CN108377686B - Automatic tilling depth control and adjustment device and control and adjustment method thereof - Google Patents
Automatic tilling depth control and adjustment device and control and adjustment method thereof Download PDFInfo
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- CN108377686B CN108377686B CN201810530546.6A CN201810530546A CN108377686B CN 108377686 B CN108377686 B CN 108377686B CN 201810530546 A CN201810530546 A CN 201810530546A CN 108377686 B CN108377686 B CN 108377686B
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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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Abstract
The invention belongs to the field of agricultural machinery, and particularly relates to an automatic tilling depth control and adjustment device which comprises a mechanical unit and a control unit; the control unit comprises a first inclination angle sensor (6), a second inclination angle sensor (7), a rotary encoder (8) and a controller (9); the first inclination angle sensor (6) is arranged on the pull rod (2), the second inclination angle sensor (7) is arranged on the profiling wheel carrier (11), and a rotary encoder (8) is arranged at the rotating shaft of the profiling wheel (3); the electric push rod (4), the first inclination angle sensor (6), the second inclination angle sensor (7) and the rotary encoder (8) are all electrically connected with the controller (9). The automatic tilling depth control and adjustment device has a simple structure, is accurate in tilling depth adjustment, and realizes automatic tilling depth control and adjustment. The method for detecting the fluctuation of the ground by using the profiling wheel and adjusting the tilling depth by stretching and retracting the electric push rod realizes the automatic control and adjustment of the tilling depth.
Description
Technical Field
The invention belongs to the field of agricultural machinery, and particularly relates to an automatic tilling depth control and adjustment device and a control method thereof.
Background
The plowing depth consistency is an important index for measuring plowing quality, the conventional plowing depth adjusting method adopts a manual mode to control and adjust the plowing depth, a driver sets the length of each pull rod in advance and then controls the pull rods by a hydraulic suspension device, and the driver sometimes difficultly perceives the fluctuation of the ground to cause inconsistent plowing depth. The depth of ploughing is not beneficial to the growth of crops; the tillage depth is large, the working resistance of the machine tool is increased, the power consumption of the tractor is increased, the labor intensity of manual regulation and control is large, and the control is inaccurate. At present, the tilling depth real-time monitoring and automatic adjusting technology is deficient, and the existing equipment has complex structure and inaccurate monitoring and adjusting.
The Chinese utility model application No. 201220155951.2, entitled "automatic tilling depth adjusting and controlling system", changes the depth of plough in the soil by pulling the tilling depth adjusting handle. And calculating the tilling depth according to the difference between the detection values of the two inclination angle sensors on the tractor and the tilling depth adjusting rotary arm. The controller controls the stepping motor to drive the tilling depth adjusting handle according to the feedback of the tilling depth, so that the tilling depth is automatically controlled. Due to uneven cultivated land, the tractor is easy to bump, and the tilling depth calculated by utilizing the tractor and the difference value of the tilt angle of the tilling depth adjusting rotary arm is not accurate. And the tilling depth adjusting mechanism composed of parts such as the tilling depth adjusting handle, the tilling depth adjusting rotating arm and the like has a complicated structure.
The application No. 201420677711.8 of the Chinese utility model, entitled "tilling depth regulating circuit", opens and closes the rising and falling switches to make the farm implements rise and fall, and has the advantages of limited protection, convenient operation, wide application range, but unable to realize automatic regulation.
In the cultivation process, the cultivation depth and the cultivation depth consistency are important indexes for measuring the cultivation quality. The current technology of real-time monitoring and automatic adjustment of tilling depth is deficient, and the existing equipment has the problems of complex structure, inaccurate monitoring and inconvenient adjustment.
Disclosure of Invention
The invention aims to provide an automatic tilling depth control and adjustment device which can monitor topographic relief in real time and realize consistent tilling depth in the process of deep scarification shovel operation.
Another object of the present invention is to provide an automatic tilling depth control and adjustment method using the automatic tilling depth control and adjustment device.
