CN112326268A - Paddy field tractor slips rate and sunken degree detection device - Google Patents

Abstract

The present invention relates to the technical field of detection automation, in particular to a paddy field tractor skid rate and subsidence depth detection device, comprising a main mounting frame component, an output shaft speed detection module, a subsidence depth detection module, a wheel speed measurement module, and a detection data processing module; The main mounting frame part is arranged on the main beam of the tractor, and the output shaft speed detection module and the sag depth detection module are both arranged on the main mounting frame part, and the output shaft speed detection module is connected to the tractor drive main shaft to detect the tractor drive Spindle speed; the wheel speed measurement module is set on the subsidence depth detection module to detect the tractor driving speed, and the output shaft speed detection module, subsidence depth detection module and wheel speed measurement module can transmit detection data to the detection data processing module. The invention has the advantages that: compared with the prior art, when detecting the paddy field tractor's slip rate and subsidence depth, it will not be disturbed by muddy water, so the detection accuracy is higher.

Description

Slip rate and subsidence depth detection device for paddy tractor

technical field

The invention relates to the technical field of detection automation, in particular to a device for detecting the slip rate and subsidence depth of a paddy field tractor.

Background technique

When a tractor walks and operates in a paddy field environment, the wheels or tracks of the tractor will slip and sag due to excessive soil moisture and low soil firmness. Slippage and subsidence reduce the tractor's driving ability and operability, increase fuel consumption, and in severe cases can cause the tractor to be unable to walk and operate, reduce the tractor's operating efficiency in the paddy field environment, and then affect the cost of grain output in paddy fields.

Tractor slip rate detection is particularly important. In the prior art, for example, the Chinese utility model patent with publication number CN204882084U discloses a tractor slip rate detection device, including a grating plate, a proximity switch, a controller and a display. The hub of the driving wheel is fixed, and the outer periphery of the grating plate is spaced with a plurality of induction sheets. The induction sheets are circularly distributed with the central axis of the wheel hub as the center. The motion track of the film is facing, and the proximity switch and the display are electrically connected with the controller. The tractor slip rate detection device can be directly tested without affecting the mechanical working condition, and the test result is accurate. In addition, in the prior art, the slip rate of a conventional vehicle is calculated by measuring the rotational speed of the driving main shaft and the speed of the vehicle body. The rotational speed of the driving spindle is measured by a reflective infrared photoelectric sensor near the driving spindle, and the vehicle body speed is measured by satellite positioning (GPS, RTK) or a five-wheel meter. However, in the paddy field environment, the tractor walking system can easily splash the muddy water in the paddy field to the vicinity of the drive spindle, resulting in diffuse reflection of light or blocking the light source, increasing the detection error or causing the failure to read the detection light signal. Zero offset drift and high cost.

In the prior art, the subsidence depth is obtained by measuring the distance between a certain fixed point of the vehicle body and a certain reference plane (eg, the ground). However, the reference surface in the paddy field is the water surface. The water surface will produce diffuse reflections on the propagation of light, ultrasonic waves and other media. At the same time, the water surface will be affected by the tractor walking system and fluctuate greatly at any time, which makes the use of laser, ultrasonic, visual and other methods. The exact distance value cannot be obtained.

Due to the existence of continuous water surface, the detection environment for slip rate and subsidence depth of tractors in paddy fields is far worse than that in dry land. The existing detection technology cannot overcome the detection error and cost problems caused by splashing mud and water surface disturbance, which limits the slip rate. And the application of subsidence depth detection device in paddy field tractor.

In view of the particularity of the paddy field environment, compared with the prior art, it is easy to install and disassemble, less disturbed by mud and water, can improve detection accuracy and real-time detection, wireless transmission, and it is convenient for users to check the slip rate and subsidence of the tractor in real time. The detection device of depth display data has important practical value.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention lies in the technical problem of low detection accuracy caused by muddy water interference when detecting the slip rate and subsidence depth of the paddy field tractor in the prior art.

