CN113647214B

CN113647214B - Intelligent disc harrow

Info

Publication number: CN113647214B
Application number: CN202110807423.4A
Authority: CN
Inventors: 边家枫; 董伟; 王义田; 贺龙钊; 屈晓玮; 胡军辉; 邓防; 洪伟; 李砚成
Original assignee: Guangdong Haoyun Technology Co Ltd
Current assignee: Guangdong Haoyun Technology Co Ltd
Priority date: 2021-07-16
Filing date: 2021-07-16
Publication date: 2023-03-17
Anticipated expiration: 2041-07-16
Also published as: CN113647214A

Abstract

The application provides an intelligent disc harrow, including centre frame, harrow frame hydro-cylinder and energy storage ware, harrow frame articulate in the left side and the right side of centre frame, harrow frame hydro-cylinder is located be used for promoting the rotation of harrow frame relative centre frame between centre frame and the harrow frame, the profile modeling energy storage ware is located on the centre frame and the selectivity with harrow frame hydro-cylinder intercommunication or by. This application intelligent disc harrow, when meetting the landmass and having slope or undulant not at ordinary times, both sides harrow frame can fall on the high difference of both sides subaerial, at this moment fall on the harrow frame of higher soil one side will be by certain angle of soil jack-up, under the effect of this external force, harrow frame hydro-cylinder intercommunication profile modeling energy storage ware, can make the jar pole of harrow frame hydro-cylinder withdraw certain distance, thereby make the shape on corresponding harrow frame adaptation ground, reach the effect of profile modeling, prevent that the unsettled danger from appearing in the soil preparation equipment.

Description

Intelligent disc harrow

Technical Field

The application relates to the field of agricultural machinery, in particular to an intelligent disc harrow.

Background

When large-scale soil preparation equipment such as disc harrow meets undulating plots or slopes, because the width of the harrow frames on the two wings of the equipment is larger, and the harrow frames on the two wings are locked in the state of the central frame structure, the harrow frames on the two wings are stressed unevenly, and the equipment is in suspension danger.

Disclosure of Invention

In order to make the disc harrow can not appear the unsettled risk of equipment when meetting undulant landmass or slope, this application provides an intelligent disc harrow with profile modeling function.

The application is realized by the following technical scheme:

the intelligent disc harrow comprises a central frame, a harrow frame oil cylinder and a profile modeling energy accumulator, wherein the harrow frame is hinged on the left side and the right side of the central frame, the harrow frame oil cylinder is arranged between the central frame and the harrow frame and used for pushing the harrow frame to rotate relative to the central frame, and the profile modeling energy accumulator is arranged on the central frame and selectively communicated with or stopped by the harrow frame oil cylinder.

The intelligent disc harrow also comprises a controller, wherein the controller is electrically connected with the profiling energy accumulator, and an electromagnetic valve electrically connected with the controller is arranged on the harrow rack oil cylinder.

The intelligent disc harrow further comprises a harrow plate angle sensor, and the harrow plate angle sensor is connected with the controller and used for detecting an included angle between the harrow plate and the central frame.

The intelligent disc harrow further comprises a traction frame, a traction frame angle sensor and a traction frame oil cylinder, wherein the traction frame is hinged to the front side of the central frame, the traction frame angle sensor is connected with the controller and used for detecting an included angle between the traction frame and the central frame, the traction frame oil cylinder is used for pushing the central frame to rotate relative to the traction frame, and the traction frame oil cylinder is provided with an electromagnetic valve electrically connected with the controller.

As above intelligent disc harrow, still include side press roll, side press roll angle sensor and side press roll hydro-cylinder, every harrow frame rear side articulates there is the side press roll, side press roll angle sensor links to each other with the controller and is used for detecting the contained angle between side press roll and the harrow frame, side press roll hydro-cylinder is used for promoting the relative harrow frame rotation of side press roll, be equipped with on the side press roll hydro-cylinder with the solenoid valve that the controller electricity is connected.

