Modularized rapid reloading device and method for universal chassis in hills and mountains

Abstract

The invention relates to a modular quick reloading device and method for a universal chassis in hills and mountains. The modular quick reloading device comprises a chassis main body, the connecting frame is fixedly connected with the chassis main body, two symmetrically distributed hydraulic cylinders are arranged on the connecting frame, and the output ends of the hydraulic cylinders are connected with plug connectors; two guide grooves are formed in the connecting frame; the connecting frame is provided with a laser sensor; clamping grooves are formed in the two ends of the mounting mechanism, and the two plug connectors are connected with the two clamping grooves in an inserted mode correspondingly; positioning parts are arranged at the two ends of the mounting mechanism, and the two positioning parts are matched with the two guide grooves for positioning correspondingly; a reflective mark is arranged on the mounting mechanism, and the mounting mechanism is matched with the laser sensor through the reflective mark to calibrate and position; and the operation module is connected with the mounting mechanism. According to the device and the method, the operation module can be quickly replaced under the complex terrain, the universality is high, and the device and the method belong to the technical field of agriculture and engineering machinery.

Description

Technical Field

[0001] The present invention relates to the technical fields of agriculture and engineering machinery, and particularly relates to a modular quick replacement device and method for a general-purpose chassis in hilly and mountainous areas. Background Art

[0002] The general-purpose operation machinery chassis in hilly and mountainous areas is a special chassis designed for the complex terrain in hilly and mountainous areas, and is also an important part of agricultural operation machinery. The role of agricultural operation machinery is mainly to complete specific agricultural production tasks, such as sowing, fertilizing, harvesting, etc. The realization of these functions depends on different operation modules, such as tillage, sowing, fertilizing, etc. As the basic part of agricultural operation machinery, the chassis needs to be connected to these operation modules to transmit power to the operation modules, so as to realize specific agricultural production functions.

[0003] Traditional chassis are difficult to quickly replace different operation modules (such as mowing, sowing, fertilizing, etc.). When facing different types of agricultural operations, it is usually necessary to replace the entire unit or spend a lot of time for modification, resulting in low operation efficiency. Summary of the Invention

[0004] Aiming at the technical problems existing in the prior art, the purpose of the present invention is to provide a modular quick replacement device and method for a general-purpose chassis in hilly and mountainous areas, which can quickly replace operation modules under complex terrain.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions: A modular quick replacement device for a general-purpose chassis in hilly and mountainous areas, comprising: The chassis main body; A connecting frame, which is fixedly connected to the chassis main body. There are two symmetrically distributed hydraulic cylinders on the connecting frame. The output end of the hydraulic cylinder is connected with a plug-in component. There are two guiding grooves on the connecting frame. A laser sensor is provided on the connecting frame; An installation mechanism, with clamping grooves at both ends. The two plug-in components are respectively inserted into the two clamping grooves. There are positioning components at both ends of the installation mechanism. The two positioning components are respectively matched with the two guiding grooves for positioning. There is a reflection mark on the installation mechanism, and the reflection mark is used to cooperate with the laser sensor for calibration and positioning; An operation module, which is connected to the installation mechanism.

[0006] As a preference, the positioning component is a conical positioning block, and the cone angle of the conical positioning block is 15-30°. Among them, the two conical positioning blocks are both located on the same side of the installation mechanism. The two guiding grooves are spaced apart on the same side of the connecting frame. The two conical positioning blocks are spaced apart on the same side of the installation mechanism.

[0007] As a preference, the port width of the guiding groove is 30 mm, the bottom width of the guiding groove is 10 mm, and the side wall of the guiding groove is an inclined surface structure.

[0008] As a preference, it further includes a controller. A pressure sensor is arranged in the guiding groove. The pressure sensor is connected to the controller. The threshold value of the pressure sensor is 50 N. When the pressure applied by the conical positioning block to the pressure sensor ≥ 50 N, the controller determines that the installation mechanism is connected in place on the connecting frame.

[0009] As a preference, the bottom of the chassis main body is provided with a moving mechanism. The moving mechanism includes a driving wheel, a driven wheel, a supporting idler wheel, a crawler belt, and a vehicle frame. The crawler belt meshes with the driving wheel and the driven wheel. The driving wheel and the driven wheel are rotatably connected to the vehicle frame. The connecting frame is fixedly connected to the vehicle frame. The number of supporting idler wheels is multiple. The multiple supporting idler wheels are evenly distributed between the driving wheel and the driven wheel. The multiple supporting idler wheels are all rotatably connected to the vehicle frame. The multiple supporting idler wheels all mesh with the crawler belt.