The present invention solves the above technical problems through the following technical means: a paddy field tractor slip rate and subsidence depth detection device, comprising a main carriage component, an output shaft rotational speed detection module, a subsidence depth detection module, a wheeled speed measurement module, a detection data processing module;

The main carriage part is arranged on the main beam of the tractor, the output shaft rotational speed detection module and the subsidence depth detection module are all arranged on the main carriage part, and the output shaft rotational speed detection module is connected to the tractor drive spindle to detect the tractor drive Spindle speed;

The wheeled speed measuring module is arranged on the subsidence depth detection module to detect the running speed of the tractor, and the output shaft rotational speed detection module, the subsidence depth detection module and the wheeled speed measurement module can transmit the detection data to the detection data processing module.

In practical application of the device for detecting the slip rate and subsidence depth of the paddy tractor in the present invention, the whole device is installed on the main beam of the tractor through the main frame parts. The speed measurement module detects the actual driving speed of the tractor, and the two transmit the detected data to the detection data processing module respectively, and then the slip rate can be obtained. The subsidence depth detection module can detect the subsidence depth of the tractor. Compared with the prior art, it can detect paddy field tractors. The slip rate and subsidence depth will not be disturbed by mud and water, so the detection accuracy is high.

Preferably, the main hanger component includes a vertical plate, a pair of clamping plates are arranged on the inner side of the vertical plate, a U-shaped clamping opening is formed between the two clamping plates, and the U-shaped clamping opening is clamped on the main beam of the tractor. one side;

The outer side of the vertical plate is provided with a strong magnet, and the strong magnet can attract the vertical plate to the main beam of the tractor;

The outer side of the vertical plate is also provided with a side plate, and the output shaft rotational speed detection module is arranged on the side plate.

In actual installation, only the main carriage parts are clamped on the main beam of the tractor through the U-shaped clamping port, and the strong magnet is sucked on the main beam of the tractor through the vertical plate to realize the installation of the main carriage parts. Reliable and easy to assemble and disassemble.

Preferably, the outer side of the vertical plate is provided with a side plate support column, the end of the side plate support column is provided with a square positioning block, the side plate is provided with a square hole matched with the square positioning block, and the square hole is sleeved on the square positioning block. On the block, the side plate is mounted on the side plate support column by screws.

The square positioning block can limit the side plate to prevent it from rotating, and can realize the fixed installation of the side plate in cooperation with the screw, and the installation is firm and easy to assemble and disassemble.

Optimized, the output shaft rotational speed detection module includes a spindle encoder arranged on the main carriage component, and also includes a circular drive shaft faceplate, the circumferential edge of the drive shaft faceplate is provided with claws, and the drive shaft faceplate is provided with claws. The end of the tractor drive spindle is clamped by the jaw;

A faceplate fixing ring is arranged outside the jaws, and the faceplate fixing ring can fix the drive shaft faceplate on the end of the tractor drive spindle;

A faceplate shaft is arranged on the outer side of the drive shaft faceplate, the faceplate shaft is coaxial with the tractor drive spindle, and the faceplate shaft is connected to the spindle encoder.

When the tractor drives the spindle to rotate, it can drive the drive shaft faceplate, jaws, faceplate fixing ring, and faceplate shaft to rotate synchronously. The spindle encoder can detect the speed of the faceplate shaft, that is, the speed of the tractor's driving spindle. High precision.

Optimized, the subsidence depth detection module includes a swing arm that is swayed and mounted on the main carriage part, the swing axis of the swing arm is parallel to the tractor drive main shaft, and a device capable of detecting Swing arm encoder for swing arm swing angle;

The wheeled speed measuring module includes a speed measuring wheel rotatably installed at the end of the swing arm, the axis of the speed measuring wheel is parallel to the swing axis of the swing arm, and a speed measuring encoder is arranged between the end of the swing arm and the speed measuring wheel.

When the tractor is running, the speed-measuring wheel moves along with it. The radius of the speed-measuring wheel and the distance from the center of the speed-measuring wheel to the swing shaft of the swing arm are known. The swing arm encoder detects the swing angle of the swing arm to obtain the subsidence depth. At the same time, the speed of the tachometer wheel can be detected, and thus the running speed of the tractor can be obtained. At this time, the speed of the tractor and the driving spindle of the tractor are known, and the slip rate can be obtained. The detection process is not affected by mud and water factors, so the detection accuracy is high. .

