CN208171498U - Tractor trifilar suspension Spatial distributions machine load sensing device - Google Patents
Tractor trifilar suspension Spatial distributions machine load sensing device Download PDFInfo
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- CN208171498U CN208171498U CN201820784359.6U CN201820784359U CN208171498U CN 208171498 U CN208171498 U CN 208171498U CN 201820784359 U CN201820784359 U CN 201820784359U CN 208171498 U CN208171498 U CN 208171498U
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Abstract
The utility model discloses a kind of tractor trifilar suspension Spatial distributions machine load sensing device, including crossbeam, two stringers, three component sensors, crossbeam and two stringer connection composition ∏ type frames, the middle part of crossbeam and the bottom of two stringers are equipped with three component sensors, the front and back side of three component sensors is respectively equipped with connector, front side connector is for connecting tractor, and rear side connector is for connecting agricultural machinery and implement；Three component sensors can measure the stress size of tri- rectangular co-ordinate axis directions of X, Y, Z, and three three component sensors are arranged to make up measurement array；First angle sensor and second angle sensor are respectively used to measurement sensing device and the pitch angle of tractor, roll angle, azimuth, and measurement result is transformed into tractor coordinate system from sensing device coordinate system.The utility model can test the component at three hitch points on three directions simultaneously, to realize the test of agricultural machinery and implement tractive force, lifting force, cross force and torque.
Description
Technical field
The present invention relates to agricultural machinery technological fields, and in particular to a kind of tractor trifilar suspension Spatial distributions load sensing
Device.
Background technique
Existing tractive force common method has vehicle to pull a cart method (or method of carrying), i.e., by postposition tractor mounted equipment, by
Preposition tractor-drawn postposition unit, standard tension sensor are located between two tractors, and defect is that test result includes
Postposition tractor itself travels rolling resistance, can only obtain approximation, in addition rolling resistance needs individually test.And it can only test
Tractive force.
Three suspension pins for coupling tractor and equipment are replaced with force snesor by dynamometry pin method, and force snesor is mostly
Unidirectional load sensor can only test the load in known direction according to the installation position of sensor.The disadvantage is that with 3 points it is outstanding
The lifting (depth of implements adjustment) of suspension mechanism, can not differentiate suffered loading direction, can test tractive force and lifting force.
Pull rod, lift lever above and below suspension arrangement are replaced with force snesor, measured by five bar dynamometries (rod piece Shift Method)
Cheng Zhongxu measures the angle and transient position of rod piece, and the numerical value of tractive force is gone out with analytic calculation.It is only applicable to height adjustment side
Formula (equipment is in quick condition), that is, be reduced to ideal two power bar stress, and actual conditions do not ensure that.
Octagonal ring sensor dynamometry frame, is made of upper layer and lower layer subframe, uses two extension octagonal rings as dynamometry
Sensing element, it is desirable that frame plane is perpendicular to the ground, in actual use can only near normal, can not strict guarantee, can test
Tractive resistance, vertical force and moment of flexure.
Summary of the invention
Goal of the invention：Present invention aims in view of the deficiencies of the prior art, provide a kind of tractor trifilar suspension space
Dynamic load sensing device and its working method can test the component at three hitch points on three directions simultaneously, thus real
The test of existing agricultural machinery and implement tractive force, lifting force, cross force and torque.
Technical solution：Tractor trifilar suspension Spatial distributions machine load sensing device of the present invention, be connected to tractor and
Between agricultural machinery and implement；Including crossbeam, two stringers, three component sensors, first angle sensor and second angle sensor, crossbeam
Connecting composition ∏ type frame with two stringers, the bottom of the middle part of crossbeam and two stringers is equipped with three component sensors, and three points
The front and back side of force snesor is respectively equipped with connector, and front side connector is for connecting tractor, and rear side connector is for connecting agriculture
Equipment；The three component sensor can measure the stress size of tri- rectangular co-ordinate axis directions of X, Y, Z, three three component sensings
Device is arranged to make up measurement array；The first angle sensor is used to measure the pitch angle, roll angle, azimuth of sensing device,
The second angle sensor is used to measure the pitch angle, roll angle, azimuth of tractor, using sensing device and tractor it
Between differential seat angle realize three component sensor measurements from sensing device coordinate system to the conversion of tractor coordinate system.
