CN117561825A - Active rollover prevention control method for mini-tiller and mini-tiller - Google Patents
Active rollover prevention control method for mini-tiller and mini-tiller Download PDFInfo
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- CN117561825A CN117561825A CN202311499316.5A CN202311499316A CN117561825A CN 117561825 A CN117561825 A CN 117561825A CN 202311499316 A CN202311499316 A CN 202311499316A CN 117561825 A CN117561825 A CN 117561825A
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- 230000002265 prevention Effects 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000005484 gravity Effects 0.000 claims abstract description 20
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 47
- 230000005540 biological transmission Effects 0.000 claims description 20
- 230000033001 locomotion Effects 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 7
- 239000007921 spray Substances 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 description 4
- 238000005507 spraying Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000003973 irrigation Methods 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
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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
- A01B51/00—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus
- A01B51/02—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus propelled by a motor
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/09—Watering arrangements making use of movable installations on wheels or the like
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Water Supply & Treatment (AREA)
- Soil Working Implements (AREA)
Abstract
The utility model relates to the technical field of mini-tiller, and discloses a mini-tiller, which comprises a unit, wherein a working part is arranged in the unit, a machine body covering part is fixedly arranged on the unit, two handrails for controlling the unit are fixedly connected to the back of the unit, and a gravity center transverse adjusting assembly for adjusting the gravity center of the unit is arranged at the top of the unit. According to the active rollover prevention control method for the mini-tiller and the mini-tiller, the battery box is moved to the reverse direction of the side rollover direction of the mini-tiller, the reverse direction impeller of the side rollover direction of the mini-tiller is placed on the ground, the impeller rotates to the reverse direction of the side rollover direction of the mini-tiller, the rotation speed of the half shaft of the reverse direction of the side rollover direction of the mini-tiller is reduced, the rollover prevention operation can be carried out under the condition that the rollover probability is large, and therefore the rollover probability of the mini-tiller is reduced.
Description
Technical Field
The utility model relates to the technical field of mini-tiller, in particular to an active rollover prevention control method of a mini-tiller and the mini-tiller.
Background
The Chinese patent with publication number of CN105409371B discloses a mini-tiller, which comprises a traction frame, a traveling box, a gearbox and an engine, wherein the traveling box, the gearbox and the engine are arranged on the upper side of the traction frame; the upper part of the gearbox is hinged with the handrail, and the handrail is fixed with the upper part of the gearbox through a pin. The utility model overcomes the problems of difficult turning around, easy turning over and the like of the traditional mini-tiller, adopts the turnplow share capable of turning around and the rotatable handrail, changes the turning-around mode of the traditional mini-tiller, simplifies the turning-around operation of the traditional mini-tiller, and the gravity center of the mini-tiller is deviated to one side of the travelling wheel, thereby avoiding the turning over problem and being suitable for sloping fields; in addition, the utility model has the advantages of light weight, simple and easy operation, capability of mounting matched farm tools and the like.
The Chinese patent of publication No. CN105409371B discloses a mini-tiller, can prevent to turn on one's side at the operation in-process through the montant of preventing that sets up, and steady mini-tiller operates, when mini-tiller has the tendency of toppling over, the montant of preventing toppling over of both sides can have the effect of side support force to mini-tiller, avoids mini-tiller to topple over, will prevent toppling over the inside bracing piece of montant, through the screw thread downward adjustment height, falls to suitable position, does not influence the normal operation flow of mini-tiller, and the steady base that is located the bracing piece lower extreme makes mini-tiller can keep stable effectively avoiding the vehicle to turn on one's side when mini-tiller is slightly inclined, has the guard action to mini-tiller in the operation in-process, has the practicality.
In the related art, the existing mini-tiller has certain defects in the use process, for example, when the mini-tiller works on the slope ground such as hills and mountains, the mini-tiller is easy to turn over, and the balance of the mini-tiller is difficult to maintain by manpower, so that the use effect of the mini-tiller is reduced.
