Multi-point lifting chassis hydraulic automatic regulation and control system and working method
阅读说明：本技术 多点升降底盘液压自动调控系统及工作方法 (Multi-point lifting chassis hydraulic automatic regulation and control system and working method ) 是由 孙贻新 徐立章 柴晓玉 王晗昊 陈挑挑 李耀明 于 2020-05-19 设计创作，主要内容包括：本发明公开了一种多点升降底盘液压自动调控系统及工作方法,属于农业机械领域,包括多点升降装置、液压系统和自动调平控制系统；多点升降装置包括底盘上机架和对称升降机构,升降机构包括行走系、前升降机构、后升降机构、前液压缸和后液压缸；液压系统包括油泵、三位四通阀、调速阀、液控单向阀和等排量同步双向液压马达；自动调平控制系统包括双轴倾角传感器、控制面板和控制器。本发明能够使履带式联合收获机针对收获作业时的路面状况,通过检测底盘倾角姿态,计算各液压缸所需调节的伸缩量并自动调控底盘多点升降调节机构,以实现车身的调平,能够有效提高车辆作业行驶时的可靠性,降低驾驶员的操作难度,有助于进一步提高收获作业效率。(The invention discloses a hydraulic automatic regulation and control system of a multipoint lifting chassis and a working method, belonging to the field of agricultural machinery and comprising a multipoint lifting device, a hydraulic system and an automatic leveling control system; the multipoint lifting device comprises a chassis upper frame and a symmetrical lifting mechanism, wherein the lifting mechanism comprises a walking system, a front lifting mechanism, a rear lifting mechanism, a front hydraulic cylinder and a rear hydraulic cylinder; the hydraulic system comprises an oil pump, a three-position four-way valve, a speed regulating valve, a hydraulic control one-way valve and an equal-displacement synchronous two-way hydraulic motor; the automatic leveling control system comprises a double-shaft inclination angle sensor, a control panel and a controller. The invention can lead the crawler-type combine harvester to calculate the expansion amount required to be adjusted by each hydraulic cylinder and automatically regulate and control the multi-point lifting adjusting mechanism of the chassis by detecting the inclination angle posture of the chassis aiming at the road surface condition during harvesting operation so as to realize the leveling of the vehicle body, effectively improve the reliability during the vehicle operation, reduce the operation difficulty of a driver and contribute to further improving the harvesting operation efficiency.)
1. The hydraulic automatic regulation and control system of the multipoint lifting chassis is characterized by comprising a multipoint lifting device, a hydraulic system and an automatic leveling control system;
the multipoint lifting device comprises symmetrically arranged lifting mechanisms, and each lifting mechanism comprises a walking system, a lifting mechanism, a rear lifting mechanism, a connecting rod, a front hydraulic cylinder and a rear hydraulic cylinder;
the walking system (1) is hinged with a lifting mechanism and a rear lifting mechanism, and the lifting mechanism comprises a front lower rotating arm (2-3), a front spline shaft (2-2) and a front upper rotating arm (2-1); one end of the front lower rotating arm (2-3) is hinged on the walking system, the other end of the front lower rotating arm is arranged on the front spline shaft (2-2), a front upper rotating arm (2-1) is further arranged on the front spline shaft (2-2), so that the front lower rotating arm (2-3) and the front upper rotating arm (2-1) can rotate together, the front upper rotating arm (2-1) is hinged with a hydraulic rod of a left front hydraulic cylinder (6-1), the ear end of the left front hydraulic cylinder (6-1) is fixedly connected with one end of a connecting rod, the other end of the connecting rod is hinged on a rear upper rotating arm (3-1), the two ends of the rear upper rotating arm (3-1) are respectively connected with a rear spline shaft (3-2) and a hydraulic rod of a left rear hydraulic cylinder (7-1), wherein the ear end of the left rear hydraulic cylinder (7-1) is fixedly connected on a walking system, the rear spline shaft (3-2) is also provided with a rear lower rotating arm (3-3), so that the rear lower rotating arm (3-3) and the rear upper rotating arm (3-1) can rotate together, and the rear lower rotating arm (3-3) is hinged on a frame on the chassis;
the hydraulic system comprises an oil tank, an oil pump (10), a one-way valve (11), an overflow valve (12), an electromagnetic valve (13), a three-position four-way valve (14), a speed regulating valve (15), a hydraulic control one-way valve (16) and an equal-displacement synchronous bidirectional hydraulic motor (17);
