CN108243635B - Automatic control device and control method for tilling depth of tractor rotary tillage unit - Google Patents
Automatic control device and control method for tilling depth of tractor rotary tillage unit Download PDFInfo
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- CN108243635B CN108243635B CN201810194903.6A CN201810194903A CN108243635B CN 108243635 B CN108243635 B CN 108243635B CN 201810194903 A CN201810194903 A CN 201810194903A CN 108243635 B CN108243635 B CN 108243635B
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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
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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
- A01B33/087—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
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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
- A01B33/16—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
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- 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 tractor rotary tillage unit tilling depth automatic control device and a control method thereof, wherein the device comprises a rotary tillage unit, a planker, a connecting rod, a swing rod, a planker angle sensor, an upper pull rod, a lower pull rod and the like; the rotary cultivator unit is arranged on a suspension bracket, the suspension bracket is supported on a tractor body through an upper pull rod and a lower pull rod, one end of a planker and one end of a swing rod are both hinged on a protective plate of the rotary cultivator unit, the other end of the swing rod is hinged with one end of a connecting rod, the other end of the connecting rod is hinged with the planker, and a planker angle sensor is used for detecting the swing angle of the swing rod; the device realizes the automatic control of the operation tilling depth of the tractor rotary tillage unit and improves the quality of ploughing and soil preparation; the problem that a large amount of mud is often accumulated in the front of the rotary cultivator to form mud blockage when the rotary cultivator unit of the tractor works is solved; during tillage, the situation that a driver turns back to see the tillage depth change and mud blockage of the rotary cultivator is greatly reduced.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to an automatic control device for the tilling depth of a tractor rotary tillage unit and a control method thereof.
Background
At present, a tractor rotary tillage unit is basically adopted for a tillage foundation of a paddy field, and a rotary cultivator of the tractor rotary tillage unit is hung behind a tractor in a three-point suspension mode, so that the tractor rotary tillage unit has the advantages of being simple in structure, convenient to operate and the like. However, during operation, mud is often accumulated in the front of the rotary cultivator due to the uneven ground surface and plough bottom layer of the farmland, and the tractor is not pulled, so that an operator has to twist back frequently to check whether the mud is seriously accumulated or the ground surface of the rotary cultivator behind the tractor is uneven. Such a twisting look-back maneuver often causes excessive fatigue and physical injury to the driver; meanwhile, the surface of the rotary tillage is uneven, and the tillage depth can not meet the requirements of agricultural production, so that the rotary tillage operation effect is poor and the operation efficiency is low. Therefore, a tractor rotary tillage unit for paddy fields urgently needs a device which can automatically control the tillage depth and prevent the serious mud blocking in front of the rotary cultivator, can ensure the consistent tillage depth during operation and reduce the labor of operators. Meanwhile, the problems that the front of the rotary cultivator is jammed, the tractor is not pulled and the like can be avoided.
Disclosure of Invention
The invention aims to provide an automatic control device and a control method for the tilling depth of a tractor rotary tillage unit, aiming at the defects of the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that: a tractor rotary tillage unit tilling depth automatic control device comprises a rotary tillage unit, wherein the rotary tillage unit is arranged on a suspension bracket, and also comprises a planker, a connecting rod, a swing rod, a planker angle sensor, an upper pull rod, a lifting oil cylinder, a controller, a hydraulic electromagnetic valve, a lower pull rod and a rotating speed sensor; one end of an upper pull rod is hinged with a tractor body, the other end of the upper pull rod is hinged with the upper portion of a suspension bracket, one end of a lifting oil cylinder is hinged on the tractor body, the other end of the lifting oil cylinder is hinged with the middle of the upper pull rod, one end of a lower pull rod is hinged with the tractor body, the other end of the lower pull rod is hinged with the lower portion of the suspension bracket, one end of a planker and one end of a swing rod are both hinged on a protective plate of a rotary tillage unit, hinge joints are a and e respectively, a planker angle sensor is installed at the hinge joint e, the other end of the swing rod is hinged with one end of a connecting rod, the hinge joint is c, the other end of the connecting rod is hinged with the planker, the hinge joint is b, and the a, b, c and e are sequentially connected to form a parallelogram; the lifting oil cylinder is connected with a hydraulic system on the tractor through a hydraulic electromagnetic valve, the rotating speed sensor is fixed near a power output shaft of the tractor or connected with the power output shaft of the tractor, and the rotating speed sensor, the planker angle sensor and the hydraulic electromagnetic valve are all electrically connected with the controller.