Disclosure of Invention
(one) solving the technical problems
Aiming at the defects of the prior art, the utility model provides the active rollover prevention control method for the mini-tiller and the mini-tiller, which can determine the rollover occurrence probability of the mini-tiller according to the inclination angle, and execute rollover prevention operation under the condition that the rollover occurrence probability is large, thereby reducing the rollover occurrence probability of the mini-tiller and solving the problem that the mini-tiller is easy to roll during slope ground operation.
(II) technical scheme
In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a machine is ploughed a little, includes the unit, the inside of unit is provided with working element, fixed mounting has the fuselage covering on the unit, the equal fixedly connected with in the unit back is used for two armrests that control the unit, wherein the top of unit is provided with the focus transverse adjustment subassembly that is used for adjusting the unit focus, the both sides of fuselage covering all are provided with and are used for walking driven auxiliary support subassembly to the unit, the top of unit is provided with the control system who is used for detecting control to the slope condition, focus transverse adjustment subassembly and the auxiliary support subassembly of unit, control system is including being fixed in including installing inclination sensor, signal processing unit and the control module at the unit top.
Preferably, the working part is divided into a left group and a right group which are independently driven, the working part comprises a first motor, a transmission system, a front half shaft, a rear half shaft and a chisel-shaped cutter, and the chisel-shaped cutter is fixedly arranged on the outer surfaces of the front half shaft and the rear half shaft;
the transmission system comprises a small sprocket, a large sprocket, a first gear, a transmission gear, a second gear and a chain, wherein the first motor is fixedly arranged on the machine body covering part, the small sprocket is fixedly connected with a first motor output shaft, the large sprocket is fixedly arranged on the front half shaft, the small sprocket and the large sprocket are connected through chain transmission, the first gear is fixedly arranged on the outer surface of the front half shaft, the second gear is fixedly arranged on the outer surface of the rear half shaft, and the second gear and the first gear are meshed with the outer surface of the transmission gear.
Preferably, the horizontal adjusting part of focus is including being fixed in the support at unit top, the inside rotation of support is connected with the threaded rod, the surface threaded connection of threaded rod has the battery case, the inside of battery case is provided with battery and balancing weight, be provided with on the battery case with threaded rod threaded connection, and the bottom of battery case passes through guide rail sliding connection in the inside of support, one side fixedly connected with of support is used for the second motor to threaded rod rotary drive.
Preferably, the auxiliary supporting component comprises a fixed connecting rod fixedly arranged on the side surface of the body covering part, one end of the fixed connecting rod, which is far away from the body covering part, is provided with a movable connecting rod through a hinge, an electric push rod is hinged between the bottom of the fixed connecting rod and the side surface of the movable connecting rod, and the bottom end of the movable connecting rod is provided with an impeller;
the bottom of the side surface of the main body covering part is provided with a steering motor, an output shaft of the steering motor is fixedly connected with a first pull rod, one end of the first pull rod is movably connected with a second pull rod through a first ball pin, and one end of the second pull rod is in transmission connection with an impeller;
the impeller is fixedly connected with a T-shaped wheel shaft, a cylindrical hole and a second ball pin are arranged on the wheel shaft, the cylindrical hole is movably connected with the bottom end of the movable connecting rod, and one end of the second pull rod is connected with the second ball pin.
Preferably, the gravity center transverse adjusting assembly further comprises an L-shaped plate fixed on the rear side surface of the unit, the threaded rod and the second motor are both arranged at the top of the L-shaped plate, the outer surface of the threaded rod is in threaded connection with a threaded block, the back surface of the threaded block is fixedly connected with a weight box, and the weight box is in sliding connection with the top of the L-shaped plate;
the utility model discloses a water pump, including L template, weight box, guide pipe, water spray system, scale, water pump, water storage box's back fixedly connected with water storage box, the back fixedly connected with water pump of water storage box, the water pump passes through the inside intercommunication of pipeline and weight box and water storage box, fixedly communicate between the bottom of weight box and the top of water storage box has the delivery pipe, and installs electric valve on the delivery pipe, the bottom fixed mounting of water storage box has water spray system, the inside sliding connection of weight box has hollow form's floating plate, the top fixedly connected with scale of floating plate, the top of scale extends to the top of weight box.
