CN112997610B - Subsoiling device, subsoiling system, tilling depth adjusting method and tilling depth control method - Google Patents

Subsoiling device, subsoiling system, tilling depth adjusting method and tilling depth control method Download PDF

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Publication number
CN112997610B
CN112997610B CN202110245746.9A CN202110245746A CN112997610B CN 112997610 B CN112997610 B CN 112997610B CN 202110245746 A CN202110245746 A CN 202110245746A CN 112997610 B CN112997610 B CN 112997610B
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plate
hanging
depth
assembly
frame
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CN112997610A (en
Inventor
何进
娄尚易
李洪文
王庆杰
卢彩云
张振国
刘鹏
林涵
杨文超
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China Agricultural University
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China Agricultural University
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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
    • A01B49/00—Combined machines
    • A01B49/02—Combined machines with two or more soil-working tools of different kind
    • A01B49/022—Combined machines with two or more soil-working tools of different kind at least one tool being actively driven
    • 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
    • A01B49/00—Combined machines
    • A01B49/04—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M21/00—Apparatus for the destruction of unwanted vegetation, e.g. weeds
    • A01M21/02—Apparatus for mechanical destruction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
    • Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Environmental Sciences (AREA)
  • Soil Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Insects & Arthropods (AREA)
  • Pest Control & Pesticides (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Soil Working Implements (AREA)

Abstract

The invention provides a subsoiling device, a subsoiling system, a method for regulating the tilling depth and a method for controlling the tilling depth, which relate to the field of agricultural equipment, wherein the subsoiling device comprises a frame, a straw cleaning mechanism and a subsoiling mechanism, the straw cleaning mechanism is connected with a front beam of the frame and is suitable for cleaning straws in a detection area to two sides of the detection area; the deep scarification mechanism is connected with the rear beam of the frame and is positioned behind the straw cleaning mechanism, and is suitable for detecting the real-time height of the soil surface and adjusting the cultivated land depth according to the real-time height so that the cultivated land depth is equal to the required cultivated land depth value. The straw cleaning mechanism is used for cleaning the straw in the detection area to the two sides of the detection area, so that detection errors caused by the straw are avoided; the real-time height of the soil surface is detected through the subsoiling mechanism, and the cultivated land depth is adjusted according to the real-time height, so that the cultivated land depth is equal to a required cultivated land depth value, the plow bottom layer is effectively broken in the whole process of subsoiling operation, the power consumption is reduced, and the optimal subsoiling operation effect is obtained.

Description

Subsoiling device, subsoiling system, tilling depth adjusting method and tilling depth control method
Technical Field
The invention relates to the field of agricultural equipment, in particular to a subsoiling device, a subsoiling system, a method for regulating tilling depth and a method for controlling tilling depth.
Background
The plough bottom layer is a relatively compact soil layer which is produced by the actions of traditional farming, rainfall impact, sedimentation and the like on soil for a long time, the growth of crops is not facilitated, the mechanized subsoiling technology is an effective means for breaking the plough bottom layer, the subsoiling depth is an important index of mechanized subsoiling operation, the subsoiling depth is too deep, the operation power consumption of machines is increased, the subsoiling depth is too shallow, the plough bottom layer cannot be completely broken, the subsoiling depths in different areas in China are different, the subsoiling depths of 250mm, 300mm, 350mm, 400mm and 450mm basically meet the subsoiling requirements of all areas, and according to the needs of each area, in order to ensure that the subsoiling depth of machines is basically stable at a certain required tilling value during the operation of a farmland with uneven surface, the power consumption is effectively reduced while the plough bottom layer is effectively broken, and the subsoiling device for accurately adjusting the initial tilling depth and controlling the tilling depth is very important on the basis. At present, the initial tilling depth of deep scarification operation in China is basically adjusted by virtue of experience of a driver, the required tilling depth cannot be accurately adjusted, the tilling depth in the operation process is adjusted on the basis, the deviation from an ideal tilling depth value is larger, meanwhile, the tilling depth can only be controlled within a certain range in the deep scarification operation process, the required tilling depth cannot be stabilized, and the physical properties of soil at all positions are different. The ultrasonic sensor has the advantages of low cost, simple working principle, convenient installation and the like, and most of the current ultrasonic sensors are used for directly detecting the ground height to indirectly obtain the tilling depth value, but the straw covered on the ground surface influences the detection precision of the ultrasonic sensor.
Disclosure of Invention
The invention provides a deep scarification device, a deep scarification system, a method for adjusting the tilling depth and a method for controlling the tilling depth, which are used for solving the problems of large tilling depth value error and poor stability of the deep scarification device in the prior art.
The invention provides a subsoiling device, comprising:
a frame;
the straw cleaning mechanism is connected with the front beam of the frame and is suitable for cleaning straws in the detection area to two sides of the detection area;
and the subsoiling mechanism is connected with the rear beam of the frame and positioned behind the straw cleaning mechanism, is suitable for detecting the real-time height of the soil surface, and adjusts the cultivated land depth according to the real-time height so that the cultivated land depth is equal to the required cultivated land depth value.
According to the invention, the deep scarification device is provided, and the straw cleaning mechanism comprises:
the profiling component is connected with the front beam of the frame;
the straw cleaning mechanism comprises a main support, a primary straw cleaning assembly, a secondary straw cleaning assembly and a depth limiting assembly, wherein the main support is connected with the profiling assembly, and a plurality of mutually communicated gear grooves are formed in the top of one end, far away from the tractor, of the main support; the primary straw cleaning assembly comprises a hanging beam, a stubble cutting disc, two grass poking teeth, a first hanging arm, two second hanging arms and a grass blocking plate, wherein the hanging beam is connected with one end of the main support frame, which is close to a tractor, the two second hanging arms are arranged at intervals, one end of each second hanging arm is connected with the hanging beam through a hanging arm fixing plate, the two grass poking teeth are correspondingly arranged at the other ends of the two second hanging arms one by one, and are rotationally connected with the other ends of the second hanging arms, and an included angle between the two grass poking teeth is an acute angle; the first hanging arm is arranged between the two second hanging arms, one end of the first hanging arm is connected with the hanging beam, the other end of the first hanging arm is rotationally connected with the stubble cutting disc, and the grass baffle plate is arranged above the stubble cutting disc and is respectively connected with the other ends of the two second hanging arms; the secondary straw cleaning assembly and the depth limiting assembly are respectively connected with the main support, and the secondary straw cleaning assembly is suitable for carrying out secondary cleaning on straws in the detection area after the primary straw cleaning assembly cleans.
According to the subsoiling device provided by the invention, the secondary straw cleaning component comprises two side plates and a bottom plate, wherein the two side plates are connected with the side edge of one side of the tractor, the two side plates are symmetrically arranged, the included angle is an acute angle, the upper ends of the two side plates are connected with the main support frame, and the bottom plate is horizontally arranged and connected with the lower edges of the two side plates.
According to the deep loosening device provided by the invention, the depth limiting assembly comprises a push rod, a mounting frame and two depth limiting wheels, wherein the mounting frame is hinged with the bottom of the main support frame, the two depth limiting wheels are correspondingly arranged on two sides of the mounting frame and are in rotary connection with the mounting frame, the lower end of the push rod is connected with the mounting frame, and the upper end of the push rod is clamped in the gear groove.
