CN107980261A - A kind of general-purpose type tilling depth automatic detection and control device - Google Patents
A kind of general-purpose type tilling depth automatic detection and control device Download PDFInfo
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- CN107980261A CN107980261A CN201711172860.3A CN201711172860A CN107980261A CN 107980261 A CN107980261 A CN 107980261A CN 201711172860 A CN201711172860 A CN 201711172860A CN 107980261 A CN107980261 A CN 107980261A
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- tilling depth
- engaging lug
- link
- trestle table
- automatic detection
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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
- A01B63/1112—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 non-tactile ground distance measurement, e.g. using reflection of waves
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Lifting Devices For Agricultural Implements (AREA)
Abstract
The invention belongs to agricultural machinery technological field, is related to a kind of general-purpose type tilling depth automatic detection and control device.The device includes multiple tilling depth Automatic Detection and Control monomers and PLC control system；Tilling depth Automatic Detection and Control monomer includes trestle table, equipment hitching frame, tilling depth adjustment unit, Laser Measuring displacement sensor and laser range sensor；Laser range sensor measures trestle table to the distance of operation earth's surface；Tilling depth adjustment unit is connected with equipment hitching frame；Displacement of the Laser Measuring displacement sensor equipment hitching frame along tilling depth direction；The displacement signal that the distance signal and Laser Measuring displacement sensor that PLC control system analyzing and processing laser range sensor detects detect, and control equipment hitching frame to be moved up and down along tilling depth direction by tilling depth adjustment unit.The present invention can detect record tilth in real time, and according to surface relief, tilth is automatically controlled within the specific limits, improves grading degree, improves the operation effectiveness of shallow pine, subsoiling and trench digging.
Description
Technical field
The invention belongs to agricultural machinery technological field, is related to a kind of general-purpose type tilling depth automatic detection and control device, generally applicable
It is installed on most of shallow loose machine and subsoiler, and fraction plough.
Background technology
Soil ploughing operation is a basic farm work project, and tilth is to weigh ploughing operation mechanical work
Can important parameter, the requirement whether stablize in operation process, whether met agronomy can then directly affect the effect of farming.Plough
Scarification equipment, due to the difference of edaphic condition change and personnel's operation, causes same plot to plough depth of soil preparation in farm work
It is inconsistent, directly affect operation quality.The adjusting of initial tilling depth is only adjusted with operating personnel's experience, its measuring method is to adopt
Manually push the soil layer of equipment operation aside, until exposing the bottom of operation soil layer, then measured using steel ruler plate.It is this
Not only labor intensity is big for mode, and with uncertainty.Meanwhile manually control mounted plough control tilth when, easily
Cause the uneven of tilth, cultivating quality can not meet the needs of crop growth.Popularization and depth with deep-ploughing implement
The extensive application of loose machinery, subsoiling monitoring device come into being, and can react actual tilling depth in real time, but do not possess data storage and
The function that historical data is checked, can not carry out real-time single file auto-control to tilling depth.
It is very necessary that scarification equipment tilth automatic monitoring device is ploughed in research.Can monitoring results tilling depth in real time,
And scarification equipment is ploughed according to tilth change adjustment, ensure the uniformity of same plot tilth, improve the work for ploughing site preparation
Industry quality, so as to provide uniform depth consistent kind bed for crop, realizes the tilth automatic monitoring device of increasing both production and income, extremely
The present has no report.
The content of the invention
For above-mentioned technical problem, generally applicable most of shallow loose machine, subsoiling are installed on the object of the present invention is to provide a kind of
Machine, and the general-purpose type tilling depth automatic detection and control device of fraction plough, can detect record tilth, and root in real time
According to surface relief, tilth is automatically controlled within the specific limits, improves grading degree, improved shallow pine, subsoiling and open
The operation effectiveness of ditch.