As above intelligent disc harrow, still including middle press roller, walking wheel, middle press roller angle sensor, walking wheel angle sensor, middle press roller hydro-cylinder and walking wheel hydro-cylinder, middle press roller articulate in the centre frame rear side, the walking wheel is located on the middle press roller, middle press roller angle sensor links to each other with the controller and is used for detecting the contained angle between middle press roller and the centre frame, walking wheel angle sensor links to each other with the controller and is used for detecting the contained angle between middle press roller and the walking wheel, middle press roller hydro-cylinder is used for promoting middle relative centre frame rotation of press roller, the walking wheel hydro-cylinder is used for promoting walking wheel relative middle press roller rotation, be equipped with respectively on middle press roller hydro-cylinder and the walking wheel hydro-cylinder with the solenoid valve that the controller electricity is connected.

The intelligent disc harrow further comprises a depth wheel, a depth wheel angle sensor and a depth wheel oil cylinder, wherein the depth wheel is hinged to the front side of the harrow frame, the depth wheel angle sensor is connected with the controller and used for detecting an included angle between the harrow frame and the depth wheel, the depth wheel oil cylinder is used for driving the depth wheel to move relative to the harrow frame, and the depth wheel oil cylinder is provided with an electromagnetic valve electrically connected with the controller.

The controller of the intelligent disc harrow is an ECU controller.

According to the intelligent disc harrow, the harrow frame is provided with the counterweight mechanism.

The intelligent disc harrow comprises a fixed support and a balancing weight, wherein the fixed support is arranged on the harrow frame, and the balancing weight is detachably connected with the fixed support.

Compared with the prior art, the method has the following advantages:

1. this application intelligent disc harrow, when meetting the landmass and having slope or undulant not at ordinary times, both sides harrow frame can fall on the high difference of both sides subaerial, at this moment fall on the harrow frame of higher soil one side will be by certain angle of soil jack-up, under the effect of this external force, harrow frame hydro-cylinder intercommunication profile modeling energy storage ware, can make the jar pole of harrow frame hydro-cylinder withdraw certain distance, thereby make the shape on corresponding harrow frame adaptation ground, reach the effect of profile modeling, prevent that the unsettled danger from appearing in the soil preparation equipment.

2. According to the intelligent disc harrow, the controller, the oil cylinders and the angle sensors are arranged, the oil cylinders are connected with the controller, the disc harrow can automatically reflect the motion condition of the disc harrow and respond to commands of farming depth and state adjustment given by the outside, the disc harrow has the capability of automatically completing corresponding adjustment, and intelligent operation is achieved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a top view of an embodiment of the disclosed intelligent disk rake.

FIG. 2 is a side view of an intelligent disk rake in an operational state according to an embodiment of the disclosure.

FIG. 3 is a side view of an intelligent puck rake in a transport state according to the disclosed embodiments.

Fig. 4 is a block diagram of the control principle of the intelligent disk rake disclosed by the embodiment.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.

Example (b): as shown in fig. 1 to 3, the present embodiment discloses an intelligent disc rake, which includes a central frame 12, rake frames 13, rake frame cylinders 32 and a profile accumulator 4, wherein the rake frames 13 are hinged to the left and right sides of the central frame 12, the rake frame cylinders 32 are disposed between the central frame 12 and the rake frames 13 for pushing the rake frames 13 to rotate relative to the central frame 12, and the profile accumulator 4 is disposed on the central frame 12 and selectively communicates with or blocks the rake frame cylinders 32. The intelligent disc harrow of this embodiment, when meetting the landmass and having slope or undulant not at ordinary times, both sides harrow frame can fall on the high difference of both sides subaerial, at this moment fall on the harrow frame of higher soil one side will be by certain angle of soil jack-up, under the effect of this external force, harrow frame hydro-cylinder intercommunication profile modeling energy storage ware, can make the jar pole of harrow frame hydro-cylinder withdraw certain distance, thereby make the shape on harrow frame adaptation ground that corresponds, reach the effect of profile modeling, prevent that the unsettled danger from appearing in the soil preparation equipment.

