CN109716895A - A kind of duplicate rows ditching depth is apart from self-checking device and method - Google Patents
A kind of duplicate rows ditching depth is apart from self-checking device and method Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 9
- 239000003337 fertilizer Substances 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims description 43
- 238000006073 displacement reaction Methods 0.000 claims description 29
- 239000003921 oil Substances 0.000 claims description 6
- 239000010727 cylinder oil Substances 0.000 claims description 3
- 235000013399 edible fruits Nutrition 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 238000011897 real-time detection Methods 0.000 abstract description 8
- 239000002420 orchard Substances 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000015097 nutrients Nutrition 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
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Abstract
The present invention relates to a kind of duplicate rows ditching depths apart from self-checking device and method, including digging module, hydraulic module and control module.Digging module includes left trench digging frame, right trench digging frame, left lateral adjustment mount, right lateral adjustment mount, left vertical adjustment bracket, right vertical adjustment bracket etc.；Double-row ditching machine structure includes left trench digging frame, right trench digging frame, ditching knife, left lateral adjustment mount, right lateral adjustment mount, left vertical adjustment bracket and right vertical adjustment bracket etc.；Hydraulic module includes left transverse hydraulic cylinder, right transverse hydraulic cylinder, left longitudinal hydraulic cylinder, right longitudinal hydraulic cylinder and hydraulic valve.The present invention can carry out ditching depth and distance automatic adjustment of ditching, energy real-time detection and adjusting ditching depth simultaneously, improve utilization rate of fertilizer and applicability.
Description
Technical field
The present invention relates to a kind of duplicate rows ditching depths apart from self-checking device and method, belongs to orchard management machinery technology
Field.
Background technique
Trench digging is an important link, and deep application of fertilizer can promote tree vigo(u)r to restore, and improves soil nutrient.The different age of trees, no
Same tree species, different habitant orchard, best ditching depth and trench digging distance are different.Currently, orchard furrowing fertilizer applicator is more
For uniline ditching-fertilizing, ditching-fertilizing low efficiency；It, can not real-time detection temporarily without ditching depth and trench digging apart from self-checking device
With adjusting ditching depth and trench digging distance.
Patent content
To solve above-mentioned the deficiencies in the prior art, the present invention provides a kind of duplicate rows ditching depths apart from self-checking device
And method；Be able to achieve duplicate rows trench digging, and real-time detection and adjust ditching depth and trench digging distance.
A kind of duplicate rows ditching depth is apart from self-checking device, including digging module, hydraulic module and control module.
The digging module includes left trench digging frame, right trench digging frame, left trench digging transmission case, right trench digging transmission case, left ditching knife
Disk, right trench digging cutterhead, left cutter plate driver axis, right cutter plate driver axis, ditching knife, left lateral adjustment mount, right lateral adjustment mount,
Left vertical adjustment bracket and right vertical adjustment bracket；The left trench digging frame and right trench digging frame are adjustable stretching structure；The left side
Trench digging transmission case input terminal and right trench digging transmission case input terminal are connected with external impetus output end；The left trench digging transmission case output
End and right trench digging transmission case output end are connected with the left ditching knife disk drive shaft and right ditching knife disk drive shaft respectively；The left side
Ditching knife disk drive shaft and the right ditching knife disk drive shaft other end are connected with the left trench digging cutterhead and right trench digging cutterhead respectively；Institute
It states left lateral adjustment mount and right lateral adjustment mount is separately mounted to the outer end of the left trench digging frame and right trench digging frame；The left side
Trench digging cutterhead and right trench digging cutterhead outer rim uniformly install ditching knife respectively.
