CN110115139B - A hydraulic system and control method for a double-row sugarcane transverse planting machine - Google Patents
A hydraulic system and control method for a double-row sugarcane transverse planting machine Download PDFInfo
- Publication number
- CN110115139B CN110115139B CN201910383779.2A CN201910383779A CN110115139B CN 110115139 B CN110115139 B CN 110115139B CN 201910383779 A CN201910383779 A CN 201910383779A CN 110115139 B CN110115139 B CN 110115139B
- Authority
- CN
- China
- Prior art keywords
- hydraulic
- valve
- control circuit
- oil
- way
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 240000000111 Saccharum officinarum Species 0.000 title claims abstract description 40
- 235000007201 Saccharum officinarum Nutrition 0.000 title claims abstract description 40
- 238000000034 method Methods 0.000 title claims abstract description 15
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 100
- 239000003921 oil Substances 0.000 claims abstract description 82
- 230000007246 mechanism Effects 0.000 claims abstract description 60
- 239000002689 soil Substances 0.000 claims abstract description 43
- 230000009471 action Effects 0.000 claims abstract description 20
- 230000001360 synchronised effect Effects 0.000 claims abstract description 8
- 238000011084 recovery Methods 0.000 claims description 19
- 238000004064 recycling Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 3
- 239000002828 fuel tank Substances 0.000 description 3
- 241000196324 Embryophyta Species 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000010899 nucleation Methods 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- 240000001931 Ludwigia octovalvis Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C14/00—Methods or apparatus for planting not provided for in other groups of this subclass
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C19/00—Arrangements for driving working parts of fertilisers or seeders
- A01C19/02—Arrangements for driving working parts of fertilisers or seeders by a motor
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Transplanting Machines (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
本发明公开了一种用于双行甘蔗横向种植机的液压系统，所述液压系统包括液压源、辅助轮升降控制回路、覆土机构升降控制回路和开沟器升降控制回路，其中，液压源用于提供向各个部分回路供油，辅助轮升降控制回路用于控制辅助机构两边轮子的升降操作，覆土机构升降控制回路用于控制覆土机构两边轮子的升降动作，开沟器升降控制回路用于控制开沟器两边轮子的同步升降动作，其中，该液压源的输出回路通过多路阀分别与所述辅助轮升降控制回路、覆土机构升降控制回路和开沟器升降控制回路连通；并且还公开了其液压控制方法，包括液压供油和液压回油的步骤。本发明能够有效的控制各部分的升降顺序和速度，同时具有保压的作用，系统压力稳定可靠。
The invention discloses a hydraulic system for a double-row sugarcane transverse planting machine. The hydraulic system includes a hydraulic source, an auxiliary wheel lifting control circuit, a soil covering mechanism lifting control circuit and an opener lifting control circuit, wherein the hydraulic source is In order to provide oil supply to each part of the circuit, the auxiliary wheel lifting control circuit is used to control the lifting operation of the wheels on both sides of the auxiliary mechanism, the soil covering mechanism lifting control circuit is used to control the lifting action of the wheels on both sides of the soil covering mechanism, and the trencher lifting control circuit is used to control The synchronous lifting and lowering action of the wheels on both sides of the opener, wherein the output circuit of the hydraulic source is connected to the auxiliary wheel lifting control circuit, the soil covering mechanism lifting control circuit and the opener lifting control circuit respectively through a multi-way valve; and it is also disclosed Its hydraulic control method includes steps of hydraulic oil supply and hydraulic oil return. The invention can effectively control the lifting sequence and speed of each part, and at the same time has the function of maintaining pressure, making the system pressure stable and reliable.
Description
技术领域Technical field
本发明属于液压技术领域，特别涉及多缸控制的液压系统，尤其涉及一种用于双行甘蔗横向种植机的液压系统及控制方法。The invention belongs to the field of hydraulic technology, and particularly relates to a multi-cylinder controlled hydraulic system, and in particular to a hydraulic system and a control method for a double-row sugarcane transverse planting machine.
背景技术Background technique
甘蔗在目前而言仍然是我国重要的食糖作物，特别是南方。目前我国正在慢慢推广甘蔗机械化种植及收割等，但就使用情况而言，甘蔗机械化种植的推广效果不甚理想。在现有的甘蔗种植机械中，有两种主要的甘蔗种植机，一种是实时切种式甘蔗种植机，一种是预切种式甘蔗种植机。实时切种式甘蔗种植机采用的是定距离实时切割甘蔗，并将甘蔗种植到开好的沟内，根据功能又分为仅种植的机械和能连续完成开沟、落种、施肥、覆膜、覆土功能的种植机械，使用最多的是仅完成种植功能的种植机械，这种机械如要完成甘蔗种植的所有程序需要耗费不少时间和人力；另外，实时切种式种植机属于盲切，伤到芽的几率极大，而且切好的甘蔗段直接落入沟中，所以种植密度不够均匀，漏种发生的概率极大。预切种式甘蔗种植机是将已切好并经过筛选的蔗种段储存于大的蔗种箱内，然后分批转运掉落到排种口，再从排种口落入沟中，根据功能也分为仅种植使用的甘蔗种植机和能连续完成开沟、落种、施肥、覆膜、覆土功能的甘蔗种植机，预切种式种植机因蔗种均提前切种并进行筛选，故蔗种质量极好，很少出现伤芽现象，但同样存在的问题是，蔗种直接落入沟中，缺少落种控制，所以种植密度极其不均匀。而且上述所有甘蔗种植机械全部仅适用于目前普遍的纵向种植的甘蔗种植方式，针对新型的横向种植方式则缺少对应的机械设备。Sugarcane is still an important sugar crop in my country, especially in the south. At present, my country is slowly promoting mechanized planting and harvesting of sugarcane, but in terms of usage, the promotion effect of mechanized planting of sugarcane is not ideal. Among the existing sugarcane planting machinery, there are two main types of sugarcane planting machines, one is a real-time seed-cutting type sugarcane planting machine, and the other is a pre-seed-cutting type sugarcane planting machine. The real-time cutting sugarcane planting machine uses a fixed distance to cut sugarcane in real time and plants the sugarcane into the dug trench. According to the function, it is divided into machines that only plant and those that can continuously complete trenching, planting, fertilizing, and covering. Among the planting machines with soil covering function, the most commonly used ones are those that only complete the planting function. It takes a lot of time and manpower to complete all the procedures of sugarcane planting. In addition, the real-time seed cutting planting machine is a blind cutting machine. The probability of damaging the buds is extremely high, and the cut sugarcane segments fall directly into the ditch, so the planting density is not uniform enough and the probability of missing seeds is extremely high. The pre-cut sugarcane planting machine stores the cut and screened sugarcane seed segments in a large sugarcane seed box, then transfers them in batches and drops them to the seeding port, and then falls from the seeding port into the ditch. The functions are also divided into sugarcane planters that are only used for planting and sugarcane planters that can continuously complete the functions of ditching, planting, fertilizing, film covering, and soil covering. The pre-cut seed planting machine because the sugarcane seeds are cut and screened in advance, Therefore, the quality of sugarcane seeds is excellent, and bud damage is rare. However, the same problem is that sugarcane seeds fall directly into the ditch, and there is a lack of seed drop control, so the planting density is extremely uneven. Moreover, all the above-mentioned sugarcane planting machines are only suitable for the currently common vertical planting method of sugarcane planting, and there is a lack of corresponding mechanical equipment for the new horizontal planting method.
因此，为了实现该甘蔗横向种植机开沟、覆土、辅助支撑等功能，设计了一套液压系统，通过液压缸控制开沟深度和各部分转弯时的收起，减轻了劳动强度，提高工作效率Therefore, in order to realize the functions of trenching, covering soil, and auxiliary support of the sugarcane transverse planting machine, a hydraulic system was designed. The hydraulic cylinder controls the trenching depth and the retracting of each part when turning, which reduces labor intensity and improves work efficiency.
发明内容Contents of the invention
本发明的目的在于提供，能够稳定实现快进、快退和保压等一系列动作。为了实现上述目的，本发明采用以下技术效果：The purpose of the present invention is to provide a device that can stably realize a series of actions such as fast forward, fast rewind, and pressure holding. In order to achieve the above objects, the present invention adopts the following technical effects:
根据本发明的一个方面，提供了一种用于双行甘蔗横向种植机的液压系统，所述液压系统包括液压源、辅助轮升降控制回路、覆土机构升降控制回路和开沟器升降控制回路，其中，液压源用于提供向各个部分回路供油，所述辅助轮升降控制回路用于控制辅助机构两边轮子的升降操作，所述覆土机构升降控制回路用于控制覆土机构两边轮子的升降动作，所述开沟器升降控制回路用于控制开沟器两边轮子的同步升降动作，其中，该液压源的输出回路通过多路阀分别与所述辅助轮升降控制回路、覆土机构升降控制回路和开沟器升降控制回路连通。According to one aspect of the present invention, a hydraulic system for a double-row sugarcane transverse planter is provided, the hydraulic system includes a hydraulic source, an auxiliary wheel lifting control circuit, a soil covering mechanism lifting control circuit and a trencher lifting control circuit, Among them, the hydraulic source is used to supply oil to each partial circuit, the auxiliary wheel lifting control circuit is used to control the lifting operations of the wheels on both sides of the auxiliary mechanism, and the soil covering mechanism lifting control circuit is used to control the lifting actions of the wheels on both sides of the soil covering mechanism. The opener lifting control circuit is used to control the synchronous lifting actions of the wheels on both sides of the opener. The output circuit of the hydraulic source is connected to the auxiliary wheel lifting control circuit, the soil covering mechanism lifting control circuit and the opener through a multi-way valve respectively. The ditcher lifting control loop is connected.
