SU1391519A1 - Automatic system for driving tractor unit on slopes - Google Patents

Abstract

This invention relates to an automatic driving technique for agricultural mobile tractor units on slopes. The purpose of the invention is to increase the accuracy of the movement of the machine-tractor unit relative to the original horizontal by reducing the frequency and magnitude

Description

(L

with so

ate

with

spontaneous 1; 1 turn turns upran e-mbh Korier., as well as the simplification of co-operators. Gpgtema contains a sensor 1 popper, tpogo roll, consisting of a tube (, i .v T (h, and, 1:; V ohmicheskaya: x resistances 2 and 3, to the base} 1 s with an electric circuit; ichchatsp 9 through the pavement scheme. Repg rgn.gi .i electric motor 9 kinematics to, sya ean with steering shaft 13 pg po nyit jv II and a worm gear 12. The system also contains a hydraulic cage 1 | lock 24 installed between Hpl of instrumentation and 16 and hydraulic cylinder

1 lO. , -; i, l.,, i .-. Only to the equipment and: gom / | - (mch; lo11; i ../ divided agricultural .v.ii ic i; (and: h / x n (ll | P -; left tractor agpfv. iiOi (MTL ) on the slopes.

H.ioope 1 (;; is not the movement of the tractor aggregate relative to the original Hertz Oici or less hourly reduction; 1 hr P111y of turns e-r--, -); ,; -i like this: ke simplification of constructs (, and- :.

Mch 4 (represented by kinematis -fpcK.in g; -. Gigtem; G of automatic pg-wait; ppc of the mountain aggregate on the slopes

Ct CTOMa mercury sensor 1 ppyre;: south bank with resistances 2 and 3, which through sensors 4 and 5 of the longitudinal bank with contacts 6 and 7 and normally closed and normally open contacts of relay 8 are connected to electric motor 9, winding 10 which (zozb sdeni left and right turns of the rotor axis of the electric motor 9) are included in the bridge circuit. The rotor axis of the electric motor 9 by means of the coupling 11 and the gearbox 12 has a rigid connection with the steering shaft 13, which interacts with the worm 14 of the hydraulic booster connected with the spool 15 of the distributor 16, controlling the operation of the hydraulic cylinder 17 with the spring 18, ending with rail 19, interacting with a sector 20 mounted on a shaft 21, which is rigidly connected with a steering linkage bipod 22 and wheels 23.

17, as well as two sensors 4 and 5 of the longitudinal roll, located on the tractor body parallel to its longitudinal axis. In the case of deviation of the unit from the original horizontal signal to the actuator comes from the sensor 5 longitudinal roll. Pin 7 through sensor 5 longitudinal roll locks. As a result, the control wheels turn to eliminate errors and return the unit to the original horistoptal. 1 il.

A hydraulic lock 24, including two shut-off valves 25 and 26, a plunger 27 of shut-off valves, installed between the distributor 16 and the cylinder 17, serves to fix the steered wheels in a certain position.

The system works as follows.

When the tractor is moving across the slope, the mercury in the transverse roll sensor 1 occupies a certain position corresponding to the slope of the slope. The resistances 2 and 3 also depend on the slope steepness: the greater the steepness of the slope, the less resistance 3 and the greater the resistance 2.

Q Due to the closure of a mercury switch formed by mercury in the right arm of the transverse roll sensor I and its contact, the winding of relay 8 is connected to the negative pole of the power source.

The closure of the normally open contacts of the relay 8 when it is triggered provides the connection of the winding IO of the left rotation of the rotor axis

The Q motor 9 to the coitact 6 of the sensor 4 of the longitudinal roll and then through the resistance 2 of the sensor 1 of the transverse roll and the mercury of this sensor to the minus pole of the power source. Such a connection of the winding 10 of the left rotation of the rotor axis of the electric motor 9 ensures the rotation of the rotor shaft counterclockwise

five

313

and, accordingly, the rotation of the wheels in the direction of lifting when the tractor deviates downward from the horizontal.