An active rollover prevention control method of a mini-tiller comprises the following steps:
s101, responding to angle information of a side-tipping angle of a mini-tiller, and acquiring the angle information of the mini-tiller in the cultivation process;
s102, performing probability prediction of rollover of the mini-tiller according to the angle information;
s103, determining whether the mini-tiller executes rollover prevention operation or not according to the predicted probability.
Preferably, the inclination angle is an included angle between a straight line of the upper plane of the micro-cultivator body perpendicular to the advancing direction of the micro-cultivator and a horizontal plane;
the step of determining the probability prediction of the side turning of the mini-tiller according to the angle information comprises the following steps: judging whether the included angle exceeds a first preset angle or not;
if the judgment condition is yes, the prediction probability is a first probability, otherwise, the prediction probability is the rest probability;
the determining of the prediction probability of the side turning of the mini-tiller according to the motion information comprises the following steps: judging whether the included angle exceeds a second preset angle and does not exceed a first preset angle;
if the judgment condition is yes, the prediction probability is a second probability, otherwise, the prediction probability is the rest probability;
the determining of the prediction probability of the side turning of the mini-tiller according to the motion information comprises the following steps: judging whether the included angle exceeds a third preset angle and does not exceed the second preset angle;
if the judgment condition is yes, the prediction probability is the third probability, otherwise, the prediction probability is the fourth probability.
Preferably, determining whether the mini-tiller performs rollover prevention operation according to the prediction probability includes:
if the prediction probability is the first preset probability, determining that the mini-tiller executes the first rollover prevention operation;
if the prediction probability is the second preset probability, determining that the mini-tiller executes the second rollover prevention operation;
if the prediction probability is the third preset probability, determining that the mini-tiller executes the third rollover prevention operation;
and if the prediction probability is the fourth preset probability, determining that the mini-tiller does not execute the rollover prevention operation.
(III) beneficial effects
Compared with the prior art, the utility model provides an active rollover prevention control method for a mini-tiller and the mini-tiller, which have the following beneficial effects:
according to the utility model, the battery box is moved to the reverse direction of the side turning direction of the mini-tiller, the reverse direction impeller of the side turning direction of the mini-tiller is placed on the ground, the impeller is rotated to the reverse direction of the side turning direction of the mini-tiller, the rotation speed of the half shaft of the reverse direction of the side turning direction of the mini-tiller is reduced, the probability of rollover of the mini-tiller can be determined according to the inclination angle, and under the condition that the probability of rollover is large, rollover prevention operation is performed, so that the probability of rollover of the mini-tiller is reduced.
Drawings
FIG. 1 is a schematic perspective view of the present utility model;
FIG. 2 is a bottom view of the structure of FIG. 1 in accordance with the present utility model;
FIG. 3 is a schematic diagram of the transmission system of FIG. 2 according to the present utility model;
FIG. 4 is a schematic view of the center of gravity lateral adjustment assembly of FIG. 1 according to the present utility model;
FIG. 5 is a schematic view of the auxiliary support assembly of FIG. 1 according to the present utility model;
FIG. 6 is a schematic view of the impeller of FIG. 5 according to the present utility model;
FIG. 7 is a schematic diagram of a second embodiment of the present utility model;
FIG. 8 is a schematic view of the L-shaped board of FIG. 7 according to the present utility model;
FIG. 9 is a rear elevational view of the FIG. 8 structure of the present utility model;
FIG. 10 is a cross-sectional side view of the weight box of FIG. 8 according to the present utility model;
FIG. 11 is a flow chart of the active rollover prevention control method of the mini-tiller.
