CN209994821U

CN209994821U - Automatic control device of large-scale rice direct seeding operation unit

Info

Publication number: CN209994821U
Application number: CN201920760121.4U
Authority: CN
Inventors: 尹修杰; 臧发业; 张竹林; 朱立友
Original assignee: Shandong Jiaotong University
Current assignee: Shandong Jiaotong University
Priority date: 2019-05-24
Filing date: 2019-05-24
Publication date: 2020-01-31
Anticipated expiration: 2029-05-24

Abstract

The utility model provides an kind of large-scale rice direct seeding operation unit automatic control device, the device includes tractor organism, operation unit, promotion hydro-cylinder, leveling cylinder, be equipped with controller, lifting valve group, leveling valve group, the inclination sensor A who gathers tractor organism gesture signal on the tractor organism, be equipped with the inclination sensor B who gathers operation unit gesture signal on the operation unit, gather the float sensor of operation unit and surface of water relative position, the controller is used for receiving inclination sensor A, inclination sensor B, float sensor's signal and accessible leveling valve group control leveling cylinder action realization operation unit's leveling control, and accessible lifting valve group control lifting cylinder action realizes that the operation unit hugs closely surface of water operation control simultaneously.

Description

Automatic control device of large-scale rice direct seeding operation unit

Technical Field

The utility model relates to a relevant technical field of agricultural machine specifically is kinds of large-scale rice direct seeding operation unit automatic control device.

Background

At present, mechanical rice transplanting is mostly adopted in rice production, the link of seedling raising in the production mode is high in production cost, multiple and complex in production links, the rice seeds with buds are directly sown into paddy fields in months in advance in some southern areas, the production cost is reduced, and the operation efficiency is improved.

The direct seeding machine for paddy field is hung and pulled by a tractor in a three-point suspension mode, the height of a direct seeding machine tool is controlled by a tractor lifting handle, a tractor driver is difficult to guarantee accurate operation, in addition, due to the fact that the left and right or front and back height of a hard land under paddy field silt exists, the whole operation machine set is pitching and swaying front and back in the operation process of the tractor, when a wide agricultural machine tool sways left and right, an end is easy to prick into soil, and loss is caused, therefore, the direct seeding operation of the wide paddy field is required to be that the direct seeding machine tool is always horizontal left and right, and the front and the back are always attached to the water surface to.

SUMMERY OF THE UTILITY MODEL

For solving the not enough of prior art, the utility model discloses combine prior art, set out from practical application, provide kind large-scale direct seeding operation unit automatic control device of rice, this device can make the operation unit remain the level throughout at the operation in-process, can hug closely the surface of water operation automatically simultaneously to guarantee the operation quality, improve the operating efficiency.

In order to achieve the above purpose, the technical scheme of the utility model is as follows:

automatic control devices of large-scale rice direct seeding operation machine set,

including tractor organism, operation unit, promotion hydro-cylinder, leveling cylinder, be equipped with controller, promotion valves, leveling valve group, the angular transducer A who gathers tractor organism gesture signal on the tractor organism, be equipped with the angular transducer B who gathers operation unit gesture signal on the operation unit, gather the float sensor of operation unit and surface of water relative position, the controller is used for receiving angular transducer A, angular transducer B, float sensor's signal and accessible leveling valve group control leveling cylinder action realization operation unit's leveling control, and accessible promotion valves control promotion hydro-cylinder action realizes that the operation unit hugs closely surface of water operation control simultaneously.

, the float sensor is installed at the middle position in front of the working unit.

, the float sensor comprises a support, a floating pontoon, a connecting rod, a swing rod and an angle sensor, wherein the angle sensor is installed on the support, the rear end of the floating pontoon is hinged with the bottom of the support, the front end of the floating pontoon is hinged with the bottom of the connecting rod, the end of the swing rod is connected with the angle sensor, a long strip-shaped swing chute is arranged on the swing rod, and the other end of the connecting rod is slidably arranged in the swing chute through a pin shaft.

