测量,车体速度利用卫星定位(GPS、RTK)或五轮仪等方法测量。然而在水田环境下,拖拉机行走系统很容易将水田里的泥水泼溅至驱动主轴附近,产生光的漫反射现象或遮挡光源,增加检测误差或造成检测光信号读取失败,利用卫星定位则存在零偏漂移和成本昂贵等问题。Tractor slip rate detection is particularly important. In the prior art, for example, the Chinese utility model patent with publication number CN204882084U discloses a tractor slip rate detection device, including a grating plate, a proximity switch, a controller and a display. The hub of the driving wheel is fixed, and the outer periphery of the grating plate is spaced with a plurality of induction sheets. The induction sheets are circularly distributed with the central axis of the wheel hub as the center. The motion track of the film is facing, and the proximity switch and the display are electrically connected with the controller. The tractor slip rate detection device can be directly tested without affecting the mechanical working condition, and the test result is accurate. In addition, in the prior art, the slip rate of a conventional vehicle is calculated by measuring the rotational speed of the driving main shaft and the speed of the vehicle body. The rotational speed of the driving spindle is measured by a reflective infrared photoelectric sensor near the driving spindle, and the vehicle body speed is measured by satellite positioning (GPS, RTK) or a five-wheel meter. However, in the paddy field environment, the tractor walking system can easily splash the muddy water in the paddy field to the vicinity of the drive spindle, resulting in diffuse reflection of light or blocking the light source, increasing the detection error or causing the failure to read the detection light signal. Zero offset drift and high cost.
现有技术中,下陷深度通过测量车体某固定点与某一基准面(如地面) 之间的距离来获取。然而水田中的基准面是水面,水面会对光、超声波等媒介的传播产生漫反射现象,同时水面会受到拖拉机行走系统的影响而时刻发生大幅度波动,这使得采用激光、超声波、视觉等方法不能获取准确的距离值。In the prior art, the subsidence depth is obtained by measuring the distance between a certain fixed point of the vehicle body and a certain reference plane (eg, the ground). However, the reference surface in the paddy field is the water surface. The water surface will produce diffuse reflections on the propagation of light, ultrasonic waves and other media. At the same time, the water surface will be affected by the tractor walking system and fluctuate greatly at any time, which makes the use of laser, ultrasonic, visual and other methods. The exact distance value cannot be obtained.
由于连续水面的存在,水田中拖拉机行驶中打滑率和下陷深度的检测环境远比旱地条件恶劣,现有检测技术由于不能克服泥水泼溅、水面扰动带来的检测误差和成本问题限制了打滑率和下陷深度检测装置在水田拖拉机中的应用。Due to the existence of continuous water surface, the detection environment for slip rate and subsidence depth of tractors in paddy fields is far worse than that in dry land. The existing detection technology cannot overcome the detection error and cost problems caused by splashing mud and water surface disturbance, which limits the slip rate. And the application of subsidence depth detection device in paddy field tractor.
有鉴于水田环境的特殊性,与现有技术相比,提供一种易于安装拆卸、受泥水干扰小、能提高检测精度和检测实时性、无线传输、便于用户实时查看拖拉机行驶时打滑率和下陷深度显示数据的检测装置具有重要的实用价值。In view of the particularity of the paddy field environment, compared with the prior art, it is easy to install and disassemble, less disturbed by mud and water, can improve detection accuracy and real-time detection, wireless transmission, and it is convenient for users to check the slip rate and subsidence of the tractor in real time. The detection device of depth display data has important practical value.
发明内容SUMMARY OF THE INVENTION
本发明所要解决的技术问题在于:现有技术中检测水田拖拉机打滑率和下陷深度时受泥水干扰而导致检测精度低的技术问题。The technical problem to be solved by the present invention lies in the technical problem of low detection accuracy caused by muddy water interference when detecting the slip rate and subsidence depth of the paddy field tractor in the prior art.
本发明是通过以下技术手段实现解决上述技术问题的:一种水田拖拉机打滑率和下陷深度检测装置,包括主挂载架部件、输出轴转速检测模块、下陷深度检测模块、轮式测速模块、检测数据处理模块;The present invention solves the above technical problems through the following technical means: a paddy field tractor slip rate and subsidence depth detection device, comprising a main carriage component, an output shaft rotational speed detection module, a subsidence depth detection module, a wheeled speed measurement module, a detection data processing module;
所述主挂载架部件设置在拖拉机主梁上,所述输出轴转速检测模块、下陷深度检测模块均设置在主挂载架部件上,输出轴转速检测模块连接至拖拉机驱动主轴以检测拖拉机驱动主轴转速;The main carriage part is arranged on the main beam of the tractor, the output shaft rotational speed detection module and the subsidence depth detection module are all arranged on the main carriage part, and the output shaft rotational speed detection module is connected to the tractor drive spindle to detect the tractor drive Spindle speed;
所述轮式测速模块设置在下陷深度检测模块上以检测拖拉机行驶速度,所述输出轴转速检测模块、下陷深度检测模块、轮式测速模块能够将检测数据传输至检测数据处理模块。The wheeled speed measuring module is arranged on the subsidence depth detection module to detect the running speed of the tractor, and the output shaft rotational speed detection module, the subsidence depth detection module and the wheeled speed measurement module can transmit the detection data to the detection data processing module.
