CN201015266Y

CN201015266Y - Boat-type motorized plow remote-controlled drive system

Info

Publication number: CN201015266Y
Application number: CNU200720062829XU
Authority: CN
Inventors: 蒋蘋; 孙松林; 胡文武; 刘启定; 王奕; 王金葵; 陈为
Original assignee: Hunan Agricultural University
Current assignee: Hunan Agricultural University
Priority date: 2007-03-30
Filing date: 2007-03-30
Publication date: 2008-02-06
Anticipated expiration: 2017-03-30

Abstract

The utility model discloses a boat tractor remote control operation system, comprising a remote control transmitting circuit, a remote control receiving circuit, a micro-processor, a speed detecting circuit, a position detecting circuit, a steering execution device, an engaging and disengaging execution device, a gear shift execution device and a deep tilling execution device, wherein the output end of the remote control receiving circuit is connected with the input end of the micro-processor, the output end of the speed detecting circuit and the position detecting circuit is connected with the input end of the micro-processor, the output end of the micro-processor is connected with the steering execution device, the engaging and disengaging execution device, the gear shift execution device and the deep tilling execution device respectively. The remote control operation system performs comprehensive processing of external information using the micro-processor through remote control without changing the prior boat tractor and controls the operation of the entire boat tractor, thereby significantly reducing the labor strength of the people, saving the labor force and increase the extent of automation of agricultural mechanization.

Description

Boat tractor remote driving system

Technical field

The utility model relates to a kind of boat tractor remote driving system of farmland operation.

Background technology

Existing farmland machinery is generally directly driven by the people, because the shape in existing farmland is lack of standardization, the climate variability of work causes farmland machinery driver's work under bad environment, working strength big, has reduced operating efficiency, and has caused the generation of contingency easily.

Summary of the invention

For solving the technical problem that existing boat tractor can't remote control, the utility model provides a kind of simple in structure, reliable operation is high, automaticity is high boat tractor remote driving system.

The technical scheme that the utility model solves the problems of the technologies described above is: comprise remote controlled transmitting circuit, remote-control receiving circuit, microprocessor, velocity checking circuits, position detecting circuit, steering actuator, clutch actuating unit, shifting implementation device, tilling depth actuating unit, the input of the output termination microprocessor of described remote-control receiving circuit, the input of the output termination microprocessor of velocity checking circuits, position detecting circuit, the output of microprocessor link to each other with steering actuator, clutch actuating unit, shifting implementation device, tilling depth actuating unit respectively.

In the above-mentioned boat tractor remote driving system, described steering actuator comprises the steering wheel lift cylinder, turns to the cylinder supports body, turns to cylinder, steering rack, tooth sector, the steering wheel lift cylinder links to each other with turning to the cylinder supports body, turn to cylinder to be located at and turn on the cylinder supports body, turn to the control end of cylinder to link to each other with steering rack, steering rack and tooth sector engagement, tooth sector is fixed on the steering spindle.

The novel technique effect of this experiment is: this remote driving system is exactly on the basis that does not change existing boat tractor, by wireless remotecontrol, utilize microprocessor to external world information carry out integrated treatment, and then control the operation of whole boat tractor, greatly reduce people's labour intensity like this, not only save the labour, and improved the automaticity of agricultural machinery.Utilize modularized design simultaneously, can be to other agricultural machineries with this remote driving system grafting, thereby highly versatile.

Following machine is further described the utility model in conjunction with the accompanying drawings.

Description of drawings

Fig. 1 is a structural representation of the present utility model.

Fig. 2 is the schematic diagram of remote controlled transmitting circuit in the utility model.

Fig. 3 is the schematic diagram of remote-control receiving circuit in the utility model.

Fig. 4 is the circuit diagram of control executive circuit in the utility model.

Fig. 5 is a programming flowchart of the present utility model.

Fig. 6 is the schematic diagram of control executive circuit in the utility model.

Fig. 7 is the remote control expelling plate interface schematic diagram in the utility model.

Fig. 8 is the pneumatic diagram in the utility model.

Fig. 9 is control structure figure of the present utility model.

Embodiment

Referring to Fig. 1, Fig. 1 is a structural representation of the present utility model.1 is the 12v power supply among the figure, and 2 is gas receiver, and 3 is gas receiver air pressure adjustment mouth, 4 is the clutch for clutch control cylinder, 5 are the gear shift control cylinder, and 6 is the gas receiver air outlet valve, and 7 is the gas receiver intake valve, 8 are the gear shift manual joystick, 9 for rolling at the boat tractor Pu, and 10 are tilling depth adjusting cylinder, and 11 is steering wheel lifting control cylinder, 12 for turning to the cylinder supports body, 13 for turning to control cylinder, and 14 is steering rack, and 15 is tooth sector, 16 is steering wheel, 17 are tilling depth adjusting manual joystick, and 18 are the clutch manual joystick, and 19 is engine, 20 is air compressor, and 21 is gear box casing.

With the 12v power supply 1 among Fig. 1, gas receiver 2, Clutch Control cylinder 4, gear control cylinder 5, tilling depth regulate cylinder 10, steering wheel lift cylinder 11, turn to cylinder supports body 12, turn to cylinder 13, steering rack 14, tooth sector 15, air compressor 19, and be added on the existing boat tractor with the corresponding magnetic valve of pneumatic linear actuator.Wherein utilize pneumatic element as executive component, collect rotary speed information, gear-shifting information, turn signal, clutch status signals, steering wheel lifting signal by Hall element, be the information processing core again with the microprocessor, acceptance from the signal and the integrated treatment of wireless remotecontrol, speed probe, gear shift sensor, clutch sensor, steering wheel lifting sensor, send and carry out signal, with the action of control actuating unit, and then the remote driving of realization boat tractor.

