CN214669592U

CN214669592U - Quick hitching device adapted to unmanned tractor

Info

Publication number: CN214669592U
Application number: CN202120596028.1U
Authority: CN
Inventors: 詹文轩; 王家忠; 弋景刚
Original assignee: Heibei Agricultural University
Current assignee: Heibei Agricultural University
Priority date: 2021-03-24
Filing date: 2021-03-24
Publication date: 2021-11-09
Anticipated expiration: 2031-03-24

Abstract

The utility model relates to a quick hooking device of adaptation unmanned tractor, its characteristic includes the main loop wheel machine of being connected with unmanned tractor suspension and the vice loop wheel machine of being connected with agricultural implement. The utility model discloses at the during operation, ultrasonic ranging sensor and diffuse reflection infrared photoelectric sensor give the accurate positioning of unmanned tractor vice on to agricultural implement, make the major-minor hanging machine accomplish and aim at the location, when the major-minor hanging machine laminating carries out nested kiss under the action of suspension, locking mechanism accomplishes the locking with vice hanging machine, prevents that major-minor hanging machine from breaking away from. When the agricultural implement needs to be unloaded, the unmanned tractor controls the cylinder to contract, the locking mechanism is separated from the auxiliary hanging machine, the unmanned tractor is hung to lower the agricultural implement, and the main hanging machine and the auxiliary hanging machine are finally separated, so that the unmanned quick hanging and unloading work is realized.

Description

Quick hitching device adapted to unmanned tractor

Technical Field

The utility model belongs to the field of agricultural machinery, a quick hooking device who adapts to unmanned tractor is related to.

Background

With the development of the unmanned technology, the unmanned tractor is widely used in the agricultural field, and the operation of replacing the traditional tractor by the unmanned tractor becomes possible. Present tractor articulates agricultural machine adopts the manual work to accomplish the hooking of machinery mostly, because of the operation inconvenience, the location is inaccurate, wastes time and energy when articulating, consequently the current mode of articulating can't satisfy unmanned whole journey unmanned operation requirement of tractor.

Disclosure of Invention

1. Technical problem to be solved by the utility model

The utility model discloses an aim at realizes the whole unmanned quick butt joint of unmanned tractor and agricultural implement, overcomes all sorts of difficulties when the manual operation articulates, the utility model discloses simple structure, the butt joint location is accurate, can adapt to various suspension type agricultural machine, realizes articulating fast, need not the artificial supplementary automation of accomplishing the whole process that articulates.

2. Technical scheme

In order to achieve the above purpose, the utility model provides a technical scheme does:

the utility model is characterized in that, including hitching device host computer and hitching device auxiliary engine, the hitching device host computer articulates with unmanned tractor suspension through adopting A font structure and hitching point about being equipped with, the hitching device auxiliary engine adopts a class triangle-shaped structure, and the structure both sides adopt U font structure for the main and auxiliary engine articulates the fastening, and the hitching auxiliary engine is opened has hasp guide slot and locking hole site, and is equipped with from top to bottom and hitches with agricultural implement.

The utility model discloses a characteristic, locking means link firmly the locking mechanism support frame on including main string machine support crossbeam, the U-shaped trench is being connected firmly to the support frame inboard, and it has the connection hole site to open, the locking hook is opened there is connection hole site and butt joint hole site, the U-shaped trench is being connected firmly equally in the outside, the locking hook adopts bolt and nut to be connected with the support frame, embolia torque spring between the connection, two U-shaped trenches are supported at the spring both ends, be used for driving the locking hook accomplish the auto-lock to vice string machine along the locking guide slot, control the locking hook and adopt locking hook connection bolt to connect through the butt joint hole site, link firmly locking cylinder connection support behind the main string machine support crossbeam, cylinder one end adopts bolt and nut to be connected with the connection support, telescopic link one end is connected with locking hook butt joint shank of bolt, be used for driving the locking hook and realize loosening to vice machine locking hole site.

