CN108243635A - A kind of tractor rotary tillage unit tilling depth automaton and its control method - Google Patents
A kind of tractor rotary tillage unit tilling depth automaton and its control method Download PDFInfo
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- CN108243635A CN108243635A CN201810194903.6A CN201810194903A CN108243635A CN 108243635 A CN108243635 A CN 108243635A CN 201810194903 A CN201810194903 A CN 201810194903A CN 108243635 A CN108243635 A CN 108243635A
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- tractor
- connecting rod
- rotary tillage
- lift cylinder
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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
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/02—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs with tools on horizontal shaft transverse to direction of travel
- A01B33/021—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs with tools on horizontal shaft transverse to direction of travel with rigid tools
-
- 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
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/08—Tools; Details, e.g. adaptations of transmissions or gearings
- A01B33/087—Lifting devices; Depth regulation devices; Mountings
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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
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/08—Tools; Details, e.g. adaptations of transmissions or gearings
- A01B33/10—Structural or functional features of the tools ; Theoretical aspects of the cutting action
- A01B33/103—Structural or functional features of the tools ; Theoretical aspects of the cutting action the rotating shaft being oriented horizontally
-
- 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
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/16—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs with special additional arrangements
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Lifting Devices For Agricultural Implements (AREA)
Abstract
The invention discloses a kind of tractor rotary tillage unit tilling depth automaton and its control method, device includes rotary tillage unit, planker, connecting rod, swing rod, planker angular transducer, upper connecting rod, lower pull rod etc.；Rotary tillage unit is mounted on hanger bracket, hanger bracket is supported on the body of tractor by upper connecting rod and lower pull rod, one end of planker and one end of swing rod are hinged on the backplate of rotary tillage unit, the other end of swing rod and one end of connecting rod are hinged, the other end and planker of connecting rod are hinged, and planker angular transducer is used to detect the swing angle of swing rod；The arrangement achieves being automatically controlled to tractor rotary tillage unit operation tilling depth, the quality for ploughing site preparation is improved；It solves the problems, such as often to accumulate a large amount of soil before rotary cultivator during the work of tractor rotary tillage unit and formed to stop up mud；During farming, greatly reduce driver's torsion and look back at the variation of rotary cultivator tilling depth and stop up the situation of mud.
Description
Technical field
The present invention relates to agricultural machinery technological field more particularly to a kind of tractor rotary tillage unit tilling depth automatons
And its control method.
Background technology
At present, the cultivated site preparation in paddy field uses tractor rotary tillage unit substantially, and the rotary cultivator of the unit is with the side of trifilar suspension
Formula is suspended on behind tractor, is had many advantages, such as simple in structure, easy to operate.But during operation, usually due to the earth's surface in farmland
The injustice of face and plough sole causes to stop up mud before rotary cultivator, and tractor-drawn is motionless so that operator must not infrequently twist back
Whether the rotary cultivator checked behind tractor of head stops up that mud is serious or earth's surface is uneven.Such twisting looks back at operating attitude and usually draws
Play driver's over fatigue and actual bodily harm；Meanwhile the bottom surface out-of-flatness of rotary tillage is caused, agricultural production is not achieved in tilling depth
It is required that leading to that rotary tillage process effect is poor, operating efficiency is low.So the tractor rotary tillage unit in paddy field be badly in need of one kind can be automatic
Control tilling depth prevents from seriously stopping up before rotary cultivator the device of mud, and when operation can ensure that tilling depth is consistent, mitigate the labor of operator
It is dynamic.Meanwhile can be to avoid mud is stopped up before rotary cultivator, the problems such as tractor-drawn is motionless.
Invention content
It is automatically controlled in view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to provide a kind of tractor rotary tillage unit tilling depth
Device and its control method.