上述方案进一步优选的，所述开沟器升降控制回路包括第一开沟器升降控制回路、第二开沟器升降控制回路和单向节流阀，该单向节流阀的输入口与所述多路阀的第一输出口连通，所述单向节流阀的输出口分别与所述第一开沟器升降控制回路的和第二开沟器升降控制回路的输入口连通，所述多路阀的第一回流口与所述第二开沟器升降控制回路的输出口连通。It is further preferred in the above scheme that the opener lifting control circuit includes a first opener lifting control circuit, a second opener lifting control circuit and a one-way throttle valve, the input port of the one-way throttle valve is connected to the The first output port of the multi-way valve is connected, and the output port of the one-way throttle valve is connected with the input port of the first opener lifting control circuit and the second opener lifting control circuit respectively, and the The first return port of the multi-way valve is connected to the output port of the second opener lifting control circuit.
上述方案进一步优选的，所述第一开沟器升降控制回路包括两个第一液压缸、两个第一液压锁、第一分流集流阀、第一二位三通电磁换向阀，所述第二开沟器升降控制回路包括两个第二液压缸、两个第二液压锁、第二分流集流阀和第二二位三通电磁换向阀；其中，所述单向节流阀的输出口与所述第一二位三通电磁换向阀的输入口连通，该第一二位三通电磁换向阀的第一输出口与所述第一分流集流阀的输入口连通，该第一分流集流阀的输出口分别通过第一液压锁的第一输入口连通，所述第一液压锁的输出口与所述第一液压缸的输入口连通，所述第一二位三通电磁换向阀的第二输出口与所述第二分流集流阀的输入口连通，所述第二分流集流阀的输出口分别与第二液压锁的第一输入口连通，所述第二液压锁的输出口分别与所述第二液压缸的输入口连通；所述第一液压缸的输出口与所述第一液压锁的回收输入口连通，该第一液压锁的回收输出口与所述第二二位三通电磁换向阀的第一输入口连通；所述第二液压缸的输出口与所述第二液压锁的回收输入口连通，该第二液压锁的回收输出口与第二二位三通电磁换向阀的第二输入口连通,该第二二位三通电磁换向阀的输出口与所述多路阀的第一回流口连通。In a further preferred embodiment of the above solution, the first opener lift control circuit includes two first hydraulic cylinders, two first hydraulic locks, a first diverting and collecting valve, and a first two-position three-way electromagnetic reversing valve, so The second opener lifting control circuit includes two second hydraulic cylinders, two second hydraulic locks, a second diverter collecting valve and a second two-position three-way electromagnetic reversing valve; wherein, the one-way throttling The output port of the valve is connected to the input port of the first two-position three-way electromagnetic reversing valve, and the first output port of the first two-position three-way electromagnetic reversing valve is connected to the input port of the first diverting and collecting valve. Communicated, the output ports of the first diverting and collecting valve are respectively connected through the first input port of the first hydraulic lock, the output port of the first hydraulic lock is connected with the input port of the first hydraulic cylinder, and the first The second output port of the two-position three-way electromagnetic reversing valve is connected to the input port of the second diverter and collector valve, and the output port of the second diverter and collector valve is respectively connected to the first input port of the second hydraulic lock. , the output port of the second hydraulic lock is connected to the input port of the second hydraulic cylinder respectively; the output port of the first hydraulic cylinder is connected to the recovery input port of the first hydraulic lock, and the first hydraulic lock The recovery output port is connected to the first input port of the second two-position three-way electromagnetic reversing valve; the output port of the second hydraulic cylinder is connected to the recovery input port of the second hydraulic lock, and the second hydraulic cylinder The recovery output port of the lock is connected to the second input port of the second two-position three-way electromagnetic reversing valve, and the output port of the second two-position three-way electromagnetic reversing valve is connected to the first return port of the multi-way valve.
上述方案进一步优选的，所述辅助轮升降控制回路包括两个第三液压缸和两个第三液压锁，两个所述第三液压锁的输入口分别与所述多路阀的第二输出口连通，该第三液压锁的第一输出口分别与第三液压缸的输入口连通，该第三液压缸的输出口与所述第三液压锁的回收输入口连通，该第三液压锁的回收输出口与所述多路阀的第二回流口连通。It is further preferred in the above scheme that the auxiliary wheel lifting control circuit includes two third hydraulic cylinders and two third hydraulic locks, and the input ports of the two third hydraulic locks are respectively connected to the second output of the multi-way valve. The first output port of the third hydraulic lock is connected to the input port of the third hydraulic cylinder, and the output port of the third hydraulic cylinder is connected to the recovery input port of the third hydraulic lock. The third hydraulic lock The recovery output port is connected to the second return port of the multi-way valve.
上述方案进一步优选的，所述覆土机构升降控制回路包括两个第四液压缸，两个所述第四液压缸的输入口分别与所述多路阀的第三输出口连通，所述第四液压缸的输出口与多路阀的第三回流口连通。It is further preferred in the above solution that the lifting control circuit of the soil covering mechanism includes two fourth hydraulic cylinders, and the input ports of the two fourth hydraulic cylinders are respectively connected with the third output port of the multi-way valve. The output port of the hydraulic cylinder is connected with the third return port of the multi-way valve.
根据本发明的另一个方面，还提供了一种利用所述液压系统进行液压控制的方法，包括液压供油和液压回油的步骤，主要包括以下步骤：所述液压供油包括分别为辅助轮升降控制回路提供液压油、开沟器升降控制回路提供液压油和覆土机构升降控制回路提供液压油；所述液压回油包括分别向开沟器升降控制回路回收液压油、覆土机构升降控制回路回收液压油和辅助轮升降控制回路回收液压油。According to another aspect of the present invention, a method for hydraulic control using the hydraulic system is provided, including the steps of hydraulic oil supply and hydraulic oil return, which mainly includes the following steps: the hydraulic oil supply includes auxiliary wheels respectively. The lifting control circuit provides hydraulic oil, the opener lifting control circuit provides hydraulic oil, and the soil covering mechanism lifting control circuit provides hydraulic oil; the hydraulic oil return includes recovering hydraulic oil to the opener lifting control circuit and recycling the soil covering mechanism lifting control circuit respectively. Hydraulic oil and auxiliary wheel lift control circuit recycle hydraulic oil.
上述方案进一步优选的，所述液压供油包括以下步骤：当液压源启动提供液压油后，先经过多路阀向第三液压锁提供液压油，使第三液压缸伸出，从而为辅助轮升降控制回路提供液压油；然后是液压源经过多路阀向开沟机构供油，当液压油经过单向节流阀时，第一二位三通电磁换向阀和第二二位三通电磁换向阀断电，此时，使第一液压缸伸出；然后第一二位三通电磁换向阀和第二二位三通电磁换向阀通电，使第二液压缸伸出，从而对开沟器升降控制回路两边轮子的同步升降动作进行控制；当液压源启动提供液压油后，经过多路阀向第四液压缸提供液压油，使第四液压缸伸出，从而为覆土机构升降控制回路提供液压油。It is further preferred in the above solution that the hydraulic oil supply includes the following steps: when the hydraulic source starts to provide hydraulic oil, first provide hydraulic oil to the third hydraulic lock through the multi-way valve, so that the third hydraulic cylinder extends, thereby providing the auxiliary wheel with hydraulic oil. The lifting control circuit provides hydraulic oil; then the hydraulic source supplies oil to the trenching mechanism through the multi-way valve. When the hydraulic oil passes through the one-way throttle valve, the first two-position three-way electromagnetic reversing valve and the second two-position three-way When the electromagnetic reversing valve is powered off, the first hydraulic cylinder is extended; then the first two-position three-way electromagnetic reversing valve and the second two-position three-way electromagnetic reversing valve are powered on, causing the second hydraulic cylinder to extend. Thus, the synchronous lifting actions of the wheels on both sides of the opener lifting control circuit are controlled; when the hydraulic source starts to provide hydraulic oil, hydraulic oil is provided to the fourth hydraulic cylinder through the multi-way valve, so that the fourth hydraulic cylinder extends, thereby providing the soil cover. The mechanism lifting control circuit provides hydraulic oil.