In the figure: 1. a unit;
11. a working member; 111. a first motor; 112. a drive train; 113. a front half shaft; 114. a rear half shaft; 115. a chisel knife; 1121. a small sprocket; 1122. a large sprocket; 1123. a first gear; 1124. a transmission gear; 1125. a second gear; 1126. a chain; 12. a fuselage cover;
13. an armrest;
2. a center of gravity lateral adjustment assembly; 21. a support; 22. a threaded rod; 23. a battery case; 24. a second motor; 201. an L-shaped plate; 202. a screw block; 203. a weight box; 204. a water storage tank; 205. a water pump; 206. a delivery tube; 207. a water spraying system; 208. a floating plate; 209. a graduated scale;
3. an auxiliary support assembly; 31. a fixed connecting rod; 32. a movable connecting rod; 33. an electric push rod; 34. a first pull rod; 35. a second pull rod; 36. an impeller; 361. a wheel axle; 3611. a cylindrical hole; 3612. a second ball stud; 37. a steering motor;
4. and a control system.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Example 1:
referring to fig. 1-10, an active rollover prevention control method of a mini-tiller and the mini-tiller, the mini-tiller comprises a machine unit 1, a working part 11 is arranged in the machine unit 1, a machine body cover 12 is fixedly installed on the machine unit 1, two handrails 13 for controlling the machine unit 1 are fixedly connected to the back of the machine unit 1, a gravity center transverse adjusting component 2 for adjusting the gravity center of the machine unit 1 is arranged at the top of the machine unit 1, auxiliary supporting components 3 for driving the machine unit 1 to walk are arranged at two sides of the machine body cover 12, a control system 4 for detecting and controlling the inclination condition, the gravity center transverse adjusting component and the auxiliary supporting components 3 of the machine unit 1 is arranged at the top of the machine unit 1, and the control system 4 comprises an inclination sensor, a signal processing unit and a control module which are fixedly installed at the top of the machine unit 1;
and determining the probability of rollover of the mini-tiller according to the inclination angle, and executing rollover prevention operation under the condition that the rollover probability is high, so that the probability of rollover of the mini-tiller is reduced.
Referring to fig. 1-3, the working part 11 is divided into left and right groups of independent driving, the working part 11 comprises a first motor 111, a transmission system 112, a front half shaft 113, a rear half shaft 114 and a chisel 115, and the chisel 115 is fixedly arranged on the outer surfaces of the front half shaft 113 and the rear half shaft 114;
the transmission system 112 comprises a small sprocket 1121, a large sprocket 1122, a first gear 1123, a transmission gear 1124, a second gear 1125 and a chain 1126, wherein the first motor 111 is fixedly installed on the body cover 12, the small sprocket 1121 is fixedly connected with an output shaft of the first motor 111, the large sprocket 1122 is fixedly installed on the front half shaft 113, the small sprocket 1121 and the large sprocket 1122 are in transmission connection through the chain 1126, the first gear 1123 is fixedly installed on the outer surface of the front half shaft 113, the second gear 1125 is fixedly installed on the outer surface of the rear half shaft 114, and the second gear 1125 and the first gear 1123 are meshed with the outer surface of the transmission gear 1124;
the second gear 1125 is rotated by a first gear 1123 mounted on the front half shaft 113 and a transfer gear 1124; when the mini-tiller advances, the front half shaft 113 is reversely rotated, the rear half shaft 114 is positively transmitted, and the rotating speed of the rear half shaft 114 is larger than that of the front half shaft 113.
Referring to fig. 4, the center of gravity transverse adjusting assembly 2 comprises a support 21 fixed at the top of the unit 1, a threaded rod 22 is rotatably connected to the inside of the support 21, a battery box 23 is screwed on the outer surface of the threaded rod 22, a battery and a balancing weight are arranged in the battery box 23, the battery box 23 is screwed with the threaded rod 22, the bottom of the battery box 23 is slidably connected to the inside of the support 21 through a guide rail, and a second motor 24 for rotationally driving the threaded rod 22 is fixedly connected to one side of the support 21;
the threaded rod 22 is controlled by the second motor 24 to rotate forward and backward to drive the battery box 23 to move left and right.
