CN203391591U - Vehicle lateral leveling control system of harvester - Google Patents
Vehicle lateral leveling control system of harvester Download PDFInfo
- Publication number
- CN203391591U CN203391591U CN201320433230.8U CN201320433230U CN203391591U CN 203391591 U CN203391591 U CN 203391591U CN 201320433230 U CN201320433230 U CN 201320433230U CN 203391591 U CN203391591 U CN 203391591U
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- control system
- leveling cyclinder
- leveling
- car body
- electromagnetic valve
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Abstract
The utility model discloses a vehicle lateral leveling control system of a harvester. The vehicle lateral leveling control system is mounted on the harvester and comprises a high-precision inclinometer, leveling cylinders, an embedded control system and a hydraulic control system; the high-precision inclinometer is used for uploading vehicle lateral inclination angle data of the harvester in real time and is mounted on a vehicle of the harvester; the leveling cylinders include a first leveling cylinder, a second leveling cylinder, a third leveling cylinder and a fourth leveling cylinder, the first leveling cylinder and the second leveling cylinder are mounted on a front axle of the harvester, and the third leveling cylinder and the fourth leveling cylinder are mounted on a rear axle of the harvester; the embedded control system is used for acquiring and processing the vehicle lateral inclination angel data in real time and outputting electric control signals, and is connected with the high-precision inclinometer by a communication interface; the hydraulic control system is used for receiving the electric control signals and converting the electric control signals into pressure oil at a certain flow rate to drive the leveling cylinders to move, is respectively connected with the leveling cylinders and is connected with a driving circuit of the embedded control system.
Description
Technical field
The utility model relates to a kind of car body side of the cropper of car body side direction horizontal when adjusting the operation of cropper hillside fields of agricultural harvest machinery, particularly a kind of electrohydraulic control to levelling control system.
Background technology
Large-scale harvest machinery, when farm work, often can run into acclive field.In this case, the fuselage of harvest machinery meeting run-off the straight during machinery operation, if depart from while acquiring a certain degree, will cause larger infringement to vehicle performance: a) make tire working at flank position, change normal tire location and kinematic parameter, cause tire and road adherence minimizing, tyre surface and wear-out of a bearing to accelerate and tire running resistance increment; B) roll the stability of car body is reduced; C) sense of insecurity of chaufeur is increased; D) for the seedling of results really being passed through, multistage belt conveyor is separated, the large-scale harvest machinery (as: processing type tomato harvester) of sorting, lateral inclination can make fruit in transport process, be partial to downside, thereby form fruit, piles up the carrying out that is unfavorable for sorting and watering and separation procedure.
Control system research for platform or car body leveling in prior art focuses mostly in fields such as construction machinery and equipment, hoisting crane, radar vehicles, for the research of large-scale agricultural harvesting machinery car body lateral leveling, there is not yet record.
Utility model content
Technical problem to be solved in the utility model be to provide a kind of electrohydraulic control adjust manually or automatically the operation of harvest machinery hillside fields time car body side direction horizontal the car body side of cropper to levelling control system.
To achieve these goals, the utility model provides a kind of car body side of cropper to levelling control system, is arranged on cropper, wherein, comprising:
For uploading the dip compass of the car body side degree of tilt data of described cropper in real time, be arranged on the car body of described cropper;
Leveling cyclinder, comprise the first leveling cyclinder, the second leveling cyclinder, the 3rd leveling cyclinder and the 4th leveling cyclinder, described the first leveling cyclinder and the second leveling cyclinder are arranged on the propons of described cropper, and described the 3rd leveling cyclinder and the 4th leveling cyclinder are arranged on the back axle of described cropper;
For Real-time Collection and process described car body side degree of tilt data and export the embedded control system of electric control signal, described embedded control system is connected with described dip compass by communication interface;
For receiving described electric control signal and being converted to the hydraulic control system of the certain flow pressure oil that drives described leveling cyclinder motion, described hydraulic control system is connected with described the first leveling cyclinder, the second leveling cyclinder, the 3rd leveling cyclinder and the 4th leveling cyclinder respectively, and described hydraulic control system is connected with the driving circuit of described embedded control system.