To achieve these goals, the present invention provides following technical solution：
The present invention provides a kind of general-purpose type tilling depth automatic detection and control device, including multiple tilling depth Automatic Detection and Control monomers
And PLC control system；
The tilling depth Automatic Detection and Control monomer includes trestle table 1, equipment hitching frame 6, tilling depth adjustment unit, laser location
Displacement sensor 3 and laser range sensor 7；
The laser range sensor 7 measures the distance that trestle table 1 arrives operation earth's surface；
The tilling depth adjustment unit is connected with equipment hitching frame 6；
The Laser Measuring displacement sensor 3 measures displacement of the equipment hitching frame 6 along tilling depth direction；
The distance signal and laser displacement that the PLC control system analyzing and processing laser range sensor 7 detects pass
The displacement signal that sensor 3 detects, and control equipment hitching frame 6 to be moved up and down along tilling depth direction by tilling depth adjustment unit.
The tilling depth adjustment unit includes hydraulic device 2, link 14,15 and four bar swing span of connecting rod；
The trestle table 1, equipment hitching frame 6 and link 14 are sequentially arranged from front to back；
Hydraulic device mounting groove 10 is offered in the middle part of the upper surface of the trestle table 1；Under the left and right outer end face of trestle table 1
Portion is respectively arranged with the fixed mounting plate 8 flushed with 1 lower face of trestle table；
The equipment hitching frame 6 includes horizontally disposed hitch beam 12 and is arranged symmetrically and is respectively perpendicular to be fixed in mounting
The left swing moving frame engaging lug 11 and right swing span engaging lug 13 of 12 upper surface of beam；
The link 14 includes left connection parallel with left swing moving frame engaging lug 11 and right swing span engaging lug 13 respectively
Frame 141 and right link 142；
The hydraulic cylinder of horizontally disposed hydraulic device 2 is fixedly mounted in the hydraulic device mounting groove 10 of trestle table 1, and liquid
The hydraulic cylinder of pressure device 2 between left swing moving frame engaging lug 11 and right swing span engaging lug 13 by extending through；The liquid of hydraulic device 2
Compression bar and one end of connecting rod 15 are hinged, the other end of connecting rod 15 by multi-terminal link axis 5 respectively with left link 141 and the right side
The lower hinge of the inner face of link 142；
The four bars swing span includes a pair of upper swing span 4 and a pair of of bottom moving frame 9；The front portions of two upper swing spans 4, in
Portion and rear portion respectively with the left side of trestle table 1 and top, left swing moving frame engaging lug 11 and the right swing span engaging lug of right side
The top of 13 outer end face and the upper articulation of the outer end face of left link 141 and right link 142；Two bottom moving frames 9
Lower part, left swing moving frame engaging lug 11 and the right swing with the left side and right side of trestle table 1 respectively of front portion, middle part and rear portion
The lower part of the outer end face of frame engaging lug 13 and the lower hinge of the outer end face of left link 141 and right link 142.
The laser range sensor 7 is arranged on the upper surface of trestle table 1, towards operation earth's surface.
The Laser Measuring displacement sensor 3 is arranged on the liquid between left swing moving frame engaging lug 11 and right swing span engaging lug 13
On the hydraulic cylinder of pressure device 2, towards the upper surface of hitch beam 12.
The distance between the outer end face of the left swing moving frame engaging lug 11 and the outer end face of right swing span engaging lug 13 and branch
The width of pallet 1 is equal, the distance between outer end face of the outer end face of left link 141 and right link 142 and trestle table 1
Width is equal.
Two oil line pipes of the hydraulic device 2 are connected with tractor hydraulic oil circuit and solenoid valve.
The PLC control system include PLC hosts, liquid crystal display, memory, laser detection information receive with processing module,
Detection control program module and presentation of information and information storage module.
Compared with prior art, the beneficial effects of the present invention are：
1st, general-purpose type tilling depth automatic detection and control device of the invention may be mounted at most of shallow loose machine, subsoiler and
On fraction plough, installed in shallow loose spade, subsoiling spade and plough and rack hitching position, instead of original mounting knot
Structure, carries out real-time tilling depth detection control to shallow loose machine, subsoiler and plough monomer, can be adapted for most of shallow pine
Machine, subsoiler and fraction plough.
