CN106612674A - Automatic tilling depth control system and method - Google Patents
Automatic tilling depth control system and method Download PDFInfo
- Publication number
- CN106612674A CN106612674A CN201611075103.XA CN201611075103A CN106612674A CN 106612674 A CN106612674 A CN 106612674A CN 201611075103 A CN201611075103 A CN 201611075103A CN 106612674 A CN106612674 A CN 106612674A
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- Prior art keywords
- tilling depth
- wire
- control system
- sliding sleeve
- electric current
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
- A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
- A01B63/111—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means regulating working depth of implements
- A01B63/1115—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means regulating working depth of implements using a mechanical ground contact sensor
Abstract
The invention provides an automatic tilling depth control system and method. The automatic tilling depth control system comprises a tilling depth feedback mechanism, a signal conversion mechanism, a pull wire and a control module. The tilling depth feedback mechanism comprises a pull wire signal rod which is connected to a rack in a vertically-moving mode, the lower end of the pull wire signal rod is connected with the lower side of a splash guard on the rear side of a farm implement through a pin shaft, and the upper end of the pull wire signal rod is connected with a transverse rod. The signal conversion mechanism comprises a sliding rheostat and a stabilized voltage supply, and the two poles of the stabilized voltage supply are connected to one end of a sliding rod of the sliding rheostat and one end of a resistance wire of the sliding rheostat respectively to form a tilling depth monitoring circuit. The pull wire is composed of a wire jacket and a wire core, one end of the wire jacket is fixed to a wire jacket base below the transverse rod, the other end of the wire jacket is fixed to a wire jacket base at the rear end of the sliding rod, one end of the wire core is connected with the transverse rod, and the other end of the wire core is connected with a sliding sleeve. By means of the automatic tilling depth control system and method, the tilling depth can be accurately monitored in real time, and a hydraulic suspension lifting device can be automatically controlled to lift the farm implement so that the farm implement can keep the tilling depth uniform when working.
Description
Technical field
The present invention relates to technical field of agricultural machinery, and in particular to a kind of tilling depth automatic control system and method.
Background technology
In recent years, under the support on policy that country carries forward vigorously mechanization of agriculture, in, large-scale agricultural machinery quickly grow,
Especially south China paddy-field-working, in, large farm machinery rapid development, for the cooperation for ploughing whole quality and agriculture requirement, carry
Higher requirement is gone out.
The agricultural machinery power combination of the various and complete set of farm machines and tools applied at present, can not realize effective to the tilling depth of equipment
Balance route, unit operation operation in, affected by natural conditions such as landform, the field pin depths, sometimes result in unit ripple
Shape wave is advanced.When unit nose advances, the equipment of rear suspension occurs and pushes, and causes equipment tilling depth to increase；When unit sticks up
When tail advances, rear portion equipment can occur above to carry, cause equipment tilling depth to shoal or be vented it is cultivated less than.Plot is so had a strong impact on
The uniformity of tilth and the flatness of earth's surface, make to plough it is whole after soil be difficult to meet crop-planting the cultivated whole of plot wanted
Ask.
In prior art, the method point of tilling depth control is usually that driver passes through the manual regulation handle behaviour of observation tilling depth situation
Make, driver not only needs to put into substantial amounts of energy to operate agricultural ploughing machine, and cannot precisely in real time monitor tilling depth, and plough
Deep control accuracy is not high.
The content of the invention
For defect of the prior art, the present invention provides a kind of tilling depth automatic control system and method, with real-time, accurate
Ground is monitored to tilling depth and automatically controls hydraulic suspension lowering or hoisting gear lifting equipment, so as to can keep tilling depth one during equipment operation
Cause.
