CN210986945U - Tractor tilling depth electro-hydraulic control device based on angle adjustment - Google Patents
Tractor tilling depth electro-hydraulic control device based on angle adjustment Download PDFInfo
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- CN210986945U CN210986945U CN201921615146.1U CN201921615146U CN210986945U CN 210986945 U CN210986945 U CN 210986945U CN 201921615146 U CN201921615146 U CN 201921615146U CN 210986945 U CN210986945 U CN 210986945U
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Abstract
The utility model relates to a tilling depth control technical field, concretely relates to tractor tilling depth electro-hydraulic control device based on angle modulation. The lifting arm lifting device comprises a controller, a lifting arm, an angle sensor, a synchronous belt transmission mechanism and an electro-hydraulic proportional poppet valve, wherein a lifting valve port and a descending valve port of the electro-hydraulic proportional poppet valve control the lifting arm to lift through a hydraulic device; the angle sensor is connected with a lifting arm rotating shaft through a synchronous belt conveying mechanism; the inclination angle sensor is fixed on the tractor chassis; the angle sensor and the inclination angle sensor are used for converting the monitored angle variation into voltage variation and inputting the voltage variation to the controller, and the controller is used for correspondingly adjusting the voltage output to the electro-hydraulic proportional poppet valve according to the input voltage variation. The problems that the ascending and descending strokes of the suspension device are difficult to guarantee, the ground in the field is uneven, and the machine body of the tractor inclines, so that the tilling depth is changed are solved. Meanwhile, when the condition of the soil in the field changes, the traction resistance borne by the tillage machinery is always in a changing state, so that the tillage depth is unstable and the like.
Description
Technical Field
The utility model relates to a tilling depth control technical field, concretely relates to tractor tilling depth electro-hydraulic control device based on angle modulation.
Background
The conventional tilling depth adjusting method is to control the relative position of the working part and the tilling machine to keep the relative position within a set range, so as to achieve a substantial tilling depth control effect. The main disadvantage of this control method is that during the cultivation process, when the tiller is regulated and controlled, in order to achieve the required cultivation depth, the tiller needs to rotate while operating the control handle to roughly estimate the depth of the tiller in the soil. Meanwhile, due to the uneven surface of the field, the inclination angle of the tillage machinery is constantly changed, and the tillage depth is always in a changing state under the action of traditional tillage depth adjustment. When the adjusting mode is adopted, in order to achieve better farming effect and working state, the manipulator needs to frequently operate, so that the labor intensity is high.
Because the traditional tilling depth adjusting device has the defects, the traditional tilling depth adjusting device cannot achieve ideal effects in the real sense when in use, and the existing structure cannot meet the requirements of users.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a tractor tilling depth electro-hydraulic control device based on angle modulation, which can keep the tilling depth constant and realize the accurate control of tilling depth.
The utility model adopts the technical proposal that: the electro-hydraulic proportional lift valve comprises a controller, a lifting arm, an angle sensor, a synchronous belt transmission mechanism and an electro-hydraulic proportional lift valve, wherein a rising valve port and a falling valve port of the electro-hydraulic proportional lift valve are connected with the lifting arm, the angle sensor is connected with a rotating shaft of the lifting arm through the synchronous belt transmission mechanism, a voltage signal output end of the angle sensor is electrically connected with the controller, and a voltage signal output end of the controller is electrically connected with a voltage signal input end of the electro-hydraulic proportional lift valve.
Preferably, the tractor further comprises an inclination angle sensor, the inclination angle sensor is installed at a position where the tractor chassis is parallel to the horizontal plane, and a voltage signal output end of the inclination angle sensor is electrically connected with a signal input end of the controller.
Preferably, the electro-hydraulic proportional poppet valve comprises
An oil through hole P for connecting a hydraulic pump of the tractor;
an oil inlet T for connecting a main oil return port of the tractor;
an oil inlet N for connecting a secondary oil return port of the tractor;
and oil through ports A and A1 for connecting the rodless cavities of the two hydraulic cylinders of the tractor.
Preferably, the controller is provided with a first power supply end used for connecting the E-shaped coil of the electro-hydraulic proportional poppet valve ascending valve and a second power supply end used for connecting the E-shaped coil of the electro-hydraulic proportional poppet valve descending valve.
Preferably, the transmission ratio of the synchronous belt transmission mechanism is 1: 2, the small belt wheel of the synchronous belt transmission mechanism is connected with the lifting arm rotating shaft, and the large belt wheel of the synchronous belt transmission mechanism is connected with the angle sensor.
The utility model has the advantages that: the problems that the ascending and descending strokes of the suspension device are difficult to guarantee, the ground in the field is uneven, and the machine body of the tractor inclines, so that the tilling depth is changed are solved. Meanwhile, when the condition of the soil in the field changes, the traction resistance borne by the tillage machinery is always in a changing state, so that the tillage depth is unstable and the like.
