CN110583130A - Tractor tilling depth electro-hydraulic control device and method based on angle adjustment - Google Patents
Tractor tilling depth electro-hydraulic control device and method based on angle adjustment Download PDFInfo
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- CN110583130A CN110583130A CN201910916512.5A CN201910916512A CN110583130A CN 110583130 A CN110583130 A CN 110583130A CN 201910916512 A CN201910916512 A CN 201910916512A CN 110583130 A CN110583130 A CN 110583130A
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000001360 synchronised effect Effects 0.000 claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 239000000725 suspension Substances 0.000 claims abstract description 10
- 230000001174 ascending effect Effects 0.000 claims abstract description 9
- 230000008859 change Effects 0.000 claims description 14
- 238000005259 measurement Methods 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 6
- 230000003247 decreasing effect Effects 0.000 claims description 5
- 238000003971 tillage Methods 0.000 abstract description 8
- 239000002689 soil Substances 0.000 abstract description 3
- 239000003921 oil Substances 0.000 description 16
- 238000010586 diagram Methods 0.000 description 4
- 230000033228 biological regulation Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000009313 farming Methods 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- 230000009467 reduction Effects 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
- A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
- A01B63/111—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means regulating working depth of implements
- A01B63/114—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means regulating working depth of implements to achieve a constant working depth
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
- A01B63/12—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by an electric motor
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Lifting Devices For Agricultural Implements (AREA)
Abstract
The invention relates to the technical field of tilling depth control, in particular to an angle-adjustment-based electro-hydraulic control device and method for tilling depth of a tractor. The lifting arm lifting device comprises a controller, a lifting arm, an angle sensor, a synchronous belt transmission mechanism and an electro-hydraulic proportional poppet valve, wherein a lifting valve port and a descending valve port of the electro-hydraulic proportional poppet valve control the lifting arm to lift through a hydraulic device; the angle sensor is connected with a lifting arm rotating shaft through a synchronous belt conveying mechanism; the inclination angle sensor is fixed on the tractor chassis; the angle sensor and the inclination angle sensor are used for converting the monitored angle variation into voltage variation and inputting the voltage variation to the controller, and the controller is used for correspondingly adjusting the voltage output to the electro-hydraulic proportional poppet valve according to the input voltage variation. The problems that the ascending and descending strokes of the suspension device are difficult to guarantee, the ground in the field is uneven, and the machine body of the tractor inclines, so that the tilling depth is changed are solved. Meanwhile, when the condition of the soil in the field changes, the traction resistance borne by the tillage machinery is always in a changing state, so that the tillage depth is unstable and the like.
Description
Technical Field
The invention relates to the technical field of tilling depth control, in particular to an angle-adjustment-based electro-hydraulic control device and method for tilling depth of a tractor.
Background
The conventional tilling depth adjusting method is to control the relative position of the working part and the tilling machine to keep the relative position within a set range, so as to achieve a substantial tilling depth control effect. The main disadvantage of this control method is that during the cultivation process, when the tiller is regulated and controlled, in order to achieve the required cultivation depth, the tiller needs to rotate while operating the control handle to roughly estimate the depth of the tiller in the soil. Meanwhile, due to the uneven surface of the field, the inclination angle of the tillage machinery is constantly changed, and the tillage depth is always in a changing state under the action of traditional tillage depth adjustment. When the adjusting mode is adopted, in order to achieve better farming effect and working state, the manipulator needs to frequently operate, so that the labor intensity is high.
Because the traditional tilling depth adjusting device has the defects, the traditional tilling depth adjusting device cannot achieve ideal effects in the real sense when in use, and the existing structure cannot meet the requirements of users.
Disclosure of Invention
The invention aims to provide an angle adjustment-based tractor tilling depth electro-hydraulic control device and method which can keep the tilling depth constant and can realize tilling depth advance accurate control, aiming at the defects of the prior art.
The invention relates to an angle adjustment-based tractor tilling depth electro-hydraulic control device, which adopts the technical scheme that: the lifting arm lifting device comprises a controller, a lifting arm, an angle sensor, a synchronous belt transmission mechanism and an electro-hydraulic proportional poppet valve, wherein a lifting valve port and a descending valve port of the electro-hydraulic proportional poppet valve are connected with the lifting arm, and the angle sensor is connected with a rotating shaft of the lifting arm through the synchronous belt transmission mechanism;
the angle sensor is used for converting the monitored angle variation into voltage variation and inputting the voltage variation to the controller, and the controller is used for correspondingly adjusting the voltage output to the electro-hydraulic proportional poppet valve according to the input voltage variation;
wherein the controller calibrates a middle value of an output voltage range of the angle sensor to correspond to a middle value of 0 ° of an angle measurement range.