Furthermore, the camera is fixed at the rear part of the tractor, the front part of the rotary cultivator is in the sight range of the camera, and the camera is electrically connected with the controller.
Furthermore, the device also comprises a display screen, and the camera is also electrically connected with the display screen.
Further, the controller comprises a reverse connection protection module, a power supply module, an initialization module, a microprocessor module, a rotating speed sensor module, an angle sensor module and two driving modules; wherein, the external 12V power supply is connected with the power supply module through the reverse connection protection module; the power supply ports of the initialization module, the microprocessor module, the input and output module, the rotating speed sensor module, the angle sensor module and the two driving modules are all connected with the power supply module; the rotating speed sensor module, the angle sensor module and the two driving modules are all connected with the microprocessor module; the rotating speed sensor is connected with the rotating speed sensor module, the carriage angle sensor is connected with the angle sensor module, and the camera is connected with the microprocessor module; the hydraulic electromagnetic valve is connected with the two driving modules.
Furthermore, one end of the upper pull rod is hinged to the tractor body, the hinged point is d, the upper pull rod swing angle sensor is installed at the hinged position and is connected with another angle sensor module, and the other angle sensor module is also connected with the microprocessor module.
Furthermore, the upper pull rod has two, and the lift cylinder includes left lift cylinder and right lift cylinder, and left lift cylinder's one end articulates on the organism of tractor, and left lift cylinder's the other end articulates with the middle part of an upper pull rod, and right lift cylinder's one end articulates on the organism of tractor, and right lift cylinder's the other end articulates with the middle part of another upper pull rod.
Furthermore, the hydraulic electromagnetic valve is a hydraulic electromagnetic directional valve, and the left lifting oil cylinder and the right lifting oil cylinder are connected with a hydraulic system on the tractor through the hydraulic electromagnetic directional valve.
A tractor rotary tillage unit tilling depth automatic control method is realized in the tractor rotary tillage unit tilling depth automatic control device, and the method comprises the following steps:
step 1: initializing;
step 2: the rotating speed sensor starts to acquire the rotating speed data of the power output shaft, and the planker angle sensor starts to detect the swing angle data of the swing rod;
and step 3: the controller receives the data transmitted by the two sensors in the step 2;
and 4, step 4: if the rotating speed of the power output shaft is lower than a set initial value, the controller outputs a signal to the hydraulic electromagnetic valve according to the rotating speed data of the power output shaft, and the hydraulic electromagnetic valve controls the lifting oil cylinder to act so as to lift the rotary tillage unit;
and 5: if the rotating speed of the power output shaft is higher than the set initial value, continuously judging whether the tillage depth is equal to the initial value, if the tillage depth is equal to the initial value, controlling the hydraulic electromagnetic valve to be not operated by the controller, and locking the lifting oil cylinder; if the tilling depth is not equal to the initial value, two situations are distinguished:
when the plough bottom layer of the previous operation is deepened, the tillage depth h of the rotary cultivator is deepened, the planker can rotate anticlockwise around a point a on the protective plate under the action of the buoyancy of muddy water to push the connecting rod to move upwards to drive the swing rod to rotate anticlockwise, the planker angle sensor gives a signal to the controller, the controller controls the lifting oil cylinder to move upwards through the hydraulic electromagnetic valve, the upper pull rod rotates anticlockwise around a point d to lift the rotary tillage cutter upwards to reduce the tillage depth h, and the tillage depth approaches to an initial value;
when the plough bottom layer of current one-time operation becomes shallow, the rotary cultivator is along with the relative plough bottom layer upward movement of tractor, the farming degree of depth h reduces thereupon, the planker can be around a point clockwise rotation on the backplate under its own effect of gravity, promote the connecting rod downstream, drive pendulum rod clockwise rotation, the planker angle sensor gives the controller signal, the controller passes through hydraulic solenoid valve control lift cylinder downstream, go up the pull rod around d point clockwise rotation, rotary blade downstream, with increase farming degree of depth h, make the farming degree of depth approach initial value.