the overflow valve (12) is communicated with the oil pump (10) to play a role of protection, the electromagnetic valve (13) plays a role of master switch, and the electromagnetic valve (13) is provided with a one-way valve (11) before being communicated with the oil pump (10); the oil pump (10) is communicated with a first three-position four-way valve (14-1), a second three-position four-way valve (14-2), a third three-position four-way valve (14-3) and a fourth three-position four-way valve (14-4) in parallel, the first three-position four-way valve (14-1) is communicated with a left front hydraulic cylinder (6-1) and a right front hydraulic cylinder (6-2), the second three-position four-way valve (14-2) is communicated with a left rear hydraulic cylinder (7-1), the fourth three-position four-way valve (14-4) is communicated with a right rear hydraulic cylinder (7-2), and the third three-position four-way valve (14-3) is communicated with the left rear hydraulic cylinder (7-1) and the right rear hydraulic;
the automatic leveling control system comprises a double-shaft inclination angle sensor (20), a control panel (19) and a controller; the double-shaft inclination angle sensor (20) is arranged on a cross beam of a frame on the chassis, the double-shaft inclination angle sensor (20) is connected with the input end of a controller, the output end of the controller is connected with a control panel (19), and the control panel (19) is arranged in a cab of the combine harvester and can display the inclination angle posture of the chassis.
2. The hydraulic automatic regulating system for the multipoint lifting chassis according to claim 1, characterized in that the limiting mechanism is fixed on the beam of the running gear and is arranged right below the front lower rotating arm (2-3).
3. The multipoint lifting chassis hydraulic automatic regulation and control system according to claim 1, characterized in that the front hydraulic cylinder comprises a left front hydraulic cylinder (6-1) and a right front hydraulic cylinder (6-2); the rear hydraulic cylinder comprises a left rear hydraulic cylinder (7-1) and a right rear hydraulic cylinder (7-2).
4. The hydraulic automatic regulation and control system for the multipoint lifting chassis according to claim 1, wherein the multipoint lifting device further comprises an upper chassis frame, and two groups of driving wheel supports (8-1) and riding wheels (8-2) are mounted on the upper chassis frame; the ear end of the rear hydraulic cylinder, the front spline shaft (2-2) and the rear spline shaft (3-2) are respectively hinged with the chassis upper frame.
5. The hydraulic automatic regulating system of the multipoint lifting chassis according to claim 1, wherein in the hydraulic system, a first three-position four-way valve (14-1) is communicated with rod cavities of a left front hydraulic cylinder (6-1) and a right front hydraulic cylinder (6-2) through a first hydraulic control one-way valve (16-1), a speed regulating valve (15) and a first group of equal-displacement synchronous two-way hydraulic motors (17-1), and the other control oil way of the first hydraulic control one-way valve (16-1) is communicated with rodless cavities of the left front hydraulic cylinder (6-1) and the right front hydraulic cylinder (6-2); the third three-position four-way valve (14-3) is communicated with rod cavities of the left rear hydraulic cylinder (7-1) and the right rear hydraulic cylinder (7-2) through a second hydraulic control one-way valve (16-2), a speed regulating valve (15) and a second group of equal-displacement synchronous two-way hydraulic motors (17-2), and the other control oil way of the second hydraulic control one-way valve (16-2) is communicated with rodless cavities of the left rear hydraulic cylinder (7-1) and the right rear hydraulic cylinder (7-2).
6. The hydraulic automatic regulating and controlling system of the multipoint lifting chassis according to claim 1, characterized in that in the hydraulic system, before the three-position four-way valve (14) is communicated with the oil pump (10) in parallel, a one-way valve (11) is respectively arranged, and an overflow valve (12) is respectively arranged at the oil inlet of the first three-position four-way valve (14-1) and the oil inlet of the third three-position four-way valve (14-3).
