CN114051783A - Five-axis full-attitude control suspension lifting device for large power platform - Google Patents
Five-axis full-attitude control suspension lifting device for large power platform Download PDFInfo
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- CN114051783A CN114051783A CN202111348253.4A CN202111348253A CN114051783A CN 114051783 A CN114051783 A CN 114051783A CN 202111348253 A CN202111348253 A CN 202111348253A CN 114051783 A CN114051783 A CN 114051783A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
- A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
- A01B63/111—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means regulating working depth of implements
- A01B63/1112—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means regulating working depth of implements using a non-tactile ground distance measurement, e.g. using reflection of waves
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
- A01B63/023—Lateral adjustment of their tools
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
- A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
- A01B63/1006—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means the hydraulic or pneumatic means structurally belonging to the tractor
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
- A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
- A01B63/111—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means regulating working depth of implements
- A01B63/114—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means regulating working depth of implements to achieve a constant working depth
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Lifting Devices For Agricultural Implements (AREA)
Abstract
The invention discloses a five-axis full-attitude control suspension lifting device for a large power platform, which comprises a left traction rod and a right traction rod, wherein a left vertical lifting hydraulic cylinder is hinged between the left traction rod and the top end of a rear axle of the large power platform; a right vertical lifting hydraulic cylinder is hinged between the right traction rod and the top end of the rear axle of the large power platform; a central longitudinal pulling hydraulic cylinder is hinged between the top of the frame of the operation machine and the middle of the rear axle of the large power platform; a left horizontal attitude hydraulic cylinder is hinged between the outer side surface of the left traction rod and the bottom end of the large power platform rear axle, and a right horizontal attitude hydraulic cylinder is hinged between the outer side surface of the right traction rod and the bottom end of the large power platform rear axle; the system also comprises a control system; under the control of the control system, the central longitudinal pulling hydraulic cylinder, the two vertical lifting hydraulic cylinders and the two horizontal posture hydraulic cylinders act in a coordinated mode to adapt to different working conditions, and power transmission and full posture regulation and control between the large power platform and the working machine are achieved according to real-time working conditions.
Description
Technical Field
The invention relates to a suspension device, in particular to a five-axis full-attitude control suspension lifting device for a large power platform.
Background
The suspension lifting device is a key part for power transmission and posture regulation between a large tractor or a large power platform and an operation device, and has wide application in the operation of modern agricultural machinery or walking machinery. The power transmission and the attitude regulation level and reliability directly influence the operation quality or the safety of operators in the operation process. At present, traditional large tractor's lift device that hangs is by last pull rod, the vertical lift pneumatic cylinder, the lifting arm, the lifting rod, the lower pull rod is constituteed, the operation in-process can carry out synchronous lift adjustment at the perpendicular to direction of advance to agricultural implement through the vertical lift pneumatic cylinder, the gesture regulation and control is single, the current complicated operation operating mode of unable adaptation, especially at hills mountain land topography operation in-process, often can touch the topography and fluctuate, the height is uneven, the ridge, the condition such as short-term topography sudden change and resistance sudden change such as root of a tree, can not regulate and control the real-time gesture of operation machines according to the topography, not only influence the operating quality, can damage the operation machines even. In addition, the vertical lifting hydraulic cylinder has more power transmission links, and the attitude control precision and the transmission efficiency are lower.
Disclosure of Invention
The invention aims to solve the technical problem of providing a five-axis full-attitude control suspension lifting device for a large power platform, which can adapt to various operating conditions.
In order to solve the technical problems, the technical scheme of the invention is as follows: the five-axis full-attitude control suspension lifting device for the large power platform comprises a left traction rod and a right traction rod which are hinged between the bottom end of a rear axle of the large power platform and the bottom end of a frame of an operating machine, wherein a left vertical lifting hydraulic cylinder is hinged between the left traction rod and the top end of the rear axle of the large power platform; a right vertical lifting hydraulic cylinder is hinged between the right traction rod and the top end of the rear axle of the large power platform; a central longitudinal pulling hydraulic cylinder is hinged between the top of the frame of the working machine and the middle of the rear axle of the large power platform and is positioned between the left vertical lifting hydraulic cylinder and the right vertical lifting hydraulic cylinder;
a left horizontal attitude hydraulic cylinder is hinged between the outer side surface of the left traction rod and the bottom end of the large power platform rear axle, and a right horizontal attitude hydraulic cylinder is hinged between the outer side surface of the right traction rod and the bottom end of the large power platform rear axle;
the control system is connected with control ports of the central longitudinal pulling hydraulic cylinder, the left horizontal posture hydraulic cylinder, the right horizontal posture hydraulic cylinder, the left vertical lifting hydraulic cylinder and the right vertical lifting hydraulic cylinder.
