CN105309079A - Horizontal automatic control device of tractor suspension unit - Google Patents

Abstract

The invention discloses a horizontal automatic control device of a tractor suspension unit, which belongs to the technical field of agricultural machinery. In order to effectively solve the problem of the horizontal automatic control of the tractor suspension unit, the present invention mainly includes an angle sensor, a controller, a hydraulic control valve, an initialization button, a fine-tuning knob, a hand/self switching switch, a manual adjustment switch, and a speed switching switch; wherein, the The angle sensor is fixed on the tractor; the angle sensor, hydraulic control valve, initialization button, fine-tuning knob, hand/auto switch, manual adjustment switch, and speed switch are all connected to the controller; the tilt lift cylinder is connected to the tractor through the hydraulic control valve. The hydraulic system is connected. The controller of the invention has a simple structure, is convenient to manufacture, has a low failure rate, and is easy to popularize; the controller has a reasonable function design, and displays the working state of the system through an indicator light, which is convenient for users to operate.

Description

Automatic horizontal control device of tractor suspension unit

technical field

The invention relates to the technical field of agricultural machinery, in particular to a horizontal automatic control device of a tractor suspension unit.

Background technique

Soil preparation is a common operation in agriculture. However, since the tractor suspension unit does not have a horizontal automatic control device, the flat land is uneven, which affects the consistency of seedling emergence during sowing, or the depth of transplanted seedlings in the soil. The current tractor suspension system basically adopts a three-point suspension mechanism. The device utilizes a hydraulic cylinder to drive the left and right lifting arms to rotate around the frame, and drives the left and right lifting rods to pull the lower rods to achieve the purpose of lifting the farm implements. When the suspension mechanism is at a certain height, the position of the suspended agricultural implement relative to the tractor cannot be moved, that is, the tractor swings left and right on the uneven road, which will drive the suspended agricultural implement to swing left and right in the lateral direction, making it impossible for the agricultural implement to be in a horizontal position. level tillage. Someone proposes to change a lifting rod of the suspension device into a balance oil cylinder (such as patent 201410360990. X), which can realize the horizontal control of the suspended farm implement from the working principle. However, the structure of the control method and system is complex and the manufacturing cost is high; therefore, a controller with lower manufacturing cost and effective adjustment of the suspension unit level is required in production.

Contents of the invention

The object of the present invention is to provide an automatic control device for the level of the tractor suspension unit aiming at the deficiencies of the prior art.

In order to achieve the above object, the technical solution adopted in the present invention is: a horizontal automatic control device for the tractor suspension unit, including an upper pull rod, a right lifting arm, a right lifting cylinder, an inclined lifting cylinder, a right pull-down rod, a left pull-down rod, and a left lift rod , left lift arm, left lift cylinder, lift arm shaft; wherein, one end of the upper tie rod is fixed on the rear of the tractor, and the lift arm shaft is hinged with the tractor rear; one end of the left lift arm is connected to the lift arm shaft One end of the right lift arm is fixedly connected with the right end of the lift arm shaft; one end of the left lift cylinder is hinged to the rear of the tractor, and the other end is hinged to the left lift arm; one end of the right lift cylinder is hinged to the rear of the tractor, and the other end is hinged to the rear of the tractor. One end is hinged with the right lifting arm; one end of the left pull rod and one end of the right pull rod are both hinged with the rear of the tractor; one end of the left lift rod is hinged with the other end of the left lift arm, and the other end of the left lift rod is hinged with the left pull rod; One end of the tilt lift cylinder is hinged to the other end of the right lifting arm, and the other end is hinged to the right pull-down rod; the other ends of the left pull-down rod, the right pull-down rod and the upper pull rod are all hooked to farm implements;

The horizontal automatic control device of the tractor suspension unit also includes an angle sensor, a controller, a hydraulic control valve, an initialization button, a fine-tuning knob, a manual/auto switch, a manual adjustment switch, and a speed switch; wherein the angle sensor is fixed on the tractor Above; the angle sensor, hydraulic control valve, initialization button, fine-tuning knob, manual/automatic switching switch, manual adjustment switch, and speed switching switch are all connected to the controller, which is provided with an interface connected to the upper computer; The hydraulic control valve is connected to the hydraulic system on the tractor.

