CN105900551A - Tilling depth detection control system and tilling depth control method for suspended agricultural machine - Google Patents
Tilling depth detection control system and tilling depth control method for suspended agricultural machine Download PDFInfo
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- CN105900551A CN105900551A CN201610252867.5A CN201610252867A CN105900551A CN 105900551 A CN105900551 A CN 105900551A CN 201610252867 A CN201610252867 A CN 201610252867A CN 105900551 A CN105900551 A CN 105900551A
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000001514 detection method Methods 0.000 title abstract description 29
- 239000000725 suspension Substances 0.000 claims abstract description 52
- 238000006073 displacement reaction Methods 0.000 claims abstract description 33
- 230000001276 controlling effect Effects 0.000 claims description 21
- 230000001105 regulatory effect Effects 0.000 claims description 20
- 230000006835 compression Effects 0.000 claims description 14
- 238000007906 compression Methods 0.000 claims description 14
- 108091000080 Phosphotransferase Proteins 0.000 claims description 13
- 102000020233 phosphotransferase Human genes 0.000 claims description 13
- 230000033228 biological regulation Effects 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 10
- 239000010720 hydraulic oil Substances 0.000 claims description 9
- 230000007423 decrease Effects 0.000 claims description 8
- 238000003860 storage Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 230000036541 health Effects 0.000 claims description 4
- 230000003750 conditioning effect Effects 0.000 claims description 3
- 238000009313 farming Methods 0.000 description 12
- 238000003971 tillage Methods 0.000 description 12
- 230000009471 action Effects 0.000 description 7
- 239000002689 soil Substances 0.000 description 5
- 241000196324 Embryophyta Species 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000005056 compaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B71/00—Construction or arrangement of setting or adjusting mechanisms, of implement or tool drive or of power take-off; Means for protecting parts against dust, or the like; Adapting machine elements to or for agricultural purposes
- A01B71/02—Setting or adjusting mechanisms
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B71/00—Construction or arrangement of setting or adjusting mechanisms, of implement or tool drive or of power take-off; Means for protecting parts against dust, or the like; Adapting machine elements to or for agricultural purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/18—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring depth
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- Lifting Devices For Agricultural Implements (AREA)
Abstract
The invention provides a tilling depth detection control system and a tilling depth control method for a suspended agricultural machine and belongs to the field of agricultural machines. The tilling depth detection control system comprises a rear axle of a tractor and a control device. A suspension arm is hydraulically connected to the tractor. One end of a connecting rod is hinged to the suspension arm, and the other end of the connecting rod is hinged to a first swing rod. The other end of the first swing rod is hinged to one end of a second swing rod. A second fixing plate is arranged on one side of the rear axle. The upper end of the second fixing plate is connected with an angular displacement sensor. The other end of the second swing rod is connected with the angular displacement sensor. A distance measuring sensor used for measuring the distance away from the ground is arranged on the rear axle. The control device comprises a controller and a hydraulic driver. A touch display controller is connected to the controller and connected with the hydraulic driver. An output port of the hydraulic driver is connected with an electro-hydraulic proportional valve. The tilling depth detection control system is high in tilling depth detection control precision and can be applied to tilling depth control over the agricultural machine.
Description
Technical field
The present invention relates to a kind of tilling depth detecting and controlling system and tilling depth control method, particularly to tilling depth detecting and controlling system and the tilling depth control method of a kind of suspension type agricultural machinery.