7. The hydraulic automatic regulating and controlling system for the multipoint lifting chassis according to claim 1, wherein oil outlets of a second three-position four-way valve (14-2) and a fourth three-position four-way valve (14-4) in the hydraulic system are respectively communicated with a hydraulic self-locking group (18) consisting of a one-way valve (11) and a speed regulating valve (15).
8. A working method of a hydraulic automatic regulation and control system of a multi-point lifting chassis is characterized by comprising four leveling modes of forward tilting of the chassis, backward tilting of the chassis, leftward tilting of the chassis and rightward tilting of the chassis, wherein in the working process of a combine harvester, the inclination angle and posture of the chassis are detected by an automatic leveling control system, a hydraulic cylinder required to be regulated for leveling is determined, the required telescopic regulating quantity of the hydraulic cylinder is calculated, the leveling of the chassis is realized by controlling a hydraulic system, and each regulating quantity is recorded in real time; the method specifically comprises the following steps:
s1: when the automatic leveling control system detects that the chassis inclines left, if the right rear hydraulic cylinder (7-2) is at an initial position, the left rear hydraulic cylinder (7-1) needs to be extended to lift the left chassis frame to achieve leveling, at the moment, the control system controls the right end of the electromagnetic valve (13) to be electrified, the left end of the second three-position four-way valve (14-2) is electrified, and hydraulic oil enters a rodless cavity of the left rear hydraulic cylinder (7-1) to extend; if the left rear hydraulic cylinder (7-1) is in the initial position, the right rear hydraulic cylinder (7-2) needs to be contracted to lower the right chassis frame to realize leveling, at the moment, the control system controls the left end of the fourth three-position four-way valve (14-4) to be electrified, and hydraulic oil enters a rod cavity of the right rear hydraulic cylinder (7-2) to be contracted;
s2: when the automatic leveling control system detects that the chassis inclines rightwards, if the right rear hydraulic cylinder (7-2) is at the initial position, the left rear hydraulic cylinder (7-1) needs to be contracted to lower the left chassis frame to realize leveling; at the moment, the right end of the electromagnetic valve (13) is controlled by the control system to be electrified, the right end of the second three-position four-way valve (14-2) is electrified, and hydraulic oil enters a rod cavity of the left rear hydraulic cylinder (7-1) to be contracted; if the left rear hydraulic cylinder (7-1) is in the initial position, the right rear hydraulic cylinder (7-2) needs to be extended to lift the right chassis frame to achieve leveling, at the moment, the control system controls the right end of the fourth three-position four-way valve (14-4) to be electrified, and hydraulic oil enters a rodless cavity of the right rear hydraulic cylinder (7-2) to extend;
s3: when the automatic leveling control system detects that the chassis tilts forwards or backwards, the control system needs to calculate and adjust the front hydraulic cylinder and the rear hydraulic cylinder simultaneously to realize leveling, and ensure that the stretching amounts of the left front hydraulic cylinder (6-1) and the right front hydraulic cylinder (6-2) are consistent and the stretching amounts of the left rear hydraulic cylinder (7-1) and the right rear hydraulic cylinder (7-2) are consistent;
when the front hydraulic cylinder contracts simultaneously, the left end of the first three-position four-way valve (14-1) is electrified, and hydraulic oil output by the hydraulic pump enters a rod cavity of the front hydraulic cylinder through the first group of equal-displacement bidirectional synchronous hydraulic motors (17-1) to synchronously contract; when the front hydraulic cylinder extends simultaneously, electric hydraulic oil obtained at the right end of the first three-position four-way valve (14-1) enters a rodless cavity of the front hydraulic cylinder, and output hydraulic oil passes through the first group of equal-displacement synchronous two-way hydraulic motors to realize synchronous extension and returns to an oil tank through a hydraulic control one-way valve;
when the rear hydraulic cylinder contracts simultaneously, the left end of a third three-position four-way valve (14-3) is electrified, hydraulic oil output by a hydraulic pump enters a rod cavity of the rear hydraulic cylinder through a second group of equal-displacement bidirectional synchronous hydraulic motors (17-2) to synchronously contract; when the rear hydraulic cylinder extends simultaneously, electric hydraulic oil obtained at the right end of the third three-position four-way valve (14-3) enters the rodless cavity of the front hydraulic cylinder, and the output hydraulic oil passes through the second group of equal-displacement synchronous two-way hydraulic motors (17-2) to realize synchronous extension and returns to the oil tank through the hydraulic control one-way valve.
