CN108377686A - A kind of tilling depth automatic control and adjustment device and its control to adjust method - Google Patents
A kind of tilling depth automatic control and adjustment device and its control to adjust method Download PDFInfo
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- CN108377686A CN108377686A CN201810530546.6A CN201810530546A CN108377686A CN 108377686 A CN108377686 A CN 108377686A CN 201810530546 A CN201810530546 A CN 201810530546A CN 108377686 A CN108377686 A CN 108377686A
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- contour wheel
- wheel
- obliquity sensor
- elevation
- tilling depth
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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
- A01B63/12—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by an electric motor
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Lifting Devices For Agricultural Implements (AREA)
Abstract
The invention belongs to agricultural mechanical fields, and in particular, to a kind of tilling depth automatic control and adjustment device, including machine assembly and control unit；Described control unit includes the first obliquity sensor (6), the second obliquity sensor (7), rotary encoder (8) and controller (9)；First obliquity sensor (6) is arranged on pull rod (2), and the second obliquity sensor (7) is arranged on profiling wheel carrier (11), and rotary encoder (8) is provided at the shaft of contour wheel (3)；Electric pushrod (4), the first obliquity sensor (6), the second obliquity sensor (7) and rotary encoder (8) are electrically connected with controller (9).It is accurate that the tilling depth automatic control and adjustment apparatus structure of the present invention is simple, tilling depth is adjusted, and realizes automation tilling depth and controls to adjust.Using contour wheel detection surface relief, the method for electric pushrod telescopic adjustment tilling depth, tilling depth automatic control and adjustment is realized.
Description
Technical field
The invention belongs to agricultural mechanical fields, and in particular, to a kind of tilling depth automatic control and adjustment device and its controlling party
Method.
Background technology
Tilling depth consistency is to weigh the important indicator of cultivating quality, and traditional tilling depth adjusting method is using manual mode to tilling depth
It is controlled to adjust, driver sets up each rod length in advance, is then controlled by hydraulic lift hitch, and driver is sometimes difficult to examine
Feel surface relief, causes tilling depth inconsistent.Tilling depth is shallow, is unfavorable for plant growth；Tilling depth is big, increases equipment operation resistance, increases
Tractor power consumption, artificial adjustment labor intensity is big, and controls inaccurate.Tilling depth monitoring in real time at present and automatic adjustment technologies are owed
It lacks, existing equipment is complicated, monitoring adjustment is inaccurate.
The application that Chinese utility model application number is 201220155951.2《A kind of tilling depth controlled system with self-regulation》, lead to
Cross the depth for pulling tilling depth regulation handle change plough in soil.It is passed according to two pieces of inclination angles on tractor and ploughing depth regulation pivoted arm
The difference of sensor detected value, is calculated tilling depth.Controller drives tilling depth to adjust hand according to the feedback control stepper motor of tilling depth
Handle, to automatically control tilling depth.Since arable land is uneven, tractor easily jolts, poor using tractor and tilling depth regulation pivoted arm inclination angle
It is inaccurate to be worth the tilling depth calculated.And utilize the tilling depth regulating mechanism of the components such as tilling depth regulation handle, tilling depth regulation pivoted arm composition
Structure is more complex.
The application that Chinese utility model application number is 201420677711.8《Tilling depth adjusts circuit》, risen by folding,
Down switch makes to plough rake agricultural machinery and implement up and down, and has position limitation protection, easy to operate, applied widely, but cannot achieve certainly
It is dynamic to adjust.
In cultivating procedure, tilth and tilling depth consistency are to weigh the important indicator of cultivating quality.Tilling depth is real-time at present
It monitors and the technology of adjust automatically is short of, existing equipment is complicated, there is a problem of that monitoring is inaccurate, adjustment inconvenience.
Invention content
It is an object of the invention to propose it is a kind of can monitor in real time hypsography, realize deep soil loosing shovel operation process in plough
Deep consistent tilling depth automatic control and adjustment device.