上述方案进一步优选的，所述液压回油包括以下步骤：回油时，首先是液压源内的液压油经过多路阀向第四液压缸供油后回流，第四液压缸内的液压油经过多路阀回流至液压源，从而对覆土机构升降控制回路进行回油控制；然后，液压源经过多路阀向开沟机构部分进行供油，使液压缸收回；此时，第一二位三通电磁换向阀和第二二位三通电磁换向阀得电闭合后，液压油依次经过第二二位三通电磁换向阀、第二液压锁、第二液压缸、第二液压锁、第二分流集流阀、第一二位三通电磁换向阀和单向节流阀，将液压油回流至油箱，此时完成第二液压缸的收回动作；然后第一二位三通电磁换向阀和第二二位三通电磁换向阀失电断开后，液压油经过第二二位三通电磁换向阀、第一液压锁、第一液压缸、第一液压锁、第一分流集流阀、第一二位三通电磁换向阀和单向节流阀，然后液压油回流至油箱，此时完成第以液压缸的收回动作；最后，将液压源经过多路阀向第三液压缸供油后回流，第三液压缸内的液压油经过第三液压锁和多路阀回流至液压源，从而对辅助轮升降控制回路进行回油控制。The above scheme is further preferred, and the hydraulic oil return includes the following steps: when returning oil, first, the hydraulic oil in the hydraulic source supplies oil to the fourth hydraulic cylinder through the multi-way valve and then flows back, and the hydraulic oil in the fourth hydraulic cylinder passes through the multi-way valve. The circuit valve returns to the hydraulic source, thereby controlling the return of oil to the lifting control circuit of the soil covering mechanism; then, the hydraulic source supplies oil to the ditching mechanism part through the multi-way valve, so that the hydraulic cylinder is retracted; at this time, the first two-position three-way After the electromagnetic directional valve and the second 2-position 3-way electromagnetic directional valve are powered and closed, the hydraulic oil passes through the second 2-position 3-way electromagnetic directional valve, the second hydraulic lock, the second hydraulic cylinder, the second hydraulic lock, and The second shunt collecting valve, the first two-position three-way electromagnetic reversing valve and the one-way throttle valve return the hydraulic oil to the tank. At this time, the retraction action of the second hydraulic cylinder is completed; then the first two-position three-way solenoid valve After the reversing valve and the second two-position three-way electromagnetic reversing valve lose power and disconnect, the hydraulic oil passes through the second two-position three-way electromagnetic reversing valve, the first hydraulic lock, the first hydraulic cylinder, the first hydraulic lock, and the third hydraulic reversing valve. The first shunt collecting valve, the first two-position three-way electromagnetic reversing valve and the one-way throttle valve, and then the hydraulic oil returns to the tank. At this time, the retraction action of the first hydraulic cylinder is completed; finally, the hydraulic source passes through the multi-way valve After supplying oil to the third hydraulic cylinder, it flows back. The hydraulic oil in the third hydraulic cylinder flows back to the hydraulic source through the third hydraulic lock and the multi-way valve, thereby controlling the return of oil to the auxiliary wheel lifting control circuit.
综上所述，由于本发明采用了上述技术方案，本发明具有以下技术效果：To sum up, since the present invention adopts the above technical solution, the present invention has the following technical effects:
本发明能够对开沟器升降控制回路、辅助轮升降控制回路还有覆土机构升降控制回路的有序可靠的控制，使得双行甘蔗横向种植机能够有效的控制各部分的升降顺序和速度，同时具有保压的作用，系统压力稳定可靠，还具有快进和快退的作用，快退有利于提高工作效率，从而防止工作时液压缸伸出速度过快对开沟器造成影响。The invention can orderly and reliably control the opener lifting control circuit, the auxiliary wheel lifting control circuit and the covering mechanism lifting control circuit, so that the double-row sugarcane transverse planting machine can effectively control the lifting sequence and speed of each part, and at the same time It has the function of maintaining pressure, and the system pressure is stable and reliable. It also has the functions of fast forward and fast rewind. Fast rewind is helpful to improve work efficiency, thereby preventing the hydraulic cylinder from extending too fast and affecting the trencher during operation.
附图说明Description of the drawings
图1是本发明的一种用于双行甘蔗横向种植机的液压系统的控制原理图；Figure 1 is a control principle diagram of a hydraulic system for a double-row sugarcane transverse planting machine of the present invention;
图2是本发明的第一液压缸和第二液压缸的摆动示意图；Figure 2 is a schematic diagram of the swing of the first hydraulic cylinder and the second hydraulic cylinder of the present invention;
附图中，液压源100，辅助轮升降控制回路200，覆土机构升降控制回路300，开沟器升降控制回路400，第一开沟器升降控制回路401，第二开沟器升降控制回路402，第一液压缸1、2，第二液压缸3、4，第一液压锁5、6，第二液压锁7、8，第一分流集流阀9，第一二位三通电磁换向阀11，第二分流集流阀10，第二二位三通电磁换向阀12，单向节流阀13，第三液压缸15、16，第三液压锁17、18，第四液压缸19、20，多路阀21,油箱1001，溢流阀1002，压力表1003，油泵1004，电机1005。In the drawing, there is a hydraulic source 100, an auxiliary wheel lifting control circuit 200, a soil covering mechanism lifting control circuit 300, an opener lifting control circuit 400, a first opener lifting control circuit 401, a second opener lifting control circuit 402, The first hydraulic cylinders 1 and 2, the second hydraulic cylinders 3 and 4, the first hydraulic locks 5 and 6, the second hydraulic locks 7 and 8, the first diverter and collector valve 9, the first two-position three-way electromagnetic reversing valve 11. The second diverting and collecting valve 10, the second two-position three-way electromagnetic reversing valve 12, the one-way throttle valve 13, the third hydraulic cylinder 15, 16, the third hydraulic lock 17, 18, the fourth hydraulic cylinder 19 , 20, multi-way valve 21, oil tank 1001, relief valve 1002, pressure gauge 1003, oil pump 1004, motor 1005.
具体实施方式Detailed ways
为使本发明的目的、技术方案及优点更加清楚明白，以下参照附图并举出优选实施例，对本发明进一步详细说明。然而，需要说明的是，说明书中列出的许多细节仅仅是为了使读者对本发明的一个或多个方面有一个透彻的理解，即便没有这些特定的细节也可以实现本发明的这些方面。In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings and preferred embodiments. However, it should be noted that many details listed in the specification are merely to provide the reader with a thorough understanding of one or more aspects of the present invention, and these aspects of the present invention may be implemented without these specific details.
如图1和2所示，根据本发明的一个方面，提供了一种用于双行甘蔗横向种植机的液压系统，所述液压系统包括液压源100、辅助轮升降控制回路200、覆土机构升降控制回路300和至少两个开沟器升降控制回路400，其中，液压源100用于提供向各个部分回路供油，所述辅助轮升降控制回路200用于控制两边辅助轮子的升降操作，所述覆土机构升降控制回路300用于控制覆土机构两边轮子的升降动作，所述沟器升降控制回路400用于控制开沟器两边轮子的同步升降动作，其中，该液压源100的输出回路通过多路阀21分别与所述辅助轮升降控制回路200、覆土机构升降控制回路300和开沟器升降控制回路400连通；本发明的双行甘蔗横向种植机液压系统主要由开沟器升降控制回路、辅助轮升降控制回路和覆土机构升降控制回路三大部分组成，开沟器升降控制回路可根据动作需要进行调速，具有保压、调速、工进、快退等作用；辅助轮升降控制回路主要是控制液压缸的伸缩和具有保压的作用；覆土机构升降控制回路主要是控制覆土机构液压缸的伸缩，本发明双行甘蔗横向种植机液压系统，是针对双行甘蔗横向种植机的各液压缸的控制顺序和速度所设计，主要是通过多路阀与各部分的连接，达到对开沟器升降控制回路、辅助轮升降控制回路还有覆土机构升降控制回路的有序可靠的控制，使得双行甘蔗横向种植机能够有效的控制各部分的升降顺序和速度，同时具有保压的作用，以提高系统压力稳定的可靠性。As shown in Figures 1 and 2, according to one aspect of the present invention, a hydraulic system for a double-row sugarcane transverse planting machine is provided. The hydraulic system includes a hydraulic source 100, an auxiliary wheel lifting control circuit 200, a soil covering mechanism lifting The control circuit 300 and at least two opener lifting control circuits 400, wherein the hydraulic source 100 is used to provide oil supply to each partial circuit, the auxiliary wheel lifting control circuit 200 is used to control the lifting operation of the auxiliary wheels on both sides, the The soil covering mechanism lifting control circuit 300 is used to control the lifting actions of the wheels on both sides of the soil covering mechanism. The trencher lifting control circuit 400 is used to control the synchronous lifting actions of the wheels on both sides of the trencher. The output circuit of the hydraulic source 100 passes through multiple channels. The valve 21 is respectively connected with the auxiliary wheel lifting control circuit 200, the soil covering mechanism lifting control circuit 300 and the opener lifting control circuit 400; the hydraulic system of the double-row sugarcane transverse planting machine of the present invention is mainly composed of the opener lifting control circuit, auxiliary It consists of three parts: the wheel lifting control loop and the covering mechanism lifting control loop. The opener lifting control loop can adjust the speed according to the action needs, and has the functions of pressure maintaining, speed regulation, work advance, and fast rewind; the auxiliary wheel lifting control loop mainly It is to control the expansion and contraction of the hydraulic cylinder and has the function of maintaining pressure; the lifting control circuit of the soil covering mechanism is mainly to control the expansion and contraction of the hydraulic cylinder of the soil covering mechanism. The hydraulic system of the double-row sugarcane transverse planting machine of the present invention is aimed at each hydraulic system of the double-row sugarcane transverse planting machine. The control sequence and speed of the cylinder are designed mainly through the connection between the multi-way valve and each part to achieve orderly and reliable control of the opener lifting control loop, the auxiliary wheel lifting control loop and the soil covering mechanism lifting control loop, so that The double-row sugarcane transverse planter can effectively control the lifting sequence and speed of each part, and also has the function of maintaining pressure to improve the reliability of system pressure stability.
