CN107980261B - 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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- CN107980261B CN107980261B CN201711172860.3A CN201711172860A CN107980261B CN 107980261 B CN107980261 B CN 107980261B CN 201711172860 A CN201711172860 A CN 201711172860A CN 107980261 B CN107980261 B CN 107980261B
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- tilling depth
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- engaging lug
- 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
Abstract
The invention belongs to agricultural machinery technological fields, are 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 adjusting 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 adjusts unit and connect 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 analysis processing laser range sensor detects detect, and unit control equipment hitching frame is adjusted by tilling depth and is moved up and down along tilling depth direction.The present invention can real-time detection record tilth, and according to surface relief, tilth is automatically controlled in a certain range, grading degree is improved, improve the operation effectiveness of shallow pine, subsoiling and trench digging.
Description
Technical field
The invention belongs to agricultural machinery technological fields, are 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 technique
Soil ploughing operation is a basic farm work project, and tilth is to measure ploughing operation mechanical work
The important parameter of energy, whether stable in operation process, requirement that is whether meeting agronomy then will have a direct impact on the effect of farming.It ploughs
Scarification equipment, due to the difference of edaphic condition variation 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 operator's experience, and measurement method is to adopt
It manually pushs the soil layer of equipment operation aside, until exposing the bottom of operation soil layer, is then measured using steel ruler plate.It is this
Mode not only large labor intensity, and with uncertainty.Meanwhile when the control tilth of the mounted plough by manually controlling, easily
Lead to the uneven of tilth, cultivating quality is unable to satisfy the demand of crop growth.With the popularization and depth of deep-ploughing implement
Loose mechanical extensive application, subsoiling monitoring device come into being, and can react practical tilling depth in real time, but do not have data storage and
The function that historical data is checked can not carry out real-time uniline auto-control to tilling depth.
It is very necessary for studying and ploughing scarification equipment tilth automatic monitoring device.Can real-time monitoring operation tilling depth,
And adjusted according to tilth variation and plough scarification equipment, guarantee the consistency of same plot tilth, improves the work for ploughing site preparation
Industry quality realizes the tilth automatic monitoring device of increasing both production and income to provide uniform depth consistent kind of bed for crop, until
The present has not been reported.
Summary of the invention
In view of the above technical problems, generally applicable most of shallow loose machine, subsoiling are installed on the object of the present invention is to provide a kind of
The general-purpose type tilling depth automatic detection and control device of machine and fraction plough, can real-time detection record tilth, and root
According to surface relief, tilth is automatically controlled in a certain range, grading degree is improved, improve shallow pine, subsoiling and opened
The operation effectiveness of ditch.
To achieve the goals above, the present invention provides the following technical scheme that
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 adjusting 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 adjusts unit and connect with equipment hitching frame 6；
The Laser Measuring displacement sensor 3 measures equipment hitching frame 6 along the displacement in tilling depth direction；
The distance signal and laser displacement that the PLC control system analysis processing laser range sensor 7 detects pass
The displacement signal that sensor 3 detects, and unit control equipment hitching frame 6 is adjusted by tilling depth and is moved up and down along tilling depth direction.
It includes hydraulic device 2, connection frame 14, connecting rod 15 and four bar swinging frames that the tilling depth, which adjusts unit,；
The trestle table 1, equipment hitching frame 6 and connection frame 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 end surface of trestle table；
The equipment hitching frame 6 includes horizontally disposed hitch beam 12 and is arranged symmetrically and is respectively perpendicular and be fixed in mounting
The left swing moving frame engaging lug 11 and right swinging frame engaging lug 13 of 12 upper surface of beam；
The connection frame 14 includes left connection parallel with left swing moving frame engaging lug 11 and right swinging frame engaging lug 13 respectively
Frame 141 and right connection frame 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 swinging frame 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 connection frame 141 and the right side
The lower hinge of the inner face of connection frame 142；
The four bars swinging frame includes a pair of upper swinging frame 4 and a pair of of bottom moving frame 9；The front of two upper swinging frames 4, in
Portion and rear portion respectively with the top of the left side of trestle table 1 and right side, left swing moving frame engaging lug 11 and right swinging frame engaging lug
The top of the outer end face of the top of 13 outer end face and left connection frame 141 and right connection frame 142 is hinged；Two bottom moving frames 9
Front, middle part and rear portion respectively with the lower part of the left side of trestle table 1 and right side, left swing moving frame engaging lug 11 and right swing
The lower hinge of the outer end face of the lower part of the outer end face of frame engaging lug 13 and left connection frame 141 and right connection frame 142.
