CN106612682B - One kind being used for the adaptive lifting device of tractor electro-hydraulic hitch the edge of a field and control method - Google Patents
One kind being used for the adaptive lifting device of tractor electro-hydraulic hitch the edge of a field and control method Download PDFInfo
- Publication number
- CN106612682B CN106612682B CN201710004337.3A CN201710004337A CN106612682B CN 106612682 B CN106612682 B CN 106612682B CN 201710004337 A CN201710004337 A CN 201710004337A CN 106612682 B CN106612682 B CN 106612682B
- Authority
- CN
- China
- Prior art keywords
- hydraulic
- electro
- wheel speed
- tractor
- valve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B71/00—Construction or arrangement of setting or adjusting mechanisms, of implement or tool drive or of power take-off; Means for protecting parts against dust, or the like; Adapting machine elements to or for agricultural purposes
- A01B71/02—Setting or adjusting mechanisms
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention belongs to one kind of agricultural mechanical field to be used for the adaptive lifting device of tractor electro-hydraulic hitch the edge of a field and control method, including steering monitoring module, control module and hydraulic execution module；The steering monitoring module can identify left and right sidesing driving wheel wheel speed and identify steering wheel angle, and the signal monitored can be sent to controller；The control module can judge that tractor the edge of a field turns to the moment, while controller can also issue instruction, control suspension lifting to electro-hydraulic proportional valve and reversal valve according to the left and right driving wheel wheel speed and steering wheel angle signal received；The hydraulic execution module can realize the raising and lowering of suspension according to the instruction of controller, and agricultural machinery and implement are able to maintain in a certain operating position, flow can be replenished in time to hydraulic cylinder by check valve in hydraulic system when agricultural machinery and implement rapid decrease simultaneously, avoid the occurrence of cavitation phenomenons.High degree of automation of the present invention compared with prior art, it is easy to operate, greatly reduce labour cost.
Description
Technical field
The invention belongs to agricultural machinery research fields, and in particular to a kind of tractor electro-hydraulic hitch the edge of a field adaptively goes up and down dress
It sets and control method.
Background technique
Agricultural is the basis of national economy, and mechanization of agriculture is the mark of a modernization of the country again.Developed country earlier than
The middle of last century just has been realized in agricultural modernization, and China's agricultural modernization level is also lower.Nowadays with informationization
It arrives, many emerging technologies are applied to mechanization of agriculture, the direction of agricultural machinery towards intelligence, automation is advanced
Major step.The major impetus of mechanization of agriculture when tractor forms, it can form working rig with farm implements and complete farm work.With
The development of information technology, electromechanical integration be gradually applied on tractor, for realize tractor efficient production and compared with
High fuel economy opens new road.Tractor suspension system is mainly used for the agricultural machinery that suspension is connected with control tractor
Tractor and agricultural machinery and implement are formed a motor-driven and flexible suspension by tool, suspension.Suspension is according to different operations
It is required that realizing agricultural implement mounting lifting with hydraulic for power, agricultural machinery and implement are maintained into operating position.Farm implements are reduced to soil when normal operation
Carry out farming below, only rise farm implements when the edge of a field turns to, it is to be diverted after the completion of again by farm implements be reduced to operating position into
Row operation.Although China is large agricultural country, large-scale farm is less, and agricultural production belongs to artisanal operation, cultivation scale mostly
It is smaller, it needs when tractor set farm work constantly to turn around to turn to, therefore when the edge of a field turns to needs continuous to be promoted and dropped
Low agricultural machinery and implement.Currently, either mechanical suspension or electric-controlled type suspension, are all to control to manipulate by driver when field is turned around
Handle or operation control panel realize rising or falling for agricultural machinery and implement.This kind of mode of operation is extremely complex, cumbersome, gives operator
Great inconvenience is brought, and increases unnecessary operation intensity.In recent years, with electron controls technology and intellectual technology
Fast-developing and successful application, some novel and intellectual technology start to be widely used on agricultural product, practice have shown that using intelligence
Operation quality and operating efficiency can not only be greatly improved by changing control, and can also substantially reduce the labor intensity of driver, be made
Driver from the edge of a field turn in free, thus be absorbed in tractor traveling.So being highly desirable to introduce intellectual technology
Into electronically-controlled suspension, the edge of a field is automatically identified by control system and is turned to, then controls oneself of executing agency's realization suspension
Dynamic lifting.The invention patent is based on this viewpoint, and it is adaptive to develop a kind of the edge of a field suspension arrangement based on intelligent control
Jacking system, thus when realizing the edge of a field tractor steering suspension automatic raising and lowering, and then reduce operation intensity mention
High operation quality.