Fixing a camera at the rear part of the tractor, wherein the front part of the rotary cultivator is in the sight range of the camera, and the camera is electrically connected with the controller; the camera gathers the anterior image of rotary cultivator to give the controller with image output, the controller carries out the binarization to the picture of gathering, obtains the binary image, black pixel number represents the area of earth in the binary image, draws black pixel from the binary image, statistics black pixel number, if black pixel number surpasses and sets for the initial value, then indicate there is the mud condition of choking, at this moment, controller output signal gives hydraulic solenoid valve, through the action of hydraulic solenoid valve control lift cylinder, promote rotary cultivator group.
Connect camera and display screen electricity, the anterior image of rotary cultivator is gathered to the camera, and the image passes through the display screen and shows, and the user judges by oneself according to the image and blocks up the mud condition, gives the hydraulic solenoid valve through controller output signal to control lifting cylinder action.
Compared with the background technology, the invention has the following beneficial effects:
1. the automatic control of the operation tilling depth of the rotary tillage unit of the tractor is realized, the tilling depth is kept consistent, and the quality of tilling and soil preparation is improved.
2. The problem that a large amount of mud is often accumulated in the front of the rotary cultivator to form mud blockage when the rotary cultivator unit of the tractor works is solved;
3. when the tractor rotary tillage unit is used for tillage in paddy fields, the situations that a driver twists back to see the tillage depth change and mud accumulation of the rotary tillage machine are greatly reduced, and the fatigue driving and body injury situations of the driver are reduced.
Drawings
FIG. 1 is a schematic view of the rotary cultivator assembly of the present invention;
FIG. 2 is a power module circuit diagram;
FIG. 3 is a reverse-connect protection module circuit diagram;
FIG. 4 is a circuit diagram of an initialization module;
FIG. 5 is a circuit diagram of an angle sensor module;
FIG. 6 is a speed sensor module circuit diagram;
FIG. 7 is a circuit diagram of a driver module;
in the figure: the rotary cultivator comprises a rotary blade 1, a planker 2, a connecting rod 3, a swing rod 4, a planker angle sensor 5, a protective plate 6, a suspension bracket 7, an upper pull rod 8, a lifting oil cylinder 9, an upper pull rod swing angle sensor 10, a machine body 11, a camera 12, a lower pull rod 13 and a rotary cultivator unit 14.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in figure 1, the invention provides an embodiment of a rotary cultivator unit tilling depth automatic control device of a tractor, which comprises a rotary cultivator unit 14, wherein the rotary cultivator unit 14 is arranged on a suspension bracket 7, and a rotary blade 1 in the rotary cultivator unit is driven to rotate by a power output shaft of the tractor; the device also comprises a carriage 2, a connecting rod 3, a swing rod 4, a carriage angle sensor 5, an upper pull rod 8, a lifting oil cylinder 9, an upper pull rod swing angle sensor 10, a controller, a hydraulic electromagnetic valve and a lower pull rod 13; one end of the upper pull rod 8 is hinged with a tractor body 11, the hinged point is d, an upper pull rod swing angle sensor 10 is installed at the hinged position, and the upper pull rod swing angle sensor 10 is used for detecting the rotation angle of the upper pull rod 8 relative to the tractor body 11; the other end of the upper pull rod 8 is hinged with the upper part of the suspension bracket 7, one end of a lifting oil cylinder 9 is hinged on a machine body 11 of a tractor, the other end of the lifting oil cylinder 9 is hinged with the middle part of the upper pull rod 8, one end of a lower pull rod 13 is hinged with the machine body 11 of the tractor, the other end of the lower pull rod 13 is hinged with the lower part of the suspension bracket 7, one end of the carriage 2 and one end