Further, the controller includes a power supply module, a microprocessor module, a reverse connection protection module, an initialization module, an input and output module, an angle sensor module, a balance fine-tuning module, a balance indication module, a manual/automatic switching module, a manual adjustment module, Speed switching module, two drive modules; wherein, the initialization module, microprocessor module, input and output module, angle sensor module, balance fine-tuning module, balance indication module, manual/automatic switching module, manual adjustment module, speed switching module , The power ports of the drive module are all connected to the power module; the external 12V power supply is connected to the power module through the reverse connection protection module; angle sensor module, balance fine-tuning module, balance indicator module, manual/automatic switching module, manual adjustment module, speed switching module , the driving module is connected with the microprocessor module; the input and output module is connected with the upper computer and the microprocessor module; the driving module is connected with the hydraulic control valve; the angle sensor module is connected with the angle sensor; the initialization module is connected with the initialization button; the balance fine-tuning module It is connected with the fine-tuning knob; the manual/automatic switching module is connected with the manual/automatic switching switch; the manual adjustment module is connected with the manual adjustment switch; the speed switching module is connected with the speed switching switch.

Further, the power module includes an external power input socket H101, a switch socket SW01, a voltage stabilizing chip U101, non-polar capacitors C03 and C05, polar capacitors C04 and C06, a resistor R101 and a power indicator light D101; wherein, the external power input The positive input port of the seat H101 is connected to one end of the switch socket SW01, the other end of the switch socket SW01, the power input port of the voltage regulator chip U101, one end of the non-polar capacitor C03 is connected to the positive electrode of the polar capacitor C04 as the first power output Port; the power output port of the voltage regulator chip U101, one end of the non-polar capacitor C05, and the positive pole of the polar capacitor C06 are connected as the second power output port; the ground port of the voltage regulator chip U101 is grounded; one end of the resistor R101 is connected to the power indicator light The positive pole of D101 is connected, and the other end is connected with the output port of the first power supply; the other end of non-polar capacitors C03 and C05, the negative poles of polar capacitors C04 and C06, and the negative pole of power indicator D101 are connected and then grounded;

The micro-processing module is a control chip U1;

The reverse connection protection module includes a MOS tube Q4 and a resistor R10; wherein, the source of the MOS tube Q4 is grounded, and the drain is connected to the negative input port of the power input seat H101 as the input terminal of the MOS tube Q4, and the gate is connected to the negative input port of the power input seat H101. One end of the resistor R10 is connected, and the other end of the resistor R10 is connected to the first power output port of the power module;

The initialization module is an initialization button access seat ZERO-SET; the first port of the initialization button access seat ZERO-SET is connected to the I/O port of the micro-processing module, and the first port of the initialization button access seat ZERO-SET Two ports are grounded;

The input and output module is a USB access seat UART; the first port of the USB access seat UART and the second power output port of the power supply module, the second port of the USB access seat UART is grounded, and the second port of the USB access seat UART The three ports are connected to the data sending port of the control chip U1; the fourth port of the USB socket UART is connected to the data receiving port of the control chip U1;

The angle sensor module is an angle sensor access seat A1; the first port of the angle sensor access seat A1 is connected to the second power output port of the power supply module, and the second port of the angle sensor access seat A1 is connected to the control chip U1. The first analog input port is connected, and the third port of the angle sensor socket A1 is grounded;

The balance fine-tuning module is a fine-tuning knob access seat A3; the first port of the fine-tuning knob access seat A3 is connected to the second power output port of the power supply module, and the second port of the fine-tuning knob access seat A3 is connected to the control chip U1. The third analog input port is connected, and the third port of the fine-tuning knob access seat A3 is grounded;

The balance indicator module includes resistors R7, R8, R9, R205, an optocoupler T3, a MOS tube Q3, and a balance indicator light D106; wherein, one end of the resistor R205 is connected to the positive pole of the balance indicator light D106, and the negative pole of the balance indicator light D106 It is connected to the drain of the MOS tube Q3, the gate of the MOS tube Q3 is connected to one end of the resistor R7, the source of the MOS tube Q3 is connected to one end of the resistor R8 and grounded; the other end of the resistor R7 is connected to the other end of the resistor R8 One end is connected to the emitter of the optocoupler T3; the other end of the resistor R205 is connected to the collector of the optocoupler T1 and then connected to the first power output port of the power module; the positive pole of the light-emitting diode of the optocoupler T3 is connected to one end of the resistor R9 , the cathode of the light emitting diode of the optocoupler T3 is connected to the I/O port of the control chip U1; the other end of the resistor R9 is connected to the second power output port of the power module.