Further, in order to increase the degree of intelligence of the machine control, the intelligent disc harrow further comprises a controller 21 and a harrow plate angle sensor 23, and particularly, in order to adapt to the embodiment, the controller 21 is an ECU controller. The controller 21 is electrically connected with the profiling energy accumulator 4, the rake rack oil cylinder 32 is provided with an electromagnetic valve electrically connected with the controller 21, and the rake rack angle sensor 23 is connected with the controller 21 and used for detecting an included angle between the rake rack 13 and the center rack 12. After the intelligent disc harrow is switched to a working state from a transportation state, the profiling function can be synchronously started along with the expansion of the harrow frame 13. When the two-wing rake frames 13 of the intelligent disc rake are completely unfolded, the rake frame angle sensor 23 feeds back a signal to the controller 21, the controller 21 starts the profiling energy accumulator 4 to charge the profiling energy accumulator 4, and after the charging is finished, the profiling function of the rake frames is started. When a land block has a slope or uneven rise and fall, the rake frames 13 on the two sides can fall on the ground with different heights on the two sides, the rake frame 13 falling on one side of the higher land can be jacked up by the land for a certain angle, and under the action of the external force, the rake frame oil cylinder 32 is communicated with the profiling energy accumulator, so that the large cavity of the rake frame oil cylinder 32 produces oil, the small cavity produces oil, and the cylinder rod retracts for a certain distance, thereby achieving the profiling effect. After the heights of the two sides of the ground block are consistent, the original level is restored.

Furthermore, the intelligent disc harrow further comprises a traction frame 11, a traction frame angle sensor 22 and a traction frame oil cylinder 31, wherein the traction frame 11 is hinged to the front side of the central frame 12, the traction frame angle sensor 22 is connected with the controller 21 and is used for detecting an included angle between the traction frame 11 and the central frame 12, the traction frame oil cylinder 31 is used for pushing the central frame 12 to rotate relative to the traction frame 11, and an electromagnetic valve electrically connected with the controller 21 is arranged on the traction frame oil cylinder 31; the intelligent disc harrow further comprises side press rollers 14, side press roller angle sensors 24 and side press roller oil cylinders 33, wherein the rear side of each harrow plate 13 is hinged with the side press rollers 14, the side press roller angle sensors 24 are connected with the controller 21 and used for detecting an included angle between the side press rollers 14 and the harrow plates 13, the side press roller oil cylinders 33 are used for pushing the side press rollers 14 to rotate relative to the harrow plates 13, and the side press roller oil cylinders 33 are provided with electromagnetic valves electrically connected with the controller 21; the intelligent disc harrow further comprises a middle press roller 15, a walking wheel 16, a middle press roller angle sensor 25, a walking wheel angle sensor 26, a middle press roller oil cylinder 34 and a walking wheel oil cylinder 35, wherein the middle press roller 15 is hinged to the rear side of the center frame 12, the side press rollers 14 can move to the side of one side corresponding to the middle press roller 15 and are arranged side by side with the middle press roller 15, the walking wheel 16 is arranged on the middle press roller 15, the middle press roller angle sensor 25 is connected with the controller 21 and is used for detecting an included angle between the middle press roller 15 and the center frame 12, the walking wheel angle sensor 26 is connected with the controller 21 and is used for detecting an included angle between the middle press roller 15 and the walking wheel 16, the middle press roller oil cylinder 34 is used for pushing the middle press roller 15 to rotate relative to the center frame 12, the walking wheel oil cylinder 35 is used for pushing the walking wheel 16 to rotate relative to the middle press roller 15, electromagnetic valves electrically connected with the controller 21 are respectively arranged on the middle press roller oil cylinder 34 and the walking wheel oil cylinder 35, and specifically, a control block diagram of the intelligent disc harrow of the embodiment is shown in fig. 4. In the embodiment, a plurality of angle sensors are installed on intelligent disc harrow equipment, the positions of all components are adjusted through oil cylinders, the angle sensors record the motion position information of corresponding components, the controller transmits the angle position data of the related components to the controller, and the controller controls all the oil cylinders by controlling all the electromagnetic valves, so that the corresponding components can rotate to the appointed positions independently, and the intelligent control of posture switching of a large disc harrow is realized. The controller 21 can communicate with other external devices to realize one-key posture switching.