of the swing rod 4 are both hinged on a protective plate 6 of a rotary tillage unit, the hinged points are a and e respectively, and a carriage angle sensor 5 is arranged at the hinged point e and used for detecting the rotation angle of the swing rod 4 relative to the protective plate 6; the other end of the swing rod 4 is hinged with one end of the connecting rod 3, the hinge point is c, the other end of the connecting rod 3 is hinged with the carriage 2, the hinge point is b, and a, b, c and e are sequentially connected to form a parallelogram; the lifting oil cylinder 9 is connected with a hydraulic system on the tractor through a hydraulic electromagnetic valve, and the rotating speed sensor is fixed near the power output shaft of the tractor or connected with the power output shaft of the tractor. The camera 12 is fixed at the rear of the tractor, the front part of the rotary cultivator is in the sight range of the camera 12, and the camera is respectively and electrically connected with the display screen and the controller. The rotating speed sensor, the carriage angle sensor 5, the upper pull rod swing angle sensor 10 and the hydraulic solenoid valve are all electrically connected with the controller, the rotating speed sensor is used for collecting rotating speed data of a power output shaft, the carriage angle sensor is used for detecting swing angle data of the swing rod, the controller receives the data transmitted by the two sensors, and finally signals for controlling the hydraulic solenoid valve are obtained through analog-to-digital conversion and pid algorithm of the data.
In order to improve the stability of lifting, the upper pull rod 8 has two, and the lift cylinder 9 includes left lift cylinder and right lift cylinder, and left lift cylinder's one end articulates on the organism 11 of tractor, and left lift cylinder's the other end is articulated with the middle part of an upper pull rod 8, and right lift cylinder's one end articulates on the organism 11 of tractor, and right lift cylinder's the other end is articulated with the middle part of another upper pull rod 8.
The automatic control device for the tilling depth of the rotary tillage unit requires that a piston rod of a double-acting hydraulic cylinder realizes three states of extension, shortening and stillness in work, an oil way mainly comprises an oil inlet P (connected with a hydraulic system on a tractor), an oil return port T (connected with the hydraulic system on the tractor) and two oil ports A and B connected with the double-acting hydraulic cylinder, so that a hydraulic electromagnetic valve adopts a three-position four-way electromagnetic reversing valve to meet the reversing requirement of hydraulic oil of the system. (the left lifting oil cylinder and the right lifting oil cylinder are double-acting oil cylinders, each double-acting oil cylinder is provided with an oil port A and an oil port B, and hydraulic oil enters from the oil ports P and then is divided into two paths to pass through the left lifting oil cylinder and the right lifting oil cylinder.
The controller comprises a reverse connection protection module, a power supply module, an initialization module, a microprocessor module, a rotating speed sensor module, two angle sensor modules and two driving modules; wherein, the external 12V power supply is connected with the power supply module through the reverse connection protection module; the power supply ports of the initialization module, the microprocessor module, the input and output module, the rotating speed sensor module, the two angle sensor modules and the two driving modules are all connected with the power supply module; the rotating speed sensor module, the two angle sensor modules and the driving module are all connected with the microprocessor module; the rotating speed sensor is connected with the rotating speed sensor module, the planker angle sensor is connected with one angle sensor module, the upper pull rod swing angle sensor is connected with the other angle sensor module, and the camera is connected with the microprocessor module; the three-position four-way electromagnetic directional valve is connected with the two driving modules.