In order to achieve the above object, the technical solution adopted in the present invention is：A kind of tractor rotary tillage unit tilling depth is automatic
Control device, including rotary tillage unit, rotary tillage unit is mounted on hanger bracket, is further included planker, connecting rod, swing rod, planker angle and is passed
Sensor, upper connecting rod, lift cylinder, controller, hydraulic buttery valve, lower pull rod, speed probe；One end of upper connecting rod and tractor
Body be hinged, the other end of upper connecting rod and the upper articulation of hanger bracket, one end of lift cylinder are hinged on the body of tractor
On, the other end of lift cylinder and the middle part of upper connecting rod are hinged, and one end of lower pull rod and the body of tractor are hinged, lower pull rod
The lower hinge of the other end and hanger bracket, one end of planker and one end of swing rod are hinged on the backplate of rotary tillage unit, hinged
Point is respectively a and e, and planker angular transducer is mounted at hinge joint e, and the other end of swing rod and one end of connecting rod are hinged, hinged
Point is c, and the other end and planker of connecting rod are hinged, hinge joint b, and a, b, c and e, which are sequentially connected, forms a parallelogram；It carries
Oil-lifting jar is connected by hydraulic buttery valve with the hydraulic system on tractor, and speed probe is fixed on tractor motive power output shaft
Near or connect with tractor motive power output shaft, speed probe, planker angular transducer and hydraulic buttery valve are and controller
Electrical connection.
Further, camera is fixed on tractor rear portion, and the forepart of rotary cultivator is in the range of visibility of camera, camera shooting
Head is electrically connected with the controller.
Further, display screen is further included, camera is also electrically connected with display screen.
Further, the controller include reverse connecting protection module, power module, initialization module, microprocessor module,
Speed probe module, angle-sensor module, two drive modules；Wherein, external 12V power supplys by reverse connecting protection module with
Power module is connected；Initialization module, microprocessor module, input/output module, speed probe module, angular transducer mould
Block, two drive modules power port be connected with power module；Speed probe module, angle-sensor module and two
Drive module is connected with microprocessor module；Speed probe is connected with speed probe module, planker angular transducer with
Angle-sensor module is connected, and camera is connected with microprocessor module；Hydraulic buttery valve is connected with two drive modules.
Further, one end of upper connecting rod and the body of tractor are hinged, hinge joint d, hinged place installation upper connecting rod pendulum
Angle transducer, upper connecting rod angle sensor are connected with another angle-sensor module, another angle-sensor module also with
Microprocessor module is connected.
Further, there are two the upper connecting rod tools, lift cylinder includes left lift cylinder and right lift cylinder, left promotion
One end of oil cylinder is hinged on the body of tractor, and the other end of left lift cylinder and the middle part of a upper connecting rod are hinged, right promotion
One end of oil cylinder is hinged on the body of tractor, and the other end of right lift cylinder and the middle part of another upper connecting rod are hinged.
Further, the hydraulic buttery valve is hydraulic electromagnetic change valve, and left lift cylinder and right lift cylinder pass through liquid
Pressure solenoid directional control valve is connected with the hydraulic system on tractor.
A kind of tractor rotary tillage unit tilling depth autocontrol method, this method are ploughed in a kind of above-mentioned tractor rotary tillage unit
Deep automaton realizes that this method comprises the following steps：
Step 1：Initialization；
Step 2：Speed probe starts to acquire power output shaft speed data, and planker angular transducer starts to detect swing rod
Swing angle data；
Step 3：The data that 2 two sensor passes of controller receiving step are come；
Step 4：If power output shaft speed is less than initialization, controller is exported according to power output shaft speed data
Signal controls lift cylinder to act, rotary tillage unit is promoted to hydraulic buttery valve by hydraulic buttery valve；
Step 5：If power output shaft speed is higher than initialization, continue to judge whether tilth is equal to initially
Value, if tilth is equal to initial value, controller control hydraulic buttery valve is failure to actuate, and lift cylinder locks；If tilth is not
Equal to initial value, then in two kinds of situation：
When the plough sole of current one-stop operation deepens, the tilth h of rotary cultivator deepens therewith, and planker is in muddy water buoyancy
Effect is lower to be rotated counterclockwise around a points on backplate, and connecting rod is pushed to move upwards, and band driven fork rotates counterclockwise, planker angle
Sensor controls lift cylinder to move upwards to controller signals, controller by hydraulic buttery valve, and upper connecting rod is counterclockwise around d points
Rotation, is lifted up rotary blade, to reduce tilth h, tilth is made to approach initial value；
When the plough sole of current one-stop operation shoals, rotary cultivator is moved upwards with the opposite plough sole of tractor, and farming is deep
Degree h reduces therewith, and a points that planker can be on backplate under the action of its own gravity rotate clockwise, and connecting rod is pushed to transport downwards
Dynamic, band driven fork rotates clockwise, and planker angular transducer is controlled by hydraulic buttery valve and promoted to controller signals, controller
Oil cylinder moves downward, and upper connecting rod is rotated clockwise around d points, and rotary blade is moved downward, and to increase tilth h, makes farming deep
Degree approach initial value.