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to a hydraulic automatic regulating and controlling system for a multipoint lifting chassis.
Background
The crawler-type chassis has the outstanding advantages of large grounding area, small grounding pressure, small turning radius, flexible turning and the like, thereby being widely applied to paddy field operation in south China. The chassis of the traditional crawler-type combine harvester adopts a welded integrated structure, and the frame and the walking system on the chassis are fixed through a splayed beam and other structures, so that the posture of a vehicle body cannot be adjusted. The agricultural operation environment is mostly a rugged road surface and is easy to encounter the traveling obstacles such as ridges, subsidence and the like, so that the vehicle body and the operation platform are difficult to keep horizontal in the driving process of the vehicle, and the operation difficulty of a manipulator is increased; even rollover accidents are easily caused, and the running reliability and the operating efficiency of the vehicle are seriously influenced.
The automatic balance type four-wheel vehicle chassis provided by the Chinese patent CN110178468A realizes the regulation and control of a side frame and the balance of a vehicle body by adjusting an extending arm, but the automatic balance type four-wheel vehicle chassis is only suitable for the leveling when two sides of the vehicle body incline and cannot realize the adjustment of the front and back inclination of the vehicle body. The self-propelled harvesting machine chassis automatic balancing system provided by the Chinese patent CN110001801A adopts a sensor to obtain the inclination information between a vehicle body and the relative ground, and automatically levels the vehicle body through a balancing hydraulic system, but the balancing hydraulic system is only suitable for an adjusting mechanism of a wheel type working vehicle, and the prior art is difficult to adapt to the operation requirement that the vehicle body is automatically regulated and controlled and kept horizontal in fields with complex road conditions of crawler-type agricultural machines.
Disclosure of Invention
The invention aims to provide a hydraulic automatic regulation and control system for a multi-point lifting chassis, which is used for realizing that when a crawler-type combine harvester runs on a rugged and uneven road or runs across obstacles, a vehicle body can be automatically regulated and controlled through a hydraulic system to keep horizontal, so that the running safety and reliability of a vehicle are improved, and the field operation efficiency is improved.
The invention realizes the purpose through the following technical scheme:
the hydraulic automatic regulation and control system of the multipoint lifting chassis comprises a multipoint lifting device, a hydraulic system and an automatic leveling control system;
the multipoint lifting device comprises symmetrically arranged lifting mechanisms, and each lifting mechanism comprises a walking system, a lifting mechanism, a rear lifting mechanism, a connecting rod, a front hydraulic cylinder and a rear hydraulic cylinder; the travelling system is provided with a plurality of wheels, and is hinged with a lifting mechanism and a rear lifting mechanism, wherein the lifting mechanism comprises a front lower rotating arm, a front spline shaft and a front upper rotating arm; one end of the front lower rotating arm is hinged to the walking system, the other end of the front lower rotating arm is installed on the front spline shaft, and the front spline shaft is further provided with a front upper rotating arm, so that the front lower rotating arm and the front upper rotating arm can rotate together;
the hydraulic system comprises an oil tank, an oil pump, a one-way valve, an overflow valve, an electromagnetic valve, a three-position four-way valve, a speed regulating valve, a hydraulic control one-way valve and an equal-displacement synchronous two-way hydraulic motor; the overflow valve is communicated with the oil pump to play a protective role, the electromagnetic valve plays a role of a master switch, and the electromagnetic valve is provided with a one-way valve before being communicated with the oil pump; the oil pump is connected and communicated with a first three-position four-way valve, a second three-position four-way valve, a third three-position four-way valve and a fourth three-position four-way valve in parallel, the first three-position four-way valve is communicated with the left front hydraulic cylinder and the right front hydraulic cylinder, the second three-position four-way valve is communicated with the left rear hydraulic cylinder, the fourth three-position four-way valve is communicated with the right rear hydraulic cylinder, and the third three-position four-way valve is communicated with;
the automatic leveling control system comprises a double-shaft inclination angle sensor, a control panel and a controller; the double-shaft inclination angle sensor is arranged on a cross beam of the frame on the chassis, the double-shaft inclination angle sensor is connected with the input end of the controller, the output end of the controller is connected with the control panel, and the control panel is arranged in a cab of the combine harvester and can display the inclination angle posture of the chassis.
