Agricultural onboard hoisting buffer system

Abstract

The invention discloses an agricultural onboard hoisting buffering system which comprises a tractor, an onboard displayer, an intelligent armrest box controller, a hydraulic system, a large lifting arm, a hoisting arm, a steel wire rope and an angle sensor, a hydraulic oil cylinder drives the large lifting arm to rotate around a shaft, the hoisting arm and the angle sensor work in a follow-up mode, and a heavy object is hoisted through the steel wire rope. The system adopts the angle sensor to monitor the horizontal included angle of the large arm in real time, the intelligent armrest box controller compares a preset value through a negative feedback fuzzy PID algorithm to conduct dynamic adjustment, and overshoot and whole machine vibration are effectively restrained. A buffer control strategy is shown as follows: the hydraulic proportional valve is gradually opened to realize stable acceleration in the initial hoisting stage and gradually closed to finish deceleration stopping along with the heavy object approaching the preset height in the later stage, and impact and pitching vibration are remarkably reduced. And in cooperation with a height preset function of an airborne display, the whole-process operation can be completed by one key. The system is reasonable in structural design, the operation intensity of a driver is greatly reduced while the operation efficiency is improved, and the equipment reliability and the operation stability are enhanced.

Description

Technical Field

[0001] The present application relates to a tractor operation control system, and in particular, to a tractor implement hoisting control system. Background Art

[0002] Tractors are widely used in agricultural production. As tractors are the working machines for hanging tools, they hang and pull various tools during operation. When tools are damaged or transported during farmland operations, the tires of general lifting equipment are often not suitable for farmland operations, which will cause damage to farmland, tire sinking, and unstable lifting support. Tractor tire configuration can better adapt to the working fields. Tractors equipped with lifting equipment systems can lift tools faster, eliminating the need to seek help from special lifting equipment. However, the existing technology has the following problems:

[0003] 1. Limited lifting capacity: Traditional hydraulic systems can only lift lightweight objects, with short booms and low lifting heights, and cannot meet the needs of large-sized heavy objects.

[0004] 2. Severe shock and vibration: The sudden change in acceleration at the beginning and end of lifting generates shock loads, and the tractor tire support stiffness is insufficient, resulting in the pitch vibration of the entire machine, affecting operating comfort and component life.

[0005] 3. Operation relies on experience: The manual multi-way valve has low control accuracy, slow operation, and needs to rely on manual visual judgment, making it difficult to guarantee efficiency and safety.

[0006] 4. Low system reliability: The boom is subjected to variable loads for a long time, which can easily cause fatigue damage to the power transmission components and the boom structure. Summary of the invention

[0007] In view of the shortcomings of the prior art, the object of the present invention is to provide an agricultural machine-mounted lifting buffer system to solve the problems raised in the above-mentioned background technology.

[0008] According to one aspect of the present application, an agricultural machine-mounted hoisting buffer system includes a tractor, an onboard display, an intelligent armrest box controller, a hydraulic system, an angle sensor, a lifting boom, a wire rope and a boom.

[0009] A lifting arm is hingedly mounted at the rear of the tractor, the middle portion of the lifting arm is hingedly mounted to the tractor via a mounting shaft, the front end of the lifting arm is hingedly mounted to the piston rod of the hydraulic cylinder of the hydraulic system, and the rear end of the lifting arm and the angle sensor are mounted;

[0010] The hydraulic system includes a hydraulic cylinder, a hydraulic pump and a hydraulic proportional reversing valve. The hydraulic pump and the hydraulic proportional reversing valve are connected to the hydraulic cylinder through pipelines. The hydraulic proportional reversing valve drives the piston rod of the hydraulic cylinder to extend and retract by controlling the pressure, flow rate and flow direction of the hydraulic oil, thereby driving the lifting arm to rotate around the installation axis.

[0011] The onboard display and the intelligent armrest box controller are installed on the tractor, the onboard display communicates with the intelligent armrest box controller via a CAN bus, the intelligent armrest box controller receives the angle signal between the lifting arm and the horizontal plane detected by the angle sensor via an input port, and outputs a PWM control signal to the hydraulic proportional reversing valve via an output port to adjust the valve core opening direction and opening degree thereof;

[0012] One end of the steel wire rope is hinged to the end of the boom, and the other end is used to fix the heavy object. The boom rotates with the lifting arm to realize the lifting and lowering of the heavy object.