As shown in fig. 2, the power supply module includes an external power input socket H101, a switch socket SW01, a voltage stabilizing chip U101, non-polar capacitors C03 and C05, polar capacitors C04 and C06, a resistor R101, and a power indicator D101; the external power input seat H101 is connected with a 12V power supply, the positive input port of the external power input seat H101 is connected with one end of the switch socket SW01, and the other end of the switch socket SW01, the power input port of the voltage stabilizing chip U101, one end of the non-polar capacitor C03 and the positive electrode of the polar capacitor C04 are connected to serve as a first power output port; a power output port of the voltage stabilizing chip U101, one end of the non-polar capacitor C05 and the anode of the polar capacitor C06 are connected and then serve as a second power output port; the grounding port of the voltage stabilizing chip U101 is grounded; one end of the resistor R101 is connected with the anode of the power indicator lamp D101, and the other end of the resistor R101 is connected with the first power output port; the other ends of the non-polar capacitors C03 and C05, the cathodes of the polar capacitors C04 and C06 and the cathode of the power indicator lamp D101 are connected and then grounded; the voltage regulation chip U101 may adopt a product of model AS1117 (5V), but is not limited thereto.
As shown in fig. 3, the reverse connection protection module includes a MOS transistor Q4 and a resistor R10; the source electrode of the MOS transistor Q4 is grounded, the drain electrode of the MOS transistor Q4 is used as the input end of the MOS transistor Q4 and is connected with the negative input port of the power input seat H101, the gate electrode of the MOS transistor Q4 is connected with one end of the resistor R10, and the other end of the resistor R10 is connected with the first power output port of the power module.
As shown in fig. 4, the initialization module is an initialization button access seat ZERO-SET; the first port of the initialization button access base ZERO-SET is connected with the I/O port of the micro-processing module, and the second port of the initialization button access base ZERO-SET is grounded.
The micro-processing module is a control chip U1; the control chip U1 may be a product with a model of STC15F2K60S2, but is not limited thereto.
As shown in fig. 5, the angle sensor module includes two angle sensor sockets A1 and A2; a first port of the angle sensor access seat A1 is connected with a second power output port of the power module, a second port of the angle sensor access seat A1 is connected with a first analog input port of the control chip U1, and a third port of the angle sensor access seat A1 is grounded; the first port of the angle sensor access seat A2 is connected with the second power output port of the power module, the second port of the angle sensor access seat A2 is connected with the second analog input port of the control chip U1, and the third port of the angle sensor access seat A2 is grounded.
As shown in fig. 6, the rotation speed sensor module is a rotation speed sensor access seat A3; the first port of the rotating speed sensor access seat A3 is connected with the second power output port of the power module, the second port of the rotating speed sensor access seat A3 is connected with the third analog input port of the control chip U1, and the third port of the rotating speed sensor access seat A3 is grounded.
As shown in fig. 7, the driving module includes resistors R1, R2, R3, and R203, an optocoupler T1, an MOS transistor Q1, a diode D1, a light emitting diode D104, and a driving valve socket vale1; the positive electrode of the diode D1, the negative electrode of the light-emitting diode D104 and one end of the electromagnetic valve socket vale1 are connected and then connected with the drain electrode of the MOS tube Q1, the gate electrode of the MOS tube Q1 is connected with one end of the resistor R1, and the source electrode of the MOS tube Q1 is connected with one end of the resistor R2 and then grounded; the anode of the light-emitting diode D104 is connected with one end of the resistor R03; the other end of the solenoid valve socket vale1, the other end of the resistor R03, the cathode of the diode D1 and the collector of the optocoupler T1 are connected and then connected with a first power output port of the power module; the other end of the resistor R1 is connected with the other end of the resistor R2 and then connected with an emitting electrode of the optocoupler T1; the anode of a light emitting diode of the optocoupler T1 is connected with one end of a resistor R3, and the cathode of the light emitting diode of the optocoupler T1 is connected with an I/O port of a control chip U1; the other end of the resistor R3 is connected with a second power supply output port of the power supply module; the four ports of the three-position four-way electromagnetic directional valve are connected with two driving valve seats vale1 of two driving modules (the electrical connection of the ports is common knowledge in the field).