However, when moving MTL along the horizontal, the longitudinal sensors D and 5 do not transmit a signal to the actuator, since the contacts 6 and 7 of the sensors 4 and 5 of the longitudinal roll are open,

When the tractor deviates downward from the horizontal, a longitudinal roll is formed, the mercury in sensors 4 and 5 moves, the contact 6 is closed, and the signal from the unbalance of the bridge through the closed contacts of the relay 8 enters the winding 10 of the left rotation of the rotor shaft of the electric motor 9.

With MTL deviation downward from the horizontal, mercury transfusion also occurs. From the right to the left shoulder of sensor I of the longitudinal roll, which leads to the additional closure of part of the resistance 2 turns by mercury, i.e. decrease its magnitude). As a result, the voltage applied to the winding 10 of the left-hand rotation of the rotor shaft of the electric motor 9 increases, and consequently, the electric motor will have a greater rotational speed and, consequently, greater speed to eliminate the deviation from the original horizontal.

The motor through the coupling 1I and the screw 1 of the gearbox 12 rotates the steering shaft 13. When the steering shaft is rotated counterclockwise, the spool 15 is moved by the screw 14 and directs the oil from the distributor 16 to the cavity of the shut-off valves g to the piston 27 valve. opens, and the oil is injected into the corresponding cavity of the hydraulic system 17. At the same time, it moves the plunger 27 to the left, opening the valve 26. The piston 18, moving together with the rail 19, acts on sector 20 and through the shaft 21, the bipod 18 wheels 23, turning them in the direction of lifting.

The tractor unit aligns (returns) relative to the horizontal, and as the alignment progresses, the voltage on the motor winding decreases due to an increase in resistance 2, which increases the stability of the MTA along the course and

15

..,

j

0 5

0

five

0

five

0

five

194

provide movement for him but iiepBofrachnalnaya burn sital ;.

As long as it is longitudinal; the roll becomes equal to f1m fyjim, the signal disappears, contact 6 opens and 1; the electric motor de-energizes. The rotation of the steering shaft is stopped, the spool 15 is in a neutral position, the oil does not exert pressure on the valves 25 and 26 of the hydraulic valves 24, so they close, locking the oil in both cavities of the hydraulic cylinder. This provides a rigid blocking of the controlled wheels in the direction of elevation at an angle equal to the angle of withdrawal, and a spontaneous change in the injection of 11 DRIGONIPs is prevented.

In case of a MTL deviation from the initial horizontal, the signal on the actuating mechanism of the actuator; st oi of the paratrooper 5 of the longitudinal bank of the contact 7 through the above-mentioned elega- tors of the scheme, as a result of which the turning of the controlled wheels in the the liquidation side of errors and return of the tractor unit to the initial horizontal.

When the tractor moves along the horizontal, the signal to the PLV input from the sensors is not received and the hydraulic lock is closed.

Claims (1)

Invention Formula The system of automatic driving of the tractor unit on the slopes, containing a tiller, which is connected by means of levers, a chain transmission and a coupling is connected with the power steering, a longitudinal roll mercury sensors, a switch, a cam, micro switches, two potentiometers and four diodes, an electric motor with an excitation winding and a relay, a screw pair, an electromagnet, while the power steering includes a screw that connects to the spool controlling the operation of the hydraulic cylinder with the piston ending with the rail, -interacting with a sector, attached to a shaft, cat. rigidly connected with the bipod of the steering wheel and wheels, characterized in that, in order to increase the movement of the tractor arperai, relative to the initial throttle v tel by reducing the frequency i, the values are spontaneous; iioBtjpoxi i Supert513915196 wheels, simplify the design, bridge circuit, while the end of the rosystem is additionally equipped with a rotor by means of a coupling and a worm transverse roll sensor, co-reducer is rigidly connected to the steering This tube is made of mercury and two ohms, a shaft that controls the work of the distribution resistances, a coupler and a hydraulic lock, it is electro-electrically connected to the motor-holding plunger circuit and two stop valves. l through the sensors of the longitudinal crank valve.