RU2418399C2 - Device to control depth treatment of soil by frontal rotary internal soil cultivator - Google Patents

Abstract

FIELD: agriculture.

SUBSTANCE: device comprises a sensor of vertical position of a working element in a frontal rotary internal soil cultivator relative to soil surface. The sensor is arranged in the form of a support ski mounted on the cultivator frame with the possibility of elastic deformation at the vertical load of 0.1 of weight of frontal rotary internal soil cultivator. The device also comprises an information-logical actuating unit of permanent depth of soil treatment and a logic electronic control system of the actuating unit of the permanent depth of soil cultivation.

EFFECT: structural design will make it possible to control depth of soil treatment during movement of the cultivator with high stability, quality, reliability and lower power inputs.

7 cl, 5 dwg

Description

The invention relates to agricultural machinery and is intended to control the depth of soil cultivation by a frontal rotational subsoil cultivator.

There is an indirect method for controlling the depth of soil tillage by hydraulically increasing the tractor grip weight (Tractor / ed. M.A. Orlov. M .: Education, 1980. 272 p. S.153 - analogue). The disadvantage of this method is the lack of direct regulation of the depth of tillage by a tillage machine.

The closest in technical essence to the claimed object is a device for controlling the depth of soil cultivation by a milling cultivator, having a depth sensor for soil cultivation, the output of which is connected to the input of the control unit, and a control mechanism for the tractor link, the electrical input of which is connected to the output of the control unit (RU No. 2169466 C2, 06.27.2001, АВВ 61/00, А01В 33/02 - prototype).

This device has the following disadvantages:

- the regulatory element of the depth of soil cultivation in the form of support wheels is located on the frame of the device, which increases the dimensions and weight of the device;

- additional structural elements in the form of a wheel and a unit for its attachment to the frame exert traction resistance to tillage;

- the entire mass of the device in the working position is entirely on its support wheels, which leads to additional slipping of the rear wheels of the tractor;

- the contact zone of the support wheel with the soil in the direction of processing is limited due to the cylindrical shape of the support wheel, therefore, integrated copying of the surface of the field to be treated is not ensured, additional traction resistance to the tillage occurs when the wheel overcomes unevenness of the soil, unevenness of the depth of tillage takes place;

- there is no electronic protection system, which degrades the quality of tillage and reduces the reliability of the tillage machine.

The technical problem to be solved by the present invention is to create conditions under which the depth of tillage by the frontal rotary subsoil cultivator is controlled stably, the control system mass is reduced, traction resistance to the soil is reduced by the frontal rotary subsoil cultivator, the integrated copying of the treated field surface is improved, and uneven depth of tillage, improves the quality of tillage, p The reliability of the tillage machine is increased.

The technical result obtained by the practical use of the invention is the creation of the ability to control the depth of soil tillage by the frontal rotary intrasoil cultivator with high stability, quality, reliability and lower energy consumption.

To solve the technical problem, the device for controlling the depth of soil cultivation by the frontal rotary subsoil cultivator is equipped with a sensor for the vertical position of the working body of the frontal rotational subsoil cultivator relative to the soil surface in the form of a support ski made on the frame of the cultivator with the possibility of elastic deformation with a vertical load of 0.1 weight of the frontal rotary subsoil cultivator, information-logical Executive unit of constant depth about soil cultivation, a logical electronic control system of the executive unit of a constant depth of tillage; a mechanical optical shutter, which is made on the upper surface of the supporting ski and is optically coupled to a double optoelectronic pair, which is mounted on the frame of a frontal rotational subsoil cultivator; an information-logical executive unit of a constant depth of tillage, which contains an executive servo-drive with a lever actuator fork of the hydraulic distributor of the standard mounted hydraulic system of the tractor; an electronic-mechanical sensor of the maximum deceleration of the working body of the frontal rotary subsoil cultivator mounted on the frame of the frontal rotational subsoil cultivator; -25 ° tractor power take-off angle sensor relative to the longitudinal axis of the tractor in the form of an opto-mechanical electronic position sensor, consisting of an opto-mechanical shutter mounted on the upper shaft of the tractor’s mounted system and an optoelectronic open infrared pair mounted on the bracket of the tractor’s mounted system ; with a tractor angle sensor for tractor power take-off + 15 ° relative to the longitudinal axis of the tractor in the form of an optomechanical electronic position sensor, consisting of an optomechanical shutter mounted on the bracket of the tractor’s mounted system, and an optoelectronic open infrared pair mounted on the upper shaft of the tractor’s mounted system ; logical electronic control system of the executive unit of the constant depth of soil cultivation by the frontal rotary subsoil cultivator, according to the state of the control elements according to the electronic-logic signals of the position sensor of the working body of the frontal rotational subsoil cultivator relative to the soil surface, the electronic-mechanical sensor of the maximum deceleration of the working body of the frontal rotational subsoil cultivator, sensor Tilt angle of tractor power take-off shaft -25 ° Rel relative to the longitudinal axis of the tractor, the sensor of the angle of inclination of the tractor power take-off shaft + 15 ° relative to the longitudinal axis of the tractor, signals are generated corresponding to the specified depth of soil cultivation by the frontal rotary subsoil cultivator, which specify the direction and duration of rotation of the servomotor of the drive of the mechanical fork of the drive lever of the hydraulic distributor of the standard tractor mounted tractor system , prohibit lowering the tractor hitch, turn off the transmission and tractor power take-off shaft.