, a limiting plate is fixedly arranged on the support, a long-strip-shaped limiting chute is arranged on the limiting plate, and the connecting rod penetrates through the limiting chute and is connected with the oscillating rod.

, a mounting plate is arranged on the side of the bracket and is connected with the operation unit through screws or welding.

, the bracket is arranged on the mounting plate through a screw nut mechanism, and the position of the bracket in the height direction can be adjusted by rotating a screw in the screw nut mechanism.

And , connecting the screw nut mechanism with a motor, and driving the screw to rotate by the motor to realize the adjustment of the position of the bracket in the height direction.

The utility model has the advantages that:

the utility model provides an operation unit automatic control device possesses simple to operate, the reliability is high, easy operation's characteristics, through using this controlling means, can greatly expand south area rice direct seeding technique's development, guarantees the living operation quality of rice, reduces rice production's labour cost, the utility model discloses an electric hydraulic control technique, automatic control precision, high accuracy sensor technique combine mutually, very big improvement rice direct seeding production's operating efficiency, the utility model discloses creative use float sensor carries out the automatic control that the operation unit promoted, can guarantee that the operation unit hugs closely the profile modeling motion on paddy field surface, guarantees the operation effect, and float sensor structural design is simple reasonable, can guarantee the data acquisition precision.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic diagram of the float sensor of the present invention;

FIG. 3 is a schematic diagram of the controller of the present invention;

FIG. 4 is a control flow chart of the present invention;

FIG. 5 is a diagram of a controller interface according to the present invention;

fig. 6 is a diagram of a hydraulic pipeline of the utility model.

Reference numerals shown in the drawings:

1. a tractor body; 2. lifting the oil cylinder; 3. a controller; 4. a tilt sensor A; 5. a leveling cylinder; 6. a tilt sensor B; 7. an operating unit; 8. a float sensor; 9. a hydraulic valve block assembly; 10. a limiting plate; 11. a connecting rod; 12. a floating vessel; 13. a support; 14. mounting a plate; 15. a nut; 16. a bearing seat; 17. a lead screw; 18. a sensor mounting plate; 19. a swing rod; 20. a swing chute; 21. an angle sensor; 22. and a limiting sliding groove.

Detailed Description

The present invention is further illustrated at in conjunction with the accompanying drawings and the detailed description, it is to be understood that these examples are provided solely for purposes of illustration and are not intended to limit the scope of the invention.

As shown in fig. 1, for the utility model provides an automatic control device overall structure sketch map for large-scale rice direct seeding operation unit, it mainly includes tractor organism 1, operation unit 7, lift cylinder 2, leveling cylinder 5, wherein operation unit 7 is connected through the three point suspension member with tractor organism 1, when lift cylinder 2 moves, can control the lift of operation unit 7, when leveling cylinder 5 moves, can control operation unit 7 left and right action and realize the leveling.

The utility model discloses in, electronic control unit installs in the driver's cabin, and electronic tilt sensor A4 installs on tractor organism 1, requires the X Y measuring axis of sensor and automobile body X Y axle parallel mount, and the requirement during its installation is that tractor horizontal placement, the X Y measuring axis horizontal placement of sensor, its long limit and tractor vertically send the electronic tilt sensor B6 of installing on operation unit 7, its installation is required to be with tilt sensor A4 the utility model discloses electronic control unit's controller 3 has the various interfaces shown in figure 5, and corresponding interface divide into input interface and output interface, and input interface is used for receiving tilt sensor A respectively, receiving tilt sensor B, the data of float sensor, still can receive the data of installing the pull rod displacement sensor on the leveling hydro-cylinder simultaneously, and pull rod displacement sensor mainly is used for measuring the flexible length of piston in order to avoid moving the off-line.