Above-mentioned car body side is to levelling control system, and wherein, described embedded control system is connected with described dip compass by RS232 communication port.
Above-mentioned car body side, to levelling control system, wherein, also comprises the horizontality indicator lamp of the current side direction horizontal state that is used to indicate described car body, and described horizontality indicator lamp is connected with described embedded control system.
Above-mentioned car body side is to levelling control system, and wherein, described dip compass is twin shaft absolute value output dip compass.
Above-mentioned car body side is to levelling control system, and wherein, described the first leveling cyclinder and the second leveling cyclinder are symmetrical arranged, and described the 3rd leveling cyclinder and the 4th leveling cyclinder are symmetrical arranged.
Above-mentioned car body side is to levelling control system, and wherein, described the first leveling cyclinder and the second leveling cyclinder are splayed setting in opposite directions, and described the 3rd leveling cyclinder and the 4th leveling cyclinder are splayed setting in opposite directions.
Above-mentioned car body side is to levelling control system, wherein, described the first leveling cyclinder and described the 3rd leveling cyclinder are positioned at a side of described car body, described the second leveling cyclinder and described the 4th leveling cyclinder are positioned at the opposite side of described car body, described the first leveling cyclinder and the 3rd leveling cyclinder synchronization lifting, described the second leveling cyclinder and the 4th leveling cyclinder synchronization lifting.
Above-mentioned car body side is to levelling control system, and wherein, described hydraulic control system comprises fix-displacement pump, filter, solenoid directional control valve and the electromagnetic valve piece connecting by hydraulic tubing, and described electromagnetic valve piece is connected with described solenoid directional control valve with described leveling cyclinder respectively.
Above-mentioned car body side is to levelling control system, and wherein, described electromagnetic valve piece comprises the first electromagnetic valve, the second electromagnetic valve and the 3rd electromagnetic valve, and described the first electromagnetic valve and the 3rd electromagnetic valve are normal-open electromagnetic valve, and described the second electromagnetic valve is normal-closed electromagnetic valve.
Above-mentioned car body side is to levelling control system, and wherein, described embedded control system comprises manual adjustment means and automatic adjusting mechanism.
Technique effect of the present utility model is:
The utility model adopts electrohydraulic control mode, can manual/auto leveling, and easy and simple to handle, steadily, leveling cyclinder synchronism is good, needs the large-scale harvest machinery of car body lateral leveling while being applicable to operation in commutation.
Below in conjunction with the drawings and specific embodiments, the utility model is described in detail, but not as to restriction of the present utility model.
Accompanying drawing explanation
Fig. 1 is the electric liquid levelling control system constructional drawing of the utility model one embodiment;
Fig. 2 is the control system schematic diagram of the utility model one embodiment;
Fig. 3 is the hydraulic scheme of the utility model one embodiment.