Further improve above-mentioned technical proposal, the first angle sensor is mounted on the crossbeam or on stringer or collects
At on any one three component sensor, the second angle sensor is mounted on tractor.
Preferably, first angle sensor is mounted on datum plane in the middle part of crossbeam, second angle sensor is mounted on
Tractor datum plane, for measuring pitch angle, roll angle, azimuth of the agricultural machinery and implement relative to tractor.
Further, the crossbeam both ends are equipped with lateral adjustments slot, are equipped with vertical adjustment slot at the top of stringer, two stringers
Vertical adjustment groove location passes through connector respectively and the lateral adjustments groove location of crossbeam is fixed, by changing connector and vertical tune
Save slot, lateral adjustments slot fixed point adjustment stringer and crossbeam relative position.Stringer can adjust up and down on crossbeam
Position, to adapt to tractor and the various sizes of suspension arrangement of equipment.
Further, the crossbeam, stringer use steel material.
Further, the three component sensor uses three groups of strain bridges, tri- rectangular co-ordinate axis direction difference of X, Y, Z
The cross force of corresponding horizontal direction, the lifting force of vertical direction or agricultural machinery and implement from gravity, the tractive force of horizontal direction.
Further, the three component sensor uses the vertical load cell of bridge-type.
Further, the three component sensor outer housing is rectangular stainless steel structure.
Further, the front side connector is U-shaped folder, for connecting the upper hitch point and lower hitch point of tractor, institute
Stating rear side connector is the connector being arranged along three component sensor surfaces, for connecting the three-link hitch of agricultural machinery and implement.
Using the measurement method of above-mentioned tractor trifilar suspension Spatial distributions machine load sensing device, include the following steps：
(1) by the upper hitch point of the front side connector of trifilar suspension space power machine load sensing device and tractor, lower outstanding
Hanging point connection, the three-link hitch of the rear side connector of trifilar suspension space power machine load sensing device and agricultural machinery and implement is connected
It connects, data acquisition processing system is equipped in tractor, data acquisition processing system is connected with storage battery power supply, three component sensing
Device, angular transducer are connected with data acquisition processing system and by its power supplies；
(2) agricultural machinery and implement being adjusted in ground grading and is in horizontality, data acquisition processing system powers on carry out self-test,
Sensor parameters, sampling parameter are set；
(3) by agricultural machinery and implement lift-off ground, idle running trial operation is carried out, it is ensured that agricultural machinery and implement flexible in operation has no abnormal sound, each sensor
After data acquisition is normal, execute step (4)；
(4) tractor-drawn agricultural machinery and implement to field carries out operation, and three component sensors acquire the cross force of horizontal direction, hang down
Histogram to lifting force or agricultural machinery and implement from gravity, the tractive force of horizontal direction, first angle sensor, second angle sensor
For measuring the pitch angle, roll angle, azimuth of sensing device and tractor, three component sensors, first angle sensing respectively
The data that device, second angle sensor acquire are transmitted to data acquisition processing system and store, and data acquisition processing system will pass
Induction device coordinate system transformation is to tractor coordinate system；
(5) portable computer and data acquisition processing system are connected by wired or wireless mode, carries out data
Transmission and subsequent analysis processing.
