CN210381811U - Rotary cultivator control system - Google Patents
Rotary cultivator control system Download PDFInfo
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- CN210381811U CN210381811U CN201920490139.7U CN201920490139U CN210381811U CN 210381811 U CN210381811 U CN 210381811U CN 201920490139 U CN201920490139 U CN 201920490139U CN 210381811 U CN210381811 U CN 210381811U
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- rotary cultivator
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- stepping motor
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Abstract
The utility model discloses a control system of a rotary cultivator, wherein the rotary cultivator is provided with a controller, a first stepping motor, a second stepping motor, a first angle sensor, a second angle sensor, a third angle sensor, a fourth angle sensor, a clutch solenoid valve, an accelerator switch and a starting relay, wherein the first stepping motor, the second stepping motor, the first angle sensor, the second angle sensor, the third angle sensor and the fourth angle sensor are connected with the controller; the first stepping motor drives a steering wheel of the rotary cultivator to rotate, and the second stepping motor drives a main speed change control lever of the rotary cultivator to operate; the first angle sensor detects the steering angle of a steering wheel of the rotary cultivator, and the second angle sensor detects the position of a main speed changing control lever of the rotary cultivator; the third angle sensor detects rotary cultivator automobile body inclination, and the fourth angle sensor detects the rotary cultivator's rotary cultivator attachment inclination, and the separation and reunion solenoid valve detects the rotary cultivator's rotary cultivator attachment rotor power separation and reunion state, and throttle switch detects the rotary cultivator throttle and is in full speed or idle state, and the start relay detects rotary cultivator engine start or flame-out. The utility model discloses become automatic control rotary cultivator with the manual control rotary cultivator of tradition, realize rotary cultivator automatic control.
Description
Technical Field
The utility model relates to the field of agricultural machinery, in particular to rotary cultivator control system.
Background
The rotary cultivator is a soil cultivation machine driven by power, has strong soil cutting and crushing capability, can achieve the effect of plowing and harrowing for several times by one-time operation, has flat and soft ground surface after cultivation, and can save labor during the farming season. With the continuous improvement of agricultural technology level, the rotary tillage of farmland soil by a rotary cultivator has become a common mode. As is well known, the traditional rotary tiller is operated manually, and the automation degree is very low.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a rotary cultivator control system, the automatic control rotary cultivator that will traditionally manual control rotary cultivator become.
On one hand, the utility model provides a rotary cultivator control system, a controller and a first stepping motor, a second stepping motor, a first angle sensor, a second angle sensor, a third angle sensor, a fourth angle sensor, a clutch solenoid valve, an accelerator switch and a starting relay which are connected with the controller are arranged on the rotary cultivator; the first stepping motor drives a steering wheel of the rotary cultivator to rotate, and the second stepping motor drives a main speed change control lever of the rotary cultivator to operate; the first angle sensor detects the steering angle of a steering wheel of the rotary cultivator, and the second angle sensor detects the position of a main speed changing control lever of the rotary cultivator; the third angle sensor detects the inclination angle of a body of the rotary cultivator, the fourth angle sensor detects the inclination angle of a rotary cultivator device, the clutch solenoid valve detects the power clutch state of a rotary cultivator device knife roller, the accelerator switch detects that an accelerator of the rotary cultivator is in a full speed or idle speed state, and the relay is started to detect the starting or flameout of an engine of the rotary cultivator; the controller obtains the rotary tillage depth by obtaining the third angle sensor and the fourth angle sensor; the controller controls the first stepping motor to control the direction of the rotary cultivator through the feedback of the first angle sensor; the controller controls the second stepping motor to control the rotary cultivator to walk through the feedback of the second angle sensor; the controller controls the power of the rotary tillage device cutter roller to switch between a working connection state and a working separation state through the clutch electromagnetic valve.
Furthermore, install first radar range finding sensor in rotary cultivator the place ahead, install second radar range finding sensor at the rotary cultivator rear, first radar range finding sensor and second radar range finding sensor are connected with the controller, and the controller passes through first radar range finding sensor and second radar range finding sensor real-time detection rotary cultivator the place ahead and the distance between rear and the barrier.