Camera is fixed on tractor rear portion, the forepart of rotary cultivator is in the range of visibility of camera, camera and control
Device electrical connection processed；The image of camera acquisition rotary cultivator forepart, and image is gone out to pass controller, controller is to the picture of acquisition
Binaryzation is carried out, obtains binary map, black picture element number represents the area of soil in binary map, and black picture is extracted from binary map
Element counts black picture element number, if black picture element number exceeds initialization, then it represents that have and stop up mud situation, at this point, controller is defeated
Go out signal to hydraulic buttery valve, lift cylinder is controlled to act by hydraulic buttery valve, rotary tillage unit is promoted.
Camera is electrically connected with display screen, the image of camera acquisition rotary cultivator forepart, image is shown by display screen,
User voluntarily judges to stop up mud situation according to image, by controller output signal to hydraulic buttery valve, so as to control promotion oil
Cylinder acts.
Compared with background technology, the beneficial benefit having is the present invention：
1. realization automatically controls tractor rotary tillage unit operation tilling depth, tilling depth is consistent, improves and plough site preparation
Quality.
2. it solves the problems, such as often to accumulate a large amount of soil before rotary cultivator during the work of tractor rotary tillage unit and formed to stop up mud；
3. tractor rotary tillage unit, which in underwater cultivation, greatly reduces driver's torsion, looks back at the variation of rotary cultivator tilling depth
Situation with mud is stopped up, reduces the fatigue driving of driver and actual bodily harm situation.
Description of the drawings
Fig. 1 is tractor rotary tillage set structure schematic diagram of the present invention；
Fig. 2 is power module circuitry figure；
Fig. 3 is reverse connecting protection module circuit diagram；
Fig. 4 is initialization module circuit diagram；
Fig. 5 is angle-sensor module circuit diagram；
Fig. 6 is speed probe module circuit diagram；
Fig. 7 is drive module circuit diagram；
In figure：Rotary blade 1, planker 2, connecting rod 3, swing rod 4, planker angular transducer 5, backplate 6, hanger bracket 7, upper connecting rod 8,
Lift cylinder 9, upper connecting rod angle sensor 10, body 11, camera 12, lower pull rod 13, rotary tillage unit 14.
Specific embodiment
The present invention is described further below in conjunction with the accompanying drawings.