Described hand/self-switching module comprises automatic indicator light D102, manual indication D103, resistance R103, resistance R104 and hand/self-switching selection seat C1; Wherein, the first port of hand/self-switching selection seat C1 and the I of control chip U1 The /O port is connected, the second port of the manual/automatic switching selection seat C1 is connected to the negative pole of the automatic indicator light D102, the third port of the manual/automatic switching selection seat C1 is connected to the negative pole of the manual indicator light, and the manual/automatic switching selection seat The fifth port of C1 is grounded; the positive pole of the automatic indicator light D102 is connected to one end of the resistor R103, and the other end of the resistor R103 is connected to the first power output port of the power module; the positive pole of the manual indicator light D104 is connected to one end of the resistor R104, and the resistor R104 The other end of the power module and the first power output port of the power module;

The manual adjustment module is a manual adjustment switch access seat C2; the first port and the fourth port of the manual adjustment switch access seat C2 are connected to the I/O port of the control chip U1; the manual adjustment switch access seat C2 The second port and the third port of the switch are suspended, and the fifth port of the access seat C2 of the manual adjustment switch is grounded;

The speed switching module is a speed switching switch access seat C3; the first port and the fourth port of the speed switching switch access seat C3 are all connected to the I/O port of the control chip U1; the speed switching switch access seat C3 The second port and the third port are suspended, and the fifth port of the speed switching switch access seat C3 is grounded;

The drive module includes resistors R1, R2, R3, R203, optocoupler T1, MOS tube Q1, diode D1, light-emitting diode D104 and drive valve socket vale1; wherein, the positive pole of diode D1, the negative pole of light-emitting diode D104, and the solenoid valve socket vale1 One end of the MOS tube Q1 is connected to the drain of the MOS tube Q1, the gate of the MOS tube Q1 is connected to one end of the resistor R1, the source of the MOS tube Q1 is connected to one end of the resistor R2 and then grounded; the anode of the light-emitting diode D104 is connected to the resistor R1 One end of R203 is connected; the other end of solenoid valve socket vale1, the other end of resistor R203, the cathode of diode D1, and the collector of optocoupler T1 are connected to the first power output port of the power module; the other end of resistor R1 is connected to the resistor R2. The other end is connected to the emitter of the optocoupler T1; the positive pole of the light emitting diode of the optocoupler T1 is connected to one end of the resistor R3, and the negative pole of the light emitting diode of the optocoupler T1 is connected to the I/O port of the control chip U1; the other end of the resistor R3 It is connected with the second power output port of the power module; the four ports of the hydraulic control valve are connected with the two driving valve seats vale1 of the two driving modules.

Compared with the background technology, the present invention has the beneficial effects of:

1. The structure of the controller is simple, easy to manufacture, low failure rate, and easy to promote;

2. Possess positive and negative connection protection circuit to avoid burning the control circuit due to wrong connection of positive and negative poles of the power supply;

3. The drive module is anti-parallel diode protection circuit to avoid damage to the circuit due to the reverse self-inductance potential generated by the solenoid valve coil;

4. The function design of the controller is reasonable, and the working status of the system is displayed through the indicator light, which is convenient for users to operate.

5. It has a reset circuit. When the farm tool is in a horizontal position, since the installation angle sensor cannot be strictly horizontal, the reset circuit is set so that the controller can accurately determine the initial state of the farm tool.

6. Equipped with a fine-tuning module, the farm tool suspension device will produce a certain deformation after a certain period of use, causing the farm tool to tilt slightly. Through the fine-tuning module, it is convenient for the user to adjust the farm tool to restore the horizontal state.

Description of drawings

Fig. 1 is the structural representation of tractor suspension unit of the present invention;

Fig. 2 is the structural representation of controller of the present invention;

Fig. 3 is the circuit diagram of the power module of controller of the present invention;

Fig. 4 is the microprocessing module circuit diagram of controller of the present invention;

Fig. 5 is the circuit diagram of the reverse connection protection module of the controller of the present invention;

Fig. 6 is the initialization module circuit diagram of controller of the present invention;

Fig. 7 is the circuit diagram of the input and output modules of the controller of the present invention;

Fig. 8 is the circuit diagram of the angle sensor module of the controller of the present invention;

Fig. 9 is a circuit diagram of the balance fine-tuning module of the controller of the present invention;