The purpose of the invention is realized by the following technical scheme:
an automatic tilling depth control and adjustment device comprises a mechanical unit, wherein the mechanical unit comprises a vertical suspension bracket 1, a pull rod 2, a profiling wheel 3, an electric push rod 4, a break shovel 5, a tension spring 10 and a profiling wheel carrier 11;
the front end of the pull rod 2 is hinged on the vertical suspension bracket 1, and the rear end of the pull rod 2 is connected with a break shovel 5 in a hanging mode; the upper end of the profiling wheel carrier 11 is hinged with the vertical suspension bracket 1, and the lower end of the profiling wheel carrier 11 is provided with a profiling wheel 3; the contour wheel 3 is in contact with the ground, and the contour wheel 3 is positioned in front of the break shovel 5; one end of the electric push rod 4 is hinged at the upper end of the vertical suspension bracket 1, and the other end is hinged on the pull rod 2; a tension spring 10 is arranged between the profiling wheel carrier 11 and the vertical suspension bracket 1;
the device further comprises a control unit;
the control unit comprises a first inclination angle sensor 6, a second inclination angle sensor 7, a rotary encoder 8 and a controller 9;
the first inclination angle sensor 6 is arranged on the pull rod 2, the second inclination angle sensor 7 is arranged on the profiling wheel carrier 11, and a rotary encoder 8 is arranged at the rotating shaft of the profiling wheel 3;
the electric push rod 4, the first tilt angle sensor 6, the second tilt angle sensor 7 and the rotary encoder 8 are all electrically connected with a controller 9.
The controller 9 is mounted on the vertical suspension 1.
An automatic tilling depth control and adjustment method using the automatic tilling depth control and adjustment device includes the following steps:
initial state: the pull rod 2 is positioned at a horizontal position, and the initial angle of the first inclination angle sensor 6 is 0 degree; the copying wheel carrier 11 is positioned at a vertical position, and the initial angle of the second inclination angle sensor 7 is 0 degree;
a. the rotary encoder 8 measures the rotating speed of the copying wheel 3, and the advancing speed of the automatic tilling depth control and adjustment device is obtained through the radius of the copying wheel 3; obtaining shovel-wheel operation time difference through horizontal distance L between the central point of the contour wheel 3 and the break shovel 5:
wherein r is the radius of the copying wheel 3, n is the rotating speed of the copying wheel 3, and the time difference △ t is input into the controller 9, so that the time difference △ t is formed between the moment when the electric push rod 4 starts to move and the moment when the copying wheel 3 encounters an obstacle;
b. the second inclination angle sensor 7 measures the change of the rotation angle β of the contour wheel, so that the height h of the contour wheel 3 along with the ground can be obtained, and the current moment is recorded as t1And inputting data into the controller 9, wherein the included angle between the copying wheel carrier 11 and the vertical plane is a copying wheel rotating angle β;
c. the variable height h of the break shovel 51When the inclination angle is initialized to 0, the first inclination angle sensor 6 measures the change of the rod rotation angle α of the pull rod 2 in real time and transmits the change to the controller 9, and the change height h of the break shovel 5 can be obtained through the change of the rod rotation angle α1Wherein the included angle between the upper surface of the pull rod 2 and the upper part of the vertical suspension bracket 1 is a pull rod corner α；
d. The controller 9 determines the height h of the ripper blade 5 based on the lever angle α and the caster angle β1Whether the height h of the contour wheel 3 is equal to the height h of the ground change is determined as follows: when the height h of the break shovel 5 changes1E, the height h of the contour wheel 3 is unequal to the height h of the soil spade 5 along the ground, and the step e is carried out when the height h of the soil spade changes1F, the height h of the contour wheel 3 is equal to the height h of the contour wheel along with the change of the ground;
e. the controller 9 judges the current time t2Whether or not t is satisfied2-t1When t is △ t2-t1When △ t is reached, the controller 9 controls the electric push rod 4 to stretch, when the second tilt angle sensor 7 detects that the rotation angle β of the contour wheel is reduced, the controller 9 controls the electric push rod 4 to stretch, so that the height h of the ripper blade 5 is changed1The height h of the contour wheel 3 is equal to the height h of the contour wheel along with the ground, when the second inclination angle sensor 7 detects that the rotation angle β of the contour wheel is increased, the controller 9 controls the electric push rod 4 to be shortened, and the height h of the break shovel 5 is changed1The height h of the profiling wheel 3 is equal to the height h of the profiling wheel along with the change of the ground; until h is h1When the electric push rod 4 stops moving, the break shovel 5 is located at the correct position, and then the step d is repeated until the automatic tilling depth control and adjustment device stops working;
f. at the moment, the break shovel 5 is located at the correct position, and the electric push rod 4 is kept still; and d, repeating the step d until the automatic tilling depth control and adjustment device stops working.