As shown in Figure 1, The present invention gives a kind of tractor rotary tillage unit tilling depth automaton embodiment, it includes
Rotary tillage unit 14, rotary tillage unit 14 are mounted on hanger bracket 7, and the rotary blade 1 in the rotary tillage unit is exported by tractor dynamic power
Axis drives rotation；Further include planker 2, connecting rod 3, swing rod 4, planker angular transducer 5, upper connecting rod 8, lift cylinder 9, upper connecting rod pendulum
Angle transducer 10, controller, hydraulic buttery valve, lower pull rod 13；One end of upper connecting rod 8 and the body 11 of tractor are hinged, hinged
Point is d, hinged place installation upper connecting rod angle sensor 10, and upper connecting rod angle sensor 10 is for detecting upper connecting rod 8 relative to dragging
The rotational angle of the body 11 of machine drawing；The other end of upper connecting rod 8 and the upper articulation of hanger bracket 7, one end of lift cylinder 9 is hinged
On the body 11 of tractor, the middle part of the other end and upper connecting rod 8 of lift cylinder 9 is hinged, and one end of lower pull rod 13 is with drawing
The body 11 of machine is hinged, and the other end of lower pull rod 13 and the lower hinge of hanger bracket 7, one end of planker 2 and one end of swing rod 4 are equal
It is hinged on the backplate 6 of rotary tillage unit, hinge joint is respectively a and e, and planker angular transducer 5 is mounted at hinge joint e, is used for
Detect rotational angle of the swing rod 4 relative to backplate 6；The other end of swing rod 4 and one end of connecting rod 3 are hinged, hinge joint c, connecting rod 3
The other end and planker 2 it is hinged, hinge joint b, a, b, c and e, which are sequentially connected, forms a parallelogram；Lift cylinder 9 is logical
Hydraulic buttery valve is crossed with the hydraulic system on tractor to be connected, speed probe be fixed near tractor motive power output shaft or
It is connect with tractor motive power output shaft.Camera 12 is fixed on tractor rear portion, and the forepart of rotary cultivator is in the sight of camera 12
In the range of, camera is electrically connected respectively with display screen and controller.Speed probe, planker angular transducer 5, upper connecting rod pivot angle
Sensor 10 and hydraulic buttery valve are electrically connected with the controller, and speed probe drags for acquiring power output shaft speed data
Plate angular transducer is for detecting swing rod swing angle data, and controller receives the data that two sensor passes are come, by right
The analog-to-digital conversion of data and pid algorithms finally obtain the signal of control hydraulic buttery valve.
In order to improve the stability of promotion, there are two the tools of upper connecting rod 8, and lift cylinder 9 includes left lift cylinder and the right side
Lift cylinder, one end of left lift cylinder are hinged on the body 11 of tractor, the other end of left lift cylinder and a upper connecting rod 8
Middle part be hinged, one end of right lift cylinder is hinged on the body 11 of tractor, the other end of right lift cylinder with it is another on
The middle part of pull rod 8 is hinged.
Rotary tillage unit tilling depth automaton requires the piston rod of double acting hydraulic cylinder to realize elongation, shorten at work
With static three states, oil circuit mainly has an oil inlet P (being connected with the hydraulic system on tractor), oil return inlet T (on tractor
Hydraulic system be connected), two hydraulic fluid ports A and B being connected with two-way cylinder, thus hydraulic buttery valve use 3-position 4-way electromagnetism
Reversal valve can meet the commutation requirement of system hydraulic oil.(left lift cylinder and right lift cylinder are all two-way cylinders, Mei Geshuan
All there are one a hydraulic fluid port A and hydraulic fluid port B, hydraulic oil is divided into two-way and leads to left promotion oil action oil cylinder after oil inlet P is come in
Cylinder and right lift cylinder.
The controller includes reverse connecting protection module, power module, initialization module, microprocessor module, revolution speed sensing
Device module, two angle-sensor modules, two drive modules；Wherein, external 12V power supplys pass through reverse connecting protection module and power supply
Module is connected；Initialization module, microprocessor module, input/output module, speed probe module, two angular transducer moulds
Block, two drive modules power port be connected with power module；Speed probe module, two angle-sensor modules and
Drive module is connected with microprocessor module；Speed probe is connected with speed probe module, planker angular transducer with
One angle-sensor module is connected, and upper connecting rod angle sensor is connected with another angle-sensor module, camera with it is micro-
Processor module is connected；Three-position four-way electromagnetic directional valve is connected with two drive modules.