在本发明中，如图1所示，所述开沟器升降控制回路400包括第一开沟器升降控制回路401、第二开沟器升降控制回路402和单向节流阀13，该单向节流阀13的输入口与所述多路阀21的第一输出口A连通，所述单向节流阀13的输出口分别与所述第一开沟器升降控制回路401的和第二开沟器升降控制回路402的输入口连通，所述多路阀21的第一回流口B与所述第二开沟器升降控制回路402的输出口连通；所述第一开沟器升降控制回路401包括两个第一液压缸1、2、两个第一液压锁5、6、第一分流集流阀9、第一二位三通电磁换向阀11，所述第二开沟器升降控制回路402包括两个第二液压缸3、4、两个第二液压锁7、8、第二分流集流阀10和第二二位三通电磁换向阀12；其中，所述单向节流阀13的输出口M与所述第一二位三通电磁换向阀11的输入口P连通，该第一二位三通电磁换向阀11的第一输出口A与所述第二分流集流阀9的输入口P连通，该第一分流集流阀9的输出口A、B分别通过第一液压锁5、6的第一输入口C1连通，所述第一液压锁5、6的输出口V1与所述第一液压缸1、2的输入口连通，所述第一二位三通电磁换向阀11的第二输出口B与所述第二分流集流阀10的输入口P连通，所述第二分流集流阀10的输出口A、B分别与第二液压锁7、8的第一输入口C1连通，所述第二液压锁7、8的输出口V1分别与所述第二液压缸3、4的输入口连通，所述第一液压缸1、2的输出口与所述第一液压锁5、6的回收输入口V2连通，该第一液压锁5、6的回收输出口C2与所述第二二位三通电磁换向阀12的第一输入口A连通；所述第二液压缸3、4的输出口与所述第二液压锁7、8的回收输入口V2连通，该第二液压锁7、8的回收输出口C2与第二二位三通电磁换向阀12的第二输入口B连通,该第二二位三通电磁换向阀12的输出口P与所述多路阀21的第一回流口B连通。In the present invention, as shown in Figure 1, the opener lifting control circuit 400 includes a first opener lifting control circuit 401, a second opener lifting control circuit 402 and a one-way throttle valve 13. The input port of the throttle valve 13 is connected to the first output port A of the multi-way valve 21 , and the output port of the one-way throttle valve 13 is connected to the first opener lift control circuit 401 and the first output port A respectively. The input ports of the two opener lifting control circuits 402 are connected, and the first return port B of the multi-way valve 21 is connected with the output port of the second opener lifting control circuit 402; the first ditching opener lifts The control circuit 401 includes two first hydraulic cylinders 1 and 2, two first hydraulic locks 5 and 6, a first diverting and collecting valve 9, and a first two-position three-way electromagnetic reversing valve 11. The second ditching The device lifting control circuit 402 includes two second hydraulic cylinders 3, 4, two second hydraulic locks 7, 8, a second diverter collector valve 10 and a second two-position three-way electromagnetic reversing valve 12; wherein, the The output port M of the one-way throttle valve 13 is connected to the input port P of the first two-position three-way electromagnetic reversing valve 11, and the first output port A of the first two-position three-way electromagnetic reversing valve 11 is connected to the first two-position three-way electromagnetic reversing valve 11. The input port P of the second diverter and collector valve 9 is connected, and the output ports A and B of the first diverter and collector valve 9 are connected through the first input ports C1 of the first hydraulic locks 5 and 6 respectively. The output ports V1 of the locks 5 and 6 are connected to the input ports of the first hydraulic cylinders 1 and 2, and the second output port B of the first two-position three-way electromagnetic reversing valve 11 is connected to the second diverter and collector. The input port P of the valve 10 is connected, and the output ports A and B of the second diverter and collector valve 10 are respectively connected with the first input ports C1 of the second hydraulic locks 7 and 8. The output port V1 is connected to the input ports of the second hydraulic cylinders 3 and 4 respectively, and the output ports of the first hydraulic cylinders 1 and 2 are connected to the recovery input ports V2 of the first hydraulic locks 5 and 6. The recovery output port C2 of a hydraulic lock 5, 6 is connected to the first input port A of the second two-position three-way electromagnetic reversing valve 12; the output ports of the second hydraulic cylinders 3, 4 are connected to the second The recovery input ports V2 of the hydraulic locks 7 and 8 are connected, and the recovery output ports C2 of the second hydraulic locks 7 and 8 are connected with the second input port B of the second two-position three-way electromagnetic reversing valve 12. The output port P of the three-way electromagnetic directional valve 12 is connected to the first return port B of the multi-way valve 21 .
在本法发明中，如图1所示，所述辅助轮升降控制回路200包括两个第三液压缸15、16和两个第三液压锁17、18，两个所述第三液压锁17、18的输入口C1分别与所述多路阀21的第二输出口C连通，该第三液压锁17、18的第一输出口V1分别与第三液压缸15、16的输入口连通，该第三液压缸15、16的输出口与所述第三液压锁17、18的回收输入口V2连通，该第三液压锁17、18的回收输出口C2与所述多路阀21的第二回流口D连通；所述覆土机构升降控制回路300包括两个第四液压缸19、20，两个所述第四液压缸19、20的输入口F’分别与所述多路阀21的第三输出口E连通，所述第四液压缸19、20的输出口E’与多路阀21的第三回流口F连通；在本发明中，所述单向节流阀的型号采用KC-04节流阀，分流集流阀的型号采用3FJLK-L10-50H集流阀，所述多路阀可采用多路并行的二位六通换向阀组成，用以操纵多个执行元件的运动；所述开沟器升降控制回路和辅助轮升降控制回路液压缸均设置液压锁，防止外负载过大液压缸自动回收，对液压缸起到一个保压的作用；同时，开沟器升降控制回路还设置了节流阀与单向阀的并联回路，具有快进和快退的作用，防止工作时液压缸伸出速度过快对开沟器造成影响，快退有利于提高工作效率。In the present invention, as shown in Figure 1, the auxiliary wheel lifting control circuit 200 includes two third hydraulic cylinders 15, 16 and two third hydraulic locks 17, 18. The two third hydraulic locks 17 The input ports C1 of 18 and 18 are respectively connected with the second output ports C of the multi-way valve 21, and the first output ports V1 of the third hydraulic locks 17 and 18 are respectively connected with the input ports of the third hydraulic cylinders 15 and 16. The output ports of the third hydraulic cylinders 15 and 16 are connected to the recovery input ports V2 of the third hydraulic locks 17 and 18 , and the recovery output ports C2 of the third hydraulic locks 17 and 18 are connected to the third port of the multi-way valve 21 The two return ports D are connected; the soil covering mechanism lifting control circuit 300 includes two fourth hydraulic cylinders 19 and 20, and the input ports F' of the two fourth hydraulic cylinders 19 and 20 are respectively connected with the multi-way valve 21. The third output port E is connected, and the output port E' of the fourth hydraulic cylinders 19 and 20 is connected with the third return port F of the multi-way valve 21; in the present invention, the model of the one-way throttle valve adopts KC -04 throttle valve, the model of the diverting and collecting valve adopts 3FJLK-L10-50H collecting valve. The multi-way valve can be composed of multiple parallel two-position six-way reversing valves to control the operation of multiple actuators. Movement; the hydraulic cylinders of the opener lifting control circuit and the auxiliary wheel lifting control circuit are equipped with hydraulic locks to prevent the hydraulic cylinder from automatically recovering due to excessive external load, and play a role in maintaining pressure for the hydraulic cylinder; at the same time, the opener lifts and lowers The control circuit is also equipped with a parallel circuit of a throttle valve and a one-way valve, which has the functions of fast forward and fast rewind to prevent the hydraulic cylinder from extending too fast and affecting the opener during operation. Fast rewind is conducive to improving work efficiency.