On the one hand, the invention discloses a kind of tilling depth automatic control system, including changing including tilling depth feedback mechanism, signal
Mechanism, bracing wire and control module；The tilling depth feedback mechanism includes the bracing wire signal lever for being connected to frame movable up and down,
The lower end of the bracing wire signal lever is connected with the downside bearing pin of the mud guard on rear side of equipment, and the upper end of bracing wire signal lever is connected with horizontal stroke
Bar；The signal switching mechanism includes slide rheostat and voltage-stabilized power supply, the slide rheostat include slide bar, sliding sleeve, slide plate,
Resistance wire and sliding sleeve resilience part, the sliding sleeve is enclosed within slide bar and can fix along slide bar slide anteroposterior, the upper end of the slide plate
On sliding sleeve, the lower end of slide plate contacts with resistance wire, and the two poles of the earth of the voltage-stabilized power supply are connected in respectively slide bar and resistance by wire
One end of silk forms tilling depth observation circuit；The bracing wire is made up of line set and core, and one end of the line set is fixed under cross bar
In the line block set of side, the other end of line set is fixed in the line block set of slide bar rear end, and described core one end is connected with cross bar, core
The other end is connected with sliding sleeve.
The present invention can be monitored precisely in real time to tilling depth, and when tilling depth change is big, mud guard can be upturned, therewith
Connected bracing wire signal lever is up stretched simultaneously, bracing wire signal lever elastic threads core upwards, and by core sliding sleeve is rearward pulled, when ploughing
When shoaling deeply, mud guard is sagging, and the bracing wire signal lever being attached thereto is pulled downwardly and loosens core, slides over sliding sleeve resilience part
The lower forward slip of effect, so, by sliding over slide anteroposterior on slide bar, can change the size that slide rheostat accesses resistance,
So as to tilling depth to be converted into the access value of resistance, the voltage of tilling depth observation circuit voltage-stabilized power supply is certain, according to I=U/R, further
Tilling depth is converted into electric current, by the size of electric current tilling depth is reflected and monitor precisely in real time；Control module can also pass through
The situation of change of circuital current is reacted, and hydraulic suspension lowering or hoisting gear lifting equipment is automatically controlled, so that energy during equipment operation
Keep tilling depth consistent.
Further, ammeter is connected with the tilling depth observation circuit, it is corresponding cultivated that ammeter is marked with measure electric current
Deep degree.Ammeter can determine the electric current of circuit, according to electric current and the corresponding relation of tilling depth, tilling depth be included to indicate tilling depth quarter
On the ammeter of degree, real-time monitoring and tilling depth situation can be shown, it is intuitive, clear.
Further, the control module includes current signal collector, controller and for controlling hydraulic suspension liter
The magnetic valve of falling unit work, the current signal collector is used to gather the current signal of tilling depth observation circuit, the control
The analog input end of device is connected with current signal collector, and the output switch parameter end of controller is connected with magnetic valve.Electric current is believed
Number collector gathers the current signal of tilling depth observation circuit, and is transferred to controller, and controller is made according to the size of collection electric current
Go out reaction, lifting sent to magnetic valve or declines instruction, solenoid valve control hydraulic suspension lowering or hoisting gear makes equipment be lifted or be declined,
Enable to keep tilling depth consistent during equipment operation, so as to realize automatically controlling for tilling depth.
Further, the sliding sleeve resilience part is spring, and the two ends of spring withstand on respectively the front side of slide bar back end of line block set
With the rear side of sliding sleeve.When core is tightened up, sliding sleeve is slided backward, and spring is compressed, when core loosens, by the elastic recovery of spring
Power makes sliding sleeve forward slip, so as to realize the front front slide of sliding sleeve, to control the access resistance of slide rheostat.
Further, the spring housing is on slide bar.By spring housing on slide bar, Stability Analysis of Structures, to prevent spring from being pressed
It is askew.
Further, the two poles of the earth of the voltage-stabilized power supply are connected in the front end of slide bar and resistance wire by wire.By such
The mode of connection, slide plate is moved forward, and is accessed resistance and is become big, and slide plate is moved rearwards by, and accesses resistance and diminishes.
Further, the line set of the bracing wire adopts the core of plastic production, bracing wire to make using steel wire.Line set is using modeling
Material makes, and practical and low cost, core is made using steel wire, and retractility is little, with certain rigidity and toughness.