Aforementioned utility model characteristic, location interfacing apparatus include diffuse reflection infrared photoelectric sensor and ultrasonic wave distance sensor, ultrasonic wave distance sensor is placed to the trompil in the support frame, diffuse reflection infrared photoelectric sensor fixes on its supporting support, the support links firmly with main hanging machine top below, location interfacing apparatus realizes that unmanned driving is dilatated just hooking device and is articulated the mount accurate positioning butt joint, self-locking mechanism realizes self-locking between them simultaneously in the butt joint.

3. The utility model discloses the beneficial effect who reaches

The utility model discloses major-minor hanging machine simple structure, convenient and fast during the carry, accurate positioning system guide unmanned tractor and the accurate butt joint of agricultural implement, locking device have guaranteed unmanned operation's butt joint process carry reliable and stable, and unmanned operation can be realized with the uninstallation operation to this carry.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

FIG. 2 is a schematic view of a quick hitch main hook.

Fig. 3 is a schematic view of the main hook function of the quick hitch.

Fig. 4 is a schematic view of the locking mechanism.

FIG. 5 is a schematic view of a secondary hook of the quick hitch.

In the figure, 1, a main hanging machine, 2, an upper hanging machine hook, 3, an auxiliary hanging machine, 4, a support beam, 5, a lower hanging machine hook, 6, an upper hanging machine hook, 7, a locking hook, 8, a support frame, 9, a locking cylinder, 10, a support seat, 11, a lower hanging machine hook, 12, a diffuse reflection infrared photoelectric sensor, 13, a locking hook connecting bolt, 14, an ultrasonic distance measuring sensor, 15, a locking hook U-shaped groove, 16, a torque spring, 17, a support U-shaped groove, 18, a locking hook guide groove, 19, an auxiliary hanging machine black paint area, 20, a locking hole and 21, an auxiliary hanging machine white paint belt are arranged.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

As shown in fig. 1, the utility model is formed by hanging a main hanging machine (fig. 2) of a quick hanging device and an auxiliary hanging machine (fig. 5) of the quick hanging device.

As shown in FIG. 2, the main body of the main hanging machine 1 is formed by welding, and the support frame 8 is welded on the upper surface of the support beam 4.

As shown in fig. 3 and 4, the locking hook 7 and the support frame 8 are connected through a bolt and a nut, a torque spring 16 is sleeved between the locking hook 7 and the support frame 8, two force arms of the torque spring 16 respectively abut against the bottom ends of a locking hook U-shaped groove 15 located on the outer side of the locking hook 7 and a support frame U-shaped groove 17 located in the support frame 8, a connecting hole is formed in the locking hook 7 and connected through a locking hook connecting bolt 13, the extending end of the locking cylinder 9 is connected with the locking hook connecting bolt 13, the other end of the locking cylinder 9 is connected with the support base 10 through a bolt and a nut, a hole with a corresponding size is formed in the front of the support frame 8 and used for placing and fixing an ultrasonic ranging sensor 14, a diffuse reflection infrared photoelectric sensor 12 is fixed on a matched support frame, and the support frame is fixedly connected with the lower portion of the top end of the shape of the a Chinese character 'a'.

As shown in fig. 5, the main body of the auxiliary hanging machine 3 is formed by welding, the locking hook guide grooves 18 and the locking holes 20 are symmetrically arranged on the front surface of the main body of the auxiliary hanging machine 3, the white paint belt 21 of the auxiliary hanging machine is painted in the center of the surface of the main body of the auxiliary hanging machine 3, and the black paint areas 19 of the auxiliary hanging machine are symmetrically painted on two sides of the white paint belt 21 of the auxiliary hanging machine 3 and are used for detecting by the diffuse reflection infrared photoelectric sensor 12.