As shown in Fig. 2, the power module, which includes external power supply, inputs seat H101, switch socket SW01, voltage stabilizing chip
U101, polarity free capacitor C03, C05, polar capacitor C04, C06, resistance R101 and power supply indicator D101；Wherein, external power supply
Input seat H101 connects 12V power supplys, and the electrode input end mouth of external power supply input seat H101 is connected with one end of switch socket SW01,
The other end of switch socket SW01, the power input port of voltage stabilizing chip U101, one end of polarity free capacitor C03 and polar capacitor
The anode of C04 is used as the first output port of power source after being connected；The output port of power source of voltage stabilizing chip U101, polarity free capacitor C05
One end, polar capacitor C06 anode be connected after as second source output port；The grounding ports of voltage stabilizing chip U101 connect
Ground；One end of resistance R101 is connected with the anode of power supply indicator D101, and the other end is connected with the first output port of power source；It is electrodeless
The other end of property capacitance C03, C05, the cathode of polar capacitor C04, C06, power supply indicator D101 cathode are grounded after being connected；It is described
The product of model AS1117 (5V) may be used in voltage stabilizing chip U101, but not limited to this.
As shown in figure 3, the reverse connecting protection module includes metal-oxide-semiconductor Q4 and resistance R10；Wherein, the source electrode of metal-oxide-semiconductor Q4 connects
Ground drains and is connected as the input terminal of metal-oxide-semiconductor Q4 with the negative input mouth of power input stand H101, and gate pole is with resistance R10's
One end is connected, the first output port of power source of another termination power module of resistance R10.
As shown in figure 4, the initialization module accesses seat ZERO-SET for an initialization button；The initialization button
The first port of access seat ZERO-SET is connected with the I/O ports of micro treatment module, initialization button access seat ZERO-SET's
Second port is grounded.
Micro treatment module chip U1 in order to control；The control chip U1 may be used model STC15F2K60S2's
Product, but not limited to this.
As shown in figure 5, the angle-sensor module accesses seat A1 and A2 for two angular transducers；Angular transducer connects
The first port of A1 of taking a seat is connected with the second source output port of power module, the second port of angular transducer access seat A1
It is connected with the first simulation input port for controlling chip U1, the third port ground connection of angular transducer access seat A1；Angle sensor
The first port of device access seat A2 is connected with the second source output port of power module, and the second of angular transducer access seat A2
Port is with controlling the second simulation input port of chip U1 to be connected, the third port ground connection of angular transducer access seat A2.
As shown in fig. 6, the speed probe module accesses seat A3 for a speed probe；Speed probe accesses seat
The first port of A3 is connected with the second source output port of power module, the second port of speed probe access seat A3 and control
The third simulation input port of coremaking piece U1 is connected, the third port ground connection of speed probe access seat A3.
As shown in fig. 7, the drive module include resistance R1, R2, R3, R203, optocoupler T1, metal-oxide-semiconductor Q1, diode D1,
Light emitting diode D104 and driving valve socket vale1；Wherein, diode D1 anodes, light emitting diode D104 cathode, solenoid valve are inserted
The drain electrode that one end of seat vale1 is connected afterwards with metal-oxide-semiconductor Q1 is connected, and the gate pole of metal-oxide-semiconductor Q1 is connected with one end of resistance R1, metal-oxide-semiconductor
The source electrode of Q1 is grounded after being connected with one end of resistance R2；Light emitting diode D104 anodes are connected with one end of resistance R03；Solenoid valve
The other end of socket vale1, the resistance R03 other ends, diode D1 cathode, optocoupler T1 collector be connected afterwards with power module
First output port of power source is connected；The other end of resistance R1 and the other end of resistance R2 be connected afterwards with the emitter phase of optocoupler T1
Even；The light emitting diode anode of optocoupler T1 is connected with one end of resistance R3, the light emitting diode cathode of optocoupler T1 and control chip
The I/O ports of U1 are connected；The other end of resistance R3 is connected with the second source output port of power module；3-position 4-way electromagnetism changes
It is connected that (electrically connecting as they is known in this field with two of two drive modules driving valve seat vale1 to four interfaces of valve
Common sense).
When tractor rotary tillage unit operation, planker 2 is marched forward in tow by backplate 6, and 1 farming of rotary blade is dragged in plough sole
Plate 2 floats on the ground surface of farming, and the distance between plough sole and ground surface are rotary tillage depth h.