Preferably, a pressing wheel member is provided on the swing arm, and the pressing wheel member can make the tachometer wheel have a tendency to press down on the ground.

Preferably, the pressing wheel member is a counterweight block arranged on the swing arm.

Preferably, the pressing wheel member is a tension spring or a compression spring arranged between the swing arm and the main carriage member.

Under the action of the pressure wheel, such as using a counterweight or a compression spring to apply pressure to the swing arm, or using a tension spring to apply tension to the swing arm, the speed measuring wheel can have a tendency to press down on the ground, and then press it tightly on the ground. ground to ensure synchronous movement with the tractor to ensure detection accuracy.

Preferably, the wheel surface of the speed measuring wheel is provided with anti-skid protrusions.

The anti-skid bumps can ensure that the speed measuring wheel slips when it moves and keeps moving in synchronization with the tractor to ensure the detection accuracy.

Preferably, a wireless sending module is also included, and the wireless sending module can send the detection data and/or the data processed by the detection data processing module to the upper computer or the mobile terminal.

The setting of the wireless sending module can send the detection data and/or the data processed by the detection data processing module to the host computer or mobile terminal. Using wireless communication, it does not need to be time-consuming and laborious to disassemble or modify part of the tractor structure and arrange various data lines during installation and use. It is a detection device that is easy to install and disassemble, less disturbed by mud and water, can improve detection accuracy and real-time detection, wireless transmission, and is convenient for users to view the display data of slip rate and subsidence depth when the tractor is running in real time.

The advantages of the present invention are:

1. When the paddy field tractor slip rate and subsidence depth detection device of the present invention is in practical application, the whole device is installed on the main beam of the tractor through the main carriage component, and when the tractor is running, the output shaft rotational speed detection module detects the rotational speed of the tractor driving main shaft, The wheeled speed measuring module detects the actual driving speed of the tractor, and the two transmit the detected data to the detection data processing module respectively, and then the slip rate can be obtained. The subsidence depth detection module can detect the subsidence depth of the tractor. Compared with the prior art, the detection The slip rate and subsidence depth of the paddy tractor will not be disturbed by mud and water, so the detection accuracy is high.

2. During the actual installation, only need to clamp the main carriage parts on the tractor main beam through the U-shaped clamping port, and suck the strong magnet on the tractor main beam through the vertical plate to realize the installation of the main carriage parts. , The installation is reliable and easy to assemble and disassemble.

3. The square positioning block can limit the side plate to prevent it from rotating, and can realize the fixed installation of the side plate in cooperation with the screw, which is firm in installation and convenient in assembly and disassembly.

4. When the tractor drives the spindle to rotate, it can drive the drive shaft faceplate, jaws, faceplate fixing ring, and faceplate shaft to rotate synchronously, and the spindle encoder can detect the speed of the faceplate shaft, that is, the speed of the tractor driving spindle, and its detection is not affected by mud and water factors. Therefore, the detection accuracy is high.

5. When the tractor is running, the speed-measuring wheel moves along with it. The radius of the speed-measuring wheel and the distance from the center of the speed-measuring wheel to the swing shaft of the swing arm are known. The swing arm encoder detects the swing angle of the swing arm to obtain the subsidence depth. At the same time, the encoder can detect the speed of the tachometer wheel, so as to obtain the driving speed of the tractor. At this time, the speed of the tractor and the driving spindle of the tractor are known, and the slip rate can be obtained. The detection process is not affected by mud and water factors, so the detection accuracy higher.

6. Under the action of the pressure wheel, such as using a counterweight or a compression spring to apply pressure to the swing arm, or using a tension spring to apply tension to the swing arm, the speed measuring wheel can have a tendency to press down on the ground, thereby making it tight. Press on the ground to ensure synchronized movement with the tractor and ensure detection accuracy.

7. The anti-skid bumps can ensure that the speed measuring wheel slips when it moves, and keeps moving in synchronization with the tractor to ensure the detection accuracy.

8. The setting of the wireless sending module can send the detection data and/or the data processed by the detection data processing module to the host computer or mobile terminal. Using wireless communication, it does not need to be time-consuming and laborious to disassemble or modify part of the tractor structure and arrange various types of installation and use. The data cable is simple to operate. It is a detection device that is easy to install and disassemble, less disturbed by mud and water, can improve detection accuracy and real-time detection, wireless transmission, and facilitate users to view the displayed data of the slip rate and subsidence depth of the tractor in real time.