1. Utilize synchronous belt drive mechanism with angle sensor and lifting arm pivot connection, turn into the turned angle of lifting arm voltage variation, realize the closed-loop control of electro-hydraulic proportional poppet valve through the controller, guarantee that lifting arm stroke percentage is invariable.
2. The inclination of the tractor body is monitored by utilizing the inclination angle sensor, and the precise control of the tilling depth on the uneven ground is realized by combining the angle sensor.
Drawings
FIG. 1 is a schematic structural view of an electro-hydraulic control device for tractor tilling depth based on angle adjustment of the present invention;
fig. 2 is the hydraulic schematic diagram of the hydraulic system of the tractor tilling depth electro-hydraulic control device based on angle adjustment.
In the figure, 1, a controller; 2. a control panel; 3. an angle sensor; 4. a synchronous belt transmission mechanism; 5. a lift arm; 6. a three-point suspension device; 7. electro-hydraulic proportional poppet valves; 8. a tractor chassis; 9. tilt angle sensor
Detailed Description
The invention will be further described in detail with reference to the drawings and the following detailed description, which are provided for the purpose of clearly understanding the invention and are not intended to limit the invention.
As shown in figure 1, the utility model relates to a tractor tilling depth electro-hydraulic control device based on angle modulation mainly includes controller 1, control panel 2, angle sensor 3, synchronous belt drive mechanism 4, electro-hydraulic proportional poppet valve 7, inclination sensor 9. The controller 1 in this embodiment selects an STM32 singlechip.
The controller 1 is connected with the vehicle-mounted voltage of the tractor through a voltage converter; then the control panel 2 is installed and fixed on the right flat plate of the tractor cab; the angle sensor 3 is connected with the rotation center of the lifting arm 5 through a synchronous belt transmission mechanism 4, and the transmission ratio of a synchronous belt wheel is 1: 2; the electro-hydraulic proportional poppet valve 7 is arranged on a tractor chassis 8 and is respectively connected with an oil supply port, an oil return port, a rodless cavity port and a rod cavity port of a hydraulic cylinder through hydraulic oil pipes, and a rising valve port and a falling valve port of the electro-hydraulic proportional poppet valve 7 are connected with the lifting arm 5; the inclination angle sensor 9 is arranged at the parallel position of the tractor chassis 8 relative to the ground; and the control panel 2, the angle sensor 3, the electro-hydraulic proportional poppet valve 7 and the inclination angle sensor 9 are electrically connected with the STM32 single-chip microcomputer controller 1. The angle sensor 3 and the inclination angle sensor 8 are used for converting the monitored angle variation into voltage variation and inputting the voltage variation into the controller 1, and the controller 1 is used for correspondingly adjusting the voltage output to the electro-hydraulic proportional poppet valve 7 according to the input voltage variation. The controller 1 is provided with a first power supply end for connecting an E-shaped coil of an ascending valve of the electro-hydraulic proportional poppet valve 7 and a second power supply end for connecting an E-shaped coil of a descending valve of the electro-hydraulic proportional poppet valve 7, and the controller 1 realizes ascending and descending control of the lifting arm 5 by switching power supply of the two power supply ends. When the E-shaped coil of the lifting valve is electrified, the E-shaped coil generates a magnetic field, so that the opening of a lifting valve port is controlled, and the lifting arm 5 is lifted; when the coil of the descending valve E is electrified, a magnetic field is generated, so that the opening of the descending valve is controlled to be opened, and the lifting arm 5 descends.
The angle measurement range of the angle sensor 3 is +41 degrees, the power supply voltage is 10-12V, and the output signal voltage is 0.5-4.5V; when the output voltage is 2.5V, corresponding to 0 degree in the angle measurement range; the voltage value of the angle sensor changes as the rotation angle of the lift arm 5 changes, and the lift arm 5 rises and the voltage value falls. When the angle of the angle sensor changes, the corresponding voltage value also changes, the changed angle value and the changed voltage value are in a direct proportional function relationship, the changed voltage signal is sent to the STM32 singlechip to be subjected to A/D conversion processing, and the singlechip controls the voltage input of the electro-hydraulic proportional poppet valve according to the voltage change to realize tilling depth closed-loop control. The closed-loop control of the embodiment is only used for explaining the working principle of the device, belongs to the conventional control under the condition that the corresponding relation between the angle and the voltage is known, and does not belong to the protection range of the device.
The synchronous belt wheel transmission ratio of the synchronous belt transmission mechanism 4 is 1: 2, the small belt wheel is connected with the rotating shaft of the lifting arm 5, and the large belt wheel is connected with the angle sensor 3.
As shown in fig. 2, the electro-hydraulic proportional poppet valve 7 is provided with five oil through ports, wherein the oil through port P is connected with an oil outlet of a hydraulic pump of the tractor, the oil through port T is connected with a main oil return port of the tractor, the oil through port N and rod cavities of two hydraulic cylinders of the tractor are all connected back to an auxiliary oil return port of the tractor, and the oil through port A, A1 is respectively connected with rodless cavities of the two hydraulic cylinders of the tractor, so that a basic hydraulic oil path is formed.
