CN110834680A - Automatic leveling device of miniature hilly and mountain crawler tractor - Google Patents
Automatic leveling device of miniature hilly and mountain crawler tractor Download PDFInfo
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- CN110834680A CN110834680A CN201810945002.6A CN201810945002A CN110834680A CN 110834680 A CN110834680 A CN 110834680A CN 201810945002 A CN201810945002 A CN 201810945002A CN 110834680 A CN110834680 A CN 110834680A
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- frame
- side link
- connecting rod
- hydraulic cylinder
- leveling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/116—Attitude or position control of chassis by action on suspension, e.g. to compensate for a slope
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Lifting Devices For Agricultural Implements (AREA)
- Soil Working Implements (AREA)
Abstract
The invention discloses an automatic leveling device of a miniature hilly and mountain crawler tractor, which comprises a mechanical leveling component and a leveling control system. The mechanical leveling component comprises a frame, a roller, a left/right side bracket, a left/right adjusting hydraulic cylinder, a left/right side connecting rod, a left/right side driving connecting rod and a left/right side driven connecting rod; the left/right side driving side link and the left/right side driven side link are hinged between the frame and the left/right side bracket, the left/right side connecting rod is hinged between the left/right side driving side link and the left/right side driven side link, and the left/right adjusting hydraulic cylinder is hinged between the frame and the left/right side driving side link; the leveling control system comprises a tractor frame attitude angle sensor, a data processing unit and an electric control hydraulic valve. By adopting the technical scheme of the invention, the micro hilly and mountain crawler tractor can realize real-time self-leveling by utilizing the parallel four-rod mechanical structure and the leveling control system, and the operation stability of the tractor body is improved.
Description
Technical Field
The invention belongs to the technical field of leveling of miniature hilly and mountain crawler tractors, and particularly relates to an automatic leveling device of a miniature hilly and mountain crawler tractor.
Background
Currently, in most agricultural machines, the control of the machine body is completely operated manually, and whether the machine body is leveled or not is observed by naked eyes. The mode is inconvenient to operate, low in accuracy and large in manual dependence, meanwhile delays the agricultural production time, guarantees the stability of the machine body during operation for the special agricultural machinery of the hilly and mountain tractor, and the untimely leveling operation can cause the machine body to turn over to influence the life and property safety.
Disclosure of Invention
In order to solve the technical problem, the invention provides an automatic leveling device of a miniature hilly and mountain crawler tractor.
The technical scheme adopted by the invention to solve the technical problems is as follows:
comprising a mechanical leveling assembly and a leveling control system. The mechanical leveling component comprises a right side bracket (1), a right side driven side link (2), a right side connecting rod (3), a right adjusting hydraulic cylinder (4), a right side driving side link (5), a roller (6), a rack (7), a left side bracket (8), a left side driven side link (9), a left side connecting rod (10), a left adjusting hydraulic cylinder (11) and a left side driving side link (12); wherein the rollers (6) are connected with the two ends of the left/right side bracket, the right driven side link (2) and the right driving side link (5) are hinged between the right side bracket (1) and the frame (7) in parallel, the left driven side link (9) and the left driving side link (11) are hinged between the left bracket (8) and the frame (7) in parallel, the right connecting rod (3) is hinged between the right driven side link (2) and the right driving side link (5), the left connecting rod (10) is hinged between the left driven side link (9) and the left driving side link (12), the right adjusting hydraulic cylinder (4) and the left adjusting hydraulic cylinder (11) are symmetrically arranged at two sides of the frame (7), the right adjusting hydraulic cylinder (4) is hinged between the right active side link (5) and the frame (7), the left adjusting hydraulic cylinder (11) is hinged between the frame (7) and the left active side connecting frame rod (12).
The leveling control system comprises a tractor frame attitude angle sensor (20) for detecting the angle of the frame (7), an electric control hydraulic valve (40) for controlling the actions of the right adjusting hydraulic cylinder (4) and the left adjusting hydraulic cylinder (11) and a data processing unit (30), wherein the signal output end of the tractor frame attitude angle sensor (20) is connected with the signal input end of the data processing unit (30), and the signal output end of the data processing unit (30) is connected to the electric control hydraulic valve (40).
When the leveling control system is leveled, the data processing unit compares angle information detected by the tractor frame attitude angle sensor with a system preset error angle, if the left side of the frame is high and the inclination angle of the frame is larger than the system preset error angle, the data processing unit controls the right driving connecting rod to extend through the right adjusting hydraulic cylinder, and the right driving connecting rod extends to drive the right driven connecting rod to extend; if the right side of the frame is high and the inclination angle of the frame is larger than the preset error angle of the system, the data processing unit controls the left driving side link rod to extend through the left adjusting hydraulic cylinder, and the left driving side link rod extends and drives the left driven side link rod to extend simultaneously; and if the frame inclination angle detected by the tractor frame attitude angle sensor is smaller than the preset error angle of the system, finishing the leveling.
The invention has the beneficial effects that:
by adopting the technical scheme of the invention, the micro hilly and mountain crawler tractor can realize real-time self-leveling by utilizing the parallel four-rod mechanical structure and the leveling control system, and the operation stability of the tractor body is improved.
Drawings
The invention is further described with reference to the following figures and detailed description:
FIG. 1 is an elevation view of a leveling mechanism of the present invention;
FIG. 2 is a side view of the leveling mechanism of the present invention;
FIG. 3 is a schematic view of the leveling control system of the present invention;
fig. 4 is a flow chart of the leveling control of the present invention.
Detailed Description
The invention is further explained below with reference to the drawings and the detailed description:
as shown in fig. 1 and 2, the invention provides an automatic leveling device of a micro hilly and mountain crawler tractor, which comprises a mechanical leveling assembly and a leveling control system. The mechanical leveling component comprises a right side bracket (1), a right side driven side link (2), a right side connecting rod (3), a right adjusting hydraulic cylinder (4), a right side driving side link (5), a roller (6), a rack (7), a left side bracket (8), a left side driven side link (9), a left side connecting rod (10), a left adjusting hydraulic cylinder (11) and a left side driving side link (12); wherein the rollers (6) are connected with the two ends of the left/right side bracket, the right driven side link (2) and the right driving side link (5) are hinged between the right side bracket (1) and the frame (7) in parallel, the left driven side link (9) and the left driving side link (11) are hinged between the left bracket (8) and the frame (7) in parallel, the right connecting rod (3) is hinged between the right driven side link (2) and the right driving side link (5), the left connecting rod (10) is hinged between the left driven side link (9) and the left driving side link (12), the right adjusting hydraulic cylinder (4) and the left adjusting hydraulic cylinder (11) are symmetrically arranged at two sides of the frame (7), the right adjusting hydraulic cylinder (4) is hinged between the right active side link (5) and the frame (7), the left adjusting hydraulic cylinder (11) is hinged between the frame (7) and the left active side connecting frame rod (12).
As shown in fig. 3, the leveling control system comprises a tractor frame attitude angle sensor (20) for detecting the angle of the frame (7), an electric control hydraulic valve (40) for controlling the actions of the right adjusting hydraulic cylinder (4) and the left adjusting hydraulic cylinder (11), and a data processing unit (30), wherein the signal output end of the tractor frame attitude angle sensor (20) is connected with the signal input end of the data processing unit (30), and the signal output end of the data processing unit (30) is connected to the electric control hydraulic valve (40).
As shown in fig. 4, when leveling starts, the tractor frame attitude angle sensor (20) detects the inclination angle of the frame (7) and sends angle information to the data processing unit (30), the data processing unit (30) compares the angle information detected by the tractor frame attitude angle sensor (20) with a preset error angle of the system, if the left side of the frame (7) is high and the frame inclination angle is greater than the preset error angle of the system, the data processing unit (30) controls the right adjusting hydraulic cylinder (4) through the electric control hydraulic valve (40), the right adjusting hydraulic cylinder controls the right driving connecting rod (5) to extend, the right driving connecting rod (5) extends and simultaneously drives the right driven connecting rod (2) to extend, and the right side of the frame rises; if the right side of the frame (7) is high and the inclination angle of the frame is larger than the preset error angle of the system, the data processing unit (30) controls a left adjusting hydraulic cylinder (11) through an electric control hydraulic valve (40), the left adjusting hydraulic cylinder controls the left driving side connecting rod (12) to extend, the left driving side connecting rod (12) extends and simultaneously drives the left driven side connecting rod (9) to extend, and the left side of the frame is lifted; and when the inclination angle of the frame detected by the tractor frame attitude angle sensor (20) is smaller than the preset error angle of the system, the automatic leveling is finished.
The structure and operation of the present invention are described in the embodiments, the present invention is not limited to the embodiments, and any modifications, substitutions and improvements made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (2)
1. The utility model provides a miniature hills mountain region crawler tractor automatic levelling device which characterized in that: the device comprises a mechanical leveling component and a leveling control system; the mechanical leveling component comprises a right side bracket (1), a right side driven side link (2), a right side connecting rod (3), a right adjusting hydraulic cylinder (4), a right side driving side link (5), a roller (6), a rack (7), a left side bracket (8), a left side driven side link (9), a left side connecting rod (10), a left adjusting hydraulic cylinder (11) and a left side driving side link (12); wherein the rollers (6) are connected with the two ends of the left/right side bracket, the right driven side link (2) and the right driving side link (5) are hinged between the right side bracket (1) and the frame (7) in parallel, the left driven side link (9) and the left driving side link (11) are hinged between the left bracket (8) and the frame (7) in parallel, the right connecting rod (3) is hinged between the right driven side link (2) and the right driving side link (5), the left connecting rod (10) is hinged between the left driven side link (9) and the left driving side link (12), the right adjusting hydraulic cylinder (4) and the left adjusting hydraulic cylinder (11) are symmetrically arranged at two sides of the frame (7), the right adjusting hydraulic cylinder (4) is hinged between the right active side link (5) and the frame (7), the left adjusting hydraulic cylinder (11) is hinged between the rack (7) and the left active side connecting frame rod (12); the leveling control system comprises a tractor frame attitude angle sensor (20), a data processing unit (30) and an electric control hydraulic valve (40); the tractor frame attitude angle sensor comprises a tractor frame attitude angle sensor (20), a data processing unit (30), an electric control hydraulic valve (40), a control signal output end of the data processing unit (30) is connected with the signal input end of the data processing unit, the data processing unit (30) determines the inclination angle of a frame (7) according to the signal of the tractor frame attitude angle sensor (20) and compares the measured inclination angle with a preset error angle of a system, and the data processing unit (30) is used for controlling the extension of a connecting rod corresponding to the lower side through the electric control hydraulic valve (40) during automatic leveling.
2. The automatic leveling device of the micro hilly mountain crawler tractor according to claim 1, wherein: when the tractor is leveled, the data processing unit (30) compares angle information detected by the tractor frame attitude angle sensor (20) with a system preset error angle, if the left side of the frame (7) is high and the frame inclination angle is larger than the system preset error angle, the data processing unit (30) controls the right driving side connecting rod (5) to extend through the right adjusting hydraulic cylinder (4), and the right driving side connecting rod (5) extends to drive the right driven side connecting rod (2) to extend; if the right side of the frame (7) is high and the inclination angle of the frame is larger than the preset error angle of the system, the data processing unit (30) controls the extension of the left driving side link (12) through the left adjusting hydraulic cylinder (11), and the extension of the left driving side link (12) drives the extension of the left driven side link (9) at the same time; and if the angle detected by the tractor frame attitude angle sensor (20) is smaller than the preset error angle of the system, leveling is finished.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810945002.6A CN110834680A (en) | 2018-08-19 | 2018-08-19 | Automatic leveling device of miniature hilly and mountain crawler tractor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810945002.6A CN110834680A (en) | 2018-08-19 | 2018-08-19 | Automatic leveling device of miniature hilly and mountain crawler tractor |
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| Publication Number | Publication Date |
|---|---|
| CN110834680A true CN110834680A (en) | 2020-02-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810945002.6A Pending CN110834680A (en) | 2018-08-19 | 2018-08-19 | Automatic leveling device of miniature hilly and mountain crawler tractor |
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| CN (1) | CN110834680A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113711722A (en) * | 2021-09-29 | 2021-11-30 | 吉林大学 | Automatic leveling device for agricultural machine in hilly and mountain areas |
| CN115123408A (en) * | 2022-08-08 | 2022-09-30 | 重庆理工大学 | Leveling structure of full-track tractor in hilly and mountain lands |
-
2018
- 2018-08-19 CN CN201810945002.6A patent/CN110834680A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113711722A (en) * | 2021-09-29 | 2021-11-30 | 吉林大学 | Automatic leveling device for agricultural machine in hilly and mountain areas |
| CN113711722B (en) * | 2021-09-29 | 2022-06-14 | 吉林大学 | Automatic leveling device for agricultural machine in hilly and mountain areas |
| CN115123408A (en) * | 2022-08-08 | 2022-09-30 | 重庆理工大学 | Leveling structure of full-track tractor in hilly and mountain lands |
| CN115123408B (en) * | 2022-08-08 | 2024-05-28 | 重庆理工大学 | Leveling structure of full-track tractor for hilly and mountain areas |
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