The hydraulic module include left transverse hydraulic cylinder, right transverse hydraulic cylinder, left longitudinal hydraulic cylinder, right longitudinal hydraulic cylinder and
Hydraulic valve.The hydraulic valve oil inlet is connected with external hydraulic mechanism, each oil outlet of hydraulic valve respectively with the left transverse direction
Hydraulic cylinder, right transverse hydraulic cylinder, left longitudinal hydraulic cylinder, right longitudinal hydraulic cylinder oil inlet are connected, the left transverse hydraulic cylinder and the right side
Transverse hydraulic the cylinder piston rod end is connected with the left lateral adjustment mount and right lateral adjustment mount respectively, passes through left transverse hydraulic
Trench digging distance at left and right sides of the telescopic adjustment of cylinder and right transverse hydraulic the cylinder piston rod end；Left longitudinal hydraulic cylinder and right longitudinal liquid
Pressure cylinder piston rod end is connected with the left vertical adjustment bracket and right vertical adjustment bracket respectively, passes through left longitudinal hydraulic cylinder and the right side
Ditching depth at left and right sides of the telescopic adjustment of longitudinal hydraulic cylinder piston rod end；Described left transverse hydraulic cylinder one end and left lateral adjustments
Bracket is connected, and the other end is connected with the left trench digging frame, passes through distance of ditching on the left of the telescopic adjustment of left transverse hydraulic cylinder；It is described
Left vertical adjustment bracket and the left trench digging transmission case upper back are hinged, described left longitudinal hydraulic cylinder one end and left longitudinal tune
It saves bracket to be connected, the other end is connected with the left trench digging transmission case rear lower, on the left of the telescopic adjustment by left longitudinal hydraulic cylinder
Ditching depth；Described right transverse hydraulic cylinder one end is connected with right lateral adjustment mount, the right trench digging in the other end and the rack
Frame is connected, and passes through the telescopic adjustment right side opening ditch distance of right transverse hydraulic cylinder；The right vertical adjustment bracket and the right trench digging
Transmission case upper back is hinged, and described right longitudinal hydraulic cylinder one end is connected with the right vertical adjustment bracket, the other end and the right side
Transmission case rear lower of ditching is connected, and passes through ditching depth on the right side of the telescopic adjustment of right longitudinal hydraulic cylinder；
The control mechanism include left-leaning angle transducer, Right deviation angle transducer, left position displacement sensor, right displacement sensor,
Single-chip microcontroller, relay, hydraulic valve and display；The "Left"-deviationist angle transducer is mounted on can be around left lifting fulcrum (i.e. left trench digging biography
Dynamic case and left vertical adjustment bracket tie point) rotation left trench digging transmission case on；The "Left"-deviationist angle transducer input terminal and output
End is connected with the first input end of the single-chip microcontroller and output end respectively；The Right deviation angle transducer is mounted on can be around right lifting branch
On the right trench digging transmission case of point (i.e. right trench digging transmission case and right vertical adjustment bracket tie point) rotation；The Right deviation angle transducer
Input terminal and output end are connected with the second input terminal and output end of the single-chip microcontroller respectively；The left position displacement sensor is mounted on
On the inside of the left lateral adjustment mount, the moving distance for the left lateral adjustment mount of real-time detection；The left position displacement sensor
Input terminal and output end are connected with the third input terminal and output end of the single-chip microcontroller respectively；The right displacement sensor is mounted on
On the inside of the right lateral adjustment mount, the moving distance for the right lateral adjustment mount of real-time detection；The right displacement sensor
Input terminal and output end are connected with the 4th input terminal and output end of the single-chip microcontroller respectively；The input terminal of the display module and
Output end is connected with the 5th input terminal and output end of the single-chip microcontroller respectively；The 6th output end and relay of the single-chip microcontroller
Input terminal be connected, the output end of relay is connected with the hydraulic valve input terminal, the hydraulic valve output end respectively with it is described
Left transverse hydraulic cylinder, right transverse hydraulic cylinder, left longitudinal hydraulic cylinder, right longitudinal hydraulic cylinder are connected, and single-chip microcontroller receives left-leaning angle and passes
Sensor, Right deviation angle transducer, left position displacement sensor and right displacement sensor signal be on the one hand transferred to display, real-time display
On the other hand the adjusting of ditching depth and trench digging distance is completed ditching depth by each hydraulic cylinder of control relay control and is opened
The adjusting of ditch distance.