2nd, the present invention is controlled shallow loose machine, subsoiler and plough monomer, can reach the detection control of single file tilling depth
System, with it is existing tilling depth detection control technology is integrally carried out to shallow loose machine, subsoiler and plough compared with it is more accurate.
3rd, the present invention can detect record tilth in real time, and according to surface relief, tilth is automatically controlled
Within the specific limits, grading degree is improved, improves the operation effectiveness of shallow pine, subsoiling and trench digging.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of tilling depth Automatic Detection and Control monomer；
Fig. 2 is the left view of tilling depth Automatic Detection and Control monomer；
Fig. 3 is the structure diagram of tilling depth Automatic Detection and Control monomer (omitting 2 and four bar swing span of hydraulic device)；
Fig. 4 is the system block diagram of PLC control system；
Fig. 5 is the schematic diagram that general-purpose type tilling depth automatic detection and control device of the present invention is installed on tillage machinery.
Reference numeral therein is：
1 trestle table, 2 hydraulic device
Swing span on 3 Laser Measuring displacement sensors 4
5 multi-terminal link axis, 6 equipment hitching frame
7 laser range sensor, 8 fixed mounting plate
9 bottom moving frame, 10 hydraulic device mounting groove
11 left swing moving frame engaging lug, 12 hitch beam
13 right 14 links of swing span engaging lug
141 left 142 right links of link
15 connecting rods
Embodiment
The present invention is further described with reference to the accompanying drawings and examples.
A kind of general-purpose type tilling depth automatic detection and control device includes multiple tilling depth Automatic Detection and Control monomers and PLC controls system
System.
As shown in Figure 1 to Figure 3, tilling depth Automatic Detection and Control monomer includes trestle table 1, the equipment for mounting tillage implement
Hitching frame 6, tilling depth adjustment unit, Laser Measuring displacement sensor 3 and laser range sensor 7.
The tilling depth adjustment unit is connected with equipment hitching frame 6.
The laser range sensor 7 measures the distance that trestle table 1 arrives operation earth's surface.
The Laser Measuring displacement sensor 3 measures displacement of the equipment hitching frame 6 along tilling depth direction.
The distance signal and laser displacement that the PLC control system analyzing and processing laser range sensor 7 detects pass
The displacement signal that sensor 3 detects, and control equipment hitching frame 6 to be moved up and down along tilling depth direction by tilling depth adjustment unit.
The tilling depth adjustment unit includes hydraulic device 2, link 14,15 and four bar swing span of connecting rod.
The trestle table 1, equipment hitching frame 6 and link 14 are sequentially arranged from front to back.
The trestle table 1 is a cuboid trestle table, and the upper end Middle face offers hydraulic device mounting groove 10, for pacifying
Fill hydraulic device 2；The lower part of the left and right outer end face of trestle table 1 is respectively arranged with the fixed mounting plate 8 flushed with lower face, is used for
It is affixed with the rack of tillage machinery.
The equipment hitching frame 6 includes horizontally disposed being used to mount the hitch beam 12 of tillage implement and being arranged symmetrically simultaneously
It is respectively perpendicular the left swing moving frame engaging lug 11 for being fixed in 12 upper surface of hitch beam and right swing span engaging lug 13.
The link 14 includes left connection parallel with left swing moving frame engaging lug 11 and right swing span engaging lug 13 respectively
Frame 141 and right link 142.
The distance between the outer end face of the left swing moving frame engaging lug 11 and the outer end face of right swing span engaging lug 13 and branch
The width of pallet 1 is equal, the distance between outer end face of the outer end face of left link 141 and right link 142 and trestle table 1
Width is equal.