As shown in fig. 6, the hydraulic valve assembly of the present invention comprises: the lifting valve group and the leveling valve group are arranged on a tractor body 1, an oil inlet of a P port of the leveling valve group is connected with an oil outlet of a tractor lifting pump, a T port is connected with an oil return port of a tractor hydraulic oil tank, and an A port and a B port are connected with an oil port of a leveling oil cylinder 5; the N port of the leveling valve group is connected with the P port of the lifting valve group, the A port of the lifting valve group is connected with the original lifting oil cylinder 2 of the tractor, and the related oil ways of the tractor are mature technologies and are not repeated.

As shown in figure 1, the float sensor 8 is installed in the middle position in front of the rice direct seeding operation unit 7, the specific structure of the float sensor 8 is shown in figure 2, and the float sensor comprises a support 13, a floating pontoon 12, a connecting rod 11, a swing rod 19 and an angle sensor 21, wherein the angle sensor 21 is installed on the support 13, the rear end of the floating pontoon 12 is hinged with the bottom of the support 13, the front end of the floating pontoon 12 is hinged with the bottom of the connecting rod 11, the end of the swing rod 19 is connected with the angle sensor 21, the swing rod 19 is provided with a strip-shaped swing chute 20, and the other end of the connecting rod 11 is slidably arranged in the swing chute 20 through a pin shaft.

The utility model discloses the fixed limiting plate 10 that is provided with on well support 13, the spacing spout 22 that is equipped with rectangular shape on the limiting plate 10, connecting rod 11 passes spacing spout 22 and is connected with pendulum rod 19. setting through limiting plate 10, can remove connecting rod 11 restriction in spacing spout 22, guarantee the measurement accuracy of sensor, simultaneously the utility model discloses a support 13 side is equipped with mounting panel 14, the float sensor passes through this mounting panel 14 and is connected through screw or welding mode with operation unit 7. support 13 sets up on mounting panel 14 through lead screw nut mechanism, specifically as shown in FIG. 2, set up bearing frame 16 on mounting panel 14, lead screw 17 passes through bearing frame 16 and supports, set up on lead screw 17 rather than screw-thread fit's nut 15, mounting panel 14 internal surface has vertical spout, nut 15 the inner is arranged in the spout and is realized circumference spacing, support 13 and nut 15 fixed connection, like this, when rotating lead screw 17, under nut 15 drives, can realize the up-down position control of support 13, and then adjust the position of sensor 8, and simultaneously, for the convenience is adjusted, can set up the motor on operation unit 7 or mounting panel 14, be used for driving lead screw 17 rotates, realize the float.

The utility model provides an above-mentioned float sensor 8 structure, pontoon 12 that utilizes float sensor 8 can float on the paddy field face, and when pitching around the unit 7 of doing industry, pontoon 12 floats thereupon, like when the unit 7 of doing industry sinks, pontoon 12 can lift up, rotates around terminal pin joint position promptly, drives pendulum rod 19 through connecting rod 11 and rotates, and on the contrary, when the unit 7 of doing industry floats, pontoon meeting below drives pendulum rod 19 and rotates to opposite direction. Thus, the pitch angle of the working unit 7 of the direct seeding machine is measured, and the pitch angle is equal to the difference between the undulation angle of the hard land under the silt and the undulation angle of the upper surface of the paddy field. The difference value contains the change information of the hard land under the paddy field and the unevenness information of the upper surface of the paddy field, and the difference value is used as an input signal and is input to an electronic control unit for data processing, and a lifting output module of a control device outputs information in real time to control a lifting valve group so as to control the position of a lifting oil cylinder 2, so that the profiling function of the operation unit 7 clinging to the upper surface of the paddy field is achieved.