The laser range sensor 7 is arranged on the upper surface of trestle table 1, towards operation earth's surface.
The liquid between left swing moving frame engaging lug 11 and right swinging frame engaging lug 13 is arranged in the Laser Measuring displacement sensor 3
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 swinging frame 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 connection frame 141 and right connection frame 142 and trestle table 1
Width is equal.
Two oil line pipes of the hydraulic device 2 are connect with tractor hydraulic oil circuit and solenoid valve.
The PLC control system include PLC host, liquid crystal display, memory, laser detection information receive with processing module,
Detection controls program module and information is shown and information storage module.
Compared with prior art, the beneficial effects of the present invention are:
1, 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, it is mounted on 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.
2, the present invention controls shallow loose machine, subsoiler and plough monomer, can achieve the detection control of uniline 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.
3, the present invention can real-time detection record tilth, and according to surface relief, tilth is automatically controlled
In a certain range, grading degree is improved, the operation effectiveness of shallow pine, subsoiling and trench digging is improved.
Detailed description of the invention
Fig. 1 is the schematic perspective view 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 structural schematic diagram of tilling depth Automatic Detection and Control monomer (omitting hydraulic device 2 and four bar swinging frames)；
Fig. 4 is the system block diagram of PLC control system；
Fig. 5 is that general-purpose type tilling depth automatic detection and control device of the present invention is mounted on the schematic diagram on tillage machinery.
Appended drawing reference therein are as follows:
1 trestle table, 2 hydraulic device
Swinging frame 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 connection frames of swinging frame engaging lug
The 141 right connection frames of left connection frame 142
15 connecting rods
Specific embodiment
Invention is further explained 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 control 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 adjust unit, Laser Measuring displacement sensor 3 and laser range sensor 7.
The tilling depth adjusts unit and connect 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 equipment hitching frame 6 along the displacement in tilling depth direction.
The distance signal and laser displacement that the PLC control system analysis processing laser range sensor 7 detects pass
The displacement signal that sensor 3 detects, and unit control equipment hitching frame 6 is adjusted by tilling depth and is moved up and down along tilling depth direction.
It includes hydraulic device 2, connection frame 14, connecting rod 15 and four bar swinging frames that the tilling depth, which adjusts unit,.
The trestle table 1, equipment hitching frame 6 and connection frame 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 end surface, is used for
It is affixed with the rack of tillage machinery.
The equipment hitching frame 6 includes the horizontally disposed hitch beam 12 for mounting tillage implement and is arranged symmetrically simultaneously
It is respectively perpendicular the left swing moving frame engaging lug 11 and right swinging frame engaging lug 13 for being fixed in 12 upper surface of hitch beam.
The connection frame 14 includes left connection parallel with left swing moving frame engaging lug 11 and right swinging frame engaging lug 13 respectively
Frame 141 and right connection frame 142.
The distance between the outer end face of the left swing moving frame engaging lug 11 and the outer end face of right swinging frame 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 connection frame 141 and right connection frame 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 swinging frame 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 connection frame 141 and the right side
The lower hinge of the inner face of connection frame 142.
The four bars swinging frame includes a pair of upper swinging frame 4 and a pair of of bottom moving frame 9.The front of two upper swinging frames 4, in
Portion and rear portion respectively with the top of the left side of trestle table 1 and right side, left swing moving frame engaging lug 11 and right swinging frame engaging lug
The top of the outer end face of the top of 13 outer end face and left connection frame 141 and right connection frame 142 is hinged；Two bottom moving frames 9
Front, middle part and rear portion respectively with the lower part of the left side of trestle table 1 and right side, left swing moving frame engaging lug 11 and right swing
The lower hinge of the outer end face of the lower part of the outer end face of frame engaging lug 13 and left connection frame 141 and right connection frame 142.