In the step B, when an obstacle is encountered, the copying wheel 3 rotates around the lower hinge point B, the copying wheel frame 11 rotates upwards around the lower hinge point B, namely the copying wheel rotation angle β is changed from ∠ FBG to ∠ F1BG1The rotating radius BF of the contour wheel 3 is BF1The height of the contour wheel 3 changes with the ground is h, wherein the hinged point of the contour wheel frame 11 and the vertical suspension frame 1 is a lower hinged point B.
The invention has the beneficial effects that:
the method for detecting the fluctuation of the ground by using the profiling wheel and adjusting the tilling depth by stretching and retracting the electric push rod realizes the automatic control and adjustment of the tilling depth.
The inclination angle sensor is used for measuring the rotation angle changes of the profile wheel and the pull rod, the rotation angle changes are calculated and converted into height changes, and the feedback adjustment time difference of the control system can be changed in real time according to the advancing speed.
The automatic tilling depth control and adjustment device has a simple structure, is accurate in tilling depth adjustment, and realizes automatic tilling depth control and adjustment.
Drawings
FIG. 1 is a schematic front view of the automatic tilling depth control device according to the present invention;
FIG. 2 is a schematic perspective view of the automatic tilling depth control device according to the present invention;
fig. 3 is an angle explanatory diagram of the automatic tilling depth control and adjustment device of the present invention.
Reference numerals:
1 vertical suspension bracket 2 pull rod 3 contour wheel
4 electric push rod 5 break shovel 6 first inclination angle sensor
7 second tilt sensor 8 rotary encoder 9 controller
10 tension spring 11 profiling wheel carrier
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples.
As shown in FIGS. 1 to 3, an automatic tilling depth control and adjustment device includes a mechanical unit and a control unit.
The mechanical unit comprises a vertical suspension bracket 1, a pull rod 2, a profiling wheel 3, an electric push rod 4, a break shovel 5, a tension spring 10 and a profiling wheel carrier 11; the device can be hung on a tractor through the suspension bracket 1.
The front end of the pull rod 2 is hinged to the vertical suspension frame 1, a hinged point of the pull rod 2 and the vertical suspension frame 1 is an upper hinged point A, and the rear end of the pull rod 2 is hinged with a cultivating component, preferably, in the embodiment, the cultivating component is a loosening shovel 5, an included angle between the upper surface of the pull rod 2 and the upper portion of the vertical suspension frame 1 is a pull rod corner α, the upper end of the profiling wheel frame 11 is hinged with the vertical suspension frame 1, a hinged point of the profiling wheel frame 11 and the vertical suspension frame 1 is a lower hinged point B, the profiling wheel 3 is arranged at the lower end of the profiling wheel frame 11, the profiling wheel 3 is in contact with the ground, the profiling wheel 3 is located in front of the loosening shovel 5, a certain distance is reserved between the profiling wheel 3 and the vertical suspension frame 5, a horizontal distance between the center point of the profiling wheel 3 and the vertical surface is L, an included angle of the profiling wheel frame 11 and the vertical surface is a profiling wheel corner β, one end of the electric push rod 4 is hinged at the upper end.