[0013] Preferably, the onboard display is a human-computer interaction interface, which is configured to set the expected lifting height percentage of the heavy object by simulating the columnar height, set the lifting speed of the heavy object by simulating the knob, control the lifting or landing instructions by the direction keys, and transmit control information with the intelligent armrest box controller through the CAN bus module. The onboard display dynamically displays the lifting status of the heavy object.

[0014] Preferably, the intelligent armrest box controller receives the real-time angle signal of the angle sensor through the input port, and generates a PWM numerical voltage control signal according to the preset lifting height and speed, which is transmitted to the hydraulic proportional reversing valve through the output port to control the opening direction and opening degree of its valve core, thereby adjusting the movement direction and speed of the piston rod of the hydraulic cylinder.

[0015] Preferably, the proportional solenoid valve terminal of the hydraulic proportional reversing valve receives the PWM numerical voltage control signal output by the intelligent armrest box controller, and converts it into the opening degree and direction of the main valve core of the hydraulic proportional reversing valve, thereby controlling the hydraulic oil flow, pressure and flow direction output to the hydraulic cylinder.

[0016] Preferably, the telescopic movement of the piston rod of the hydraulic cylinder drives the lifting arm to rotate around the mounting axis, driving the boom and the wire rope to complete the vertical lifting of the heavy object. The angle sensor detects the rotation angle of the lifting arm in real time and feeds back to the intelligent armrest box controller.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. Through segmented speed control and fuzzy PID algorithm, the hoisting impact is reduced and the vibration amplitude of the whole machine is reduced.

[0019] 2. One-key operation function simplifies human-computer interaction, reduces operation intensity and improves work efficiency.

[0020] 3. The system reliability is enhanced. The precise control of the hydraulic proportional valve combined with the angle feedback avoids the jamming problem of the traditional manual valve and extends the service life of the hydraulic components and the boom.

[0021] 4. Adapt to the complex terrain of farmland, improve tire support stability and avoid ground damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of an agricultural machine-mounted lifting buffer system according to an embodiment of the present application.

[0023] Figure numerals: 1. Tractor; 2. Onboard display; 3. Intelligent armrest box controller; 4. Angle sensor; 5. Lifting arm; 6. Wire rope; 7. Boom; 8. Hydraulic cylinder; 9. Hydraulic proportional reversing valve. DETAILED DESCRIPTION

[0024] In order to make the content of this application easier to understand, the technical solutions in the embodiments of this application will be described clearly and completely in conjunction with the drawings in the embodiments of this application. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to the attached drawings. Figure 1 As used herein, the terms "inward" and "outward" refer to directions toward and away from, respectively, the geometric center of the particular component.

[0025] like Figure 1As shown, an agricultural machine-mounted lifting buffer system includes a tractor 1, an onboard display 2, an intelligent armrest box controller 3, a hydraulic system, an angle sensor 4, a lifting arm 5, a wire rope 6 and a boom 7. The rear part of the tractor 1 is hingedly installed with the lifting arm 5, the middle part of the lifting arm 5 is hinged with the tractor 1 through a mounting shaft, the front end of the lifting arm 5 is hinged with the piston rod of the hydraulic oil cylinder 8 of the hydraulic system, and the rear end of the lifting arm 7 and the angle sensor 4 are installed. One end of the wire rope 6 is hinged to the end of the boom 7, and the other end is used to fix the heavy object. The boom 7 rotates with the lifting arm 5 to realize the lifting of the heavy object; the hydraulic system The system includes a hydraulic cylinder 8, a hydraulic pump and a hydraulic proportional reversing valve 9. The hydraulic pump and the hydraulic proportional reversing valve 9 are connected to the hydraulic cylinder 8 through pipelines. The hydraulic proportional reversing valve 9 drives the piston rod of the hydraulic cylinder 8 to extend and retract by controlling the pressure, flow rate and flow direction of the hydraulic oil, thereby driving the lifting arm 5 to rotate around the installation axis. The hydraulic cylinder 8 extends or shortens its piston rod under the action of the pressure, flow rate and flow direction of the hydraulic oil, thereby driving the lifting arm 5 to rotate around the installation axis, thereby driving the boom 7 and the wire rope 6 to complete the vertical lifting of the heavy object. The angle sensor 4 detects the rotation angle of the lifting arm 5 in real time and feeds back to the intelligent armrest box Controller 3; The onboard display 2 and the intelligent armrest box controller 3 are installed on the tractor 1. The onboard display 2 is a human-machine interaction interface, which is configured to set the expected lifting height percentage of the heavy object by simulating the column height, set the lifting speed of the heavy object by simulating the knob, control the lifting or landing command by the direction key, and transmit control information with the intelligent armrest box controller 3 through the CAN bus module. The onboard display 2 dynamically displays the lifting status of the heavy object; the onboard display 2 communicates with the intelligent armrest box controller 3 through the CAN bus, and the intelligent armrest box controller 3 receives the angle sensor 4 through the input port The real-time angle signal between the lifting arm 5 and the horizontal plane is detected, and a PWM numerical voltage control signal is generated according to the preset lifting height and speed, which is transmitted to the hydraulic proportional reversing valve 9 through the output port to control the opening direction and opening degree of its valve core, thereby adjusting the movement direction and speed of the piston rod of the hydraulic cylinder 8; the proportional solenoid valve terminal of the hydraulic proportional reversing valve 9 receives the PWM numerical voltage control signal output by the intelligent armrest box controller 3, and converts it into the opening degree and direction of the main valve core of the hydraulic proportional reversing valve 9, thereby controlling the hydraulic oil flow, pressure and flow direction output to the hydraulic cylinder 8.

