CN210745940U - Man-machine double-control device for lifting farm tools of unmanned tractor - Google Patents
Man-machine double-control device for lifting farm tools of unmanned tractor Download PDFInfo
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- CN210745940U CN210745940U CN201921714295.3U CN201921714295U CN210745940U CN 210745940 U CN210745940 U CN 210745940U CN 201921714295 U CN201921714295 U CN 201921714295U CN 210745940 U CN210745940 U CN 210745940U
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Abstract
The utility model discloses a man-machine double control device that is used for unmanned tractor agricultural implement to go up and down among the agricultural machine technical field, including manually operation part and motor drive part, in the manually operation part, the control rod passes through the transfer line of driving frame with the agricultural implement and articulates, and in the motor drive part, the drive shaft lower extreme of push rod motor is articulated with flexible pipe, and the upper pot head of telescopic link slides from top to bottom in the telescopic pipe and along flexible pipe, its lower extreme and driving frame fixed connection. The utility model discloses a piston motion of drive shaft just can realize promotion and the decline of agricultural implement, has saved the cost of whole device greatly, and need not to carry out dismouting, transformation to the existing equipment, has saved construction process, more can be applicable to different motorcycle types, is favorable to the popularization and the application of product.
Description
Technical Field
The utility model relates to the technical field of agricultural machinery, specific theory relates to a man-machine double control device that is used for unmanned tractor agricultural implement to go up and down.
Background
With the development of the urbanization process in China, rural areas gradually face the situation that a large number of people are few, and the problem can be effectively solved by the automatic driving technology of agricultural machinery, particularly tractors. Most links of unmanned cultivation of tractors in fields are basically realized, but in practical application, a driver still needs to perform manual intervention under certain special working conditions, so that the requirement of man-machine double-control double-driving can be met by the modified tractor bottom actuating mechanism.
The device that is used for realizing tractor agricultural implement to promote at present mainly has 3: the first is a manual lifting device for a small tractor, and the tractor has low automation degree for lifting operation of farm tools and is basically not suitable for an unmanned system; the second type is a hydraulic power-assisted farm tool lifting device for medium-sized tractors and partial large tractors, a driver controls a pull rod connected with a main control valve core by operating an operating rod in a cab, so that the farm tool is lifted; the third is a farm tool lifting device controlled by an electro-hydraulic proportional valve and used for a large tractor, and the man-machine double control can be easily realized by modifying a circuit. Through the analysis, for the middle-sized tractors and part of large tractors with more second quantity, special control actuating mechanisms need to be designed, the lifting control of farm implements is realized, the lifting of the farm implements can be manually controlled, the control of a hydraulic power-assisted farm implement lifting device by an agricultural unmanned aerial vehicle system is also met, and the two parts do not interfere with each other.
Aiming at a medium-sized tractor hydraulic power-assisted farm tool lifting device with a large stock, in order to realize man-machine double control, the current main modification mode is to upgrade a manual lifting control valve group into an electro-hydraulic proportional valve group which is generally applied to a large-sized tractor, the modification mode has extremely high cost which is basically more than 8000 yuan, and the tractor needs to be disassembled, so that the vehicle body is greatly modified; in addition, the valve banks of different vehicle types need to be matched with the electro-hydraulic proportional valve cores, so that the workload and the difficulty in the process are relatively large, and the process is not beneficial to popularization and application.
Disclosure of Invention
In order to overcome the defects of the prior art, the utility model provides a man-machine double control device for the lifting of farm tools of an unmanned tractor.
The utility model discloses technical scheme as follows:
a man-machine double control device for lifting farm tools of an unmanned tractor comprises a manual operation part, a manual operation part and a manual operation part, wherein the manual operation part comprises an operating lever, the operating lever is connected with a transmission frame, the transmission frame is hinged with a transmission rod of the farm tools,
the telescopic tube is characterized by further comprising a motor transmission part which comprises a push rod motor, a telescopic tube and a telescopic rod, wherein the lower end of a driving shaft of the push rod motor is hinged with the telescopic tube, the upper end of the telescopic rod is sleeved in the telescopic tube and slides up and down along the telescopic tube, and the lower end of the telescopic rod is fixedly connected with the transmission frame.
According to above-mentioned scheme the utility model discloses, a serial communication port, the working stroke of driving frame does flexible pipe with the empty stroke of motion between the telescopic link, the unit stroke of push rod motor does the twice of working stroke.