Further, the transformation of sensing device coordinate system to tractor coordinate system is handled as follows in the step (4)：
The second angle sensor measures three angle T of tractorx、Ty、Tz, first angle sensor measures the three of sensing device
A angle Sx、Sy、Sz, angle ε of the available sensing device with respect to tractorx、εy、εz：
εx=Sx-Tx
εy=Sy-Ty
εz=Sz-Tz
Then spin matrix R is obtained1(εx)、R2(εy)、R3(εz)：
Enable R0=R1(εx)R2(εy)R3(εz)；
The same origin in sensing device coordinate system, on three coordinate planes, respectively about the z axis, Y-axis, X-axis do and revolve three times
Turn, complete the transformation of sensing device coordinate system to tractor coordinate system,
If three component that some three component sensor measures are Fx1、Fy1、Fz1, it is F ' after rotation transformationx1、F′y1、F′z1,
Then
Beneficial effect：Compared with the prior art, the advantages of the present invention are as follows：Sensing device provided by the invention, which is serially connected in, to be dragged
Between machine drawing hitch point and agricultural machinery and implement three-point hitch, does not change the original suspension arrangement of the two, existing mechanism can be suitable for；
Datum plane and tractor datum plane are respectively equipped with an angular transducer in the middle part of sensing device crossbeam, for testing agricultural machinery
Have pitch angle, roll angle and the azimuth of opposite tractor, test result is transformed into tractor from sensor coordinate system and is sat
Mark system；Measurement array is constituted using three three component sensors at three tie points of tractor and agricultural machinery and implement, can be surveyed simultaneously
The component at three hitch points on three directions is tried, only coordinates of targets point need to be provided, can resolve to obtain by sensor array
Torque on three directions, to realize the test of agricultural machinery and implement tractive force, lifting force, cross force and torque.
Detailed description of the invention
Fig. 1 is perspective view of the invention；
Fig. 2 is main view of the invention；
Fig. 3 is side view of the invention；
Fig. 4 is top view of the invention；
Fig. 5 is the monomer structure schematic diagram of three component sensors.
Specific embodiment
Technical solution of the present invention is described in detail below by attached drawing, but protection scope of the present invention is not limited to
The embodiment.
Embodiment 1：Base tractor trifilar suspension Spatial distributions machine load sensing device as shown in Figures 1 to 5, including crossbeam
1,2,3 three component sensors 3, first angle sensor 6, second angle sensors of two stringers, crossbeam 1 and two stringers 2
Connection composition ∏ type frame, crossbeam 1, stringer 2 use steel material, and 1 both ends of crossbeam are equipped with lateral adjustments slot 11, set at the top of stringer 2
There is vertical adjustment slot 21, two stringers 2 pass through the lateral adjustments slot 11 of the bolt and crossbeam that are set at vertical adjustment slot 21 respectively
Place is fixed, opposite with crossbeam 1 with the fixed point adjustment stringer 2 of, vertical adjustment slot 21, lateral adjustments/11 by changing bolt
Position.
One three component sensor 3 is fixed by bolts to 1 middle part of crossbeam, and three component sensor 3 of another two uses bolt respectively
Two 2 lower parts of stringer are fixed on, the front and back side of three component sensors 3 is respectively equipped with connector, and front side connector 4 is dragged for connecting
Machine drawing, rear side connector 5 is for connecting agricultural machinery and implement.Each three component load cell uses three groups of strain bridges, is respectively used to
Measure tractive force (Z-direction), the lifting force of vertical direction or the component from gravity (Y-direction) and horizontal direction of farm implements of horizontal direction
(X to).The load cell uses monomer bridge-type vertical structure, and the performances such as coupling performance and the linearity are good.Outside be it is rectangular not
Become rusty steel, degree of protection IP63.First angle sensor 6 is installed in 1 middle part datum plane of crossbeam, is installed in tractor datum plane
Have second angle sensor, for Measurer with respect to tractor pitch angle, roll angle and azimuth, by test result from
Sensor coordinate system is transformed into tractor coordinate system.Three three component sensors 3 constitute measurement array, need to only provide coordinates of targets
Point can resolve to obtain the torque on three directions by sensor measurement array.