The invention provides a subsoiling device, which comprises a front fixing plate, two side fixing plates, two profiling connecting rods, two profiling side plates, a spring bracket, two first springs and a fixing block, wherein the front fixing plate is connected with a front beam of a frame through bolts; the spring support is horizontally arranged above one end, close to the tractor, of the main support, two spring mounting columns are vertically and alternately arranged on the spring support, two first springs are sleeved on the two spring mounting columns in a one-to-one correspondence manner, the fixing blocks are respectively sleeved on the spring mounting columns and are abutted to the upper ends of the first springs, one ends of the two side fixing plates are fixedly connected with two ends of the fixing blocks in a one-to-one correspondence manner, and the other ends of the two side fixing plates are fixedly connected with the front fixing plates respectively; one end of each profiling connecting rod is fixedly connected with each profiling side plate in a one-to-one correspondence manner, and the other end of each profiling connecting rod is hinged with the front fixing plate.
The invention provides a subsoiling device, which comprises a lifting component, a limiting beam, a pressure detection component, a telescopic rod component, a subsoiler fixing plate, a subsoiler, a height detection component and a hanging plate, wherein the lifting component is respectively connected with one end of the limiting beam and a rear beam of a frame; the bottom of the limiting beam is close to one end of the lifting assembly, the edge of the bottom of the limiting beam is hinged with one end of the hanging plate through an ear plate, the other end of the hanging plate is fixedly connected with the subsoiler fixing plate, the subsoiler fixing plate is hinged with the other end of the limiting beam through the telescopic rod assembly, the subsoiler comprises a shovel handle and a shovel tip, the upper end of the shovel handle is connected with the subsoiler fixing plate, and the shovel tip is arranged at the lower end of the shovel handle; the height detection assembly is adapted to detect a real-time height to a soil surface.
According to the subsoiling device provided by the invention, the pressure detection assembly comprises a thin plate, a pressing plate, a first T-shaped shaft, a second spring, a bolt, a pressure sensor mounting groove and a pressure sensor, wherein the upper end of the first T-shaped shaft penetrates through the other end of the limiting cross beam and is locked through the bolt; the second spring and the pressing plate are respectively sleeved at the lower end of the first T-shaped shaft, the upper end of the second spring is abutted with the limiting beam, and the lower end of the second spring is abutted with the pressing plate; one end of the thin plate is hinged with the pressing plate through a pin shaft, the thin plate is fixedly connected with the top of the hanging plate, the pressure sensor mounting groove is arranged in the hanging plate, the pressure sensor is arranged in the pressure sensor mounting groove, and the induction probe of the pressure sensor is in contact with the pressing plate; the height detection assembly comprises an ultrasonic sensor mounting frame, an ultrasonic sensor and a bolt, wherein the bolt is rotationally connected with the hanging plate through a tapered roller bearing, the ultrasonic sensor mounting frame is connected with the bolt, and the ultrasonic sensor is arranged at the bottom of the ultrasonic sensor mounting frame; the pressure detection assembly is adapted to measure the pressure transferred by the second spring to the platen.
The invention also provides a deep scarification system which comprises a tractor lower pull rod, a controller, a man-machine interaction touch screen, a proportional electromagnetic valve and a mobile hard disk; the deep scarification device is characterized by further comprising the deep scarification device, wherein the tractor lower pull rod is connected with the front beam of the frame, the proportional electromagnetic valve is respectively communicated with a hydraulic system of the tractor, the tractor lower pull rod and a hydraulic cylinder of the deep scarification device, the controller is respectively connected with the man-machine interaction touch screen, the proportional electromagnetic valve and the deep scarification mechanism, and the mobile hard disk is electrically connected with the man-machine interaction touch screen.
The invention also provides a method for adjusting the tilling depth, which comprises the following steps:
inserting a bolt into the through hole of the first T-shaped shaft, and controlling the lower pull rod of the tractor to extend out and driving the stand to descend to a high height if the pressure sensor detects the sudden pressure changeDegree H 2 So that the depth stop wheel contacts the soil surface;
controlling the hydraulic cylinder of the lifting assembly to extend to drive the hanging plate of the subsoiling mechanism to descend by a height H 3 So that the hanging plate is in a horizontal state, and the tilling depth value H=H at the moment 2 +H 3 -H 1 Wherein H is 1 The height difference is the height difference between the first projection point and the second projection point.
The invention also provides a method for controlling the tilling depth, which comprises the following steps:
Acquiring the real-time height a from the ultrasonic sensor to the soil surface;
calculating a height difference h of the projection points to obtain a tilling depth variation, wherein the tilling depth variation is equal to h, and h=L 1 ×(a+H-650)/L 2 ；
The hydraulic cylinder of the lifting assembly is controlled to extend or retract through the proportional electromagnetic valve, and the hanging plate of the deep scarification mechanism is driven to descend or ascend for 3h, so that the tilling depth is equal to the required tilling depth value.
According to the deep loosening device provided by the invention, the straws in the detection area are cleaned to the two sides of the detection area through the straw cleaning mechanism, so that detection errors caused by the straws are avoided; the real-time height of the soil surface is detected through the subsoiling mechanism, and the cultivated land depth is adjusted according to the real-time height, so that the cultivated land depth is equal to a required cultivated land depth value, the plow bottom layer is effectively broken in the whole process of subsoiling operation, the power consumption is reduced, and the optimal subsoiling operation effect is obtained.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic perspective view of a subsoiler according to the present invention;
FIG. 2 is a schematic side view of the subsoiler according to the present invention;
FIG. 3 is a schematic top view of the subsoiler according to the present invention;
FIG. 4 is a schematic side view of the straw cleaning mechanism provided by the invention;
FIG. 5 is a schematic top view of the straw cleaning mechanism according to the present invention;
FIG. 6 is a schematic diagram of a front view of a straw cleaning mechanism according to the present invention;
FIG. 7 is a schematic side view of the straw cleaning mechanism and the main support;
FIG. 8 is a schematic perspective view of the straw cleaning mechanism and the main support frame according to the present invention;
FIG. 9 is a schematic view of the structure of the primary straw cleaning assembly provided by the invention;
FIG. 10 is a schematic view of a secondary straw cleaning assembly according to the present invention;
FIG. 11 is a schematic side view of a secondary straw cleaning assembly according to the present invention;
FIG. 12 is a schematic top view of a secondary straw cleaning assembly according to the present invention;
FIG. 13 is a schematic view of a depth limiting assembly according to the present invention;
FIG. 14 is a schematic view of a depth limiting assembly and a main support frame according to the present invention;
FIG. 15 is a schematic view of the configuration of the profiling assembly provided by the present invention;
FIG. 16 is a schematic view of the structure of the front fixing plate provided by the present invention;
FIG. 17 is a schematic view of the structure of the spring support provided by the present invention;
FIG. 18 is a schematic view of the deep scarification mechanism provided by the present invention;
FIG. 19 is a schematic view of a lifting assembly according to the present invention;
fig. 20 is a schematic structural view of a channel steel provided by the present invention;
FIG. 21 is a schematic view of a hitch plate according to the present invention;
FIG. 22 is a schematic top view of a hitch plate provided by the present invention;
FIG. 23 is a schematic view of a pressure sensing assembly provided by the present invention;
FIG. 24 is a schematic view of the positional relationship between a pressure sensor and a platen provided by the present invention;
FIG. 25 is a schematic view of a platen structure provided by the present invention;
FIG. 26 is a schematic view of the structure of a sheet provided by the present invention;
FIG. 27 is a schematic side elevational view of a height sensing assembly provided by the present invention;
FIG. 28 is a schematic front view of a height detection assembly according to the present invention;
FIG. 29 is a schematic side elevational view of the telescoping pole assembly provided by the present invention;
fig. 30 is a schematic front view of a telescopic rod assembly according to the present invention.