Summary of the invention
Regarding the issue above, the present invention provides a kind of structure is simple, the dilatory mechanical electronic hydraulic of high degree of automation
Hang the adaptive lifting device of the edge of a field and control method.
In order to achieve the above object, the technical scheme adopted by the invention is that: one kind be used for tractor electro-hydraulic hitch the edge of a field
Adaptive lifting device, including steering monitoring module, control module and hydraulic execution module；
The steering monitoring module includes driving wheel wheel speed monitoring modular and steering wheel angle monitoring modular；The driving wheel
Wheel speed monitoring modular includes left wheel speed sensors and right wheel speed sensors, and the left wheel speed sensors and right wheel speed sensors are distinguished
The both ends of Drive axle housing are mounted on, gear ring is fixed on wheel hub and rotates together with wheel, is used for monitoring driving wheel wheel speed；It is described
Steering wheel angle monitoring modular includes angular transducer, between the shaft and tie rod arm and track rod of the angular transducer
Shaft consolidation, the shaft between tie rod arm and track rod are consolidated in track rod；
The hydraulic execution module includes oil cylinder, hydraulic pump, electro-hydraulic proportional valve, Y type three position four-way directional control valve, bidirectional hydraulic
Lock and first hydraulic cylinder；The oil cylinder by pipeline successively with hydraulic pump, electro-hydraulic proportional valve, Y type three position four-way directional control valve and double
It is connected to hydraulic lock；The A chamber of the bidirectional hydraulic lock and the rodless cavity of first hydraulic cylinder connect, the B chamber of bidirectional hydraulic lock and the
The rod chamber of one hydraulic cylinder connects, and the cylinder barrel and tractor of the first hydraulic cylinder are hinged, mention after piston rod and suspension
It is hinged to rise arm；
The control module includes controller, controller respectively with left wheel speed sensors, right wheel speed sensors, angle sensor
Device, Y type three position four-way directional control valve and electro-hydraulic proportional valve electrical connection；
The controller is judged according to left wheel speed sensors, right wheel speed sensors and the collected signal of angular transducer
Beginning and end time are turned to, and issues instruction to electro-hydraulic proportional valve and Y type three position four-way directional control valve, controls the upper of suspension
It rises and declines.
In above scheme, the hydraulic execution module further includes second hydraulic cylinder；The rodless cavity of second hydraulic cylinder with it is two-way
Pipeline connection between the A chamber and the first hydraulic cylinder of hydraulic lock, the rod chamber of second hydraulic cylinder and the B chamber of bidirectional hydraulic lock
Pipeline connection between the first hydraulic cylinder；
The cylinder barrel of the second hydraulic cylinder and tractor are hinged, and the front lift arm of piston rod and suspension is hinged.
In above scheme, the hydraulic execution module further includes oil filter；The oil filter is mounted on the oil cylinder and liquid
On pipeline between press pump.
In above scheme, the hydraulic execution module further includes electromagnetic relief valve；One end of the electromagnetic relief valve connects
Oil cylinder, the pipeline connection between the other end and hydraulic pump and electro-hydraulic proportional valve.
It further include overflow valve in above scheme；One end of the overflow valve connects oil cylinder, the other end and Y type 3-position 4-way
The oil inlet and outlet of reversal valve connects.