And the control unit comprises a first inclination angle sensor 6, a second inclination angle sensor 7, a rotary encoder 8 and a controller 9.
A first tilt sensor 6 is arranged on the drawbar 2 for detecting a change in the drawbar angle α a second tilt sensor 7 is arranged on the cam carrier 11 for measuring a change in the cam wheel steering angle β.
A rotary encoder 8 is arranged at the rotating shaft of the copying wheel 3 and used for detecting the rotating speed of the copying wheel 3.
The controller 9 is arranged on the vertical suspension bracket 1, and the electric push rod 4 is electrically connected with the controller 9. The electric push rod 4 receives signals of the controller 9, and the push rod of the electric push rod 4 stretches.
Through the rotating speed of the copying wheel 3 and the horizontal distance L between the break shovel 5 and the copying wheel 3, the time for controlling the electric push rod 4 to start moving by the controller 9 can be obtained, so that the time for starting adjusting the tilling depth is consistent with the time for starting the fluctuation of the ground, and the accuracy of tilling depth adjustment is ensured.
The first tilt sensor 6, the second tilt sensor 7 and the rotary encoder 8 are all electrically connected to a controller 9.
The controller 9 receives a change signal of a profiling wheel corner β of the second tilt angle sensor 7, obtains a height change h of the profiling wheel 3, and then controls the electric push rod 4 to do telescopic motion, and the electric push rod 4 stretches and retracts to drive the pull rod 2 to rotate around the upper hinge point A, so that the depth adjustment of the break shovel 5 is realized.
The controller 9 receives the change signal of the lever angle α of the first inclination sensor 6 on the lever 2 to obtain the height change h of the subsoiler 51When h is equal to h1When the electric push rod 4 stops moving, the break shovel 5 is located at the correct position.
The device is hung at the rear three points of the tractor through a vertical hanging frame 1 and is pulled by the tractor to travel.
An automatic tilling depth control and adjustment method using an automatic tilling depth control and adjustment device comprises the following steps:
initial state: the pull rod 2 is positioned at a horizontal position, and the initial angle of the first inclination angle sensor 6 is 0 degree; the copying wheel frame 11 is located at a vertical position, the initial angle of the second inclination angle sensor 7 is 0 degree, and the tension spring 10 is in an unstretched state.
a. The rotary encoder 8 measures the rotating speed of the copying wheel 3, and the advancing speed of the automatic tilling depth control and adjustment device is obtained through the radius of the copying wheel 3; obtaining the shovel-wheel operation time difference through the distance L (m) between the central point of the profiling wheel 3 and the break shovel 5:
wherein r is the radius (m) of the copying wheel 3, n is the rotating speed (r/min) of the copying wheel 3, the time difference △ t is input into the controller 9, and the time difference △ t is formed between the moment when the electric push rod 4 starts to move and the moment when the copying wheel 3 encounters an obstacle;
b. the second inclination angle sensor 7 measures the change of the rotation angle β of the contour wheel, so that the height h of the contour wheel 3 along with the ground can be obtained, and the current moment is recorded as t1And inputs the data to the controller 9;
specifically, when an obstacle is encountered, the profile wheel 3 rotates around the lower hinge point B, and the profile wheel carrier 11 rotates upwards around the lower hinge point B, that is, the profile wheel rotation angle β is changed from ∠ FBG to ∠ F1BG1. The rotation radius BF of the contour wheel 3 is BF1The height of the contour wheel 3 is h along with the change of the ground;
c. the variable height h of the break shovel 51When the inclination angle is initialized to 0, the first inclination angle sensor 6 measures the change of the rod rotation angle α of the pull rod 2 in real time and transmits the change to the controller 9, and the change height h of the break shovel 5 can be obtained through the change of the rod rotation angle α1；
d. The controller 9 determines the height h of the ripper blade 5 based on the lever angle α and the caster angle β1Whether the height h of the contour wheel 3 is equal to the height h of the ground change is determined as follows: when the height h of the break shovel 5 changes1Is not equal to the height h of the profile modeling wheel 3 along with the change of the groundStep e, when the height h of the scarifier 5 is changed1F, the height h of the contour wheel 3 is equal to the height h of the contour wheel along with the change of the ground;