Furthermore, the device also comprises a limiting mechanism fixed on the beam of the walking system, and the limiting mechanism is arranged right below the front lower rotating arm.
Further, the front hydraulic cylinder comprises a left front hydraulic cylinder and a right front hydraulic cylinder; the rear hydraulic cylinder comprises a left rear hydraulic cylinder and a right rear hydraulic cylinder.
Furthermore, the multipoint lifting device also comprises a chassis upper frame, and two groups of driving wheel brackets and riding wheels are arranged on the chassis upper frame; the lug end of the rear hydraulic cylinder, the front spline shaft and the rear spline shaft are respectively hinged with the chassis upper frame.
Furthermore, in the hydraulic system, a first three-position four-way valve is communicated with rod cavities of the left front hydraulic cylinder and the right front hydraulic cylinder through a first hydraulic control one-way valve, a speed regulating valve and a first group of equal-displacement synchronous two-way hydraulic motors, and the other control oil way of the first hydraulic control one-way valve is communicated with rodless cavities of the left front hydraulic cylinder and the right front hydraulic cylinder; and the third three-position four-way valve is communicated with the rod cavities of the left rear hydraulic cylinder and the right rear hydraulic cylinder through a second hydraulic control one-way valve, a speed regulating valve and a second group of equal-displacement synchronous two-way hydraulic motors, and the other control oil way of the second hydraulic control one-way valve is communicated with the rodless cavities of the left rear hydraulic cylinder and the right rear hydraulic cylinder.
Furthermore, in the hydraulic system, a check valve is respectively arranged before the three-position four-way valve and the oil pump are communicated in parallel, and an overflow valve is respectively arranged at the oil inlet of the first three-position four-way valve and the oil inlet of the third three-position four-way valve.
Furthermore, in the hydraulic system, oil outlets of a second three-position four-way valve and a fourth three-position four-way valve are respectively communicated with a hydraulic self-locking group consisting of a one-way valve and a speed regulating valve.
A working method of a hydraulic automatic regulation and control system of a multi-point lifting chassis comprises four leveling modes of forward tilting of the chassis, backward tilting of the chassis, leftward tilting of the chassis and rightward tilting of the chassis, wherein in the working process of a combine harvester, the inclination angle and the posture of the chassis are detected by an automatic leveling control system, a hydraulic cylinder required to be adjusted for leveling is determined, the required telescopic adjustment quantity of the hydraulic cylinder is calculated, the leveling of the chassis is realized by controlling a hydraulic system, and each adjustment quantity is recorded in real time; the method specifically comprises the following steps:
s1: when the automatic leveling control system detects that the chassis inclines left, if the right rear hydraulic cylinder is in an initial position, the left rear hydraulic cylinder needs to be extended to lift the left chassis frame to achieve leveling, at the moment, the control system controls the right end of the electromagnetic valve to be electrified, the left end of the second three-position four-way valve is electrified, and hydraulic oil enters the rodless cavity of the left rear hydraulic cylinder to extend; if the left rear hydraulic cylinder is in the initial position, the right rear hydraulic cylinder needs to be contracted to lower the right chassis frame to realize leveling, at the moment, the control system controls the left end of the fourth three-position four-way valve to be electrified, and hydraulic oil enters a rod cavity of the right rear hydraulic cylinder to be contracted;