Speed probe starts to acquire power output shaft speed data, and planker angular transducer starts to detect swing rod angle of oscillation
Degrees of data, the data that 2 two sensor passes of controller receiving step are come when 14 front heap soil or fertilizer over and around the roots mud of rotary tillage unit is serious, are drawn
The motionless rotary tillage unit 14 of machine travel, the rotating speed of tractor engine can drastically decline so that and the rotating speed of power output shaft reduces, this
When, the rotating speed that speed probe perceives tractor motive power output shaft is drastically declining (less than the initial value of setting), this
Signal gives lift cylinder 9 fuel feeding to controller, controller by hydraulic buttery valve, and piston rod rises, and upper connecting rod 8 turns counterclockwise
It is dynamic, rotary tillage unit 14 is lifted up, the tilling depth of rotary blade 1 reduces.
When rotary cultivator crosses the heap soil or fertilizer over and around the roots mud of the front at this point, the rotating speed rising of tractor engine, tractor motive power output shaft
Rated speed is restored to, speed probe perceives the rotating speed of power output shaft in normal range (NR), and tilling depth is transferred to by planker
Angular transducer 5 controls.
Tractor rotary tillage unit is walked in Tanaka's operation of mud, and the driving wheel of tractor is the plough walked in preceding one-stop operation
Bottom, when the plough sole of current one-stop operation deepens, the tilth h of rotary cultivator deepens therewith, and planker 2 is in the work of muddy water buoyancy
It can be rotated counterclockwise with lower around a points on backplate 6, connecting rod 3 pushed to move upwards, band driven fork 4 rotates counterclockwise, planker angle
Sensor 5 gives controller signals, and controller controls lift cylinder 9 to move upwards by hydraulic buttery valve, and upper connecting rod 8 is inverse around d points
Hour hands rotate, and rotary blade 1 are lifted up, to reduce tilth h.
When the plough sole of current one-stop operation shoals, rotary tillage unit 14 is moved upwards with the opposite plough sole of tractor, is ploughed
Make depth h therewith to reduce, a points that planker 2 can be on backplate 6 under the action of its own gravity rotate clockwise, and push connecting rod 3
It moves downward, band driven fork 4 rotates clockwise, and planker angular transducer 5 gives controller signals, and controller passes through hydraulic buttery valve
Control lift cylinder 9 moves downward, and upper connecting rod 8 is rotated clockwise around d points, and rotary blade 1 is moved downward, to increase tilth
h。
In addition, the effect of camera 12 is to acquire the heap soil or fertilizer over and around the roots mud information of 14 forepart of rotary tillage unit, and image is gone out to pass control
Device, controller carry out binaryzation to the picture of acquisition, obtain binary map, and black picture element number represents the face of soil in binary map
Product extracts black picture element from binary map, counts black picture element number, if black picture element number exceeds initialization, then it represents that
Have and stop up mud situation, at this point, controller output signal controls lift cylinder to act, incite somebody to action to hydraulic buttery valve by hydraulic buttery valve
Rotary tillage unit is promoted, and the tilling depth of rotary tillage unit 14 is reduced, reduces tillage resistance, crosses the heap soil or fertilizer over and around the roots mud of 14 front of rotary tillage unit.
Meanwhile the image of camera acquisition is shown by display screen, user voluntarily judges to stop up mud situation according to image, leads to
Controller output signal is crossed to hydraulic buttery valve, so as to which lift cylinder be controlled to act.
Upper connecting rod angle sensor 10 can perceive the position of upper connecting rod 8, when rotary tillage process is needed with tractor and rotary tillage
During the relative position setting tilling depth of machine, just with the sensor settings tilling depth, therefore, it is provided in controller 13 and is put with upper connecting rod
Angle transducer 10 set tilling depth and with planker angular transducer 5 set tilling depth change-over switch, user can according to actual conditions,
Selection is using which sensor.