Preferably, the controller constructs a lifting arm stroke percentage numerical table capable of displaying and outputting according to a linear relation between the lifting arm stroke percentage and the height from the node of the three-point suspension device intermediate rod and the suspended device to the ground, wherein the lifting arm stroke percentage numerical table is that the upper limit position of the lifting arm corresponds to 100% of the lifting arm stroke percentage, and the lower limit position of the lifting arm corresponds to 0% of the lifting arm stroke percentage.
Preferably, the control device further comprises a control panel, wherein the control panel is used for displaying a lifting arm stroke percentage numerical table and inputting a lifting arm stroke percentage increasing or decreasing signal to the controller, and the controller is used for converting the received lifting arm stroke percentage increasing or decreasing signal into a voltage signal and outputting the voltage signal to the electro-hydraulic proportional poppet valve.
Preferably, the tractor further comprises an inclination angle sensor, the inclination angle sensor is installed at a position where the tractor chassis is parallel to a horizontal plane, and the inclination angle sensor is used for monitoring an inclination angle of the tractor and sending an inclination angle signal to the controller;
the controller receives voltage quantity change signals sent by the angle sensor and the inclination angle sensor at the same time, performs addition on the voltage quantity change signals to generate voltage change quantity, and correspondingly adjusts the voltage output to the electro-hydraulic proportional poppet valve according to the voltage change quantity;
wherein the controller calibrates a middle value of an output voltage range of the tilt sensor to correspond to a middle value of an angle measurement range of 0 °.
Preferably, the electro-hydraulic proportional poppet valve comprises
An oil through hole P for connecting a hydraulic pump of the tractor;
an oil inlet T for connecting a main oil return port of the tractor;
an oil inlet N for connecting a secondary oil return port of the tractor;
and oil through ports A and A1 for connecting the rodless cavities of the two hydraulic cylinders of the tractor.
Preferably, the control panel is further provided with a rotary switch, a signal output end of the rotary switch is electrically connected with a signal input end of the controller, and the rotary switch is provided with a rising gear, a stopping gear and a descending gear;
when the rotary switch rotates to a lifting gear, the controller supplies power to a lifting valve E-shaped coil of the electro-hydraulic proportional lift valve;
when the rotary switch rotates to a stop gear, the controller does not supply power to the E-shaped coil of the electro-hydraulic proportional poppet valve;
when the rotary switch rotates to a descending gear, the controller supplies power to a descending valve E-shaped coil of the electro-hydraulic proportional poppet valve.
It is comparatively preferred, still be equipped with speed regulation switch on the control panel, speed regulation switch's signal output part is connected with the signal input part electricity of controller, works as when speed regulation switch is in different speed gears, the controller is according to the opening size of the gear signal control electro-hydraulic proportional poppet valve of receiving.
Preferably, the transmission ratio of the conventional mechanism of the synchronous belt is 1: 2, the small belt wheel of the traditional mechanism of the synchronous belt is connected with a rotating shaft of the lifting arm, and the large belt wheel of the traditional mechanism of the synchronous belt is connected with an angle sensor.
The invention relates to an angle adjustment-based tractor tilling depth electro-hydraulic control method, which adopts the technical scheme that: arranging an angle sensor for monitoring the rotation of a lifting arm of the tractor and an inclination angle sensor for monitoring the inclination angle of the tractor;
constructing a lifting arm stroke percentage numerical table according to the linear relation between the stroke percentage of the lifting arm of the tractor and the heights from the nodes of the middle rod of the three-point suspension device and the suspended device to the ground, calibrating the upper limit position of the lifting arm in the lifting arm stroke percentage numerical table to be 100% of the stroke percentage of the lifting arm, and calibrating the lower limit position of the lifting arm to be 0% of the stroke percentage of the lifting arm;
and reading voltage data of the angle sensor and the tilt angle sensor in real time, and realizing closed-loop control of the electro-hydraulic proportional poppet valve according to the variable quantity of the voltage data.