本发明中的水田拖拉机打滑率和下陷深度检测装置在实际应用时,整个装置通过主挂载架部件安装在拖拉机主梁上,拖拉机行驶时,输出轴转速检测模块检测拖拉机驱动主轴转速,轮式测速模块检测拖拉机实际行驶速度,二者分别将检测的数据传输至检测数据处理模块,即可得出打滑率,下陷深度检测模块则能够检测拖拉机的下陷深度,相对于现有技术,检测水田拖拉机打滑率和下陷深度时不会受到泥水干扰,因而检测精度较高。In practical application of the device for detecting the slip rate and subsidence depth of the paddy tractor in the present invention, the whole device is installed on the main beam of the tractor through the main frame parts. The speed measurement module detects the actual driving speed of the tractor, and the two transmit the detected data to the detection data processing module respectively, and then the slip rate can be obtained. The subsidence depth detection module can detect the subsidence depth of the tractor. Compared with the prior art, it can detect paddy field tractors. The slip rate and subsidence depth will not be disturbed by mud and water, so the detection accuracy is high.
优化的,所述主挂载架部件包括竖板,竖板的内侧设置一对夹持板,两夹持板之间形成U形夹持口,U形夹持口夹持在拖拉机主梁的一侧;Preferably, the main hanger component includes a vertical plate, a pair of clamping plates are arranged on the inner side of the vertical plate, a U-shaped clamping opening is formed between the two clamping plates, and the U-shaped clamping opening is clamped on the main beam of the tractor. one side;
所述竖板的外侧设置有强磁铁,强磁铁能够将竖板吸在拖拉机主梁上;The outer side of the vertical plate is provided with a strong magnet, and the strong magnet can attract the vertical plate to the main beam of the tractor;
所述竖板的外侧还设置有侧板,所述输出轴转速检测模块设置在侧板上。The outer side of the vertical plate is also provided with a side plate, and the output shaft rotational speed detection module is arranged on the side plate.
实际安装时,只需将主挂载架部件通过U形夹持口卡在拖拉机主梁上,将强磁铁隔着竖板吸在拖拉机主梁上即可实现主挂载架部件的安装,安装可靠且装拆方便。In actual installation, only the main carriage parts are clamped on the main beam of the tractor through the U-shaped clamping port, and the strong magnet is sucked on the main beam of the tractor through the vertical plate to realize the installation of the main carriage parts. Reliable and easy to assemble and disassemble.
优化的,所述竖板的外侧设置有侧板支撑柱,侧板支撑柱端部设置有方形定位块,所述侧板上设置有与方形定位块配合的方孔,方孔套在方形定位块上,所述侧板通过螺钉安装至侧板支撑柱上。Preferably, the outer side of the vertical plate is provided with a side plate support column, the end of the side plate support column is provided with a square positioning block, the side plate is provided with a square hole matched with the square positioning block, and the square hole is sleeved on the square positioning block. On the block, the side plate is mounted on the side plate support column by screws.
方形定位块能够限制侧板防止其发生转动,与螺钉配合则可实现侧板的固定安装,安装牢固、装拆方便。The square positioning block can limit the side plate to prevent it from rotating, and can realize the fixed installation of the side plate in cooperation with the screw, and the installation is firm and easy to assemble and disassemble.
优化的,所述输出轴转速检测模块包括设置在主挂载架部件上的主轴编码器,还包括圆形的驱动轴花盘,驱动轴花盘的圆周边缘处设置有卡爪,所述驱动轴花盘通过卡爪卡在拖拉机驱动主轴端部;Optimized, the output shaft rotational speed detection module includes a spindle encoder arranged on the main carriage component, and also includes a circular drive shaft faceplate, the circumferential edge of the drive shaft faceplate is provided with claws, and the drive shaft faceplate is provided with claws. The end of the tractor drive spindle is clamped by the jaw;
卡爪外部设置有花盘固定环,花盘固定环能够将驱动轴花盘固定在拖拉机驱动主轴端部;A faceplate fixing ring is arranged outside the jaws, and the faceplate fixing ring can fix the drive shaft faceplate on the end of the tractor drive spindle;
驱动轴花盘外侧设置有花盘轴,花盘轴与拖拉机驱动主轴同轴,所述花盘轴连接至主轴编码器。A faceplate shaft is arranged on the outer side of the drive shaft faceplate, the faceplate shaft is coaxial with the tractor drive spindle, and the faceplate shaft is connected to the spindle encoder.
拖拉机驱动主轴转动时,能够带动驱动轴花盘、卡爪、花盘固定环、花盘轴同步转动,主轴编码器则能够检测花盘轴转速,即拖拉机驱动主轴转速,其检测不受泥水因素影响,因而检测精度较高。When the tractor drives the spindle to rotate, it can drive the drive shaft faceplate, jaws, faceplate fixing ring, and faceplate shaft to rotate synchronously. The spindle encoder can detect the speed of the faceplate shaft, that is, the speed of the tractor's driving spindle. High precision.