Description of drawings

1 is a schematic diagram of a device for detecting slip rate and subsidence depth of a paddy field tractor in an embodiment of the present invention;

2 is an exploded view of a device for detecting slippage and subsidence depth of a paddy field tractor in an embodiment of the present invention;

FIG. 3 is a schematic diagram of a main carriage component in an embodiment of the present invention;

4 is an exploded view of an output shaft rotational speed detection module in an embodiment of the present invention;

5 is a schematic diagram of a subsidence depth detection module in an embodiment of the present invention;

6 is a schematic diagram of a wheeled speed measuring module in an embodiment of the present invention;

in,

Main rack component-1, vertical plate-11, clamping plate-12, strong magnet-13, side plate-14, side plate support column-15, tension spring fixing column-16, square positioning block-151;

Output shaft speed detection module-2, spindle encoder-21, drive shaft faceplate-22, jaw-23, faceplate fixing ring-24, faceplate shaft-25;

Subsidence depth detection module-3, swing arm-31, swing arm encoder-32, pressing wheel-33;

Wheel speed measuring module-4, speed measuring wheel-41, speed measuring encoder-42, bearing seat-43, anti-skid protrusion-411;

Detection data processing module-5;

Tractor main beam -6;

Tractor Drive Spindle-7;

Battery-8.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are part of the present invention. examples, but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

As shown in Figures 1 and 2, a device for detecting the slip rate and subsidence depth of a paddy tractor includes a main carriage component 1, an output shaft rotational speed detection module 2, a subsidence depth detection module 3, a wheeled speed measurement module 4, and a detection data processing module. Module 5, a wireless sending module.

As shown in FIG. 1 , the main carriage part 1 is arranged on the main beam 6 of the tractor, the output shaft rotational speed detection module 2 and the subsidence depth detection module 3 are both arranged on the main carriage part 1, and the output shaft rotational speed The detection module 2 is connected to the tractor driving main shaft 7 to detect the rotational speed of the tractor driving main shaft 7 .

As shown in FIG. 1 , the wheeled speed measuring module 4 is arranged on the subsidence depth detection module 3 to detect the running speed of the tractor. The output shaft rotational speed detection module 2, the subsidence depth detection module 3 and the wheeled speed measurement module 4 can detect the The data is transmitted to the detection data processing module 5 .

As shown in FIG. 3 , the main rack component 1 includes a vertical plate 11 , the vertical plate 11 is rectangular, and the corners are chamfered. A pair of rectangular clamping plates 12 are arranged on the inner side of the vertical plate 11 . The two clamping plates 12 One up and down, a U-shaped clamping opening is formed between the two clamping plates 12, and the U-shaped clamping opening is clamped on one side of the main beam 6 of the tractor. The vertical plate 11 and the clamping plate 12 can be integrated. can also be assembled together by welding or screw connection; the outer side of the vertical plate 11 is provided with a rectangular strong magnet 13, and the strong magnet 13 can attract the vertical plate 11 to the main beam 6 of the tractor; the vertical plate 11 The outer side is also provided with an elongated side plate 14, and the output shaft rotational speed detection module 2 is arranged on the side plate 14.

Further, as shown in FIG. 3 , the outer side of the vertical plate 11 is provided with a side plate support column 15 , the side plate support column 15 is in the shape of a cuboid, and the side plate support column 15 is arranged in the middle position of the outer side of the vertical plate 11 . The support column 15 is installed on the outer side of the vertical plate 11 by means of screw connection or welding, the end of the side plate support column 15 is provided with a square positioning block 151, and the side plate 14 is provided with a square hole for matching with the square positioning block 151. The square hole is sleeved on the square positioning block 151 , and the side plate 14 is mounted on the side plate support column 15 by screws.

As shown in FIG. 3 , the strong magnets 13 are provided with two pieces, one on top and one on the bottom, respectively located above and below the side plate support column 15 .