以下结合附图1对本发明的工作原理作进一步阐述，所述开沟器升降控制回路400中的油管A’、B’与多路阀21的A、B口连接，所述辅助轮升降控制回路200中的油管C’、D’与多路阀21的C、D口连接，所述覆土机构升降控制回路300的油管E’、F’与多路阀21的E、F口连接。所述第一液压锁5、6的V1口、第二液压锁7、8的V1口、第三液压锁17、18的V1口分别与第一液压缸1、2、第二液压缸3、4和第三液压缸15、16的无杆腔连接，第一液压锁5、6的V2口、第二液压锁7、8的V2口和第三液压锁15、16的V2口与液压缸的有杆腔连接，第一液压锁5、6的C1口与第一分流集流阀9的A、B口连接，第一液压锁5、6的C2口与二位三通电磁换向阀12的A口连接，第二液压锁7、8的C1口与分第二流集流阀10的A、B口连接，第二液压锁7、8的C2口与二位三通电磁换向阀12的B口连接，所述第一分流集流阀9的P口与二位三通电磁阀11的A口连接，第二分流集流阀10的P口与二位三通电磁换向阀11的B口连接，二位三通电磁换向阀11的P口与单向节流阀13的M口连接，单向节流阀的N口通过油管A’与多路阀21的A口连接，二位三通电磁换向阀12的P口通过油管B’与多路阀21的B口连接。The working principle of the present invention will be further described below with reference to Figure 1. The oil pipes A' and B' in the opener lifting control circuit 400 are connected to ports A and B of the multi-way valve 21. The auxiliary wheel lifting control circuit The oil pipes C' and D' in 200 are connected to the C and D ports of the multi-way valve 21, and the oil pipes E' and F' of the earth covering mechanism lifting control circuit 300 are connected to the E and F ports of the multi-way valve 21. The V1 ports of the first hydraulic locks 5 and 6, the V1 ports of the second hydraulic locks 7 and 8, and the V1 ports of the third hydraulic locks 17 and 18 are respectively connected with the first hydraulic cylinders 1, 2, the second hydraulic cylinder 3, 4 is connected to the rodless cavity of the third hydraulic cylinder 15 and 16, the V2 port of the first hydraulic lock 5 and 6, the V2 port of the second hydraulic lock 7 and 8 and the V2 port of the third hydraulic lock 15 and 16 are connected with the hydraulic cylinder The rod cavity is connected, the C1 port of the first hydraulic lock 5 and 6 is connected to the A and B ports of the first diverter and collector valve 9, the C2 port of the first hydraulic lock 5 and 6 is connected to the two-position three-way electromagnetic reversing valve The A port of 12 is connected, the C1 port of the second hydraulic lock 7 and 8 is connected to the A and B ports of the second flow collecting valve 10, the C2 port of the second hydraulic lock 7 and 8 is connected to the two-position three-way electromagnetic commutation The B port of the valve 12 is connected, the P port of the first diverter and collector valve 9 is connected to the A port of the two-position three-way solenoid valve 11, and the P port of the second diverter and collector valve 10 is connected to the two-position three-way electromagnetic commutator. The B port of the valve 11 is connected, the P port of the two-position three-way electromagnetic reversing valve 11 is connected to the M port of the one-way throttle valve 13, and the N port of the one-way throttle valve is connected to the A port of the multi-way valve 21 through the oil pipe A' The P port of the two-position three-way electromagnetic reversing valve 12 is connected to the B port of the multi-way valve 21 through the oil pipe B'.
启动液压系统工作时，首先是辅助轮升降控制回路200的辅助轮机构液压缸伸出，液压源100(液压站)经多路阀21向各个回路部分分别供油，先是多路阀21打开，向辅助轮升降控制回路200供油，多路阀21手动到右位，液压油由多路阀21的输出口C流出，经过第二液压锁17、18向第二液压缸15、16的无杆腔供油，两个第二液压缸15、16同时向右伸出；其次是开沟器升降控制回路400的开沟机构上液压缸伸出：然后多路阀21打开，向开沟器升降控制回路400供油，多路阀21手动到右位供油，液压油由多路阀21的第一输出口A流出至单向节流阀13的输入口A’，经过单向节流阀13(单向节流阀具有工进时减速的作用)的输出口M流至第一二位三通电磁换向阀11的输入口P，再经过二位三通电磁换向阀11的第一输出口A，此时二位三通电磁换向阀11的Y1失电(Y1代表电磁换向阀的电磁线圈)，二位三通电磁换向阀11处于右位，此时液压油由二位三通电磁换向阀11的第一输出口A向第二分流集流阀9供油，再由第二分流集流阀9的输出口A、B分流出两路同等流量的液压油路，经过第一液压锁5、6向第一液压缸1、2的无杆腔同时供油，此时第一液压缸1、2同时向右边伸出；When starting the operation of the hydraulic system, first the hydraulic cylinder of the auxiliary wheel mechanism of the auxiliary wheel lifting control circuit 200 is extended, and the hydraulic source 100 (hydraulic station) supplies oil to each circuit part through the multi-way valve 21. First, the multi-way valve 21 is opened. Supply oil to the auxiliary wheel lifting control circuit 200. The multi-way valve 21 is manually moved to the right position. The hydraulic oil flows out from the output port C of the multi-way valve 21 and passes through the second hydraulic locks 17 and 18 to the non-stop valves of the second hydraulic cylinders 15 and 16. Oil is supplied to the rod chamber, and the two second hydraulic cylinders 15 and 16 extend to the right at the same time; followed by the hydraulic cylinder on the ditching mechanism of the ditcher lift control circuit 400 extends: then the multi-way valve 21 opens, The lift control circuit 400 supplies oil, and the multi-way valve 21 is manually moved to the right position to supply oil. The hydraulic oil flows out from the first output port A of the multi-way valve 21 to the input port A' of the one-way throttle valve 13, and passes through the one-way throttle. The output port M of the valve 13 (the one-way throttle valve has the function of decelerating during operation) flows to the input port P of the first two-position three-way electromagnetic reversing valve 11, and then passes through the two-position three-way electromagnetic reversing valve 11. The first output port A, at this time, Y1 of the two-position three-way electromagnetic reversing valve 11 is de-energized (Y1 represents the solenoid coil of the electromagnetic reversing valve), and the two-position three-way electromagnetic reversing valve 11 is in the right position. At this time, the hydraulic oil The first output port A of the two-position three-way electromagnetic reversing valve 11 supplies oil to the second diverter and collector valve 9, and then the output ports A and B of the second diverter and collector valve 9 divert two equal flows of hydraulic pressure. The oil circuit supplies oil to the rodless chambers of the first hydraulic cylinders 1 and 2 through the first hydraulic locks 5 and 6 at the same time. At this time, the first hydraulic cylinders 1 and 2 extend to the right at the same time;
同时第一液压缸1、2的有杆腔的液压油经过有杆腔出油口出油流经第一液压锁5、6的出口C2，再经过第二二位三通电磁换向阀12的A口，此时二位三通电磁换向阀12的Y2处于失电状态，二位三通电磁换向阀12处于右位，液压油经过二位三通电磁换向阀12的A口与多路阀21的B口连接回流至液压源100中，所述液压源100(液压站)包括油箱1001、溢流阀1002、压力表1003、油泵1004和电机1005，液压站又称液压泵站，电机带动油泵旋转，油泵从油箱中吸油后打油，将机械能转化为液压油的压力能，液压油通过集成块(或阀组合)被液压阀实现了方向、压力、流量调节后经外接管路传输到液压机械的油缸或油马达中，从而控制了液动机方向的变换、力量的大小及速度的快慢，推动各种液压机械做功；液压站作为独立的液压装置，它按驱动装置(主机)要求供油，并控制油流的方向、压力和流量，它适用于主机与液压装置可分离的各种液压机械下，由电机1005带动油泵1004旋转，油泵1004从油箱1001中吸油后打油，将机械能转化为液压油的压力能；油箱1001--是钢板焊的半封闭容器，上还装有滤油网、空气滤清器等，它用来储油、油的冷却及过滤。电机1005、油泵1004(齿轮泵)为液压系统提供驱动力。溢流阀1002--防止整个液压系统超压，相当于安全阀，保护油泵和油路系统的安全及保持液压系统的压力恒定。压力表1003用于显示液压站的工作压力，以利于操作人员控制油压；此时，当开沟器升降控制回路400的下液压缸伸出，让第一二位三通电磁换向阀11的Y1得电，二位三通电磁换向阀11处于左位，液压油由多路阀21的A口流出，经过单向节流阀13(单向节流阀具有工进时减速的作用)的A’口流入，经过二位三通电磁换向阀11的端口B流经分第二分流集流阀10，再第二分流集流阀10的端口A、B分流出两路同等流量的液压油路，经过第二液压锁7、8向第二液压缸3、4的无杆腔同时供油；At the same time, the hydraulic oil in the rod chambers of the first hydraulic cylinders 1 and 2 flows through the rod chamber oil outlets and flows through the outlets C2 of the first hydraulic locks 5 and 6, and then passes through the second two-position three-way electromagnetic reversing valve 12 Port A, at this time, Y2 of the three-position two-way electromagnetic reversing valve 12 is in a de-energized state, the three-position two-way electromagnetic reversing valve 12 is in the right position, and the hydraulic oil passes through port A of the three-position two-way electromagnetic reversing valve 12 It is connected to port B of the multi-way valve 21 and flows back to the hydraulic source 100. The hydraulic source 100 (hydraulic station) includes a fuel tank 1001, a relief valve 1002, a pressure gauge 1003, an oil pump 1004 and a motor 1005. The hydraulic station is also called a hydraulic pump. Station, the motor drives the oil pump to rotate. The oil pump absorbs oil from the oil tank and pumps oil, converting mechanical energy into pressure energy of hydraulic oil. The hydraulic oil is adjusted by the hydraulic valve through the manifold (or valve combination) in direction, pressure, and flow, and then passes through the external pipe. The circuit is transmitted to the oil cylinder or oil motor of the hydraulic machine, thereby controlling the change of the direction of the hydraulic machine, the amount of force and the speed of the hydraulic machine, and promoting various hydraulic machines to do work; the hydraulic station is an independent hydraulic device, which operates according to the driving device (host ) requires oil supply and controls the direction, pressure and flow of oil flow. It is suitable for various hydraulic machines where the main engine and the hydraulic device can be separated. The motor 1005 drives the oil pump 1004 to rotate. The oil pump 1004 absorbs