Claims (10)
1. a kind of tractor rotary tillage unit tilling depth automaton, including rotary tillage unit, rotary tillage unit is mounted on hanger bracket,
It is characterized in that, further include planker, connecting rod, swing rod, planker angular transducer, upper connecting rod, lift cylinder, controller, hydraulic pressure electricity
Magnet valve, lower pull rod, speed probe etc.；One end of upper connecting rod and the body of tractor are hinged, the other end of upper connecting rod and suspension
The upper articulation of frame, one end of lift cylinder are hinged on the body of tractor, in the other end and upper connecting rod of lift cylinder
Portion is hinged, and one end of lower pull rod and the body of tractor are hinged, the other end of lower pull rod and the lower hinge of hanger bracket, planker
One end and one end of swing rod are hinged on the backplate of rotary tillage unit, and hinge joint is respectively a and e, and planker angular transducer is installed
At hinge joint e, the other end of swing rod and one end of connecting rod are hinged, hinge joint c, and the other end and planker of connecting rod are hinged, hinge
Contact is b, and a, b, c and e, which are sequentially connected, forms a parallelogram；Lift cylinder passes through on hydraulic buttery valve and tractor
Hydraulic system is connected, and speed probe is fixed near tractor motive power output shaft or is connect with tractor motive power output shaft, turns
Fast sensor, planker angular transducer and hydraulic buttery valve are electrically connected with the controller.
A kind of 2. tractor rotary tillage unit tilling depth automaton according to claim 1, which is characterized in that camera
Tractor rear portion is fixed on, in the range of visibility of camera, camera is electrically connected with the controller for the forepart of rotary cultivator.
3. a kind of tractor rotary tillage unit tilling depth automaton according to claim 2, which is characterized in that further include
Display screen, camera are also electrically connected with display screen.
A kind of 4. tractor rotary tillage unit tilling depth automaton according to claim 3, which is characterized in that the control
Device processed includes reverse connecting protection module, power module, initialization module, microprocessor module, speed probe module, angle sensor
Device module, two drive modules；Wherein, external 12V power supplys are connected by reverse connecting protection module with power module；Initialize mould
Block, microprocessor module, input/output module, speed probe module, angle-sensor module, two drive modules power supply
Port is connected with power module；Speed probe module, angle-sensor module and two drive modules are and microprocessor
Module is connected；Speed probe is connected with speed probe module, and planker angular transducer is connected with angle-sensor module, takes the photograph
As head is connected with microprocessor module；Hydraulic buttery valve is connected with two drive modules.
A kind of 5. tractor rotary tillage unit tilling depth automaton according to claim 4, which is characterized in that upper connecting rod
One end and the body of tractor be hinged, hinge joint d, hinged place installation upper connecting rod angle sensor, upper connecting rod pivot angle sensing
Device is connected with another angle-sensor module, another angle-sensor module is also connected with microprocessor module.
6. a kind of tractor rotary tillage unit tilling depth automaton according to claim 1, which is characterized in that on described
There are two pull rod tools, and lift cylinder includes left lift cylinder and right lift cylinder, and one end of left lift cylinder is hinged on tractor
Body on, the other end of left lift cylinder and the middle part of a upper connecting rod are hinged, and one end of right lift cylinder is hinged on tractor
Body on, the other end of right lift cylinder and the middle part of another upper connecting rod are hinged.
A kind of 7. tractor rotary tillage unit tilling depth automaton according to claim 6, which is characterized in that the liquid
Pressure electromagnetic valve is hydraulic electromagnetic change valve, and left lift cylinder and right lift cylinder pass through on hydraulic electromagnetic change valve and tractor
Hydraulic system is connected.