In above scheme, the hydraulic execution module further includes pressure switch；The pressure switch is mounted on electro-hydraulic
On pipeline between proportioning valve and Y type three position four-way directional control valve.
In above scheme, the hydraulic execution module further includes check valve；One end of the check valve is connect with oil cylinder, separately
Pipeline connection between one end and electro-hydraulic proportional valve and Y type three position four-way directional control valve.
A kind of method being used for the adaptive lifting device of tractor electro-hydraulic hitch the edge of a field according to, comprising the following steps:
S1, the left wheel speed sensors of the steering monitoring module and right wheel speed sensors acquire left and right driving wheel respectively
Wheel speed signal, angular transducer acquires steering wheel angle signal, and sends control module for wheel speed signal and wheel angular signal
Controller,
S2, the controller judge the tractor steering moment according to wheel speed signal and wheel angular signal, if tractor
It reaches and the edge of a field and turns to the left, controller judges that revolver quick access is nearly zero, right wheel speed is larger, steering wheel angle is greater than a certain setting
Value, at this point, controller issues instruction, the DT1 of Y type three position four-way directional control valve to electro-hydraulic proportional valve and Y type three position four-way directional control valve
Must be electric, piston rod is stretched out out of hydraulic cylinder, and the lift arm of suspension rises；
S3, tractor are completed after turning to, and controller judges that left and right driving wheel wheel speed is approximately equal and is not zero, turns
It is zero to wheel corner, controller issues instruction to electro-hydraulic proportional valve and Y type three position four-way directional control valve at this time, and Y type 3-position 4-way changes
Obtained to the DT2 of valve electric, piston rod retracts hydraulic cylinder, and the lift arm of suspension drops to target tilling depth, carries out normal operation.
Compared with prior art, the beneficial effects of the present invention are:
1, structure is simple, is easy to arrange on tractor, can execute excellent；
2, controller can judge that tractor starts to turn to and turn according to left and right driving wheel wheel speed and steering wheel angle
To end time；
3, when tractor drives to the edge of a field, controller can control suspension realize agricultural machinery and implement it is automatic rise and under
Drop, operates without staff, greatly reduces working strength；
4, when suspension declines, because the overweight piston rod contraction of agricultural machinery and implement is too fast, oil cylinder is easily caused for shortage of oil, is caused
Oil cylinder oil inlet chamber parital vacuum, occurs cavitation phenomenons, and check valve can be opened in time under the action of pressure difference, be mended from fuel tank
Oil avoids the occurrence of vacuum phenomenon to hydraulic cylinder, it is ensured that the stationarity of hydraulic cylinder.
Detailed description of the invention
Fig. 1 is the control principle schematic diagram of an embodiment of the present invention；
Fig. 2 is the wheel speed sensors scheme of installation of an embodiment of the present invention；
Fig. 3 is the angular transducer scheme of installation of an embodiment of the present invention；
Fig. 4 is the hydraulic circuit diagram of an embodiment of the present invention.
In figure: 1, turning to detection module；101, steering front wheel；102, tie rod arm；103, angular transducer；104, it turns to horizontal
Pull rod；105, driving wheel；106, left wheel speed sensors；107, right wheel speed sensors；108, shaft；109, Drive axle housing；2,
Control module；3, hydraulic execution module；301, oil cylinder；302, oil filter；303, hydraulic pump；304, electromagnetic relief valve；305, it overflows
Flow valve；306, electro-hydraulic proportional valve；307, pressure switch；308, Y type three position four-way directional control valve；309, bidirectional hydraulic lock；310,
First hydraulic cylinder；311, suspension；312, check valve；313, second hydraulic cylinder.
Specific embodiment
The present invention provides a kind of adaptive lifting device of the edge of a field for tractor electro-hydraulic hitch and control method, ties below
Closing the drawings and specific embodiments, invention is further described in detail, but the scope of protection of the present invention is not limited thereto.