Fig. 10 is a circuit diagram of a balance indicating module of the controller of the present invention;

Fig. 11 is the hand/automatic switching module circuit diagram of controller of the present invention;

Fig. 12 is the manual adjustment circuit diagram of the controller of the present invention;

Fig. 13 is a circuit diagram of the speed switching module of the controller of the present invention;

Fig. 14 is the drive module circuit diagram of the controller of the present invention;

Fig. 15 is a control flowchart of the present invention;

Fig. 16 is a flow chart of the timer interrupt program of the present invention;

In the figure: upper rod 1, right lifting arm 2, right lifting cylinder 3, inclined lifting cylinder 4, right lowering rod 5, left lowering rod 6, left lifting rod 7, left lifting arm 8, left lifting cylinder 9, lifting arm shaft 10 .

detailed description

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

As shown in Figure 1, the present invention includes a pull-up rod 1, a right lift arm 2, a right lift cylinder 3, an inclined lift cylinder 4, a right pull-down rod 5, a left pull-down rod 6, a left lift rod 7, a left lift arm 8, and a left lift cylinder 9. Lift arm shaft 10, angle sensor (not shown in the figure), controller (not shown in the figure), hydraulic control valve (not shown in the figure), upper computer (not shown in the figure), initialization button (not shown in the figure), fine-tuning knob (not shown in the figure), manual/self-switching switch (not shown in the figure), manual adjustment switch (not shown in the figure), speed switch (not shown in the figure) Out); wherein, one end of the upper tie rod 1 is fixed on the rear of the tractor, and the lifting arm shaft 10 is hinged with the rear of the tractor; one end of the left lifting arm 8 is fixedly connected with the left end of the lifting arm shaft 10, and the right One end of the lifting arm 2 is fixedly connected to the right end of the lifting arm shaft 10; one end of the left lifting cylinder 9 is hinged to the rear of the tractor, and the other end is hinged to the left lifting arm 8, and the junction point is point d; one end of the right lifting cylinder 3 is connected to the tractor The rear part is hinged, and the other end is hinged with the right lifting arm 2, and the handover point is point c; one end of the left pull-down rod 6 and one end of the right pull-down rod 5 are both hinged with the rear of the tractor; one end of the left lift rod 7 is connected with the left lift arm 8 The other end of the left lift rod 7 is hinged with the left pull rod 6, and the hinge point is point h; one end of the tilt lift cylinder 4 is hinged with the other end of the right lift arm 2, and the other end is hinged with the right pull rod 5, hinged point is g point;

The angle sensor is fixed on the tractor, and the other ends of the left pull rod 6, the right pull rod 5 and the upper pull rod 1 are all articulated with farm tools; the tilt lift cylinder 4 is connected with the hydraulic system on the tractor through a hydraulic control valve.

As shown in Figure 2, the controller includes a power supply module, a microprocessor module, a reverse connection protection module, an initialization module, an input and output module, an angle sensor module, a balance fine-tuning module, a balance indication module, a manual/automatic switching module, and a manual adjustment module , speed switching module, two drive modules; among them, initialization module, microprocessor module, input and output module, angle sensor module, balance fine-tuning module, balance indicator module, manual/automatic switching module, manual adjustment module, speed switching module, The power ports of the drive module are powered by the power module; the external 12V power supply is connected to the power module through the reverse connection protection module; the angle sensor module, the balance fine-tuning module, the balance indicator module, the manual/automatic switching module, the manual adjustment module, the speed switching module, The drive modules are all connected to the microprocessor module; the input and output modules are connected to the upper computer and the microprocessor module; the drive module is connected to the hydraulic control valve; the angle sensor module is connected to the angle sensor; the initialization module is connected to the initialization button; the balance fine-tuning module is connected to the The fine-tuning knob is connected; the manual/automatic switching module is connected with the manual/automatic switching switch; the manual adjustment module is connected with the manual adjustment switch; the speed switching module is connected with the speed switching switch.