[0010] As a preference, a proximity switch is arranged in each card slot. The proximity switch is connected to the controller.

[0011] As a preference, an anti-slip sleeve is arranged on the inner side wall of each card slot.

[0012] As a preference, the card slot is detachably connected to the installation mechanism.

[0013] A modular rapid replacement method for a general-purpose chassis in hilly and mountainous areas adopts a modular rapid replacement device. The method includes the following steps: Move the operation module to one side of the chassis main body to make the operation module correspond to the connecting frame; When the operation module is docked with the connecting frame, the laser sensor detects the position of the reflection mark in real time; When the position deviation in the docking area between the installation mechanism and the connecting frame is less than the set threshold value, stop moving the operation module; The controller controls the movement of the hydraulic cylinder to insert the bolt into the card slot; Detect whether the bolt is in place through the proximity switch in the card slot. The controller controls the position of the bolt inserted into the card slot according to the feedback of the proximity switch; When the bolt is inserted in place, the replacement is completed.

[0014] As a preference, the laser sensor, the proximity switch, the pressure sensor, and the controller form a closed-loop control logic. When the laser sensor detects that the position deviation of the installation mechanism is less than ±1 mm, it triggers the hydraulic pump to drive the bolt to insert into the card slot. The proximity switch detects the bolt-in-place signal, and the pressure sensor synchronously verifies that the pressure ≥ 50 N to determine that the connection is stable.

[0015] Generally speaking, the present invention has the following advantages: When the modular quick-change device of the present invention connects the operation module to the chassis main body, first, the new operation module is moved to the connection frame at the rear side of the chassis main body through auxiliary equipment. The hydraulic pump delivers hydraulic oil to the hydraulic cylinder, driving the piston rod to move. The movement of the piston rod drives the insertion pin to insert into the card slot on the installation mechanism, realizing the mechanical connection between the operation module and the chassis main body. A proximity switch is provided in the card slot. Through electromagnetic induction, the proximity switch detects that the insertion pin reaches the predetermined position. When the insertion pin approaches the proximity switch, the switch state changes, and a signal is output to the controller. The controller controls the hydraulic cylinder to stop the movement of the piston rod. The quick drive insertion pin is driven by the hydraulic cylinder to insert or pull out, shortening the replacement time of the operation module. Moreover, the hydraulic system has a large driving force to ensure the stability of the insertion pin. It solves the problems of low replacement efficiency and poor stability of the operation machinery chassis main body in complex terrains. After actual measurement, the module replacement time is shortened from the traditional 30 minutes to 3 minutes, the positioning accuracy reaches ±1mm, and the connection stability is improved by 45%, effectively improving the operation efficiency and safety of agricultural and engineering machinery. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a front view sectional structure schematic diagram of the present invention; Figure 2 is a top view sectional structure schematic diagram of the connection frame of the present invention; Figure 3 For the present invention Figure 2 is an enlarged structure schematic diagram at A in Figure 4 For the present invention Figure 2 is an enlarged structure schematic diagram at B in Figure 5 is a track structure schematic diagram of the present invention; Figure 6 is a mowing module structure schematic diagram of the present invention; Figure 7 is a control system block diagram of the present invention.

[0017] In the figure: 1, chassis main body; 2, drive wheel; 3, inclination sensor; 4, connection frame; 5, operation module; 6, installation mechanism; 7, hydraulic cylinder; 8, positioning component; 9, guide groove; 10, piston rod; 11, insertion pin; 12, card slot; 13, anti-slip sleeve; 14, proximity switch; 15, laser sensor; 16, reflection mark; 17, track; 18, idler wheel; 19, gear; 20, tooth groove; 21, pressure sensor; 22, PLC controller; 23, hydraulic pump. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] The following will further elaborate on the present invention in conjunction with the specific embodiments.