Another object of the present invention is to propose that a kind of tilling depth using the tilling depth automatic control and adjustment device is controlled automatically
Adjusting method processed.
The purpose of the present invention is what is be achieved through the following technical solutions：
A kind of tilling depth automatic control and adjustment device, including machine assembly, the machine assembly include vertical hanger bracket 1, draw
Bar 2, contour wheel 3, electric pushrod 4, break shovel 5, tension spring 10 and profiling wheel carrier 11；
The front end of pull rod 2 is hinged on vertical hanger bracket 1, and the rear end of pull rod 2 mounts break shovel 5；Profiling wheel carrier 11 it is upper
End is hinged with vertical hanger bracket 1, and the lower end of profiling wheel carrier 11 is equipped with contour wheel 3；Contour wheel 3 is contacted with ground, and contour wheel 3 is located at
5 front of break shovel；One end of electric pushrod 4 is hinged on the upper end of vertical hanger bracket 1, and the other end is hinged on pull rod 2；Contour wheel
It is equipped with tension spring 10 between frame 11 and vertical hanger bracket 1；
Described device further includes control unit；
Described control unit includes the first obliquity sensor 6, the second obliquity sensor 7, rotary encoder 8 and controller 9；
First obliquity sensor 6 is arranged on pull rod 2, and the second obliquity sensor 7 is arranged on profiling wheel carrier 11, contour wheel
Rotary encoder 8 is provided at 3 shaft；
Electric pushrod 4, the first obliquity sensor 6, the second obliquity sensor 7 and rotary encoder 8 are electrically connected with controller 9
It connects.
Controller 9 is installed on vertical hanger bracket 1.
A kind of tilling depth automatic control and adjustment method using the tilling depth automatic control and adjustment device, the method includes
Following steps：
Original state：Pull rod 2 is horizontally situated, and the initial angle of the first obliquity sensor 6 is 0 °；Profiling wheel carrier 11
In vertical position, the initial angle of the second obliquity sensor 7 is 0 °；
A. rotary encoder 8 measures the rotating speed of contour wheel 3, by the radius of contour wheel 3, obtains tilling depth automatic control and adjustment
The forward speed of device；By the horizontal distance L between the central point and break shovel 5 of contour wheel 3, shovel-wheel activity duration is obtained
Difference：Wherein r is the radius of contour wheel 3, and n is the rotating speed of contour wheel 3, by time difference △ t input controller 9,
So that 4 setting in motion moment of electric pushrod and contour wheel 3 is encountered the obstacle moment and differs time △ t；
B. the second obliquity sensor 7 measures the variation of contour wheel corner β, you can obtains contour wheel 3 with ground change in elevation
H, note current time are t1, and entering data into controller 9, wherein the angle between profiling wheel carrier 11 and vertical plane is profiling
Rotate angle beta；
C. the change in elevation h of break shovel 51It is initialized as 0, the first obliquity sensor 6 measures the pull rod corner of pull rod 2 in real time
The variation of α, and it is transmitted to controller 9, the change in elevation h of break shovel 5 can be obtained by the variation of pull rod corner α1, wherein pull rod 2
Upper surface and the top of vertical hanger bracket 1 between angle be pull rod corner α；
D. controller 9 judges the change in elevation h of break shovel 5 according to pull rod corner α and contour wheel corner β1With contour wheel 3 with
Whether ground change in elevation h is equal：As the change in elevation h of break shovel 51It is unequal with ground change in elevation h with contour wheel 3, into
Enter step e, as the change in elevation h of break shovel 51It is equal with ground change in elevation h with contour wheel 3, enter step f；
E. controller 9 judges current time t2Whether t is met2-t1=△ t：Work as t2-t1When=△ t, controller 9 controls electricity
Dynamic push rod 4 is flexible：Second obliquity sensor 7 measures contour wheel corner β and becomes hour, and controller 9 controls electric pushrod 4 and extends, makes
Obtain the change in elevation h of break shovel 51It is equal with ground change in elevation h with contour wheel 3；Second obliquity sensor 7 measures profiling rotation
When angle beta becomes larger, controller 9, which controls electric pushrod 4, to be shortened so that the change in elevation h of break shovel 51Change with ground with contour wheel 3
Height h is equal；Until h=h1When, 4 stop motion of electric pushrod, break shovel 5 is located at correct position, later, repeats step d, directly
It is stopped to tilling depth automatic control and adjustment device；
F. at this point, break shovel 5 is located at correct position, electric pushrod 4 remains stationary as；Later, step d is repeated, until tilling depth
Automatic control and adjustment device is stopped.