According to above-mentioned scheme the utility model discloses, its characterized in that, the two controlling device's of man-machine initial position that this agricultural implement goes up and down does: the push rod motor pushes the driving shaft out of a position of a half distance.
According to above scheme the utility model discloses, its characterized in that, flexible pipe's upper end is connected with threaded connection spare, threaded connection spare with the drive shaft is articulated.
Further, the threaded connection is hinged to the drive shaft via a first pivot pin.
According to the scheme, the utility model is characterized in that the telescopic pipe is sleeved outside the telescopic rod, and the end part of the telescopic pipe is provided with a telescopic pipe combined cap; the telescopic rod is sleeved inside the telescopic pipe, and a telescopic rod combined cap is arranged at the end part of the telescopic rod.
According to above-mentioned scheme the utility model discloses, its characterized in that, the lower extreme of driving frame pass through the second axis round pin with the transfer line is articulated.
According to the above scheme the utility model discloses, its characterized in that, the driving frame is U type frame.
Furthermore, one end of the U-shaped frame is fixedly connected with the telescopic rod, the other end of the U-shaped frame is connected with a manual supporting rod, and the manual supporting rod is connected with the operating rod.
According to above-mentioned scheme the utility model discloses, its characterized in that, the control rod pass through drive assembly or guy wire mechanism with the driving frame is connected.
According to the scheme, the utility model has the advantages that the lifting and returning of the control valve group can be realized through the piston movement of the driving shaft, the lifting and the falling of the farm tools are finally realized, the cost of the whole device is within thousand yuan, and the cost is greatly saved; meanwhile, the hydraulic power assisting valve can be directly embedded on a main control lever of the hydraulic power assisting valve, the original equipment is not required to be disassembled, assembled and transformed, and quick installation and application can be realized; in addition, to different motorcycle types, can carry out nimble regulation according to specific size, be favorable to the popularization and the application of product.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a side sectional view of the motor drive portion.
Fig. 3 is a schematic diagram of the initial state of the present invention.
Fig. 4 is a schematic view of the first position of the manual operation of the present invention.
Fig. 5 is a schematic view of the first position of the motor according to the present invention.
Fig. 6 is a schematic diagram of the second position of the motor according to the present invention.
In the figure, 10, the drive shaft; 20. a telescopic pipe; 21. a telescopic pipe combined cap; 22. a threaded connection; 30. a telescopic rod; 31. a telescopic rod combined cap; 40. a transmission frame; 41. a manual strut; 50. a transmission rod; 60. a joystick; 71. a first shaft pin; 72. and a second axle pin.
Detailed Description
The invention is further described with reference to the following figures and embodiments:
as shown in fig. 1 and 2, the man-machine double control device for the lifting of the farm tool of the unmanned tractor comprises a manual operation part during manual driving and a motor transmission part during unmanned driving, wherein the manual operation part realizes manual intervention on the lifting operation of the farm tool, and the motor transmission part realizes unmanned automatic control on the lifting of the farm tool.
The manual operation part comprises an operating rod 60, the operating rod 60 is connected with a transmission frame 40, the transmission frame 40 is hinged with a transmission rod 50 of the farm tool through a second shaft pin 72, and the transmission rod 50 is connected with the main control valve core. For the original manual operation part of the tractor, a tractor driver manually pushes and pulls the operating lever 60, the operating lever 60 controls the farm tool to ascend and descend through the transmission frame 40, and specifically, when the second shaft pin 72 ascends, the corresponding farm tool descends; when the second shaft pin 72 descends, the corresponding farm implement ascends.
Preferably, the operating rod 60 is connected to the manual support rod 41 through a transmission assembly or a wire pulling mechanism, and the manual support rod 41 is fixed to the transmission frame 40, so that the operator can lift and lower the farm implement at the driving position.
The motor transmission part comprises a driving shaft 10, a telescopic pipe 20 and a telescopic rod 30, wherein the driving shaft 10 is connected with a push rod motor, and the lower end of the driving shaft 10 is hinged with the telescopic pipe 20. Preferably, the upper end of the telescopic tube 20 is connected with the threaded connection member 22, the threaded connection member 22 is hinged with the driving shaft 10 through the first shaft pin 71, the connection of the telescopic tube 20 and the driving shaft 10 is realized through the threaded connection member 22, and the connection is ensured to be more stable.
