SU1387888A1 - System for automatic driving of farm machines along harrow - Google Patents

Abstract

FIELD: agricultural engineering. The purpose of the invention is to simplify the design of the device and reduce its material consumption. When the combine deviates from the cleaned pads, the copying rollers 3 of one probe 1 are dried, and the other probe 2 rises. The sector 12 enters the slot of the upper contactless switch 13, and one of the hydrodistributor electromagnets is turned on, which directs the working fluid into the rod cavity of the feedback hydraulic cylinder 8. Fluid from the rodless cavity of the hydraulic cylinder 8 is forced into the tank through the cavity of the main hydraulic cylinder, the wheels turn, and sector 12 returns to the neutral position. 1 hp f-ly, 2 AI. I (L 00 00 00 00 00

Description

The invention relates to agricultural machinery and can be used in systems for the automatic driving of agricultural machines and tractors.

The purpose of the invention is to simplify the design of the device and reduce its material consumption.

FIG. 1 is a schematic diagram of a sensitive element of an automatic driving system of an agricultural machine along a furrow in FIG. 2, an electro-hydraulic diagram of the system.

The system for automatic driving of an agricultural machine along a furrow consists of two probes 1 and 2 with copying rollers 3, which are installed in pairs on horizontal transverse suspensions 4, which are installed in clamps 5 with the possibility of adjusting the distance between the rollers. Probes

1 and 2 using a radial attachment 6 are pivotally connected to the frame 7 of an agricultural machine,

To the front of the hinge 6 probe

2 is hingedly attached to the feedback hydraulic cylinder 8, the rod of which is hinged on the lever 9 rigidly mounted on the shaft 10, on the second end of which the lever 11 with sector 12 is mounted. On the suspension 6 of the probe 1, contactless switches 13 are installed.

The electrohydraulic circuit contains a pump unit 14, a hydraulic valve 15 for transferring the sensing element of the system from the transport position to the operating position and back, the hydraulic cylinder 16 of the mynoBj lifting mechanism, the steering 17 consisting of a metering pump 18, a hydraulic distributor 19 and a hydraulic cylinder 205 Filled wheels 21, - hydraulic valve 22, connecting pipes and relays with high-pressure hoses, BVK 13 are connected to a battery 23 and electromagnets 24 of a hydraulic valve 22 In an electrical circuit named ETS switch 25 inertial and switch 26

The principle of operation of the automatic driving system is agricultural

ten

15

25

20

thirty

35

40

five

0

26. The rotation of the wheels 2t of the combine occurs when the steering wheel is rotated and the working fluid is supplied into the rod end of the hydraulic cylinder 20 of the controlled wheels or feedback hydraulic cylinder 8. The rodless cavities of these hydraulic cylinders are interconnected. When the probes are lowered, the power supply circuit is turned on. If the harvester deviates during movement, for example, to the right of the retracted rails, then the copying wheels 3 of the probe 1 are lowered and the wheels of the probe 2 are raised. Sector 12 enters the slot of the upper PID 13 (FIG. 1) and turns on one of the electromagnets 24, moves the spool valve 22, the working fluid from the pump passes through the channels of the valve 22 into the rod of the feedback hydraulic cylinder 8, and the fluid from the other cavity is transferred to the rodless cavity of the hydraulic cylinder 20 of the controlled wheels 21. The wheels turn to the left, and sector 12 returns to the neutral position corresponding to a certain predetermined angle of rotation of the controlled wheels 21. Liquid from the pcs The bore of the hydraulic cylinder 20, through the channels of the hydraulic distributor 22, is discharged into the tank until the valve of this hydraulic distributor returns to the neutral position,

In case of anti-malignant deviation of the combine, the system processes the signal in reverse order.

The greater the deviation of the machine from the path of the throat, the greater the angle of the hinge 6 of the probes 1 and 2 and, accordingly, the steered wheels turn the greater the angle. The proportionality of the angle of rotation of the wheels to the angle of rotation of the hinges is provided by the gear ratio formed by direct and feedback. The automatic driving system provides the possibility of changing the proportionality coefficient of direct and feedback depending on the working speed of the combine. Selection of the required sensitivity is performed by moving the attachment point.

machines along the furrow we will consider on the near-gs the rod of the hydraulic cylinder 8 feedback

on the lever Y, the sectors on the lever 11 and BVK 13 on the hitch 6 of the probe 1. The manual correction is also foreseen at any moment. Combine operator, installing it on a self-propelled potato harvester,

In the transport position of the probes, the electrical circuit is turned off from the lever Y, the sector on the lever 11 and BVK 13 on the linkage is 6 of the probe 1. Manual correction is also foreseen at any time. The combiner, the steering wheel, with a metering pump 13, directs the fluid into one of the cavities of the hydraulic distributor 19, displaces the valve of this hydraulic distributor, and rotates the wheels 21.

Claims (2)

1. An automatic driving system of an agricultural machine along a furrow containing probes with rollers mounted in pairs on horizontal transverse hangers, a mechanism for suspending probes with horizontal longitudinal drafts, a power hydraulic cylinder, a feedback hydraulic cylinder, a power source and a lifting mechanism in the transport position, different with so that, in order to simplify the design and reduce material consumption, it is equipped with an electro-hydraulic distributor, electromagnets which are connected to a power source through proximity switches, 2. The system of claim 1, wherein, in order to carry out a manual adjustment, it is equipped with an inertial switch of the power supply circuit of the contactless switches mechanically connected with the steering mechanism. fig g