IC II 1 is the superhet wireless transmitter module among Fig. 2, and IC II 2 is coding chip PT2262M4, and K1-K13 is an elastic switch, and D II 1-D II 29 is 1N4148, and R II 3 is the coding chip oscillation resistance.

HIII1 is two mouthfuls a joint among Fig. 3, and HIII2 is the socket joint of 16 pins, and ICIII1 is 7805, and ICII2 is PT2272, and ICIII3 is the superhet wireless receiving module, and ICIII4 is 74HC154, and ICIII5-IC17 is 4N25.

HV1 is the socket joint of 16 pins among Fig. 4, ICV1 is CD4514BCN, ICV2 is little process chip 89c51, ICV3-ICV4 is ULN2003A, and ICV5-ICV9 is the switching regulator Hall element, and ICV5 is the gear shift sensor, ICV6 is an engine speed sensor, ICV7 is a steering wheel lifting sensor, and ICV8 is a rotation direction sensor, and ICV9 is a clutch sensor.Adopt 74HC11 with door, or door employing 74HC32, not gate adopts 74HC04, and K is a 12V cylinder solenoid valve relay.

22 are the remote control transmitting antenna among Fig. 7, and 23 are remote control emission panel, and 24 are remote control emission button.

Operation principle of the present utility model: when any one the button K in Fig. 2 pressed, ICII2 encoded to input signal, went out to deliver to superregenerative wireless transmitter module ICII1 from 17 human hair combing wastes of coding transmitting terminal ICII2, thereby finished the wireless transmission of signal.After superregenerative wireless receiving module ICIII3 receives the wireless encoding signal in Fig. 3, filter transfers carrier wave that code signal is sent into decoding chip ICIII2, ICIII2 sends decoded signal into 4-16 coding chip ICIII4, decoding output signal control opto-coupler chip ICIII5-ICIII17.HV 1 matches mutually with HIII2 pin among Fig. 3 in Fig. 4, received signal is exactly an optocoupler signal among Fig. 3, ICV2 is obtaining the optocoupler signal, comprehensive analysis processing after each sensor signal, control signal is input to each or door, or door promotion power chip ICV3 and ICV4, thereby control each cylinder relay K 1-K8, finish the remote driving of boat tractor.

When engine (19) starts certain hour, when 20 boost pressures of air compressor reach cylinder action rated pressure, press the beginning key of remote keypad Fig. 7, boat tractor is under the control of single-chip microcomputer ICV2, low-grade relay K 6 gets electric, after single-chip microcomputer ICV2 judges that low grade puts in place, gets in conjunction with clutch relay K 2, clutch (18) combination under cylinder 4 effects, boat tractor is started working; When shift signal enters single-chip microcomputer ICV2, clutch 18 separate relay K 1 electric, clutch 18 separates, gear relay K 5 K6 get electricly, and change to corresponding gear, and then automatically in conjunction with clutch 18.

When turn signal enters single-chip microcomputer ICV2, single-chip microcomputer ICV2 judges it is that a left side passes or right-hand rotation automatically, first then cut-off clutch 18, gear is changed to low grade automatically, again in conjunction with clutch, lift dark relay K 4 electric, steering wheel lifting under the effect of cylinder 11 turns to (in the steering procedure wait acknowledge key signals) all the time then automatically; After turning in place, steering wheel descends, and determines to turn to by acknowledgement key and finishes, and meta is got back in the automatic lifting of steering wheel, and clutch 18 separates, and gear is changed to top grade, and again in conjunction with clutch 18, whole go to action is finished.

When fortuitous events such as program is chaotic or malfunctioning appear in single-chip microcomputer ICV2, can artificially control by the separation/combination on remote control panel Fig. 6, top grade/low-grade button immediately, thereby make boat tractor under any circumstance can both be well controlled.

Claims

1. boat tractor remote driving system, it is characterized in that: comprise remote controlled transmitting circuit, remote-control receiving circuit, microprocessor, velocity checking circuits, position detecting circuit, steering actuator, clutch actuating unit, shifting implementation device, tilling depth actuating unit, the input of the output termination microprocessor of described remote-control receiving circuit, the input of the output termination microprocessor of velocity checking circuits, position detecting circuit, the output of microprocessor link to each other with steering actuator, clutch actuating unit, shifting implementation device, tilling depth actuating unit respectively.

2. boat tractor remote driving according to claim 1 system, it is characterized in that: described steering actuator comprises the steering wheel lift cylinder, turns to the cylinder supports body, turns to cylinder, steering rack, tooth sector, wherein the steering wheel lift cylinder links to each other with turning to the cylinder supports body, turn to cylinder to be located at and turn on the cylinder supports body, turn to the control end of cylinder to link to each other with steering rack, steering rack and tooth sector engagement, tooth sector is fixed on the steering spindle.

3. boat tractor remote driving according to claim 1 system, it is characterized in that: described clutch actuating unit is the Clutch Control cylinder.

4. boat tractor remote driving according to claim 1 system, it is characterized in that: described shifting implementation device is the gear control cylinder.

5. boat tractor remote driving according to claim 1 system is characterized in that: described tilling depth actuating unit is that tilling depth is regulated cylinder.