On the other hand, the invention discloses a kind of tilling depth autocontrol method, comprises the steps：
Step one, sets preset tilling depth, calculates the preset tilling depth according to tilling depth and the corresponding relation of electric current corresponding preset
Electric current；
Step 2, current signal collector gathers the current signal of tilling depth observation circuit, and is transferred to controller；
Step 3, controller is contrasted, analyzed to the current signal for gathering with preset current, when the electric current of collection is equal to
Preset current, controller sends maintenance tilling depth instruction to magnetic valve, when the electric current of collection is more than or less than preset current, calculates
The height for being lifted or being declined, controller is needed lifting to be sent to magnetic valve or declines instruction；
Step 4, solenoid valve control hydraulic suspension lowering or hoisting gear lifts equipment or declines corresponding height；
Step 5, mud guard produces opposing oscillatory in implement lift, so as to drive bracing wire signal lever to lift, draws core
Tight or loosen, to adjust the resistance sizes for accessing tilling depth observation circuit, the electric current for making tilling depth observation circuit is equal to preset current.
The tilling depth autocontrol method can according to demand set preset tilling depth, while tilling depth is converted into corresponding electric current,
Tilling depth is monitored and controlled by the size variation of electric current, can in time be reflected tilling depth and be controlled hydraulic suspension lowering or hoisting gear adjustment machine
Tool height realizes automation, intellectuality that tilling depth is controlled to keep tilling depth consistent, and controls accurate.
Beneficial effects of the present invention：Tilling depth can be converted into corresponding electric current by the present invention, by the size variation reality of electric current
When, accurately tilling depth is monitored and hydraulic suspension lowering or hoisting gear lifting equipment is automatically controlled, so as to can protect during equipment operation
Hold tilling depth consistent.
Description of the drawings
In order to be illustrated more clearly that the specific embodiment of the invention or technical scheme of the prior art, below will be to concrete
The accompanying drawing to be used needed for embodiment or description of the prior art is briefly described.In all of the figs, similar element
Or part is typically identified by similar reference.In accompanying drawing, each element or part might not draw according to actual ratio.
Fig. 1 is the structural representation of the embodiment of the present invention；
Fig. 2 is the control principle drawing of the embodiment of the present invention；
Fig. 3 is the control method flow chart of embodiments of the invention.
In accompanying drawing, 1 represents tilling depth feedback mechanism；11 represent bracing wire signal lever；12 represent cross bar；2 represent slide rheostat；
21 represent slide bar；22 represent sliding sleeve；23 represent slide plate；24 represent resistance wire；25 represent sliding sleeve resilience part；3 represent voltage-stabilized power supply；
4 represent bracing wire；41 represent line set；42 represent core；43 represent line block set；5 represent ammeter；6 represent current signal collector；
7 represent frame；8 represent mud guard.
Specific embodiment
The embodiment of technical solution of the present invention is described in detail below in conjunction with accompanying drawing.Following examples are only used for
Technical scheme is clearly illustrated, therefore is only used as example, and the protection model of the present invention can not be limited with this
Enclose.
In a first aspect, present embodiment discloses a kind of tilling depth automatic control system, as shown in figure 1, feeding back machine including tilling depth
Structure 1, signal switching mechanism, bracing wire 4 and control module；Tilling depth feedback mechanism 1 includes the frame 7 of being connected to movable up and down
Bracing wire signal lever 11, the lower end of the bracing wire signal lever 11 is connected with the downside bearing pin of the mud guard 8 on rear side of equipment, bracing wire signal lever
11 upper end is connected with cross bar 12；Signal switching mechanism includes slide rheostat 2 and voltage-stabilized power supply 3, and slide rheostat 2 includes sliding
Bar 21, sliding sleeve 22, slide plate 23, resistance wire 24 and sliding sleeve resilience part 25, sliding sleeve 22 is enclosed within slide bar 21 and can be before slide bar 21
After slide, the upper end of slide plate 23 is fixed on sliding sleeve 22, and the lower end of slide plate 23 contacts with resistance wire 24, the two poles of the earth of voltage-stabilized power supply 3
The one end for being connected in slide bar 21 and resistance wire 24 respectively by wire forms tilling depth observation circuit, and the voltage-stabilized power supply 3 of the present embodiment connects
In slide bar 21 and the front end of resistance wire 24；Ammeter 5 is connected with tilling depth observation circuit, ammeter 5 is marked with measure electric current pair
The tilling depth scale answered, real-time monitoring and can show tilling depth situation, intuitive, clear；Sliding sleeve resilience 25 is spring, and spring housing is being slided
On bar 21, both ends of the spring withstands on respectively the front side of the back end of line block set 43 of slide bar 21 and the rear side of sliding sleeve 22；Bracing wire 4 covers 41 Hes by line
Core 42 is constituted, and the line set 41 of bracing wire 4 adopts the core 42 of plastic production, bracing wire 4 to make using steel wire, and one end of line set 41 is consolidated
It is scheduled in the line block set 43 of the lower section of cross bar 12, the other end of line set 41 is fixed in the line block set 43 of slide bar rear end, core 42 1
End is connected with cross bar 12, and the other end of core 42 is connected with sliding sleeve 22.