s2: when the automatic leveling control system detects that the chassis inclines rightwards, if the right rear hydraulic cylinder is at the initial position, the left rear hydraulic cylinder needs to be contracted to reduce the left chassis frame to realize leveling; at the moment, the control system controls the right end of the electromagnetic valve to be electrified, the right end of the second three-position four-way valve is electrified, and hydraulic oil enters a rod cavity of the left rear hydraulic cylinder to be contracted; if the left rear hydraulic cylinder is in the initial position, the right rear hydraulic cylinder needs to be extended to lift the right chassis frame to achieve leveling, at the moment, the control system controls the right end of the fourth three-position four-way valve to be electrified, and hydraulic oil enters a rodless cavity of the right rear hydraulic cylinder to extend;
s3: when the automatic leveling control system detects that the chassis tilts forwards or backwards, the control system needs to calculate and adjust the front hydraulic cylinder and the rear hydraulic cylinder simultaneously to realize leveling, and ensure that the stretching amounts of the left front hydraulic cylinder and the right front hydraulic cylinder are consistent and the stretching amounts of the left rear hydraulic cylinder and the right rear hydraulic cylinder are consistent;
when the front hydraulic cylinder contracts simultaneously, the left end of the first three-position four-way valve is electrified, hydraulic oil output by the hydraulic pump enters a rod cavity of the front hydraulic cylinder through the first group of equal-displacement bidirectional synchronous hydraulic motors to be contracted synchronously; when the front hydraulic cylinder extends simultaneously, the electric hydraulic oil obtained at the right end of the first three-position four-way valve enters a rodless cavity of the front hydraulic cylinder, the output hydraulic oil passes through the first group of equal-displacement synchronous two-way hydraulic motors to realize synchronous extension, and returns to an oil tank through a hydraulic control one-way valve;
when the rear hydraulic cylinder contracts simultaneously, the left end of the third three-position four-way valve is electrified, hydraulic oil output by the hydraulic pump enters a rod cavity of the rear hydraulic cylinder through the second group of equal-displacement bidirectional synchronous hydraulic motors to be contracted synchronously; when the rear hydraulic cylinder extends simultaneously, the electric hydraulic oil obtained at the right end of the third three-position four-way valve enters the rodless cavity of the front hydraulic cylinder, the output hydraulic oil of the third three-position four-way valve synchronously extends through the second group of equal-displacement synchronous two-way hydraulic motors, and returns to the oil tank through the hydraulic control one-way valve.
The invention has the following beneficial effects:
(1) the chassis is connected with the upper frame and the two side walking systems through the multipoint lifting mechanism by adopting a split structure, so that the chassis can adjust the posture of the chassis according to different road environments and operation requirements, the leveling of the chassis and an operation platform is realized, the driving reliability is improved, and the operation difficulty of a manipulator is improved;
(2) the chassis leveling device can adjust the stretching amount of each hydraulic cylinder through the hydraulic system according to the operation requirement to realize the chassis leveling operation, and the designed hydraulic system has reasonable structural arrangement, has a self-locking function and can ensure the operation reliability;
(3) according to the invention, the attitude of the chassis is detected in real time by adopting the double-shaft tilt angle sensor, the chassis is leveled in real time by the controller, the control mode is simple, the operation is convenient and fast, compared with manual adjustment, the adjustment mode is more accurate and efficient, the adjustment mode is flexible and flexible, and the labor intensity of a driver is greatly reduced.
Drawings
FIG. 1 is an overall schematic view of a multipoint liftable adjustment crawler type combine harvester;
FIG. 2 is a schematic view of the multi-point lifting device;
FIG. 3 is a schematic view of a multi-point lift mechanism;
FIG. 4 is a schematic diagram of a hydraulic system;
FIG. 5 is a flow chart of the working process of the hydraulic automatic regulation and control system of the multi-point lifting chassis;
FIG. 6(a) is a right tilt leveling chart (track removed);
fig. 6(b) is a caster leveling diagram (with the crawler removed).