As a preferred technical scheme, one end of the left traction rod is hinged with the frame of the operation machine, and the other end of the left traction rod is connected with the rear axle of the large power platform through a spherical hinge.
As a preferred technical scheme, one end of the right traction rod is hinged with the frame of the operation machine, and the other end of the right traction rod is connected with the rear axle of the large power platform through a spherical hinge.
As an optimal technical scheme, a hinged seat is fixedly installed on the outer side of the left traction rod, a hinged seat is fixedly installed at the bottom end of the rear axle of the large power platform, and the left horizontal posture hydraulic cylinder is hinged between the two hinged seats.
As an optimal technical scheme, a hinged seat is fixedly installed on the outer side of the right traction rod, a hinged seat is fixedly installed at the bottom end of the rear axle of the large power platform, and the right horizontal posture hydraulic cylinder is hinged between the two hinged seats.
As an optimal technical scheme, the central longitudinal pulling hydraulic cylinder, the left horizontal posture hydraulic cylinder, the right horizontal posture hydraulic cylinder, the left vertical lifting hydraulic cylinder and the right vertical lifting hydraulic cylinder are all double-acting hydraulic cylinders.
As a preferred technical scheme, a shaft pin type force sensor is arranged at the joint between the left traction rod and the frame of the operation machine tool; a shaft pin type force sensor is arranged at the joint between the right traction rod and the frame of the operation machine tool; and the signal output end of the shaft pin type force sensor is connected with the control system.
As a preferable technical scheme, the control system includes a controller, and a signal output end of the controller is connected to control ports of the central longitudinal pulling hydraulic cylinder, the left horizontal posture hydraulic cylinder, the right horizontal posture hydraulic cylinder, the left vertical lifting hydraulic cylinder, and the right vertical lifting hydraulic cylinder.
As a preferred technical scheme, the central longitudinal pulling hydraulic cylinder, the left horizontal attitude hydraulic cylinder, the right horizontal attitude hydraulic cylinder, the left vertical lifting hydraulic cylinder and the right vertical lifting hydraulic cylinder are all internally provided with a position sensor, and the signal output ends of all the position sensors are connected with the signal input end of the controller.
As a preferred technical scheme, two distance sensors are symmetrically installed at the bottom end of the frame of the operation machine, and the signal output ends of the distance sensors are connected with the signal input end of the controller.
By adopting the technical scheme, the five-axis full-attitude control suspension lifting device for the large power platform comprises a left traction rod and a right traction rod which are hinged between the bottom end of a rear axle of the large power platform and the bottom end of a frame of an operating machine, wherein a left vertical lifting hydraulic cylinder is hinged between the left traction rod and the top end of the rear axle of the large power platform; a right vertical lifting hydraulic cylinder is hinged between the right traction rod and the top end of the rear axle of the large power platform; a central longitudinal pulling hydraulic cylinder is hinged between the top of the frame of the working machine and the middle of the rear axle of the large power platform and is positioned between the left vertical lifting hydraulic cylinder and the right vertical lifting hydraulic cylinder; a left horizontal attitude hydraulic cylinder is hinged between the outer side surface of the left traction rod and the bottom end of the large power platform rear axle, and a right horizontal attitude hydraulic cylinder is hinged between the outer side surface of the right traction rod and the bottom end of the large power platform rear axle; the control system is connected with control ports of the central longitudinal pulling hydraulic cylinder, the left horizontal posture hydraulic cylinder, the right horizontal posture hydraulic cylinder, the left vertical lifting hydraulic cylinder and the right vertical lifting hydraulic cylinder; under the control of the control system, the central longitudinal pulling hydraulic cylinder, the two vertical lifting hydraulic cylinders and the two horizontal posture hydraulic cylinders are controlled to act in a coordinated mode so as to adapt to different working conditions, and power transmission and full posture regulation and control between the large power platform and the working machine are achieved according to real-time working conditions.