The working process of the utility model is as follows:

before the operation, the main on-hook 2 and the main off-hook 5 are installed on a suspension system of the unmanned tractor through suspension pins and safety pins, and the auxiliary on-hook 6 and the auxiliary off-hook 11 are installed on an agricultural implement through connecting pins and safety pins. The diffuse reflection infrared photoelectric sensor 12 and the ultrasonic ranging sensor 14 are connected with a control system and a power supply system of the unmanned tractor, the locking cylinder 9 is connected with the control system and the power supply system of the unmanned tractor, and the control positioning and self-unlocking action of the sensor on the unmanned tractor are realized.

When the unmanned tractor is quickly hung, the unmanned tractor is controlled to be poured into the butt joint based on signals detected by the ultrasonic ranging sensor 14, meanwhile, the diffuse reflection infrared photoelectric sensor 12 detects a black paint area 19 of an auxiliary hanging machine and a white paint area 22 of the auxiliary hanging machine on the auxiliary hanging machine 3, when the diffuse reflection infrared photoelectric sensor 12 detects the black paint area 19 of the auxiliary hanging machine, the unmanned tractor is controlled to correct in the corresponding direction, when the diffuse reflection infrared photoelectric sensor 12 detects the white paint area 22 of the auxiliary hanging machine, the main hanging machine 1 and the auxiliary hanging machine 3 are aligned, then when the distance between the main hanging machine 1 and the auxiliary hanging machine 3 is zero, a suspension system of the unmanned tractor is controlled to lift, meanwhile, the locking hook 7 is led into the locking hole 20 along the locking hook guide groove 19 and is locked with the auxiliary hanging machine 3 under the driving of the torque spring 16.

During unloading, the unmanned tractor controls the locking cylinder 9 to contract, so that the locking hook 7 is separated from the locking hole 21, and then the unmanned tractor suspension system transfers the agricultural implement until the main hanging machine 1 and the auxiliary hanging machine 3 are separated from each other finally.

The embodiment is only an illustration of the concept and implementation of the present invention, and is not a limitation, and technical solutions without substantial changes are still within the protection scope under the inventive concept.

Claims

1. The utility model provides a quick hooking device of adaptation unmanned tractor, characterized by includes hooking device host computer and the secondary machine of hooking device to and positioning system and locking means, the hooking device host computer articulates with unmanned tractor suspension through adopting A font structure and being equipped with about the hitch point, the secondary machine of hooking device adopts the class triangle-shaped structure, and the structure both sides adopt U font structure, makes the primary and secondary machine articulate the fastening, and the secondary machine that articulates is opened has hasp guide slot and locking hole site, and is equipped with about the hitch point and articulates with agricultural implement.

2. The quick hitch of an unmanned tractor as claimed in claim 1, wherein the locking means comprises a locking hook and a torsion spring, the locking hook and the torsion spring are mounted on the support frame, the torsion spring is abutted against a U-shaped groove outside the locking hook and the bottom of a U-shaped groove inside the support frame, and is used for driving the locking hook to rotate to lock the locking hole of the secondary hitch along a locking hook guide groove, the locking hook is connected with a locking hook connecting bolt, a locking cylinder is connected with the support seat by a bolt and a nut, and the locking cylinder is connected with the locking hook connecting bolt and is used for driving the locking hook to rotate reversely to disengage the locking hole of the secondary hitch.

3. The quick hitch coupler of claim 1, wherein the positioning system comprises a diffuse reflection infrared photoelectric sensor and an ultrasonic ranging sensor, the ultrasonic ranging sensor is mounted on a hole formed in the support frame, the diffuse reflection infrared photoelectric sensor is fixed below the top end of the main hitch, the white paint belt of the auxiliary hitch is arranged in the center of the surface of the main body of the auxiliary hitch, and the black paint area of the auxiliary hitch is symmetrically arranged on the two sides of the white paint belt of the auxiliary hitch and is used for detecting the diffuse reflection infrared photoelectric sensor.