优化的,所述下陷深度检测模块包括摆动安装在主挂载架部件上的摆臂,摆臂的摆动轴线平行于拖拉机驱动主轴,所述摆臂与主挂载架部件之间设置有能够检测摆臂摆动角度的摆臂编码器;Optimized, the subsidence depth detection module includes a swing arm that is swayed and mounted on the main carriage part, the swing axis of the swing arm is parallel to the tractor drive main shaft, and a device capable of detecting Swing arm encoder for swing arm swing angle;
所述轮式测速模块包括转动安装在摆臂端部的测速轮,测速轮轴线平行于摆臂的摆动轴线,所述摆臂端部与测速轮之间设置有测速编码器。The wheeled speed measuring module includes a speed measuring wheel rotatably installed at the end of the swing arm, the axis of the speed measuring wheel is parallel to the swing axis of the swing arm, and a speed measuring encoder is arranged between the end of the swing arm and the speed measuring wheel.
拖拉机运行时,测速轮随之行走,测速轮的半径以及测速轮中心至摆臂摆动轴的距离是已知的,摆臂编码器检测摆臂摆动角度,即可得到下陷深度,而测速编码器则同时能够检测测速轮的转速,因而得到拖拉机的行驶速度,此时,其与拖拉机驱动主轴转速均为已知的,则可得到打滑率,检测过程不受泥水因素影响,因而检测精度较高。When the tractor is running, the speed-measuring wheel moves along with it. The radius of the speed-measuring wheel and the distance from the center of the speed-measuring wheel to the swing shaft of the swing arm are known. The swing arm encoder detects the swing angle of the swing arm to obtain the subsidence depth. At the same time, the speed of the tachometer wheel can be detected, and thus the running speed of the tractor can be obtained. At this time, the speed of the tractor and the driving spindle of the tractor are known, and the slip rate can be obtained. The detection process is not affected by mud and water factors, so the detection accuracy is high. .
优化的,所述摆臂上设置有压轮件,所述压轮件能够使测速轮具有下压地面的趋势。Preferably, a pressing wheel member is provided on the swing arm, and the pressing wheel member can make the tachometer wheel have a tendency to press down on the ground.
优化的,所述压轮件为设置在摆臂上的配重块。Preferably, the pressing wheel member is a counterweight block arranged on the swing arm.
优化的,所述压轮件为设置在摆臂与主挂载架部件之间的拉簧或者压簧。Preferably, the pressing wheel member is a tension spring or a compression spring arranged between the swing arm and the main carriage member.
在压轮件的作用下,如利用配重块或者压簧对摆臂施加压力,或者利用拉簧对摆臂施加拉力,均可使测速轮具有下压地面的趋势,进而使其紧压在地面,以确保与拖拉机保持同步运动,保证检测准确性。Under the action of the pressure wheel, such as using a counterweight or a compression spring to apply pressure to the swing arm, or using a tension spring to apply tension to the swing arm, the speed measuring wheel can have a tendency to press down on the ground, and then press it tightly on the ground. ground to ensure synchronous movement with the tractor to ensure detection accuracy.
优化的,所述测速轮的轮面设置有防滑凸起。Preferably, the wheel surface of the speed measuring wheel is provided with anti-skid protrusions.
防滑凸起能够确保测速轮运动时打滑,与拖拉机保持同步运动,保证检测准确性。The anti-skid bumps can ensure that the speed measuring wheel slips when it moves and keeps moving in synchronization with the tractor to ensure the detection accuracy.
优化的,还包括无线发送模块,无线发送模块能够将检测数据和/或检测数据处理模块处理之后的数据发送到上位机或移动终端。Preferably, a wireless sending module is also included, and the wireless sending module can send the detection data and/or the data processed by the detection data processing module to the upper computer or the mobile terminal.
无线发送模块的设置能够将检测数据和/或检测数据处理模块处理之后的数据发送到上位机或移动终端,采用无线通讯,安装使用时无需费时费力拆卸或修改拖拉机部分结构、布置各类数据线,操作简单,是一种易于安装拆卸、受泥水干扰小、能提高检测精度和检测实时性、无线传输、便于用户实时查看拖拉机行驶时打滑率和下陷深度显示数据的检测装置。The setting of the wireless sending module can send the detection data and/or the data processed by the detection data processing module to the host computer or mobile terminal. Using wireless communication, it does not need to be time-consuming and laborious to disassemble or modify part of the tractor structure and arrange various data lines during installation and use. It is a detection device that is easy to install and disassemble, less disturbed by mud and water, can improve detection accuracy and real-time detection, wireless transmission, and is convenient for users to view the display data of slip rate and subsidence depth when the tractor is running in real time.
本发明的优点在于:The advantages of the present invention are:
1.本发明中的水田拖拉机打滑率和下陷深度检测装置在实际应用时,整个装置通过主挂载架部件安装在拖拉机主梁上,拖拉机行驶时,输出轴转速检测模块检测拖拉机驱动主轴转速,轮式测速模块检测拖拉机实际行驶速度,二者分别将检测的数据传输至检测数据处理模块,即可得出打滑率,下陷深度检测模块则能够检测拖拉机的下陷深度,相对于现有技术,检测水田拖拉机打滑率和下陷深度时不会受到泥水干扰,因而检测精度较高。1. When the paddy field tractor slip rate and subsidence depth detection device of the present invention is in practical application, the whole device is installed on the main beam of the tractor through the main carriage component, and when the tractor is running, the output shaft rotational speed detection module detects the rotational speed of the tractor driving main shaft, The wheeled speed measuring module detects the actual driving speed of the tractor, and the two transmit the detected data to the detection data processing module respectively, and then the slip rate can be obtained. The subsidence depth detection module can detect the subsidence depth of the tractor. Compared with the prior art, the detection The slip rate and subsidence depth of the paddy tractor will not be disturbed by mud and water, so the detection accuracy is high.
