CN-116773228-B - Power chassis suspension development rack device based on field soil tank and control method thereof

CN116773228BCN 116773228 BCN116773228 BCN 116773228BCN-116773228-B

Abstract

The invention provides a power chassis suspension development bench device based on a field soil tank and a control method, wherein the device is used for installing a suspension component to be tested through a suspension device during suspension test, meanwhile, the device is used for realizing longitudinal field movement and transverse field movement through a traveling trolley and a test trolley, an acceleration sensor is used for acquiring sprung mass movement information of the suspension component when the suspension component travels in a farmland, and a displacement sensor is used for acquiring up-down displacement travel information of the suspension component. The invention provides a dynamic chassis suspension development rack device based on a field soil tank and a control method thereof, which realize the test of a suspension under a field working condition, and design an integrated comprehensive testing device with outdoor real field working condition and suspension mounting data collection, so as to make up the defect that the existing indoor suspension development rack device is not fit with the field working condition.

Inventors

WANG ZAIMAN
ZENG SHIQI
ZHANG CHEN
YU DONGYANG
HE JIANFEI
YANG WENWU
JIA WEIQING
ZHANG MINGHUA
Peng Feihu
CHEN JIANPENG
ZENG GUOXIANG

Assignees

华南农业大学

Dates

Publication Date: 20260512
Application Date: 20230428

Claims (9)