As shown in FIG. 4 , the output shaft rotational speed detection module 2 includes a spindle encoder 21 arranged on the main carriage member 1 . Specifically, the spindle encoder 21 is installed at the end of the side plate 14 , and further includes The circular drive shaft faceplate 22, the circumferential edge of the drive shaft faceplate 22 is provided with claws 23, in this embodiment, the claws 23 are provided with eight, all the claws 23 are axially along the circumferential edge of the drive shaft faceplate 22 Evenly distributed, the outer end of the claws 23 is bent to the side of the tractor drive spindle 7, and the drive shaft faceplate 22 is stuck on the end of the tractor drive spindle 7 through the claws 23; , the face plate fixing ring 24 includes four identical arc-shaped hoops, and the two adjacent hoops are connected by bolts and nuts. After the four-section hoops are combined, the jaws 23 can be fixed on the tractor drive spindle. 7, the faceplate fixing ring 24 can fix the drive shaft faceplate 22 on the end of the tractor drive spindle 7; the outside of the drive shaft faceplate 22 is provided with a faceplate shaft 25, the faceplate shaft 25 is coaxial with the tractor drive spindle 7, and the faceplate shaft 25 is connected to the spindle encoder 21. One end of the faceplate shaft 25 close to the drive shaft faceplate 22 is provided with a connecting flange, and the connecting flange is mounted on the drive shaft faceplate 22 by means of screw connection or welding, so as to realize that the faceplate shaft 25 is installed on the drive shaft faceplate 22, The faceplate shaft 25 is a stepped shaft.

As shown in FIG. 5 , the subsidence depth detection module 3 includes a swing arm 31 that is swingably mounted on the main rack member 1 . A support column, the swing arm 31 is rotatably mounted on the support column, the swing axis of the swing arm 31 is parallel to the tractor drive main shaft 7, and a device capable of detecting the swing of the swing arm 31 is provided between the swing arm 31 and the main hanger part 1 The angle swing arm encoder 32, specifically, the swing arm encoder 32 is mounted on the swing arm 31, and the swing arm encoder 32 is coaxial with and connected to the cylindrical support column.

As shown in FIGS. 1 and 6 , the wheeled speed measuring module 4 includes a speed measuring wheel 41 that is rotatably installed at the end of the swing arm 31 . Taking the running direction of the tractor as the front, the speed measuring wheel 41 is installed at the rear end of the swing arm 31 . , the axis of the speed measuring wheel 41 is parallel to the swing axis of the swing arm 31 , and a speed measuring encoder 42 is arranged between the end of the swing arm 31 and the speed measuring wheel 41 . Specifically, the rotating shaft of the speed measuring wheel 41 is rotatably mounted on the swing arm 31 through the bearing seat 43, the speed measuring encoder 42 is installed on the swing arm 31, and the speed measuring encoder 42 is coaxial with the rotating shaft of the speed measuring wheel 41, and the speed measuring The rotating shaft of the wheel 41 is connected with the speed encoder 42 .

As shown in FIG. 5 , the swing arm 31 is provided with a pressing wheel member 33 , and the pressing wheel member 33 enables the speed measuring wheel 41 to have a tendency to press down on the ground.

Specifically, the pressing wheel member 33 is a counterweight block (not shown in the figure) disposed on the swing arm 31 . The counterweight is installed at the rear of the swing arm 31 to compress the speed measuring wheel 41 .

Alternatively, the pressing wheel member 33 is a tension spring or a compression spring arranged between the swing arm 31 and the main hanging frame member 1 . As shown in FIGS. 1 , 3 and 5 , in this embodiment, a tension spring fixing post 16 is provided on the upper outer side of the vertical plate 11 . When the tension spring is used, both ends of the tension spring are connected to the tension spring fixing post 16 respectively. and the front end of the swing arm 31 .

Alternatively, the pressing wheel member 33 can also be a tension-limiting spring. Both ends of the tension-limiting spring are hinged on the tension spring fixing post 16 and the front end of the swing arm 31 respectively, and the hinge shafts are parallel to the swing axis of the swing arm 31. . The tension-limiting spring is a two-layer cylindrical sleeve-like structure, the length of the inner cylinder relative to the outer cylinder can be shortened or elongated, and a spring in a tensioned state is arranged inside.