The angle measurement range of the tilt angle sensor 9 is +90 degrees, the power supply voltage is 9-30V, and the output signal voltage is 0-5V; when the installed tilt angle sensor is horizontal to the ground, the output voltage is 2.5V, which corresponds to 0 degree in the angle measurement range; when the voltage value of the angle sensor is not changed, the tractor tilts, the voltage value of the inclination angle sensor is changed, a transmission voltage signal is sent to the STM32 single chip microcomputer to be processed, and the single chip microcomputer controls the electro-hydraulic proportional poppet valve to finely adjust the suspension device. Can effectively prevent the change of the tillage depth caused by the inclination of the tractor due to the undulation and the unevenness of the field surface. The controller 1 can simultaneously receive voltage quantity change signals sent by the angle sensor 3 and the inclination angle sensor 9, and performs addition on the voltage quantity change signals to generate voltage change quantity, and the controller 1 correspondingly adjusts the voltage output to the electro-hydraulic proportional poppet valve 7 according to the voltage change quantity.
Details not described in this specification are within the skill of the art that are well known to those skilled in the art.
Claims (5)
1. The utility model provides a tractor tilling depth electro-hydraulic control device based on angle modulation which characterized in that: the device comprises a controller (1), a lifting arm (5), an angle sensor (3), a synchronous belt transmission mechanism (4) and an electro-hydraulic proportional lifting valve (7), wherein a lifting valve port and a descending valve port of the electro-hydraulic proportional lifting valve (7) are connected with the lifting arm (5), the angle sensor (3) is connected with a rotating shaft of the lifting arm (5) through the synchronous belt transmission mechanism (4), a voltage signal output end of the angle sensor (3) is electrically connected with the controller (1), and a voltage signal output end of the controller (1) is electrically connected with a voltage signal input end of the electro-hydraulic proportional lifting valve (7).
2. The tractor tilling depth electro-hydraulic control device based on angle adjustment according to claim 1, characterized in that: the tractor chassis control system is characterized by further comprising an inclination angle sensor (9), wherein the inclination angle sensor (9) is installed at the position, parallel to the horizontal plane, of the tractor chassis (8), and a voltage signal output end of the inclination angle sensor (9) is electrically connected with a signal input end of the controller (1).
3. The tractor tilling depth electro-hydraulic control device based on angle adjustment according to claim 1, characterized in that: the electro-hydraulic proportional poppet valve (7) comprises
An oil through hole P for connecting a hydraulic pump of the tractor;
an oil inlet T for connecting a main oil return port of the tractor;
an oil inlet N for connecting a secondary oil return port of the tractor;
and oil through ports A and A1 for connecting the rodless cavities of the two hydraulic cylinders of the tractor.
4. The tractor tilling depth electro-hydraulic control device based on angle adjustment according to claim 1, characterized in that: the controller (1) is provided with a first power supply end used for connecting an E-shaped coil of an ascending valve of the electro-hydraulic proportional poppet valve (7) and a second power supply end used for connecting an E-shaped coil of a descending valve of the electro-hydraulic proportional poppet valve (7).
5. The tractor tilling depth electro-hydraulic control device based on angle adjustment according to claim 1, characterized in that: the transmission ratio of the synchronous belt transmission mechanism (4) is 1: 2, the small belt wheel of the synchronous belt transmission mechanism (4) is connected with the rotating shaft of the lifting arm (5), and the large belt wheel of the synchronous belt transmission mechanism (4) is connected with the angle sensor (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921615146.1U CN210986945U (en) | 2019-09-26 | 2019-09-26 | Tractor tilling depth electro-hydraulic control device based on angle adjustment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921615146.1U CN210986945U (en) | 2019-09-26 | 2019-09-26 | Tractor tilling depth electro-hydraulic control device based on angle adjustment |
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| CN210986945U true CN210986945U (en) | 2020-07-14 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110583130A (en) * | 2019-09-26 | 2019-12-20 | 华中农业大学 | Tractor tilling depth electro-hydraulic control device and method based on angle adjustment |
| CN113721452A (en) * | 2021-08-31 | 2021-11-30 | 农业农村部南京农业机械化研究所 | Mechanical weeding part ground inclined three-dimensional profiling device and method |
-
2019
- 2019-09-26 CN CN201921615146.1U patent/CN210986945U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110583130A (en) * | 2019-09-26 | 2019-12-20 | 华中农业大学 | Tractor tilling depth electro-hydraulic control device and method based on angle adjustment |
| CN113721452A (en) * | 2021-08-31 | 2021-11-30 | 农业农村部南京农业机械化研究所 | Mechanical weeding part ground inclined three-dimensional profiling device and method |
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