Reference numerals: 1. a frame; 2. a straw cleaning mechanism; 3. a deep loosening mechanism; 21. a profiling assembly; 22. a straw cleaning mechanism; 221. a main support frame; 224. a secondary straw cleaning component; 2211. a beam is hung; 225. a stubble cutting disc; 226. grass poking teeth; 227. grass blocking plates; 229. a first hitching arm; 228. a second hitching arm; 2210. a hanging arm fixing plate; 222. a push rod; 2212. a mounting frame; 223. a depth stop wheel; 211. a front fixing plate; 212. a side fixing plate; 213. profiling connecting rod; 214. profiling side plates; 215. a spring bracket; 216. a first spring; 217. a fixed block; 31. a lifting assembly; 32. a limiting beam; 33. deep scarification shovel; 34. a pressure detection assembly; 35. a telescoping rod assembly; 36. a subsoiler fixing plate; 37. a shovel handle; 38. a cutting edge; 39. a height detection assembly; 310. a hanging plate; 311. a front fixing frame; 312. a connecting rod; 313. a hydraulic cylinder; 314. a sleeve; 315. channel steel; 336. a thin plate; 334. a pressing plate; 335. a first T-shaped axis; 333. a second spring; 331. a plug pin; 342. a pressure sensor mounting groove; 341. a pressure sensor; 391. tapered roller bearings; 392. an ultrasonic sensor mounting rack; 393. an ultrasonic sensor; 394. a bolt; 351. connecting the thin plates; 352. a sleeve; 353. a second T-shaped axis.
Detailed Description
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings and examples. The following examples are illustrative of the invention but are not intended to limit the scope of the invention.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In describing embodiments of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "coupled," "coupled," and "connected" should be construed broadly, and may be either a fixed connection, a removable connection, or an integral connection, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in embodiments of the present invention will be understood in detail by those of ordinary skill in the art.
In embodiments of the invention, unless expressly specified and limited otherwise, a first feature "up" or "down" on a second feature may be that the first and second features are in direct contact, or that the first and second features are in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
The subsoiling device, system, method of adjusting tilling depth, and method of controlling tilling depth of the present invention are described below with reference to fig. 1-30.
As shown in fig. 1 to 5, the subsoiler comprises a frame 1, a straw cleaning mechanism 2 and a subsoiler 3, wherein the straw cleaning mechanism 2 is connected with a front beam of the frame 1, and the straw cleaning mechanism 2 is suitable for cleaning straws in a detection area to two sides of the detection area. The deep scarification mechanism 3 is connected with the rear beam of the frame 1 and is positioned behind the straw cleaning mechanism 2, and the deep scarification mechanism 3 is suitable for detecting the real-time height of the soil surface of the detection area and adjusting the cultivated land depth according to the real-time height so as to enable the cultivated land depth to be equal to the required cultivated land depth value. According to the deep loosening device provided by the invention, the straw in the detection area is cleaned to the two sides of the detection area through the straw cleaning mechanism 2, so that detection errors caused by the straw are avoided; the real-time height of the soil surface is detected through the subsoiling mechanism 3, and the cultivated land depth is adjusted according to the real-time height, so that the cultivated land depth is equal to a required cultivated land depth value, the plow bottom layer is effectively broken in the whole process of subsoiling operation, the power consumption is reduced, and the optimal subsoiling operation effect is obtained.
As shown in fig. 6, the straw cleaning mechanism 2 comprises a profiling assembly 21 and a straw cleaning mechanism 22, wherein the profiling assembly 21 is connected with a front beam of the frame 1. As shown in fig. 7 and 8, the straw cleaning mechanism 22 comprises a main support 221, a primary straw cleaning assembly, a secondary straw cleaning assembly 224 and a depth limiting assembly, wherein the main support 221 is connected with the profiling assembly 21, and a plurality of mutually communicated gear slots are formed in the top of the main support 221, which is far away from one end of the tractor. As shown in fig. 9, the primary straw cleaning assembly comprises a hanging beam 2211, a stubble cutting disc 225, two grass poking teeth 226, a first hanging arm 229, two second hanging arms 228 and a grass baffle 227, wherein the hanging beam 2211 is horizontally arranged, and the hanging beam 2211 is welded with one end of the main support frame 221, which is close to the tractor. The two second hitching arms 228 are arranged at intervals, one ends of the two second hitching arms 228 are respectively connected with the hitching beam 2211 through the hitching arm fixing plates 2210, one ends of the hitching arm fixing plates 2210, which are close to the hitching beam 2211, are provided with square gaps, the square gaps clamp the hitching beam 2211, and are welded with the hitching beam 2211. One end of the hanging arm fixing plate 2210, which is far away from the hanging beam 2211, is connected with one end of the second hanging arm 228 through a bolt, two grass poking teeth 226 are arranged at the other ends of the two second hanging arms 228 in a one-to-one correspondence manner, and the grass poking teeth 226 are rotatably connected with the other ends of the second hanging arms 228 through pin shafts so as to realize free rotation of the grass poking teeth 226 under the action of stress. The other ends of the two second hitching arms 228 are bent at a certain angle toward the side close to each other, so that the included angle between the two grass-pulling teeth 226 is an acute angle. The first hanging arm 229 is disposed between the two second hanging arms 228, one end of the first hanging arm 229 is provided with a square notch, and the square notch of the first hanging arm 229 is clamped with the hanging beam 2211 and is welded with the hanging beam 2211. The other end of the hanging arm is rotationally connected with the stubble cutting disc 225 through a pin shaft, and the stubble cutting disc 225 rotates under the self gravity action of the subsoiling device in the advancing process of the subsoiling device, so that straws are cut. The grass blocking plate 227 is U-shaped, and the grass blocking plate 227 is arranged above the stubble cutting disc 225 and is respectively connected with the inner sides of the other ends of the two second hanging arms 228 through bolts. The grass baffle 227 can avoid the problems of blockage or poor straw cleaning effect caused by the fact that the straw thrown out by the grass poking teeth 226 is brought back to the operation area of the stubble cutting disc 225 under the action of force. The secondary straw cleaning component 224 and the depth limiting component are respectively connected with the main support 221, and the secondary straw cleaning component 224 is suitable for performing secondary cleaning on straws in the detection area after the primary straw cleaning component cleans.
According to an embodiment of the present invention, as shown in fig. 10 to 12, the secondary straw cleaning assembly 224 includes two side plates and a bottom plate, the two side plates are symmetrically arranged, and an included angle between the two side plates is 30. The two side plates are the same in size and shape, the two side plates are connected close to the side edge of one side of the tractor, gaps are also formed in the upper ends of the two side plates, and the two side plates are welded to the main support frame 221 through the gaps. The bottom plate level sets up, and the bottom plate is isosceles triangle shaped board, and the apex angle of bottom plate is 30, and the size of bottom plate and the size looks adaptation of curb plate, the lower border welded connection of bottom plate and two curb plates.
The deep scarification device is applicable to straw covered lands, non-straw covered lands, and the straw cleaning mechanism 2 is removed to save power consumption.