Drawings
The drawings are only for purposes of illustrating and explaining the present invention and are not to be construed as limiting the scope of the present invention. Wherein:
FIG. 1 is a perspective view of an embodiment of the present invention;
FIG. 2 is an internal cross-sectional view of a double acting hydraulic cylinder according to an embodiment of the present invention;
in the figure: 11-left tow bar; 12-right tow bar; 21-left horizontal attitude hydraulic cylinder; 22-right horizontal attitude hydraulic cylinder; 3-a central longitudinal pulling hydraulic cylinder; 41-left vertical lift hydraulic cylinder; 42-right vertical lift cylinder; 5-large power platform rear axle; 6-a work implement frame; 7-axis pin type force sensor; 8-position sensor.
Detailed Description
The invention is further illustrated below with reference to the figures and examples. In the following detailed description, certain exemplary embodiments of the present invention are described by way of illustration only. Needless to say, a person skilled in the art realizes that the described embodiments can be modified in various different ways without departing from the spirit and scope of the present invention. Accordingly, the drawings and description are illustrative in nature and not intended to limit the scope of the claims.
As shown in fig. 1 and 2, the five-axis full-attitude control suspension lifting device for the large power platform comprises a left traction rod 11 and a right traction rod 12 which are hinged between the bottom end of a rear axle 5 of the large power platform and the bottom end of a frame 6 of a working machine, wherein a left vertical lifting hydraulic cylinder 41 is hinged between the left traction rod 11 and the top end of the rear axle 5 of the large power platform; a right vertical lifting hydraulic cylinder 42 is hinged between the right traction rod 12 and the top end of the large power platform rear axle 5; a central longitudinal pulling hydraulic cylinder 3 is hinged between the top of the working machine frame 6 and the middle of the large power platform rear axle 5, and the central longitudinal pulling hydraulic cylinder 3 is positioned between the left vertical lifting hydraulic cylinder 41 and the right vertical lifting hydraulic cylinder 42; a left horizontal posture hydraulic cylinder 21 is hinged between the outer side surface of the left traction rod 11 and the bottom end of the large power platform rear axle 5, and a right horizontal posture hydraulic cylinder 22 is hinged between the outer side surface of the right traction rod 12 and the bottom end of the large power platform rear axle 5; the hydraulic control system is characterized by further comprising a control system connected with control ports of the central longitudinal pulling hydraulic cylinder 3, the left horizontal posture hydraulic cylinder 21, the right horizontal posture hydraulic cylinder 22, the left vertical lifting hydraulic cylinder 41 and the right vertical lifting hydraulic cylinder 42.
One end of the left traction rod 11 is hinged with the operation machine frame 6, and the other end of the left traction rod 11 is connected with the large power platform rear axle 5 through a spherical hinge. One end of the right traction rod 12 is hinged with the operation machine frame 6, and the other end of the right traction rod 12 is connected with the large power platform rear axle 5 through a spherical hinge. The outer side of the left traction rod 11 is fixedly provided with a hinged seat, the bottom end of the large power platform rear axle 5 is fixedly provided with a hinged seat, and the left horizontal posture hydraulic cylinder 21 is hinged between the two hinged seats. The outer side of the right traction rod 12 is fixedly provided with a hinged seat, the bottom end of the large power platform rear axle 5 is fixedly provided with a hinged seat, and the right horizontal posture hydraulic cylinder 22 is hinged between the two hinged seats.
The central longitudinal pulling hydraulic cylinder 3, the left horizontal posture hydraulic cylinder 21, the right horizontal posture hydraulic cylinder 22, the left vertical lifting hydraulic cylinder 41 and the right vertical lifting hydraulic cylinder 42 are all double-acting hydraulic cylinders. A shaft pin type force sensor 7 is arranged at the joint between the left traction rod 11 and the working machine frame 6; a shaft pin type force sensor 7 is arranged at the joint between the right traction rod 12 and the working machine frame 6; and the signal output end of the pin type force sensor 7 is connected with the control system.
The control system comprises a controller, and the signal output end of the controller is connected with the control ports of the central longitudinal pulling hydraulic cylinder 3, the left horizontal posture hydraulic cylinder 21, the right horizontal posture hydraulic cylinder 22, the left vertical lifting hydraulic cylinder 41 and the right vertical lifting hydraulic cylinder 42. The central longitudinal pulling hydraulic cylinder 3, the left horizontal posture hydraulic cylinder 21, the right horizontal posture hydraulic cylinder 22, the left vertical lifting hydraulic cylinder 41 and the right vertical lifting hydraulic cylinder 42 are all internally provided with a position sensor 8, and the signal output ends of the position sensors 8 are all connected with the signal input end of the controller. Two distance sensors are symmetrically installed at the bottom end of the operating machine frame 6, and signal output ends of the distance sensors are connected with a signal input end of the controller.