1. The utility model provides a dynamic chassis suspension development rack device based on field soil groove, its characterized in that includes walking track (100), walking platform truck (200), link (201), test platform truck (300), coupler (304), linkage (410), go up and hang hook (411), down hang rocking arm (414), suspension connecting rod (415), suspension subassembly (420), suspension pull rod (422), electromagnetic spring (425), measurement and control system unit (430), bottom plate (432) and master control unit (435), walking track (100) are fixed to be laid in the both sides of farmland (500), the wheel of walking platform truck (200) with walking track (100) sliding connection, one end of link (201) with one side of walking platform truck (200) is fixed, the other end of link (201) is fixed with one side of another walking platform truck (200), the wheel of test platform truck (300) with link (201) sliding connection, be provided with on suspension subassembly (420) suspension pull rod (422), linkage (410) are provided with on suspension pull rod (415), link (415) are connected with on the link (415) and hang rocking arm (410), be provided with on test bench (300) articulated ware (304), on articulated hook (411) with one side upper portion of articulated ware (304) is fixed, articulated rocking arm (414) down with one side lower part of articulated ware (304) is fixed, be provided with displacement sensor (433) under electromagnetic spring (425) of suspension subassembly (420), observe and control system unit (430) with main control unit (435) set up on bottom plate (432), be provided with frame half bridge (426) on suspension subassembly (420), the upper portion of frame half bridge (426) with one side of bottom plate (432) is fixed, be provided with acceleration sensor (434) on frame half bridge (426), displacement sensor (433) with acceleration sensor (434) are connected with main control unit (435).
2. The field soil box based power chassis suspension development bench device according to claim 1, wherein the test bench (300) comprises a lifting rod (301), a lower pull rod (302), an upper pull rod (303) and a test bench frame (305), one end of the lifting rod (301) is rotatably connected with one end of the test bench frame (305), one end of the lower pull rod (302) is rotatably connected with the other end of the test bench frame (305), the other end of the lifting rod (301) is rotatably connected with the middle part of the lower pull rod (302), one end of the upper pull rod (303) is rotatably connected with the other end of the test bench frame (305), and the other end of the upper pull rod (303) is rotatably connected with the other side of the hitching device (304).
3. The power chassis suspension development bench device based on a field soil slot according to claim 2, wherein the suspension device (410) comprises a hanging hook adjusting position (412) and a suspension supporting arm (413), one end of the upper hanging hook (411) is fixed with one side upper part of the hanging device (304), the lower hanging rocker arm (414) is connected with one side lower part of the hanging device (304), the other end of the upper hanging hook (411) is sleeved on the hanging hook adjusting position (412) and is arranged with the suspension supporting arm (413) in a vertical sliding mode, and one end of the suspension connecting rod (415) is fixed with one side of the suspension supporting arm (413).
4. The field soil box based power chassis suspension development stage device according to claim 1, wherein the suspension assembly (420) comprises a paddy field wheel (421), a suspension wheel connecting disc (423), a suspension rocker arm (424) and a suspension side supporting arm (427), an axle of the paddy field wheel (421) is rotatably connected with an axle center of the suspension wheel connecting disc (423), an upper end of the suspension wheel connecting disc (423) is fixed with a lower end of the electromagnetic spring (425), one side of the suspension rocker arm (424) is fixed with a shell side of the electromagnetic spring (425), an upper end of the electromagnetic spring (425) is rotatably connected with a lower end of the frame half-bridge (426), a lower end of the suspension side supporting arm (427) is fixed with an upper end of the suspension rocker arm (424), an upper end of the suspension side supporting arm (427) is rotatably connected with an upper end of the frame half-bridge (426), a front end of the suspension rocker arm (424) is rotatably connected with one end of the suspension pull rod (422), and the other end of the suspension pull rod (422) is rotatably connected with the other end of the suspension pull rod (415).
5. The power chassis suspension development bench device based on the field soil slot of claim 4, wherein the front end of the suspension rocker arm (424) and the other end of the suspension connecting rod (415) are provided with spherical shafts, the two ends of the suspension pull rod (422) are provided with spherical holes, and the circle centers of the spherical shafts are coincident with the circle centers of the spherical holes.
6. The power chassis suspension development bench device based on a field soil slot according to claim 3, wherein the measurement and control system unit (430) comprises a counterweight stop lever (431), a calibration acceleration sensor (436), a CAN communication module (441), a CAN bus (442), a displacement signal processing module (443), an acceleration signal processing module (444), an electromagnetic spring driving system (445), a calibration acceleration signal processing module (446), an electromagnetic spring encoder (447) and a sprung counterweight (448), one end of the counterweight stop lever (431) is fixed with one side of a base plate (432), the sprung counterweight (448) is placed on one side of the base plate (432), the side surface of the counterweight stop lever (431) is in contact with the sprung counterweight (448), and the calibration acceleration sensor (436) is fixed with one side of the suspension support arm (413).
7. The chassis-based power chassis suspension development bench device according to claim 6, wherein said displacement sensor (433) is connected to said displacement signal processing module (443), said displacement signal processing module (443) is connected to said main control unit (435), said acceleration sensor (434) is connected to said acceleration signal processing module (444), said acceleration signal processing module (444) is connected to said main control unit (435), said calibrated acceleration sensor (436) is connected to said calibrated acceleration signal processing module (446), said calibrated acceleration signal processing module (446) is connected to said main control unit (435), said electromagnetic spring (425) is connected to said electromagnetic spring encoder (447), said electromagnetic spring encoder (447) is connected to said electromagnetic spring driving system (445), said electromagnetic spring driving system (445) is connected to said electromagnetic spring (425), said electromagnetic spring driving system (445) is connected to said main control unit (435), said main control unit (441) is connected to said CAN module (441), and said CAN bus (442) is connected to said CAN bus.
8. A control method applied to the power chassis suspension development rack device based on the field soil slot as claimed in claims 1-7, which is characterized by comprising the following steps: dividing a farmland (500) into n different equidistant test small farmland blocks according to the flatness and the water content; Inputting the length a and the width b of a farmland (500) into a measurement and control system unit (430), inputting the length a1 and the width b1 of n different small field blocks to be measured of the farmland (500) into the measurement and control system unit (430), and inputting the spacing c of the n different small field blocks to be measured into the measurement and control system unit (430); Step three, when the paddy field wheel (421) walks and the upper wheel jump displacement theta occurs, the displacement sensor (433) detects the wheel jump displacement and converts the wheel jump displacement into a voltage signal, the voltage signal is fed back to the displacement signal processing module (443), and the displacement signal processing module (443) converts the voltage signal into a digital signal and transmits the digital signal to the main control unit (435); Step four, an acceleration sensor (434) detects the acceleration alpha 1 of the suspension development rack, a calibration acceleration sensor (436) detects the earth gravity acceleration alpha 2, the alpha 1 and the alpha 2 are transmitted to the main control unit (435) through an acceleration signal processing module (444) and a calibration acceleration signal processing module (446), and the main control unit (435) eliminates acquisition errors through a differential signal method to calculate the acceleration alpha of the suspension development rack; step five, the sprung balance weight (448) is the sprung weight born by the actual work of the simulated suspension, apply to electromagnetic spring (425) through the corresponding weight; Step six, an electromagnetic spring encoder (447) calculates the current damping intensity beta of the electromagnetic spring (425) by detecting the magnetic flux difference inside the electromagnetic spring (425) when the electromagnetic spring (425) is at different positions, the electromagnetic spring encoder (447) converts the current damping intensity beta of the electromagnetic spring (425) detected in real time into a digital signal and transmits the digital signal to an electromagnetic spring driving system (445), and the electromagnetic spring driving system (445) transmits the signal to the main control unit (435); And step seven, the main control unit (435) transmits a target damping strength omega signal to the electromagnetic spring driving system (445), and the electromagnetic spring driving system (445) transmits the target damping strength omega signal to the electromagnetic spring (425).
9. The method for controlling a field soil bin based power chassis suspension development stage device according to claim 8, wherein said main control unit (435) detects a difference between a current damping intensity β of said electromagnetic spring (425) and a target damping intensity ω The method comprises the following steps: The main control unit (435) determines Whether or not the error is within the allowable range, if 2N.s/m, if it is determined that an error is generated, outputting a corresponding error code system to stop operation, if And less than or equal to 2N.s/m is in the error allowable range, and the suspension adjustment is completed when the electromagnetic spring (425) is not excited.