The hydraulic cylinder of horizontally disposed hydraulic device 2 is fixedly mounted in the hydraulic device mounting groove 10 of trestle table 1, and liquid
The hydraulic cylinder of pressure device 2 between left swing moving frame engaging lug 11 and right swing span engaging lug 13 by extending through；The liquid of hydraulic device 2
Compression bar and one end of connecting rod 15 are hinged, the other end of connecting rod 15 by multi-terminal link axis 5 respectively with left link 141 and the right side
The lower hinge of the inner face of link 142.
The four bars swing span includes a pair of upper swing span 4 and a pair of of bottom moving frame 9.The front portions of two upper swing spans 4, in
Portion and rear portion respectively with the left side of trestle table 1 and top, left swing moving frame engaging lug 11 and the right swing span engaging lug of right side
The top of 13 outer end face and the upper articulation of the outer end face of left link 141 and right link 142；Two bottom moving frames 9
Lower part, left swing moving frame engaging lug 11 and the right swing with the left side and right side of trestle table 1 respectively of front portion, middle part and rear portion
The lower part of the outer end face of frame engaging lug 13 and the lower hinge of the outer end face of left link 141 and right link 142.
The laser range sensor 7 is arranged on the upper surface of trestle table 1, towards operation earth's surface, is sent out to operation earth's surface
Reflection laser is penetrated and receives, to measure the distance that trestle table 1 arrives operation earth's surface.
The Laser Measuring displacement sensor 3 is arranged on the liquid between left swing moving frame engaging lug 11 and right swing span engaging lug 13
On the hydraulic cylinder of pressure device 2, towards the upper surface of hitch beam 12, upper end surface-emission laser to hitch beam 12 simultaneously receives reflection and swashs
Light, to measure the displacement of equipment hitching frame 6.
The distance signal and laser displacement that the PLC control system analyzing and processing laser range sensor 7 detects pass
The displacement signal that sensor 3 detects, and the flexible of hydraulic device 2 is controlled according to analysis and processing result.
Two oil line pipes of the hydraulic device 2 are connected with tractor hydraulic oil circuit and solenoid valve.
The PLC control system include PLC hosts, liquid crystal display, memory, laser detection information receive with processing module,
Detection control program module and presentation of information and information storage module.
The present invention the course of work be：
As shown in figure 5, general-purpose type tilling depth automatic detection and control device of the present invention is installed on tillage machinery, each tilling depth is certainly
Dynamic detection control monomer is affixed by fixed mounting plate 8 and the rack of tillage machinery；Respectively one farming of mounting of each hitch beam 12
Equipment (such as shallow pine shovel, deep soil loosing shovel and plough shovel).Laser Measuring displacement sensor 3 measures equipment hitching frame 6 along tilling depth direction
Displacement；Laser range sensor 7 measures the distance that trestle table 1 arrives operation earth's surface.Laser Measuring displacement sensor 3 and laser ranging pass
Sensor 7 sends a signal to PLC control system and is handled, the tilth of analysis record at this time, and will according to tilth
Ask to solenoid valve and send signal, control solenoid valve direction switch, so as to control the flexible of hydraulic device 2.
The stretching motion of hydraulic device 2 drives four bar swing spans to imitate by connecting rod 15, multi-terminal link axis 5, link 14
Shape is moved, and the forming movement of four bar swing spans drives the up and down motion of equipment hitching frame 6, so as to control the fortune up and down of tillage implement
It is dynamic.The stretching motion of hydraulic device 2 drives equipment hitching frame 6 to move upwards, and tilth reduces；The contraction fortune of hydraulic device 2
It is dynamic to drive equipment hanging member 6 to move downward, tilth increase, so as to adjust tilth；Until Laser Measuring displacement sensing
Device 3 and laser range sensor 7 meet default tilling depth requirement to the signal that PLC control system is sent, deep to reach control farming
The purpose of degree.
PLC hosts, liquid crystal display, memory, laser detection information receive with processing module, detection control program module and
Presentation of information and information storage module.