2.实际安装时,只需将主挂载架部件通过U形夹持口卡在拖拉机主梁上,将强磁铁隔着竖板吸在拖拉机主梁上即可实现主挂载架部件的安装,安装可靠且装拆方便。2. During the actual installation, only need to clamp the main carriage parts on the tractor main beam through the U-shaped clamping port, and suck the strong magnet on the tractor main beam through the vertical plate to realize the installation of the main carriage parts. , The installation is reliable and easy to assemble and disassemble.
3.方形定位块能够限制侧板防止其发生转动,与螺钉配合则可实现侧板的固定安装,安装牢固、装拆方便。3. The square positioning block can limit the side plate to prevent it from rotating, and can realize the fixed installation of the side plate in cooperation with the screw, which is firm in installation and convenient in assembly and disassembly.
4.拖拉机驱动主轴转动时,能够带动驱动轴花盘、卡爪、花盘固定环、花盘轴同步转动,主轴编码器则能够检测花盘轴转速,即拖拉机驱动主轴转速,其检测不受泥水因素影响,因而检测精度较高。4. When the tractor drives the spindle to rotate, it can drive the drive shaft faceplate, jaws, faceplate fixing ring, and faceplate shaft to rotate synchronously, and the spindle encoder can detect the speed of the faceplate shaft, that is, the speed of the tractor driving spindle, and its detection is not affected by mud and water factors. Therefore, the detection accuracy is high.
5.拖拉机运行时,测速轮随之行走,测速轮的半径以及测速轮中心至摆臂摆动轴的距离是已知的,摆臂编码器检测摆臂摆动角度,即可得到下陷深度,而测速编码器则同时能够检测测速轮的转速,因而得到拖拉机的行驶速度,此时,其与拖拉机驱动主轴转速均为已知的,则可得到打滑率,检测过程不受泥水因素影响,因而检测精度较高。5. When the tractor is running, the speed-measuring wheel moves along with it. The radius of the speed-measuring wheel and the distance from the center of the speed-measuring wheel to the swing shaft of the swing arm are known. The swing arm encoder detects the swing angle of the swing arm to obtain the subsidence depth. At the same time, the encoder can detect the speed of the tachometer wheel, so as to obtain the driving speed of the tractor. At this time, the speed of the tractor and the driving spindle of the tractor are known, and the slip rate can be obtained. The detection process is not affected by mud and water factors, so the detection accuracy higher.
6.在压轮件的作用下,如利用配重块或者压簧对摆臂施加压力,或者利用拉簧对摆臂施加拉力,均可使测速轮具有下压地面的趋势,进而使其紧压在地面,以确保与拖拉机保持同步运动,保证检测准确性。6. Under the action of the pressure wheel, such as using a counterweight or a compression spring to apply pressure to the swing arm, or using a tension spring to apply tension to the swing arm, the speed measuring wheel can have a tendency to press down on the ground, thereby making it tight. Press on the ground to ensure synchronized movement with the tractor and ensure detection accuracy.
7.防滑凸起能够确保测速轮运动时打滑,与拖拉机保持同步运动,保证检测准确性。7. The anti-skid bumps can ensure that the speed measuring wheel slips when it moves, and keeps moving in synchronization with the tractor to ensure the detection accuracy.
8.无线发送模块的设置能够将检测数据和/或检测数据处理模块处理之后的数据发送到上位机或移动终端,采用无线通讯,安装使用时无需费时费力拆卸或修改拖拉机部分结构、布置各类数据线,操作简单,是一种易于安装拆卸、受泥水干扰小、能提高检测精度和检测实时性、无线传输、便于用户实时查看拖拉机行驶时打滑率和下陷深度显示数据的检测装置。8. The setting of the wireless sending module can send the detection data and/or the data processed by the detection data processing module to the host computer or mobile terminal. Using wireless communication, it does not need to be time-consuming and laborious to disassemble or modify part of the tractor structure and arrange various types of installation and use. The data cable is simple to operate. It is a detection device that is easy to install and disassemble, less disturbed by mud and water, can improve detection accuracy and real-time detection, wireless transmission, and facilitate users to view the displayed data of the slip rate and subsidence depth of the tractor in real time.
