CN205005444U - Intelligent multi -functional plant protection is four -wheel antiskid mechanism for robot - Google Patents
Intelligent multi -functional plant protection is four -wheel antiskid mechanism for robot Download PDFInfo
- Publication number
- CN205005444U CN205005444U CN201520596117.0U CN201520596117U CN205005444U CN 205005444 U CN205005444 U CN 205005444U CN 201520596117 U CN201520596117 U CN 201520596117U CN 205005444 U CN205005444 U CN 205005444U
- Authority
- CN
- China
- Prior art keywords
- wheel
- microcontroller
- magnetic valve
- plant protection
- intelligent multi
- 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.)
- Expired - Fee Related
Links
Landscapes
- Regulating Braking Force (AREA)
Abstract
The utility model relates to an intelligent multi -functional plant protection is four -wheel antiskid mechanism for robot, including microcontroller, front and back wheel speedtransmitter, solenoid valve and hydro -cylinder, microcontroller is as main control unit, and speedtransmitter is as main test input device, and the solenoid valve is control object, the pneumatic cylinder actuating mechanism that gives first place to. The front and back wheel sensor will detect the state of wheel, and microcontroller judges through the rotational speed that compares each wheel whether the wheel is in idle running. When judging that the wheel takes place idle running, the solenoid valve opening that microcontroller will reduce to correspond the wheel is to cutting off the solenoid valve to reduce oil inlet amount, the output that reduces the pneumatic cylinder prevent the to skid emergence of phenomenon.
Description
Technical field
The utility model relates to a kind of anti-slipping mechanism, is applicable to agricultural machinery, is particularly useful for four-wheel anti-skidding, specifically, relates to a kind of intelligent multi-function plant protection robot four-wheel anti-slipping mechanism, belongs to agricultural machinery technological field.
Background technology
Agricultural machinery is in operation process; because farmland condition of road surface condition is poor; easily slippage problems is there is in operation process; affect operation effectiveness, especially for large-scale equipment for plant protection, carry out operation at crop growth period; once occur skidding; both affected the operation effectiveness of equipment for plant protection, easily cause again the damage of field crops, safety coefficient is low.
Utility model content
Technical problem to be solved in the utility model is for above deficiency, provides a kind of intelligent multi-function plant protection robot four-wheel anti-slipping mechanism, can realize the switching of four-wheel steering pattern and anti-slip form type, have the advantage of good antiskid effect.Keep straight on when plant protection robot or when travelling on more level and smooth road surface with smaller angle, switch to four-wheel pattern, make its normal smooth-ride.When plant protection robot turns to or travels on the road surface of comparatively jolting, easily occur that certain or certain several wheel is in idling conditions thus causes the skidding of plant protection robot.Direction and stability that skidding will cause plant protection robot to lose traveling, make it be difficult to manipulation thus cause driving easily to be caused danger.
For solving the problems of the technologies described above; the technical solution of the utility model is: intelligent multi-function plant protection robot four-wheel anti-slipping mechanism; it is characterized in that: described four-wheel anti-slipping mechanism comprises control device; control device comprises microcontroller, and microcontroller is electrically connected with velocity sensor, magnetic valve and hydraulic cylinder.
A kind of prioritization scheme, described velocity sensor comprises front wheel sensor and rear wheel sensor, and velocity sensor is for detecting the rotating speed of wheel and feeding back to microcontroller, and microcontroller is for judging whether wheel dallies;
Magnetic valve comprises front right magnetic valve, rear left magnetic valve, rear right magnetic valve and front left magnetic valve, and during wheel spin, magnetic valve for reducing the oil inlet quantity of corresponding wheel, and then reduces the output of hydraulic cylinder.
Another kind of prioritization scheme, described microcontroller is electrically connected with unloader, is connected with the first K switch 1 between unloader and microcontroller.
Another prioritization scheme, described microcontroller is electrically connected with four-wheel magnetic valve, is connected with second switch K2 between four-wheel magnetic valve and microcontroller.
Further prioritization scheme, described microcontroller is electrically connected with crab shape magnetic valve, is connected with the 3rd K switch 3 between crab shape magnetic valve and microcontroller.
Further prioritization scheme, described front wheel sensor is electrically connected with the first signal input tube pin DI8 of microcontroller;
Rear wheel sensor is electrically connected with the secondary signal input pin DI9 of microcontroller.
Further prioritization scheme, the model of described microcontroller is C310.
The utility model adopts above technical scheme, compared with prior art, have the following advantages: anti-slipping mechanism comprises C310 type microcontroller, front and back wheel velocity sensor, magnetic valve and oil cylinder, adopt C310 type microcontroller as master controller, velocity sensor is as main detection input unit, magnetic valve is controlled device, and hydraulic cylinder is main actuating mechanism.Front and back wheel sensor will detect the state of wheel, by the rotating speed comparing each wheel, C310 microcontroller judges whether wheel is in idle running.When judging that idle running occurs wheel, microcontroller will reduce the magnetic valve opening of corresponding wheel to cutting off magnetic valve, thus reduces oil inlet quantity, and the output reducing hydraulic cylinder prevents the generation of skidding.