The working principle is as follows:
the suspension lifting device controls the central longitudinal pulling hydraulic cylinder 3, the left vertical lifting hydraulic cylinder 41, the right vertical lifting hydraulic cylinder 42, the left horizontal attitude hydraulic cylinder 21 and the right horizontal attitude hydraulic cylinder 22 to cooperatively control under the control strategy of the controller so as to adapt to different working conditions and realize power transmission and full attitude regulation and control between the large tractor or the large power platform and the working device according to real-time working conditions. In the operation process, the controller adjusts the actions of the double-acting hydraulic cylinders according to the operation working conditions so as to ensure high-quality and high-efficiency operation of the agricultural implement.
In the operation process, according to the requirement of actual operation working conditions, the central longitudinal-pulling hydraulic cylinder 3 adjusts the correlation angle between a host (namely a large power platform) and an operation machine tool in real time through an electro-hydraulic control loop, and adjusts and effectively keeps the relative angle position in the vertical plane of the host and the operation machine tool. For example, the longitudinal consistency control of the depth of plough work detects the consistency of the depth of work of the work tool through a sensor, and transmits a signal of a distance sensor to a controller for processing, and the central longitudinal drawing hydraulic cylinder 3 acts under the instruction of the controller to adjust the consistency of the depth of plough.
The left vertical lift cylinder 41 and the right vertical lift cylinder 42 are used for three attitude controls of vertical direction elevation of the work implement, rotational attitude adjustment around the roll-over axis, and elevation/descent and rotational attitude adjustment around the roll-over axis. In the process of operation or transition, when the operation machine needs to be vertically lifted or lowered, the controller enables the two vertical lifting hydraulic cylinders to simultaneously extend and retract so as to realize the lifting of the operation machine; the operation process is lifted up when the operation machine touches the ground, such as undulation, unevenness, stones, sudden resistance and the like, the ground condition is collected by the distance sensor and transmitted to the controller, and the controller processes signals and then controls the two vertical lifting hydraulic cylinders to act, so that the operation machine realizes the transverse consistency adjustment of the plough depth.
The horizontal posture double-acting hydraulic cylinder is used for realizing two posture controls of stable advancing or left-right translation parallel to the advancing direction and micro-swinging of the working machine in the working process. In the operation process, when the operation machine tool touches obstacles such as weeds, stones, tree roots and the like to enable one side of the obstacles to suddenly increase, the force sensor transmits signals to the controller, in order to relieve the suddenly increased resistance, the two horizontal posture hydraulic cylinders act to enable the operation machine tool to slightly swing left and right in parallel with the advancing direction to horizontally move, and after passing through the resistance sudden change area, the horizontal posture double-acting hydraulic cylinder is restored to the position before adjustment to continue operation, so that the plough depth posture adjustment is realized.
When two or more working conditions occur simultaneously, the plurality of double-acting hydraulic cylinders are controlled to act in a coordinated mode, and the working quality and efficiency are guaranteed. If the control range of the double-acting hydraulic cylinder is exceeded, the operation device is protected by a preferential control strategy, and the actions of the two vertical lifting hydraulic cylinders are controlled, so that the operation device is lifted to achieve the protection purpose.
The posture regulation and control of the suspension lifting device are all formed by five hydraulic cylinders and related mechanisms which are provided with position sensors 8, can realize closed-loop control and have relative position relation, and the structure is characterized as follows:
1. and regulating and controlling the posture of the longitudinal pulling hydraulic cylinder 3 in the center of the suspension lifting device in a vertical plane. In the operation process, according to the requirement of actual operation working conditions, the central longitudinal pulling hydraulic cylinder 3 adjusts the correlation angle between the host and the operation machine tool in real time through the electro-hydraulic control loop, and adjusts and effectively keeps the relative angle position in the vertical plane of the host and the operation machine tool, such as the adjustment of longitudinal consistency of plough depth.
2. The two vertical lifting hydraulic cylinders of the suspension vertical lifting device are independently controlled, and under the control of a controller and a control strategy, the adjustment control of the operation depth and the posture of the agricultural implement can be realized, and the three posture controls comprise the lifting of the operation implement in the vertical direction, the regulation of the rotary posture around a turnover shaft and the regulation of the lifting/descending and rotating posture.
(1) When the two vertical lifting hydraulic cylinders act in the same direction and at the same speed, the lifting motion of the working machine can be realized;
(2) when the two vertical lifting hydraulic cylinders act at the same speed in opposite directions or a single vertical lifting hydraulic cylinder acts, the rotation posture of the working machine around the turnover shaft can be adjusted, for example: and (5) regulating the transverse consistency of the plough depth.