oil from the oil tank 1001 and then pumps oil. Convert mechanical energy into pressure energy of hydraulic oil; the oil tank 1001 is a semi-closed container welded by steel plates, and is also equipped with an oil filter, an air filter, etc., which is used for oil storage, oil cooling and filtration. The motor 1005 and the oil pump 1004 (gear pump) provide driving force for the hydraulic system. Relief valve 1002 - prevents overpressure of the entire hydraulic system, equivalent to a safety valve, protects the safety of the oil pump and oil system and keeps the pressure of the hydraulic system constant. The pressure gauge 1003 is used to display the working pressure of the hydraulic station to facilitate the operator to control the oil pressure; at this time, when the lower hydraulic cylinder of the opener lifting control circuit 400 extends, the first two-position three-way electromagnetic reversing valve 11 Y1 is energized, the two-position three-way electromagnetic reversing valve 11 is in the left position, and the hydraulic oil flows out from port A of the multi-way valve 21 and passes through the one-way throttle valve 13 (the one-way throttle valve has the function of decelerating during work) ) flows into port A', passes through port B of the two-position three-way electromagnetic reversing valve 11, flows through the second shunt collector valve 10, and then branches out two equal flows through ports A and B of the second shunt collector valve 10. The hydraulic oil circuit simultaneously supplies oil to the rodless chambers of the second hydraulic cylinders 3 and 4 through the second hydraulic locks 7 and 8;
此时，第二液压缸3、4同时向右边伸出；同时第三液压缸3、4的有杆腔的液压油经过有杆腔出油口出油，流经第二液压锁7、8，再经过二位三通电磁换向阀12，此时二位三通电磁换向阀12的Y2处于得电状态，二位三通电磁换向阀12处于左位，液压油经过二位三通电磁换向阀12的端口B与多路阀21的端口B连接，回流至油箱1005；如图2所示，当第一液压缸1的液压杆伸出的时候，整个第一开沟器升降控制回路401中的开沟机构上摆臂401a向下移动；第二液压缸3的液压杆伸出的时候，第二开沟器升降控制回路402中的开沟机构下摆臂401b向下移动。At this time, the second hydraulic cylinders 3 and 4 extend to the right at the same time; at the same time, the hydraulic oil in the rod chamber of the third hydraulic cylinder 3 and 4 flows out through the rod chamber oil outlet and flows through the second hydraulic locks 7 and 8 , and then passes through the two-position three-way electromagnetic reversing valve 12. At this time, Y2 of the two-position three-way electromagnetic reversing valve 12 is in the energized state, the two-position three-way electromagnetic reversing valve 12 is in the left position, and the hydraulic oil passes through the two-position three-way electromagnetic reversing valve 12. Port B of the solenoid reversing valve 12 is connected to port B of the multi-way valve 21, and flows back to the oil tank 1005; as shown in Figure 2, when the hydraulic rod of the first hydraulic cylinder 1 extends, the entire first opener The upper swing arm 401a of the trenching mechanism in the lifting control circuit 401 moves downward; when the hydraulic rod of the second hydraulic cylinder 3 extends, the lower swing arm 401b of the trenching mechanism in the second opener lifting control circuit 402 moves downward. .
覆土机构升降控制回路300的液压缸伸出：手动把与液压缸相连接的多路阀21移到右位，此时液压油由多路阀21的端口E流出，直接通入第三液压缸19、20的无杆腔，此时第三液压缸19、20同时向右边伸出，同时两个第三液压缸有杆腔的液压油流出，直接与多路阀21的端口F连接流回油箱1001；The hydraulic cylinder of the soil covering mechanism lifting control circuit 300 extends: manually move the multi-way valve 21 connected to the hydraulic cylinder to the right position. At this time, the hydraulic oil flows out from the port E of the multi-way valve 21 and directly flows into the third hydraulic cylinder. 19 and 20. At this time, the third hydraulic cylinders 19 and 20 extend to the right at the same time. At the same time, the hydraulic oil from the rod chambers of the two third hydraulic cylinders flows out and is directly connected to the port F of the multi-way valve 21 and flows back. fuel tank 1001;
其次，回油的时候是液压源100(液压站)经过多路阀21先向覆土机构升降控制回路300供油，多路阀21手动换向至左位，此时液压油由多路阀21的F端口流出，直接通入覆土机构升降控制回路300的第三液压缸19、20的有杆腔，此时两液压缸同时向左移动，第三液压缸19、20收缩；Secondly, when returning oil, the hydraulic source 100 (hydraulic station) first supplies oil to the earth covering mechanism lifting control circuit 300 through the multi-way valve 21. The multi-way valve 21 is manually switched to the left position. At this time, the hydraulic oil is supplied from the multi-way valve 21 The F port flows out and directly flows into the rod chambers of the third hydraulic cylinders 19 and 20 of the soil covering mechanism lifting control circuit 300. At this time, the two hydraulic cylinders move to the left at the same time and the third hydraulic cylinders 19 and 20 contract;
然后是开沟器升降控制回路400的液压缸收回，多路阀21手动换向至左位，同时第一二位三通电磁换向阀11的Y1、第二二位三通电磁换向阀12的Y2得电，两个二位三通电磁换向阀处于左位，液压油由多路阀21的端口B流出，经过二位三通电磁换向阀12，再经过第二液压锁7、8，最后液压油通入第二液压缸3、4的有杆腔，第二液压缸3、4同时收回，同时第二液压缸3、4的无杆腔的液压油经过第二液压锁7、8，再依次到第二分流集流阀10、二位三通电磁换向阀11、单向节流阀13，最后从多路阀21的A端口流回油箱；Then the hydraulic cylinder of the opener lift control circuit 400 is retracted, the multi-way valve 21 is manually switched to the left position, and at the same time, Y1 of the first two-position three-way electromagnetic reversing valve 11 and the second two-position three-way electromagnetic reversing valve Y2 of 12 is powered, the two two-position three-way electromagnetic reversing valves are in the left position, and the hydraulic oil flows out from port B of the multi-way valve 21, passes through the two-position three-way electromagnetic reversing valve 12, and then passes through the second hydraulic lock 7 , 8. Finally, the hydraulic oil flows into the rod chambers of the second hydraulic cylinders 3 and 4, and the second hydraulic cylinders 3 and 4 are retracted at the same time. At the same time, the hydraulic oil in the rodless chambers of the second hydraulic cylinders 3 and 4 passes through the second hydraulic lock. 7, 8, then to the second diverter and collector valve 10, the two-position three-way electromagnetic reversing valve 11, the one-way throttle valve 13, and finally flows back to the fuel tank from the A port of the multi-way valve 21;
此时，二位三通电磁换向阀11、12断电，两电磁换向阀处于右位，多路阀21手动处于左位，液压油由多路阀21的端口B流出，依次经过二位三通电磁换向阀12、液压锁5、6，最后流入液压缸1、2的有杆腔，此时两液压缸杆向左移动，液压缸1、2同时收回；同时，液压油由液压缸1、2的无杆腔流出，依次经过液压锁5、6、分流集流阀9、二位三通电磁换向阀11、单向节流阀13，最后从多路阀21的端口A流回回油箱1001；最后是辅助轮机构液压缸收回，多路阀21手动到左位，液压油由多路阀的端口D流出，依次经过液压锁17、18，再到液压缸15、16，流入两液压缸的有杆腔，此时液压缸杆向左移动，两液压缸同时收回；同时，两液压缸的无杆腔的液压油经过液压锁17、18由多路阀的端口C流回回油箱1001；从而使辅助轮液压缸、开沟器液压缸、辅助机构液压缸同步升降并保证辅助轮升降控制回路、开沟器升降控制回路、覆土机构升降控制回路按规定顺序动作。At this time, the two-position three-way electromagnetic reversing valves 11 and 12 are powered off, the two electromagnetic reversing valves are in the right position, and the multi-way valve 21 is manually in the left position. The hydraulic oil flows out from port B of the multi-way valve 21 and passes through the two in turn. The three-way electromagnetic reversing valve 12 and hydraulic locks 5 and 6 finally flow into the rod chambers of the hydraulic cylinders 1 and 2. At this time, the rods of the two hydraulic cylinders move to the left, and the hydraulic cylinders 1 and 2 are retracted at the same time; at the same time, the hydraulic oil is The flow from the rodless chambers of hydraulic cylinders 1 and 2 passes through hydraulic locks 5 and 6, diverter and collector valve 9, two-position three-way electromagnetic reversing valve 11, one-way throttle valve 13, and finally from the port of multi-way valve 21 A flows back to the oil tank 1001; finally, the hydraulic cylinder of the auxiliary wheel mechanism is retracted, and the multi-way valve 21 is manually moved to the left position. The hydraulic oil flows out from the port D of the multi-way valve, and passes through the hydraulic locks 17 and 18 in turn, and then to the hydraulic cylinders 15 and 16. , flows into the rod chambers of the two hydraulic cylinders. At this time, the hydraulic cylinder rods move to the left, and the two hydraulic cylinders are retracted at the same time; at the same time, the hydraulic oil in the rodless chambers of the two hydraulic cylinders passes through the hydraulic locks 17 and 18 and is sent to port C of the multi-way valve. The flow returns to the oil tank 1001; thereby making the auxiliary wheel hydraulic cylinder, opener hydraulic cylinder, and auxiliary mechanism hydraulic cylinder rise and fall synchronously and ensuring that the auxiliary wheel lifting control circuit, the opener lifting control circuit, and the soil covering mechanism lifting control circuit operate in the prescribed sequence.