Further, the automatic operation device comprises a switching button, an automatic operation mode and a manual operation mode, wherein the switching button is used for switching the automatic operation mode and the manual operation mode; in the manual operation mode, a button for enabling the power of a rotary tillage device cutter roller to be in a working joint state and a working separation state and a lifting button of the rotary tillage device are arranged.
The device further comprises an upper computer, the controller and the upper computer are in communication in a CAN2.0 communication mode, the baud rate of a CAD bus is 250kbps, the upper computer sends instructions to the controller, the controller receives each instruction and returns a command for confirming execution to the upper computer, and the controller feeds back the rotating speed of power of the rotary cultivator, the direction angle of a steering wheel, the position of a main speed change control lever and the rotary tillage depth to the upper computer.
The utility model discloses a rotary cultivator control system becomes automatic control rotary cultivator with the manual control rotary cultivator traditionally, realizes rotary cultivator automatic control.
Drawings
The accompanying drawings, which form a part hereof, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. In the drawings:
FIG. 1 is a schematic view of a rotary cultivator of the present invention;
fig. 2 is a schematic view of a control system of the rotary cultivator of the present invention.
Detailed Description
It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
As shown in fig. 2, the utility model discloses a rotary cultivator control system is preferred, install controller and the first step motor, the second step motor, first angle sensor, the second angle sensor, the third angle sensor, the fourth angle sensor, separation and reunion solenoid valve, throttle switch, the start relay that are connected with the controller on the rotary cultivator; the first stepping motor drives a steering wheel of the rotary cultivator to rotate, and the second stepping motor drives a main speed change control lever of the rotary cultivator to operate; the first angle sensor detects the steering angle of a steering wheel of the rotary cultivator, and the second angle sensor detects the position of a main speed changing control lever of the rotary cultivator; the third angle sensor detects rotary cultivator automobile body inclination, and the fourth angle sensor detects the rotary cultivator's rotary cultivator attachment inclination, and the separation and reunion solenoid valve detects the rotary cultivator's rotary cultivator attachment rotor power separation and reunion state, and throttle switch detects the rotary cultivator throttle and is in full speed or idle state, and the start relay detects rotary cultivator engine start or flame-out.
When the rotary cultivator works, the clutch electromagnetic valve is in a working joint state, the power of the engine is transmitted to the rotary cultivator blade roller, the rotary cultivator blade roller is rotated, the controller determines that the power of the rotary cultivator blade roller is in the working joint state by acquiring a signal of the clutch electromagnetic valve, and the controller calculates the relative value of the inclination angle of the body of the rotary cultivator and the inclination angle of the rotary cultivator by acquiring the third angle sensor and the fourth angle sensor, so that the rotary cultivation depth is calculated. When the rotary cultivator is in a non-operation state, the clutch electromagnetic valve is in a work separation state, the power of the engine is not transmitted to the rotary cultivator device knife roller, and the rotary cultivator device knife roller does not rotate.
When the second angle sensor detects that the main speed change operating lever is in the middle position, the rotary cultivator is in a stop state; the second angle sensor detects that the main speed change operating lever is in an advancing position, the rotary cultivator is in an advancing state, and the advancing position is closer to the front, the advancing speed of the rotary cultivator is higher; the second angle sensor detects that the main speed change operating lever is in a retreating position, the rotary cultivator is in a retreating state, and the retreating speed of the rotary cultivator is higher after the retreating position is more back.
Install first radar range finding sensor in rotary cultivator the place ahead, install second radar range finding sensor at the rotary cultivator rear, first radar range finding sensor and second radar range finding sensor are connected with the controller, and the controller passes through first radar range finding sensor and second radar range finding sensor and detects the distance between rotary cultivator the place ahead and rear and the barrier in real time. If the obstacle is marked, the rotary cultivator is in the operation area, and after the first radar ranging sensor and the second radar ranging sensor sense the distance of the obstacle, as long as the rotary cultivator operates on a planned walking route, the distance sensed by the first radar ranging sensor and the second radar ranging sensor is 0.5 m, and no braking action is taken; if the obstacles are not marked, the rotary cultivator is in an operation area, after the first radar ranging sensor and the second radar ranging sensor sense the distance of the obstacles, when the distance is between 0.5 m and 1 m, the main speed changing control lever and the steering wheel are firstly placed in the middle position, then the power of a knife roller of the rotary cultivator device is in a working separation state, and the rotary cultivator device is lifted to a certain height; when the distance is within 0.5 meter, the engine is directly shut down, and the main gear shift lever and the steering wheel are placed in the middle position after the engine is shut down.