(3) When two vertical lifting hydraulic cylinders move at different speeds in the same direction, the lifting/descending of the working machine and the adjustment of the rotating posture around the turnover shaft can be realized, for example: tilling depth adjustment and transverse plough depth consistency adjustment.
3. The posture regulating mechanism in the horizontal direction in the suspension lifting device adopts two horizontal posture double-acting hydraulic cylinders which respectively act on the left traction rod 12 and the right traction rod 12, and can realize the posture control of the advancing direction of the agricultural implement in the operation process or the posture control of the left translation and the right translation parallel to the advancing direction and the posture stability.
When the working implement moves parallel to the advancing direction:
(1) when the working machine tool is coaxial with the host in the horizontal direction, the two horizontal posture double-acting hydraulic cylinders keep not acting under the control of the electro-hydraulic loop, and the working machine tool stably advances in a direction parallel to the advancing direction, so that the working stability is ensured;
(2) when the advancing directions of the working machine and the host machine need to be adjusted in a translation mode, under the instruction of the controller, the piston rod of one horizontal posture double-acting hydraulic cylinder extends out, and the piston rod of the other horizontal posture double-acting hydraulic cylinder contracts correspondingly and accurately, so that the left-right translation motion of micro-swinging parallel to the advancing direction can be realized.
4. Magnetostrictive position sensors 8 are respectively arranged in the central longitudinal pulling hydraulic cylinder 3, the left vertical lifting hydraulic cylinder 41, the right vertical lifting hydraulic cylinder 42, the left horizontal attitude hydraulic cylinder 21 and the right horizontal attitude hydraulic cylinder 22, the position of a piston rod of the double-acting hydraulic cylinder is collected, and position information is fed back to the controller to realize accurate attitude control of the working machine.
5. Distance sensors are arranged on the two lower sides of the operating machine frame 6 and used for detecting the distance between the operating machine and the ground.
6. The connecting part of the frame 6 of the working machine and the traction rods at the two sides uses a shaft pin type force sensor 7 for detecting the traction force borne by the working machine.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. Large-scale power platform hangs hoisting device with five-axis full attitude control, its characterized in that: the left traction rod and the right traction rod are hinged between the bottom end of a rear axle of the large power platform and the bottom end of a frame of an operating machine, and a left vertical lifting hydraulic cylinder is hinged between the left traction rod and the top end of the rear axle of the large power platform; a right vertical lifting hydraulic cylinder is hinged between the right traction rod and the top end of the rear axle of the large power platform; a central longitudinal pulling hydraulic cylinder is hinged between the top of the frame of the working machine and the middle of the rear axle of the large power platform and is positioned between the left vertical lifting hydraulic cylinder and the right vertical lifting hydraulic cylinder;
a left horizontal attitude hydraulic cylinder is hinged between the outer side surface of the left traction rod and the bottom end of the large power platform rear axle, and a right horizontal attitude hydraulic cylinder is hinged between the outer side surface of the right traction rod and the bottom end of the large power platform rear axle;
the control system is connected with control ports of the central longitudinal pulling hydraulic cylinder, the left horizontal posture hydraulic cylinder, the right horizontal posture hydraulic cylinder, the left vertical lifting hydraulic cylinder and the right vertical lifting hydraulic cylinder.
2. The large power platform five-axis full-attitude control suspension lifting device as claimed in claim 1, wherein: one end of the left traction rod is hinged with the frame of the operation machine, and the other end of the left traction rod is connected with the rear axle of the large power platform through a spherical hinge.
3. The large power platform five-axis full-attitude control suspension lifting device as claimed in claim 1, wherein: one end of the right traction rod is hinged with the frame of the operation machine, and the other end of the right traction rod is connected with the rear axle of the large power platform through a spherical hinge.
4. The large power platform five-axis full-attitude control suspension lifting device as claimed in claim 1, wherein: the outer side of the left traction rod is fixedly provided with a hinged seat, the bottom end of the rear axle of the large power platform is fixedly provided with a hinged seat, and the left horizontal posture hydraulic cylinder is hinged between the two hinged seats.
5. The large power platform five-axis full-attitude control suspension lifting device as claimed in claim 1, wherein: the outer side of the right traction rod is fixedly provided with a hinged seat, the bottom end of the rear axle of the large power platform is fixedly provided with a hinged seat, and the right horizontal posture hydraulic cylinder is hinged between the two hinged seats.