The depth of tilling depth can be converted to the size of tilling depth observation circuit and intuitively include tilling depth by the present embodiment
In ammeter 5.When tilling depth is increased, mud guard 8 can be upturned, and the bracing wire signal lever 11 being attached thereto is while up stretch, drawing
The elastic threads core 42 upwards of line signal lever 11, rearward pulls sliding sleeve 22, spring to be compressed by core 42, and slide rheostat 2 connects
The resistance increase for entering, and the voltage of tilling depth observation circuit voltage-stabilized power supply 3 is certain, according to I=U/R, the electric current of tilling depth observation circuit
Reduce, by the relativity between tilling depth and electric current, tilling depth is converted into electric current and including on ammeter 5；Work as tilling depth
Shoal or be vented and plough less than mud guard 8 is sagging, and the bracing wire signal lever 11 being attached thereto is pulled downwardly and loosens core 42, passes through
The elastic-restoring force of compression spring makes the forward slip of sliding sleeve 22 and is returned to preset position, and the resistance that slide rheostat 2 is accessed subtracts
Little, the voltage of tilling depth observation circuit voltage-stabilized power supply 3 is certain, and according to I=U/R, the electric current of tilling depth observation circuit increases, by tilling depth
Relativity between electric current, electric current is converted to and including on ammeter 5 by tilling depth.
With reference to Fig. 2, control module includes current signal collector 6, controller and for controlling hydraulic suspension lifting dress
The magnetic valve of work is put, current signal collector 6 is used to gather the current signal of tilling depth observation circuit, and the analog quantity of controller is defeated
Enter end to be connected with current signal collector 6, the output switch parameter end of controller is connected with magnetic valve, and current signal collector 6 is adopted
The current signal of collection tilling depth observation circuit, and controller is transferred to, controller is reacted according to the size of collection electric current, to electricity
Magnet valve sends lifting or declines instruction, and solenoid valve control hydraulic suspension lowering or hoisting gear makes equipment be lifted or be declined, and makes equipment operation
When tilling depth can be kept consistent, so as to realize automatically controlling for tilling depth.
Second aspect, present embodiment discloses a kind of tilling depth autocontrol method, comprises the steps：
Step one, sets preset tilling depth, calculates the preset tilling depth according to tilling depth and the corresponding relation of electric current corresponding preset
Electric current；
Step 2, current signal collector 6 gathers the current signal of tilling depth observation circuit, and is transferred to controller；
Step 3, controller to gather current signal contrasted, analyzed with preset current, according to tilling depth, electric current and
Correlation between resistance, calculates the height for needing to be lifted or declined, and controller sends lifting to magnetic valve or declines and refers to
Order maintains instruction；
Step 4, solenoid valve control hydraulic suspension lowering or hoisting gear lifts equipment or declines corresponding height or maintain tilling depth；
Step 5, mud guard 8 produces opposing oscillatory in implement lift, so as to drive bracing wire signal lever 11 to lift, makes line
Core 42 is tensed or loosened, and to adjust the resistance sizes for accessing tilling depth observation circuit, makes the electric current of tilling depth observation circuit equal to preset
Electric current.