The invention further relates to a kind of ditching depth and the Automatic adjustment methods of distance, and its step are as follows:
1, before ditching operation, ditching knife is first contacted into ground, school zero is carried out to each obliquity sensor and is handled.With cutterhead circle
Distance of the heart away from left lifting fulcrum or right lifting fulcrum is as rotary shaft, if rotation shaft length is L (unit: mm)；Rotary shaft with
Initial angle between ground is θ1, left lifting fulcrum or right lifting fulcrum are H away from the horizontal plane1；When obliquity sensor self-correcting
When turning over angle, θ after zero, the angle on rotary shaft and ground is θ2, left lifting fulcrum or right lifting fulcrum are H away from the horizontal plane2,
Ditching depth H=H2-H1, wherein H2=L × sin θ2, H1=L × sin θ1, θ2=θ+θ1.According to the precision of obliquity sensor and make
With the upper and lower error amount for requiring setting H, corresponding ditching depth range H ' is obtained, and as default ditching depth model
It encloses.
If the vertical range of cutterhead distance of center circle rack of ditching or so middle line is c, displacement sensor detects left lateral adjustments branch
Frame or right lateral adjustment mount move horizontally distance for d (ditch vertical range of the center line away from frame central line), then D=
C+d obtains corresponding trench digging distance range D ' according to displacement sensor and the upper and lower error amount of requirement setting D, and
As default trench digging distance range.
2, when ditching operation, single-chip microcontroller real-time reception ditching depth H ", if H " is not interior in default ditching depth range H ', single
Piece machine passes through the flexible change ditching depth of each hydraulic cylinder push rod of solenoid valve control；If H " it is interior in default ditching depth value H ',
Ditching depth is constant.
3, when ditching operation, according to fruit tree line-spacing and fertilizer placement, left transverse hydraulic cylinder, right transverse hydraulic cylinder is adjusted, is made
Extend or shrink, so as to correct fertilizer placement apply fertilizer；Single-chip microcontroller real-time reception trench digging distance D ", if D " not default
Ditching, distance range D ' is interior, and single-chip microcontroller, which first passes through the flexible of solenoid valve control hydraulic cylinder push rod, makes ditching depth become 0, rear to control
Hydraulic cylinder push rod stretches, and changes trench digging distance to suitable range.", the ditch distance interior in default trench digging distance value D ' if D
It is constant.
The present invention can solve the problem of existing ditching-fertilizing low efficiency；It is able to achieve duplicate rows trench digging, and real-time detection and is adjusted
Ditching depth and trench digging distance.
Detailed description of the invention
Fig. 1 is automatic adjusting device for ditching depth main view.
Fig. 2 is digging module structure chart
Fig. 3 is ditching depth automatic principle of compensation figure.
Fig. 4 is trench digging apart from automatic principle of compensation figure.
Fig. 5 is ditching depth calculation method schematic diagram.
In figure: the 1 left 2 left 4 left trench digging cutterhead 6 of right trench digging transmission case 5 of trench digging transmission case of right trench digging frame 3 of trench digging frame is right
Trench digging 7 right 9 ditching knife of cutter plate driver axis, the 10 right lateral adjustments branch of left lateral adjustment mount 11 of left cutter plate driver axis 8 of cutterhead
The left 13 left 15 left longitudinal direction of right transverse hydraulic cylinder 16 of transverse hydraulic cylinder of right adjusting bracket 14 of vertical adjustment bracket of frame 12 is hydraulic
18 hydraulic valve of the right longitudinal hydraulic cylinder of cylinder 17,19 21 left position displacement sensor of left-leaning 20 Right deviation angle transducer of angle transducer 22 is right
23 single-chip microcontroller of displacement sensor, 24 display, 25 controlling terminal
Specific embodiment
A kind of duplicate rows ditching depth is apart from self-checking device, including digging module, hydraulic module and control module.