[0019] Embodiment 1 AsFigures 1-7 As shown in Figures 1-7 , a modular quick-change device for a general chassis in hilly and mountainous areas provided in this embodiment includes: The chassis main body 1; The connecting frame 4, the connecting frame 4 is fixedly connected to the chassis main body 1, two symmetrically distributed hydraulic cylinders 7 are provided on the connecting frame 4, and the output end of the hydraulic cylinder 7 is connected with a plug-in member; two guide grooves 9 are provided on the connecting frame 4; a laser sensor 15 is provided on the connecting frame 4; the hydraulic cylinder 7 is connected to an external hydraulic pump 23 through an oil pipeline, and the external hydraulic pump 23 is electrically controlled and driven by a PLC controller 22, and the output end (the piston rod 10) of the hydraulic cylinder 7 is connected to a bolt 11; by starting the hydraulic pump 23 through the PLC control system, hydraulic oil is transported to the hydraulic cylinder 7 to push the piston rod 10 to move, driving the bolt 11 to insert into the clamping groove 12 on the installation mechanism, realizing the mechanical connection between the operation module 5 and the chassis main body 1; the pressure sensor 21 can monitor the pressure distribution at the connection point between the installation mechanism and the connecting frame 4, and judge whether the operation module 5 is installed in place and the connection is stable through the pressure value; The installation mechanism 6, clamping grooves 12 are provided at both ends of the installation mechanism 6, and the two plug-in members are respectively inserted into the two clamping grooves 12; positioning members 8 are provided at both ends of the installation mechanism 6, and the two positioning members 8 are respectively matched and positioned with the two guide grooves 9; a reflection mark 16 is provided on the installation mechanism 6, and the reflection mark 16 is used for calibration and positioning in cooperation with the laser sensor 15; Exemplarily, the installation mechanism can be an installation frame or an installation block, and the installation mechanism in this embodiment is an installation block with a cubic structure.

[0020] The operation module 5, the top of the operation module 5 is fixedly connected to the bottom of the installation mechanism 6.

[0021] Exemplarily, the laser sensors 15 are symmetrically distributed inside the connecting frame.

[0022] The positioning member 8 is a conical positioning block, and the cone angle of the conical positioning block is 15-30°. Among them, the two conical positioning blocks are both located on the same side of the installation mechanism 6, the two guide grooves 9 are spaced apart on the same side of the connecting frame 4, and the two conical positioning blocks are spaced apart on the same side of the installation mechanism 6.

[0023] The port width of the guide groove 9 is 30 mm, the bottom width of the guide groove 9 is 10 mm, and the side wall of the guide groove 9 is an inclined surface structure.

[0024] It further includes a controller, the controller is the PLC controller 22, a pressure sensor 21 is provided in the guide groove 9, the pressure sensor 21 is connected to the controller, the threshold value of the pressure sensor 21 is 50 N, when the pressure of the conical positioning block pressing on the pressure sensor 21 ≥ 50 N, the controller determines that the installation mechanism 6 is connected in place on the connecting frame 4.

[0025] The new operation module 5 is moved to the connecting frame 4 at the rear side of the chassis main body 1 through an auxiliary device. When the operation module 5 is docked with the connecting frame 4, the positioning component of the installation mechanism and the V-shaped guiding groove of the connecting frame form a mechanical guiding mechanism: when the operation module approaches the connecting frame, the inclined surface of the conical positioning component contacts the entrance of the guiding groove. Even if there is an initial position deviation of ±10 mm, through the guidance of the inclined surface of the V-shaped guiding groove 9, it can be automatically corrected to a deviation range within ±2 mm. Subsequently, based on the feedback of the reflection mark, the laser sensor real-time monitors the position of the installation mechanism. When the position deviation in the docking area between the operation module 5 and the chassis main body 1 is less than the set threshold (±1 mm), the movement stops and the replacement is completed.

[0026] The bottom of the chassis main body 1 is provided with a moving mechanism. The moving mechanism includes a driving wheel 2, a driven wheel, a supporting idler 18, a crawler 17 and a vehicle frame. The crawler 17 meshes with the driving wheel 2 and the driven wheel. The driving wheel 2 and the driven wheel are rotatably connected to the vehicle frame, and the connecting frame 4 is fixedly connected to the vehicle frame; the number of the supporting idlers 18 is multiple, and the multiple supporting idlers 18 are evenly distributed between the driving wheel 2 and the driven wheel. The multiple supporting idlers 18 are all rotatably connected to the vehicle frame, and the multiple supporting idlers 18 are all meshed with the crawler 17. Exemplarily, the moving mechanism is an existing crawler wheel. The driving wheel 2 is the gear of the existing crawler wheel connected to the driving motor. The gear 19 meshes with the tooth groove 20 of the crawler. The driving wheel 2 is driven to rotate by the torque transmitted by the driving motor, so as to drive the crawler 17 to move and make the whole device move forward or backward. The moving mechanism is used to drive the chassis main body 1 to move, and at the same time, it can dynamically adjust the torque of the driving motor based on the terrain slope and load change to ensure the stable traction force of the chassis main body 1; the crawler 17 makes the contact area between the moving mechanism and the ground large, and can provide greater friction force, so that sufficient traction force can be obtained on the road surface with low adhesion such as soft, muddy, snowy, etc., thereby effectively preventing slipping; the supporting idler 18 is used to support the crawler 17 to keep it under a certain tension and shape, reduce the sag and sway of the crawler 17, and improve the stability and driving performance of the crawler 17; A proximity switch 14 is arranged in each card slot 12, and the proximity switch 14 is connected to the controller.