According to the embodiment of the invention, as shown in fig. 13 and 14, the depth limiting assembly comprises a push rod 222, a mounting frame 2212 and two depth limiting wheels 223, wherein the mounting frame 2212 is hinged with the bottom of the main support 221 through a pin shaft, the two depth limiting wheels 223 are correspondingly arranged on two sides of the mounting frame 2212, fixing bolts are arranged on two side walls of the mounting frame 2212, the depth limiting wheels 223 are provided with bearings, the fixing bolts are in interference fit with inner rings of the bearings, and the depth limiting wheels 223 are in rotary connection with the mounting frame 2212 through the interference fit of the bolts and the bearings. The upper end of the push rod 222 is in an unclosed ring shape, the lower end of the push rod 222 is provided with a round hole, and the lower end of the push rod 222 is fixedly connected with the fixing bolt through the round hole, so that the lower end of the push rod 222 is fixedly connected with the mounting frame 2212, and the upper end of the push rod 222 is clamped into the gear groove. Through the upper end card of push rod 222 in the gear groove, can change the difference in height of depth wheel 223 and secondary clear straw subassembly 224 to be applicable to the parcel of different straw covering thickness, when push rod 222 is placed in the gear groove that is most distant from the front beam of frame 1, the difference in height of depth wheel 223 and secondary clear straw subassembly 224 is minimum, and when push rod 222 is placed in the gear groove that is most distant from the front beam of frame 1, the difference in height of depth wheel 223 and secondary clear straw subassembly 224 is the biggest. In the process of adjusting the push rod 222 from a gear groove far away from the front beam of the frame 1 to a gear groove near the front beam, the lower end of the push rod 222 drives the mounting frame 2212 and the depth limiting wheel 223 to rotate anticlockwise around the hinge point of the mounting frame 2212 and the main support 221, so that the height difference between the depth limiting wheel 223 and the secondary straw cleaning assembly 224 is increased. In the process of adjusting the push rod 222 from a position closer to the front beam of the frame 1 to a position farther away from the front beam, the lower end of the push rod 222 drives the mounting frame 2212 and the depth limiting wheel 223 to rotate clockwise around the hinge point of the mounting frame 2212 and the main support 221, so that the height difference between the depth limiting wheel 223 and the secondary straw cleaning component 224 is reduced, and the depth limiting wheel 223 rotates and advances under the action of soil.
The depth of penetration of the soil-penetrating members of the soil-cleaning mechanism 22 in leveling the earth's surface is effectively controlled by the depth stop wheel 223. In order to be suitable for the operation ground surface with different straw covering thicknesses, the height difference between the depth limiting wheel 223 and the secondary straw cleaning component 224 can be freely adjusted, so that the operation ground depth of the soil entering component on the flat ground surface is unchanged.
According to an embodiment of the present invention, as shown in fig. 15 to 17, the profile modeling assembly 21 includes a front fixing plate 211, two side fixing plates 212, two profile modeling links 213, two profile modeling side plates 214, a spring bracket 215, two first springs 216 and a fixing block 217, the front fixing plate 211 is connected with a front beam of the frame 1 through bolts 394, and the two profile modeling side plates 214 are respectively disposed at both sides of the main support 221. The end of the profiling side plate 214, which is close to the front beam of the frame 1, is provided with a protruding part, the protruding part faces downwards, the two profiling side plates 214 are symmetrically arranged, and one side of the two profiling side plates 214, which is close to the main support 221, is fixedly connected with two sections of connecting pieces extending upwards of the main support 221 through welding. The spring support 215 is horizontally arranged above one end of the main support 221, which is close to the tractor, and two ends of the spring support 215 are fixedly connected with two sections of connecting pieces extending upwards from the main support 221 through bolts respectively. Two spring mounting columns are vertically and at intervals arranged on the spring support 215, the spring mounting columns are perpendicular to the top of the main support 221, and the two first springs 216 are sleeved on the two spring mounting columns in a one-to-one correspondence mode. The fixed block 217 is of a hollow structure, two U-shaped holes are formed in the upper surface of the fixed block 217 at intervals, the two U-shaped holes are equal in size, and the distance between two short sides of each U-shaped hole is 2mm greater than the outer diameter of the spring mounting column. The lower surface interval of fixed block 217 is provided with two round holes, and two round holes size equals, and the diameter of round hole is greater than the external diameter 15mm of first spring 216, ensures that the upper end of first spring 216 can insert in the round hole. The fixing blocks 217 are respectively sleeved on the spring mounting posts, the inner walls of the fixing blocks 217 are abutted with the upper ends of the first springs 216, and the fixing blocks 217 are pressed downwards to enable the first springs 216 to have a certain downward pressure. One end of each of the two side fixing plates 212 is fixedly connected with two ends of the corresponding fixing block 217 in a one-to-one correspondence manner through bolts 394, so that the depth stop wheel 223 is guaranteed to always stick to the ground when moving forwards in an uneven manner, and the other ends of the two side fixing plates 212 are fixedly connected with the front fixing plate 211 through bolts 394 respectively. One end of each of the two profiling connecting rods 213 is fixedly connected with the corresponding profiling side plates 214 one by one through bolts 394, and the other ends of the two profiling connecting rods 213 are respectively hinged with the front fixing plate 211, so that the free rotation of the profiling connecting rods 213 around a hinge point is realized.
According to the embodiment of the invention, as shown in fig. 18 to 20, the subsoiling mechanism 3 comprises a lifting assembly 31, a limiting beam 32, a pressure detection assembly 34, a telescopic rod assembly 35, a subsoiler fixing plate 36, a subsoiler 37, a height detection assembly 39 and a hanging plate 310, wherein the lifting assembly 31 comprises a front fixing frame 311, a connecting rod 312, a hydraulic cylinder 313, a sleeve 314, a channel steel 315, a first reinforcing rib, a second reinforcing rib and a third reinforcing rib, the front fixing frame 311 is fixedly connected with a rear beam of the frame 1 through a U-shaped bolt, one end of the channel steel 315 is connected with one end of the front fixing frame 311 through a group of connecting rods 312, one end of the channel steel 315 is connected with the middle part of the front fixing frame 311 through another group of connecting rods 312, and the connecting rods 312 are respectively hinged with the channel steel 315 and the front fixing frame 311. The front fixing frame 311 is composed of two side plates and a bottom plate, the side plates are composed of vertical sections and inclined sections connected with the vertical sections, one side of each vertical section, which faces the machine frame 1, is provided with square grooves, the upper surfaces and the lower surfaces of the square grooves and the side surfaces of the square grooves are respectively contacted with the rear beam of the machine frame 1, and the bottom plate is provided with four through holes for installing U-shaped bolts. The second strengthening rib passes through welded fastening connection with both sides board internal surface, and the second strengthening rib is used for stable structure, avoids the front fixing frame 311 to take place deformation in the operation in-process.
The channel-section steel 315 is used for fixed spacing crossbeam 32, the third strengthening rib is used for stabilizing the channel-section steel 315 structure, the third strengthening rib welds in the cell body of channel-section steel 315, the third strengthening rib has curved recess for avoid influencing the flexible operation of pneumatic cylinder 313, first strengthening rib is used for strengthening the connection between two connecting rods 312, first strengthening rib and two connecting rods 312 welded connection, the cylinder body of pneumatic cylinder 313 articulates with the other end of preceding mount 311 through the pivot, the piston rod of pneumatic cylinder 313 articulates with the lower extreme of channel-section steel 315, the pivot is located to sleeve 314 cover, one end and the cylinder body butt of pneumatic cylinder 313, the other end and the other end butt of preceding mount 311, sleeve 314 plays spacing effect to pneumatic cylinder 313, ensure that pneumatic cylinder 313 can not take place lateral shifting.