[0026] The core of this system is to realize the acceleration and deceleration adjustment of the whole lifting process through the progressive opening and closing control of the hydraulic proportional reversing valve 9 and the closed-loop feedback of the angle sensor 4. The specific performance is:

[0027] Acceleration stage: During the initial lifting, the valve core opening increases linearly and the hydraulic oil flow increases gradually to avoid sudden changes in boom bending moment and tire sinking due to instantaneous high pressure.

[0028] Deceleration stage: When approaching the target height, the controller dynamically adjusts the valve core opening based on the fuzzy PID algorithm, so that the speed of the heavy object decreases exponentially and finally stops accurately. This process significantly reduces the symmetrical cyclic variable load of the boom and improves the life of components.

[0029] The workflow of the system is as follows:

[0030] Step 1: Parameter preset and command input

[0031] The operator sets the target lifting height through the simulated bar of the onboard display 2, for example, to 80% of the highest point, adjusts the lifting speed through the knob, and selects the "lifting" or "landing" command through the direction key. After the setting is completed, the command is transmitted to the intelligent armrest box controller 3 through the CAN bus.

[0032] Step 2: Angle signal acquisition and feedback control

[0033] The angle sensor 4 detects the angle between the lifting arm 5 and the horizontal plane in real time, and transmits the signal to the intelligent armrest box controller 3. The controller compares the real-time angle with the preset angle calculated according to the target height, and generates a PWM control signal through a negative feedback fuzzy PID algorithm.

[0034] Step 3: Hydraulic proportional reversing valve adjustment

[0035] The PWM signal output by the intelligent armrest box controller 3 drives the proportional solenoid of the hydraulic proportional reversing valve 9 to adjust the opening direction and opening degree of the valve core. Specifically:

[0036] In the early stage of lifting: the hydraulic proportional reversing valve 9 is gradually fully opened, and the hydraulic oil quickly enters the rodless chamber of the hydraulic cylinder 8, pushing the piston rod to extend, so that the lifting arm 5 accelerates the rotation, driving the boom 7 and the heavy object to rise steadily and rapidly.

[0037] Late stage of lifting: When the weight approaches the preset height, the controller gradually reduces the duty cycle of the PWM signal, the valve core opening of the hydraulic proportional reversing valve 9 gradually closes, the flow of hydraulic oil decreases, and the movement of the piston rod slows down, so that the weight stops slowly at the target position, avoiding impact loads and vibration of the whole machine.

[0038] Step 4: Dynamic display and exception handling

[0039] The onboard display 2 displays in real time the parameters such as the lifting arm angle, load height, hydraulic system pressure, etc. If an angle exceeding the limit or an abnormal hydraulic pressure is detected, the controller automatically triggers an emergency stop and issues an alarm prompt through the display.