As shown in Figure 3, the power module includes external power input socket H101, switch socket SW01, voltage regulator chip U101, non-polar capacitors C03, C05, polar capacitors C04, C06, resistor R101 and power indicator light D101; among them, the external power The positive input port (port 1) of the input seat H101 is connected to one end of the switch socket SW01, the other end of the switch socket SW01, the power input port (port 3) of the voltage regulator chip U101, one end of the non-polar capacitor C03 and the polar capacitor C04 After the positive pole of the positive pole is connected, it is used as the first power output port (port VCC1); after the power output port (port 2) of the voltage regulator chip U101, one end of the non-polar capacitor C05, and the positive pole of the polar capacitor C06 are connected, it is used as the second power output port ( port VCC2); the grounding port of the voltage stabilizing chip U101 is grounded; one end of the resistor R101 is connected to the positive pole of the power indicator light D101, and the other end is connected to the first power output port (port VCC1); the other end of the non-polar capacitors C03 and C05, The negative poles of the polar capacitors C04 and C06 are connected to the negative poles of the power indicator D101 and then grounded; the voltage stabilizing chip U101 can be a product of model AS1117 (5V), but is not limited thereto.

As shown in FIG. 4 , the micro-processing module is a control chip U1; the control chip U1 can be a product with a model number of STC89C52RC, but is not limited thereto.

As shown in Figure 5, the reverse connection protection module includes a MOS tube Q4 and a resistor R10; wherein, the source of the MOS tube Q4 is grounded, and the drain is used as the input terminal (port D) of the MOS tube Q4 and the power input socket H101. The negative pole is connected to the input port (port 2), the gate is connected to one end of the resistor R10, and the other end of the resistor R10 is connected to the first power output port (VCC1) of the power module.

As shown in Figure 6, the initialization module is an initialization button access seat ZERO-SET; the first port of the initialization button access seat ZERO-SET is connected to the I/O port of the microprocessing module, and the initialization button access seat ZERO-SET The second port of is grounded.

As shown in Figure 7, the input and output module is a USB socket UART; the first port of the USB socket UART is connected to the second power output port (port VCC2) of the power module, and the second port of the USB socket UART is grounded , the third port of the USB socket UART is connected to the data sending port of the control chip U1; the fourth port of the USB socket UART is connected to the data receiving port of the control chip U1.

As shown in Figure 8, the angle sensor module is an angle sensor access seat A1; the first port of the angle sensor access seat A1 is connected to the second power output port (port VCC2) of the power module, and the angle sensor access seat A1 The second port is connected to the first analog input port of the control chip U1, and the third port of the angle sensor socket A1 is grounded.

As shown in Figure 9, the balance fine-tuning module is a fine-tuning knob access seat A3; the first port of the fine-tuning knob access seat A3 is connected to the second power output port (port VCC2) of the power module, and the fine-tuning knob access seat A3 The second port is connected to the third analog input port of the control chip U1, and the third port of the fine-tuning knob access seat A3 is grounded.

As shown in Figure 10, the balance indicator module includes resistors R7, R8, R9, R205, optocoupler T3, MOS tube Q3, and balance indicator light D106; wherein, one end of the resistor R205 is connected to the positive pole of the balance indicator light D106, and the balance indicator The negative pole of the lamp D106 is connected to the drain of the MOS tube Q3, the gate of the MOS tube Q3 is connected to one end of the resistor R7, the source of the MOS tube Q3 is connected to one end of the resistor R8 and then grounded; the other end of the resistor R7 and The other end of the resistor R8 is connected to the emitter of the optocoupler T3; the other end of the resistor R205 is connected to the collector of the optocoupler T1 and then connected to the first power output port (port VCC1) of the power module; the light of the optocoupler T3 The anode of the diode is connected to one end of the resistor R9, the cathode of the light-emitting diode of the optocoupler T3 is connected to the I/O port of the control chip U1; the other end of the resistor R9 is connected to the second power output port (port VCC2) of the power module.

As shown in Figure 11, the manual/self-switching module includes an automatic indicator light D102, a manual indicator D103, a resistor R103, a resistor R104, and a hand/self-switching selection seat C1; wherein, the first port (port 1) Connect with the I/O port of the control chip U1, the second port (port 2) of the manual/automatic switching selection seat C1 is connected with the negative pole of the automatic indicator light D102, and the third port (port 2) of the manual/automatic switching selection seat C1 3) Connect to the negative pole of the manual indicator light, the fourth port (port 4) of the manual/automatic switching selection seat C1 is suspended, and the fifth port (port 5) of the manual/automatic switching selection seat C1 is grounded; the positive pole of the automatic indicator light D102 Connect to one end of resistor R103, the other end of resistor R103 is connected to the first power output port (port VCC1) of the power module; the positive pole of manual indicator light D104 is connected to one end of resistor R104, and the other end of resistor R104 is connected to the first Power output port (port VCC1).