The laser detection information of PLC control system is received receives laser range sensor 7 and laser location with processing module
The trestle table 1 that displacement sensor 3 is sent to operation earth's surface the displacement along tilling depth direction of distance and equipment hitching frame 6, and by this
Two kinds of signal processings are sent to PLC hosts later；PLC hosts and detection control program module, receive laser detection information and receive
The signal sent with processing module, brings signal into main program and carries out analytic operation, if calculate in real time tilling depth be less than it is minimum will
Tilling depth is sought, then PLC hosts export signal to solenoid valve, control electromagnetic valve switch, and oil circuit flows back to tractor oil cylinder, liquid from hydraulic cylinder
Press pull rod to shrink, drive equipment hanging member 6 to move downward, tilth increase；If calculate in real time tilling depth be more than it is maximum will
Tilling depth is sought, then PLC hosts export signal to solenoid valve, control electromagnetic valve switch, and oil circuit flows to hydraulic cylinder, liquid from tractor oil cylinder
Pull rod elongation is pressed, drives equipment hitching frame 6 to move upwards, tilth reduces；Until laser detection signal is received with handling mould
Block meets tilling depth requirement to the signal that PLC hosts are sent after computing, then PLC exports signal to solenoid valve, controls solenoid valve
Switch, the oil circuit stopped between hydraulic cylinder and tractor oil cylinder are transported；Presentation of information and storage program module, by operation result, that is, real-time
Tilling depth is shown on a display screen, and is stored in the external memorizer being connected with PLC hosts and is checked to take at any time.
The above, is only the preferred embodiments of the disclosure, but the protection domain invented is not limited to this, any
Those skilled in the art disclosed herein technical scope in, the change or replacement that can readily occur in should all be contained
Cover within protection scope of the present invention.
Claims (7)
- A kind of 1. general-purpose type tilling depth automatic detection and control device, it is characterised in that：The device detects control automatically including multiple tilling depth Monomer processed and PLC control system；The tilling depth Automatic Detection and Control monomer includes trestle table (1), equipment hitching frame (6), tilling depth adjustment unit, laser location Displacement sensor (3) and laser range sensor (7)；Laser range sensor (7) the measurement trestle table (1) arrives the distance of operation earth's surface；The tilling depth adjustment unit is connected with equipment hitching frame (6)；Displacement of Laser Measuring displacement sensor (3) the measurement equipment hitching frame (6) along tilling depth direction；The distance signal and Laser Measuring displacement sensing that the PLC control system analyzing and processing laser range sensor (7) detects The displacement signal that device (3) detects, and control equipment hitching frame (6) to be moved up and down along tilling depth direction by tilling depth adjustment unit.
- 2. general-purpose type tilling depth automatic detection and control device according to claim 1, it is characterised in that：The tilling depth adjustment unit includes hydraulic device (2), link (14), connecting rod (15) and four bar swing spans；The trestle table (1), equipment hitching frame (6) and link (14) are sequentially arranged from front to back；Hydraulic device mounting groove (10) is offered in the middle part of the upper surface of the trestle table (1)；The left and right outer end face of trestle table (1) Lower part is respectively arranged with the fixed mounting plate (8) flushed with trestle table (1) lower face；The equipment hitching frame (6) includes horizontally disposed hitch beam (12) and is arranged symmetrically and is respectively perpendicular to be fixed in mounting The left swing moving frame engaging lug (11) and right swing span engaging lug (13) of beam (12) upper surface；The link (14) includes left company parallel with left swing moving frame engaging lug (11) and right swing span engaging lug (13) respectively Connect frame (141) and right link (142)；The hydraulic cylinder of horizontally disposed hydraulic device (2) is fixedly mounted in the hydraulic device mounting groove (10) of trestle table (1), and The hydraulic cylinder of hydraulic device (2) between left swing moving frame engaging lug (11) and right swing span engaging lug (13) by extending through；Hydraulic pressure The hydraulic stem of device (2) and one end of connecting rod (15) are hinged, and the other end of connecting rod (15) passes through multi-terminal link axis (5) difference With the lower hinge of left link (141) and the inner face of right link (142)；The four bars swing span includes a pair of upper swing span (4) and a pair of of bottom moving frame (9)；The front portion of two upper swing spans (4), Middle part and rear portion respectively with the left side of trestle table (1) and top, left swing moving frame engaging lug (11) and the right swing span of right side The top of the outer end face of engaging lug (13) and the upper articulation of the outer end face of left link (141) and right link (142)； Front portion, middle part and the rear portion of two bottom moving frames (9) are moved with the lower part of the left side of trestle table (1) and right side, left swing respectively The lower part of the outer end face of frame engaging lug (11) and right swing span engaging lug (13) and left link (141) and right link (142) lower hinge of outer end face.