As shown in fig. 21 and 22, one end of the limiting beam 32 is welded with the channel steel 315, the limiting beam 32 is of a hollow structure, a U-shaped hole is formed in the upper end face, close to the other end of the limiting beam 32, a round hole is formed in the lower end face, close to the other end of the limiting beam 32, the center point of the U-shaped hole and the circle center of the round hole are located on the same vertical straight line, and the diameter of the round hole is larger than the outer diameter of the second spring 333 by 15mm. The edge of the bottom of the limiting beam 32, which is close to one end of the lifting assembly 31, is hinged to one end of the hanging plate 310 through an ear plate, and the rotation connection point of the limiting beam 32 and the hanging plate 310 is hereinafter referred to as a hinge point. The other end of the hanging plate 310 is fixedly connected with the subsoiler fixing plate 36, the other end of the hanging plate 310 is connected with the subsoiler fixing plate 36 by a reinforcing key, and the reinforcing key is used for reinforcing the structure of the joint of the hanging plate 310 and the subsoiler fixing plate 36 and preventing deformation. Subsoiler 33 includes shovel shaft 37 and cutting edge 38, and subsoiler fixed plate 36 is provided with two connecting holes, and two connecting hole centre of a circle are on same vertical straight line, and wherein the round pin axle in the upper portion connecting hole is with shovel shaft 37's upper end and subsoiler fixed plate 36 articulated connection, and cutting edge 38 sets up in shovel shaft 37's lower extreme. Shovel handle 37 and subsoiler fixed plate 36 pass through shear pin fixed connection in lower part connecting hole position, and subsoiler 33 atress is too big when subsoiler 33 runs into big stone in subsoiler operation in-process, and shear pin disconnection makes subsoiler 33 anticlockwise rotate around the pin joint, protection subsoiler 33, and subsoiler fixed plate 36 passes through telescopic link subassembly 35 and the other end of spacing crossbeam 32 articulates.
According to an embodiment of the present invention, as shown in fig. 23 to 26, the pressure detecting assembly 34 is adapted to measure the pressure transmitted to the pressing plate 334 by the second spring 333, and the pressure detecting assembly 34 includes a thin plate 336, the pressing plate 334, a first T-shaped shaft 335, a second spring 333, a pin 331, a pressure sensor mounting groove 342 and a pressure sensor 341, wherein the upper end of the first T-shaped shaft 335 is inserted from a circular hole on the lower end surface of the limiting beam 32, protrudes from a U-shaped hole on the upper end surface of the limiting beam 32, 5 through holes are sequentially provided at the upper end of the first T-shaped shaft 335 from top to bottom, the difference in height between the centers of two adjacent through holes is 25mm, the pin 331 is fixed to the upper end of the first T-shaped shaft 335 through the through holes, and the pin 331 is used for determining the downward moving distance of the first T-shaped shaft 335 to perform the limiting function. The second spring 333 and the pressing plate 334 are respectively sleeved at the lower end of the first T-shaped shaft 335, the lower end of the first T-shaped shaft 335 is connected with the hanging plate 310 through a pin shaft, the upper end of the second spring 333 is abutted with the inner wall of the limiting beam 32, and the lower end is abutted with the pressing plate 334. One end of the thin plate 336 is hinged to the pressing plate 334 through a pin, and the thin plate 336 is fixedly connected to the top of the hanging plate 310. The pressing plate 334 can freely rotate around the pin shaft, so that the hanging plate 310 rotates anticlockwise to press the second spring 333, the second spring 333 is stressed to be transmitted to the pressing plate 334, and the pressing plate 334 is stressed to be detected by the pressure sensor 341. The pressure plate 334 is provided with a U-shaped hole near one end of the pin shaft for the extension and small amount of lateral movement of the first T-shaped shaft 335. A pressure sensor mounting groove 342 is installed inside the hitch plate 310, a pressure sensor 341 is installed in the pressure sensor mounting groove 342, and an inductive probe of the pressure sensor 341 is in contact with the pressure plate 334.
When the bolt 331 is fixed in different through hole positions of the upper end of the first T-shaped shaft 335, the rotation angle of the hanging plate 310 around the hinge point is different, and the projection point of the hinge point passing through the straight line of the two connection points of the shovel handle 37 is different from the height difference of the projection point at the moment when the shovel handle 37 is in a vertical state, so that the method is suitable for the accurate adjustment of the initial cultivation depth when the required cultivation depth values are different. By adjusting the three-point suspension lowering machine, when the subsoiler 33 contacts the soil surface, the pressure mutation value is detected and used as a signal for adjusting the stand 1, meanwhile, the stress of the pressing plate 334 is detected in real time in the operation process of the subsoiler, and the distance between the upper surface of the pressure sensor mounting groove 342 and the lower surface of the pressing plate 334 is equal to the height of the sensing probe of the pressure sensor 341.
As shown in fig. 27 and 28, the height detection assembly 39 is suitable for detecting the real-time height of the soil surface in the detection area, the height detection assembly 39 comprises an ultrasonic sensor mounting rack 392, an ultrasonic sensor 393 and a bolt 394, a mounting hole is arranged on the hanging plate 310, a tapered roller bearing 391 is arranged in the mounting hole, the outer ring of the tapered roller bearing 391 is in interference fit with the mounting hole, the circle center of the mounting hole is positioned in the same line with the circle center of the hinging point of the hanging plate 310, the outer ring of the tapered roller bearing 391 freely rotates around the hinging point along with the hanging plate 310, the bolt 394 passes through the inner rings of the two tapered roller bearings 391 to be fixed without rotating, the center line of the hanging plate 310 along the advancing direction of the machine tool is taken as a symmetrical line, two circles of hemispherical bulges are symmetrically arranged on the structural parts of the bolt 394 inside the two side plates of the hanging plate 310, every circle hemispherical is protruding along the circumference arranges totally 8, hemispherical protruding place circumference and hanging board 310 both sides board internal surface have certain distance, two vertical terminal surfaces of ultrasonic sensor mounting bracket 392 are equipped with the round hole, the round hole diameter is greater than the diameter of bolt 394 by 1mm, with vertical terminal surface medial surface as circumference place plane, arrange a plurality of hemispherical recesses along the circumference, hemispherical recess diameter equals with hemispherical protruding diameter, a plurality of hemispherical protruding one-to-one ground card is in a plurality of hemispherical recesses, guarantee that ultrasonic sensor mounting bracket 392 does not rotate, its lower terminal surface is in the horizontality all the time, ultrasonic sensor mounting bracket 392 both vertical terminal surface and hanging board 310 internal surface have certain distance, ultrasonic sensor 393 is fixed at ultrasonic sensor mounting bracket 392's lower terminal surface, ultrasonic sensor 393 has been guaranteed and has been detected perpendicularly downwards all the time. Errors caused by the tilt detection of the ultrasonic sensor 393 are avoided. In the tillage process, the height from the soil surface is measured in real time through the ultrasonic sensor 393 to indirectly obtain the tillage depth variation of the subsoiler 33, and the tillage depth is regulated to a required tillage depth value through hydraulic regulation and control fast response, so that the accurate detection and control of the tillage depth are realized.
As shown in fig. 29 and 30, the telescopic rod assembly 35 includes two connection thin plates 351, a sleeve 352 and a second T-shaped shaft 353, the two connection thin plates 351 are arranged at intervals at the other end of the limiting beam 32, one end of the sleeve 352 is hinged with the two connection thin plates 351 through a pin shaft, free rotation of the sleeve 352 is achieved, one end of the second T-shaped shaft 353 is inserted into the other end of the sleeve 352, the other end of the second T-shaped shaft 353 is movably connected with the subsoiler fixing plate 36, and the second T-shaped shaft 353 extends or retracts in the sleeve 352 under the driving of rotation of the hanging plate 310 around a hinge point.