The controller controls the first stepping motor to control the direction of the rotary cultivator through the feedback of the first angle sensor; the controller controls the second stepping motor to control the rotary cultivator to walk through the feedback of the second angle sensor; the controller controls the power of the rotary tillage device cutter roller to switch between a working connection state and a working separation state through the clutch electromagnetic valve.
In a further technical scheme, the rotary cultivator comprises a switching button, and when the switching button is in an automatic state, the rotary cultivator is in an automatic operation mode; when the switching button is in a manual state, the rotary cultivator is in a manual operation mode; in the manual operation mode, a button for enabling the power of a rotary tillage device cutter roller to be in a working joint state and a working separation state and a lifting button of the rotary tillage device are arranged. When the rotary cultivator is in the automatic operation mode, the first stepping motor and the second stepping motor are powered on, and when the rotary cultivator is in the manual operation mode, the first stepping motor and the second stepping motor are powered off.
In a further technical scheme, the device comprises an upper computer, the controller and the upper computer are in communication in a CAN2.0 communication mode, the baud rate of a CAD bus is 250kbps, the upper computer sends instructions to the controller, the controller receives each instruction and returns a command for confirming execution to the upper computer, and the controller feeds back the rotating speed of power of the rotary cultivator, the steering wheel direction angle, the position of a main speed change control lever and the rotary tillage depth to the upper computer.
In addition, the utility model also provides a rotary cultivator control method, it includes:
1. the rotary cultivator engine starting control method comprises the following steps:
before the engine of the rotary cultivator is started, the main speed change control lever and the steering wheel are located in the middle position, the controller can execute an engine ignition command, and when the upper computer sends the engine ignition command, commands of power separation of a knife roller of the rotary cultivator device and lifting of the rotary cultivator device to a certain height are sent to the controller.
2. The rotary cultivator engine flameout control method comprises the following steps:
when the engine of the rotary cultivator is flamed out under the non-emergency braking condition, the main speed-changing control lever and the steering wheel are positioned at the middle position, and the engine can be flamed out after the power of the knife roller of the rotary cultivator is separated and the rotary cultivator is lifted to a certain height;
under the condition of emergency braking, the rotary cultivator directly shuts off the engine, and after the engine is shut off, the main speed change and the direction are controlled to return to the neutral position.
3. The rotary cultivator engine stall control method with too large load comprises the following steps:
when the rotary cultivator works, when the rotating speed of the engine is detected to be reduced to 1800r/min, the rotary cultivator is lifted to be 5 degrees higher than the current rotary cultivation depth, and when the rotating speed of the engine is recovered to a normal value, the cutter roller of the rotary cultivator is reduced to the set rotary cultivation depth.
4. The rotary cultivator in-situ steering operation control method comprises the following steps:
when the rotary cultivator turns to the work in situ, the controller adjusts the main speed change control lever to the middle position through the second step motor, and lifts the rotary cultivator to a certain height; if the first angle sensor detects that the steering angle of the steering wheel of the rotary cultivator has a large steering value and the position angle of the rotary cultivator is not changed, the controller judges that the rotary cultivator slips, the controller adjusts the steering wheel of the rotary cultivator back to the middle position through the first step motor, adjusts the main speed change control lever to the advancing position through the second step motor, adjusts the direction of the rotary cultivator after advancing for 0.6 m, and then operates;
5. the forward or backward operation control method of the rotary cultivator comprises the following steps:
when the rotary cultivator is operated forwards or backwards, the second angle sensor detects that the main speed control lever of the rotary cultivator has a certain speed, if the position of the rotary cultivator is not changed, the controller judges that the rotary cultivator slips, the controller adjusts the steering wheel of the rotary cultivator through the first stepping motor to provide certain steering, and if the position of the rotary cultivator is changed, linear operation is performed.