Fig. 1 show a kind of embodiment for the adaptive lifting device of tractor electro-hydraulic hitch the edge of a field, described to be used for
The adaptive lifting device of tractor electro-hydraulic hitch the edge of a field includes steering monitoring module 1, control module 2 and hydraulic execution module 3；
The steering monitoring module 1 includes driving wheel wheel speed monitoring modular and steering wheel angle monitoring modular；The driving
Taking turns wheel speed monitoring modular includes left wheel speed sensors 106 and right wheel speed sensors 107.As shown in Fig. 2, the left wheel speed sensors
106 and right wheel speed sensors 107 be separately mounted to the both ends of Drive axle housing 109, gear ring is fixed on wheel hub with wheel
Rotation is used for monitoring driving wheel wheel speed；As shown in figure 3, the steering wheel angle monitoring modular includes angular transducer 103, institute
It states angular transducer 103 and is consolidated in tie rod arm 102, the shaft and tie rod arm 102 and track rod of the angular transducer 103
Shaft 108 between 104 consolidates, and the shaft 108 is consolidated in track rod.
As shown in figure 4, the hydraulic execution module 3 includes oil cylinder 301, oil filter 302, hydraulic pump 303, electromagnetic relief valve
304, overflow valve 305, electro-hydraulic proportional valve 306, pressure switch 307, Y type three position four-way directional control valve 308, bidirectional hydraulic lock 309,
First hydraulic cylinder 310, check valve 312, second hydraulic cylinder 313；The oil cylinder 301 by pipeline successively with hydraulic pump 303, electro-hydraulic
Proportioning valve 306, Y type three position four-way directional control valve 308 and bidirectional hydraulic lock 309 connect；The A chamber of the bidirectional hydraulic lock 309 and
The rodless cavity of one hydraulic cylinder 310 connects, and the B chamber of bidirectional hydraulic lock 309 is connect with the rod chamber of first hydraulic cylinder 310, and described the
The cylinder barrel and tractor of one hydraulic cylinder 310 are hinged, and piston rod and the rear lift arm of suspension 311 are hinged；Described second is hydraulic
Pipeline connection between the rodless cavity of cylinder 313 and the A chamber of bidirectional hydraulic lock 309 and the first hydraulic cylinder 310, second hydraulic cylinder
Pipeline connection between 313 rod chamber and the B chamber of bidirectional hydraulic lock 309 and the first hydraulic cylinder 310；Described second is hydraulic
The cylinder barrel of cylinder 313 and tractor are hinged, and the front lift arm of piston rod and suspension is hinged.
The control module 2 include controller, controller respectively with left wheel speed sensors 106, right wheel speed sensors 107,
Angular transducer 103, Y type three position four-way directional control valve 308 and electro-hydraulic proportional valve 306 are electrically connected；The controller is according to revolver speed
Sensor 106, right wheel speed sensors 107 and the collected signal of angular transducer 103 judge steering beginning and end time,
And instruction is issued to electro-hydraulic proportional valve 306 and Y type three position four-way directional control valve 308, control the raising and lowering of suspension 311.
The electro-hydraulic proportional valve 306 is used to control the flow for flowing into oil cylinder；The Y type three position four-way directional control valve 308 is for controlling flow direction
The direction of the traffic of hydraulic cylinder；The bidirectional hydraulic lock 309 is reliable rapidly when hydraulic cylinder does not work or breaks down for guaranteeing
Lock piston.
The oil filter 302 is mounted on the pipeline between the oil cylinder 301 and hydraulic pump 303.
One end of the electromagnetic relief valve 304 connects oil cylinder, between the other end and hydraulic pump 303 and electro-hydraulic proportional valve 306
Pipeline connection.The electromagnetic relief valve 304 is used to control the pressure of in-line.
One end of the overflow valve 305 connects oil cylinder, the oil inlet and outlet company of the other end and Y type three position four-way directional control valve 308
It connects.The overflow valve 305 is for controlling return pressure.