In step b, when encountering barrier, contour wheel 3 is rotated around lower link point B, and profiling wheel carrier 11 is upward around lower link point B
Rotation, i.e., contour wheel corner β becomes ∠ F from ∠ FBG1BG1, the contour wheel radius of gyration BF=BF of contour wheel 31, contour wheel 3 with
Ground change in elevation is h, wherein the hinge joint of profiling wheel carrier 11 and vertical hanger bracket 1 is lower link point B.
The beneficial effects of the present invention are：
Using contour wheel detection surface relief, the method for electric pushrod telescopic adjustment tilling depth, realize that tilling depth automatically controls tune
Section.
Contour wheel, the variation of pull rod corner are measured using obliquity sensor, and calculates and is converted into height change, and can be before
Change the control system feedback regulation time difference in real time into speed.
It is accurate that the tilling depth automatic control and adjustment apparatus structure of the present invention is simple, tilling depth is adjusted, and realizes automation tilling depth control
System is adjusted.
Description of the drawings
Fig. 1 is the structure schematic elevation view of the tilling depth automatic control and adjustment device of the present invention；
Fig. 2 is that the structure diagonal of the tilling depth automatic control and adjustment device of the present invention regards schematic diagram；
Fig. 3 is that the angle of the tilling depth automatic control and adjustment device of the present invention illustrates schematic diagram.
Reference numeral：
1 vertical hanger bracket, 2 pull rod, 3 contour wheel
4 electric pushrod, 5 break shovel, 6 first obliquity sensor
7 second obliquity sensor, 8 rotary encoder, 9 controller
10 tension spring, 11 profiling wheel carrier
Specific implementation mode
With reference to the accompanying drawings and examples, the specific implementation mode of the present invention is described in further detail.
As shown in Figures 1 to 3, a kind of tilling depth automatic control and adjustment device, including machine assembly and control unit.
Machine assembly, including vertical hanger bracket 1, pull rod 2, contour wheel 3, electric pushrod 4, break shovel 5, tension spring 10 and profiling
Wheel carrier 11；The present apparatus can be mounted on tractor by hanger bracket 1.
The front end of pull rod 2 is hinged on vertical hanger bracket 1, and the hinge joint of pull rod 2 and vertical hanger bracket 1 is upper link point A,
The rear end of pull rod 2 mounts cultivating member.Preferably, in the present embodiment, the cultivating member is break shovel 5.The upper table of pull rod 2
Angle between face and the top of vertical hanger bracket 1 is pull rod corner α.The upper end of profiling wheel carrier 11 is hinged with vertical hanger bracket 1,
The hinge joint of profiling wheel carrier 11 and vertical hanger bracket 1 is lower link point B.Contour wheel 3 is arranged in the lower end of profiling wheel carrier 11, profiling
Wheel 3 is contacted with ground.Contour wheel 3 is located at 5 front of break shovel, has certain distance, central point and the pine of contour wheel 3 between the two
Horizontal distance between mamoty 5 is L.Profiling wheel carrier 11 and the angle of vertical plane are contour wheel corner β.One end of electric pushrod 4
It is hinged on the upper end of vertical hanger bracket 1, the other end is hinged on pull rod 2.It is equipped with and draws between profiling wheel carrier 11 and vertical hanger bracket 1
Spring 10.