The invention also provides a deep scarification system which comprises a tractor lower pull rod, a controller, a man-machine interaction touch screen, a proportional electromagnetic valve and a mobile hard disk; further comprising a subsoiling device according to any of the embodiments described above. The tractor lower pull rod is connected with the front beam of the frame 1, the proportional electromagnetic valve is respectively communicated with a hydraulic system of the tractor, the tractor lower pull rod and a hydraulic cylinder 313 of the subsoiling device, and the controller is respectively electrically connected with the man-machine interaction touch screen, the proportional electromagnetic valve and the subsoiling mechanism 3, wherein the subsoiling mechanism 3 refers to a pressure sensor 341 and an ultrasonic sensor 393 of the subsoiling mechanism 3. The mobile hard disk is electrically connected with the man-machine interaction touch screen, and the mobile hard disk port can be connected with the USB port of the man-machine interaction touch screen during specific installation. When the pressure sensor 341 detects the pressure abrupt change value, the controller controls the tractor pull-down rod to extend and drive the frame 1 to descend, then the controller controls the hydraulic cylinder 313 in the lifting assembly 31 to extend and drive the subsoiler 3 to descend, at the moment, the shovel handle 37 of the subsoiler 33 is perpendicular to the ground, the tilling depth reaches the required tilling depth, the ultrasonic sensor 393 detects the height from the soil surface in real time in the operation process, the hanging plate 310 rotates around the hinging point when entering the raised or depressed land, the ultrasonic sensor 393 keeps the height from the soil surface to be detected vertically downwards, the controller calculates the tilling depth change amount and controls the hydraulic cylinder 313 in the lifting assembly 31 of the subsoiler 3 to retract or extend, the tilling depth is kept stable at the required tilling depth value, the man-machine interaction touch screen displays the tilling depth value and the pressure value in real time, and meanwhile, the data is stored in the mobile hard disk in real time.
The invention also provides a method for adjusting the tilling depth, which comprises the following steps:
step a10, inserting the latch 331 into the through hole of the first T-shaped shaft 335, and controlling the tractor lower pull rod to extend and driving the frame 1 to descend by a height H if the pressure sensor 341 detects the sudden pressure change 2 Such that the depth stop wheel 223 contacts the soil surface;
due to the fixed shovel handle 37 and subsoilerThe plate 36 is fixedly connected, and has two connection points, the subsoiler fixing plate 36 is fixedly connected with the hanging plate 310 through welding, so that the shovel handle 37 and the hanging plate 310 are of an integrated structure and can rotate around the hinge point of the limiting beam 32 and the hanging plate 310. The projection point of the hinge point on a straight line passing through the two connection points of the shovel shaft 37 when the shovel shaft 37 is in the vertical state is referred to herein as a first projection point, and the projection point of the hinge point on a straight line passing through the two connection points of the shovel shaft 37 during rotation of the shovel shaft 37 around the hinge point is referred to herein as a second projection point. Before the subsoiler 33 contacts the soil surface, when the bolt 331 is fixed at different through holes on the upper end of the first T-shaped shaft 335, under the limiting effect, the angle between the hanging plate 310 and the shovel handle 37 along the clockwise direction and the horizontal plane is different, and the height difference H between the first projection point and the second projection point is different 1 The depth stop wheel 223 and cutting edge 38 are different in height. When the subsoiler 33 contacts the soil surface, the pressure sensor 341 detects the pressure abrupt change value, the controller controls the tractor lower pull rod to extend and drive the frame 1 to descend, and the descending height is that the bolt 331 is fixed at the current through hole position, and the height difference between the depth wheel 223 and the subsoiler 33 is H 2 The lower height reaches the height difference H 2 When the depth stop wheel 223 contacts the soil surface, the projection point height difference is reduced by H 2 /3。
Step a20, controlling the hydraulic cylinder 313 of the lifting assembly 31 to extend to drive the hanging plate 310 of the deep scarification mechanism 3 to descend by a height H 3 So that the hitch plate 310 is in a horizontal state, and the tilling depth value h=h at this time 2 +H 3 -H 1 。
The controller controls the hydraulic cylinder 313 of the lifting assembly 31 to extend and drive the subsoiler 3 to descend by the height H 3 At this time, the height difference of the projection point is reduced by H 3 3, the hanging plate 310 is in a horizontal state, i.e. H 1 ＝H 2 /3+H 3 And 3, in the process of lowering the stand 1 or the subsoiler 3, every 100mm of the height difference of the projection points, the stand 1 or the subsoiler 3 is lowered by 300mm, namely, the lowering height value of the stand 1 or the subsoiler 3 is 3 times of the height difference reduction amount of the projection points, when the height difference of the projection points is reduced to zero, the cross section of the upper end of the shovel handle 37 of the subsoiler 33 is perpendicular to the advancing direction of the subsoiler, And the tilling depth reaches the required tilling depth value, the tilling depth value H=H 2 +H 3 -H 1 The initial tilling depth value is accurately adjusted to the required tilling depth value, and at this time, the ultrasonic sensor 393 detects a height a=650-H from the soil surface.
The invention also provides a method for controlling the tilling depth, which is characterized by comprising the following steps:
step b10, acquiring the real-time height a of the ultrasonic sensor 393 from the soil surface of the detection area;
when the field surface is a plane, no protrusion or depression exists, the stress of the subsoiler 33 is kept unchanged, the hanging plate 310 is always parallel to the upper end face and the lower end face of the limiting beam 32 on the basis of accurately adjusting the initial cultivation depth to a required cultivation depth value, the cultivation depth is always kept at the required cultivation depth value, the real-time detection value of the ultrasonic sensor 393 is obtained by subtracting the required cultivation depth value from the distance between the bottom end of the ultrasonic sensor 393 and the cutting edge 38 of the subsoiler 33, if the protrusion or depression exists on the surface, the cultivation depth becomes larger or smaller at the moment, the stress of the subsoiler 33 becomes larger or smaller at the moment, the subsoiler 33 drives the hanging plate 310 to rotate anticlockwise or rotate clockwise around a hinge point, and the ultrasonic sensor 393 keeps the vertical downward detection distance to reach the height value of the soil surface to be a.
Step b20, calculating the height difference h of the projection points to obtain the tilling depth variation h, wherein h=l 1 ×(a+H-650)/L 2 ；
The height difference between the first projection point and the second projection point is h, namely the tilling depth variation is h, and the distance from the hinging point to a straight line passing through the two connection points is a fixed value L 1 The distance between the circle center of the installation hole in interference fit with the tapered roller bearing 391 and the circle center of the hinge point is a fixed value L 2 It can be known from the similar triangle theorem that (a-650+h)/h=l 2 /L 1 By deforming the formula we can learn h=l 1 ×(a+H-650)/L 2 。
And b30, controlling the proportional solenoid valve to extend or retract the hydraulic cylinder 313 of the lifting assembly 31 to drive the hanging plate 310 of the deep scarification mechanism 3 to descend or ascend for 3h so as to enable the tilling depth to be equal to the required tilling depth value.