The pressure switch 307 is mounted on the pipeline between electro-hydraulic proportional valve 306 and Y type three position four-way directional control valve 308
On.The 307 real-time monitoring hydraulic circuit pressure of pressure switch, pressure are greater than the set value buzzer and sound an alarm.
One end of the check valve 312 is connect with oil cylinder, and the other end and electro-hydraulic proportional valve 306 and Y type 3-position 4-way commutate
Pipeline connection between valve 308.When the check valve 312 is used for hydraulic stem rapid desufflation, because avoiding oil cylinder oil inlet for shortage of oil
Cavitation phenomenons occur for chamber parital vacuum.
The present invention also provides the control method that the adaptive lifting device of tractor electro-hydraulic hitch the edge of a field is used for described in one kind, packets
Include following steps:
S1, the left wheel speed sensors 106 of the steering monitoring module 1 and right wheel speed sensors 107 acquire left and right drive respectively
The wheel speed signal of driving wheel, angular transducer 103 acquires steering wheel angle signal, and sends wheel speed signal and wheel angular signal to
The controller of control module 2,
S2, the controller judge the tractor steering moment according to wheel speed signal and wheel angular signal, if tractor
It reaches and the edge of a field and turns to the left, controller judges that revolver quick access is nearly zero, right wheel speed is larger, steering wheel angle is greater than a certain setting
Value, at this point, controller issues instruction, Y type three position four-way directional control valve to electro-hydraulic proportional valve 306 and Y type three position four-way directional control valve 308
308 DT1 obtains electric, and piston rod is stretched out out of hydraulic cylinder, and the lift arm of suspension 311 rises；
S3, tractor are completed after turning to, and controller judges that left and right driving wheel wheel speed is approximately equal and is not zero, turns
It is zero to wheel corner, controller is issued to electro-hydraulic proportional valve 306 and Y type three position four-way directional control valve 308 and is instructed at this time, and three, Y type
The DT2 of four-way reversing valve 308 obtains electric, and piston rod retracts hydraulic cylinder, and the lift arm of suspension 311 drops to target tilling depth, into
Row normal operation.
The series of detailed descriptions listed above are illustrated only for possible embodiments of the invention,
The protection scope that they are not intended to limit the invention, it is all without departing from equivalent embodiment made by technical spirit of the present invention or change
It should all be included in the protection scope of the present invention.
Claims (8)
1. one kind is used for the adaptive lifting device of tractor electro-hydraulic hitch the edge of a field, which is characterized in that including steering monitoring module
(1), control module (2) and hydraulic execution module (3)；
The steering monitoring module (1) includes driving wheel wheel speed monitoring modular and steering wheel angle monitoring modular；The driving wheel
Wheel speed monitoring modular includes left wheel speed sensors (106) and right wheel speed sensors (107), the left wheel speed sensors (106) and
Right wheel speed sensors (107) are separately mounted to the both ends of Drive axle housing (109), and gear ring is fixed on wheel hub to be turned with wheel
It is dynamic, it is used for monitoring driving wheel wheel speed；The steering wheel angle monitoring modular includes angular transducer (103), the angle sensor
Shaft (108) consolidation between the shaft and tie rod arm (102) and track rod (104) of device (103), the tie rod arm (102)
Shaft (108) between track rod (104) is consolidated in track rod；
The hydraulic execution module (3) includes oil cylinder (301), hydraulic pump (303), electro-hydraulic proportional valve (306), Y type 3-position 4-way
Reversal valve (308), bidirectional hydraulic lock (309) and first hydraulic cylinder (310)；The oil cylinder (301) by pipeline successively with it is hydraulic
Pump (303), electro-hydraulic proportional valve (306), Y type three position four-way directional control valve (308) and bidirectional hydraulic lock (309) connection；It is described two-way
The A chamber of hydraulic lock (309) is connect with the rodless cavity of first hydraulic cylinder (310), the B chamber of bidirectional hydraulic lock (309) and first hydraulic
The rod chamber of cylinder (310) connects, and the cylinder barrel and tractor of the first hydraulic cylinder (310) are hinged, piston rod and suspension
(311) rear lift arm is hinged；
The control module (2) includes controller, controller respectively with left wheel speed sensors (106), right wheel speed sensors
(107), angular transducer (103), Y type three position four-way directional control valve (308) and electro-hydraulic proportional valve (306) electrical connection；
The controller is collected according to left wheel speed sensors (106), right wheel speed sensors (107) and angular transducer (103)
Signal judge turn to start and end time, and to electro-hydraulic proportional valve (306) and Y type three position four-way directional control valve (308) hair
It instructs out, controls the raising and lowering of suspension (311).