As shown in Figure 12, the manual adjustment module is a manual adjustment switch access seat C2; the first port and the fourth port of the manual adjustment switch access seat C2 are connected to the I/O ports (P21, P22, but not limited thereto). The second port and the third port of the manual adjustment switch access seat C2 are suspended, and the fifth port of the manual adjustment switch access seat C2 is grounded.

As shown in Figure 13, the speed switching module is a speed switching switch access block C3; the first port and the fourth port of the speed switching switch access block C3 are connected to the I/O port of the control chip U1; the speed switching switch is connected to The second port and the third port of the seat C3 are suspended, and the fifth port of the speed switching switch access seat C3 is grounded.

As shown in Figure 14, the automatic level controller includes two driving modules. The drive module includes resistors R1, R2, R3, R203, optocoupler T1, MOS tube Q1, diode D1, light-emitting diode D104 and drive valve socket vale1; among them, the positive pole of diode D1, the negative pole of light-emitting diode D104, and one end of solenoid valve socket vale1 After being connected, it is connected to the drain of the MOS tube Q1, the gate of the MOS tube Q1 is connected to one end of the resistor R1, the source of the MOS tube Q1 is connected to one end of the resistor R2 and grounded; the anode of the light emitting diode D104 is connected to the resistor R203 One end is connected; the other end of the solenoid valve socket vale1, the other end of the resistor R203, the cathode of the diode D1, and the collector of the optocoupler T1 are connected to the first power output port (port VCC1) of the power module; the other end of the resistor R1 is connected to the resistor The other end of R2 is connected to the emitter of the optocoupler T1; the anode of the light-emitting diode of the optocoupler T1 is connected to one end of the resistor R3, and the cathode of the light-emitting diode of the optocoupler T1 is connected to the I/O port of the control chip U1; The other end is connected with the second power output port (port VCC2) of the power module; the four ports of the hydraulic control valve are connected with the two driving valve seats vale1 of the two driving modules.

As shown in Figure 15, after the automatic level controller is powered on, the program initialization setting is performed through the upper computer. After the program initialization setting is completed, the upper computer is separated from the controller, and the data is processed every certain time. After the operation time is reached, the control parameters stored in the control chip U1 are read. After a certain period of use, the farm tool suspension will produce a certain deformation, which will cause the farm tool to tilt slightly. By adjusting the fine-tuning parameters in the control parameters, the farm tool can be adjusted to return to the horizontal state. After the control chip reads the control parameters, it then judges whether the initialization button is pressed. If it is pressed, the angle sensor data is set to zero and stored. If it is not pressed, the sensor value is directly read, because when the agricultural tool is in a horizontal position , the installed angle sensor cannot be strictly horizontal, so setting the initialization button can enable the controller to accurately determine the initial state of the farm implement. Then judge the state of the manual/self-switching switch, if the manual/automatic switching switch is in the manual state, then close the interruption; if the manual adjustment switch is in the rising position, then output the rising signal to the drive module, and the hydraulic control valve controls the tilt lift cylinder 4 to perform the rising action; if the manual adjustment switch is in the down position, a down signal is output to the drive module, and the hydraulic control valve controls the tilt lift cylinder 4 to perform a down action; if the manual adjustment switch is in the middle position, the tilt lift cylinder 4 stops moving. Re-open the interrupt after each action of manual control is completed; when the hand/auto switch is in the automatic position, the controller reads the speed control parameters pre-stored in the controller, judges the speed value according to the position of the speed switch, and obtains control signal.

As shown in Figure 16, it is a flowchart of the timer interrupt program. When the timer interrupt occurs, the timer parameters are automatically reset, and the control signal obtained in the automatic mode is output to the hydraulic control valve. The hydraulic control valve controls the tilt lift cylinder 4 to perform automatic horizontal control actions, and returns to the main function after execution .