The upper end of the telescopic rod 30 is sleeved in the telescopic tube 20 and slides up and down along the telescopic tube 20, and the lower end thereof is fixedly connected with the transmission frame 40. Preferably, the extension tube 20 is sleeved outside the extension tube 30, and the end of the extension tube 20 is provided with an extension tube combination cap 21; the telescopic rod 30 is sleeved inside the telescopic tube 20, and a telescopic rod combination cap 31 is arranged at the end part of the telescopic rod 30. The telescopic tube 20 and the telescopic rod 30 are tightly connected through the telescopic tube combination cap 21 and the telescopic rod combination cap 31, and the telescopic tube 20 and the telescopic rod 30 are prevented from generating angle deviation when moving.
Preferably, the transmission frame 40 is a U-shaped frame, one end of the U-shaped frame is fixedly connected with the telescopic rod 30, the other end of the U-shaped frame is connected with the manual supporting rod 41, and the manual supporting rod 41 is connected with the operating rod 60, so that the mechanical transmission between the manual operation part and the motor transmission part is not interfered with each other.
For the unmanned automatic control part, the farm tool is lifted and lowered by controlling a push rod motor through an electric signal, the push rod motor sequentially drives the driving shaft 10, the telescopic pipe 20 and the telescopic rod 30 to move up and down, and then the farm tool is controlled to be lifted and lowered through the transmission frame 40. In order to ensure the coordination consistency of the manual operation part and the motor transmission part in the whole man-machine double control device for lifting the farm tool, the working stroke of the transmission rod 50 connected with the main control valve core in the lifting and descending processes of the farm tool is obtained by measurement and calculation according to the specific model of the tractor. Specifically, the method comprises the following steps:
the working stroke of the transmission frame 40 is the idle stroke of the movement between the telescopic tube 20 and the telescopic rod 30, and the unit stroke of the push rod motor is twice of the working stroke. When the unmanned system is adopted to control the lifting of the farm tool, the upper computer directly realizes the extension and retraction of the driving shaft 10 by controlling the current of the push rod motor.
The utility model discloses in, confirm the initial position of the man-machine double control device that agricultural implement goes up and down and do: the pusher motor pushes the drive shaft 10 out a half distance. At the moment, the mutual alternation of the man-machine double control can be realized, and the mutual influence between the man-machine double control and the human-machine double control can not be generated.
As shown in fig. 3 to 6, the driving rod of the present invention moves from the initial position for a cycle and returns to the initial position.
The utility model discloses an implementation principle does:
1. manual and manual operation process
As shown in fig. 3, in the initial state, the motor control unit controls the push rod motor to position the drive shaft 10 at a half position. When the driver operates the operating lever 60 at the driving position, the transmission frame 40 is moved up or down by the driver through the mechanical connection and the wire pulling mechanism acting on the transmission frame 40.
(1) When the transmission frame 40 ascends, the transmission rod 50 moves upwards along with the ascending of the transmission frame 40, at the moment, the transmission rod 50 drives the main control valve core to rotate, and the farm tool descends after the valve is opened to start operation. In the manner of manual manipulation by the driver, the entire set of mechanisms changes from the position shown in fig. 3 to the position shown in fig. 4.
(2) After the cultivation is completed, the driver controls the control lever 60 in the opposite direction to lower it, at this time, the transmission lever 50 rotates downward, and the main control valve core follows up to lift the farm implement, at this time, the whole set of mechanism is restored to the initial position shown in fig. 3 from the position shown in fig. 4.
2. Unmanned operational process
As shown in fig. 3, in the initial state, the motor control unit controls the push rod motor to position the driving shaft 10 at a half position, and the length and maximum between the telescopic tube 20 and the telescopic rod 30. When the unmanned system is adopted to control the lifting of the farm tool, the upper computer directly controls the extension of the driving shaft 10 by controlling the current of the push rod motor.
(1) When the push rod motor controls the driving shaft 10 to contract, the driving shaft 10 drives the telescopic pipe 20 and the telescopic rod 30 to contract, and further drives the transmission rod 50 to move upwards, at the moment, the working principle is the same as that of the original mechanism, and the whole mechanism is changed from the position shown in fig. 3 to the position shown in fig. 5.