Further, in order to conveniently and intelligently adjust the tilling depth, the intelligent disc harrow further comprises depth-limiting wheels 17, a depth-limiting wheel angle sensor 27 and a depth-limiting wheel oil cylinder 36, wherein the depth-limiting wheels 17 are hinged to the front side of the harrow frame 13, the depth-limiting wheel angle sensor 27 is connected with the controller 21 and is used for detecting an included angle between the harrow frame 13 and the depth-limiting wheels 17, the depth-limiting wheel oil cylinder 36 is used for driving the depth-limiting wheels 17 to move relative to the harrow frame 13, and the depth-limiting wheel oil cylinder 36 is provided with an electromagnetic valve electrically connected with the controller 21.

Furthermore, in order to prevent the unfavorable phenomenon that the farming depth cannot meet the requirement due to too hard soil of the land mass, the rake frame 13 is provided with a counterweight mechanism 18. Specifically, the counterweight mechanism 18 includes a fixed bracket 181 and a counterweight 182, and for a user to adjust the counterweight weight on the counterweight mechanism conveniently, the fixed bracket 181 is disposed on the rake 13, and the counterweight 182 is detachably connected to the fixed bracket 181.

In the embodiment, the disc harrow can automatically reflect the self motion condition and respond to commands of the cultivation depth and state adjustment given by the outside by arranging the controller, the plurality of oil cylinders connected with the controller and the plurality of angle sensors, so that the disc harrow has the capability of automatically finishing corresponding adjustment and realizes intelligent operation.

When the intelligent disk harrow machine is in a transportation state: (1) the traction frame oil cylinder 31 is positioned at a certain position (the transportation height needs to be ensured) in the middle of the oil cylinder, and an electromagnetic valve on the traction frame oil cylinder is closed; (2) the harrow rack oil cylinder 32 is completely retracted, the intelligent disc harrow is in a folded state at the moment, and the profiling energy accumulator 4 is completely closed; (3) the middle press roll cylinder 34 is fully retracted (ensuring the transport height); (4) the depth wheel cylinder 36 is fully retracted (ensuring the transport width); (5) the side press roller cylinder 33 is completely retracted (ensuring the transport width); (6) the road wheel cylinder 35 is fully extended, the road wheels 16 are grounded, and the press roller is arranged above the ground.

When the intelligent disk harrow machine is in a working state: (1) a rodless cavity control valve of the traction frame oil cylinder 31 is opened, and the large cavity and the small cavity of the traction frame oil cylinder 31 have no pressure; (2) the rake oil cylinder 32 is completely extended, the intelligent disc rake is unfolded, the profiling energy accumulator 4 is opened at the moment, the large cavity and the small cavity of the rake oil cylinder 32 are communicated with the profiling energy accumulator 4, and the rake oil cylinder 32 stretches and retracts along with the terrain; (3) the middle press roller cylinder 34 extends out and is kept at the set tilling depth; (4) the depth wheel oil cylinder 36 extends out and is kept at the set tilling depth; (5) the side press roller oil cylinder 33 extends out and is kept at the set tilling depth; (6) the road wheel oil cylinder 35 retracts completely, the press roller lands at the moment, and the road wheel 16 rises.

When the intelligent disc harrow needs to be switched from the transportation state to the working state, the process that the intelligent disc harrow is switched from the transportation state to the working state is as follows:

(1) And (3) integral arching: the tractor or other external equipment gives a preparation working signal to the controller 21, the controller 21 sends a working signal to control the extension of the cylinder rod of the traction frame cylinder 31 and the extension of the cylinder rod of the middle press roller cylinder 34, when the traction frame cylinder 31 and the middle press roller cylinder 34 respectively extend completely, the central frame 12 is unfolded to a preset angle relative to the traction frame 11 and the middle press roller 15 is unfolded to a preset angle relative to the central frame 12, the traction frame angle sensor 22 and the middle press roller angle sensor 25 send signals to the controller 21, and the controller 21 controls the respective electromagnetic valves on the traction frame cylinder 31 and the middle press roller cylinder 34 to be closed and an oil circuit is disconnected. At this time, the intelligent disk harrow is integrally arched, so that enough space is reserved at the lower end of the intelligent disk harrow machine, and the harrow frame 13 can be smoothly unfolded.