Reference numerals:
1. a walking system; 2. a front lifting mechanism; 2-1, a front upper rotating arm; 2-2. a front spline shaft; 2-3, a front lower rotating arm; 2-4, front connecting rotating arm; 3. a rear lifting mechanism; 3-1, rear upper rotating arm; 3-2, a rear spline shaft; 3-3, rear lower rotating arm; 4. a connecting rod; 5. a limiting mechanism; 6. a front hydraulic cylinder; 6-1, a left front hydraulic cylinder; 6-2. a right front hydraulic cylinder; 7. a rear hydraulic cylinder; 7-1, a left rear hydraulic cylinder; 7-2. a right rear hydraulic cylinder; 8. a chassis upper frame; 8-1, driving wheel support; 8-2, riding wheels; 9. an oil tank; 10. a hydraulic pump; 11. a one-way valve; 12. an overflow valve; 13. an electromagnetic valve; 14. a three-position four-way valve; 14-1. a first three-position four-way valve; 14-2 a second three-position four-way valve; 14-3. a third three-position four-way valve; 14-4. a fourth three-position four-way valve; 15. a speed regulating valve; 15-1, a first speed regulating valve; 15-2. a second speed regulating valve; 16. a hydraulic control check valve; 16-1, a first pilot operated check valve; 16-2. a second hydraulic control one-way valve; 17. a constant displacement synchronous bidirectional hydraulic motor; 17-1, a first group of equal-displacement synchronous bidirectional hydraulic motors; 17-2. a second group of equal-displacement synchronous bidirectional hydraulic motors; 18. a hydraulic self-locking group; 19. a control panel; 20. a dual-axis tilt sensor.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The following first describes in detail embodiments according to the present invention with reference to the accompanying drawings
With reference to fig. 1, 2, 6(a) and 6(b), the multipoint lifting device comprises two groups of symmetrical lifting mechanisms, and each group of lifting mechanism comprises a
Referring to fig. 3, the auto leveling control system includes a dual axis tilt sensor 20, a control panel 19, and a controller. The double-shaft tilt angle sensor 20 is arranged on a cross beam of the chassis
Referring to fig. 4, the hydraulic system includes an oil tank 9, an oil pump 10, a check valve 11, an overflow valve 12, an electromagnetic valve 13, a three-position four-way valve 14, a speed regulating valve 15, a hydraulic control check valve 16, an equal-displacement synchronous bidirectional hydraulic motor 17, a front hydraulic cylinder 6, and a rear hydraulic cylinder 7. The overflow valve 12 is communicated with the oil pump 10 for protection, the electromagnetic valve 13 is used for master switching, and the check valve 11 is arranged before the overflow valve is communicated with the oil pump 10; the oil pump 10 is communicated with a first three-position four-way valve 14-1, a second three-position four-way valve 14-2, a third three-position four-way valve 14-3 and a fourth three-position four-way valve 14-4 in parallel, the first three-position four-way valve 14-1 is communicated with two front hydraulic cylinders 6, the second three-position four-way valve 14-2 is communicated with a left rear hydraulic cylinder 7-1, the fourth three-position four-way valve 14-4 is communicated with the left rear hydraulic cylinder 7-2, and the third three-position four-way valve 14-3 is communicated with the left rear; and a right rear hydraulic cylinder 7-2.
The first three-position four-way valve 14-1 is communicated with rod cavities of the two front hydraulic cylinders 6 through a first hydraulic control one-way valve 16-1, a speed regulating valve 15 and a first group of equal-displacement synchronous two-way hydraulic motors 17-1, and the other control oil way of the first hydraulic control one-way valve 16-1 is communicated with rodless cavities of the two front hydraulic cylinders 6; the third three-position four-way valve 14-3 is communicated with the rod cavities of the two rear hydraulic cylinders 7 through a second hydraulic control one-way valve 16-2, a speed regulating valve 15 and a second group of equal-displacement synchronous two-way hydraulic motors 17-2, and the other control oil way of the second hydraulic control one-way valve 16-2 is communicated with the rodless cavities of the two rear hydraulic cylinders 7.
Before the three-position four-way valve 14 is communicated with the oil pump 10 in parallel, a one-way valve 11 is respectively arranged, and an overflow valve 12 is respectively arranged at the oil inlet of the first three-position four-way valve 14-1 and the oil inlet of the third three-position four-way valve 14-3; oil outlets of the second three-position four-way valve 14-2 and the fourth three-position four-way valve 14-4 are respectively communicated with a group of hydraulic self-locking groups 18 consisting of one-way valves 11 and speed regulating valves 15.