Claims (3)

1. the horizontal automaton of tractor pendent eT, it is characterized in that, comprise upper connecting rod (1), right lift arm (2), right lift cylinder (3), tilt-lift oil cylinder (4), bottom right pull bar (5), lower-left pull bar (6), left lifting arm (7), left lift arm (8), left lift cylinder (9), promote arm axle (10); Wherein, one end of described upper connecting rod (1) is fixed on the rear portion of tractor, and described lifting arm axle (10) is hinged with tractor rear portion; One end of described left lift arm (8) is fixedly connected with the left end promoting arm axle (10), and one end of right lift arm (2) is fixedly connected with the right-hand member promoting arm axle (10); One end and the tractor rear portion of left lift cylinder (9) are hinged, the other end and left lift arm (8) hinged; One end and the tractor rear portion of right lift cylinder (3) are hinged, the other end and right lift arm (2) hinged; One end of lower-left pull bar (6) and one end of bottom right pull bar (5) all hinged with the rear portion of tractor; One end of left lifting arm (7) and the other end of left lift arm (8) hinged, the other end and the lower-left pull bar (6) of left lifting arm (7) are hinged; One end of tilt-lift oil cylinder (4) and the other end of right lift arm (2) hinged, the other end and bottom right pull bar (5) hinged; The other end of lower-left pull bar (6), bottom right pull bar (5) and upper connecting rod (1) all mounts farm implements;

The horizontal automaton of described tractor pendent eT also comprises angular transducer, controller, hydraulic control valve, initialization button, vernier knob, hand/adaptive switched switch, manually adjusts switch, speed change-over switch; Wherein, described angular transducer is fixed on tractor; Angular transducer, hydraulic control valve, initialization button, vernier knob, hand/adaptive switched switch, manually adjust switch, speed change-over switch is all connected with controller, controller is provided with the interface be connected with host computer; Tilt-lift oil cylinder (4) is connected with the hydraulic system on tractor by hydraulic control valve.

2. the horizontal automaton of tractor pendent eT according to claim 1, it is characterized in that, described controller comprises power module, microprocessor module, reverse connecting protection module, initialization module, input/output module, angle-sensor module, balance adjustments module, balance indicating module, hand/automatic switching module, manual regulating module, speed handover module, two driver modules; Wherein, the power port of described initialization module, microprocessor module, input/output module, angle-sensor module, balance adjustments module, balance indicating module, hand/automatic switching module, manual regulating module, speed handover module, driver module is all connected with power module; Outside 12V power supply is connected with power module by reverse connecting protection module; Angle-sensor module, balance adjustments module, balance indicating module, hand/automatic switching module, manual regulating module, speed handover module, driver module are all connected with microprocessor module; Input/output module connects host computer and is connected with microprocessor module; Driver module is connected with hydraulic control valve; Angle-sensor module is connected with angular transducer; Initialization module is connected with initialization button; Balance adjustments module is connected with vernier knob; Hand/automatic switching module is connected with hand/adaptive switched switch; Manual regulating module with manually adjust switch and be connected; Speed handover module is connected with speed change-over switch.

3. the horizontal automaton of tractor pendent eT according to claim 2, it is characterized in that, described power module comprises external power source input seat H101, combined socket and switch SW01, voltage stabilizing chip U101, polarity free capacitor C03, C05, polar capacitor C04, C06, resistance R101 and power supply indicator D101; Wherein, the electrode input end mouth of external power source input seat H101 is connected with one end of combined socket and switch SW01, as the first output port of power source after the other end of combined socket and switch SW01, the power input port of voltage stabilizing chip U101, one end of polarity free capacitor C03 are connected with the positive pole of polar capacitor C04; As second source output port after the positive pole of the output port of power source of voltage stabilizing chip U101, one end of polarity free capacitor C05, polar capacitor C06 is connected; The grounding ports ground connection of voltage stabilizing chip U101; One end of resistance R101 is connected with the positive pole of power supply indicator D101, and the other end is connected with the first output port of power source; The other end of polarity free capacitor C03, C05, the negative pole of polar capacitor C04, C06, ground connection after power supply indicator D101 negative pole is connected;

Described micro treatment module is control chip U1;

Described reverse connecting protection module comprises this pipe Q4 and resistance R10 that rubs; Wherein, the source ground of this pipe Q4 that rubs, drain electrode is connected with the negative input mouth of power input stand H101 as the input of this pipe Q4 that rubs, and gate pole is connected with one end of resistance R10, the first output port of power source of another termination power module of resistance R10;

Described initialization module is an initialization button access seat ZERO-SET; First port of described initialization button access seat ZERO-SET is connected with the I/O port of micro treatment module, initializes the second port ground connection of button access seat ZERO-SET;