6. The large power platform five-axis full-attitude control suspension lifting device as claimed in claim 1, wherein: the central longitudinal pulling hydraulic cylinder, the left horizontal posture hydraulic cylinder, the right horizontal posture hydraulic cylinder, the left vertical lifting hydraulic cylinder and the right vertical lifting hydraulic cylinder are double-acting hydraulic cylinders.
7. The large power platform five-axis full-attitude control suspension lifting device as claimed in claim 1, wherein: a shaft pin type force sensor is arranged at the joint between the left traction rod and the frame of the operation machine tool; a shaft pin type force sensor is arranged at the joint between the right traction rod and the frame of the operation machine tool; and the signal output end of the shaft pin type force sensor is connected with the control system.
8. The five-axis full-attitude control suspension lifting device for the large power platform as claimed in any one of claims 1 to 7, wherein: the control system comprises a controller, and a signal output end of the controller is connected with control ports of the central longitudinal pulling hydraulic cylinder, the left horizontal attitude hydraulic cylinder, the right horizontal attitude hydraulic cylinder, the left vertical lifting hydraulic cylinder and the right vertical lifting hydraulic cylinder.
9. The large power platform five-axis full-attitude control suspension lifting device according to claim 8, characterized in that: the central longitudinal pulling hydraulic cylinder, the left horizontal posture hydraulic cylinder, the right horizontal posture hydraulic cylinder, the left vertical lifting hydraulic cylinder and the right vertical lifting hydraulic cylinder are all internally provided with a position sensor, and the signal output ends of the position sensors are all connected with the signal input end of the controller.
10. The large power platform five-axis full-attitude control suspension lifting device according to claim 8, characterized in that: two distance sensors are symmetrically installed at the bottom end of the operating machine frame, and signal output ends of the distance sensors are connected with a signal input end of the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111348253.4A CN114051783A (en) | 2021-11-15 | 2021-11-15 | Five-axis full-attitude control suspension lifting device for large power platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111348253.4A CN114051783A (en) | 2021-11-15 | 2021-11-15 | Five-axis full-attitude control suspension lifting device for large power platform |
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| Publication Number | Publication Date |
|---|---|
| CN114051783A true CN114051783A (en) | 2022-02-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111348253.4A Pending CN114051783A (en) | 2021-11-15 | 2021-11-15 | Five-axis full-attitude control suspension lifting device for large power platform |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010022226A1 (en) * | 2000-01-12 | 2001-09-20 | Cramer Kupplung Gmbh & Co. Kg | Three-point hitch for a tractor |
| US20020144829A1 (en) * | 2001-04-10 | 2002-10-10 | Alexander Frank David | Hydraulic three point tractor hitch |
| CN204579049U (en) * | 2015-03-27 | 2015-08-26 | 广西澜光科技有限公司 | A kind of tractor hoisting mechanism |
| CN206865977U (en) * | 2017-06-29 | 2018-01-12 | 中国农业大学 | A kind of hilly and mountainous land tractor ground profiling hitch |
| CN108377676A (en) * | 2018-02-26 | 2018-08-10 | 吉林大学 | A kind of subsoiler and its subsoiling penetrating angle real-time control system and control method |
| CN214338523U (en) * | 2021-01-25 | 2021-10-08 | 潍柴雷沃重工股份有限公司 | Integral hydraulic suspension device and tractor |
-
2021
- 2021-11-15 CN CN202111348253.4A patent/CN114051783A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010022226A1 (en) * | 2000-01-12 | 2001-09-20 | Cramer Kupplung Gmbh & Co. Kg | Three-point hitch for a tractor |
| US20020144829A1 (en) * | 2001-04-10 | 2002-10-10 | Alexander Frank David | Hydraulic three point tractor hitch |
| CN204579049U (en) * | 2015-03-27 | 2015-08-26 | 广西澜光科技有限公司 | A kind of tractor hoisting mechanism |
| CN206865977U (en) * | 2017-06-29 | 2018-01-12 | 中国农业大学 | A kind of hilly and mountainous land tractor ground profiling hitch |
| CN108377676A (en) * | 2018-02-26 | 2018-08-10 | 吉林大学 | A kind of subsoiler and its subsoiling penetrating angle real-time control system and control method |
| CN214338523U (en) * | 2021-01-25 | 2021-10-08 | 潍柴雷沃重工股份有限公司 | Integral hydraulic suspension device and tractor |
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