With reference to the attached figure 5, the working method of the hydraulic automatic regulation and control system of the multi-point lifting chassis comprises four leveling modes of forward tilting of the chassis, backward tilting of the chassis, leftward tilting of the chassis and rightward tilting of the chassis, wherein in the working process of the combine harvester, the inclination angle and posture of the chassis are detected by the automatic leveling control system, a hydraulic cylinder required to be adjusted for leveling is determined, the required telescopic adjustment quantity of the hydraulic cylinder is calculated, the leveling of the chassis is realized by controlling a hydraulic system, and each adjustment quantity is recorded in real time; the method specifically comprises the following steps:
s1: when the automatic leveling control system detects that the chassis inclines left, if the right rear hydraulic cylinder 7-2 is at an initial position, the left rear hydraulic cylinder 7-1 needs to be extended to lift the left chassis frame to realize leveling, at the moment, the control system controls the right end of the electromagnetic valve 13 to be electrified, the left end of the second three-position four-way valve 14-2 is electrified, and hydraulic oil enters a rodless cavity of the left rear hydraulic cylinder 7-1 to extend; if the left rear hydraulic cylinder 7-1 is in the initial position, the right rear hydraulic cylinder 7-2 needs to be contracted to lower the right chassis frame to realize leveling, at the moment, the control system controls the left end of the fourth three-position four-way valve 14-4 to be electrified, and hydraulic oil enters a rod cavity of the right rear hydraulic cylinder 7-2 to be contracted;
s2: when the automatic leveling control system detects that the chassis inclines rightwards, if the right rear hydraulic cylinder 7-2 is at the initial position, the left rear hydraulic cylinder 7-1 needs to be contracted to lower the left chassis frame to realize leveling; at the moment, the right end of the electromagnetic valve 13 is controlled to be electrified by the control system, the right end of the second three-position four-way valve 14-2 is electrified, and hydraulic oil enters a rod cavity of the left rear hydraulic cylinder 7-1 to be contracted; if the left rear hydraulic cylinder 7-1 is in the initial position, the right rear hydraulic cylinder 7-2 needs to be extended to lift the right chassis frame to achieve leveling, at the moment, the control system controls the right end of the fourth three-position four-way valve 14-4 to be electrified, and hydraulic oil enters a rodless cavity of the right rear hydraulic cylinder 7-2 to extend;
s3: when the automatic leveling control system detects that the chassis tilts forwards or backwards, the control system needs to calculate and adjust the front hydraulic cylinder 6 and the rear hydraulic cylinder 7 simultaneously to realize leveling, and ensure that the stretching amounts of the left front hydraulic cylinder 6-1 and the right front hydraulic cylinder 6-2 are consistent and the stretching amounts of the left rear hydraulic cylinder 7-1 and the right rear hydraulic cylinder 7-2 are consistent;
when the front hydraulic cylinder 6 contracts simultaneously, the left end of the first three-position four-way valve 14-1 is electrified, hydraulic oil output by the hydraulic pump enters a rod cavity of the front hydraulic cylinder 6 through the first group of equal-displacement bidirectional synchronous hydraulic motors 17-1 to be contracted synchronously; when the front hydraulic cylinder 6 extends simultaneously, the electric hydraulic oil obtained at the right end of the first three-position four-way valve 14-1 enters a rodless cavity of the front hydraulic cylinder 6, the output hydraulic oil of the electric hydraulic oil passes through the first group of equal-displacement synchronous two-way hydraulic motors 6 to realize synchronous extension, and returns to an oil tank through a hydraulic control one-way valve;
when the rear hydraulic cylinder 7 contracts simultaneously, the left end of a third three-position four-way valve 14-3 is electrified, hydraulic oil output by the hydraulic pump enters a rod cavity of the rear hydraulic cylinder 7 through a second group of equal-displacement bidirectional synchronous hydraulic motors 17-2 to be contracted synchronously; when the rear hydraulic cylinder 7 extends simultaneously, the electric hydraulic oil obtained at the right end of the third three-position four-way valve 14-3 enters the rodless cavity of the front hydraulic cylinder, the output hydraulic oil of the electric hydraulic oil enters the rodless cavity of the front hydraulic cylinder through the second group of equal-displacement synchronous two-way hydraulic motors 17-2 to realize synchronous extension, and the output hydraulic oil returns to the oil tank through the hydraulic control one-way valve.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
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