The invention has the beneficial effects that: the problems that the ascending and descending strokes of the suspension device are difficult to guarantee, the ground in the field is uneven, and the machine body of the tractor inclines, so that the tilling depth is changed are solved. Meanwhile, when the condition of the soil in the field changes, the traction resistance borne by the tillage machinery is always in a changing state, so that the tillage depth is unstable and the like.
1. Utilize synchronous belt drive mechanism with angle sensor and lifting arm pivot connection, turn into the turned angle of lifting arm voltage variation, realize the closed-loop control of electro-hydraulic proportional poppet valve through the controller, guarantee that lifting arm stroke percentage is invariable.
2. The inclination of the tractor body is monitored by utilizing the inclination angle sensor, and the precise control of the tilling depth on the uneven ground is realized by combining the angle sensor.
3. By constructing a numerical table of the stroke percentage of the lifting arm, the tractor can cultivate according to the set percentage, and meanwhile, the cultivation depth can be adjusted by adjusting the percentage. Has more accurate and flexible farming performance.
Drawings
FIG. 1 is a schematic structural diagram of an electro-hydraulic control device for tractor tilling depth based on angle adjustment according to the present invention;
FIG. 2 is a distribution diagram of control buttons and display lamps on a control panel of the tractor tilling depth electro-hydraulic control device based on angle adjustment;
FIG. 3 is a hydraulic schematic diagram of a tractor tilling depth electro-hydraulic control device hydraulic system based on angle adjustment according to the present invention;
FIG. 4 is a control schematic diagram of the tractor tilling depth electro-hydraulic control device based on angle adjustment.
In the figure, 1, a controller; 2. a control panel; 3. an angle sensor; 4. a synchronous belt transmission mechanism; 5. a lift arm; 6. a three-point suspension device; 7. electro-hydraulic proportional poppet valves; 8. a tractor chassis; 9. a tilt sensor; 10. a stop indicator light; 11. an ascending indicator light; 12. a rotary switch; 13. a numerical table of percent lift arm travel; 14. a dip angle numerical table; 15. a calibration key; 16. calibrating an indicator light; 17. a percentage value lowering bond; 18. a percentage value increase key; 19. descending indicator light
Detailed Description
The invention will be further described in detail with reference to the following drawings and specific examples, which are not intended to limit the invention, but are for clear understanding.
As shown in figure 1, the tractor tilling depth electro-hydraulic control device based on angle adjustment mainly comprises a controller 1, a control panel 2, an angle sensor 3, a synchronous belt transmission mechanism 4, an electro-hydraulic proportional poppet valve 7 and an inclination angle sensor 9. The controller 1 in this embodiment selects an STM32 singlechip.
The controller 1 is connected with the vehicle-mounted voltage of the tractor through a voltage converter; then the control panel 2 is installed and fixed on the right flat plate of the tractor cab; the angle sensor 3 is connected with the rotation center of the lifting arm 5 through a synchronous belt transmission mechanism 4, and the transmission ratio of a synchronous belt wheel is 1: 2; the electro-hydraulic proportional poppet valve 7 is arranged on a tractor chassis 8 and is respectively connected with an oil supply port, an oil return port, a rodless cavity port and a rod cavity port of a hydraulic cylinder through hydraulic oil pipes, and a rising valve port and a falling valve port of the electro-hydraulic proportional poppet valve 7 are connected with the lifting arm 5; the inclination angle sensor 9 is arranged at the parallel position of the tractor chassis 8 relative to the ground; and the control panel 2, the angle sensor 3, the electro-hydraulic proportional poppet valve 7 and the inclination angle sensor 9 are electrically connected with the STM32 single-chip microcomputer controller 1. The angle sensor 3 and the inclination angle sensor 8 are used for converting the monitored angle variation into voltage variation and inputting the voltage variation into the controller 1, and the controller 1 is used for correspondingly adjusting the voltage output to the electro-hydraulic proportional poppet valve 7 according to the input voltage variation. The controller 1 has the function of setting a percentage stroke, the lifting arm 5 reaches the upper limit position and is calibrated to be 100% by operating the electro-hydraulic proportional lift valve 7, the lifting arm reaches the lower limit position and is calibrated to be 0%, and after the upper limit position and the lower limit position are calibrated successfully respectively, the calibration of the tilling depth system is finished. Through experiments, the linear relation between the percentage and the height from the middle rod of the three-point suspension device 6 of the tractor and the node of the suspended device to the ground is obtained, and the actual tilling depth can be controlled only by setting the percentage during field tilling. The controller has the control principle of setting a position point towards which PID following is made.