Front side connector 4 is U-shaped folder, and for connecting the upper hitch point and lower hitch point of tractor, rear side connector 5 is edge
The connector of three component sensors, 3 surface setting, for connecting the three-link hitch of agricultural machinery and implement.
Using the measurement method of above-mentioned tractor trifilar suspension Spatial distributions machine load sensing device, include the following steps：
(1) by the upper hitch point of the front side connector 4 of trifilar suspension space power machine load sensing device and tractor, lower outstanding
Hanging point connection connects the three-link hitch of the rear side connector 5 of trifilar suspension space power machine load sensing device and agricultural machinery and implement
It connects, data acquisition processing system is equipped in tractor, data acquisition processing system is connected with storage battery power supply, three component sensors
3, angular transducer 6 is connected with data acquisition processing system and by its power supply；
(2) agricultural machinery and implement being adjusted in ground grading and is in horizontality, data acquisition processing system powers on carry out self-test,
Each sensor parameters, sampling parameter are set；
(3) by agricultural machinery and implement lift-off ground, idle running trial operation is carried out, it is ensured that agricultural machinery and implement flexible in operation has no abnormal sound, each sensor
After data acquisition is normal, execute step (4)；
(4) tractor-drawn agricultural machinery and implement to field carry out operation, three component sensors 3 acquire horizontal direction cross force,
The lifting force of vertical direction or agricultural machinery and implement from gravity, the tractive force of horizontal direction, first angle sensor 6 acquires agricultural machinery and implement phase
For the pitch angle, roll angle and azimuth of tractor, the data of acquisition are transmitted to data acquisition processing system and store；
(5) portable computer and data acquisition processing system are connected by wired or wireless mode, carries out data
Transmission.
The transformation of sensing device coordinate system to tractor coordinate system is handled as follows：The second angle sensor measures
Three angle T of tractorx、Ty、Tz, first angle sensor measures three angle S of sensing devicex、Sy、Sz, available
Angle ε of the sensing device with respect to tractorx、εy、εz：
εx=Sx-Tx
εy=Sy-Ty
εz=Sz-Tz
Then spin matrix R is obtained1(εx)、R2(εy)、R3(εz)：
Enable R0=R1(εx)R2(εy)R3(εz)；
The same origin in sensing device coordinate system, on three coordinate planes, respectively about the z axis, Y-axis, X-axis do and revolve three times
Turn, complete the transformation of sensing device coordinate system to tractor coordinate system,
If three component that some three component sensor measures are Fx1、Fy1、Fz1, it is F ' after rotation transformationx1、F′y1、F′z1,
Then
Sensor uses internal zero compensation mode, and compensation temperature range is at -20~60 DEG C, and use temperature range is -20
~80 DEG C, zero temperature drift is less than 0.05%/F.S/10 DEG C；Sensitivity is by the way of Bridge circuit compensation, compensation temperature range
At -20~60 DEG C, for use temperature range at -20~80 DEG C, zero temperature drift is less than 0.05%/F.S/10 DEG C.
Sensing device is serially connected between tractor hanging and agricultural machinery and implement hanger bracket, does not change the original suspension dress of the two
It sets.
As above, it although the present invention has been indicated and described referring to specific preferred embodiment, shall not be construed as pair
The limitation of invention itself.Without prejudice to the spirit and scope of the invention as defined in the appended claims, can to its
Various changes can be made in form and in details.