The working process of the invention is as follows:
in order to meet the deep scarification depth requirements of different areas in China, the required tilling depth values suitable for the device, the system and the method comprise 250mm, 300mm, 350mm, 400mm and 450mm, and the process of accurately adjusting the initial tilling depth to the required tilling depth comprises the following steps:
when the required tilling depth value is 250mm, the bolt 331 is fixed at the fifth through hole at the upper end of the first T-shaped shaft 335, and at this time, the hanging plate 310 and the subsoiler 33 form an included angle of 16 ° with the horizontal plane along the clockwise direction, and the height difference between the positions of the first projection point and the second projection point is 125mm. The tractor hand operates in the tractor room, the tractor lower pull rod is controlled to extend, the frame 1 is slowly lowered, when the subsoiler 33 contacts the soil surface (when the straw is covered and leaves and just contacts the ground), the pressure sensor 341 detects the pressure mutation value, the controller controls the tractor lower pull rod to extend and drive the frame 1 to descend by 250mm, the depth limiting wheel 223 falls to the ground, and the projection point height difference is reduced by 83.33mm. Then the controller controls the hydraulic cylinder 313 in the lifting assembly 31 to extend and drive the subsoiler 3 to descend by 125mm, at this time, the height difference of the projection points is reduced by 41.67mm, the upper end of the shovel handle 37 of the subsoiler 33 is vertical to the ground, the initial ploughing depth value is accurately adjusted to 250mm, and the height of the ground is detected to be 400mm by the ultrasonic sensor 393.
When the required tilling depth value is 300mm, the bolt 331 is fixed at the fourth hole at the upper end of the first T-shaped shaft 3351, and at this time, the hanging plate 310 and the subsoiler 33 form an included angle of 19 ° with the horizontal plane along the clockwise direction, and the height difference between the positions of the first projection point and the second projection point is 150mm. The tractor hand operates in the tractor room, the tractor lower pull rod is controlled to extend, the frame 1 is slowly lowered, when the subsoiler 33 contacts the soil surface (when the straw is covered and leaves and just contacts the ground), the pressure sensor 341 detects the pressure mutation value, the controller controls the tractor lower pull rod to extend and drive the frame 1 to descend for 275mm, the depth limiting wheel 223 falls to the ground, and the projection point height difference is reduced by 91.67mm. Then the controller controls the hydraulic cylinder 313 in the lifting assembly 31 to extend and drive the subsoiler 3 to descend by 175mm, at this time, the height difference of the projection points is reduced by 58.33mm, the upper end of the shovel handle 37 of the subsoiler 33 is vertical to the ground, the initial tilling depth value is accurately adjusted to 300mm, and the height of the ground is detected to be 350mm by the ultrasonic sensor 393.
When the required tilling depth value is 350mm, the bolt 331 is fixed at the third through hole at the upper end of the first T-shaped shaft 3351, at this time, the hanging plate 310 and the subsoiler 33 form an included angle of 22 ° with the horizontal plane along the clockwise direction, and the height difference between the positions of the first projection point and the second projection point is 175mm. The tractor hand operates in the tractor room, the tractor lower pull rod is controlled to extend, the frame 1 is slowly lowered, when the subsoiler 33 contacts the soil surface (when the straw is covered and just contacts the ground surface after leaving the straw), the pressure sensor 341 detects the pressure mutation value, the controller controls the tractor lower pull rod to extend and drive the frame 1 to descend by 300mm, the depth limiting wheel 223 falls to the ground, and the height difference of the projection point is reduced by 100mm. Then the controller controls the hydraulic cylinder 313 in the lifting assembly 31 to extend and drive the subsoiler 3 to descend by 225mm, at this time, the height difference of the projection point is reduced by 75mm, the upper end of the shovel handle 37 of the subsoiler 33 is vertical to the ground, the initial tilling depth value is accurately adjusted to 350mm, and the height of the ground is detected to be 300mm by the ultrasonic sensor 393.
When the required tilling depth value is 400mm, the bolt 331 is fixed at the second through hole at the upper end of the first T-shaped shaft 3351, and at this time, the hanging plate 310 and the subsoiler 33 form an included angle of 25 ° with the horizontal plane along the clockwise direction, and the height difference between the positions of the first projection point and the second projection point is 200mm. The tractor hand operates in the tractor room, the tractor lower pull rod is controlled to extend, the frame 1 is slowly lowered, when the subsoiler 33 contacts the soil surface (when the straw is covered and leaves and just contacts the ground), the pressure sensor 341 detects the pressure mutation value, the controller controls the tractor lower pull rod to extend and drive the frame 1 to descend by 325mm, the depth limiting wheel 223 falls to the ground, and the projection point height difference is reduced by 108.33mm. Then the controller controls the hydraulic cylinder 313 in the lifting assembly 31 to extend and drive the subsoiler 3 to descend by 275mm, at this time, the height difference of the projection points is reduced by 91.67mm, the upper end of the shovel handle 37 of the subsoiler 33 is vertical to the ground, the initial tilling depth value is accurately adjusted to 400mm, and the height of the ground is detected to be 250mm by the ultrasonic sensor 393.
When the required cultivation depth is 450mm, the bolt 331 is fixed at the first through hole at the upper end of the first T-shaped shaft 3351, at this time, the hanging plate 310 and the subsoiler 33 form an included angle of 28 ° with the horizontal plane along the clockwise direction, and the height difference between the first projection point and the second projection point is 225mm. The tractor hand operates in the tractor room, the tractor lower pull rod is controlled to extend, the frame 1 is slowly lowered, when the subsoiler 33 contacts the soil surface (when the straw is covered and just contacts the ground surface after leaving the straw), the pressure sensor 341 detects the pressure mutation value, the controller controls the tractor lower pull rod to extend and drive the frame 1 to descend by 350mm, the depth limiting wheel 223 falls to the ground, and the projection point height difference is reduced by 116.67mm. Then the controller controls the hydraulic cylinder 313 in the lifting assembly 31 to extend and drive the subsoiler 3 to descend by 325mm, at this time, the height difference of the projection points is reduced by 108.33mm, the upper end of the shovel handle 37 of the subsoiler 33 is vertical to the ground, the initial tilling depth value is accurately adjusted to 450mm, and the height of the ground is detected to be 200mm by the ultrasonic sensor 393.
The accurate detection and control of the tilling depth and stabilization of the tilling depth at the required tilling depth comprises the following steps: in the operation process, the ultrasonic sensor 393 detects the ground height in real time, when the soil is raised or sunk, the cultivation depth is increased or decreased, the stress of the subsoiler 33 is increased or decreased, the subsoiler 33 drives the hanging plate 310 to rotate anticlockwise or rotate clockwise around a hinge point, the ultrasonic sensor 393 keeps vertical downward detection of the ground height, the controller analyzes and calculates the cultivation depth variation at the moment, then controls the opening and closing of the proportional solenoid valve, thereby driving the hydraulic cylinder 313 in the lifting assembly 31 to retract or stretch out, driving the hanging plate 310 to ascend or descend the cultivation depth variation corresponding to the height value, adjusting the cultivation depth value to the required cultivation depth, and guaranteeing the subsoiler 33 to vertically descend and the soil entering angle to be unchanged.