As shown in fig. 2, the control panel 2 includes a rotary switch 12 having three shift positions: ascending gear, stopping gear and descending gear. The control panel 2 is also provided with a speed adjusting switch, a signal output end of the speed adjusting switch is electrically connected with a signal input end of the controller 1, and when the speed adjusting switch is in different speed gears, the controller 1 controls the opening size of the electro-hydraulic proportional poppet valve 7 according to a received gear signal. The rotary switch 12 in the embodiment integrates a speed adjusting switch function, and the ascending and descending gears can correspond to different speed gears through the rotating position of the rotary switch 12, and the size of the opening of the electro-hydraulic proportional poppet valve 7 is changed according to different speed gears, so that the slow speed, the medium speed and the fast speed of the farming machine are adjusted; when the rotary switch is rotated clockwise to the ascending gear position or the percentage value increasing key 18, the ascending indicator lamp 11 is on, and when the rotary switch is rotated counterclockwise to the descending gear position or the percentage value decreasing key 17, the descending indicator lamp 19 is on. When the automobile is rotated to a stop gear, the stop indicator light 10 is turned on; rotating the rotary switch to a stop gear, when a stop indicator light is on, pressing a calibration key for 156 seconds for a long time, starting to flash a calibration indicator light 16, starting calibration of the device at the moment, keeping a display value of a lifting arm stroke percentage numerical value table 13 unchanged, rotating the rotary switch 12 to enable the lifting arm 5 to ascend to an upper limit position, pressing the calibration key 15 to calibrate the upper limit position to 100%, and changing the display value of the lifting arm stroke percentage numerical value table 13 to 100%; rotating the rotary switch 12 to make the lifting arm 5 descend to the lower limit position, pressing the calibration key 15 to calibrate the lower limit position to 0%, and at this time, the display value of the lifting arm stroke percentage numerical table 13 changes to 0%; when the rotary switch is rotated to the stop gear and the stop indicator lamp is on, the calibration indicator lamp 16 starts to be turned off after the calibration key is pressed for 156 seconds, and the calibration is finished. The percentage on the lift arm stroke percentage table 13 indicates the lift arm stroke percentage; and the inclination angle numerical table 14 reflects the inclination angle of the tractor chassis which is arranged on the tractor relative to the ground.
Angle measuring range of angle sensor 3+At 41 ℃, the power supply voltage is 10-12V, and the output signal voltage is 0.5-4.5V; when the output voltage is 2.5V, corresponding to 0 degree in the angle measurement range; after calibration is completed, the voltage value of the angle sensor changes along with the change of the rotation angle of the lifting arm 5, the lifting arm 5 rises, and the voltage value drops; the voltage signal is converted into a digital signal by the controller. The corresponding angle sensor voltage value changes, and when the voltage value decreases, the percentage value increases. When the angle of the angle sensor changes, the corresponding voltage value also changes, the changed angle value and the changed voltage value are in a direct proportional function relationship, the changed voltage signal is sent to the STM32 single chip microcomputer to be subjected to A/D conversion processing, the percentage on the percentage numerical table changes, and the single chip microcomputer controls the electro-hydraulic proportional poppet valve to control the suspension device, so that the stroke percentage of the lifting arm is controlled.
The synchronous belt wheel transmission ratio of the synchronous belt transmission mechanism 4 is 1: 2, the small belt wheel is connected with the rotating shaft of the lifting arm 5, and the large belt wheel is connected with the angle sensor 3.