The digging module includes left trench digging frame 1, right trench digging frame 2, left trench digging transmission case 3, right trench digging transmission case 4, Zuo Kai
Ditch cutterhead 5, right trench digging cutterhead 6, left cutter plate driver axis 7, right cutter plate driver axis 8, ditching knife 9, left lateral adjustment mount 10, right cross
To adjusting bracket 11, left vertical adjustment bracket 12 and right vertical adjustment bracket 13；The left trench digging frame 1 and right trench digging frame 2 are can
Adjust stretching structure；Left 3 input terminal of trench digging transmission case and right 4 input terminal of trench digging transmission case and external impetus output end phase
Even；Left 3 output end of trench digging transmission case and right 4 output end of trench digging transmission case respectively with left 5 drive shaft of trench digging cutterhead and
Right 6 drive shaft of trench digging cutterhead is connected；Left 5 drive shaft of trench digging cutterhead and the right 6 drive shaft other end of trench digging cutterhead respectively with institute
Left trench digging cutterhead 5 is stated to be connected with right trench digging cutterhead 6；The left trench digging cutterhead 5 and right 6 outer rim of trench digging cutterhead are uniform staggered with installation and open
Ditch knife；The left lateral adjustment mount 10 and right lateral adjustment mount 11 are separately mounted to the left trench digging frame 1 and right trench digging frame 2
Outer end；
The hydraulic module includes left transverse hydraulic cylinder 14, right transverse hydraulic cylinder 15, left longitudinal hydraulic cylinder 16, right longitudinal liquid
Cylinder pressure 17 and hydraulic valve 18.18 oil inlet of hydraulic valve is connected with external hydraulic mechanism, each oil outlet of the hydraulic valve 18 point
Not with the left transverse hydraulic cylinder 14, right transverse hydraulic cylinder 15, left longitudinal hydraulic cylinder 16,17 phase of right longitudinal hydraulic cylinder oil inlet
Even；The left transverse hydraulic cylinder 14 and right 15 tailpiece of the piston rod of transverse hydraulic cylinder prop up 10 framves and right cross with the left lateral adjustments respectively
It is connected to adjusting bracket 11, by left and right sides of the telescopic adjustment of left transverse hydraulic cylinder 14 and right 15 tailpiece of the piston rod of transverse hydraulic cylinder
Trench digging distance；Left longitudinal hydraulic cylinder 16 and 17 tailpiece of the piston rod of right longitudinal hydraulic cylinder respectively with the left vertical adjustment bracket 12
It is connected with right vertical adjustment bracket 13, the telescopic adjustment by 17 tailpiece of the piston rod of left longitudinal hydraulic cylinder 16 and right longitudinal hydraulic cylinder is left
Right two sides ditching depth；Described left 16 one end of transverse hydraulic cylinder is connected with left lateral adjustment mount 12, and the other end is opened with the left side
Ditch frame 1 is connected, and passes through distance of ditching on the left of the telescopic adjustment of left transverse hydraulic cylinder 15；The left vertical adjustment bracket 12 with it is described
3 upper backs of left trench digging transmission case are hinged, and described left longitudinal 16 one end of hydraulic cylinder is connected with the left vertical adjustment bracket 12, another
End is connected with the left trench digging transmission case rear lower, passes through ditching depth on the left of the telescopic adjustment of left longitudinal hydraulic cylinder；The right side
Trench digging 6 drive shaft one end of cutterhead is connected with right 4 output end of trench digging transmission case, and the other end is connected with the right trench digging cutterhead 6；
Described right 17 one end of transverse hydraulic cylinder is connected with right lateral adjustment mount 13, the other end and right 2 phase of trench digging frame in the rack
Even, pass through the telescopic adjustment right side opening ditch distance of right transverse hydraulic cylinder 17；The right vertical adjustment bracket 13 and the right trench digging
4 upper back of transmission case is hinged, and described right longitudinal 4 one end of hydraulic cylinder is connected with the right vertical adjustment bracket 13, the other end and institute
It states right 4 rear lower of trench digging transmission case to be connected, passes through ditching depth on the right side of the telescopic adjustment of right longitudinal hydraulic cylinder 4；The left trench digging
Ditching knife is uniformly installed respectively on cutterhead 5 and right trench digging cutterhead 6.