Referring to fig. 5 to 6, the auxiliary supporting assembly 3 includes a fixed link 31 fixedly installed at a side of the body cover 12, a movable link 32 is provided at one end of the fixed link 31 far from the body cover 12 through a hinge, an electric push rod 33 is hinged between the bottom of the fixed link 31 and the side of the movable link 32, and an impeller 36 is provided at the bottom end of the movable link 32;
the electric push rod 33 can drive the movable connecting rod 32 to rotate up and down around the fixed connecting rod 31;
a steering motor 37 is arranged at the bottom of the side surface of the body covering part 12, an output shaft of the steering motor 37 is fixedly connected with a first pull rod 34, one end of the first pull rod 34 is movably connected with a second pull rod 35 through a first ball pin, and one end of the second pull rod 35 is in transmission connection with an impeller 36;
wherein, the impeller 36 is fixedly connected with a T-shaped wheel shaft 361, the wheel shaft 361 is provided with a cylindrical hole 3611 and a second ball pin 3612, the cylindrical hole 3611 is movably connected with the bottom end of the movable connecting rod 32, and one end of the second pull rod 35 is connected with the second ball pin 3612;
the wheel axle 361 of impeller 36 is the T type, and the bottom of movable connecting rod 32 is provided with the cylinder mounting pin, and the wheel axle 361 passes through cylinder hole 3611 and cylinder mounting pin and is connected through the shaft hole with movable connecting rod 32, can be along with movable connecting rod 32 adjusts the altitude from the ground, is equipped with the bulb round pin on the wheel axle 361, is connected with second pull rod 35, can realize controlling the rotation under the effect of second pull rod 35.
The principle of preventing side turning of the mini-tiller is as follows: the main reason for the micro-cultivator to work on the slope ground is that the component force of gravity on the vertical slope surface provides a stabilizing moment smaller than the side turning moment provided by the component force in the direction parallel to the slope surface. The critical angle is as follows:
wherein: m, the weight of the mini-tiller;
g-gravitational acceleration;
beta-slope ground grade;
h, the vertical distance between the gravity center of the mini-tiller and the ground;
w is the wheel track of the mini-tiller.
Therefore, the general measure for preventing the mini-tiller from turning over is to provide anti-rollover torque for reducing the gravity center height of the mini-tiller to reduce the moment arm of the rollover moment, increasing the wheel track to increase the moment arm of the stabilizing moment or controlling the wheel set to actively steer to prevent rollover.
During flat ground cultivation, the battery box 23 is positioned in the middle of the threaded rod 22, and the electric push rod 33 stretches to enable the impeller 36 to leave the ground; when entering the slope ground to work, the left side is high, the right side is low, the rest conditions are similar, and an inclination sensor in the control system 4 feeds back the measured inclination to the processing module;
when the inclination angle exceeds a third preset angle of 26 degrees, the control module sends out an instruction to enable the battery box 23 to move leftwards, and then the balancing weight is driven to move leftwards;
when the inclination exceeds the second preset angle 33 °, the electric push rod 33 contracts, causing the impeller 36 to contact the ground, while the steering motor 37 controls the first pull rod 34 to rotate, pushing the impeller 36 to steer to the left.
Referring to fig. 11, an active rollover prevention control method of a mini-tiller comprises the following steps:
s101, responding to angle information of the side-tipping angle of the mini-tiller, and acquiring the angle information of the mini-tiller in the cultivation process;
s102, carrying out probability prediction of side turning of the mini-tiller according to the angle information;
s103, determining whether the mini-tiller executes rollover prevention operation or not according to the predicted probability.
The inclination angle is an included angle between a straight line of the upper plane of the micro-cultivator body perpendicular to the advancing direction of the micro-cultivator and a horizontal plane;
the method for determining the probability prediction of the side turning of the mini-tiller according to the angle information comprises the following steps: judging whether the included angle exceeds a first preset angle of 37 degrees;
if the judgment condition is yes, the prediction probability is a first probability, otherwise, the prediction probability is the rest probability;
the method for determining the prediction probability of the side turning of the mini-tiller according to the motion information comprises the following steps: judging whether the included angle exceeds a second preset angle of 33 degrees and does not exceed a first preset angle of 37 degrees;
if the judgment condition is yes, the prediction probability is the second probability, otherwise, the prediction probability is the rest probability;
the method for determining the prediction probability of the side turning of the mini-tiller according to the motion information comprises the following steps: judging whether the included angle exceeds a third preset angle of 26 degrees and does not exceed a second preset angle of 33 degrees;
if the judgment condition is yes, the prediction probability is the third probability, otherwise, the prediction probability is the fourth probability.