When the tractor rotary tillage unit works, the planker 2 is dragged by the protective plate 6 to move forward, the rotary tillage cutter 1 cultivates on a plough bottom layer, the planker 2 floats on the cultivated ground surface, and the distance between the plough bottom layer and the ground surface is the rotary tillage depth h.
The rotational speed sensor begins to gather power output shaft rotational speed data, planker angle sensor begins to detect pendulum rod swing angle data, the controller receives the data that two sensors of step 2 transmitted, when the rotary tillage unit 14 front is choked up mud seriously, tractor traction does not move rotary tillage unit 14, the rotational speed of tractor engine can sharply descend, make power output shaft's rotational speed reduce, at this moment, rotational speed sensor perception tractor power output shaft's rotational speed is sharply descending (being less than the initial value of settlement), give the controller this signal, the controller supplies oil for lift cylinder 9 through hydraulic solenoid valve, its piston rod rises, 8 anticlockwise rotations of upper pull rod, lift rotary tillage unit 14 upwards, the depth of cultivation sword 1 reduces.
When the rotary cultivator crosses the front mud blocking, the rotating speed of the engine of the tractor rises, the power output shaft of the tractor recovers to the normal rotating speed, and when the rotating speed sensor senses that the rotating speed of the power output shaft is in the normal range, the tilling depth is controlled by the planker angle sensor 5.
When a tractor rotary tillage unit walks in mud field for operation, a driving wheel of a tractor walks on a plough bottom layer of previous operation, when the plough bottom layer of the previous operation becomes deep, the tillage depth h of a rotary cultivator is deepened therewith, the planker 2 can rotate anticlockwise around a point a on the guard plate 6 under the action of buoyancy of muddy water, the connecting rod 3 is pushed to move upwards, the swing rod 4 is driven to rotate anticlockwise, the planker angle sensor 5 gives a signal to the controller, the controller controls the lifting oil cylinder 9 to move upwards through the hydraulic electromagnetic valve, the upper pull rod 8 rotates anticlockwise around a point d, the rotary tillage cutter 1 is lifted upwards, and the tillage depth h is reduced.
When the plough bottom layer of the current operation becomes shallow, the rotary tillage unit 14 moves upwards along with the tractor relative to the plough bottom layer, the farming depth h is reduced, the planker 2 can rotate clockwise around a point a on the guard plate 6 under the action of the self gravity of the planker, the connecting rod 3 is pushed to move downwards, the swing rod 4 is driven to rotate clockwise, the planker angle sensor 5 gives a controller signal, the controller controls the lifting oil cylinder 9 to move downwards through the hydraulic electromagnetic valve, the upper pull rod 8 rotates clockwise around a point d, the rotary tillage cutter 1 moves downwards, and the farming depth h is increased.
In addition, the camera 12 is used for collecting mud blocking information in the front of the rotary cultivator unit 14 and sending the image to the controller, the controller conducts binarization on the collected image to obtain a binary image, the number of black pixels in the binary image represents the area of the mud, black pixels are extracted from the binary image, the number of the black pixels is counted, if the number of the black pixels exceeds a set initial value, mud blocking is indicated, at the moment, the controller outputs a signal to the hydraulic solenoid valve, the hydraulic solenoid valve controls the lifting oil cylinder to act, the rotary cultivator unit is lifted, the tilling depth of the rotary cultivator unit 14 is reduced, farming resistance is reduced, and mud blocking in the front of the rotary cultivator unit 14 is crossed.