The man-machine interaction touch screen displays the tilling depth value and the pressure value in real time, and meanwhile, data are stored in the mobile hard disk in real time. In the straw mulching operation, a clean soil surface is provided for the ultrasonic sensor 393 to detect the ground height through the straw cleaning mechanism 2 arranged in front of the subsoiling mechanism 3. The machine frame 1 or the deep loosening mechanism 3 is lowered to have the same height value as that in the straw covering operation.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (6)

1. A subsoiling device, comprising:
a frame;
the straw cleaning mechanism is connected with the front beam of the frame and is suitable for cleaning straws in the detection area to two sides of the detection area;
the deep loosening mechanism is connected with the rear beam of the frame and positioned behind the straw cleaning mechanism, and is suitable for detecting the real-time height of the soil surface and adjusting the cultivated land depth according to the real-time height so as to enable the cultivated land depth to be equal to a required cultivated land depth value;
the straw cleaning mechanism comprises:
the profiling component is connected with the front beam of the frame;
the straw cleaning mechanism comprises a main support, a primary straw cleaning assembly, a secondary straw cleaning assembly and a depth limiting assembly, wherein the main support is connected with the profiling assembly, and a plurality of mutually communicated gear grooves are formed in the top of one end, far away from the tractor, of the main support; the primary straw cleaning assembly comprises a hanging beam, a stubble cutting disc, two grass poking teeth, a first hanging arm, two second hanging arms and a grass blocking plate, wherein the hanging beam is connected with one end of the main support frame, which is close to a tractor, the two second hanging arms are arranged at intervals, one end of each second hanging arm is connected with the hanging beam through a hanging arm fixing plate, the two grass poking teeth are correspondingly arranged at the other ends of the two second hanging arms one by one, and are rotationally connected with the other ends of the second hanging arms, and an included angle between the two grass poking teeth is an acute angle; the first hanging arm is arranged between the two second hanging arms, one end of the first hanging arm is connected with the hanging beam, the other end of the first hanging arm is rotationally connected with the stubble cutting disc, and the grass baffle plate is arranged above the stubble cutting disc and is respectively connected with the other ends of the two second hanging arms; the secondary straw cleaning assembly and the depth limiting assembly are respectively connected with the main support, and the secondary straw cleaning assembly is suitable for carrying out secondary cleaning on straws in the detection area cleaned by the primary straw cleaning assembly;
The depth limiting assembly comprises a push rod, a mounting frame and two depth limiting wheels, the mounting frame is hinged with the bottom of the main support frame, the two depth limiting wheels are correspondingly arranged on two sides of the mounting frame and are in rotary connection with the mounting frame, the lower end of the push rod is connected with the mounting frame, and the upper end of the push rod is clamped into the gear groove;
the profiling assembly comprises a front fixing plate, two side fixing plates, two profiling connecting rods, two profiling side plates, a spring bracket, two first springs and a fixing block, wherein the front fixing plate is connected with a front beam of the frame through bolts, and the two profiling side plates are respectively arranged on two sides of the main support and are connected with the main support; the spring support is horizontally arranged above one end, close to the tractor, of the main support, two spring mounting columns are vertically and alternately arranged on the spring support, two first springs are sleeved on the two spring mounting columns in a one-to-one correspondence manner, the fixing blocks are respectively sleeved on the spring mounting columns and are abutted to the upper ends of the first springs, one ends of the two side fixing plates are fixedly connected with two ends of the fixing blocks in a one-to-one correspondence manner, and the other ends of the two side fixing plates are fixedly connected with the front fixing plates respectively; one end of each profiling connecting rod is fixedly connected with each profiling side plate in a one-to-one correspondence manner, and the other end of each profiling connecting rod is hinged with each front fixing plate;
The subsoiler comprises a lifting assembly, a limiting beam, a pressure detection assembly, a telescopic rod assembly, a subsoiler fixing plate, a subsoiler, a height detection assembly and a hanging plate, wherein the lifting assembly is respectively connected with one end of the limiting beam and a rear beam of the frame; the bottom of the limiting beam is close to one end of the lifting assembly, the edge of the bottom of the limiting beam is hinged with one end of the hanging plate through an ear plate, the other end of the hanging plate is fixedly connected with the subsoiler fixing plate, the subsoiler fixing plate is hinged with the other end of the limiting beam through the telescopic rod assembly, the subsoiler comprises a shovel handle and a shovel tip, the upper end of the shovel handle is connected with the subsoiler fixing plate, and the shovel tip is arranged at the lower end of the shovel handle; the height detection assembly is adapted to detect a real-time height to a soil surface.
2. The deep scarification device of claim 1, wherein the secondary straw cleaning assembly comprises two side plates and a bottom plate, wherein the two side plates are connected with the side edge of one side of the tractor, the two side plates are symmetrically arranged, the included angle is an acute angle, the upper ends of the two side plates are connected with the main support frame, and the bottom plate is horizontally arranged and connected with the lower edges of the two side plates.
3. The subsoiling device of claim 2, wherein the pressure detection assembly comprises a thin plate, a pressing plate, a first T-shaped shaft, a second spring, a bolt, a pressure sensor mounting groove and a pressure sensor, wherein the upper end of the first T-shaped shaft penetrates through the other end of the limiting beam and is locked by the bolt; the second spring and the pressing plate are respectively sleeved at the lower end of the first T-shaped shaft, the upper end of the second spring is abutted with the limiting beam, and the lower end of the second spring is abutted with the pressing plate; one end of the thin plate is hinged with the pressing plate through a pin shaft, the thin plate is fixedly connected with the top of the hanging plate, the pressure sensor mounting groove is arranged in the hanging plate, the pressure sensor is arranged in the pressure sensor mounting groove, and the induction probe of the pressure sensor is in contact with the pressing plate; the height detection assembly comprises an ultrasonic sensor mounting frame, an ultrasonic sensor and a bolt, wherein the bolt is rotationally connected with the hanging plate through a tapered roller bearing, the ultrasonic sensor mounting frame is connected with the bolt, and the ultrasonic sensor is arranged at the bottom of the ultrasonic sensor mounting frame; the pressure detection assembly is adapted to measure the pressure transferred by the second spring to the platen.
4. A deep scarification system comprises a tractor lower pull rod, a controller, a man-machine interaction touch screen, a proportional electromagnetic valve and a mobile hard disk; the deep scarification device is characterized by further comprising any one of claims 1 to 3, wherein the tractor lower pull rod is connected with a front beam of the frame, the proportional electromagnetic valve is respectively communicated with a hydraulic system of the tractor, the tractor lower pull rod and a hydraulic cylinder of the deep scarification device, the controller is respectively electrically connected with the man-machine interaction touch screen, the proportional electromagnetic valve and the deep scarification mechanism, and the mobile hard disk is electrically connected with the man-machine interaction touch screen.
5. A method of adjusting the tilling depth based on a subsoiling device according to any one of claims 1 to 3, characterized in that the method of adjusting the tilling depth comprises the steps of:
inserting a bolt into the through hole of the first T-shaped shaft, and controlling the lower pull rod of the tractor to extend and drive the stand to descend by the height H if the pressure sensor detects the sudden pressure change 2 So that the depth stop wheel contacts the soil surface;
controlling the hydraulic cylinder of the lifting assembly to extend to drive the hanging plate of the subsoiling mechanism to descend by a height H 3 So that the hanging plate is in a horizontal state, and the tilling depth value H=H at the moment 2 +H 3 -H 1 Wherein H is 1 The height difference is the height difference between the first projection point and the second projection point.
6. A method of controlling the tilling depth based on a subsoiler as defined in any one of claims 1 to 3, characterized in that the method of controlling the tilling depth comprises the steps of:
acquiring the real-time height a from the ultrasonic sensor to the soil surface;
calculating the height difference h of the projection points to obtain the tilling depth variation h, wherein h=L 1 ×(a+H-650)L 2 Wherein L is 1 L is the distance from the hinge point to a straight line passing through the two connection points 2 Is a conical rollThe distance between the circle center of the mounting hole in interference fit with the circle center of the hinge point of the sub-bearing;
the proportional electromagnetic valve is controlled to realize the extension or retraction of the hydraulic cylinder of the lifting assembly, and the hanging plate of the deep scarification mechanism is driven to descend or ascend for 3h, so that the tilling depth is equal to the required tilling depth value.
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