附图说明Description of drawings
图1为本发明实施例中水田拖拉机打滑率和下陷深度检测装置的示意图;1 is a schematic diagram of a device for detecting slip rate and subsidence depth of a paddy field tractor in an embodiment of the present invention;
图2为本发明实施例中水田拖拉机打滑率和下陷深度检测装置的爆炸图;2 is an exploded view of a device for detecting slippage and subsidence depth of a paddy field tractor in an embodiment of the present invention;
图3为本发明实施例中主挂载架部件的示意图;FIG. 3 is a schematic diagram of a main carriage component in an embodiment of the present invention;
图4为本发明实施例中输出轴转速检测模块的爆炸图;4 is an exploded view of an output shaft rotational speed detection module in an embodiment of the present invention;
图5为本发明实施例中下陷深度检测模块的示意图;5 is a schematic diagram of a subsidence depth detection module in an embodiment of the present invention;
图6为本发明实施例中轮式测速模块的示意图;6 is a schematic diagram of a wheeled speed measuring module in an embodiment of the present invention;
其中,in,
主挂载架部件-1、竖板-11、夹持板-12、强磁铁-13、侧板-14、侧板支撑柱-15、拉簧固定柱-16、方形定位块-151;Main rack component-1, vertical plate-11, clamping plate-12, strong magnet-13, side plate-14, side plate support column-15, tension spring fixing column-16, square positioning block-151;
输出轴转速检测模块-2、主轴编码器-21、驱动轴花盘-22、卡爪-23、花盘固定环-24、花盘轴-25;Output shaft speed detection module-2, spindle encoder-21, drive shaft faceplate-22, jaw-23, faceplate fixing ring-24, faceplate shaft-25;
下陷深度检测模块-3、摆臂-31、摆臂编码器-32、压轮件-33;Subsidence depth detection module-3, swing arm-31, swing arm encoder-32, pressing wheel-33;
轮式测速模块-4、测速轮-41、测速编码器-42、轴承座-43、防滑凸起-411;Wheel speed measuring module-4, speed measuring wheel-41, speed measuring encoder-42, bearing seat-43, anti-skid protrusion-411;
检测数据处理模块-5;Detection data processing module-5;
拖拉机主梁-6;Tractor main beam -6;
拖拉机驱动主轴-7;Tractor Drive Spindle-7;
电池-8。Battery-8.
具体实施方式Detailed ways
为使本发明实施例的目的、技术方案和优点更加清楚,下面将结合本发明实施例,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are part of the present invention. examples, but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
如图1、2所示,一种水田拖拉机打滑率和下陷深度检测装置,包括主挂载架部件1、输出轴转速检测模块2、下陷深度检测模块3、轮式测速模块4、检测数据处理模块5、无线发送模块。As shown in Figures 1 and 2, a device for detecting the slip rate and subsidence depth of a paddy tractor includes a
如图1所示,所述主挂载架部件1设置在拖拉机主梁6上,所述输出轴转速检测模块2、下陷深度检测模块3均设置在主挂载架部件1上,输出轴转速检测模块2连接至拖拉机驱动主轴7以检测拖拉机驱动主轴7转速。As shown in FIG. 1 , the
如图1所示,所述轮式测速模块4设置在下陷深度检测模块3上以检测拖拉机行驶速度,所述输出轴转速检测模块2、下陷深度检测模块3、轮式测速模块4能够将检测数据传输至检测数据处理模块5。As shown in FIG. 1 , the wheeled
如图3所示,所述主挂载架部件1包括竖板11,竖板11为矩形,拐角处倒角,竖板11的内侧设置一对矩形的夹持板12,两夹持板12一上一下,两夹持板12之间形成U形夹持口,U形夹持口夹持在拖拉机主梁6的一侧,所述竖板11与夹持板12可以是一体的,二者也可通过焊接或者螺钉连接的方式组装在一起;所述竖板11的外侧设置有矩形的强磁铁13,强磁铁13能够将竖板11吸在拖拉机主梁6上;所述竖板11的外侧还设置有长条形的侧板14,所述输出轴转速检测模块2设置在侧板14上。As shown in FIG. 3 , the
进一步的,如图3所示,所述竖板11的外侧设置有侧板支撑柱15,侧板支撑柱15呈长方体形状,侧板支撑柱15设置在竖板11的外侧中间位置,侧板支撑柱15通过螺钉连接或者焊接的方式安装在竖板11的外侧,侧板支撑柱15端部设置有方形定位块151,所述侧板14上设置有与方形定位块 151配合的方孔,方孔套在方形定位块151上,所述侧板14通过螺钉安装至侧板支撑柱15上。Further, as shown in FIG. 3 , the outer side of the
如图3所示,所述强磁铁13设置两块,一上一下,分别位于侧板支撑柱15的上方和下方。As shown in FIG. 3 , the
如图4所示,所述输出轴转速检测模块2包括设置在主挂载架部件1 上的主轴编码器21,具体的,所述主轴编码器21安装在侧板14的端部,还包括圆形的驱动轴花盘22,驱动轴花盘22的圆周边缘处设置有卡爪23,本实施例中,所述卡爪23设置八个,所有卡爪23沿驱动轴花盘22的圆周边缘轴向均匀分布,卡爪23外端向拖拉机驱动主轴7一侧弯曲,所述驱动轴花盘22通过卡爪23卡在拖拉机驱动主轴7端部;卡爪23外部设置有花盘固定环24,本实施例中,所述花盘固定环24包括四段相同的圆弧形抱箍,相邻两个抱箍之间通过螺栓螺母连接,四段抱箍组合之后,即可将卡爪23 固定在拖拉机驱动主轴7上,花盘固定环24能够将驱动轴花盘22固定在拖拉机驱动主轴7端部;驱动轴花盘22外侧设置有花盘轴25,花盘轴25与拖拉机驱动主轴7同轴,所述花盘轴25连接至主轴编码器21。所述花盘轴25靠近驱动轴花盘22的一端设置有连接凸缘,连接凸缘通过螺钉连接或者焊接的方式安装在驱动轴花盘22上,以实现将花盘轴25安装在驱动轴花盘22上,花盘轴25为阶梯轴。As shown in FIG. 4 , the output shaft rotational