As shown in fig. 1, the rotary cultivator of the utility model is provided with a chassis frame 1, a crawler traveling mechanism 2 is arranged below the chassis frame 1, and a rotary tillage device 3, a field flattening device 4 and a fertilizing device 5 are arranged behind the chassis frame 1; a rotating shaft 30 is installed on the chassis frame 1, the rotary tillage device 3 is connected with the rotating shaft 30, the rotating shaft 30 drives the rotary tillage device 3 to ascend and descend, the rotary tillage device 3 is lifted upwards, and the field flattening device 4 and the fertilizing device 5 are driven to ascend upwards.
The techniques not described above are common general knowledge of the skilled person. The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A control system of a rotary cultivator is characterized in that the rotary cultivator is provided with a controller, a first stepping motor, a second stepping motor, a first angle sensor, a second angle sensor, a third angle sensor, a fourth angle sensor, a clutch electromagnetic valve, an accelerator switch and a starting relay, wherein the first stepping motor, the second stepping motor, the first angle sensor, the second angle sensor, the third angle sensor and the fourth angle sensor are connected with the controller; the first stepping motor drives a steering wheel of the rotary cultivator to rotate, and the second stepping motor drives a main speed change control lever of the rotary cultivator to operate; the first angle sensor detects the steering angle of a steering wheel of the rotary cultivator, and the second angle sensor detects the position of a main speed changing control lever of the rotary cultivator; the third angle sensor detects the inclination angle of a body of the rotary cultivator, the fourth angle sensor detects the inclination angle of a rotary cultivator device, the clutch solenoid valve detects the power clutch state of a rotary cultivator device knife roller, the accelerator switch detects that an accelerator of the rotary cultivator is in a full speed or idle speed state, and the relay is started to detect the starting or flameout of an engine of the rotary cultivator; the controller obtains the rotary tillage depth by obtaining the third angle sensor and the fourth angle sensor; the controller controls the first stepping motor to control the direction of the rotary cultivator through the feedback of the first angle sensor; the controller controls the second stepping motor to control the rotary cultivator to walk through the feedback of the second angle sensor; the controller controls the power of the rotary tillage device cutter roller to switch between a working connection state and a working separation state through the clutch electromagnetic valve.
2. The control system of the rotary cultivator in claim 1, wherein a first radar ranging sensor is installed in front of the rotary cultivator, a second radar ranging sensor is installed in back of the rotary cultivator, the first radar ranging sensor and the second radar ranging sensor are connected with the controller, and the controller detects the distance between the front and back of the rotary cultivator and the obstacle in real time through the first radar ranging sensor and the second radar ranging sensor.
3. The control system of claim 1, comprising a switch button, an automatic operation mode, a manual operation mode, wherein the switch button is used for switching the automatic operation mode and the manual operation mode; in the manual operation mode, a button for enabling the power of a rotary tillage device cutter roller to be in a working joint state and a working separation state and a lifting button of the rotary tillage device are arranged.
4. The control system of the rotary cultivator in claim 1, comprising an upper computer, wherein the controller and the upper computer communicate in a CAN2.0 communication mode, the CAD bus baud rate is 250kbps, the upper computer sends instructions to the controller, the controller receives each instruction and returns a command confirming execution to the upper computer, and the controller feeds back the rotating speed of the power of the rotary cultivator, the steering wheel direction angle, the position of a main speed changing control lever and the rotary cultivation depth to the upper computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920490139.7U CN210381811U (en) | 2019-04-11 | 2019-04-11 | Rotary cultivator control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920490139.7U CN210381811U (en) | 2019-04-11 | 2019-04-11 | Rotary cultivator control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210381811U true CN210381811U (en) | 2020-04-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920490139.7U Active CN210381811U (en) | 2019-04-11 | 2019-04-11 | Rotary cultivator control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210381811U (en) |
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2019
- 2019-04-11 CN CN201920490139.7U patent/CN210381811U/en active Active
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