Control unit, including the first obliquity sensor 6, the second obliquity sensor 7, rotary encoder 8 and controller 9.
First obliquity sensor 6 is arranged on pull rod 2, the variation of detection pull rod corner α.Second obliquity sensor 7 is arranged
In on profiling wheel carrier 11, the variation for measuring contour wheel corner β.
Rotary encoder 8 is provided at the shaft of contour wheel 3, the rotating speed for detecting contour wheel 3.
Controller 9 is installed on vertical hanger bracket 1, is electrically connected between electric pushrod 4 and controller 9.Electric pushrod 4 receives
9 signal of controller realizes that the push rod of electric pushrod 4 is flexible.
By the horizontal distance L between the rotating speed and break shovel 5 and contour wheel 3 of contour wheel 3, the control of controller 9 can be obtained
The time of 4 setting in motion of electric pushrod makes tilling depth start the time consistency of the time and surface relief variation beginning of adjustment, ensures
The accuracy that tilling depth is adjusted.
First obliquity sensor 6, the second obliquity sensor 7 and rotary encoder 8 are electrically connected with controller 9.
Controller 9 receives the variable signal of the contour wheel corner β of the second obliquity sensor 7, and obtains the height of contour wheel 3
Change h, then control 4 stretching motion of electric pushrod, electric pushrod 4 is flexible to drive pull rod 2 to be rotated around upper link point A, realizes pine
The depth adjustment of mamoty 5.
Controller 9 receives the variable signal of the pull rod corner α of the first obliquity sensor 6 on pull rod 2, obtains deep soil loosing shovel 5
Height change h1, work as h=h1When, 4 stop motion of electric pushrod, break shovel 5 is located at correct position.
Described device is mounted on trifilar suspension after tractor by vertical hanger bracket 1, is walked by tractor-drawn.
A kind of tilling depth automatic control and adjustment method using tilling depth automatic control and adjustment device includes the following steps：
Original state：Pull rod 2 is horizontally situated, and the initial angle of the first obliquity sensor 6 is 0 °；Profiling wheel carrier 11
In vertical position, 7 initial angle of the second obliquity sensor is 0 °, and tension spring 10 is in unstretched state.
A. rotary encoder 8 measures the rotating speed of contour wheel 3, by the radius of contour wheel 3, obtains tilling depth automatic control and adjustment
The forward speed of device；By the distance between the central point of contour wheel 3 and break shovel 5 L (m), shovel-wheel activity duration is obtained
Difference：Wherein r is the radius (m) of contour wheel 3, and n is the rotating speed (r/min) of contour wheel 3, and time difference △ t is defeated
Enter controller 9, so that 4 setting in motion moment of electric pushrod and contour wheel 3 is encountered the obstacle moment and differ time △ t；
B. the second obliquity sensor 7 measures the variation of contour wheel corner β, you can obtains contour wheel 3 with ground change in elevation
H, note current time are t1, and enter data into controller 9；
Specifically, when encountering barrier, contour wheel 3 is rotated around lower link point B, and profiling wheel carrier 11 is upward around lower link point B
Rotation, i.e., contour wheel corner β becomes ∠ F from ∠ FBG1BG1.The contour wheel radius of gyration BF=BF of contour wheel 31, contour wheel 3 with
Ground change in elevation is h；
C. the change in elevation h of break shovel 51It is initialized as 0, the first obliquity sensor 6 measures the pull rod corner of pull rod 2 in real time
The variation of α, and it is transmitted to controller 9, the change in elevation h of break shovel 5 can be obtained by the variation of pull rod corner α1；
D. controller 9 judges the change in elevation h of break shovel 5 according to pull rod corner α and contour wheel corner β1With contour wheel 3 with
Whether ground change in elevation h is equal：As the change in elevation h of break shovel 51It is unequal with ground change in elevation h with contour wheel 3, into
Enter step e, as the change in elevation h of break shovel 51It is equal with ground change in elevation h with contour wheel 3, enter step f；
E. controller 9 judges current time t2Whether t is met2-t1=△ t：Work as t2-t1When=△ t, controller 9 controls electricity
Dynamic push rod 4 is flexible：Second obliquity sensor 7 measures contour wheel corner β and becomes hour, and controller 9 controls electric pushrod 4 and extends, makes
Obtain the change in elevation h of break shovel 51It is equal with ground change in elevation h with contour wheel 3；Second obliquity sensor 7 measures profiling rotation
When angle beta becomes larger, controller 9, which controls electric pushrod 4, to be shortened so that the change in elevation h of break shovel 51Change with ground with contour wheel 3
Height h is equal；Until h=h1When, 4 stop motion of electric pushrod, break shovel 5 is located at correct position, later, repeats step d, directly
It is stopped to tilling depth automatic control and adjustment device；
F. at this point, break shovel 5 is located at correct position, electric pushrod 4 remains stationary as；Later, step d is repeated, until tilling depth
Automatic control and adjustment device is stopped.