根据本发明的另一个方面，还提供了一种用于双行甘蔗横向种植机的液压控制方法，所述液压控制方法包括液压供油和液压回油的步骤，主要包括以下步骤：所述液压供油包括分别为辅助轮升降控制回路200提供液压油、开沟器升降控制回路400提供液压油和覆土机构升降控制回路300提供液压油；所述液压回油包括分别向开沟器升降控制回路400回收液压油、覆土机构升降控制回路300回收液压油和辅助轮升降控制回路200回收液压油；所述液压供油包括以下步骤：当液压源100启动提供液压油后，先经过多路阀21向第三液压锁17、18提供液压油，使第三液压缸15、16伸出，从而为辅助轮升降控制回路200提供液压油，使辅助机构两边轮子的进行升操作；然后液压油再经单向节流阀13，第一二位三通电磁换向阀11和第二二位三通电磁换向阀12断电，此时，使第一液压缸1、2伸出，第一二位三通电磁换向阀11和第二二位三通电磁换向阀12通电，使第二液压缸3、4伸出，从而对开沟器升降控制回路400两边轮子的同步升动作进行控制；当液压100启动提供液压油后，经过多路阀21向第四液压缸19、20提供液压油，使第四液压缸19、20伸出，从而为覆土机构升降控制回路300提供液压油，使覆土机构两边轮子的进行升动作。According to another aspect of the present invention, a hydraulic control method for a double-row sugarcane transverse planting machine is also provided. The hydraulic control method includes the steps of hydraulic oil supply and hydraulic oil return, and mainly includes the following steps: Oil supply includes providing hydraulic oil to the auxiliary wheel lifting control circuit 200, hydraulic oil to the opener lifting control circuit 400, and hydraulic oil to the soil cover mechanism lifting control circuit 300; the hydraulic oil return includes providing hydraulic oil to the opener lifting control circuit respectively. 400 recovers hydraulic oil, the soil covering mechanism lifting control circuit 300 recovers hydraulic oil, and the auxiliary wheel lifting control circuit 200 recovers hydraulic oil; the hydraulic oil supply includes the following steps: when the hydraulic source 100 starts to provide hydraulic oil, it first passes through the multi-way valve 21 Hydraulic oil is provided to the third hydraulic locks 17 and 18 to extend the third hydraulic cylinders 15 and 16, thereby providing hydraulic oil to the auxiliary wheel lifting control circuit 200, allowing the wheels on both sides of the auxiliary mechanism to perform lifting operations; then the hydraulic oil passes through The one-way throttle valve 13, the first two-position three-way electromagnetic reversing valve 11 and the second two-position three-way electromagnetic reversing valve 12 are powered off. At this time, the first hydraulic cylinders 1 and 2 are extended, and the first and second two-position three-way electromagnetic reversing valves 11 and 12 are powered off. The three-position electromagnetic reversing valve 11 and the second two-position three-way electromagnetic reversing valve 12 are energized to extend the second hydraulic cylinders 3 and 4 to control the synchronous lifting action of the wheels on both sides of the opener lifting control circuit 400 ; When the hydraulic pressure 100 starts to provide hydraulic oil, hydraulic oil is provided to the fourth hydraulic cylinders 19 and 20 through the multi-way valve 21, so that the fourth hydraulic cylinders 19 and 20 extend, thereby providing hydraulic oil to the soil covering mechanism lifting control circuit 300. Make the wheels on both sides of the soil covering mechanism perform a lifting action.
所述液压回油的步骤包括以下步骤：回油的时候，首先是液压源100经过多路阀21向第四液压缸19、20的有杆腔供油后回流，第四液压缸19、20的有杆腔的液压油经过多路阀21回流至液压源100，从而对覆土机构升降控制回路300进行回油控制，使覆土机构两边轮子的进行降动作；当液压源100向第一液压缸1、2的有杆腔供油和第二液压缸3、4的有杆腔供油后回流，第一二位三通电磁换向阀11和第二二位三通电磁换向阀12得电闭合后，液压油从多路阀21的B口流出，经过第二二位三通电磁换向阀、液压锁7、8、液压缸3、4的有杆腔、液压锁7、8、第二分流集流阀10、第一二位三通电磁换向阀11、单向节流阀13，然后在经过多路阀21的A口回流至油箱1001，液压缸3、4收回；第一二位三通电磁换向阀11和第二二位三通电磁换向阀12失电断开后，第一液压缸1、2的有杆腔供油的液压油经第一液压锁5、6、第一分流集流阀9、第一二位三通电磁换向阀11、单向节流阀13和多路阀21回流至液压源100中的油箱1001内，第二液压缸3、4的有杆腔的液压油经第二液压锁7、8、第二二位三通电磁换向阀12和多路阀21回流至液压源100中的油箱1001内，液压缸1、2收回，从而对开沟器升降控制回路400进行回油控制，使开沟器两边轮子进行同步降动作；当液压源100经过多路阀21向第三液压缸15、16的有杆腔供油后回流，第三液压缸15、16的有杆腔的液压油经过第三液压锁17、18和多路阀21回流至液压源100中的油箱1001内，从而对辅助轮升降控制回路200进行回油控制，使辅助机构两边轮子的进行降操作。因此，通过对各个回路的液压缸按照规定顺序动作进行控制，从而辅助轮升降控制回路200、覆土机构升降控制回路300和开沟器升降控制回路400的液压缸等部件的能根据动作需要进行伸缩、调速、保压控制，使得双行甘蔗横向种植机能够有效的控制各部分的升降顺序和速度，同时具有保压的作用，以提高系统压力稳定的可靠性。The steps of hydraulic oil return include the following steps: when returning oil, first the hydraulic source 100 supplies oil to the rod chambers of the fourth hydraulic cylinders 19 and 20 through the multi-way valve 21 and then returns oil to the fourth hydraulic cylinders 19 and 20. The hydraulic oil in the rod chamber flows back to the hydraulic source 100 through the multi-way valve 21, thereby controlling the oil return to the lifting control circuit 300 of the soil covering mechanism, so that the wheels on both sides of the soil covering mechanism perform lowering actions; when the hydraulic source 100 moves toward the first hydraulic cylinder After the oil is supplied to the rod chambers of 1 and 2 and the rod chambers of the second hydraulic cylinders 3 and 4 return oil, the first two-position three-way electromagnetic reversing valve 11 and the second two-position three-way electromagnetic reversing valve 12 are After the electricity is closed, the hydraulic oil flows out from port B of the multi-way valve 21 and passes through the second two-position three-way electromagnetic reversing valve, hydraulic locks 7 and 8, the rod chambers of the hydraulic cylinders 3 and 4, the hydraulic locks 7 and 8, The second diverter collecting valve 10, the first two-position three-way electromagnetic reversing valve 11, and the one-way throttle valve 13 then flow back to the oil tank 1001 through port A of the multi-way valve 21, and the hydraulic cylinders 3 and 4 are retracted; After the first two-position three-way electromagnetic reversing valve 11 and the second two-position three-way electromagnetic reversing valve 12 lose power and are disconnected, the hydraulic oil supplied to the rod chambers of the first hydraulic cylinders 1 and 2 passes through the first hydraulic lock 5 , 6. The first diverter collector valve 9, the first two-position three-way electromagnetic reversing valve 11, the one-way throttle valve 13 and the multi-way valve 21 return to the oil tank 1001 in the hydraulic source 100, and the second hydraulic cylinder 3 , 4, the hydraulic oil in the rod cavity flows back to the oil tank 1001 in the hydraulic source 100 through the second hydraulic lock 7, 8, the second two-position three-way electromagnetic reversing valve 12 and the multi-way valve 21, and the hydraulic cylinders 1, 2 retract, thereby controlling the oil return of the opener lifting control circuit 400, so that the wheels on both sides of the opener perform a synchronous lowering action; when the hydraulic source 100 supplies oil to the rod cavities of the third hydraulic cylinders 15 and 16 through the multi-way valve 21 After the backflow, the hydraulic oil in the rod chamber of the third hydraulic cylinder 15 and 16 flows back to the oil tank 1001 in the hydraulic source 100 through the third hydraulic lock 17 and 18 and the multi-way valve 21, thereby controlling the auxiliary wheel lifting control circuit 200. The oil return control enables the wheels on both sides of the auxiliary mechanism to lower. Therefore, by controlling the hydraulic cylinders of each circuit to operate in a prescribed sequence, components such as the hydraulic cylinders of the auxiliary wheel lifting control circuit 200, the covering mechanism lifting control circuit 300, and the opener lifting control circuit 400 can expand and contract according to the operation needs. , speed regulation, and pressure maintaining control, so that the double-row sugarcane transverse planting machine can effectively control the lifting sequence and speed of each part, and at the same time has the function of maintaining pressure to improve the reliability of system pressure stability.