The control mechanism includes left-leaning angle transducer 19, Right deviation angle transducer 20, left position displacement sensor 21, right displacement biography
Sensor 22, single-chip microcontroller 23, relay and display 24；The "Left"-deviationist angle transducer 19 is mounted on can be (i.e. left around left lifting fulcrum
Ditch transmission case 3 and left 12 tie point of vertical adjustment bracket) on the left trench digging transmission case 3 of rotation；The "Left"-deviationist angle transducer 19
Input terminal and output end are connected with the first input end of the single-chip microcontroller 23 and output end respectively；The Right deviation angle transducer 20 is pacified
Mounted in can around it is right lifting fulcrum (i.e. it is right trench digging transmission case 4 and right 13 tie point of vertical adjustment bracket) rotation right trench digging transmission case
On 4；20 input terminal of Right deviation angle transducer and output end respectively with the second input terminal and output end phase of the single-chip microcontroller 23
Even；The left position displacement sensor 21 is mounted on 10 inside of left lateral adjustment mount, is used for the left lateral adjustments branch of real-time detection
The moving distance of frame 10；21 input terminal of left position displacement sensor and output end are inputted with the third of the single-chip microcontroller 23 respectively
End is connected with output end；The right displacement sensor 22 is mounted on 11 inside of right lateral adjustment mount, is used for real-time detection
The moving distance of right lateral adjustment mount 11；22 input terminal of right displacement sensor and output end respectively with the single-chip microcontroller 23
The 4th input terminal be connected with output end；The input terminal and output end of the display 24 respectively with the single-chip microcontroller 23 the 5th
Input terminal is connected with output end；6th output end of the single-chip microcontroller 23 is connected with the input terminal of relay, the output of relay
End be connected with the hydraulic valve input terminal, the hydraulic valve output end respectively with the left transverse hydraulic cylinder 14, right transverse hydraulic
Cylinder 15, left longitudinal hydraulic cylinder 16, right longitudinal hydraulic cylinder 17 are connected, and single-chip microcontroller 23 receives left-leaning angle transducer 19, Right deviation angle passes
On the one hand the signal of sensor 20, left position displacement sensor 21 and right displacement sensor 22 is transferred to display module, real-time display trench digging
The adjusting of depth and trench digging distance, on the other hand by control relay control each hydraulic cylinder complete ditching depth and trench digging away from
From adjusting.
In use, the present invention is mounted on existing fertilizer applicator, it is able to achieve fertilising ditching depth and the automatic of distance of ditching
Adjusting method, steps are as follows:
1, before ditching operation, ditching knife is first contacted into ground, school zero is carried out to each obliquity sensor and is handled.With ditching knife
The distance of the left lifting fulcrum of disk distance of center circle or right lifting fulcrum is as rotary shaft, if rotation shaft length is L；Rotary shaft and ground it
Between initial angle be θ1, left lifting fulcrum or right lifting fulcrum are H away from the horizontal plane1；Turn after obliquity sensor self-correcting zero
When over-angle θ, the angle on rotary shaft and ground is θ2, left lifting fulcrum or right lifting fulcrum are H away from the horizontal plane2, trench digging is deeply
Spend H=H2-H1, wherein H2=L × sin θ2, H1=L × sin θ1, θ2=θ+θ1.It is wanted according to the precision of obliquity sensor and use
The upper and lower error amount for seeking setting H, obtains corresponding ditching depth range H ', and as default ditching depth range.
If the vertical range of trench digging cutterhead distance of center circle rack middle line (i.e. center line of rack or so width along direction of advance)
For c, displacement sensor detects left lateral adjustment mount or right lateral adjustment mount moves horizontally distance by d (in ditching
The vertical range of heart line-spacing frame central line), then D=c+d, the upper and lower error of D is set according to displacement sensor and requirement
Value, obtains corresponding trench digging distance range D ', and as default trench digging distance range.
2, when ditching operation, single-chip microcontroller real-time reception ditching depth H ", if H " is not interior in default ditching depth range H ', single
Piece machine passes through the flexible change ditching depth of each hydraulic cylinder push rod of solenoid valve control；If H " it is interior in default ditching depth value H ',
Ditching depth is constant.
3, when ditching operation, according to fruit tree line-spacing and fertilizer placement, left transverse hydraulic cylinder, right transverse hydraulic cylinder is adjusted, is made
Extend or shrink, so as to correct fertilizer placement apply fertilizer；Single-chip microcontroller real-time reception trench digging distance D ", if D " not default
Ditching, distance range D ' is interior, and single-chip microcontroller, which first passes through the flexible of solenoid valve control hydraulic cylinder push rod, makes ditching depth become 0, rear to control
Hydraulic cylinder push rod stretches, and changes trench digging distance to suitable range.", the ditch distance interior in default trench digging distance value D ' if D
It is constant.
The unit of above-mentioned each numerical value is equal are as follows: millimeter (mm).