(2) Folding and withdrawing the travelling wheels: after the intelligent disc harrow is integrally arched, the controller 21 sends a working signal to the travelling wheel oil cylinder 35, an oil cylinder rod of the travelling wheel oil cylinder 35 retracts to enable the travelling wheel 16 to be folded and retracted relative to the middle pressing roller 15, and after the travelling wheel 16 moves to a preset angle value position relative to the middle pressing roller 15, the travelling wheel angle sensor 26 sends a signal to the controller 21 to enable the controller 21 to control the electromagnetic valve of the travelling wheel oil cylinder 35 to be closed, and an oil circuit is disconnected.

(3) Unfolding a rake frame: after the traveling wheels are folded and retracted, the controller 21 controls the cylinder rods of the rake frame oil cylinders 32 to extend out, and after the rake frames 13 on the two sides are completely unfolded relative to the central frame 12, the rake frame angle sensor 23 sends a signal to the controller 21, so that the controller 21 controls the electromagnetic valves on the rake frame oil cylinders 32 to be closed, and the rake frames 13 are unfolded.

(4) The middle press roller descends: after the harrow frame is unfolded, the controller 21 controls the cylinder rod of the middle press roll oil cylinder 34 to extend out, and after the rotating angle of the middle press roll 15 relative to the central frame 12 reaches a corresponding angle, the middle press roll angle sensor 25 signals the controller 21 after the middle press roll 15 falls to the ground, so that the controller 21 controls the electromagnetic valve of the middle press roll oil cylinder 34 to be closed.

(5) The side press roll descends: after the middle press roll descends, the controller 21 controls the cylinder rod of the side press roll oil cylinder 33 to extend out, so that the side press roll 14 is unfolded relative to the rake frame 13, and after the side press roll angle sensor 24 detects that the unfolded angle respectively reaches the angle corresponding to the set tilling depth, a signal is sent to the controller 21, so that the controller 21 controls the electromagnetic valve on the side press roll oil cylinder 33 to be closed.

(6) The intelligent disk harrow integrally descends: after the side press roller descends, the controller 21 controls the cylinder rod of the traction frame oil cylinder 31 to retract, and after the included angle between the traction frame 11 and the central frame 12 reaches a set angle (the angle just enables the intelligent disc harrow to completely fall to the ground), the intelligent disc harrow is in a working state at the moment.

Thus, the posture switching process is completed once.

The intelligent process of switching the disc harrow from the working state to the transportation state is as follows:

(1) And (3) integral arching: the tractor or other external equipment gives folding signals to the controller 21, the controller 21 controls the cylinder rod of the traction frame oil cylinder 31 to extend out and controls the cylinder rod of the middle press roller oil cylinder 34 to extend out, when the traction frame oil cylinder 31 and the middle press roller oil cylinder 34 respectively extend out completely, the central frame 12 is unfolded to a preset angle relative to the traction frame 11, the middle press roller 15 is unfolded to a preset angle relative to the central frame 12, the traction frame angle sensor 22 and the middle press roller angle sensor 25 send signals to the controller 21, the controller 21 controls the electromagnetic valves on the traction frame oil cylinder 31 and the middle press roller oil cylinder 34 to be closed, and an oil path is disconnected. At the moment, the intelligent disk harrow is integrally arched, so that enough space is reserved at the lower end of the intelligent disk harrow machine, and the harrow frame 13 can be smoothly folded.