Claims (4)
1. a kind of tilling depth automatic control and adjustment device, including machine assembly, the machine assembly includes vertical hanger bracket (1), draws
Bar (2), contour wheel (3), electric pushrod (4), break shovel (5), tension spring (10) and profiling wheel carrier (11)；
The front end of pull rod (2) is hinged on vertical hanger bracket (1), the rear end mounting break shovel (5) of pull rod (2)；Profiling wheel carrier
(11) upper end is hinged with vertical hanger bracket (1), and the lower end of profiling wheel carrier (11) is equipped with contour wheel (3)；Contour wheel (3) and ground
Contact, contour wheel (3) are located in front of break shovel (5)；One end of electric pushrod (4) is hinged on the upper end of vertical hanger bracket (1), separately
One end is hinged on pull rod (2)；Tension spring (10) is equipped between profiling wheel carrier (11) and vertical hanger bracket (1)；
It is characterized in that：
Described device further includes control unit；
Described control unit includes the first obliquity sensor (6), the second obliquity sensor (7), rotary encoder (8) and controller
(9)；
First obliquity sensor (6) is arranged on pull rod (2), and the second obliquity sensor (7) is arranged on profiling wheel carrier (11), is imitated
Rotary encoder (8) is provided at the shaft of shape wheel (3)；
Electric pushrod (4), the first obliquity sensor (6), the second obliquity sensor (7) and rotary encoder (8) are and controller
(9) it is electrically connected.
2. tilling depth automatic control and adjustment device as described in claim 1, it is characterised in that：
Controller (9) is installed on vertical hanger bracket (1).
3. a kind of tilling depth automatic control and adjustment method using tilling depth automatic control and adjustment device as claimed in claim 1 or 2,
It is characterized in that：
Described method includes following steps：
Original state：Pull rod (2) is horizontally situated, and the initial angle of the first obliquity sensor (6) is 0 °；Profiling wheel carrier (11)
Positioned at vertical position, the initial angle of the second obliquity sensor (7) is 0 °；
A. rotary encoder (8) measures the rotating speed of contour wheel (3), by the radius of contour wheel (3), obtains tilling depth and automatically controls tune
The forward speed of regulating device；By the horizontal distance L between the central point and break shovel (5) of contour wheel (3), shovel-crop rotation is obtained
The industry time difference：Wherein r is the radius of contour wheel (3), and n is the rotating speed of contour wheel (3), and time difference △ t is defeated
Enter controller (9), so that electric pushrod (4) setting in motion moment and contour wheel (3) is encountered the obstacle moment and differ time △ t；
B. the second obliquity sensor (7) measures the variation of contour wheel corner β, you can obtains contour wheel (3) with ground change in elevation
H, note current time are t1, and enter data into controller (9), wherein angle of the profiling wheel carrier (11) between vertical plane be
Contour wheel corner β；
C. the change in elevation h of break shovel (5)1It is initialized as 0, the pull rod that the first obliquity sensor (6) measures pull rod (2) in real time turns
The variation of angle α, and it is transmitted to controller (9), the change in elevation h of break shovel (5) can be obtained by the variation of pull rod corner α1,
In, the angle between the upper surface and the top of vertical hanger bracket (1) of pull rod (2) is pull rod corner α；
D. controller (9) judges the change in elevation h of break shovel (5) according to pull rod corner α and contour wheel corner β1With contour wheel (3)
It is whether equal with ground change in elevation h：As the change in elevation h of break shovel (5)1With contour wheel (3) with ground change in elevation h not phases