When the rotary switch 12 rotates to a lifting gear, a lifting valve E-type coil of the electro-hydraulic proportional lift valve 7 is electrified to generate a magnetic field, so that a lifting valve port is controlled to be opened, and the lifting arm 5 rises; when the rotary switch 12 rotates to a descending gear, the E-shaped coil of the descending valve of the electro-hydraulic proportional poppet valve 7 is electrified to generate a magnetic field, so that the descending valve port is controlled to be opened, and the lifting arm 5 descends; when the rotary switch is rotated upwards or downwards, the voltage is higher, the current passing through the coil E-shaped of the ascending valve is higher, the generated magnetic field is higher, and the valve port opening is larger. The numerical value of the lifting arm stroke percentage numerical table 13 can also be changed by a percentage value reduction key 17 and a percentage value increase key 18, and the changed numerical value is converted into an electric signal through a controller to drive the electro-hydraulic proportional poppet valve 7. Control of the controller 1 is effected by a percentage value decrease key 17 and a percentage value increase key 18. Except the lifting arm stroke percentage numerical table 13, when the numerical value on the inclination angle numerical table 14 changes, the changed numerical value is converted into an electric signal through the controller, and the electric-hydraulic proportional lift valve is also driven. Five oil through ports are arranged on the electro-hydraulic proportional poppet valve 7, the oil through port P is connected with an oil outlet of a hydraulic pump of the tractor, the oil through port T is connected with a main oil return port of the tractor, the oil through port N and rod cavities of two hydraulic cylinders of the tractor are all connected back to an auxiliary oil return port of the tractor, and the oil through port A, A1 is connected with rodless cavities of the two hydraulic cylinders of the tractor respectively, so that a basic hydraulic oil path is formed.
Angular measurement range of the inclination sensor 9+90 degrees, the power supply voltage is 9-30V, and the output signal voltage is 0-5V; when the installed tilt angle sensor is horizontal to the ground, the output voltage is 2.5V, which corresponds to 0 degree in the angle measurement range; after the calibration is completed, when the voltage value of the angle sensor is not changed, the tractor tilts, the voltage value of the inclination angle sensor is changed, a transmission voltage signal is sent to the STM32 single chip microcomputer to be processed, and the single chip microcomputer controls the electro-hydraulic proportional poppet valve to finely adjust the suspension device. Can effectively prevent the change of the tillage depth caused by the inclination of the tractor due to the undulation and the unevenness of the field surface. The voltage signal is converted into a digital signal through the controller, so that the value on the inclination angle numerical table 14 is changed, and the inclination and elevation condition of the tractor can be monitored in real time. In addition, the controller 1 can simultaneously receive the voltage quantity change signals sent by the angle sensor 3 and the inclination angle sensor 9, and add the voltage quantity change signals to generate a voltage change quantity, and the controller 1 correspondingly adjusts the voltage output to the electro-hydraulic proportional poppet valve 7 according to the voltage change quantity.
Details not described in this specification are within the skill of the art that are well known to those skilled in the art.
Claims (9)
1. The utility model provides a tractor tilling depth electro-hydraulic control device based on angle modulation which characterized in that: the device comprises a controller (1), a lifting arm (5), an angle sensor (3), a synchronous belt transmission mechanism (4) and an electro-hydraulic proportional poppet valve (7), wherein a lifting valve port and a descending valve port of the electro-hydraulic proportional poppet valve (7) are connected with the lifting arm (5), and the angle sensor (3) is connected with a rotating shaft of the lifting arm (5) through the synchronous belt transmission mechanism (4);
the angle sensor (3) is used for converting the monitored angle variation into voltage variation and inputting the voltage variation to the controller (1), and the controller (1) is used for correspondingly adjusting the voltage output to the electro-hydraulic proportional poppet valve (7) according to the input voltage variation;
wherein the controller (1) calibrates the middle value of the output voltage range of the angle sensor (3) to correspond to the middle value of the angle measurement range of 0 °.
2. The tractor tilling depth electro-hydraulic control device based on angle adjustment according to claim 1, characterized in that:
the controller constructs a lifting arm stroke percentage numerical table (13) capable of displaying and outputting according to the linear relation between the stroke percentage of the lifting arm (5) and the heights of the nodes of the middle rod and the suspended device of the three-point suspension device (6) and the ground, wherein the upper limit position of the lifting arm (5) in the lifting arm stroke percentage numerical table (13) corresponds to the stroke percentage of the lifting arm (5) of 100%, and the lower limit position of the lifting arm (5) corresponds to the stroke percentage of the lifting arm (5) of 0%.
3. The tractor tilling depth electro-hydraulic control device based on angle adjustment according to claim 2, characterized in that: the control device is characterized by further comprising a control panel (2), wherein the control panel (2) is used for displaying a lifting arm stroke percentage numerical table (13) and inputting a lifting arm (5) stroke percentage increasing or decreasing signal to the controller (1), and the controller (1) is used for converting the received lifting arm (5) stroke percentage increasing or decreasing signal into a voltage signal and outputting the voltage signal to the electro-hydraulic proportional poppet valve (7).