Described input/output module is that a USB accesses seat UART; USB accesses first port of seat UART and the second source delivery outlet of power module, and USB accesses the second port ground connection of seat UART, and the 3rd port that USB accesses seat UART is connected with the data sending terminal mouth of control chip U1; The 4th port that USB accesses seat UART is connected with the data receiver port of control chip U1;

Described angle-sensor module is an angular transducer access seat A1; First port of angular transducer access seat A1 is connected with the second source output port of power module, and second port of angular transducer access seat A1 is connected with the first analog input port of control chip U1, the 3rd port ground connection of angular transducer access seat A1;

Described balance adjustments module is a vernier knob access seat A3; First port of vernier knob access seat A3 is connected with the second source output port of power module, and second port of vernier knob access seat A3 is connected with the 3rd analog input port of control chip U1, the 3rd port ground connection of vernier knob access seat A3;

Described balance indicating module comprises resistance R7, R8, R9, R205, optocoupler T3, and rub this pipe Q3, balance indicator lamp D106; Wherein, one end of resistance R205 is connected with the positive pole of balance indicator lamp D106, the negative pole of balance indicator lamp D106 is connected with the drain electrode of this pipe Q3 that rubs, and the gate pole of this pipe Q3 that rubs is connected with one end of resistance R7, and the source electrode of this pipe Q3 that rubs is connected with one end of resistance R8 ground connection afterwards; Be connected with the emitter stage of optocoupler T3 after the other end of resistance R7 is connected with the other end of resistance R8; Be connected with the first output port of power source of power module after the other end of resistance R205 is connected with the colelctor electrode of optocoupler T1; The light emitting diode positive pole of optocoupler T3 is connected with one end of resistance R9, and the negative pole of the light emitting diode of optocoupler T3 is connected with the I/O port of control chip U1; The other end of resistance R9 is connected with the second source output port of power module.

Described hand/adaptive switched module comprises automatic pilot lamp D102, manually indicates D103, resistance R103, resistance R104 and hand/adaptive switched selection seat C1; Wherein, hand/adaptive switched first port of selection seat C1 is connected with the I/O port of control chip U1, second port of hand/adaptive switched selection seat C1 is connected with the negative pole of automatic pilot lamp D102,3rd port of hand/adaptive switched selection seat C1 is connected with the negative pole of manual indicator lamp, the five-port ground connection of hand/adaptive switched selection seat C1; The positive pole of automatic pilot lamp D102 is connected with one end of resistance R103, the other end of resistance R103 and the first output port of power source of power module; The positive pole of manual indicator lamp D104 is connected with one end of resistance R104, the other end of resistance R104 and the first output port of power source of power module;

Described manual regulating module is a manually adjustment switch access seat C2; First port of manual adjustment switch access seat C2 all with the I/O port of control chip U1 is connected with the 4th port; Second port and the 3rd port of manual adjustment switch access seat C2 are unsettled, the manually five-port ground connection of adjustment switch access seat C2;

Described speed handover module is a speed change-over switch access seat C3; First port of speed change-over switch access seat C3 is all connected with the I/O port of control chip U1 with the 4th port; Second port and the 3rd port of speed change-over switch access seat C3 are unsettled, the five-port ground connection of speed change-over switch access seat C3;

Described driver module comprises resistance R1, R2, R3, R203, optocoupler T1, and rub this pipe Q1, diode D1, light emitting diode D104 and driver's valve socket vale1; Wherein, be connected with the drain electrode of this pipe Q1 that rubs after one end of diode D1 positive pole, light emitting diode D104 negative pole, magnetic valve socket vale1 is connected, the gate pole of Mo Si pipe Q1 is connected with one end of resistance R1, ground connection after the source electrode of this pipe Q1 that rubs is connected with one end of resistance R2; Light emitting diode D104 positive pole is connected with one end of resistance R203; Be connected with the first output port of power source of power module after the colelctor electrode of the other end of magnetic valve socket vale1, the resistance R203 other end, diode D1 negative pole, optocoupler T1 is connected; Be connected with the emitter stage of optocoupler T1 after the other end of resistance R1 is connected with the other end of resistance R2; The light emitting diode positive pole of optocoupler T1 is connected with one end of resistance R3, and the light emitting diode negative pole of optocoupler T1 is connected with the I/O port of control chip U1; The other end of resistance R3 is connected with the second source output port of power module; Four interfaces of hydraulic control valve drive valve seat vale1 to be connected with two of two driver modules.