2. a kind of according to claim 1 be used for the adaptive lifting device of tractor electro-hydraulic hitch the edge of a field, which is characterized in that institute
Stating hydraulic execution module (3) further includes second hydraulic cylinder (313)；The rodless cavity and bidirectional hydraulic lock of second hydraulic cylinder (313)
(309) the pipeline connection between A chamber and the first hydraulic cylinder (310), the rod chamber and two-way liquid of second hydraulic cylinder (313)
Pipeline connection between the B chamber and the first hydraulic cylinder (310) of pressure lock (309)；
The cylinder barrel and tractor of the second hydraulic cylinder (313) are hinged, and the front lift arm of piston rod and suspension (311) is cut with scissors
It connects.
3. a kind of according to claim 1 be used for the adaptive lifting device of tractor electro-hydraulic hitch the edge of a field, which is characterized in that institute
Stating hydraulic execution module (3) further includes oil filter (302)；The oil filter (302) is mounted on the oil cylinder (301) and hydraulic pump
(303) on the pipeline between.
4. a kind of according to claim 1 be used for the adaptive lifting device of tractor electro-hydraulic hitch the edge of a field, which is characterized in that institute
Stating hydraulic execution module (3) further includes electromagnetic relief valve (304)；One end of the electromagnetic relief valve (304) connects oil cylinder, another
End is connect with the pipeline between hydraulic pump (303) and electro-hydraulic proportional valve (306).
5. a kind of according to claim 1 be used for the adaptive lifting device of tractor electro-hydraulic hitch the edge of a field, which is characterized in that institute
Stating hydraulic execution module (3) further includes overflow valve (305)；One end of the overflow valve (305) connects oil cylinder, the other end and Y type
The oil inlet and outlet of three position four-way directional control valve (308) connects.
6. a kind of according to claim 1 be used for the adaptive lifting device of tractor electro-hydraulic hitch the edge of a field, which is characterized in that institute
Stating hydraulic execution module (3) further includes pressure switch (307)；The pressure switch (307) is mounted on electro-hydraulic proportional valve
(306) on the pipeline between Y type three position four-way directional control valve (308).
7. a kind of according to claim 1 be used for the adaptive lifting device of tractor electro-hydraulic hitch the edge of a field, which is characterized in that institute
Stating hydraulic execution module (3) further includes check valve (312)；One end of the check valve (312) is connect with oil cylinder, the other end and electricity
Pipeline connection between liquid proportional valve (306) and Y type three position four-way directional control valve (308).