As shown in FIG. 6 , the wheel surface of the speed measuring wheel 41 is provided with anti-skid protrusions 411 .

The wireless transmission module can send the detection data and/or the data processed by the detection data processing module 5 to the host computer or the mobile terminal. In this embodiment, the detection data processing module 5 adopts PLC, and the wireless transmission module is the prior art, The detection data processing module 5 is integrated with the wireless transmission module, and the integrated detection data processing module 5 and the wireless transmission module are installed on the side plate 14 .

Further, the integrated detection data processing module 5 and the wireless transmission module are also provided with a battery 8 to supply power to each power-consuming component.

working principle:

As shown in Fig. 1, when the paddy field tractor slip rate and subsidence depth detection device of the present invention is in practical application, the whole device is installed on the main beam 6 of the tractor through the main carriage component 1, and when the tractor is running, the output shaft rotational speed detection module 2. Detect the rotational speed of the tractor driving main shaft 7, and the wheeled speed measuring module 4 detects the actual driving speed of the tractor. The two respectively transmit the detected data to the detection data processing module 5 to obtain the slip rate, and detect the rotational speed of the tractor driving main shaft 7 and the tractor After the actual driving speed, the detection data processing module 5 can calculate the slip rate, and its calculation method is the prior art, and the subsidence depth detection module 3 can detect the subsidence depth of the tractor. The subsidence depth will not be disturbed by mud and water, so the detection accuracy is high.

In actual installation, only the main rack part 1 is clamped on the main beam 6 of the tractor through the U-shaped clamping port, and the strong magnet 13 is sucked on the main beam 6 of the tractor through the vertical plate 11 to realize the main rack. The installation of component 1 is reliable and easy to assemble and disassemble.

The square positioning block 151 can limit the side plate 14 to prevent it from rotating, and can realize the fixed installation of the side plate 14 in cooperation with the screw, which is firm in installation and convenient in assembly and disassembly.

When the tractor drives the main shaft 7 to rotate, it can drive the drive shaft faceplate 22, the claws 23, the faceplate fixing ring 24, and the faceplate shaft 25 to rotate synchronously. It is not affected by mud and water factors, so the detection accuracy is high.

When the tractor is running, the speed-measuring wheel 41 walks along with it, the radius of the speed-measuring wheel 41 and the distance from the center of the speed-measuring wheel 41 to the swing axis of the swing arm 31 are known, and the swing arm encoder 32 detects the swing angle of the swing arm 31 to obtain the sag. Depth, the calculation method of the subsidence depth is the prior art, and the speed measuring encoder 42 can detect the rotating speed of the speed measuring wheel 41 at the same time, thereby obtaining the running speed of the tractor, at this time, it and the tractor driving spindle 7 rotating speed are known, Then the slip rate can be obtained, and the detection process is not affected by the muddy water factor, so the detection accuracy is high.

Under the action of the pressing wheel member 33, for example, using a counterweight or a compression spring to apply pressure to the swing arm 31, or using a tension spring to apply tension to the swing arm 31, the speed measuring wheel 41 can have a tendency to press down on the ground, thereby making the It is pressed tightly on the ground to ensure the synchronous movement with the tractor and the detection accuracy.

The anti-skid protrusions 411 can ensure that the speed measuring wheel 41 slips when moving, keeps moving in synchronization with the tractor, and ensures the detection accuracy.

The setting of the wireless sending module can send the detection data and/or the data processed by the detection data processing module 5 to the host computer or mobile terminal. By using wireless communication, there is no need to spend time and effort to dismantle or modify part of the tractor structure and arrange various data during installation and use. It is a detection device that is easy to install and disassemble, less disturbed by mud and water, can improve detection accuracy and real-time detection, wireless transmission, and is convenient for users to view the displayed data of slip rate and subsidence depth when the tractor is running in real time.