A kind of 8. tractor rotary tillage unit tilling depth autocontrol method, which is characterized in that this method described in claim 1 one
Kind tractor rotary tillage unit tilling depth automaton realizes that this method comprises the following steps：
Step 1：Initialization；
Step 2：Speed probe starts to acquire power output shaft speed data, and planker angular transducer starts to detect swing rod swing
Angle-data；
Step 3：The data that 2 two sensor passes of controller receiving step are come；
Step 4：If power output shaft speed is less than initialization, controller is according to power output shaft speed data output signal
To hydraulic buttery valve, lift cylinder is controlled to act by hydraulic buttery valve, rotary tillage unit is promoted；
Step 5：If power output shaft speed is higher than initialization, continue to judge whether tilth is equal to initial value, if
Tilth is equal to initial value, and controller control hydraulic buttery valve is failure to actuate, and lift cylinder locks；If tilth is not equal to just
Initial value, then in two kinds of situation：
When the plough sole of current one-stop operation deepens, the tilth h of rotary cultivator deepens therewith, and planker is in the effect of muddy water buoyancy
It is lower to be rotated counterclockwise around a points on backplate, connecting rod is pushed to move upwards, band driven fork rotates counterclockwise, planker angle sensor
Device controls lift cylinder to move upwards to controller signals, controller by hydraulic buttery valve, and upper connecting rod turns counterclockwise around d points
It is dynamic, rotary blade is lifted up, to reduce tilth h, tilth is made to approach initial value；
When the plough sole of current one-stop operation shoals, rotary cultivator is moved upwards with tractor with respect to plough sole, tilth h with
Reduction, planker under the action of its own gravity can a points on backplate rotate clockwise, connecting rod is pushed to move downward, band
Driven fork rotates clockwise, and planker angular transducer controls lift cylinder to controller signals, controller by hydraulic buttery valve
It moves downward, upper connecting rod is rotated clockwise around d points, and rotary blade is moved downward, and to increase tilth h, tilth is made to become
Nearly initial value.
9. a kind of tractor rotary tillage unit tilling depth autocontrol method according to claim 8, which is characterized in that will image
Head is fixed on tractor rear portion, and in the range of visibility of camera, camera is electrically connected with the controller for the forepart of rotary cultivator；Camera shooting
The image of head acquisition rotary cultivator forepart, and image is gone out to pass controller, controller carries out binaryzation to the picture of acquisition, obtains
Binary map, black picture element number represents the area of soil in binary map, and black picture element is extracted from binary map, counts black picture element
Number, if black picture element number exceeds initialization, then it represents that have and stop up mud situation, at this point, controller output signal gives hydraulic pressure electricity
Magnet valve controls lift cylinder to act, rotary tillage unit is promoted by hydraulic buttery valve.
10. a kind of tractor rotary tillage unit tilling depth autocontrol method according to claim 8, which is characterized in that will take the photograph
Picture head is electrically connected with display screen, and the image of camera acquisition rotary cultivator forepart, image shows that user is according to figure by display screen
As voluntarily judging to stop up mud situation, by controller output signal to hydraulic buttery valve, so as to which lift cylinder be controlled to act.
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| 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 |
| CN110050525A (en) * | 2019-04-25 | 2019-07-26 | 丰疆智能科技股份有限公司 | Rotary blade of minitiller revolution speed control system and method |
| CN110178471A (en) * | 2019-07-09 | 2019-08-30 | 湖南农业大学 | A kind of automatic leveling ploughing all-in-one machine |
| CN110199592A (en) * | 2019-04-09 | 2019-09-06 | 丰疆智能科技股份有限公司 | The automatic adjusting system of rotary tillage and its method |
| CN110199591A (en) * | 2019-07-16 | 2019-09-06 | 南京农业大学 | A kind of hydraulic control device of paddy field rotary tillage level land mechanism |
| WO2020206938A1 (en) * | 2019-04-09 | 2020-10-15 | 丰疆智能科技股份有限公司 | Rotary tillage automatic adjustment system and method therefor |
| CN112956289A (en) * | 2021-02-02 | 2021-06-15 | 安徽农业大学 | Tractor power distribution device and method based on soil roughness |
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| CN110199591A (en) * | 2019-07-16 | 2019-09-06 | 南京农业大学 | A kind of hydraulic control device of paddy field rotary tillage level land mechanism |
| CN112956289A (en) * | 2021-02-02 | 2021-06-15 | 安徽农业大学 | Tractor power distribution device and method based on soil roughness |
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