Claims (4)
1. a kind of duplicate rows ditching depth is apart from self-checking device, which is characterized in that including digging module, hydraulic module and control
Module；
The digging module includes left trench digging frame, right trench digging frame, left trench digging transmission case, right trench digging transmission case, left trench digging cutterhead, the right side
Trench digging cutterhead, left cutter plate driver axis, right cutter plate driver axis, ditching knife, left lateral adjustment mount, right lateral adjustment mount, Zuo Zong
To adjusting bracket and right vertical adjustment bracket；The left trench digging transmission case input terminal and right trench digging transmission case input terminal and outside are dynamic
Power output end is connected；The left trench digging transmission case output end and right trench digging transmission case output end drive with the left trench digging cutterhead respectively
Moving axis is connected with right ditching knife disk drive shaft；The left ditching knife disk drive shaft and the right ditching knife disk drive shaft other end respectively with
The left trench digging cutterhead is connected with right trench digging cutterhead；The left lateral adjustment mount and right lateral adjustment mount are separately mounted to institute
State the outer end of left trench digging frame and right trench digging frame；
The hydraulic module includes left transverse hydraulic cylinder, right transverse hydraulic cylinder, left longitudinal hydraulic cylinder, right longitudinal hydraulic cylinder and hydraulic
Valve；The hydraulic valve oil inlet is connected with external hydraulic mechanism, each oil outlet of hydraulic valve respectively with the left transverse hydraulic
Cylinder, right transverse hydraulic cylinder, left longitudinal hydraulic cylinder, right longitudinal hydraulic cylinder oil inlet are connected, the left transverse hydraulic cylinder and right transverse direction
Hydraulic cylinder piston rod end is connected with the left lateral adjustment mount and right lateral adjustment mount respectively, by left transverse hydraulic cylinder and
Trench digging distance at left and right sides of the telescopic adjustment of right transverse hydraulic the cylinder piston rod end；Left longitudinal hydraulic cylinder and right longitudinal hydraulic cylinder
Tailpiece of the piston rod is connected with the left vertical adjustment bracket and right vertical adjustment bracket respectively, passes through left longitudinal hydraulic cylinder and right longitudinal direction
Ditching depth at left and right sides of the telescopic adjustment of hydraulic cylinder piston rod end；Described left transverse hydraulic cylinder one end and left lateral adjustment mount
It is connected, the other end is connected with the left trench digging frame, passes through distance of ditching on the left of the telescopic adjustment of left transverse hydraulic cylinder；It is described left vertical
It is hinged to adjusting bracket and the left trench digging transmission case upper back, described left longitudinal hydraulic cylinder one end and the left vertical adjustment branch
Frame is connected, and the other end is connected with the left trench digging transmission case rear lower, passes through trench digging on the left of the telescopic adjustment of left longitudinal hydraulic cylinder
Depth；Described right transverse hydraulic cylinder one end is connected with right lateral adjustment mount, the other end and the right trench digging frame phase in the rack
Even, pass through the telescopic adjustment right side opening ditch distance of right transverse hydraulic cylinder；The right vertical adjustment bracket and the right trench digging are driven
Case upper back is hinged, and described right longitudinal hydraulic cylinder one end is connected with the right vertical adjustment bracket, the other end and the right trench digging
Transmission case rear lower is connected, and passes through ditching depth on the right side of the telescopic adjustment of right longitudinal hydraulic cylinder；
The control mechanism includes left-leaning angle transducer, Right deviation angle transducer, left position displacement sensor, right displacement sensor, monolithic
Machine, relay, hydraulic valve and display；The "Left"-deviationist angle transducer is mounted on can be around left trench digging transmission case and left vertical adjustment branch
On the left trench digging transmission case of frame tie point rotation；It is described "Left"-deviationist angle transducer input terminal and output end respectively with the single-chip microcontroller
First input end is connected with output end；The Right deviation angle transducer is mounted on can be around right trench digging transmission case and right vertical adjustment bracket
On the right trench digging transmission case of tie point rotation；The Right deviation angle transducer input terminal and output end respectively with the single-chip microcontroller
Two input terminals are connected with output end；The left position displacement sensor is mounted on the inside of the left lateral adjustment mount, for examining in real time
Survey the moving distance of left lateral adjustment mount；The left dislocation sensor input and output end respectively with the single-chip microcontroller
Three input terminals are connected with output end；The right displacement sensor is mounted on the inside of the right lateral adjustment mount, for examining in real time
Survey the moving distance of right lateral adjustment mount；The right displacement sensor input terminal and output end respectively with the single-chip microcontroller
Four input terminals are connected with output end；The input terminal and output end of the display module respectively with the 5th input terminal of the single-chip microcontroller
It is connected with output end；6th output end of the single-chip microcontroller is connected with the input terminal of relay, the output end of relay with it is described
Hydraulic valve input terminal is connected, the hydraulic valve output end respectively with the left transverse hydraulic cylinder, right transverse hydraulic cylinder, left longitudinal liquid
Cylinder pressure, right longitudinal hydraulic cylinder are connected, and single-chip microcontroller controls each hydraulic cylinder by relay and completes ditching depth and distance of ditching
It adjusts.