Simultaneously, the image that the camera was gathered passes through the display screen and shows, and the user judges by oneself according to the image and blocks up the mud condition, gives the hydraulic solenoid valve through controller output signal to control the action of lift cylinder.
The upper pull rod swing angle sensor 10 can sense the position of the upper pull rod 8, and when the tilling depth is required to be set according to the relative position of the tractor and the rotary cultivator, the tilling depth is set by the sensor, so that a change-over switch for setting the tilling depth by the upper pull rod swing angle sensor 10 and setting the tilling depth by the planker angle sensor 5 is arranged in the controller 13, and a user can select which sensor is used according to actual conditions.
Claims (8)
1. A tractor rotary tillage unit tilling depth automatic control device comprises a rotary tillage unit, the rotary tillage unit is arranged on a suspension bracket, and the tractor rotary tillage unit is characterized by also comprising a planker, a connecting rod, a swing rod, a planker angle sensor, an upper pull rod, a lifting oil cylinder, a controller, a hydraulic electromagnetic valve, a lower pull rod and a rotating speed sensor; one end of an upper pull rod is hinged with a tractor body, the other end of the upper pull rod is hinged with the upper portion of a suspension bracket, one end of a lifting oil cylinder is hinged on the tractor body, the other end of the lifting oil cylinder is hinged with the middle portion of the upper pull rod, one end of a lower pull rod is hinged with the tractor body, the other end of the lower pull rod is hinged with the lower portion of the suspension bracket, one end of a planker and one end of a swing rod are both hinged on a protective plate of a rotary tillage unit, hinge points are a and e respectively, a planker angle sensor is installed at the hinge point e, the other end of the swing rod is hinged with one end of a connecting rod, the hinge point is c, the other end of the connecting rod is hinged with the planker, the hinge point is b, and the a, b, c and e are sequentially connected to form a parallelogram; the lifting oil cylinder is connected with a hydraulic system on the tractor through a hydraulic electromagnetic valve, the rotating speed sensor is fixed near a power output shaft of the tractor or connected with the power output shaft of the tractor, and the rotating speed sensor, the planker angle sensor and the hydraulic electromagnetic valve are all electrically connected with the controller;
the controller comprises a reverse connection protection module, a power supply module, an initialization module, a microprocessor module, a rotating speed sensor module, an angle sensor module and two driving modules; wherein, the external 12V power supply is connected with the power supply module through the reverse connection protection module; the power supply ports of the initialization module, the microprocessor module, the input and output module, the rotating speed sensor module, the angle sensor module and the two driving modules are all connected with the power supply module; the rotating speed sensor module, the angle sensor module and the two driving modules are all connected with the microprocessor module; the rotating speed sensor is connected with the rotating speed sensor module, the planker angle sensor is connected with the angle sensor module, and the camera is connected with the microprocessor module; the hydraulic electromagnetic valve is connected with the two driving modules;
wherein, the one end of going up the pull rod is articulated with the organism of tractor, and the pin joint is d, and pull rod pivot angle sensor is installed to articulated department, goes up pull rod pivot angle sensor and links to each other with another angle sensor module, and another angle sensor module also links to each other with the microprocessor module.
2. The automatic tilling depth control device for the rotary cultivator unit of the tractor as claimed in claim 1, wherein the camera is fixed at the rear part of the tractor, the front part of the rotary cultivator is within the sight of the camera, and the camera is electrically connected with the controller.
3. The automatic control device for the tilling depth of the rotary tillage unit of the tractor according to claim 2, further comprising a display screen, wherein the camera is further electrically connected with the display screen.
4. The automatic control device for the tilling depth of the rotary tillage unit of the tractor according to claim 1, wherein the number of the upper pull rod is two, the lifting cylinders include a left lifting cylinder and a right lifting cylinder, one end of the left lifting cylinder is hinged to the body of the tractor, the other end of the left lifting cylinder is hinged to the middle portion of one upper pull rod, one end of the right lifting cylinder is hinged to the body of the tractor, and the other end of the right lifting cylinder is hinged to the middle portion of the other upper pull rod.