8. a kind of control method for being used for the adaptive lifting device of tractor electro-hydraulic hitch the edge of a field according to claim 1,
It is characterized in that, comprising the following steps:
S1, the left wheel speed sensors (106) of the steering monitoring module (1) and right wheel speed sensors (107) acquire left and right respectively
The wheel speed signal of driving wheel, angular transducer (103) acquires steering wheel angle signal, and wheel speed signal and wheel angular signal are sent out
It is sent to the controller of control module (2),
S2, the controller judge the tractor steering moment according to wheel speed signal and wheel angular signal, if tractor reaches
The edge of a field simultaneously turns to the left, and controller judges that revolver quick access is nearly zero, right wheel speed is larger, steering wheel angle is greater than a certain setting value,
At this point, controller issues instruction, the commutation of Y type 3-position 4-way to electro-hydraulic proportional valve (306) and Y type three position four-way directional control valve (308)
The DT1 of valve (308) obtains electric, and piston rod is stretched out out of hydraulic cylinder, and the lift arm of suspension (311) rises；
S3, tractor are completed after turning to, and controller judges that left and right driving wheel wheel speed is approximately equal and is not zero, deflecting roller
Corner is zero, and controller is issued to electro-hydraulic proportional valve (306) and Y type three position four-way directional control valve (308) and instructed at this time, three, Y type
The DT2 of four-way reversing valve (308) obtain it is electric, piston rod retract hydraulic cylinder, the lift arm of suspension (311) drop to target plough
It is deep, carry out normal operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710004337.3A CN106612682B (en) | 2017-01-04 | 2017-01-04 | One kind being used for the adaptive lifting device of tractor electro-hydraulic hitch the edge of a field and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710004337.3A CN106612682B (en) | 2017-01-04 | 2017-01-04 | One kind being used for the adaptive lifting device of tractor electro-hydraulic hitch the edge of a field and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106612682A CN106612682A (en) | 2017-05-10 |
| CN106612682B true CN106612682B (en) | 2019-02-05 |
Family
ID=58842501
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710004337.3A Expired - Fee Related CN106612682B (en) | 2017-01-04 | 2017-01-04 | One kind being used for the adaptive lifting device of tractor electro-hydraulic hitch the edge of a field and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106612682B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108401598B (en) * | 2017-11-27 | 2021-03-30 | 中联重机股份有限公司 | Method and device for accurately controlling three-point suspension height of tractor |
| CN108093720B (en) * | 2017-12-18 | 2023-06-09 | 山东交通学院 | Electric control hooking device for operation tool of tractor |
| CN109854554B (en) * | 2018-08-30 | 2020-06-09 | 北京农业智能装备技术研究中心 | Rear suspension device of tractor and control method thereof |
| CN109328511A (en) * | 2018-11-22 | 2019-02-15 | 上海宏英智能科技有限公司 | A kind of tractor pendent eT self-level(l)ing device and its collecting method |
| CN109804757B (en) * | 2019-02-27 | 2020-10-13 | 中国农业大学 | Automatic broadcasting depth regulation and control telescopic platform based on satellite navigation |
| CN110100508A (en) * | 2019-04-23 | 2019-08-09 | 丰疆智能科技股份有限公司 | Equipment of ploughing and its plough tool protection system and guard method |
| WO2020215608A1 (en) * | 2019-04-23 | 2020-10-29 | 丰疆智能科技股份有限公司 | Ploughing device, plough protection system thereof and protection method therefor |
| CN110741761A (en) * | 2019-11-05 | 2020-02-04 | 中联重机股份有限公司 | Intelligent electro-hydraulic lifting control device and method for paddy field agricultural machine |
| CN110754152A (en) * | 2019-11-05 | 2020-02-07 | 中联重机股份有限公司 | Intelligent electro-hydraulic lifting control device and method for dry farmland agricultural machinery |
| CN111637105A (en) * | 2020-06-04 | 2020-09-08 | 扬州大学 | Hydraulic control system and control method for ground clearance and wheel track variable walking platform |
| CN113050515B (en) * | 2021-03-29 | 2022-03-08 | 湖南大学 | Full-automatic quick-change device control system and method for emergency rescue engineering equipment |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008212059A (en) * | 2007-03-05 | 2008-09-18 | Kubota Corp | Ascent/descent control unit for farm working machine |