Preferably, determining whether the mini-tiller performs the rollover prevention operation according to the prediction probability includes:
if the prediction probability is a first preset probability, determining that the mini-tiller executes a first rollover prevention operation;
if the prediction probability is a second preset probability, determining that the mini-tiller executes a second rollover prevention operation;
if the prediction probability is a third preset probability, determining that the mini-tiller executes a third rollover prevention operation;
if the prediction probability is the fourth preset probability, determining that the mini-tiller does not execute the rollover prevention operation;
the rollover prevention operation includes at least one of:
moving the battery case 23 to the reverse direction of the side turning direction of the mini-tiller;
placing a reverse impeller 36 of the side turning direction of the mini-tiller on the ground;
rotating the impeller 36 in a direction opposite to the side turning direction of the mini-tiller;
and the rotation speed of the half shaft in the reverse direction of the side turning direction of the mini-tiller is reduced.
Example 2: the difference is based on example 1;
referring to fig. 7-10, the center of gravity transverse adjusting assembly 2 further comprises an L-shaped plate 201 fixed on the rear side of the unit 1, a threaded rod 22 and a second motor 24 are both installed on the top of the L-shaped plate 201, the outer surface of the threaded rod 22 is in threaded connection with a threaded block 202, the back surface of the threaded block 202 is fixedly connected with a weight box 203, and the weight box 203 is in sliding connection with the top of the L-shaped plate 201;
when the second motor 24 is started, the threaded rod 22 can be driven to rotate positively and negatively, so that the weight box 203 can be driven to move left and right, the gravity on one side of the mini-tiller can be increased through the movement of one side of the weight box 203, and conversely, the gravity on the other side of the mini-tiller can be increased through the movement of the other side of the weight box 203, so that the anti-rollover work is formed;
the back of the L-shaped plate 201 is fixedly connected with a water storage tank 204, the back of the water storage tank 204 is fixedly connected with a water pump 205, the water pump 205 is communicated with the weight tank 203 and the inside of the water storage tank 204 through pipelines, an eduction tube 206 is fixedly communicated between the bottom of the weight tank 203 and the top of the water storage tank 204, an electric valve is arranged on the eduction tube 206, a water spraying system 207 is fixedly arranged at the bottom of the water storage tank 204, a hollow floating plate 208 is slidingly connected inside the weight tank 203, the top of the floating plate 208 is fixedly connected with a graduated scale 209, and the top of the graduated scale 209 extends to the top of the weight tank 203;
the water storage tank 204 is used for containing a large amount of water sources, so that the water sources are conveniently provided for the water spraying system 207 on the mini-tiller to form water spraying irrigation work, and the stability of the gravity center of the mini-tiller can be improved;
the water pump 205 is connected with a power supply and a control switch on the mini-tiller, and is used for extracting and discharging water sources in the water storage tank 204 into the weight box 203, and the threaded rod 22 rotates to drive the threaded block 202 to move left and right, so that the weight box 203 with the water sources can be driven to drive left and right, the gravity of different sides of the mini-tiller is increased, and rollover prevention work is formed;
the water sources of one fourth, one half, three quarters and one are injected into the weight box 203 through the water pump 205, so that the water sources can be matched with the first probability, the second probability, the third probability and the fourth probability in the rollover prevention control method, and the weight water sources with different amounts are added according to different rollover conditions, so that the rollover prevention effect is improved, and the problem of reverse rollover caused by overlarge weight is avoided;
through the setting of scale 209, the staff of being convenient for knows its weight case 203 inside water source volume, improves the convenience of its control, through the setting of delivery tube 206 for with weight case 203 inside water source circulation drain to the inside of water storage tank 204.
It should be noted that the term "comprises," "comprising," or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a machine is ploughed a little, includes unit (1), its characterized in that: the inside of unit (1) is provided with working element (11), fixed mounting has fuselage covering (12) on unit (1), two handrail (13) that unit (1) the equal fixedly connected with in the back are used for controlling unit (1), wherein the top of unit (1) is provided with and is used for the focus transverse adjustment subassembly (2) of unit (1) focus regulation, the both sides of fuselage covering (12) all are provided with auxiliary support subassembly (3) that are used for walking driven to unit (1), the top of unit (1) is provided with control system (4) that are used for carrying out detection control to the slope condition, focus transverse adjustment subassembly and auxiliary support subassembly (3) of unit (1), control system (4) are including being fixed in including inclination sensor, signal processing unit and the control module of installing at unit (1) top.