The tilling depth autocontrol method can according to demand set preset tilling depth, while tilling depth is converted into corresponding electric current,
Tilling depth is monitored and controlled by the size variation of electric current, can in time be reflected tilling depth and be controlled hydraulic suspension lowering or hoisting gear adjustment machine
Tool height realizes automation, intellectuality that tilling depth is controlled to keep tilling depth consistent, and controls accurate.
Finally it should be noted that：Various embodiments above only to illustrate technical scheme, rather than a limitation；To the greatest extent
Pipe has been described in detail with reference to foregoing embodiments to the present invention, it will be understood by those within the art that：Its according to
So the technical scheme described in foregoing embodiments can be modified, either which part or all technical characteristic are entered
Row equivalent；And these modifications or replacement, do not make the essence disengaging various embodiments of the present invention technology of appropriate technical solution
The scope of scheme, it all should cover in the middle of the claim of the present invention and the scope of specification.
Claims (8)
1. a kind of tilling depth automatic control system, it is characterised in that：
Including tilling depth feedback mechanism, signal switching mechanism, bracing wire and control module；
The tilling depth feedback mechanism includes the bracing wire signal lever for being connected to frame movable up and down, the lower end of the bracing wire signal lever
It is connected with the downside bearing pin of the mud guard on rear side of equipment, the upper end of bracing wire signal lever is connected with cross bar；
The signal switching mechanism includes slide rheostat and voltage-stabilized power supply, and the slide rheostat includes slide bar, sliding sleeve, cunning
Piece, resistance wire and sliding sleeve resilience part, the sliding sleeve is enclosed within slide bar and can consolidate along slide bar slide anteroposterior, the upper end of the slide plate
It is scheduled on sliding sleeve, the lower end of slide plate contacts with resistance wire, the two poles of the earth of the voltage-stabilized power supply are connected in respectively slide bar and electricity by wire
One end of resistance silk forms tilling depth observation circuit；
The bracing wire is made up of line set and core, and one end of the line set is fixed in the line block set below cross bar, and it is another that line covers
One end is fixed in the line block set of slide bar rear end, and described core one end is connected with cross bar, and the core other end is connected with sliding sleeve.
2. tilling depth automatic control system according to claim 1, it is characterised in that：It is connected with the tilling depth observation circuit
Ammeter, ammeter is marked with the corresponding tilling depth scale of electric current of measure.
3. tilling depth automatic control system according to claim 1 and 2, it is characterised in that：The control module includes electric current
Signal picker, controller and the magnetic valve for controlling the work of hydraulic suspension lowering or hoisting gear, the current signal collector
For gathering the current signal of tilling depth observation circuit, the analog input end of the controller is connected with current signal collector,
The output switch parameter end of controller is connected with magnetic valve.
4. tilling depth automatic control system according to claim 1, it is characterised in that：The sliding sleeve resilience part be spring, bullet
The two ends of spring withstand on respectively the front side of slide bar back end of line block set and the rear side of sliding sleeve.
5. tilling depth automatic control system according to claim 4, it is characterised in that：The spring housing is on slide bar.
6. the tilling depth automatic control system according to claim 4 or 5, it is characterised in that：The two poles of the earth of the voltage-stabilized power supply lead to
Cross the front end that wire is connected in slide bar and resistance wire.
7. tilling depth automatic control system according to claim 1, it is characterised in that：The line set of the bracing wire adopts plastics system
Make, the core of bracing wire is made using steel wire.