Description

Power chassis suspension development rack device based on field soil tank and control method thereof Technical Field The invention relates to the technical field of agricultural mechanical equipment, in particular to a power chassis suspension development rack device based on a field soil tank and a control method thereof. Background Rice is the main grain crop in China. The mechanical planting mode of the rice in China mainly comprises mechanical transplanting and mechanical direct seeding, and a high-speed power chassis is needed. The vibration reduction effect of the power chassis during operation can directly influence the operation effect of the rear mounting machine tool, and the road surface excitation under the paddy field working condition can aggravate the slipping and tilting of the power chassis, so that the problems of lack of theoretical model, unclear exploration of suspension vibration characteristics and rules, imperfect bench test device and the like exist in the design and development of domestic light power chassis suspension, and the development of key technology of the power chassis is a great problem. The prior art is therefore in need of improvement and advancement. Disclosure of Invention Aiming at the defects of the prior art, the invention provides a power chassis suspension development rack device based on a field soil tank and a control method, which can solve the problem of accurately and rapidly acquiring various parameters in the development process of a paddy field light power chassis suspension, and can also perform validity verification on the shock absorption effect of a suspension system designed and improved on road surface excitation. In order to achieve the above purpose, the invention adopts the following technical scheme: The utility model provides a dynamic chassis suspension development rack device based on field soil groove, includes walking track, walking platform truck, link, test platform truck, articulates ware, linkage, goes up the articulated hook, articulates rocking arm, suspension connecting rod, suspension subassembly, suspension pull rod, measurement and control system unit down, walking track is fixed to be laid in the both sides of farmland, the wheel of walking platform truck with walking track sliding connection, the one end of link with one side of walking platform truck is fixed, the other end of link with another one side of walking platform truck is fixed, the wheel of test platform truck with link sliding connection, be provided with the suspension pull rod on the suspension subassembly, be provided with the suspension connecting rod on the linkage, the suspension pull rod with the suspension connecting rod rotates to be connected, be provided with on the linkage the articulated hook with down articulates the rocking arm, be provided with on the test platform truck the articulated hook with one side upper portion of articulates the sensor, down articulates one side of the sensor half the sensor is provided with the sensor of the sensor is provided with the sensor half on the frame, the sensor is provided with the sensor half the sensor is connected with the sensor frame. Further, the test trolley comprises a lifting rod, a lower pull rod, an upper pull rod and a test trolley frame, wherein one end of the lifting rod is rotationally connected with one end of the test trolley frame, one end of the lower pull rod is rotationally connected with the other end of the test trolley frame, the other end of the lifting rod is rotationally connected with the middle part of the lower pull rod, one end of the upper pull rod is rotationally connected with the other end of the test trolley frame, and the other end of the upper pull rod is rotationally connected with the other side of the hitching device. Further, the suspension device comprises a hanging hook adjusting position and a hanging support arm, one end of the upper hanging hook is fixed with one side upper portion of the hanging device, the lower hanging rocker arm is connected with one side lower portion of the hanging device, the other end of the upper hanging hook is sleeved on the hanging hook adjusting position and can be arranged in a vertical sliding mode with the hanging support arm, and one end of the hanging connection rod is fixed with one side of the hanging support arm. Further, the suspension assembly comprises a paddy field wheel, a suspension wheel connecting disc, a suspension rocker arm and a suspension side supporting arm, an axle of the paddy field wheel is rotationally connected with an axle center of the suspension wheel connecting disc, the upper end of the suspension wheel connecting disc is fixed with the lower end of the electromagnetic spring, one side of the suspension rocker arm is fixed with the shell side of the electromagnetic spring, the upper end of the electromagnetic spring is rotationally connected with the lower end of the frame half bridge, the lower end of th