[0027] The inner side wall of each card slot 12 is provided with an anti-slip sleeve 13. The anti-slip sleeve 13 is made of rubber material to increase the tightness when the bolt 11 is inserted into the card slot 12.

[0028] The installation mechanism 6 is provided with threaded holes, and the outside of the card slot 12 is provided with threads. The card slot 12 is matched with the threaded holes through the threads.

[0029] An inclination sensor 3 is fixed at the central position of the bottom of the chassis main body 1 to real-time monitor the attitude of the chassis main body 1. When abnormal, it can transmit a signal to the PLC controller 22 to trigger an alarm.

[0030] It should be noted that the connecting frame 4 is internally provided with multi-channel quick connectors, which are adapted to the interfaces of various operation modules such as mowers, rotary tillers, and straw returning machines, support seamless transmission of electric power, hydraulic pressure, and data signals, and verify the communication status through the CAN bus. The card slot 12 is of a detachable design and adopts a modular interface standard (ISO 5675) to ensure the compatibility and quick switching of different operation modules. It can also be designed as follows: the installation mechanism is provided with threaded holes, and the outer side of the card slot is provided with threads, and the card slot is matched with the threaded holes through the threads.

[0031] Working principle: When the embodiment of the present application is in use, first, a new operation module 5 is moved to the connecting frame 4 at the rear side of the chassis main body 1 through an auxiliary device. Laser sensors 15 are evenly distributed in the docking area inside the connecting frame 4, and corresponding reflection marks 16 are evenly distributed on the installation end 6. When the operation module 5 is docked with the connecting frame 4, first, the chassis main body 1 is started and gradually approaches the operation module 5. The laser sensors 15 monitor the position of the installation end 6 in real time. When the position deviation of the docking area between the operation module 5 and the chassis main body 1 is less than the set threshold (±1 mm), the movement is stopped; the detection accuracy of the laser sensors (15) is ±1 mm, the sensing distance of the proximity switches (14) is 5 mm, and the thrust range of the hydraulic cylinders (7) is 2000 - 3000 N; the PLC controller (22) triggers the start of the hydraulic pump (23) according to the feedback of the laser sensors (15), drives the bolt (11) to insert into the card slot (12), and senses the in-place signal of the bolt (11) through the proximity switches (14). The pressure sensor (21) synchronously monitors the pressure value ≥50 N to ensure firm connection. A proximity switch 14 is provided inside the card slot 12. The proximity switch 14 detects that the bolt 11 reaches the predetermined position through electromagnetic induction. When the bolt 11 approaches the proximity switch 14, the switch state changes, and a signal is output to the PLC controller 22 to control the piston rod 10 to stop moving. The electric control hydraulic device can quickly drive the insertion or extraction of the bolt 11, shorten the replacement time of the operation module 5, and the hydraulic system has a large driving force to ensure the firmness of the insertion of the bolt 11.

[0032] Embodiment 2 A modular quick replacement method for a general chassis in hilly and mountainous areas provided in this embodiment adopts a modular quick replacement device; the method includes the following steps: Move the operation module 5 to one side of the chassis main body 1 so that the operation module 5 corresponds to the connecting frame 4; When the operation module 5 is docked with the connecting frame 4, the laser sensors 15 detect the position of the reflection marks 16 in real time; When the position deviation of the docking area between the installation mechanism 6 and the connecting frame 4 is less than the set threshold, stop moving the operation module 5; The controller controls the movement of the hydraulic cylinder 7 to make the bolt 11 insert into the card slot 12; The proximity switch 14 in the card slot 12 is used to detect whether the bolt 11 is in place, and the controller controls the position where the bolt 11 is inserted into the card slot 12 according to the feedback of the proximity switch 14; When the bolt 11 is inserted in place, the replacement is completed.