如图5所示,所述下陷深度检测模块3包括摆动安装在主挂载架部件1 上的摆臂31,摆臂31为长条形,所述竖板11的外侧下部设置有圆柱形的支撑柱,所述摆臂31转动安装在支撑柱上,摆臂31的摆动轴线平行于拖拉机驱动主轴7,所述摆臂31与主挂载架部件1之间设置有能够检测摆臂 31摆动角度的摆臂编码器32,具体的,所述摆臂编码器32安装在摆臂31 上,且摆臂编码器32与圆柱形的支撑柱同轴并与之连接。As shown in FIG. 5 , the subsidence
如图1、6所示,所述轮式测速模块4包括转动安装在摆臂31端部的测速轮41,以拖拉机的运行方向为前,所述测速轮41安装在摆臂31的后端,测速轮41轴线平行于摆臂31的摆动轴线,所述摆臂31端部与测速轮 41之间设置有测速编码器42。具体的,所述测速轮41的转轴通过轴承座 43转动安装在摆臂31上,所述测速编码器42安装在摆臂31上,且测速编码器42与测速轮41的转轴同轴,测速轮41的转轴与测速编码器42连接。As shown in FIGS. 1 and 6 , the wheeled
如图5所示,所述摆臂31上设置有压轮件33,所述压轮件33能够使测速轮41具有下压地面的趋势。As shown in FIG. 5 , the
具体的,所述压轮件33为设置在摆臂31上的配重块(图中未示出)。配重块安装在摆臂31的后部,起到压紧测速轮41的作用。Specifically, the
或者,所述压轮件33为设置在摆臂31与主挂载架部件1之间的拉簧或者压簧。如图1、3、5所示,本实施例中,所述竖板11的外侧上部设置有拉簧固定柱16,使用拉簧时,拉簧的两端分别连接在拉簧固定柱16上以及摆臂31的前端。Alternatively, the
或者,所述压轮件33也可采用限拉弹簧器,限拉弹簧器的两端分别铰接在拉簧固定柱16上以及摆臂31的前端,铰接轴均平行于摆臂31的摆动轴线。限拉弹簧器为两层圆柱形套筒状结构,内层圆柱相对外层圆筒的长度可以缩短或伸长,内部设有处于拉伸状态的弹簧。Alternatively, the
如图6所示,所述测速轮41的轮面设置有防滑凸起411。As shown in FIG. 6 , the wheel surface of the
无线发送模块能够将检测数据和/或检测数据处理模块5处理之后的数据发送到上位机或移动终端,本实施例中,所述检测数据处理模块5采用 PLC,无线发送模块为现有技术,检测数据处理模块5与无线发送模块集成,集成后的检测数据处理模块5及无线发送模块安装在侧板14上。The wireless transmission module can send the detection data and/or the data processed by the detection
进一步的,集成后的检测数据处理模块5及无线发送模块上还设置有电池8,为各个耗电部件供电。Further, the integrated detection
工作原理:working principle:
如图1所示,本发明中的水田拖拉机打滑率和下陷深度检测装置在实际应用时,整个装置通过主挂载架部件1安装在拖拉机主梁6上,拖拉机行驶时,输出轴转速检测模块2检测拖拉机驱动主轴7转速,轮式测速模块4检测拖拉机实际行驶速度,二者分别将检测的数据传输至检测数据处理模块5,即可得出打滑率,检测出拖拉机驱动主轴7转速以及拖拉机实际行驶速度后,检测数据处理模块5即可计算出打滑率,其计算方式为现有技术,下陷深度检测模块3则能够检测拖拉机的下陷深度,相对于现有技术,检测水田拖拉机打滑率和下陷深度时不会受到泥水干扰,因而检测精度较高。As shown in Fig. 1, when the paddy field tractor slip rate and subsidence depth detection device of the present invention is in practical application, the whole device is installed on the
实际安装时,只需将主挂载架部件1通过U形夹持口卡在拖拉机主梁6 上,将强磁铁13隔着竖板11吸在拖拉机主梁6上即可实现主挂载架部件1 的安装,安装可靠且装拆方便。In actual installation, only the
方形定位块151能够限制侧板14防止其发生转动,与螺钉配合则可实现侧板14的固定安装,安装牢固、装拆方便。The
拖拉机驱动主轴7转动时,能够带动驱动轴花盘22、卡爪23、花盘固定环24、花盘轴25同步转动,主轴编码器21则能够检测花盘轴25转速,即拖拉机驱动主轴7转速,其检测不受泥水因素影响,因而检测精度较高。When the tractor drives the
拖拉机运行时,测速轮41随之行走,测速轮41的半径以及测速轮41 中心至摆臂31摆动轴的距离是已知的,摆臂编码器32检测摆臂31摆动角度,即可得到下陷深度,下陷深度的计算方式为现有技术,而测速编码器 42则同时能够检测测速轮41的转速,因而得到拖拉机的行驶速度,此时,其与拖拉机驱动主轴7转速均为已知的,则可得到打滑率,检测过程不受泥水因素影响,因而检测精度较高。When the tractor is running, the speed-measuring
在压轮件33的作用下,如利用配重块或者压簧对摆臂31施加压力,或者利用拉簧对摆臂31施加拉力,均可使测速轮41具有下压地面的趋势,进而使其紧压在地面,以确保与拖拉机保持同步运动,保证检测准确性。Under the action of the
防滑凸起411能够确保测速轮41运动时打滑,与拖拉机保持同步运动,保证检测准确性。The
无线发送模块的设置能够将检测数据和/或检测数据处理模块5处理之后的数据发送到上位机或移动终端,采用无线通讯,安装使用时无需费时费力拆卸或修改拖拉机部分结构、布置各类数据线,操作简单,是一种易于安装拆卸、受泥水干扰小、能提高检测精度和检测实时性、无线传输、便于用户实时查看拖拉机行驶时打滑率和下陷深度显示数据的检测装置。The setting of the wireless sending module can send the detection data and/or the data processed by the detection
以上实施例仅用以说明本发明的技术方案,而非对其限制;尽管参照前述实施例对本发明进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。The above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The recorded technical solutions are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202011235541.4A CN112326268A (en) | 2020-11-06 | 2020-11-06 | Paddy field tractor slips rate and sunken degree detection device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202011235541.4A CN112326268A (en) | 2020-11-06 | 2020-11-06 | Paddy field tractor slips rate and sunken degree detection device |
Publications (1)
Publication Number | Publication Date |
---|---|
CN112326268A true CN112326268A (en) | 2021-02-05 |
Family
ID=74316417
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202011235541.4A Pending CN112326268A (en) | 2020-11-06 | 2020-11-06 | Paddy field tractor slips rate and sunken degree detection device |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN112326268A (en) |