[0040] In summary, in the above design, the impact load of lifting is reduced and the pitch vibration amplitude of the whole machine is reduced through closed-loop control and hydraulic buffer design; one-button height preset and automatic control do not rely on operator experience, which improves work efficiency; the precise control of the hydraulic proportional valve combined with angle feedback avoids the jamming problem of traditional manual valves and extends the service life of hydraulic components and booms.

[0041] The above embodiments are only used to illustrate the technical solutions of the embodiments of the present application, rather than to limit them. Although the embodiments of the present application are described in detail with reference to the above embodiments, it should be understood by those skilled in the art that the technical solutions described in the above embodiments can still be modified, or some of the technical features can be replaced by equivalents, without departing from the spirit and scope defined by the claims of the present application.

Claims

1. An agricultural machine-mounted lifting buffer system, comprising a tractor (1), an onboard display (2), an intelligent armrest box controller (3), a hydraulic system, an angle sensor (4), a lifting arm (5), a wire rope (6) and a lifting arm (7), characterized in that: A lifting arm (5) is hingedly mounted at the rear of the tractor (1); the middle of the lifting arm (5) is hingedly mounted to the tractor (1) via a mounting shaft, the front end of the lifting arm (5) is hingedly mounted to the piston rod of the hydraulic cylinder (8) of the hydraulic system, and the rear end of the lifting arm (7) and the angle sensor (4) are mounted thereon; The hydraulic system comprises a hydraulic cylinder (8), a hydraulic pump and a hydraulic proportional reversing valve (9); the hydraulic pump and the hydraulic proportional reversing valve (9) are connected to the hydraulic cylinder (8) via pipelines; the hydraulic proportional reversing valve (9) drives the piston rod of the hydraulic cylinder (8) to extend and retract by controlling the pressure, flow rate and flow direction of the hydraulic oil, thereby driving the lifting arm (5) to rotate around the mounting axis; The onboard display (2) and the intelligent armrest box controller (3) are installed on the tractor (1), the onboard display (2) communicates with the intelligent armrest box controller (3) via a CAN bus, the intelligent armrest box controller (3) receives the angle signal between the lifting arm (5) and the horizontal plane detected by the angle sensor (4) via an input port, and outputs a PWM control signal to the hydraulic proportional reversing valve (9) via an output port to adjust the valve core opening direction and opening degree thereof; One end of the steel wire rope (6) is hinged to the end of the boom (7), and the other end is used to fix the heavy object. The boom (7) rotates with the lifting arm (5) to achieve the lifting and lowering of the heavy object.

2. The agricultural machine-mounted lifting buffer system according to claim 1, characterized in that: The onboard display (2) is a human-machine interaction interface, which is configured to set the expected lifting height percentage of the heavy object by simulating the column height, set the lifting speed of the heavy object by simulating the knob, control the lifting or lowering command by the direction keys, and transmit control information with the intelligent armrest box controller (3) through the CAN bus module. The onboard display (2) dynamically displays the lifting status of the heavy object.

3. The agricultural machine-mounted lifting buffer system according to claim 2, characterized in that: The intelligent armrest box controller (3) receives the real-time angle signal of the angle sensor (4) through the input port, and generates a PWM numerical voltage control signal according to the preset lifting height and speed, and transmits it to the hydraulic proportional reversing valve (9) through the output port to control the opening direction and opening degree of its valve core, thereby adjusting the movement direction and speed of the piston rod of the hydraulic cylinder (8).

4. The agricultural machine-mounted lifting buffer system according to claim 3, characterized in that: The proportional solenoid valve terminal of the hydraulic proportional reversing valve (9) receives the PWM numerical voltage control signal output by the intelligent armrest box controller (3), and converts it into the opening degree and direction of the main valve core of the hydraulic proportional reversing valve (9), thereby controlling the flow, pressure and flow direction of the hydraulic oil output to the hydraulic cylinder (8).

5. The agricultural machine-mounted lifting buffer system according to claim 4, characterized in that: The telescopic movement of the piston rod of the hydraulic cylinder (8) drives the lifting arm (5) to rotate around the installation axis, driving the suspension arm (7) and the wire rope (6) to complete the vertical lifting of the heavy object. The angle sensor (4) detects the rotation angle of the lifting arm (5) in real time and feeds back to the intelligent armrest box controller (3).

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