The laser range sensor 7 is arranged on the upper surface of trestle table 1, towards operation earth's surface, Xiang Zuoye earth's surface hair
Reflection laser is penetrated and receives, to measure the distance that trestle table 1 arrives operation earth's surface.
The liquid between left swing moving frame engaging lug 11 and right swinging frame engaging lug 13 is arranged in the Laser Measuring displacement sensor 3
On the hydraulic cylinder of pressure device 2, towards the upper surface of hitch beam 12, to hitch beam 12 upper end surface-emission laser and receive reflection and swash
Light, to measure the displacement of equipment hitching frame 6.
The distance signal and laser displacement that the PLC control system analysis 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 connect with tractor hydraulic oil circuit and solenoid valve.
The PLC control system include PLC host, liquid crystal display, memory, laser detection information receive with processing module,
Detection controls program module and information is shown and information storage module.
The course of work of the invention are as follows:
As shown in figure 5, general-purpose type tilling depth automatic detection and control device of the present invention is mounted 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；Each respectively one farming of mounting of 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 is wanted according to tilth
It asks to solenoid valve and sends signal, control solenoid valve direction switch, to control the flexible of hydraulic device 2.
The stretching motion of hydraulic device 2 drives four bar swinging frames imitative by connecting rod 15, multi-terminal link axis 5, connection frame 14
Shape movement, the forming movement of four bar swinging frames drives the up and down motion of equipment hitching frame 6, 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 of hydraulic device 2 is transported
Dynamic that equipment hanging member 6 is driven to move downward, tilth increases, to adjust tilth；Until Laser Measuring displacement sensing
The signal that device 3 and laser range sensor 7 are sent to PLC control system meets default tilling depth requirement, deep to reach control farming
The purpose of degree.
PLC host, liquid crystal display, memory, laser detection information receive with processing module, detection control program module and
Information is shown and information storage module.
The laser detection information of PLC control system, which is received, receives laser range sensor 7 and laser location with processing module
Displacement sensor 3 send trestle table 1 to operation earth's surface distance and equipment hitching frame 6 along tilling depth direction displacement, and by this
Two kinds of signal processings are sent to PLC host later；PLC host and detection control program module, receive laser detection information and receive
The signal sent with processing module, by signal bring into main program carry out analytic operation, if calculate in real time tilling depth wanted less than minimum
Tilling depth is sought, then PLC host controls electromagnetic valve switch to solenoid valve output signal, and oil circuit flows back to tractor oil cylinder, liquid from hydraulic cylinder
It presses pull rod to shrink, equipment hanging member 6 is driven to move downward, tilth increases；If calculate in real time tilling depth wanted greater than maximum
Tilling depth is sought, then PLC host controls electromagnetic valve switch to solenoid valve output signal, and oil circuit flows to hydraulic cylinder, liquid from tractor oil cylinder
Pull rod elongation is pressed, equipment hitching frame 6 is driven to move upwards, tilth reduces；Until laser detection signal receives and handles mould
The signal that block is sent to PLC host meets tilling depth requirement after operation, then PLC controls solenoid valve to solenoid valve output signal
Switch, the oil circuit stopped between hydraulic cylinder and tractor oil cylinder are transported；Information show with 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 connecting with PLC host and is checked to take at any time.
The above, the only preferred embodiments of the disclosure, but the protection scope invented is not limited to this, it is any
Within the technical scope disclosed by the invention, any changes or substitutions that can be easily thought of by those skilled in the art, should all contain
Lid is within protection scope of the present invention.