Citations (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB742481A (en) * | 1952-12-16 | 1955-12-30 | John Richard Warburton | An improved linkage device for coupling a trailing implement to a tractor |
CN103713535A (en) * | 2013-12-26 | 2014-04-09 | 盐城市盐海拖拉机制造有限公司 | Electric suspension control device of tractor |
CN104198200A (en) * | 2014-08-08 | 2014-12-10 | 江苏大学 | Test method of slippage rate of tractor |
CN204882084U (en) * | 2015-06-25 | 2015-12-16 | 浙江省农业机械研究院 | Tractor rate detection device that skids |
CN106813717A (en) * | 2017-02-08 | 2017-06-09 | 中国科学院合肥物质科学研究院 | A kind of soil real-time detection apparatus |
CN107228771A (en) * | 2017-07-17 | 2017-10-03 | 中国农业大学 | A kind of tractor cultivation operation performance test and control system and method |
CN206724933U (en) * | 2017-03-25 | 2017-12-08 | 南通力联自动化科技有限公司 | A kind of depression amount detecting device for beach wagon |
CN107933558A (en) * | 2017-12-11 | 2018-04-20 | 中国科学院深圳先进技术研究院 | A kind of wetland traveling apparatus for work and its control method |
KR101869466B1 (en) * | 2018-02-19 | 2018-06-20 | 충남대학교산학협력단 | Depth Control System and Same Method for Working Machine using Traction and Slip Rate of Tractor |
CN207790682U (en) * | 2017-12-11 | 2018-08-31 | 中国科学院深圳先进技术研究院 | A kind of wetland traveling apparatus for work |
CN108572259A (en) * | 2017-03-09 | 2018-09-25 | 华东交通大学 | A new type of locomotive speed measuring device |
CN108956177A (en) * | 2018-04-12 | 2018-12-07 | 吉林大学 | A kind of dynamic performance matching test device of tractor driving agricultural machinery and implement |
CN109765396A (en) * | 2019-03-20 | 2019-05-17 | 洛阳西苑车辆与动力检验所有限公司 | A kind of quick speed measuring device of used with tractor encoder and speed-measuring method |
CN111077284A (en) * | 2019-12-23 | 2020-04-28 | 华南农业大学 | Paddy field plough bottom information continuous sensing device and method |
CN111272451A (en) * | 2020-02-27 | 2020-06-12 | 农业农村部南京农业机械化研究所 | Tracked vehicle steering slip rate and slip rate monitoring system and using method thereof |
CN111855225A (en) * | 2020-05-07 | 2020-10-30 | 江苏省农业机械试验鉴定站 | Method for measuring slip ratio of four-wheel drive tractor |
-
2020
- 2020-11-06 CN CN202011235541.4A patent/CN112326268A/en active Pending
Patent Citations (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB742481A (en) * | 1952-12-16 | 1955-12-30 | John Richard Warburton | An improved linkage device for coupling a trailing implement to a tractor |
CN103713535A (en) * | 2013-12-26 | 2014-04-09 | 盐城市盐海拖拉机制造有限公司 | Electric suspension control device of tractor |
CN104198200A (en) * | 2014-08-08 | 2014-12-10 | 江苏大学 | Test method of slippage rate of tractor |
CN204882084U (en) * | 2015-06-25 | 2015-12-16 | 浙江省农业机械研究院 | Tractor rate detection device that skids |
CN106813717A (en) * | 2017-02-08 | 2017-06-09 | 中国科学院合肥物质科学研究院 | A kind of soil real-time detection apparatus |
CN108572259A (en) * | 2017-03-09 | 2018-09-25 | 华东交通大学 | A new type of locomotive speed measuring device |
CN206724933U (en) * | 2017-03-25 | 2017-12-08 | 南通力联自动化科技有限公司 | A kind of depression amount detecting device for beach wagon |
CN107228771A (en) * | 2017-07-17 | 2017-10-03 | 中国农业大学 | A kind of tractor cultivation operation performance test and control system and method |
CN107933558A (en) * | 2017-12-11 | 2018-04-20 | 中国科学院深圳先进技术研究院 | A kind of wetland traveling apparatus for work and its control method |
CN207790682U (en) * | 2017-12-11 | 2018-08-31 | 中国科学院深圳先进技术研究院 | A kind of wetland traveling apparatus for work |