Front and back wheel velocity sensor detects in real time respectively takes turns rotor speed, by contrasting the difference of each vehicle wheel rotational speed, correctly judge now whether front driving wheel skids, when skidding being detected, system, by reducing the openings of sizes of magnetic valve at once, reduces oil cylinder oil inlet amount, thus reduces vehicle wheel rotational speed, to reduce Power output, the driving wheel skidded is controlled.
When idle running being detected, by the flow of Controlling solenoid valve hydraulic control oil, thus controlled pressure size is to control the power output size of oil cylinder.
The detection signal of Negotiation speed sensor is as the input signal judging idle running, and make structure more simple, stability is higher.
By Controlling solenoid valve controlled pressure to reduce anti-skidding phenomenon, the operability of functional realiey can be made higher, technical requirement be reduced, thus makes system more simple and practical, also reduce cost.
Adopt C310 controller as the processor of system, control is more prone to, the stability of a system is higher.
Below in conjunction with drawings and Examples, the utility model is described in detail.
Accompanying drawing explanation
Accompanying drawing 1 is four-wheel anti-slipping mechanism control principle drawing in the utility model embodiment.
Embodiment
Embodiment; as shown in Figure 1; intelligent multi-function plant protection robot four-wheel anti-slipping mechanism; comprise velocity sensor, magnetic valve and hydraulic cylinder; velocity sensor comprises front wheel sensor and rear wheel sensor, and magnetic valve comprises front right magnetic valve, rear left magnetic valve, rear right magnetic valve and front left magnetic valve.
Sensor and magnetic valve are electrically connected with control device, described control device comprises microcontroller, in the present embodiment, the model of microcontroller is C310, first signal input tube pin DI8 of microcontroller is electrically connected with front wheel sensor, the secondary signal input pin DI9 of microcontroller is connected with trailing wheel sensor electrical, the information such as wheel speed are sent to microcontroller by sensor in real time, controller realizes controlling to four wheel movement by magnetic valve according to sensor feedback information, realize the small radius steering of this plant protection robot, when sensor detects that wheel is in idling conditions, corresponding hydraulic cylinder oil supply operation will be reduced, the power that plant protection robot is provided by other three wheels continues even running, prevent plant protection robot from trackslipping.
Microcontroller is electrically connected with unloader, is connected with the first K switch 1 between unloader and microcontroller.
Microcontroller is electrically connected with four-wheel magnetic valve, is connected with second switch K2 between four-wheel magnetic valve and microcontroller.
Microcontroller is electrically connected with crab shape magnetic valve, is connected with the 3rd K switch 3 between crab shape magnetic valve and microcontroller.
In the utility model, adopt C310 type microcontroller as master controller, velocity sensor is as main detection input unit, and magnetic valve is controlled device, and hydraulic cylinder is main actuating mechanism.Front wheel sensor and rear wheel sensor will detect the state of wheel, by the rotating speed comparing each wheel, microcontroller judges whether wheel is in idle running.When judging that idle running occurs wheel, microcontroller will reduce the magnetic valve opening of corresponding wheel to cutting off magnetic valve, thus reduces oil inlet quantity, and the output reducing hydraulic cylinder prevents the generation of skidding.
When control system detects wheel spin, by the flow of Controlling solenoid valve hydraulic control oil, thus controlled pressure size is with the power output size of hydraulic control cylinder.
Adopt C310 type microcontroller as the processor of system, control is more prone to, the stability of a system is higher.
The above is the citing of the utility model preferred forms, and the part wherein do not addressed in detail is the common practise of those of ordinary skill in the art.Protection domain of the present utility model is as the criterion with the content of claim, and any equivalent transformation carried out based on technology enlightenment of the present utility model, also within protection domain of the present utility model.
Claims (7)
1. intelligent multi-function plant protection robot four-wheel anti-slipping mechanism, is characterized in that: described four-wheel anti-slipping mechanism comprises control device, and control device comprises microcontroller, and microcontroller is electrically connected with velocity sensor, magnetic valve and hydraulic cylinder.
2. intelligent multi-function plant protection robot as claimed in claim 1 four-wheel anti-slipping mechanism, it is characterized in that: described velocity sensor comprises front wheel sensor and rear wheel sensor, velocity sensor is for detecting the rotating speed of wheel and feeding back to microcontroller, and microcontroller is for judging whether wheel dallies;
Magnetic valve comprises front right magnetic valve, rear left magnetic valve, rear right magnetic valve and front left magnetic valve, and during wheel spin, magnetic valve for reducing the oil inlet quantity of corresponding wheel, and then reduces the output of hydraulic cylinder.