(2) Folding the rake frame: after the intelligent disc harrow is arched integrally, the controller 21 controls the cylinder rod of the harrow rack oil cylinder 32 to retract so that the harrow racks 13 on two sides rotate upwards relative to the central rack 12 and are folded, and after the harrow racks 13 on two sides are completely folded relative to the central rack 12, the harrow rack angle sensor 23 sends a signal to the controller 21 so that the controller 21 controls the electromagnetic valve on the harrow rack oil cylinder 32 to be closed, and harrow rack folding is completed.

(3) The side press roller is folded: after the harrow frame is folded, the cylinder rod of the side press roll oil cylinder 33 is controlled by the controller 21 to retract, so that the side press roll 14 rotates and folds relative to the harrow frame 13, and after the side press roll angle sensor 24 detects that the folding angles respectively reach the set angles, a signal is sent to the controller 21, so that the electromagnetic valve on the side press roll oil cylinder 33 is controlled by the controller 21 to be closed.

(4) Unfolding a travelling wheel: after the harrow frame is folded, the controller 21 controls the cylinder rod of the travelling wheel oil cylinder 35 to extend out, so that the travelling wheel 16 is unfolded relative to the middle press roller 15, and after the unfolding angle reaches a certain angle (the value is related to the transportation height), the travelling wheel angle sensor 26 sends a signal to the controller 21, so that the controller 21 controls the electromagnetic valve on the travelling wheel oil cylinder 35 to be closed, and an oil way is cut off.

(5) The middle press roller rises: after the travelling wheels are unfolded, the controller 21 controls the cylinder rod of the middle press roller oil cylinder 34 to retract, and when the rotation angle of the middle press roller 15 relative to the center frame 12 reaches a corresponding angle, the middle press roller angle sensor 25 sends a signal to the controller 21 after the middle press roller 15 leaves the ground, so that the controller 21 controls the electromagnetic valve of the middle press roller oil cylinder 34 to be closed.

(6) The intelligent disk harrow integrally descends: after the middle press roller rises, the controller 21 controls the cylinder rod of the traction frame oil cylinder 31 to retract, and after the included angle between the traction frame 11 and the central frame 12 reaches a set angle (the angle just enables the intelligent disc harrow to completely fall to the ground), the intelligent disc harrow is in a transportation state at the moment.

In the whole process, the controller 21 controls the expansion and contraction of the corresponding oil cylinder by controlling the on-off of the electromagnetic valve, so that the process of posture switching is completed.

It should be understood that the terms "first", "second", etc. are used herein to describe various information, but the information should not be limited to these terms, which are only used to distinguish one type of information from another. For example, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information, without departing from the scope of the present invention. Furthermore, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

The foregoing is directed to the preferred embodiment of the present invention, and it is understood that various changes and modifications may be made by one skilled in the art without departing from the spirit of the invention, and it is intended that such changes and modifications be considered as within the scope of the invention.

Claims

1. The intelligent disc harrow is characterized by comprising a central frame (12), harrow frames (13), harrow frame oil cylinders (32) and a profile modeling energy accumulator (4), wherein the harrow frames (13) are hinged to the left side and the right side of the central frame (12), the harrow frame oil cylinders (32) are arranged between the central frame (12) and the harrow frames (13) and used for pushing the harrow frames (13) to rotate relative to the central frame (12), and the profile modeling energy accumulator (4) is arranged on the central frame (12) and is selectively communicated with or cut off from the harrow frame oil cylinders (32);

the intelligent disc harrow further comprises a middle press roller (15) and side press rollers (14), wherein the middle press roller (15) is hinged to the rear side of the central frame (12), the rear side of each harrow frame (13) is hinged to the side press roller (14), and the side press rollers (14) can move to one side corresponding to the middle press roller (15) and are arranged side by side with the middle press roller (15);

the intelligent disc harrow further comprises a controller (21), a side press roller angle sensor (24) and a side press roller oil cylinder (33), wherein the side press roller angle sensor (24) is connected with the controller (21) and is used for detecting an included angle between the side press roller (14) and a harrow frame (13), the side press roller oil cylinder (33) is used for pushing the side press roller (14) to rotate relative to the harrow frame (13), an electromagnetic valve electrically connected with the controller (21) is arranged on the side press roller oil cylinder (33), and an electromagnetic valve electrically connected with the controller (21) is arranged on the harrow frame oil cylinder (32);