2. The mini-tiller of claim 1, wherein: the working part (11) is divided into a left group and a right group which are driven independently, the working part (11) comprises a first motor (111), a transmission system (112), a front half shaft (113), a rear half shaft (114) and a chisel-shaped cutter (115), and the chisel-shaped cutter (115) is fixedly arranged on the outer surfaces of the front half shaft (113) and the rear half shaft (114);
the transmission system (112) comprises a small sprocket (1121), a large sprocket (1122), a first gear (1123), a transmission gear (1124), a second gear (1125) and a chain (1126), wherein the first motor (111) is fixedly installed on the body cover (12), the small sprocket (1121) is fixedly connected with an output shaft of the first motor (111), the large sprocket (1122) is fixedly installed on the front half shaft (113), the small sprocket (1121) and the large sprocket (1122) are in transmission connection through the chain (1126), the first gear (1123) is fixed on the outer surface of the front half shaft (113), the second gear (1125) is fixedly installed on the outer surface of the rear half shaft (114), and the second gear (1125) and the first gear (1123) are both meshed with the outer surface of the transmission gear (1124).
3. The mini-tiller of claim 1, wherein: the utility model provides a center of gravity transverse adjustment subassembly (2) including being fixed in support (21) at unit (1) top, the inside rotation of support (21) is connected with threaded rod (22), the surface threaded connection of threaded rod (22) has battery case (23), the inside of battery case (23) is provided with battery and balancing weight, be provided with on battery case (23) with threaded rod (22) threaded connection, and the bottom of battery case (23) is through guide rail sliding connection in the inside of support (21), one side fixedly connected with of support (21) is used for threaded rod (22) rotary drive's second motor (24).
4. The mini-tiller of claim 1, wherein: the auxiliary supporting component (3) comprises a fixed connecting rod (31) fixedly arranged on the side surface of the machine body covering part (12), one end, far away from the machine body covering part (12), of the fixed connecting rod (31) is provided with a movable connecting rod (32) through a hinge, an electric push rod (33) is hinged between the bottom of the fixed connecting rod (31) and the side surface of the movable connecting rod (32), and the bottom end of the movable connecting rod (32) is provided with an impeller (36);
a steering motor (37) is arranged at the bottom of the side surface of the body covering part (12), an output shaft of the steering motor (37) is fixedly connected with a first pull rod (34), one end of the first pull rod (34) is movably connected with a second pull rod (35) through a first ball pin, and one end of the second pull rod (35) is in transmission connection with an impeller (36);
the impeller (36) is fixedly connected with a T-shaped wheel shaft (361), a cylindrical hole (3611) and a second ball pin (3612) are arranged on the wheel shaft (361), the cylindrical hole (3611) is movably connected with the bottom end of the movable connecting rod (32), and one end of the second pull rod (35) is connected with the second ball pin (3612).
5. A mini-tiller according to claim 3, wherein: the gravity center transverse adjusting assembly (2) further comprises an L-shaped plate (201) fixed on the rear side surface of the unit (1), the threaded rod (22) and the second motor (24) are both installed at the top of the L-shaped plate (201), the outer surface of the threaded rod (22) is in threaded connection with a threaded block (202), the back surface of the threaded block (202) is fixedly connected with a weight box (203), and the weight box (203) is in sliding connection with the top of the L-shaped plate (201);
the utility model discloses a water pump, including L template, water tank (204), water pump (205) are connected with the inside intercommunication of weight case (203) and water tank (204) through the pipeline to the back fixedly connected with water tank (204) of L template (201), fixed intercommunication has delivery tube (206) between the bottom of weight case (203) and the top of water tank (204), and installs electric valve on delivery tube (206), the bottom fixed mounting of water tank (204) has water spray system (207), the inside sliding connection of weight case (203) has hollow form kickboard (208), the top fixedly connected with scale (209) of kickboard (208), the top of scale (209) extends to the top of weight case (203).