[0033] The laser sensor 15, proximity switch 14, pressure sensor 21 and the controller form a closed-loop control logic. When the laser sensor 15 detects that the position deviation of the installation mechanism 6 is less than ±1 mm, the hydraulic pump is triggered to drive the bolt 11 to insert into the card slot 12. The proximity switch 14 detects the in-place signal of the bolt 11, and the pressure sensor 21 synchronously verifies that the pressure ≥ 50 N to determine that the connection is stable.

[0034] The above embodiments are the preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods and are all included in the protection scope of the present invention.

Claims

1. A modular and rapid replacement device for a general chassis in hilly and mountainous areas, characterized in that, include: Chassis body; A connecting frame, the connecting frame is fixedly connected to the chassis body, and two symmetrically distributed hydraulic cylinders are arranged on the connecting frame, and the output ends of the hydraulic cylinders are connected to connectors; two guide grooves are arranged on the connecting frame; and a laser sensor is arranged on the connecting frame; The mounting mechanism has slots at both ends of the mounting mechanism, and two connectors are respectively plugged into the two slots; positioning components are provided at both ends of the mounting mechanism, and the two positioning components are respectively matched with the two guide grooves for positioning; the mounting mechanism is provided with a reflective mark, and the reflective mark is matched with the laser sensor for calibration and positioning; An operation module is connected with the installation mechanism.

2. The modular quick-change device for a general chassis in hilly and mountainous areas according to claim 1, characterized in that: The positioning component is a conical positioning block, and the cone angle of the conical positioning block is 15-30 degrees, wherein the two conical positioning blocks are located on the same side of the mounting mechanism, the two guide grooves are spaced apart on the same side of the connecting frame, and the two conical positioning blocks are spaced apart on the same side of the mounting mechanism.

3. The modular quick-change device for a general chassis in hilly and mountainous areas according to claim 2, characterized in that: The port width of the guide groove is 30 mm, the groove bottom width of the guide groove is 10 mm, and the side wall of the guide groove is a slope structure.

4. The modular quick-changing device for a general chassis in hilly and mountainous areas according to claim 2, characterized in that: It also includes a controller, a pressure sensor is arranged in the guide groove, the pressure sensor is connected to the controller, the threshold of the pressure sensor is 50N, when the pressure of the conical positioning block pressing the pressure sensor is ≥50N, the controller determines that the installation mechanism is connected in place on the connecting frame.

5. The modular quick-changing device for a general chassis in hilly and mountainous areas according to claim 1, characterized in that: A moving mechanism is provided at the bottom of the chassis body, which includes a driving wheel, a driven wheel, a track-supporting roller, a track and a frame. The track is engaged with the driving wheel and the driven wheel, the driving wheel and the driven wheel are rotatably connected to the frame, and the connecting frame is fixedly connected to the frame; there are multiple track-supporting rollers, which are evenly distributed between the driving wheel and the driven wheel, the multiple track-supporting rollers are all rotatably connected to the frame, and the multiple track-supporting rollers are all engaged with the track.

6. The modular quick-change device for a general chassis in hilly and mountainous areas according to claim 4, characterized in that: A proximity switch is arranged in each card slot, and the proximity switch is connected to the controller.

7. A modular quick-change device for a general chassis in hilly and mountainous areas according to claim 1, characterized in that: The inner side wall of each slot is provided with an anti-slip sleeve.

8. The modular rapid replacement device for a general chassis in hilly and mountainous areas according to claim 1, characterized in that: The card slot is detachably connected to the mounting mechanism.

9. A modular and rapid replacement method for a general chassis in hilly and mountainous areas, characterized in that: A modular quick-change device according to any one of claims 1 to 8; The method comprises the following steps: Move the operating module to one side of the chassis body so that the operating module corresponds to the connecting frame; When the operating module is docked with the connecting frame, the laser sensor detects the position of the reflective mark in real time; When the position deviation between the installation mechanism and the docking area of ​​the connecting frame is less than a set threshold, the moving operation module is stopped; The controller controls the movement of the hydraulic cylinder to insert the latch into the slot; The proximity switch in the card slot detects whether the latch is in place, and the controller controls the position of the latch inserted into the card slot according to the feedback of the proximity switch; When the latch is inserted into place, the replacement is completed.

10. The modular quick-change method according to claim 9, characterized in that: The laser sensor, proximity switch, pressure sensor and controller form a closed-loop control logic. When the laser sensor detects that the position deviation of the installation mechanism is less than ±1mm, the hydraulic pump is triggered to drive the pin to insert into the slot. The proximity switch detects the pin in place signal, and the pressure sensor simultaneously verifies that the pressure is ≥50N, judging that the connection is stable.

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