KR101869466B1 (en) * | 2018-02-19 | 2018-06-20 | 충남대학교산학협력단 | Depth Control System and Same Method for Working Machine using Traction and Slip Rate of Tractor |
CN108956177A (en) * | 2018-04-12 | 2018-12-07 | 吉林大学 | A kind of dynamic performance matching test device of tractor driving agricultural machinery and implement |
CN109765396A (en) * | 2019-03-20 | 2019-05-17 | 洛阳西苑车辆与动力检验所有限公司 | A kind of quick speed measuring device of used with tractor encoder and speed-measuring method |
CN111077284A (en) * | 2019-12-23 | 2020-04-28 | 华南农业大学 | Paddy field plough bottom information continuous sensing device and method |
CN111272451A (en) * | 2020-02-27 | 2020-06-12 | 农业农村部南京农业机械化研究所 | Tracked vehicle steering slip rate and slip rate monitoring system and using method thereof |
CN111855225A (en) * | 2020-05-07 | 2020-10-30 | 江苏省农业机械试验鉴定站 | Method for measuring slip ratio of four-wheel drive tractor |
Non-Patent Citations (6)
Title |
---|
T. PATEL;: "《Software for performance prediction and matching of tractor-implement system》", 《2012 3RD NATIONAL CONFERENCE ON EMERGING TRENDS AND APPLICATIONS IN COMPUTER SCIENCE》 * |
XIONG ZHE HAN: "《Path-tracking simulation and field tests for an auto-guidance tillage tractor for a paddy field》", 《COMPUTERS AND ELECTRONICS IN AGRICULTURE》 * |
周慧: "《四轮驱动拖拉机滑转率的测量与特性分析》", 《山东农业大学学报(自然科学版)》 * |
张建锋: "《我国水田动力机械发展概述》", 《拖拉机与农用运输车 》 * |
李范哲: "《小型拖拉机在水田作业时的通过性能》", 《 农业机械学报 》 * |
胡炼: "《农机具自动调平控制系统设计与试验》", 《农业工程学报》 * |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN104122408B (en) | A kind of velocity measuring device for wheeled carriage under water | |
CN201110756Y (en) | Device for measuring continuous vertical deflection/displacement | |
WO2020073407A1 (en) | Gate detection robot based on giant magnetoresistance element and detection method | |
CN101691995A (en) | Stereovision-based method and stereovision-based device for detecting vehicle wheelbase difference | |
CN110986809A (en) | Method and device for measuring radial clearance of motor bearing assembly | |
CN112326268A (en) | Paddy field tractor slips rate and sunken degree detection device | |
CN204028103U (en) | A kind of velocity measuring device for wheeled carriage under water | |
CN204116375U (en) | A kind of device for testing elevator traction machine rotating speed | |
CN203003096U (en) | Split-type roll gap measuring device of continuous casting machine | |
CN214530087U (en) | Road surface roughness detection device for municipal road engineering | |
CN201126361Y (en) | Portable railway wheel out-of-roundness and diameter measuring device | |
CN110815194A (en) | Displacement detection wheel, robot chassis and mobile robot | |
CN114889671A (en) | A multi-parameter measuring device suitable for hilly and mountain tracks | |
CN203518992U (en) | Reel static settlement detection device of combine harvester | |
US20120048052A1 (en) | Apparatus, system, and method for scanning a surface | |
CN217001813U (en) | Oil well ranging system | |
CN100447528C (en) | Pose measuring plane sensor | |
CN210638682U (en) | Angle detection device applying servo motor | |
CN212254172U (en) | House engineering plane mapping device | |
CN222318061U (en) | Roller distance measuring device | |
CN216714665U (en) | Pump head roller assembly of peristaltic pump | |
CN220454580U (en) | Slope detection device for supervision | |
CN201356766Y (en) | Guide-stick for the blind | |
CN221945297U (en) | A Doppler flow detection device | |
CN207649569U (en) | A kind of circle bounce balance detecting device |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210205 |
|
RJ01 | Rejection of invention patent application after publication |