6. An active rollover prevention control method adopting the mini-tiller according to any one of claims 1-5, comprising the steps of:
s101, responding to angle information of a side-tipping angle of a mini-tiller, and acquiring the angle information of the mini-tiller in the cultivation process;
s102, performing probability prediction of rollover of the mini-tiller according to the angle information;
s103, determining whether the mini-tiller executes rollover prevention operation or not according to the predicted probability.
7. The method for actively preventing rollover of a mini-tiller according to claim 6, wherein the method comprises the following steps: the inclination angle is an included angle between a straight line of the upper plane of the micro-cultivator body perpendicular to the advancing direction of the micro-cultivator and a horizontal plane;
the step of determining the probability prediction of the side turning of the mini-tiller according to the angle information comprises the following steps: judging whether the included angle exceeds a first preset angle or not;
if the judgment condition is yes, the prediction probability is a first probability, otherwise, the prediction probability is the rest probability;
the determining of the prediction probability of the side turning of the mini-tiller according to the motion information comprises the following steps: judging whether the included angle exceeds a second preset angle and does not exceed a first preset angle;
if the judgment condition is yes, the prediction probability is a second probability, otherwise, the prediction probability is the rest probability;
the determining of the prediction probability of the side turning of the mini-tiller according to the motion information comprises the following steps: judging whether the included angle exceeds a third preset angle and does not exceed the second preset angle;
if the judgment condition is yes, the prediction probability is the third probability, otherwise, the prediction probability is the fourth probability.
8. The method for actively preventing rollover of a mini-tiller according to claim 7, wherein the method comprises the following steps: determining whether the mini-tiller performs rollover prevention operation according to the prediction probability comprises the following steps:
if the prediction probability is the first preset probability, determining that the mini-tiller executes the first rollover prevention operation;
if the prediction probability is the second preset probability, determining that the mini-tiller executes the second rollover prevention operation;
if the prediction probability is the third preset probability, determining that the mini-tiller executes the third rollover prevention operation;
and if the prediction probability is the fourth preset probability, determining that the mini-tiller does not execute the rollover prevention operation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311499316.5A CN117561825B (en) | 2023-11-08 | 2023-11-08 | Active rollover prevention control method for mini-tiller and mini-tiller |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311499316.5A CN117561825B (en) | 2023-11-08 | 2023-11-08 | Active rollover prevention control method for mini-tiller and mini-tiller |
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| CN117561825A true CN117561825A (en) | 2024-02-20 |
| CN117561825B CN117561825B (en) | 2024-05-07 |
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| CN202311499316.5A Active CN117561825B (en) | 2023-11-08 | 2023-11-08 | Active rollover prevention control method for mini-tiller and mini-tiller |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2056831A (en) * | 1979-08-06 | 1981-03-25 | Ransomes Sims & Jefferies Ltd | Reversible plough |
| KR200167899Y1 (en) * | 1999-08-04 | 2000-02-15 | 송희민 | An apparatus for connecting a farm implements to a tractor |
| CN204131936U (en) * | 2014-10-10 | 2015-02-04 | 蒋国水 | Hand steered horizontally-inclined front positioning type quick multifunctional mini-size tillage machine |
| CN106416466A (en) * | 2016-11-21 | 2017-02-22 | 福建农林大学 | Contour tillage forest land mini-tiller and work method |
-
2023
- 2023-11-08 CN CN202311499316.5A patent/CN117561825B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2056831A (en) * | 1979-08-06 | 1981-03-25 | Ransomes Sims & Jefferies Ltd | Reversible plough |
| KR200167899Y1 (en) * | 1999-08-04 | 2000-02-15 | 송희민 | An apparatus for connecting a farm implements to a tractor |
| CN204131936U (en) * | 2014-10-10 | 2015-02-04 | 蒋国水 | Hand steered horizontally-inclined front positioning type quick multifunctional mini-size tillage machine |
| CN106416466A (en) * | 2016-11-21 | 2017-02-22 | 福建农林大学 | Contour tillage forest land mini-tiller and work method |
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| Publication number | Publication date |
|---|---|
| CN117561825B (en) | 2024-05-07 |
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