The above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The recorded technical solutions are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. a paddy field tractor slip rate and subsidence depth detection device, it is characterized in that: comprise main carriage component (1), output shaft rotational speed detection module (2), subsidence depth detection module (3), wheeled speed measuring module ( 4), detection data processing module (5); The main carriage part (1) is arranged on the main beam (6) of the tractor, and the output shaft rotational speed detection module (2) and the subsidence depth detection module (3) are both arranged on the main carriage part (1). , the output shaft rotational speed detection module (2) is connected to the tractor driving main shaft (7) to detect the rotational speed of the tractor driving main shaft (7); The wheeled speed measuring module (4) is arranged on the subsidence depth detection module (3) to detect the running speed of the tractor, the output shaft rotational speed detection module (2), the subsidence depth detection module (3), the wheeled speed measurement module (4) ) can transmit the detection data to the detection data processing module (5). 2. The device for detecting the slip rate and subsidence depth of a paddy field tractor according to claim 1, wherein the main carriage member (1) comprises a vertical plate (11), and a pair of vertical plates (11) are arranged on the inside of the vertical plate (11). a clamping plate (12), a U-shaped clamping opening is formed between the two clamping plates (12), and the U-shaped clamping opening is clamped on one side of the main beam (6) of the tractor; A strong magnet (13) is arranged on the outer side of the vertical plate (11), and the strong magnet (13) can attract the vertical plate (11) to the main beam (6) of the tractor; The outer side of the vertical plate (11) is further provided with a side plate (14), and the output shaft rotational speed detection module (2) is arranged on the side plate (14). 3. The device for detecting the slip rate and subsidence depth of a paddy field tractor according to claim 2, characterized in that: the outer side of the vertical plate (11) is provided with a side plate support column (15), and the side plate support column (15) ends The side plate (14) is provided with a square positioning block (151), a square hole matched with the square positioning block (151) is arranged on the side plate (14), ) to the side plate support column (15) with screws. 4. The device for detecting slip rate and subsidence depth of a paddy tractor according to claim 1, wherein the output shaft rotational speed detection module (2) comprises a spindle encoder ( 21), also comprising a circular drive shaft faceplate (22), the circumferential edge of the drive shaft faceplate (22) is provided with a claws (23), and the drive shaft faceplate (22) is stuck on the tractor through the claws (23). the end of the drive spindle (7); A faceplate fixing ring (24) is provided outside the jaws (23), and the faceplate fixing ring (24) can fix the drive shaft faceplate (22) on the end of the tractor drive spindle (7); A faceplate shaft (25) is provided outside the drive shaft faceplate (22), the faceplate shaft (25) is coaxial with the tractor drive spindle (7), and the faceplate shaft (25) is connected to the spindle encoder (21). 5. The device for detecting slip rate and subsidence depth of a paddy tractor according to claim 1, characterized in that: the subsidence depth detection module (3) comprises a swing arm (31) oscillatingly mounted on the main carriage member (1). ), the swing axis of the swing arm (31) is parallel to the tractor drive main shaft (7), and a swing arm (31) capable of detecting the swing angle of the swing arm (31) is provided between the swing arm (31) and the main carriage member (1). arm encoder(32); The wheeled speed measuring module (4) includes a speed measuring wheel (41) rotatably installed at the end of the swing arm (31), the axis of the speed measuring wheel (41) is parallel to the swing axis of the swing arm (31), and the swing arm (31) A speed measuring encoder (42) is arranged between the end of the ) and the speed measuring wheel (41). 6. The device for detecting the slip rate and subsidence depth of a paddy field tractor according to claim 5, wherein the swing arm (31) is provided with a pressing wheel member (33), and the pressing wheel member (33) can make the The tachometer wheel (41) has a tendency to press down on the ground. 7 . The device for detecting the slip rate and subsidence depth of a paddy field tractor according to claim 6 , wherein the pressing wheel member ( 33 ) is a counterweight set on the swing arm ( 31 ). 8 . 8. The device for detecting the slip rate and subsidence depth of a paddy tractor according to claim 6, wherein the pressing wheel member (33) is arranged between the swing arm (31) and the main carriage member (1). tension or compression springs. 9 . The device for detecting the slip rate and subsidence depth of a paddy field tractor according to claim 5 , wherein the wheel surface of the speed measuring wheel ( 41 ) is provided with anti-skid protrusions ( 411 ). 10 . 10. The paddy field tractor slip rate and subsidence depth detection device according to any one of claims 1-9, characterized in that: also comprising a wireless transmission module, the wireless transmission module can detect data and/or detection data processing module (5 ) processed data is sent to the host computer or mobile terminal.

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