e. the controller 9 judges the current time t2Whether or not t is satisfied2-t1When t is △ t2-t1When △ t is reached, the controller 9 controls the electric push rod 4 to stretch, when the second tilt angle sensor 7 detects that the rotation angle β of the contour wheel is reduced, the controller 9 controls the electric push rod 4 to stretch, so that the height h of the ripper blade 5 is changed1The height h of the contour wheel 3 is equal to the height h of the contour wheel along with the ground, when the second inclination angle sensor 7 detects that the rotation angle β of the contour wheel is increased, the controller 9 controls the electric push rod 4 to be shortened, and the height h of the break shovel 5 is changed1The height h of the profiling wheel 3 is equal to the height h of the profiling wheel along with the change of the ground; until h is h1When the electric push rod 4 stops moving, the break shovel 5 is located at the correct position, and then the step d is repeated until the automatic tilling depth control and adjustment device stops working;
f. at the moment, the break shovel 5 is located at the correct position, and the electric push rod 4 is kept still; and d, repeating the step d until the automatic tilling depth control and adjustment device stops working.
Claims (3)
1. An automatic tilling depth control and adjustment method using an automatic tilling depth control and adjustment device,
the automatic tilling depth control and adjustment device comprises a mechanical unit, wherein the mechanical unit comprises a vertical suspension bracket (1), a pull rod (2), a profiling wheel (3), an electric push rod (4), a break shovel (5), a tension spring (10) and a profiling wheel carrier (11);
the front end of the pull rod (2) is hinged on the vertical suspension bracket (1), and the rear end of the pull rod (2) is connected with a scarifier (5) in a hanging manner; the upper end of the profiling wheel carrier (11) is hinged with the vertical suspension bracket (1), and the lower end of the profiling wheel carrier (11) is provided with a profiling wheel (3); the contour wheel (3) is in contact with the ground, and the contour wheel (3) is positioned in front of the break shovel (5); one end of the electric push rod (4) is hinged at the upper end of the vertical suspension frame (1), and the other end is hinged on the pull rod (2); a tension spring (10) is arranged between the profiling wheel carrier (11) and the vertical suspension bracket (1);
the device further comprises a control unit;
the control unit comprises a first inclination angle sensor (6), a second inclination angle sensor (7), a rotary encoder (8) and a controller (9);
the first inclination angle sensor (6) is arranged on the pull rod (2), the second inclination angle sensor (7) is arranged on the profiling wheel carrier (11), and a rotary encoder (8) is arranged at the rotating shaft of the profiling wheel (3);
the electric push rod (4), the first inclination angle sensor (6), the second inclination angle sensor (7) and the rotary encoder (8) are electrically connected with the controller (9);
the method is characterized in that:
the method comprises the following steps:
initial state: the pull rod (2) is located at a horizontal position, and the initial angle of the first inclination angle sensor (6) is 0 degree; the profiling wheel carrier (11) is positioned at a vertical position, and the initial angle of the second inclination angle sensor (7) is 0 degree;
a. the rotary encoder (8) measures the rotating speed of the copying wheel (3), and the advancing speed of the automatic tilling depth control and adjustment device is obtained through the radius of the copying wheel (3); obtaining the shovel-wheel operation time difference through the horizontal distance L (m) between the central point of the profiling wheel (3) and the break shovel (5):
wherein r is the radius (m) of the copying wheel (3), n is the rotating speed (r/min) of the copying wheel (3), the time difference △ t is input into the controller (9), and the difference time △ t is formed between the moment when the electric push rod (4) starts to move and the moment when the copying wheel (3) meets an obstacle;