5. The automatic control device for the tilling depth of the rotary tillage unit of the tractor according to claim 4, wherein the hydraulic solenoid valve is a hydraulic electromagnetic directional valve, and the left lifting cylinder and the right lifting cylinder are connected with a hydraulic system on the tractor through the hydraulic electromagnetic directional valve.
6. An automatic control method for the tilling depth of a rotary tillage unit of a tractor, which is realized by the automatic control device for the tilling depth of the rotary tillage unit of the tractor as claimed in claim 1, and which comprises the following steps:
step 1: initializing;
step 2: the rotating speed sensor starts to acquire the rotating speed data of the power output shaft, and the planker angle sensor starts to detect the swing angle data of the swing rod;
and step 3: the controller receives the data transmitted by the two sensors in the step 2;
and 4, step 4: if the rotating speed of the power output shaft is lower than a set initial value, the controller outputs a signal to the hydraulic electromagnetic valve according to the rotating speed data of the power output shaft, and the hydraulic electromagnetic valve controls the lifting oil cylinder to act so as to lift the rotary tillage unit;
and 5: if the rotating speed of the power output shaft is higher than the set initial value, continuously judging whether the tillage depth is equal to the initial value, if the tillage depth is equal to the initial value, controlling the hydraulic electromagnetic valve to be not operated by the controller, and locking the lifting oil cylinder; if the tilling depth is not equal to the initial value, two situations are distinguished:
when the plough bottom layer of the previous operation is deepened, the tillage depth h of the rotary cultivator is deepened, the planker can rotate anticlockwise around a point a on the protective plate under the action of the buoyancy of muddy water to push the connecting rod to move upwards to drive the swing rod to rotate anticlockwise, the planker angle sensor gives a signal to the controller, the controller controls the lifting oil cylinder to move upwards through the hydraulic electromagnetic valve, the upper pull rod rotates anticlockwise around a point d to lift the rotary tillage cutter upwards to reduce the tillage depth h, and the tillage depth approaches to an initial value;
when the plough bottom layer of current one-time operation becomes shallow, the rotary cultivator is along with the relative plough bottom layer upward movement of tractor, the farming degree of depth h reduces thereupon, the planker can be around a point clockwise rotation on the backplate under its own effect of gravity, promote the connecting rod downstream, drive pendulum rod clockwise rotation, the planker angle sensor gives the controller signal, the controller passes through hydraulic solenoid valve control lift cylinder downstream, go up the pull rod around d point clockwise rotation, rotary blade downstream, with increase farming degree of depth h, make the farming degree of depth approach initial value.
7. The automatic control method for the tilling depth of the rotary cultivator unit of the tractor as claimed in claim 6, wherein a camera is fixed at the rear part of the tractor, the front part of the rotary cultivator is within the sight range of the camera, and the camera is electrically connected with the controller; the camera gathers the anterior image of rotary cultivator to give the controller with image output, the controller carries out the binarization to the picture of gathering, obtains the binary image, black pixel number represents the area of earth in the binary image, draws black pixel from the binary image, statistics black pixel number, if black pixel number surpasses and sets for the initial value, then indicate there is the mud condition of choking, at this moment, controller output signal gives hydraulic solenoid valve, through the action of hydraulic solenoid valve control lift cylinder, promote rotary cultivator group.
8. The automatic control method for the tilling depth of the rotary tillage unit of the tractor according to claim 6, wherein the camera is electrically connected with the display screen, the camera collects images of the front part of the rotary tillage unit, the images are displayed by the display screen, a user can automatically judge the mud blocking condition according to the images, and a controller outputs a signal to the hydraulic solenoid valve so as to control the action of the lifting oil cylinder.
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| 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 |
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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 |
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