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以作出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。The above are only the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be made. regarded as the protection scope of the present invention.
Claims (4)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910383779.2A CN110115139B (en) | 2019-05-08 | 2019-05-08 | A hydraulic system and control method for a double-row sugarcane transverse planting machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910383779.2A CN110115139B (en) | 2019-05-08 | 2019-05-08 | A hydraulic system and control method for a double-row sugarcane transverse planting machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110115139A CN110115139A (en) | 2019-08-13 |
| CN110115139B true CN110115139B (en) | 2023-11-14 |
Family
ID=67521938
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910383779.2A Active CN110115139B (en) | 2019-05-08 | 2019-05-08 | A hydraulic system and control method for a double-row sugarcane transverse planting machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110115139B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110425187B (en) * | 2019-08-24 | 2025-03-07 | 中铁电气化局集团有限公司西安电气化工程分公司 | A hydraulic control system for trenching machine |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202104034U (en) * | 2011-05-27 | 2012-01-11 | 黄小文 | Whole-rod type sugarcane combined planter |
| CN102619803A (en) * | 2012-03-31 | 2012-08-01 | 中联重科股份有限公司 | Parallel valve group, hydraulic control loop and auxiliary device |
| CN202455806U (en) * | 2012-03-16 | 2012-10-03 | 广西钦州力顺机械有限公司 | Fertilizing and seed cutting digital display speed regulation hydraulic system for sugarcane planter |
| CN103392436A (en) * | 2013-08-03 | 2013-11-20 | 西北农林科技大学 | Orchard ditching and fertilizing machine |
| CN203604293U (en) * | 2013-11-28 | 2014-05-21 | 中联重科股份有限公司 | Engineering mechanical equipment and hydraulic control loop thereof |
| CN203691889U (en) * | 2014-01-15 | 2014-07-09 | 王强 | Small double-line sugarcane field management machine |
| CN105179343A (en) * | 2015-10-27 | 2015-12-23 | 中国矿业大学 | Multi-cylinder synchronous energy-saving efficient hydraulic lifting system and method |
| CN105275898A (en) * | 2015-11-28 | 2016-01-27 | 贵州航天特种车有限责任公司 | Hydraulic system for four-plate-linkage double-sided expandable shelter |
| CN106438530A (en) * | 2016-11-07 | 2017-02-22 | 西北农林科技大学 | Orchard straw mulching machine hydraulic system |
| CN107983954A (en) * | 2018-01-11 | 2018-05-04 | 岭南师范学院 | A kind of Novel oil hydraulic press |
| CN207848073U (en) * | 2018-01-28 | 2018-09-11 | 石河子大学 | A kind of hydraulic circuit of orchard organic fertilizer ditching-fertilizing drag links |
| CN108757616A (en) * | 2018-07-13 | 2018-11-06 | 江苏大学 | A kind of panzer synchronous hydraulic jacking system with levelling function |
| CN108825569A (en) * | 2018-07-26 | 2018-11-16 | 青岛理工大学 | Hydraulic system for floating of agricultural implement and adjusting method |
| CN208417104U (en) * | 2018-05-11 | 2019-01-22 | 江苏鸿运汽车科技有限公司 | A kind of integrated hydraulic control system |
| CN210746016U (en) * | 2019-05-08 | 2020-06-16 | 广西大学 | Hydraulic system for double-row sugarcane transverse planter |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9979338B2 (en) * | 2015-06-30 | 2018-05-22 | Cnh Industrial America Llc | Alternator control system for a planter |
-
2019
- 2019-05-08 CN CN201910383779.2A patent/CN110115139B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202104034U (en) * | 2011-05-27 | 2012-01-11 | 黄小文 | Whole-rod type sugarcane combined planter |
| CN202455806U (en) * | 2012-03-16 | 2012-10-03 | 广西钦州力顺机械有限公司 | Fertilizing and seed cutting digital display speed regulation hydraulic system for sugarcane planter |
| CN102619803A (en) * | 2012-03-31 | 2012-08-01 | 中联重科股份有限公司 | Parallel valve group, hydraulic control loop and auxiliary device |
| CN103392436A (en) * | 2013-08-03 | 2013-11-20 | 西北农林科技大学 | Orchard ditching and fertilizing machine |
| CN203604293U (en) * | 2013-11-28 | 2014-05-21 | 中联重科股份有限公司 | Engineering mechanical equipment and hydraulic control loop thereof |
| CN203691889U (en) * | 2014-01-15 | 2014-07-09 | 王强 | Small double-line sugarcane field management machine |
| CN105179343A (en) * | 2015-10-27 | 2015-12-23 | 中国矿业大学 | Multi-cylinder synchronous energy-saving efficient hydraulic lifting system and method |
| CN105275898A (en) * | 2015-11-28 | 2016-01-27 | 贵州航天特种车有限责任公司 | Hydraulic system for four-plate-linkage double-sided expandable shelter |
| CN106438530A (en) * | 2016-11-07 | 2017-02-22 | 西北农林科技大学 | Orchard straw mulching machine hydraulic system |
| CN107983954A (en) * | 2018-01-11 | 2018-05-04 | 岭南师范学院 | A kind of Novel oil hydraulic press |
| CN207848073U (en) * | 2018-01-28 | 2018-09-11 | 石河子大学 | A kind of hydraulic circuit of orchard organic fertilizer ditching-fertilizing drag links |
| CN208417104U (en) * | 2018-05-11 | 2019-01-22 | 江苏鸿运汽车科技有限公司 | A kind of integrated hydraulic control system |
| CN108757616A (en) * | 2018-07-13 | 2018-11-06 | 江苏大学 | A kind of panzer synchronous hydraulic jacking system with levelling function |
| CN108825569A (en) * | 2018-07-26 | 2018-11-16 | 青岛理工大学 | Hydraulic system for floating of agricultural implement and adjusting method |
| CN210746016U (en) * | 2019-05-08 | 2020-06-16 | 广西大学 | Hydraulic system for double-row sugarcane transverse planter |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110115139A (en) | 2019-08-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106472244B (en) | hydraulically driven tree transplanter | |
| CN206237971U (en) | A kind of planting machine | |
| CN209768166U (en) | A desert soil digging planting device | |
| CN209768455U (en) | A kind of fruit tree planting machine with fertilizer and soil mixing backfill irrigation function | |
| CN110115139B (en) | A hydraulic system and control method for a double-row sugarcane transverse planting machine | |
| CN213574912U (en) | Agricultural machinery electro-hydraulic lifting valve group | |
| CN210746016U (en) | Hydraulic system for double-row sugarcane transverse planter | |
| CN203188273U (en) | Excavator hydraulic control system and hydraulic excavator | |
| CN105545844A (en) | Hydraulic control system of energy-saving bulldozer working device | |
| CN102628284B (en) | Oil circuit control device for excavators | |
| CN205423366U (en) | Power unit type full -hydraulic drilling machine's double pump open circuit hydraulic system | |
| CN205277958U (en) | Dig hydraulic system of rig mast soon | |
| CN109984009A (en) | A kind of caterpillar band self-propelled Multifunctional fruit tree plant robot control system and method | |
| CN108915005B (en) | An excavator arm compensation hydraulic system | |
| CN212910952U (en) | Novel succulent seedling raising frame | |
| CN106717393B (en) | A kind of ridge cultivation grape automation rate fertilization robot | |
| CN204937290U (en) | A kind of hydraulic pressure trac. | |
| CN102948289A (en) | Arc movement transplanter with four shovel blades | |
| CN212034766U (en) | An orchard organic fertilizer-chemical fertilizer layered trenching, fertilizing, and soil-covering integrated machine hydraulic circuit | |
| CN210859381U (en) | Hydraulic control system of ditcher | |
| CN116530262A (en) | A chain track type desert intelligent tree planting machine and its use method | |
| CN110178618A (en) | Novel seepage counterdie laydown machine | |
| CN212813279U (en) | Environment-friendly municipal afforestation is with planting auxiliary device | |
| CN103222363B (en) | Apparatus for hydraulic rapid switching of work state of farming machine | |
| CN209824687U (en) | A crawler self-propelled multifunctional fruit tree planting robot control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |