SU1291038A1 - Apparatus for automatic driving of self-propelled agricultural machine - Google Patents

Abstract

The invention relates to the field of agricultural engineering. The purpose of the invention is to improve the accuracy of the device in the mode of manual correction of the position of the controlled wheels. The device contains a sensor 1, a three-position switching valve 5, a hydraulic booster 10 rotors, a hydraulic cylinder 18 controlled wheels, a regulator 6 and a hydraulic lock 15. L

Description

When correcting the position of the controllable wheels, the three-position switch valve 5 performs the function of the hydraulic cam. In this case, the signal at the output of the regulator 6 at each time corresponds to

one

The invention relates to agricultural machinery, in particular, to devices for automatic motion control of self-propelled agricultural machines.

The purpose of the invention is to improve the accuracy of the device in the manual correction of the position of the controlled wheels.

The drawing shows a schematic diagram of an apparatus for automatic control of a self-propelled machine with a rear axle controlled

The sensor 1 is connected with a hydrodynamic piston 4 and a three-position hydraulic valve 5, which is part of the controller 6, by means of the tractor 2 and the differential lever 3. The hydraulic valve 5 is hydraulically connected to the input hydraulic line 7 with the pump 8, the output hydraulic line 9 - with the inlet (pressure hydroline) of the hydraulic booster 10 coils, hydraulic line 11 - with the rod cavity of the hydraulic cylinder 4 of the regulator 6 and hydraulic line 12 - with the output hydraulic line 13 of the switching hydrodistributor 14 and with one of the input hydraulic lines of the hydraulic lock 15. The indra 4 is connected by the hydroline 16 of the regulator 6 to the inlet hydroline 17 of the switching valve 14 and the second hydroline of the lock 15. The cavities of the hydraulic cylinder 18 of the controlled wheels are connected to the exit hydraulic lines 15 and the valve valve of the shifting valve 14. 19 and 20 with a hydraulic booster of 10 rolls, and its spool on the ends is equipped with on-pressing rods.

the error measured by the sensor 1. At the moment of transition to the automatic mode, this signal coincides in magnitude and sign with the signal necessary to control the movement of the unit, 1 slug.

five

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The power steering 10 steering wheel is a hydrostatic steering mechanism whose input action is the angle of rotation of the steering wheel; and the output is the volume of working fluid directed to the hydraulic cylinder 18 of the controlled wheels.

In the initial position, the sensor 1 is fixed. The soot box of the hydraulic distributor 5 is in the middle position, the connections of the hydroline 7 and 9, as a result. In this case, the working fluid is pumped by the pump 8 to the drain line 9 and then to the tank. The piston of the hydraulic cylinder 4 is in the position corresponding to the sensor 1. The valve of the switching valve 14 occupies the middle position. The check valves of the hydraulic distributor 14 and the hydraulic lock 15 are locked. The piston of the cylinder 18 is in a position corresponding to the piston of the hydraulic cylinder 4,

The device works as follows.

In the automatic driving mode, the sensor 1, deviating from the middle position, for example, to the right, acts through elements 2 and 3 of the kinematic connection on the hydraulic distributor 5, which directs the working fluid into the rod cavity of the hydraulic cylinder 4, and from the rodless cavity along the hydraulic line 16 of the regulator 6 - into the subvalve cavity of the hydraulic lock 15. Under pressure from the liquid, the hydraulic lock 15 opens, the liquid passes from the hydraulic line 16 to the rodless cavity of the hydraulic cylinder 18, the piston of which moves to the right, and displaces the hydraulic fluid from KTZVOVO cavity in gkdroliniyu 12, from which zhndkost flows through the channels of the hydraulic distributor 5 to the drainage of hydroline 9 and along the drainage of the hydraulic line 10 of the roll - in the tank. One of the check valves of the hydraulic lock 15 is opened by working pressure, the other by the piston rod of the hydraulic lock 15. Due to the displacement of the piston of the hydraulic cylinder 4, the axis of rotation of the element 3 is displaced, the control valve 5 returns to the middle position and the supply of working fluid to the hydraulic cylinder 4 is stopped. This also stops the movement of the piston of the hydraulic cylinder 18. Thus, the movement of the piston of the hydraulic cylinder 18 is proportional to the deflection of sensor 1. In the automatic driving mode, the spool of the switching valve 14 is in the middle position and the check valves are locked.