- 3. general-purpose type tilling depth automatic detection and control device according to claim 2, it is characterised in that：The laser ranging passes Sensor (7) is arranged on the upper surface of trestle table (1), towards operation earth's surface.
- 4. general-purpose type tilling depth automatic detection and control device according to claim 2, it is characterised in that：The laser displacement Sensor (3) is arranged on the hydraulic pressure of the hydraulic device (2) between left swing moving frame engaging lug (11) and right swing span engaging lug (13) On cylinder, towards the upper surface of hitch beam (12).
- 5. general-purpose type tilling depth automatic detection and control device according to claim 2, it is characterised in that：The left swing moving frame connects The outer end face of lug (11) and the distance between the outer end face of right swing span engaging lug (13) are equal with the width of trestle table (1), The outer end face of left link (141) and the distance between the outer end face of right link (142) are equal with the width of trestle table (1).
- 6. general-purpose type tilling depth automatic detection and control device according to claim 2, it is characterised in that：The hydraulic device (2) two oil line pipes are connected with tractor hydraulic oil circuit and solenoid valve.
- 7. the general-purpose type tilling depth automatic detection and control device according to one of the claims, it is characterised in that：The PLC Control system includes PLC hosts, liquid crystal display, memory, laser detection information and receives and processing module, detection control program module And presentation of information and information storage module.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711172860.3A CN107980261B (en) | 2017-11-22 | 2017-11-22 | A kind of general-purpose type tilling depth automatic detection and control device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711172860.3A CN107980261B (en) | 2017-11-22 | 2017-11-22 | A kind of general-purpose type tilling depth automatic detection and control device |
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| CN107980261A true CN107980261A (en) | 2018-05-04 |
| CN107980261B CN107980261B (en) | 2019-08-30 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN112106471A (en) * | 2020-09-09 | 2020-12-22 | 中国农业大学 | Subsoiling depth detection and control device, system and method for subsoiling shovel |
| CN112369140A (en) * | 2020-12-03 | 2021-02-19 | 吉林大学 | Intelligent soil deep loosening device |
| CN115004894A (en) * | 2022-06-15 | 2022-09-06 | 山东弘宇农机股份有限公司 | Double-cylinder hydraulic lifter for tractor |
| CN115868271A (en) * | 2022-11-14 | 2023-03-31 | 中国农业大学 | Vertical tillage and leveling machine tool and method for automatically detecting and controlling tillage depth |
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| CN112106471B (en) * | 2020-09-09 | 2022-04-08 | 中国农业大学 | Subsoiling depth detection and control device, system and method for subsoiling shovel |
| CN112369140A (en) * | 2020-12-03 | 2021-02-19 | 吉林大学 | Intelligent soil deep loosening device |
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| CN115868271A (en) * | 2022-11-14 | 2023-03-31 | 中国农业大学 | Vertical tillage and leveling machine tool and method for automatically detecting and controlling tillage depth |
| CN115868271B (en) * | 2022-11-14 | 2024-05-28 | 中国农业大学 | Vertical tillage leveling machine tool and method for automatic detection and regulation of tillage depth |
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| Publication number | Publication date |
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| CN107980261B (en) | 2019-08-30 |
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