| JP2009034001A (en) * | 2007-07-31 | 2009-02-19 | Iseki & Co Ltd | Tractor |
| JP2009240222A (en) * | 2008-03-31 | 2009-10-22 | Kubota Corp | Control device of working vehicle |
| CN102356711A (en) * | 2008-03-31 | 2012-02-22 | 株式会社久保田 | Control device for work vehicle |
| CN202603167U (en) * | 2012-05-31 | 2012-12-19 | 新乡市华锐流体控制技术有限公司 | Electro-hydraulic control lifting mechanism |
| CN104541636A (en) * | 2014-12-30 | 2015-04-29 | 江苏大学 | Electric control method and electric control device for adjustment of hydraulic suspension position of tractor |
| CN106050768A (en) * | 2016-06-30 | 2016-10-26 | 江苏大学 | Electric-hydraulic hitch system of tractor |
| CN106132187A (en) * | 2014-03-26 | 2016-11-16 | 洋马株式会社 | The control device of working truck |
-
2017
- 2017-01-04 CN CN201710004337.3A patent/CN106612682B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008212059A (en) * | 2007-03-05 | 2008-09-18 | Kubota Corp | Ascent/descent control unit for farm working machine |
| JP2009034001A (en) * | 2007-07-31 | 2009-02-19 | Iseki & Co Ltd | Tractor |
| JP2009240222A (en) * | 2008-03-31 | 2009-10-22 | Kubota Corp | Control device of working vehicle |
| CN102356711A (en) * | 2008-03-31 | 2012-02-22 | 株式会社久保田 | Control device for work vehicle |
| CN202603167U (en) * | 2012-05-31 | 2012-12-19 | 新乡市华锐流体控制技术有限公司 | Electro-hydraulic control lifting mechanism |
| CN106132187A (en) * | 2014-03-26 | 2016-11-16 | 洋马株式会社 | The control device of working truck |
| CN104541636A (en) * | 2014-12-30 | 2015-04-29 | 江苏大学 | Electric control method and electric control device for adjustment of hydraulic suspension position of tractor |
| CN106050768A (en) * | 2016-06-30 | 2016-10-26 | 江苏大学 | Electric-hydraulic hitch system of tractor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106612682A (en) | 2017-05-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106612682B (en) | One kind being used for the adaptive lifting device of tractor electro-hydraulic hitch the edge of a field and control method | |
| CN111133853B (en) | Multi-parameter combined automatic regulation system and method for tractor tilling depth | |
| CN104298165A (en) | PLC control system of orchard working platform | |
| CN202085451U (en) | Control system of crawler type mountain land remote control tractor | |
| CN110024544A (en) | Harvester for rhizome crops is automatically to row control system and method | |
| CN104604558A (en) | Intelligent accurate cotton topping device and multi-row cotton topping machine comprising same | |
| CN104115600A (en) | A transplanter ground profiling mechanism | |
| CN111903317A (en) | Combine harvester header height automatic control system | |
| CN204256460U (en) | A kind of PLC control system of orchard operation platform | |
| CN206977942U (en) | Self-excited vibration subsoiler | |
| CN107084164A (en) | A kind of anti-sticking pricker rock drilling control system | |
| CN103276760B (en) | Farmland ditcher and controlling method thereof | |
| CN105284215A (en) | Intelligent deep-loosening operation system | |
| CN109984009A (en) | A kind of caterpillar band self-propelled Multifunctional fruit tree plant robot control system and method | |
| CN106612655A (en) | Greenhouse land preparation machine | |
| CN207403804U (en) | A kind of electromechanical liquid control system of mulberry field fluid-link steering mini-tiller | |
| CN105557666A (en) | Pesticide spraying machinery automatic leveling system | |
| CN104494716A (en) | Intelligent lifting electronic automatic balancing system for walking tractors on sloping fields | |
| CN113236614A (en) | Automatic ditching control device for transverse sugarcane planting and control method thereof | |
| CN110741761A (en) | Intelligent electro-hydraulic lifting control device and method for paddy field agricultural machine | |
| CN204443286U (en) | The multirow cotton top-cutting machine of intelligent accurate cotton topping device and formation | |
| CN202603167U (en) | Electro-hydraulic control lifting mechanism | |
| CN104914882A (en) | Automatic control device of agricultural machinery plow and control method | |
| CN102384114A (en) | Engineering mechanical arm hydraulic position driving control system | |
| CN203590778U (en) | Automatic sprinkler hydraulic landing leg leveling device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190205 Termination date: 20220104 |