Claims (8)
1. tractor trifilar suspension Spatial distributions machine load sensing device, is connected between tractor and agricultural machinery and implement；It is characterized in that：
Including crossbeam, two stringers, three component sensors, first angle sensor and second angle sensor, crossbeam and two stringers
The bottom of connection composition ∏ type frame, the middle part of crossbeam and two stringers is equipped with three component sensors, three component sensors
Front and back side is respectively equipped with connector, and front side connector is for connecting tractor, and rear side connector is for connecting agricultural machinery and implement；Described three
Component sensor can measure the stress size of tri- rectangular co-ordinate axis directions of X, Y, Z, and three three component sensors are arranged to make up
Measure array；The first angle sensor is used to measure the pitch angle, roll angle, azimuth of sensing device, and described second jiao
Degree sensor is used to measure the pitch angle, roll angle, azimuth of tractor, utilizes the differential seat angle between sensing device and tractor
Realize three component sensor measurements from sensing device coordinate system to the conversion of tractor coordinate system.
2. tractor trifilar suspension Spatial distributions machine load sensing device according to claim 1, it is characterised in that：Described
One angular transducer is mounted on the crossbeam or on stringer or is integrated on any one three component sensor, the second angle
Sensor is mounted on tractor.
3. tractor trifilar suspension Spatial distributions machine load sensing device according to claim 1, it is characterised in that：The cross
Beam both ends are equipped with lateral adjustments slot, are equipped with vertical adjustment slot at the top of stringer, the vertical adjustment groove location of two stringers passes through respectively
The lateral adjustments groove location of connector and crossbeam is fixed, by the fixation for changing connector and vertical adjustment slot, lateral adjustments slot
The relative position of point adjustment stringer and crossbeam.
4. tractor trifilar suspension Spatial distributions machine load sensing device according to claim 1, it is characterised in that：The cross
Beam, stringer use steel material.
5. tractor trifilar suspension Spatial distributions machine load sensing device according to claim 1, it is characterised in that：Described three
Component sensor uses three groups of strain bridges, and tri- rectangular co-ordinate axis directions of X, Y, Z respectively correspond the cross force of horizontal direction, hang down
Histogram to lifting force or agricultural machinery and implement from gravity, the tractive force of horizontal direction.
6. tractor trifilar suspension Spatial distributions machine load sensing device according to claim 1, it is characterised in that：Described three
Component sensor uses the vertical load cell of bridge-type.
7. tractor trifilar suspension Spatial distributions machine load sensing device according to claim 1, it is characterised in that：Described three
Component sensor outer housing is rectangular stainless steel structure.
8. tractor trifilar suspension Spatial distributions machine load sensing device according to claim 1, it is characterised in that：Before described
Side connector is U-shaped folder, and for connecting the upper hitch point and lower hitch point of tractor, the rear side connector is to pass along three component
The connector of sensor surfaces setting, for connecting the three-link hitch of agricultural machinery and implement.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820784359.6U CN208171498U (en) | 2018-05-24 | 2018-05-24 | Tractor trifilar suspension Spatial distributions machine load sensing device |
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| CN201820784359.6U CN208171498U (en) | 2018-05-24 | 2018-05-24 | Tractor trifilar suspension Spatial distributions machine load sensing device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109738103A (en) * | 2019-01-22 | 2019-05-10 | 华南农业大学 | A kind of paddy-field-working equipment working resistance measuring system and its measurement method |
| CN112362217A (en) * | 2020-10-09 | 2021-02-12 | 珠海格力电器股份有限公司 | Load cell and motion control device having the same |
| CN109738103B (en) * | 2019-01-22 | 2024-05-14 | 华南农业大学 | Paddy field operation tool working resistance measuring system and measuring method thereof |
-
2018
- 2018-05-24 CN CN201820784359.6U patent/CN208171498U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109738103A (en) * | 2019-01-22 | 2019-05-10 | 华南农业大学 | A kind of paddy-field-working equipment working resistance measuring system and its measurement method |
| CN109738103B (en) * | 2019-01-22 | 2024-05-14 | 华南农业大学 | Paddy field operation tool working resistance measuring system and measuring method thereof |
| CN112362217A (en) * | 2020-10-09 | 2021-02-12 | 珠海格力电器股份有限公司 | Load cell and motion control device having the same |
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