When manually adjusting the position of the steered wheels with the help of the hydraulic booster of the 10th wheel, the volumes of the working fluid in the cavity of the hydraulic cylinder 18 are redistributed. In this case, the pressure in one of the hydraulic lines of the hydraulic booster of the 10th roll and the end subvalvate cavity of the switching hydraulic distributor 14, valve which, shifting to one of the extreme positions, closes between the hydraulic lines 17 and 13, through which the volumes of the working fluid in the hydraulic cylinder 4 are redistributed in the presence of from the sensor 1 side to the valve of the hydraulic distributor 5. The hydraulic distributor 14 simultaneously performs the function of a hydraulic lock, which opens with a pressure differential in the hydraulic lines 19 and 20 of the hydraulic booster 10 roll, passes the liquid into the corresponding cavity of the hydraulic cylinder 18, moves, displaces the liquid from the other cavity through the open valve the hydraulic distributor 14 and the hydraulic line of the hydraulic booster of 10 rolls to the drain hydraulic line and further to the tank. Hydrolock check valves 15 are locked

Editor M.Blanar

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As a result, after the cylinder 4 regulates the sensor 1 in the p-position mode of the hydrotsiline wheels, the signal on the torus 6 in each moment corresponds to the value of the transition measured by the sensor on the automatic matching of the magnitude required by the movement of the unit.

Claims (1)

Formula iso A device for controlling a self-propelled machine, which is kinematically connected by a distributor and hydraulic valve, a hydraulic booster cylinder controlled by hydraulic lines, and contributes to an increase in the accuracy of the manual correction of hollow wheels, it is equipped with a three-way hydraulic distributor end faces hydraulic valves in the form of inverse valve interaction with ash rods, valve valves, new valves, hydraulic rollers with hydraulic valves, and valve valve cavities of the hydraulic cylinder; regulating the lines com dineny input cavity with the corresponding E or regulator, and lethargy mi wheel cylinder, the inlet intensifier rudder responsible hydrolyzed with a output - through line hydrochloric thrust regulator Compiled by S.Zarutsky Tehred And, Popovich Proofreader T. Kolb 7922/1 Circulation 63g Subscription VNISh State Committee of the USSR for inventions and discoveries 113035, Moscow, Zh-35, Raushsk nab., d. Production and printing company, Uzhgorod, Projecto st., 4 0 five 0 five 0 five 0 five 0 As a result of monitoring by the hydraulic cylinder 4 of the controller 6, the position of the sensor 1 in the mode of manual correction of the position of the hydraulic cylinder 10 of the control wheels, the output signal from the controller 6 at each time point corresponds to the mismatch value measured by the sensor 1. At the moment of transition to the automatic mode coincides in magnitude and sign with the signal necessary to control the movement of the unit. Invention Formula A device for automatic control of a self-propelled agricultural machine, comprising a sensor kinematically associated with a hydraulic distributor and a regulator hydraulic cylinder, a steering booster and a hydraulic cylinder of controlled wheels connected by hydrolines, and a hydraulic pump, characterized in that, in order to improve the accuracy of operation in manual mode position control of controlled wheels, it is equipped with a hydraulically controlled three-position switching valve, the spool of which is equipped with pressure rods, and the ends of the hydraulic valve The valve is made in the form of check valves with the ability of the latter to interact with the clamping rods of the spool, the valve valve cavities of the valve of the hydraulic distributor are connected by hydrolines to the steering booster, the valve valves are connected to the cavities of the hydraulic cylinder of the controlled wheels, and the input and output are corresponding to the hydraulic lines regulator and gnzlozkom, input cavities of which are connected to the corresponding hydrolines of the regulator, and the output cavities - with the cavities of the hydraulic cylinder of the controlled wheels, while ini intensifier rudder corresponding hydraulic line connected to the regulator, and output - with the hydraulic pump via the inlet line regulator. Arutz 4/5