2. a kind of duplicate rows ditching depth as described in claim 1 is apart from self-checking device, which is characterized in that the left trench digging
Frame and right trench digging frame are adjustable stretching structure.
3. a kind of duplicate rows ditching depth as described in claim 1 is apart from self-checking device, which is characterized in that the left trench digging
Cutterhead and right trench digging cutterhead outer rim are uniform staggered with installation ditching knife.
4. the Automatic adjustment method of a kind of ditching depth and distance, is realized using device as described in claim 1, feature exists
In steps are as follows:
1) before ditching operation, ditching knife is first contacted into ground, school zero is carried out to each obliquity sensor and is handled；With cutterhead distance of center circle
The distance of left lifting fulcrum or right lifting fulcrum is as rotary shaft, if rotation shaft length is L；It is initial between rotary shaft and ground
Angle is θ1, left lifting fulcrum or right lifting fulcrum are H away from the horizontal plane1；Angle, θ is turned over after obliquity sensor self-correcting zero
When, the angle on rotary shaft and ground is θ2, left lifting fulcrum or right lifting fulcrum are H away from the horizontal plane2, ditching depth H=
H2-H1, wherein H2=L × sin θ2, H1=L × sin θ1, θ2=θ+θ1；H is set according to the precision of obliquity sensor and requirement
Upper and lower error amount, obtain corresponding ditching depth range H ', and as default ditching depth range；
If the vertical range of the cutterhead distance of center circle rack or so of ditching middle line is c, displacement sensor detect left lateral adjustment mount or
It is d that right lateral adjustment mount, which moves horizontally distance, then D=c+d, according to the upper and lower mistake of displacement sensor and requirement setting D
Difference obtains corresponding trench digging distance range D ', and as default trench digging distance range；
2) when ditching operation, single-chip microcontroller real-time reception ditching depth H ", if H " is not interior in default ditching depth range H ', single-chip microcontroller
Pass through the flexible change ditching depth of each hydraulic cylinder push rod of solenoid valve control；", the trench digging interior in default ditching depth value H ' if H
Depth is constant；
3) when ditching operation, according to fruit tree line-spacing and fertilizer placement, left transverse hydraulic cylinder, right transverse hydraulic cylinder is adjusted, is allowed to
Elongation is shunk, to apply fertilizer in correct fertilizer placement；Single-chip microcontroller real-time reception trench digging distance D ", if D " not in default trench digging
Distance range D ' is interior, and single-chip microcontroller, which first passes through the flexible of solenoid valve control hydraulic cylinder push rod, makes ditching depth become 0, controls afterwards hydraulic
Cylinder push rod stretches, and changes trench digging distance to suitable range；If D, " interior in default trench digging distance value D ', trench digging distance is not
Become.
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| CN201910102580.8A CN109716895B (en) | 2019-02-01 | 2019-02-01 | Automatic double-row ditching depth distance adjusting device and method |
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| CN201910102580.8A CN109716895B (en) | 2019-02-01 | 2019-02-01 | Automatic double-row ditching depth distance adjusting device and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112492943A (en) * | 2020-12-15 | 2021-03-16 | 塔里木大学 | Orchard traction type double-fertilizer-box variable fertilizer applicator and fertilizing method |
| CN109716895B (en) * | 2019-02-01 | 2023-11-24 | 山东农业大学 | Automatic double-row ditching depth distance adjusting device and method |
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