3. intelligent multi-function plant protection robot as claimed in claim 1 four-wheel anti-slipping mechanism, is characterized in that: described microcontroller is electrically connected with unloader, is connected with the first K switch 1 between unloader and microcontroller.
4. intelligent multi-function plant protection robot as claimed in claim 1 four-wheel anti-slipping mechanism, is characterized in that: described microcontroller is electrically connected with four-wheel magnetic valve, is connected with second switch K2 between four-wheel magnetic valve and microcontroller.
5. intelligent multi-function plant protection robot as claimed in claim 1 four-wheel anti-slipping mechanism, is characterized in that: described microcontroller is electrically connected with crab shape magnetic valve, is connected with the 3rd K switch 3 between crab shape magnetic valve and microcontroller.
6. intelligent multi-function plant protection robot as claimed in claim 2 four-wheel anti-slipping mechanism, is characterized in that: described front wheel sensor is electrically connected with the first signal input tube pin DI8 of microcontroller;
Rear wheel sensor is electrically connected with the secondary signal input pin DI9 of microcontroller.
7. intelligent multi-function plant protection robot as claimed in claim 1 four-wheel anti-slipping mechanism, is characterized in that: the model of described microcontroller is C310.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520596117.0U CN205005444U (en) | 2015-08-10 | 2015-08-10 | Intelligent multi -functional plant protection is four -wheel antiskid mechanism for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520596117.0U CN205005444U (en) | 2015-08-10 | 2015-08-10 | Intelligent multi -functional plant protection is four -wheel antiskid mechanism for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205005444U true CN205005444U (en) | 2016-02-03 |
Family
ID=55204087
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520596117.0U Expired - Fee Related CN205005444U (en) | 2015-08-10 | 2015-08-10 | Intelligent multi -functional plant protection is four -wheel antiskid mechanism for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205005444U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105165158A (en) * | 2015-08-10 | 2015-12-23 | 山东帅克机械制造股份有限公司 | Intelligentize multifunctional plant protection robot four-wheel antiskid mechanism |
-
2015
- 2015-08-10 CN CN201520596117.0U patent/CN205005444U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105165158A (en) * | 2015-08-10 | 2015-12-23 | 山东帅克机械制造股份有限公司 | Intelligentize multifunctional plant protection robot four-wheel antiskid mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107107745B (en) | Control the control system and method for power train | |
| CN101774372B (en) | Driving anti-skid control system of hybrid electric vehicle and control method thereof | |
| CN101537853B (en) | Automobile four-wheel active steering control system | |
| CN103826882A (en) | Towed vehicle arrangement responsive to lateral hitch loading | |
| CN104973122A (en) | Loader electronic-control-handle steering and intelligent-braking control system | |
| CN102463970B (en) | Automobile short-distance braking control device and automobile short-distance braking control method using same | |
| CN103527337A (en) | Automotive deceleration and fuel cut control method | |
| CN107933558B (en) | Running control method of wetland running operation device | |
| AU2012355747A1 (en) | System and method for controlling slip | |
| CN205005444U (en) | Intelligent multi -functional plant protection is four -wheel antiskid mechanism for robot | |
| CN204871165U (en) | Automatically controlled handle of loader turns to brakies control system with intelligence | |
| CN105165158A (en) | Intelligentize multifunctional plant protection robot four-wheel antiskid mechanism | |
| CN207416600U (en) | Electric vehicle antiskid control system and electric vehicle | |
| CN105857281A (en) | Anti-lock braking system (ABS)/anti-skip regulation (ASR) integrated hydraulic system of off-highway mechanical drivedumper | |
| WO2019110198A1 (en) | Utility vehicle braking | |
| CN104494716A (en) | Intelligent lifting electronic automatic balancing system for walking tractors on sloping fields | |
| CN206655262U (en) | A kind of wheel dozer tractive force combined control system | |
| CN204870982U (en) | Automatically controlled parking device of car | |
| CN104494585B (en) | Braking force distribution control method for wheels on two sides of electric automobile | |
| CN205371118U (en) | Self -propelled harvester hydraulic pressure four wheel drive antiskid | |
| CN111002841A (en) | Vehicle driving control system and method based on real-time working condition | |
| CN205331087U (en) | Be suitable for paddy field work's hydraulic system that skids that prevents | |
| CN209409812U (en) | Pendulum waist tractor with automatic Pilot and torque distribution function | |
| CN103085866A (en) | Anti-skidding control method for full hydraulic drive vehicle | |
| CN205408647U (en) | Device that skids is prevented to hydraulic pressure 4 wheel driven for maize picker |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160203 Termination date: 20200810 |