8. a kind of tilling depth autocontrol method, it is characterised in that using tilling depth automatic control system as claimed in claim 3,
Comprise the steps：
Step one, sets preset tilling depth, and according to tilling depth and the corresponding relation of electric current the corresponding preset current of the preset tilling depth is calculated；
Step 2, current signal collector gathers the current signal of tilling depth observation circuit, and is transferred to controller；
Step 3, controller is contrasted, analyzed to the current signal for gathering with preset current, when the electric current of collection is equal to preset
Electric current, controller sends maintenance tilling depth instruction to magnetic valve, when the electric current of collection is more than or less than preset current, calculates needs
The height for being lifted or being declined, controller sends lifting to magnetic valve or declines instruction；
Step 4, solenoid valve control hydraulic suspension lowering or hoisting gear lifts equipment or declines corresponding height；
Step 5, mud guard produces opposing oscillatory in implement lift, so as to drive bracing wire signal lever lift, make core tense or
Loosen, to adjust the resistance sizes for accessing tilling depth observation circuit, the electric current for making tilling depth observation circuit is equal to preset current.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611075103.XA CN106612674A (en) | 2016-11-29 | 2016-11-29 | Automatic tilling depth control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611075103.XA CN106612674A (en) | 2016-11-29 | 2016-11-29 | Automatic tilling depth control system and method |
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| Publication Number | Publication Date |
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| CN106612674A true CN106612674A (en) | 2017-05-10 |
Family
ID=58814300
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201611075103.XA Pending CN106612674A (en) | 2016-11-29 | 2016-11-29 | Automatic tilling depth control system and method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108189638A (en) * | 2018-01-12 | 2018-06-22 | 河南科技大学 | A kind of tractor electric hang hoisting system and its control method |
| CN108377676A (en) * | 2018-02-26 | 2018-08-10 | 吉林大学 | A kind of subsoiler and its subsoiling penetrating angle real-time control system and control method |
| CN108377673A (en) * | 2018-02-26 | 2018-08-10 | 吉林大学 | A kind of fluid power exciting overload protection subsoiling device that penetrating angle is controllable |
| CN109699220A (en) * | 2018-12-18 | 2019-05-03 | 湖北省农业机械工程研究设计院 | Paddy field tilling depth measuring device and method |
| CN109769415A (en) * | 2018-12-18 | 2019-05-21 | 湖北省农业机械工程研究设计院 | Boat-type tractor tilling depth measuring device and method with measurement adjustment function |
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| DE1279406B (en) * | 1963-09-16 | 1968-10-03 | Kloeckner Humboldt Deutz Ag | Device for controlling the working depth of tillage implements |
| GB2106767A (en) * | 1981-09-28 | 1983-04-20 | Paul Francis Herbert | Improvements in and relating to tractor linkages |
| CN201222854Y (en) * | 2008-07-17 | 2009-04-22 | 李殿荣 | Device for adjusting plowing depth force of tractor back-hanging farm tool |
| CN201869533U (en) * | 2010-10-20 | 2011-06-22 | 山东常林机械集团股份有限公司 | Ploughing depth control device of wheeled tractor |
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2016
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1279406B (en) * | 1963-09-16 | 1968-10-03 | Kloeckner Humboldt Deutz Ag | Device for controlling the working depth of tillage implements |
| GB2106767A (en) * | 1981-09-28 | 1983-04-20 | Paul Francis Herbert | Improvements in and relating to tractor linkages |
| CN201222854Y (en) * | 2008-07-17 | 2009-04-22 | 李殿荣 | Device for adjusting plowing depth force of tractor back-hanging farm tool |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108189638A (en) * | 2018-01-12 | 2018-06-22 | 河南科技大学 | A kind of tractor electric hang hoisting system and its control method |
| CN108189638B (en) * | 2018-01-12 | 2021-02-23 | 河南科技大学 | Electric suspension lifting system of tractor and control method thereof |
| CN108377676A (en) * | 2018-02-26 | 2018-08-10 | 吉林大学 | A kind of subsoiler and its subsoiling penetrating angle real-time control system and control method |
| CN108377673A (en) * | 2018-02-26 | 2018-08-10 | 吉林大学 | A kind of fluid power exciting overload protection subsoiling device that penetrating angle is controllable |
| CN108377676B (en) * | 2018-02-26 | 2020-04-24 | 吉林大学 | Subsoiler and real-time control system and control method for subsoiling soil penetration angle thereof |
| CN109699220A (en) * | 2018-12-18 | 2019-05-03 | 湖北省农业机械工程研究设计院 | Paddy field tilling depth measuring device and method |
| CN109769415A (en) * | 2018-12-18 | 2019-05-21 | 湖北省农业机械工程研究设计院 | Boat-type tractor tilling depth measuring device and method with measurement adjustment function |
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