b. the second inclination angle sensor (7) measures the change of the rotation angle β of the contour wheel, the height h of the contour wheel (3) changing along with the ground can be obtained, and the current moment is recorded as t1And inputting data into a controller (9), wherein the included angle between the copying wheel carrier (11) and the vertical surface is a copying wheel rotating angle β;
c. the variable height h of the break shovel (5)1The inclination angle sensor (6) is initialized to 0, changes of a pull rod corner α of the pull rod (2) are detected in real time and transmitted to the controller (9), and the change height h of the ripper blade (5) can be obtained through the changes of the pull rod corner α1Wherein the included angle between the upper surface of the pull rod (2) and the upper part of the vertical suspension bracket (1) is a pull rod corner α;
d. controller(9) Judging the change height h of the ripper shovel (5) according to the pull rod corner α and the contour wheel corner β1Whether the height h of the contour wheel (3) is equal to the height h of the ground change is determined as follows: when the height h of the break shovel (5) changes1E, when the height h of the ripper shovel (5) is not equal to the height h of the contour wheel (3) changing along with the ground, the step e is carried out1F, the height h of the contour wheel (3) is equal to the height h of the contour wheel along with the change of the ground;
e. the controller (9) judges the current time t2Whether or not t is satisfied2-t1When t is △ t2-t1When △ t is reached, the controller (9) controls the electric push rod (4) to stretch and retract, when the second tilt angle sensor (7) detects that the rotation angle β of the copying wheel is reduced, the controller (9) controls the electric push rod (4) to extend, so that the height h of the ripper blade (5) is changed1The height h of the profile wheel (3) is equal to the height h of the profile wheel along with the change of the ground, when the second inclination angle sensor (7) detects that the turning angle β of the profile wheel is increased, the controller (9) controls the electric push rod (4) to be shortened, and the change height h of the break shovel (5) is enabled to be equal to the height h of the break shovel1The height h of the profiling wheel (3) is equal to the ground variation height h; until h is h1When the electric push rod (4) stops moving, the break shovel (5) is located at the correct position, and then the step d is repeated until the automatic tilling depth control and adjustment device stops working;
f. at the moment, the break shovel (5) is positioned at the correct position, and the electric push rod (4) is kept still; and d, repeating the step d until the automatic tilling depth control and adjustment device stops working.
2. The automatic tilling depth control and adjustment method according to claim 1, wherein:
in the step B, when an obstacle is encountered, the copying wheel (3) rotates around the lower hinge point B, and the copying wheel frame (11) rotates upwards around the lower hinge point B, namely the rotating angle β of the copying wheel is changed from ∠ FBG to ∠ F1BG1The rotating radius BF of the contour wheel (3) is BF1The height of the profile modeling wheel (3) changes with the ground is h, and a hinged point of the profile modeling wheel frame (11) and the vertical suspension frame (1) is a lower hinged point B.
3. The automatic tilling depth control and adjustment method according to claim 1, wherein:
the controller (9) is arranged on the vertical suspension bracket (1).
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| CN201810530546.6A CN108377686B (en) | 2018-05-29 | 2018-05-29 | Automatic tilling depth control and adjustment device and control and adjustment method thereof |
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| CN110836655B (en) * | 2019-11-13 | 2020-09-08 | 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 |
| 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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| DE29824333U1 (en) * | 1998-11-25 | 2000-12-21 | Cramer Kupplung Gmbh & Co Kg | Three-point hitch for a tractor, tractor or the like. |
| CN202524733U (en) * | 2012-04-13 | 2012-11-14 | 西南大学 | Automatic tilling depth regulation and control system |
| CN105379453A (en) * | 2015-11-19 | 2016-03-09 | 农业部南京农业机械化研究所 | Subsoiler capable of automatically monitoring depth |
| CN105928480B (en) * | 2016-04-19 | 2018-07-06 | 北京农业智能装备技术研究中心 | Suspension type subsoiler tilling depth detection method and device |
| CN107182313B (en) * | 2017-07-07 | 2023-04-25 | 中国农业大学 | Self-excitation vibration subsoiler and tilling depth measurement and control method |
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