Background technology
The subsoiling of soil and rotary tillage are all the important steps of conservation tillage; agricultural machinery is when subsoiling or farming; tilling depth is the key judging cultivating quality; in prior art; the detection mode of tilling depth has two kinds; one is to use manpower that field is carried out sample detecting; another kind is to use tilling depth detection device to detect tilling depth; former needs after subsoiling or rotary tillage terminate; manually detecting tilling depth, due to irregularities and the dampness in field, the tilling depth in identical field difference place is the most different; its labor intensity is big, and detection error is big；Latter tilling depth detection device is divided into the tilling depth detection device of subsoiler and the tilling depth detection device of rotary cultivator, and first, both detection devices cannot be instead of using；Secondly, the tilling depth detection device of subsoiler includes ultrasonic distance-measuring sensor, ultrasonic distance-measuring sensor is arranged in subsoiler frame, distance by ultrasonic distance-measuring sensor detection frame with ground, thus realize the detection to the subsoiling degree of depth, subsoiler ultrasonic distance-measuring sensor when farming is easily subject to the impact of external environment, the such as field etc. of plant stubble, out-of-flatness or humidity, and the accuracy of detection of subsoiler tilth can not be guaranteed；The detection device of rotary cultivator includes two hinged connecting rods, the end of one connecting rod is provided with supporting plate, another connecting rod is connected with the potentiometer in the frame being arranged on rotary cultivator by rotating shaft, use the situation of change being experienced concavo-convex ground by planker, bar linkage structure drives rotating shaft to act on potentiometer, cause the change of the internal resistance of potentiometer, thus tilling depth detected, realize the real-time detection function of tilling depth, this device relies on the ground that supporting plate impression is concavo-convex, but in rotary cultivator cultivating procedure, supporting plate will not fit in ground due to inertia, and the precision of tilling depth detection is the highest.
Along with continuous progressive and scientific and technological the developing by leaps and bounds of society, agricultural machinery develops into a kind of trend to intelligent direction, and the control of tilling depth directly influences cultivating quality, and how making tilling depth stablize becomes the focus instantly studied in certain interval.In prior art, the method that tilling depth controls is divided into two kinds, one is that driver manually regulates handle operation according to tilling depth display result, not only error is big, and need driver to note the tilling depth value of display in real time, technically hardly result in guarantee reliably, another kind is to control to automatically control tilling depth by the connection of electric hydraulic control valve Yu hydraulic circuit, tilling depth controls to be that the result with tilling depth detection is adjusted for foundation, owing to tilling depth accuracy of detection of the prior art is the lowest, error is relatively big, causes controlling tilling depth precision the highest.
Summary of the invention
For defect of the prior art, it is an object of the invention to overcome above-mentioned weak point of the prior art, it is provided that the tilling depth detecting and controlling system of a kind of suspension type agricultural machinery and tilling depth control method, this device detection control accuracy is high, easy for installation and low cost, reduces labor intensity.
The object of the present invention is achieved like this: the tilling depth control system on a kind of suspension type agricultural machinery, back axle and control device including tractor, on tractor, hydraulic connecting has suspension arm, one end of connecting rod is connected on described suspension arm, one end of hinged first fork of the other end of described connecting rod, one end of hinged second fork of the other end of the first fork, the side of described back axle is provided with the second fixed plate, the upper end of described second fixed plate connects angular displacement sensor, the other end of the second fork is connected with angular displacement sensor, the distance measuring sensor for measuring the road clearance it is additionally provided with on described back axle；Control device and include controller and hydraulic unit driver, controller includes Signal-regulated kinase and main control module, the output signal of described angular displacement sensor and distance measuring sensor is transferred to main control module after Signal-regulated kinase is nursed one's health, the serial ports end of main control module connects touch display controller, touch display controller and include display module, control module, operation module and data memory module, the data that display module display main control module sends over, the data that data memory module storage sends over, operation signal is transferred to control module by operation module, the delivery outlet of control module electrically connects with hydraulic unit driver, hydraulic unit driver electrically connects with the electro-hydraulic proportional valve in tractor, hydraulic unit driver drives electric-hydraulic proportion valve events, electro-hydraulic proportional valve is for controlling flow and the flow direction of hydraulic oil.
nullWhen the present invention works，Suspension arm is connected with tillage machinery，Before farming，Tillage machinery is away from ground，By regulation suspension arm, the lowermost end of tillage machinery Working mechanism is dropped to just contact ground，Measure the vertical dimension of suspension arm and connecting rod hinge point with ground，Using this distance as datum mark，During farming，Continue to decline suspension arm by tractor，Tillage machinery declines along with suspension arm，During suspension arm action，Connecting rod follows by action，The swing swinging drive the first fork of connecting rod，The swing swinging drive the second fork of the first fork，The rotation swinging drive angular displacement sensor of the second fork，Owing to most field is moist，Self gravitation effect plus agricultural machinery makes trailing wheel be absorbed in mud ground，The distance of back axle central axis and ground is obtained by distance measuring sensor detection，Rotation displacement variable quantity signal and distance variable quantity signal are sent to main control module through Signal-regulated kinase by angular displacement sensor and distance measuring sensor respectively，The signal received is carried out Data Data process by main control module，Data signal after main control module will process is sent to control module，Control module sends the data to data memory module and carries out real-time storage，Display module shows real-time tilling depth，By operation module scalable tilling depth，Control module receives the tilling depth regulation signal that operation module sends，Tilling depth is regulated signal and is sent to hydraulic unit driver by control module，Tilling depth is regulated after signal amplifies and is controlled the action of electro-hydraulic proportional valve by hydraulic unit driver；The present invention is detected the dropping distance of tillage machinery by angular displacement sensor, use distance measuring sensor to measure the distance on sensor and ground and convert and obtain trailing wheel and be absorbed in the depth variance in field, dropping distance is real-time tilling depth plus depth variance, the tilling depth error avoiding the range difference because being absorbed in when tractor is advanced between that wet ground causes and ground upper surface and produce, improve tilling depth precision, real-time tilling depth is monitored and controls tilling depth by this control system, ensure cultivating quality, operation handle is replaced with electro-hydraulic proportional valve, reduce labor intensity, easy for installation and low cost, native system solves the technical barrier that people in this field want to solve always, can be applicable in the tilling depth control work of suspension type agricultural machinery.
In order to improve the reliability that distance measuring sensor is installed further; described distance measuring sensor is arranged on connecting plate, and connecting plate is arranged on containment vessel, and containment vessel is clamped on back axle through clamping plate; fitting with back axle lower surface in clamping plate top, connecting plate is arranged on clamping plate bottom.
In order to improve the accuracy of distance measuring sensor detection further, described distance measuring sensor is located on the vertical plane of ground parallel surface, distance measuring sensor alignment ground, and distance measuring sensor is located on the vertical plane of ground parallel surface, distance measuring sensor alignment ground.
As a further improvement on the present invention, described compression spring component includes connecting shell and lower platen, connect shell to be connected with back axle through top board, it is respectively connected with compression spring sleeve on top board and lower platen, described stage clip is connected with compression spring sleeve interference fit, and this design can improve the reliability lower platen that stage clip installs and be located at the dead ahead of distance measuring sensor place back axle section, and lower platen pressure is on the ground, this design makes the soil compaction below distance measuring sensor, can further improve tilling depth accuracy of detection.
In order to improve the reliability of swing link transmission further, described second fork and the first fork are arranged in the plane vertical with the second fixed plate place plane.
As a further improvement on the present invention, the opposite side of described back axle is provided with the first fixed plate, described second fixed plate and the first fixed plate are relatively fixed with back axle by upper clamping bar and lower clamping bar respectively and are connected, upper clamping bar and lower clamping bar are respectively arranged on top and the bottom of back axle, this design improves the reliability that fixed plate connects relative to back axle, thus improves the stability that angular displacement sensor is arranged in the second fixed plate.
In order to improve the precision of tilling depth detection further, described angular displacement sensor and distance measuring sensor assembly are arranged with two on back axle, and corresponding connecting elements is arranged relative to back axle centrosymmetry.
As a further improvement on the present invention; between described containment vessel bottom and connecting plate bottom distance is trailing wheel radius 1/3～3/5; the earth splash when this design is by strengthening the height of containment vessel and making farming acts on outside containment vessel; avoid distance measuring sensor to be affected by the external environment when detecting, can further improve accuracy of detection.
The tilling depth control method of suspension type agricultural machinery, specifically includes following steps:
(1) being energized to control system, control system is started working, and angular displacement sensor and distance measuring sensor gather data, and real-time Transmission is to controller；
(2) voltage signal that Signal-regulated kinase diagonal displacement sensor and distance measuring sensor transmit carries out signal condition, and main control module carries out analog digital conversion and does data process the voltage signal after conditioning, and the data processed are real-time tilling depth；
(3) data that process is terminated by main control module are transmitted to touching display controller, display module shows tilling depth in real time, data memory module storage tilling depth value, when real-time tilling depth is beyond the tilling depth scope set, regulates signal by operation module by tilling depth and feeds back to control module；
(4) control module scanning declines, promotes and stop key, when scanning decline key, performs letdown procedure, dropping signal is transferred to hydraulic unit driver, hydraulic unit driver is transferred to electro-hydraulic proportional valve, the flow of electric-hydraulic proportion valve regulation hydraulic oil and the flow direction after being amplified by dropping signal, makes suspension arm decline；When scanning lifting key, performing lifting program, promotion signal is transferred to hydraulic unit driver, hydraulic unit driver is transferred to electro-hydraulic proportional valve, the flow of electric-hydraulic proportion valve regulation hydraulic oil and the flow direction after being amplified by promotion signal, makes suspension arm promote；When scanning stop key, control system quits work；If not scanning any key, returning step (2) circulation and performing.
Accompanying drawing explanation
Fig. 1 is the top view of the present invention.
Fig. 2 is that the A-A of the present invention is to sectional view.
Fig. 3 is the simple connection figure of tractor in the present invention.
Fig. 4 is compression spring component structural representation in the present invention.
Fig. 5 is the structural representation of distance measuring sensor assembly in the present invention.
Fig. 6 is a kind of structural representation in the present invention before farming.
Fig. 7 is structural representation during farming in the present invention.
Fig. 8 is that the signal transmission controlling device in the present invention connects block diagram.
Fig. 9 is the flow chart of control method in the present invention.
Figure 10 is the another kind of structural representation in the present invention before farming.
Another kind of structural representation when Figure 11 is farming in the present invention.
Wherein, 1 back axle, 2 top boards, 3 lower platens, 4 angular displacement sensors; 5 connecting rods, 6 first forks, clamping bar on 7,8 second forks; 9 times clamping bars, 10 first fixed plates, 11 second fixed plates, 12 connect shell; 13 compression spring sleeve, 14 stage clips, 15 ground, 16 trailing wheels; 17 suspension arms, 18 tractors, 19 containment vessels, 20 clamping plates; 21 connecting plates, 22 distance measuring sensors, 23 rotary cultivators, 24 subsoilers.
Detailed description of the invention
The present invention is further illustrated below in conjunction with the accompanying drawings.
Embodiment 1
nullThe tilling depth control system on suspension type agricultural machinery as shown in Fig. 1～5，Including tractor 18 and back axle 1，On tractor 18, hydraulic connecting has suspension arm 17，Connecting rod 5 one end is connected on suspension arm 17，The other end of connecting rod 5 is hinged with the first fork 6，One end of hinged second fork 8 of the other end of the first fork 6，Back axle 1 side in the longitudinal direction is provided with the second fixed plate 11，The opposite side of back axle 1 is provided with the first fixed plate 10，Second fixed plate 11 and the first fixed plate 10 are relatively fixed with back axle 1 by upper clamping bar 7 and lower clamping bar 9 respectively and are connected，Upper clamping bar 7 and lower clamping bar 9 are respectively arranged on top and the bottom of back axle 1，The upper end of the second fixed plate 11 connects angular displacement sensor 4，Second fork 8 is connected with angular displacement sensor 4，Second fork 8 and the first fork 6 be arranged on on the vertical plane of the second fixed plate 11 place plane，Back axle 1 is provided with containment vessel 19，Containment vessel 19 is connected through back axle 1 with clamping plate 20，Fit with back axle 1 lower surface in clamping plate 20 top，Connecting plate 21 it is also associated with on containment vessel 19，Connecting plate 21 is arranged at clamping plate 20 bottom，Distance measuring sensor 22 for measuring the road clearance is installed on connecting plate 21，Distance measuring sensor 22 is located on the vertical plane of ground 15 parallel surface，Distance measuring sensor 22 is directed at ground 15；Compression spring component includes stage clip 14, connects shell 12 and lower platen 3, connect shell 12 to be connected with back axle through top board 2, it is respectively connected with compression spring sleeve 13 on top board 2 and lower platen 3, stage clip 14 is connected with compression spring sleeve 13 interference fit, lower platen 3 is located at the dead ahead of distance measuring sensor 22 place back axle section, lower platen 3 is pressed on the ground, and angular displacement sensor 4 back axle 1 relative with distance measuring sensor 22 centrosymmetry is provided with two, and corresponding connecting elements is arranged relative to back axle 1 centrosymmetry；As shown in Figure 6 and Figure 7, tractor 18 is connected with rotary cultivator 23 by suspension arm 17.
nullThe tilling depth control system on suspension type agricultural machinery as shown in Figure 8，Also include controlling device，Control device and include controller and hydraulic unit driver，Controller includes Signal-regulated kinase and main control module，The output signal of angular displacement sensor and distance measuring sensor is transferred to main control module after Signal-regulated kinase is nursed one's health，The serial ports end of main control module connects touch display controller，Touch display controller and include display module、Control module、Operation module and data memory module，The data that display module display main control module sends over，Through control module, the data sended over are stored to data memory module，Tilling depth is regulated signal and is transferred to control module by operation module，The delivery outlet of control module electrically connects with hydraulic unit driver，Hydraulic unit driver electrically connects with the electro-hydraulic proportional valve in tractor，Electro-hydraulic proportional valve is for controlling flow and the flow direction of hydraulic oil.
Wherein, what Signal-regulated kinase was used for regulating angular displacement sensor 4 and distance measuring sensor 22 outputs signal to the acceptable range of signal of main control module, main control module acceptance angle displacement transducer 4 and the distance measuring sensor 22 output signal after Signal-regulated kinase effect, display module shows the data sended over by main control module, the data sended over are stored by data memory module, operation module is used for sending tilling depth regulation signal, control module is used for receiving data that main control module sends over and transmits tilling depth regulation signal to hydraulic unit driver, hydraulic unit driver is used for driving the action controlling electro-hydraulic proportional valve, electro-hydraulic proportional valve is used for controlling flow and the flow direction of hydraulic pressure.
The tilling depth control method on suspension type agricultural machinery as shown in Figure 9, specifically includes following steps:
(1) opening switch module, detect and control device and start working, angular displacement sensor 4 and distance measuring sensor 22 gather data, and real-time Transmission is to controller；
(2) Signal-regulated kinase voltage signal to receiving carries out signal condition, and main control module does data and processes after the voltage signal after conditioning is carried out analog digital conversion, the data processed are real-time tilling depth；
(3) data that process is terminated by main control module are transmitted to touching display controller, when display module shows the tilling depth scope that tilling depth, real-time tilling depth exceed setting in real time, by operation module, tilling depth are regulated signal and feed back to main control module；
(4) main control module scanning declines, promotes and stop key, when scanning decline key, performs letdown procedure, dropping signal is transferred to hydraulic unit driver, dropping signal is transferred to electro-hydraulic proportional valve, the flow of electric-hydraulic proportion valve regulation hydraulic oil and the flow direction by hydraulic unit driver, makes suspension arm decline；When scanning lifting key, performing lifting program, promotion signal is transferred to hydraulic unit driver, promotion signal is transferred to electro-hydraulic proportional valve, the flow of electric-hydraulic proportion valve regulation hydraulic oil and the flow direction by hydraulic unit driver, makes suspension arm promote；When scanning stop key, detect and control device and quit work；If not scanning any key, returning step (2) circulation and performing.
nullWhen the present invention works，Suspension arm 17 is connected with tillage machinery，Before farming，Tillage machinery is away from ground 15，Drop to just contact ground 15 by the lowermost end of tillage machinery Working mechanism by regulation suspension arm 17，Measure the vertical dimension at the suspension arm 17 center with connecting rod 5 junction and ground 15，It is set to h，Using this distance as datum mark，During farming，Continue to decline suspension arm 17 by tractor 18，Tillage machinery declines along with suspension arm 17，During suspension arm 17 action，Connecting rod 5 follows by action，The motion of connecting rod 5 drives the swing of the first fork 6，The swing swinging drive the second fork 8 of the first fork 6，The rotation swinging drive angular displacement sensor 4 signal shaft of the second fork 8，Rotation displacement variable quantity conversion according to angular displacement sensor 4 signal shaft obtains the angle downwards of suspension arm 17，Calculate the vertical dimension at the suspension arm 17 center with connecting rod 5 junction and ground 15，It is set to h '，Thus the dropping distance being calculated suspension arm 17 is (h-h ')，Owing to most field is moist，Agricultural machinery makes trailing wheel 16 be absorbed in mud ground due to self gravitation effect，Owing to top layer, field exists weeds or for loosened soil，Compression spring component is utilized to be compacted in field，Distance measuring sensor 22 measure for back axle 1 central axis and compacting after ground 15 between vertical dimension，It is set to d，The radius of trailing wheel 16 is known，Assume that trailing wheel 16 radius is r，Thus the distance being calculated between trailing wheel 16 lowermost end and ground 15 is (r-d)；Rotation displacement variable quantity signal and distance variable quantity signal are sent to main control module after Signal-regulated kinase is nursed one's health by angular displacement sensor 4 and distance measuring sensor 22 respectively, the signal received is carried out Data Data process by main control module, data signal after main control module will process is sent to control module, control module sends the data to data memory module and carries out real-time storage, display module shows real-time tilling depth, by operation module scalable tilling depth, control module receives the tilling depth regulation signal that operation module sends, tilling depth is regulated signal and is sent to hydraulic unit driver by control module, tilling depth is regulated after signal amplifies and is controlled the action of electro-hydraulic proportional valve by hydraulic unit driver；nullThe present invention is detected the dropping distance of rotary cultivator 23 by angular displacement sensor 4，Distance measuring sensor 22 is used to measure the distance on distance measuring sensor 22 top and ground 15 in real time，Back axle 1 two ends are arranged with two tilling depth detection devices，Reduce the tilling depth detection error brought due to field out-of-flatness，Measure due to distance measuring sensor 22 is the distance of distance measuring sensor 22 and top layer, field，There are weeds on top layer, field or are loosened soil，Compression spring component is used to be compacted by the mud ground below distance measuring sensor 22，The measurement error avoiding top layer, field weeds or the existence of loosened soil and cause，Improve tilling depth accuracy of detection，Real-time tilling depth is monitored and controls tilling depth by this control system，Ensure cultivating quality，Operation handle is replaced with electro-hydraulic proportional valve，Reduce labor intensity，The present invention solves the technical barrier that people in this field want to solve always，Can be applicable in the farming control work of suspension type agricultural machinery.
Embodiment 2
The tilling depth detecting and controlling system on suspension type agricultural machinery as shown in Figure 10 and Figure 11 and tilling depth control method, be with the difference of embodiment 1, and tractor 18 is connected with subsoiler 24 by suspension arm 17.
The invention is not limited in above-described embodiment; on the basis of technical scheme disclosed by the invention; those skilled in the art is according to disclosed technology contents; need not performing creative labour and some of which technical characteristic just can be made some replacements and deformation, these are replaced and deformation is all in scope.
Claims (9)
1. the tilling depth detecting and controlling system of a suspension type agricultural machinery, back axle and control device including tractor, it is characterized in that: on tractor, hydraulic connecting has suspension arm, one end of connecting rod is connected on described suspension arm, one end of hinged first fork of the other end of described connecting rod, one end of hinged second fork of the other end of the first fork, the side of described back axle is provided with the second fixed plate, the upper end of described second fixed plate connects angular displacement sensor, the other end of the second fork is connected with angular displacement sensor, the distance measuring sensor for measuring the road clearance it is additionally provided with on described back axle；Control device and include controller and hydraulic unit driver, controller includes Signal-regulated kinase and main control module, the output signal of described angular displacement sensor and distance measuring sensor is transferred to main control module after Signal-regulated kinase is nursed one's health, the serial ports end of main control module connects touch display controller, touch display controller and include display module, control module, operation module and data memory module, the data that display module display main control module sends over, the data that data memory module storage sends over, operation signal is transferred to control module by operation module, the delivery outlet of control module electrically connects with hydraulic unit driver, hydraulic unit driver electrically connects with the electro-hydraulic proportional valve in tractor, hydraulic unit driver drives electric-hydraulic proportion valve events, electro-hydraulic proportional valve is for controlling flow and the flow direction of hydraulic oil.
The tilling depth detecting and controlling system of suspension type agricultural machinery the most according to claim 1; it is characterized in that: described distance measuring sensor is arranged on connecting plate; connecting plate is arranged on containment vessel; containment vessel is clamped on back axle through clamping plate; fitting with back axle lower surface in clamping plate top, connecting plate is arranged on clamping plate bottom.
The tilling depth detecting and controlling system of suspension type agricultural machinery the most according to claim 2, it is characterised in that: described distance measuring sensor is located on the vertical plane of ground parallel surface, distance measuring sensor alignment ground.
The tilling depth detecting and controlling system of suspension type agricultural machinery the most according to claim 3, it is characterized in that: on described back axle, be additionally provided with compression spring component, compression spring component includes connecting shell and lower platen, connect shell to be connected with back axle through top board, it is respectively connected with compression spring sleeve on top board and lower platen, described stage clip is connected with compression spring sleeve interference fit, and lower platen is located at the dead ahead of distance measuring sensor place back axle section, and lower platen pressure is on the ground.
The tilling depth detecting and controlling system of suspension type agricultural machinery the most according to claim 4, it is characterised in that: described second fork and the first fork are arranged in the plane that the second fixed plate is vertical with back axle joint face.
The tilling depth detecting and controlling system of suspension type agricultural machinery the most according to claim 5, it is characterized in that: the opposite side of described back axle is provided with the first fixed plate, described second fixed plate and the first fixed plate are relatively fixed with back axle by upper clamping bar and lower clamping bar respectively and are connected, and upper clamping bar and lower clamping bar are respectively arranged on top and the bottom of back axle.
The tilling depth detecting and controlling system of suspension type agricultural machinery the most according to claim 6, it is characterised in that: described angular displacement sensor is provided with two groups with distance measuring sensor assembly relative to back axle centrosymmetry, and corresponding connecting elements is arranged relative to back axle centrosymmetry.
The tilling depth detecting and controlling system of suspension type agricultural machinery the most according to claim 7, it is characterised in that: distance is trailing wheel radius 1/3～3/5 between the bottom of containment vessel and connecting plate bottom.
9. the tilling depth control method of the suspension type agricultural machinery utilized described in any one of claim 1～8, it is characterised in that comprise the following steps:
(1) being energized to control system, control system is started working, and angular displacement sensor and distance measuring sensor gather data, and real-time Transmission is to controller；
(2) voltage signal that Signal-regulated kinase diagonal displacement sensor and distance measuring sensor transmit carries out signal condition, and main control module carries out analog digital conversion and does data process the voltage signal after conditioning, and the data processed are real-time tilling depth；
(3) data that process is terminated by main control module are transmitted to touching display controller, display module shows tilling depth in real time, data memory module storage tilling depth value, when real-time tilling depth is beyond the tilling depth scope set, regulates signal by operation module by tilling depth and feeds back to control module；
(4) control module scanning declines, promotes and stop key, when scanning decline key, performs letdown procedure, dropping signal is transferred to hydraulic unit driver, hydraulic unit driver is transferred to electro-hydraulic proportional valve, the flow of electric-hydraulic proportion valve regulation hydraulic oil and the flow direction after being amplified by dropping signal, makes suspension arm decline；When scanning lifting key, performing lifting program, promotion signal is transferred to hydraulic unit driver, hydraulic unit driver is transferred to electro-hydraulic proportional valve, the flow of electric-hydraulic proportion valve regulation hydraulic oil and the flow direction after being amplified by promotion signal, makes suspension arm promote；When scanning stop key, control system quits work；If not scanning any key, returning step (2) circulation and performing.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610252867.5A CN105900551B (en) | 2016-04-22 | 2016-04-22 | The tilling depth detecting and controlling system and tilling depth control method of suspension type agricultural machinery |