4. The tractor tilling depth electro-hydraulic control device based on angle adjustment according to claim 1, characterized in that: the tractor further comprises an inclination angle sensor (9), wherein the inclination angle sensor (9) is installed at the position, parallel to the horizontal plane, of the tractor chassis (8), and the inclination angle sensor (9) is used for monitoring the inclination angle of the tractor and sending an inclination angle signal to the controller (1);
the controller (1) receives voltage quantity change signals sent by the angle sensor (3) and the inclination angle sensor (9) at the same time, the voltage quantity change signals are added to generate voltage change quantities, and the controller (1) correspondingly adjusts the voltage output to the electro-hydraulic proportional poppet valve (7) according to the voltage change quantities;
wherein the controller (1) calibrates the middle value of the output voltage range of the tilt sensor (9) to correspond to the middle value of the angle measurement range of 0 °.
5. The tractor tilling depth electro-hydraulic control device based on angle adjustment according to claim 1, characterized in that: the electro-hydraulic proportional poppet valve (7) comprises
An oil through hole P for connecting a hydraulic pump of the tractor;
an oil inlet T for connecting a main oil return port of the tractor;
an oil inlet N for connecting a secondary oil return port of the tractor;
and oil through ports A and A1 for connecting the rodless cavities of the two hydraulic cylinders of the tractor.
6. The tractor tilling depth electro-hydraulic control device based on angle adjustment according to claim 3, characterized in that: the control panel (2) is also provided with a rotary switch (12), the signal output end of the rotary switch (12) is electrically connected with the signal input end of the controller (1), and the rotary switch (12) is provided with an ascending gear, a stopping gear and a descending gear;
when the rotary switch (12) rotates to a lifting gear, the controller (1) supplies power to a lifting valve E-shaped coil of the electro-hydraulic proportional lift valve (7);
when the rotary switch (12) rotates to a stop gear, the controller (1) does not supply power to an E-shaped coil of the electro-hydraulic proportional poppet valve (7);
when the rotary switch (12) rotates to a descending gear, the controller (1) supplies power to a coil of an E type of a descending valve of the electro-hydraulic proportional poppet valve) 7.
7. The tractor tilling depth electro-hydraulic control device based on angle adjustment according to claim 3, characterized in that: the control panel (2) is further provided with a speed adjusting switch, a signal output end of the speed adjusting switch is electrically connected with a signal input end of the controller (1), and when the speed adjusting switch is in different speed gears, the controller (1) controls the opening size of the electro-hydraulic proportional poppet valve (7) according to received gear signals.
8. The tractor tilling depth electro-hydraulic control device based on angle adjustment according to claim 1, characterized in that: the transmission ratio of the synchronous belt traditional mechanism (4) is 1: 2, the small belt wheel of the synchronous belt traditional mechanism (4) is connected with the rotating shaft of the lifting arm (5), and the large belt wheel of the synchronous belt traditional mechanism (4) is connected with the angle sensor (3).
9. The tractor tilling depth electro-hydraulic control method based on angle adjustment according to claim 1, characterized in that: an angle sensor (3) for monitoring the rotation of a lifting arm (5) of the tractor and an inclination angle sensor (9) for monitoring the inclination angle of the tractor are arranged;
constructing a lifting arm stroke percentage numerical table (13) according to the linear relation between the stroke percentage of a lifting arm (5) of the tractor and the heights of the nodes of a middle rod and a suspended device of a three-point suspension device (6) and the ground, calibrating the upper limit position of the lifting arm (5) in the lifting arm stroke percentage numerical table (13) as the stroke percentage of the lifting arm (5) of 100 percent, and calibrating the lower limit position of the lifting arm (5) as the stroke percentage of the lifting arm (5) of 0 percent;
and reading voltage data of the angle sensor (3) and the inclination angle sensor (9) in real time, and realizing closed-loop control of the electro-hydraulic proportional poppet valve (7) according to the variable quantity of the voltage data.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113303049A (en) * | 2021-05-19 | 2021-08-27 | 山东大学 | Lifter control method based on proportional control valve |
| CN114115060A (en) * | 2021-12-01 | 2022-03-01 | 湖南农业大学 | Tractor three-point suspension lifting control system |
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