Wherein, Reference numeral
1 car body
2 dip compasss
3 leveling cyclinders
31 first leveling cyclinders
32 second leveling cyclinders
33 the 3rd leveling cyclinders
34 the 4th leveling cyclinders
4 propons
5 back axles
6 embedded control systems
61 driving circuits
62 microprocessors
63 data acquisition circuits
64 power lights
65 horizontality indicator lamps
66 source switchs
67 manual/auto switches
68 left/right leveling switches
7 hydraulic control systems
8 power supplys
9 fuel tanks
10 solenoid directional control valves
11 electromagnetic valve pieces
111 first electromagnetic valves
112 second electromagnetic valves
113 the 3rd electromagnetic valves
12 fix-displacement pump
13 filters
14 by pass valves
The specific embodiment
Below in conjunction with accompanying drawing, structural principle of the present utility model and principle of work are described in detail:
Referring to Fig. 1, Fig. 1 is the electric liquid levelling control system constructional drawing of the utility model one embodiment.Car body side for cropper of the present utility model, to levelling control system, is arranged on cropper, the electrohydraulic control leveling system of car body 1 side direction horizontal while being specifically applied to adjust manually or automatically the operation of harvest machinery hillside fields.Comprise:
For uploading in real time the high-precision inclinometer 2 of side tilt angle data of the car body 1 of described cropper, be arranged on the car body 1 of described cropper, preferred described high-precision inclinometer 2 is twin shaft absolute value output dip compass, and the side tilt angle data optimization of described car body 1 is described high-precision inclinometer 2 RS232 signal or the 4-20mA signal of output in real time;
Leveling cyclinder 3, comprise the first leveling cyclinder 31, the second leveling cyclinder 32, the 3rd leveling cyclinder 33 and the 4th leveling cyclinder 34, described the first leveling cyclinder 31 and the second leveling cyclinder 32 are arranged on the propons 4 of described cropper, described the 3rd leveling cyclinder 33 and the 4th leveling cyclinder 34 are arranged on the back axle 5 of described cropper, wherein, described the first leveling cyclinder 31 and the second leveling cyclinder 32 are symmetrical arranged, described the 3rd leveling cyclinder 33 and the 4th leveling cyclinder 34 are symmetrical arranged, preferably described the first leveling cyclinder 31 and the second leveling cyclinder 32 are splayed setting in opposite directions, described the 3rd leveling cyclinder 33 and the 4th leveling cyclinder 34 are splayed setting in opposite directions, and described the first leveling cyclinder 31 and described the 3rd leveling cyclinder 33 are positioned at a side of described car body 1, described the second leveling cyclinder 32 and described the 4th leveling cyclinder 34 are positioned at the opposite side of described car body 1, be positioned at the first leveling cyclinder 31 and the 3rd leveling cyclinder 33 synchronization liftings of described car body 1 one sides, be positioned at the second leveling cyclinder 32 and the 4th leveling cyclinder 34 synchronization liftings of described car body 1 opposite side,
For Real-time Collection and process the side tilt angle data of described car body 1 and export the embedded control system 6 of electric control signal, described embedded control system 6 is connected with described high-precision inclinometer 2 by communication interface, described embedded control system 6 is preferably connected with described high-precision inclinometer 2 by RS232 communication port, wherein, described embedded control system 6 can comprise manual adjustment means and automatic adjusting mechanism, the function that correspondence completes manual regulation and automatically regulates respectively, in the present embodiment, the main control chip of the microprocessor 62 of described embedded control system 6 is preferably MCS-51 series monolithic,
For receiving described electric control signal and being converted to the hydraulic control system 7 of the certain flow pressure oil that drives described leveling cyclinder 3 motions, described hydraulic control system 7 is connected with the 4th leveling cyclinder 34 with described the first leveling cyclinder 31, the second leveling cyclinder 32, the 3rd leveling cyclinder 33 respectively, and described hydraulic control system 7 is connected with the driving circuit 61 of described embedded control system 6.
Wherein, also can comprise the horizontality indicator lamp 65 of the current side direction horizontal state that is used to indicate described car body 1, described horizontality indicator lamp 65 is connected with described embedded control system 6.Described embedded control system 6 is by the current side direction horizontal state of the described car body 1 of horizontality indicator lamp 65 indication.
Referring to Fig. 2, Fig. 2 is the control system schematic diagram of the utility model one embodiment.In the present embodiment, described embedded control system 6 be take STC89C51 micro controller system as microprocessor 62, by MAX3232 data acquisition circuit 63, gather the parameter of dip compass 2 and export control signal, the ACS-080 twin shaft high-precision inclinometer of the German POSITAL of described dip compass 2 employing company, can export RS232 signal or 4-20mA signal in real time.Embedded control system 6 is as the control axis of leveling system, by RS232 communication interface Real-time Collection, be installed on the take off data of the dip compass 2 on car body 1, and the signal of output solenoid valve sequence control after treatment, then by hydraulic control system 7, convert the electrical signal to the synchronization lifting of the hydraulic oil promotion leveling cyclinder 3 of certain flow, realize the lateral leveling of car body 1.
Its working process is as follows:
When described embedded control system 6 is set as automatic leveling mode, described main control chip is communicated by letter and is read in real time the take off data of high-precision inclinometer 2 by RS232, and judges according to the switching threshold of program setting whether work as front vehicle body 1 needs leveling.When car body 1 side tilt angle surpasses while setting switching threshold, main control chip sends control signal, controls the action of solenoid directional control valve 10 in hydraulic efficiency pressure systems by driving circuit 61, completes leveling action.
When described embedded control system 6 is set as manual leveling mode, described main control chip real time scan left/right leveling switch 68 actuating signals.When described left/right leveling switch 68 is stirred to left or right, described main control chip is accepted this actuating signal, and by driving circuit 61, controls the action of electromagnetic valve commutation 10 in hydraulic efficiency pressure system, completes the action of leveling to the left or to the right of car body 1.
Described car body 1 lateral leveling control system is when manual work state, and in the time of within the switching threshold of car body 1 side tilt angle in setting, horizontality indicator lamp 65 is lighted, and indication is when front vehicle body 1 is in horizontality; When car body 1 side tilt angle surpasses the switching threshold setting, horizontality indicator lamp 65 extinguishes, and indication, when front vehicle body 1 is in rolling condition, need to be carried out leveling.
Referring to Fig. 3, Fig. 3 is the hydraulic scheme of the utility model one embodiment.Wherein, described hydraulic control system 7 is installed on the leveling cyclinder 3 on vehicle propons 4, back axle 5 by solenoid control, completes the lateral leveling action of car body 1.This hydraulic control system 7 comprises fix-displacement pump 12, filter 13, solenoid directional control valve 10, electromagnetic valve piece 11 etc., fix-displacement pump 12 is preferably gear type pump SNP2/25, by by pass valve 14, setting operation pressure is 160bar, described solenoid directional control valve 10 is preferably 3-position 4-way solenoid directional control valve, Median Function is M type,, described electromagnetic valve piece 11 is connected with described solenoid directional control valve 10 with described leveling cyclinder 3 respectively.Described electromagnetic valve piece 11 comprises three inserted valves: the first electromagnetic valve 111, the second electromagnetic valve 112 and the 3rd electromagnetic valve 113, wherein the first electromagnetic valve 111 and the 3rd electromagnetic valve 113 are normal-open electromagnetic valve, the second electromagnetic valve 112 is normal-closed electromagnetic valve, the initial installing condition of described four leveling cyclinders 3 is that push rod overhang is 1/3 of overall length, and now car body 1 is in horizontality.
Its working process is as follows:
1) source switch 66 of stirring power supply 8 is downwards to 6 power supplies of described embedded control system, and whether the power light 64 indication embedded control systems 6 of power supply 8 are in power-up state;
2) operate manually/automatic switch 67, select leveling mode: upwards stir as automatic leveling mode, stir as manual leveling mode downwards.When leveling mode that and if only if is set as manual leveling mode, left/right leveling switch 68 can be used, and main control chip just can read the signal of left/right leveling switch 68.
3) when embedded control system 6 is set as automatic leveling mode, described main control chip is communicated by letter and is read in real time the take off data of high-precision inclinometer 2 by RS232, and judges according to the switching threshold of program setting whether work as front vehicle body 1 needs leveling.When car body 1 side tilt angle surpasses while setting switching threshold, main control chip sends control signal, controls the action of solenoid directional control valve 10 in hydraulic efficiency pressure systems by driving circuit 61, completes leveling action.
4) when embedded control system 6 is set as manual leveling mode, described main control chip real time scan left/right leveling switch 68 actuating signals.When described left/right leveling switch 68 is stirred to left or right, described main control chip is accepted this actuating signal, and by driving circuit 61, controls the action of the solenoid directional control valve 10 in hydraulic efficiency pressure system, completes the action of leveling to the left or to the right of car body 1.
5) described embedded control system 6 is when manual work state, and in the time of within the switching threshold of car body 1 side tilt angle in setting, horizontality indicator lamp 65 is lighted, and indication is when front vehicle body 1 is in horizontality; When car body 1 side tilt angle surpasses the switching threshold setting, horizontality indicator lamp 65 extinguishes, and indication, when front vehicle body 1 is in rolling condition, need to be carried out leveling.When car body 1 need to be tilted to the right, solenoid directional control valve 10 commutations, simultaneously the first electromagnetic valve 111 in electromagnetic valve piece 11, the second electromagnetic valve 112, the 3rd electromagnetic valve 113 all electric, the rodless cavity that pressure oil enters the second leveling cyclinder 32 and the 4th leveling cyclinder 34 by the 3rd electromagnetic valve 113 stretches out cylinder putter, the rod chamber that while pressure oil enters opposite side the first leveling cyclinder 31 and the 3rd leveling cyclinder 33 is retracted cylinder putter, realizes car body 1 and is tilted to the right.When car body 1 need to be tilted to the left, solenoid directional control valve 10 is to opposite side commutation, simultaneously the first electromagnetic valve 111 in electromagnetic valve piece 11, the second electromagnetic valve 112, the 3rd electromagnetic valve 113 all electric.The rodless cavity that pressure oil enters the first leveling cyclinder 31 and the 3rd leveling cyclinder 33 by the first electromagnetic valve 111 stretches out cylinder putter, the rod chamber that while pressure oil enters opposite side the 4th leveling cyclinder 34 and the second leveling cyclinder 32 is retracted cylinder putter, realizes car body 1 and is tilted to the left.
When vehicle is flame-out, solenoid directional control valve 10 is got back to meta, the first electromagnetic valve 111 in electromagnetic valve piece 11, the second electromagnetic valve 112, the 3rd electromagnetic valve 113 are got back to normality, pressure oil is directly got back to fuel tank 9 by solenoid directional control valve 10, realize system unloaded, each oil cylinder is in locking state, to prevent that oil cylinder from, because the deadweight of car body 1 is retracted, can not keep state of equilibrium.
The utility model adopts electric liquid combination mode, can manual/auto leveling, and easy and simple to handle, steadily, leveling cyclinder synchronism is good, needs the large-scale harvest machinery of car body 1 lateral leveling while being applicable to operation in commutation.
Certainly; the utility model also can have other various embodiments; in the situation that not deviating from the utility model spirit and essence thereof; those of ordinary skill in the art are when making various corresponding changes and distortion according to the utility model, but these corresponding changes and distortion all should belong to the protection domain of the appended claim of the utility model.
Claims (10)
1. the car body side of cropper, to a levelling control system, is arranged on cropper, it is characterized in that, comprising:
For uploading the dip compass of the car body side degree of tilt data of described cropper in real time, be arranged on the car body of described cropper;
Leveling cyclinder, comprise the first leveling cyclinder, the second leveling cyclinder, the 3rd leveling cyclinder and the 4th leveling cyclinder, described the first leveling cyclinder and the second leveling cyclinder are arranged on the propons of described cropper, and described the 3rd leveling cyclinder and the 4th leveling cyclinder are arranged on the back axle of described cropper;
For Real-time Collection and process described car body side degree of tilt data and export the embedded control system of electric control signal, described embedded control system is connected with described dip compass by communication interface;
For receiving described electric control signal and being converted to the hydraulic control system of the certain flow pressure oil that drives described leveling cyclinder motion, described hydraulic control system is connected with described the first leveling cyclinder, the second leveling cyclinder, the 3rd leveling cyclinder and the 4th leveling cyclinder respectively, and described hydraulic control system is connected with the driving circuit of described embedded control system.
2. car body side according to claim 1, to levelling control system, is characterized in that, described embedded control system is connected with described dip compass by RS232 communication port.
3. car body side according to claim 1, to levelling control system, is characterized in that, also comprises the horizontality indicator lamp of the current side direction horizontal state that is used to indicate described car body, and described horizontality indicator lamp is connected with described embedded control system.
According to the car body side described in claim 1,2 or 3 to levelling control system, it is characterized in that, described dip compass is twin shaft absolute value output dip compass.
According to the car body side described in claim 1,2 or 3 to levelling control system, it is characterized in that, described the first leveling cyclinder and the second leveling cyclinder are symmetrical arranged, described the 3rd leveling cyclinder and the 4th leveling cyclinder are symmetrical arranged.
6. car body side according to claim 5, to levelling control system, is characterized in that, described the first leveling cyclinder and the second leveling cyclinder are splayed setting in opposite directions, and described the 3rd leveling cyclinder and the 4th leveling cyclinder are splayed setting in opposite directions.
According to the car body side described in claim 1,2 or 3 to levelling control system, it is characterized in that, described the first leveling cyclinder and described the 3rd leveling cyclinder are positioned at a side of described car body, described the second leveling cyclinder and described the 4th leveling cyclinder are positioned at the opposite side of described car body, described the first leveling cyclinder and the 3rd leveling cyclinder synchronization lifting, described the second leveling cyclinder and the 4th leveling cyclinder synchronization lifting.
According to the car body side described in claim 1,2,3 or 6 to levelling control system, it is characterized in that, described hydraulic control system comprises fix-displacement pump, filter, solenoid directional control valve and the electromagnetic valve piece connecting by hydraulic tubing, and described electromagnetic valve piece is connected with described solenoid directional control valve with described leveling cyclinder respectively.
9. car body side according to claim 8 is to levelling control system, it is characterized in that, described electromagnetic valve piece comprises the first electromagnetic valve, the second electromagnetic valve and the 3rd electromagnetic valve, and described the first electromagnetic valve and the 3rd electromagnetic valve are normal-open electromagnetic valve, and described the second electromagnetic valve is normal-closed electromagnetic valve.
According to the car body side described in claim 1,2,3,6 or 9 to levelling control system, it is characterized in that, described embedded control system comprises manual adjustment means and automatic adjusting mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320433230.8U CN203391591U (en) | 2013-07-19 | 2013-07-19 | Vehicle lateral leveling control system of harvester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320433230.8U CN203391591U (en) | 2013-07-19 | 2013-07-19 | Vehicle lateral leveling control system of harvester |
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| Publication Number | Publication Date |
|---|---|
| CN203391591U true CN203391591U (en) | 2014-01-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320433230.8U Expired - Lifetime CN203391591U (en) | 2013-07-19 | 2013-07-19 | Vehicle lateral leveling control system of harvester |
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| CN (1) | CN203391591U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104977943A (en) * | 2015-07-14 | 2015-10-14 | 崔汉文 | Dynamic stability level control system |
| CN105706630A (en) * | 2016-03-22 | 2016-06-29 | 济南大学 | Novel vehicle body leveling device applied to corn harvester |
| CN110936782A (en) * | 2019-12-31 | 2020-03-31 | 山东大学 | Method for adjusting body balance of potato combined harvester |
-
2013
- 2013-07-19 CN CN201320433230.8U patent/CN203391591U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104977943A (en) * | 2015-07-14 | 2015-10-14 | 崔汉文 | Dynamic stability level control system |
| CN104977943B (en) * | 2015-07-14 | 2018-12-18 | 崔汉文 | A kind of dynamic stability level-regulating system |
| CN105706630A (en) * | 2016-03-22 | 2016-06-29 | 济南大学 | Novel vehicle body leveling device applied to corn harvester |
| CN110936782A (en) * | 2019-12-31 | 2020-03-31 | 山东大学 | Method for adjusting body balance of potato combined harvester |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20211122 Address after: 100083, North Beach, Desheng Gate, Beijing, Chaoyang District Patentee after: China Academy of agricultural mechanization Group Co.,Ltd. Address before: 100083, No. 1, North Beach, Desheng Gate, Beijing, Chaoyang District Patentee before: MODERN AGRICULTURAL EQUIPMENT Co.,Ltd. |
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| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140115 |