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| CN201610252867.5A CN105900551B (en) | 2016-04-22 | 2016-04-22 | The tilling depth detecting and controlling system and tilling depth control method of suspension type agricultural machinery |
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| CN105900551A true CN105900551A (en) | 2016-08-31 |
| CN105900551B CN105900551B (en) | 2017-10-17 |
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| CN105928481A (en) * | 2016-04-22 | 2016-09-07 | 扬州大学 | Hanging agricultural machinery tillage depth detection device |
| CN106979767A (en) * | 2017-03-25 | 2017-07-25 | 南通力联自动化科技有限公司 | A kind of depression amount detecting device for beach wagon |
| CN107980261A (en) * | 2017-11-22 | 2018-05-04 | 中国农业大学 | A kind of general-purpose type tilling depth automatic detection and control device |
| CN108243635A (en) * | 2018-03-09 | 2018-07-06 | 浙江理工大学 | A kind of tractor rotary tillage unit tilling depth automaton and its control method |
| CN110402622A (en) * | 2019-06-25 | 2019-11-05 | 广西农业职业技术学院 | A kind of automatic control device of primary tillage equipment |
| CN112444641A (en) * | 2020-11-06 | 2021-03-05 | 中国科学院合肥物质科学研究院 | Device for detecting running speed and sinking depth of tractor in paddy field environment |
| CN114586483A (en) * | 2022-02-24 | 2022-06-07 | 潍柴雷沃重工股份有限公司 | Agricultural implement tilling depth determining method and device, electronic equipment, medium and tractor |
| CN116137971A (en) * | 2022-05-27 | 2023-05-23 | 黑龙江省黑土保护利用研究院 | Soil subsoiling device with front plow plate |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105928481A (en) * | 2016-04-22 | 2016-09-07 | 扬州大学 | Hanging agricultural machinery tillage depth detection device |
| CN105928481B (en) * | 2016-04-22 | 2018-11-09 | 扬州大学 | Tilling depth detection device on suspension type agricultural machinery |
| CN106979767B (en) * | 2017-03-25 | 2022-09-27 | 南通力联自动化科技有限公司 | A settlement volume detection device for beach car |
| CN106979767A (en) * | 2017-03-25 | 2017-07-25 | 南通力联自动化科技有限公司 | A kind of depression amount detecting device for beach wagon |
| CN107980261A (en) * | 2017-11-22 | 2018-05-04 | 中国农业大学 | A kind of general-purpose type tilling depth automatic detection and control device |
| CN107980261B (en) * | 2017-11-22 | 2019-08-30 | 中国农业大学 | A kind of general-purpose type tilling depth automatic detection and control device |
| CN108243635A (en) * | 2018-03-09 | 2018-07-06 | 浙江理工大学 | A kind of tractor rotary tillage unit tilling depth automaton and its control method |
| CN108243635B (en) * | 2018-03-09 | 2023-04-07 | 浙江理工大学 | Automatic control device and control method for tilling depth of tractor rotary tillage unit |
| CN110402622A (en) * | 2019-06-25 | 2019-11-05 | 广西农业职业技术学院 | A kind of automatic control device of primary tillage equipment |
| CN112444641A (en) * | 2020-11-06 | 2021-03-05 | 中国科学院合肥物质科学研究院 | Device for detecting running speed and sinking depth of tractor in paddy field environment |
| CN114586483A (en) * | 2022-02-24 | 2022-06-07 | 潍柴雷沃重工股份有限公司 | Agricultural implement tilling depth determining method and device, electronic equipment, medium and tractor |
| CN114586483B (en) * | 2022-02-24 | 2022-12-27 | 潍柴雷沃智慧农业科技股份有限公司 | Agricultural implement tilling depth determining method and device, electronic equipment, medium and tractor |
| CN116137971A (en) * | 2022-05-27 | 2023-05-23 | 黑龙江省黑土保护利用研究院 | Soil subsoiling device with front plow plate |
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Application publication date: 20160831 Assignee: Suzhou Xinnuo Intelligent Equipment Co.,Ltd. Assignor: YANGZHOU University Contract record no.: X2024980002536 Denomination of invention: The detection and control system for tillage depth of suspended agricultural machinery and its tillage depth control method Granted publication date: 20171017 License type: Common License Record date: 20240306 |
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