The utility model discloses an including the operating panel module among the electronic control unit, the operating panel module contains 4 fender rotary switch, the parameter sets up the knob, tilling depth settlement knob, automatic/manual selector switch, operation unit left side is carried/right is carried selector switch etc. 4 when the rotary switch gear is used for controlling operation unit 7 respectively and promotes, stop, descend and float, the parameter sets up the knob, tilling depth settlement knob is used for setting for sensitivity, tilling depth, automatic/manual selector switch is used for selecting automatic mode or manual mode, left side is carried/right is carried the switch and is used for leveling about manual control operation unit 7.

The utility model discloses control method in the operation process is, when selecting manually, through the action of manual knob control operation unit 7, when selecting automatic switch, gather inclination sensor A4, inclination sensor B6's data in real time through controller 3, fuse the two with the Kalman filtering algorithm, eliminate the operation unit 7 self-oscillation influence that arouses because three point hangs the member clearance, obtain the left and right sides rocking angle of operation unit 7 that arouses because the ground is uneven about, use level 0 as the benchmark, controller 3 is based on the data output control signal of processing to leveling valves, control leveling cylinder 2 action through leveling valves, realize the horizontal operation of operation unit 7; meanwhile, the controller 3 collects data of the float sensor 8 in real time and carries out signal filtering processing, the controller 3 outputs a control signal to the lifting valve group based on the processed data, the lifting oil cylinder 5 is controlled to act through the lifting valve group, and automatic profiling operation of the operation unit 7 clinging to the water surface is achieved.

The control device can keep the operation unit of the direct seeding machine to be level all the time in the operation process, and meanwhile, the operation unit can automatically cling to the water surface, so that the high-quality and high-efficiency operation of the wide-width rice direct seeding machine is ensured.

Claims

The automatic control device of the large-scale rice direct seeding operation unit comprises a tractor body, an operation unit, a lifting oil cylinder and a leveling oil cylinder, and is characterized in that a controller, a lifting valve group, a leveling valve group and an inclination angle sensor A for acquiring attitude signals of the tractor body are arranged on the tractor body, an inclination angle sensor B for acquiring attitude signals of the operation unit and a float sensor for acquiring relative positions of the operation unit and a water surface are arranged on the operation unit, the controller is used for receiving the signals of the inclination angle sensor A, the inclination angle sensor B and the float sensor and controlling the leveling oil cylinder to act through the leveling valve group, and meanwhile, the lifting oil cylinder can be controlled to act through the lifting valve group.
2. The automatic control device of kinds of large-sized rice direct seeding operation units as claimed in claim 1, wherein the float sensor is installed at a middle position in front of the operation unit.
3. The automatic control device of large-sized rice direct seeding operation units as claimed in claim 1 or 2, wherein the float sensor comprises a bracket, a floating pontoon, a connecting rod, a swing rod and an angle sensor, wherein the angle sensor is mounted on the bracket, the rear end of the floating pontoon is hinged with the bottom of the bracket, the front end of the floating pontoon is hinged with the bottom of the connecting rod, the end of the swing rod is connected with the angle sensor, the swing rod is provided with a long strip-shaped swing chute, and the other end of the connecting rod is slidably arranged in the swing chute through a pin shaft.
4. The automatic control device of large-scale rice direct seeding operation units as claimed in claim 3, wherein a limiting plate is fixed on the bracket, a long-strip-shaped limiting chute is arranged on the limiting plate, and the connecting rod passes through the limiting chute and is connected with the swing rod.
5. The automatic control device of large-sized rice direct seeding operation units as claimed in claim 3, wherein a mounting plate is provided at the side of the bracket , and the mounting plate is connected with the operation units by screws or welding.
6. The automatic control device of large-scale rice direct seeding operation units as claimed in claim 5, wherein the bracket is arranged on the mounting plate through a screw nut mechanism, and the position of the bracket in the height direction can be adjusted by rotating a screw in the screw nut mechanism.
7. The automatic control device of large-scale rice direct seeding operation units as claimed in claim 6, wherein the lead screw nut mechanism is connected with a motor, and the motor drives the lead screw to rotate so as to adjust the position of the bracket in the height direction.