Claims (6)
1. a kind of general-purpose type tilling depth automatic detection and control device, it is characterised in that: the device includes that multiple tilling depth detect control automatically
Monomer processed and PLC control system；
The tilling depth Automatic Detection and Control monomer includes trestle table (1), equipment hitching frame (6), tilling depth adjusting unit, laser location
Displacement sensor (3) and laser range sensor (7)；
Laser range sensor (7) measurement trestle table (1) arrives the distance of operation earth's surface；
The tilling depth adjusts unit and connect with equipment hitching frame (6)；
Displacement of Laser Measuring displacement sensor (3) measurement equipment hitching frame (6) along tilling depth direction；
The distance signal and Laser Measuring displacement sensing that PLC control system analysis processing laser range sensor (7) detects
The displacement signal that device (3) detects, and unit control equipment hitching frame (6) is adjusted by tilling depth and is moved up and down along tilling depth direction；
It includes hydraulic device (2), connection frame (14), connecting rod (15) and four bar swinging frames that the tilling depth, which adjusts unit,；
The trestle table (1), equipment hitching frame (6) and connection frame (14) are sequentially arranged from front to back；
Hydraulic device mounting groove (10) are 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 end surface；
The equipment hitching frame (6) includes horizontally disposed hitch beam (12) and is arranged symmetrically and is respectively perpendicular and be fixed in mounting
The left swing moving frame engaging lug (11) and right swinging frame engaging lug (13) of beam (12) upper surface；
The connection frame (14) includes left company parallel with left swing moving frame engaging lug (11) and right swinging frame engaging lug (13) respectively
Connect frame (141) and right connection frame (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 swinging frame engaging lug (13) by extending through；It is hydraulic
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 connection frame (141) and the inner face of right connection frame (142)；
The four bars swinging frame includes a pair of upper swinging frame (4) and a pair of of bottom moving frame (9)；The front of two upper swinging frame (4),
Middle part and rear portion respectively with the top of the left side of trestle table (1) and right side, left swing moving frame engaging lug (11) and right swinging frame
The top of the outer end face of the top of the outer end face of engaging lug (13) and left connection frame (141) and right connection frame (142) is hinged；
Front, middle part and the rear portion of two bottom moving frames (9) are dynamic 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 swinging frame engaging lug (13) and left connection frame (141) and right connection frame
(142) lower hinge of outer end face.
2. general-purpose type tilling depth automatic detection and control device according to claim 1, 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.
3. general-purpose type tilling depth automatic detection and control device according to claim 1, it is characterised in that: the laser displacement
The hydraulic of hydraulic device (2) between left swing moving frame engaging lug (11) and right swinging frame engaging lug (13) is arranged in sensor (3)
On cylinder, towards the upper surface of hitch beam (12).
4. general-purpose type tilling depth automatic detection and control device according to claim 1, 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 swinging frame engaging lug (13) are equal with the width of trestle table (1),
The outer end face of left connection frame (141) and the distance between the outer end face of right connection frame (142) are equal with the width of trestle table (1).
5. general-purpose type tilling depth automatic detection and control device according to claim 1, it is characterised in that: the hydraulic device
(2) two oil line pipes are connect with tractor hydraulic oil circuit and solenoid valve.
6. general-purpose type tilling depth automatic detection and control device according to one of the above claims, it is characterised in that: the PLC
Control system includes PLC host, liquid crystal display, memory, laser detection information receives and processing module, detection control program module
And information is shown 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 |
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| 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 CN107980261A (en) | 2018-05-04 |
| CN107980261B true CN107980261B (en) | 2019-08-30 |
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Families Citing this family (4)
| 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 |
| 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 |
| CN115004894B (en) * | 2022-06-15 | 2023-12-19 | 山东弘宇农机股份有限公司 | Double-cylinder hydraulic lifter for tractor |
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| JPH08214610A (en) * | 1995-02-08 | 1996-08-27 | Kubota Corp | Sensitivity changing apparatus for lift control in tillage apparatus |
| JPH0984410A (en) * | 1995-09-25 | 1997-03-31 | Iseki & Co Ltd | Lifting and lowering control device for ground working machine |
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| CN107980261A (en) | 2018-05-04 |
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