Deng e being entered step, as the change in elevation h of break shovel (5)1It is equal with ground change in elevation h with contour wheel (3), enter step f；
E. controller (9) judges current time t2Whether t is met2-t1=△ t：Work as t2-t1When=△ t, controller (9) control electricity
Dynamic push rod (4) is flexible：Second obliquity sensor (7) measures contour wheel corner β and becomes hour, and controller (9) controls electric pushrod (4)
Elongation so that the change in elevation h of break shovel (5)1It is equal with ground change in elevation h with contour wheel (3)；Second obliquity sensor
(7) when measuring contour wheel corner β and becoming larger, controller (9), which controls electric pushrod (4), to be shortened so that the change in elevation of break shovel (5)
h1It is equal with ground change in elevation h with contour wheel (3)；Until h=h1When, electric pushrod (4) stop motion, break shovel (5) is located at
Correct position repeats step d later, until tilling depth automatic control and adjustment device is stopped；
F. at this point, break shovel (5) is located at correct position, electric pushrod (4) remains stationary as；Later, step d is repeated, until tilling depth
Automatic control and adjustment device is stopped.
4. a kind of tilling depth automatic control and adjustment method as claimed in claim 3, it is characterised in that：
In step b, when encountering barrier, contour wheel (3) is rotated around lower link point B, and profiling wheel carrier (11) is upward around lower link point B
Rotation, i.e., contour wheel corner β becomes ∠ F from ∠ FBG1BG1, the contour wheel radius of gyration BF=BF of contour wheel (3)1, contour wheel
(3) it is h with ground change in elevation, wherein the hinge joint of profiling wheel carrier (11) and vertical hanger bracket (1) is lower link point B.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810530546.6A CN108377686B (en) | 2018-05-29 | 2018-05-29 | Automatic tilling depth control and adjustment device and control and adjustment method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810530546.6A CN108377686B (en) | 2018-05-29 | 2018-05-29 | Automatic tilling depth control and adjustment device and control and adjustment method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108377686A true CN108377686A (en) | 2018-08-10 |
| CN108377686B CN108377686B (en) | 2020-04-07 |
Family
ID=63071487
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810530546.6A Active CN108377686B (en) | 2018-05-29 | 2018-05-29 | Automatic tilling depth control and adjustment device and control and adjustment method thereof |
Country Status (1)
| Country | Link |
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| CN (1) | CN108377686B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110836655A (en) * | 2019-11-13 | 2020-02-25 | 长沙桑铼特农业机械设备有限公司 | Machine tool operation posture detection device, agricultural operation machine and ground adhering operation method |
| CN112106471A (en) * | 2020-09-09 | 2020-12-22 | 中国农业大学 | Subsoiling depth detection and control device, system and method for subsoiling shovel |
| CN115968656A (en) * | 2022-12-20 | 2023-04-18 | 西北农林科技大学 | Pretreatment all-in-one is picked up to fresh fruit of tea-oil camellia |
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| CN112106471A (en) * | 2020-09-09 | 2020-12-22 | 中国农业大学 | Subsoiling depth detection and control device, system and method for subsoiling shovel |
| 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 |
| CN115968656A (en) * | 2022-12-20 | 2023-04-18 | 西北农林科技大学 | Pretreatment all-in-one is picked up to fresh fruit of tea-oil camellia |
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| Publication number | Publication date |
|---|---|
| CN108377686B (en) | 2020-04-07 |
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