the intelligent disc harrow also comprises a harrow frame angle sensor (23), wherein the harrow frame angle sensor (23) is connected with the controller (21) and is used for detecting an included angle between the harrow frame (13) and the central frame (12);

when the intelligent disc harrow is switched from a working state to a transportation state, the controller (21) controls the cylinder rod of the harrow rack oil cylinder (32) to retract so that the harrow racks (13) on two sides rotate upwards relative to the central rack (12) to be folded, and after the harrow racks (13) on two sides are completely folded relative to the central rack (12), the harrow rack angle sensor (23) sends a signal to the controller (21) so that the controller (21) controls the electromagnetic valve on the harrow rack oil cylinder (32) to be closed to finish the harrow rack folding;

after the harrow frame is folded, the controller (21) controls the cylinder rod of the side press roll oil cylinder (33) to retract, so that the side press roll (14) rotates and folds relative to the harrow frame (13), and after the side press roll angle sensor (24) detects that the folding angles respectively reach the set angles, a signal is sent to the controller (21), so that the controller (21) controls the electromagnetic valve on the side press roll oil cylinder (33) to be closed.

2. The intelligent disc rake according to claim 1, wherein the controller (21) is electrically connected to the copying accumulator (4).

3. The intelligent disc harrow of claim 2, further comprising a traction frame (11), a traction frame angle sensor (22) and a traction frame oil cylinder (31), wherein the traction frame (11) is hinged to the front side of the central frame (12), the traction frame angle sensor (22) is connected with the controller (21) and used for detecting an included angle between the traction frame (11) and the central frame (12), the traction frame oil cylinder (31) is used for pushing the central frame (12) to rotate relative to the traction frame (11), and an electromagnetic valve electrically connected with the controller (21) is arranged on the traction frame oil cylinder (31).

4. The intelligent disc harrow of claim 1, further comprising a walking wheel (16), an intermediate compacting roller angle sensor (25), a walking wheel angle sensor (26), an intermediate compacting roller cylinder (34) and a walking wheel cylinder (35), wherein the walking wheel (16) is arranged on the intermediate compacting roller (15), the intermediate compacting roller angle sensor (25) is connected with the controller (21) and is used for detecting an included angle between the intermediate compacting roller (15) and the central frame (12), the walking wheel angle sensor (26) is connected with the controller (21) and is used for detecting an included angle between the intermediate compacting roller (15) and the walking wheel (16), the intermediate compacting roller cylinder (34) is used for pushing the intermediate compacting roller (15) to rotate relative to the central frame (12), the walking wheel cylinder (35) is used for pushing the walking wheel (16) to rotate relative to the intermediate compacting roller (15), and the intermediate compacting roller cylinder (34) and the walking wheel cylinder (35) are respectively provided with a solenoid valve electrically connected with the controller (21).

5. The intelligent disc harrow of claim 1, further comprising a depth wheel (17), a depth wheel angle sensor (27) and a depth wheel cylinder (36), wherein the depth wheel (17) is hinged to the front side of the harrow frame (13), the depth wheel angle sensor (27) is connected with a controller (21) and is used for detecting an included angle between the harrow frame (13) and the depth wheel (17), the depth wheel cylinder (36) is used for driving the depth wheel (17) to move relative to the harrow frame (13), and the depth wheel cylinder (36) is provided with an electromagnetic valve electrically connected with the controller (21).

6. The intelligent disc rake according to claim 1, wherein the controller (21) is an ECU controller.

7. An intelligent disc harrow as claimed in claim 1, wherein a counterweight mechanism (18) is arranged on the harrow plate (13).

8. The intelligent disc harrow of claim 7, wherein the counterweight mechanism (18) comprises a fixed bracket (181) and a counterweight (182), the fixed bracket (181) is arranged on the harrow frame (13), and the counterweight (182) is detachably connected with the fixed bracket (181).