(2) When lifting control is performed on the farm implement, the push rod motor controls the driving shaft 10 to extend out, when the driving shaft 10 extends out to the maximum stroke, the telescopic rod 30 is completely accommodated in the telescopic pipe 20, the upper end of the telescopic rod 30 is connected with the upper end of the telescopic pipe 20, and then the transmission frame 40 and the transmission rod 50 are driven downwards to move downwards, so that the farm implement is lifted, and at the moment, the whole set of mechanism is changed from the position shown in fig. 5 to the position shown in fig. 6.
(3) When the farm tool is lifted to the maximum position, the push rod motor has the motor stroke of 1/4, the push rod motor continues to operate, the drive shaft 10 is driven upwards to contract, the drive shaft 10 drives the telescopic pipe 20 to contract, and at this time, the whole mechanism is restored to the initial position shown in fig. 3 from the position shown in fig. 6.
The utility model discloses direct nestification can on the master control lever of hydraulic pressure helping hand valve, at artifical manually operation or unmanned operation's whole in-process, because there is certain idle stroke between telescopic link 30 and the flexible pipe 20, artifical manually operation process and unmanned operation process mutually noninterfere to realize that two of man-machine two accuse drive.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are considered to be within the scope of the invention as defined by the following claims.
The above exemplary description of the present invention is made in conjunction with the accompanying drawings, and it is obvious that the present invention is not limited by the above manner, and various improvements made by the method concept and technical solution of the present invention or by directly applying the concept and technical solution of the present invention to other occasions without improvement are all within the protection scope of the present invention.
Claims (9)
1. A man-machine double control device for lifting farm tools of an unmanned tractor comprises a manual operation part, a manual operation part and a manual operation part, wherein the manual operation part comprises an operating lever, the operating lever is connected with a transmission frame, the transmission frame is hinged with a transmission rod of the farm tools,
the telescopic tube is characterized by further comprising a motor transmission part which comprises a push rod motor, a telescopic tube and a telescopic rod, wherein the lower end of a driving shaft of the push rod motor is hinged with the telescopic tube, the upper end of the telescopic rod is sleeved in the telescopic tube and slides up and down along the telescopic tube, and the lower end of the telescopic rod is fixedly connected with the transmission frame.
2. The dual-control device according to claim 1, wherein the working stroke of the transmission frame is the idle stroke of the telescopic tube and the telescopic rod, and the unit stroke of the push rod motor is twice of the working stroke.
3. The double-control device for the farm tool of the unmanned tractor to ascend and descend according to claim 1 or 2, wherein the initial position of the double-control device for the farm tool to ascend and descend is as follows: the push rod motor pushes the driving shaft out of a position of a half distance.
4. The dual control device for the elevation of the farm implement of the unmanned tractor as claimed in claim 1, wherein the upper end of the extension tube is connected with a threaded connection member, and the threaded connection member is hinged with the driving shaft.
5. The ergonomic device for raising and lowering an agricultural implement of an unmanned tractor as claimed in claim 4, wherein the threaded connection is hinged to the driving shaft via a first pivot pin.
6. The man-machine double control device for the lifting of the farm tool of the unmanned tractor as claimed in claim 1, wherein the extension tube is sleeved outside the extension tube, and an extension tube combination cap is arranged at the end part of the extension tube; the telescopic rod is sleeved inside the telescopic pipe, and a telescopic rod combined cap is arranged at the end part of the telescopic rod.
7. The dual human control device for lifting an agricultural implement of an unmanned tractor as claimed in claim 1, wherein the lower end of the transmission frame is hinged to the transmission rod through a second shaft pin.
8. The dual control device for lifting an agricultural implement of an unmanned tractor as claimed in claim 1, wherein the transmission frame is a U-shaped frame.
9. The dual control device according to claim 8, wherein one end of the U-shaped frame is fixedly connected to the telescopic rod, the other end of the U-shaped frame is connected to a manual support rod, and the manual support rod is connected to the control rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921714295.3U CN210745940U (en) | 2019-10-14 | 2019-10-14 | Man-machine double-control device for lifting farm tools of unmanned tractor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921714295.3U CN210745940U (en) | 2019-10-14 | 2019-10-14 | Man-machine double-control device for lifting farm tools of unmanned tractor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210745940U true CN210745940U (en) | 2020-06-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921714295.3U Active CN210745940U (en) | 2019-10-14 | 2019-10-14 | Man-machine double-control device for lifting farm tools of unmanned tractor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210745940U (en) |
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2019
- 2019-10-14 CN CN201921714295.3U patent/CN210745940U/en active Active
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