The invention is illustrated by the attached schemes, where:

figure 1 shows the proposed device, side view;

figure 2 - the proposed device, rear view;

figure 3 is an information-logical Executive unit of constant depth of soil cultivation by a frontal rotational subsoil cultivator;

figure 4 - position sensors of the hinged system of the tractor;

figure 5 is a circuit diagram of an information-logical electronic control system.

The device of FIG. 1, FIG. 2 consists of a tillage machine with a loosening working body, for example, a frontal rotational subsoil cultivator 1 with drive slots 2, a milling cutter shaft 3, a mechanical ripper position sensor relative to the soil in the form of a support ski 4 mounted between the slit 2 , with an open double optoelectronic pair consisting of a light-emitting infrared diode 5 and infrared photodiodes 6, 7 (respectively VD1, VD2 of FIG. 5), a mechanical optical shutter 8 for controlling optical communication in a pair of optoelectronic, electronic and mechanical deceleration sensor 9 on the ripper frame bracket ripper 1.

The information-logical executive unit of constant depth of soil cultivation with the cultivator of FIG. 3 contains an actuating servo drive with optoelectronic sensors for the position of the control lever of the tractor hydraulic system and an information-logical electronic control system. The information-logical executive unit of a constant depth of tillage contains an actuating servo drive with a drive fork, which is fed with mechanical impulses for manipulating the hydraulic distributor lever of a standard tractor mounted hydraulic system.

The unit is portable mounted above the lever of the hydraulic distributor for controlling the power cylinder of the standard tractor mounted system.

The information-logical executive unit contains an information-logical electronic control system 10. The executive servo drive of the information-logical executive unit contains a longitudinal guide optical-mechanical system with opto-mechanical feedback control executive mechanical drive plug, which includes a reversible DC motor 11 with pinion gear 12 , the block of intermediate gears 13, the block of optocoupler pairs: infrared photodiodes 14 (designation of photodiodes VD4-VD7 p 5), emitting infrared diodes 15. In the casing of the information-logic executive unit on a mechanical movable longitudinal guide system, the following are installed: a gear rack of a mechanical drive 16, an optical shutter 17, a drive plug 18. The fork 3 of the drive 18 mechanically acts on the control lever of the hydraulic distributor standard tractor mounted system 19 with fixed standard positions 20 (P - lift, H - neutral position, O - lowering, Pl - floating). The movable elements of the device are shown in the “neutral” position of the control lever of the hydraulic distributor for controlling the power cylinder of the standard tractor mounted system.

The tractor hinged position sensor of FIG. 4 contains an optical shutter 21 mounted on the upper shaft of the tractor's hinged system 25, which controls optical communication in open optoelectronic pairs between the light-emitting infrared diode 22 and the infrared photo diode 23 (VD8 of FIG. 5), an infrared diode 26 and infrared photodiode 27 (VD3 of FIG. 5). The optoelectronic pairs are mounted in a single unit on the bracket 24 of the upper shaft of the tractor tractor mounted system 25 relative to the tractor. The infrared photodiode 23 controls the angle of inclination of the propeller drive shaft of the cultivator in the transport position of -25 ° relative to the longitudinal axis of the tractor. The infrared photodiode 26 controls the angle of inclination of the driveshaft drive of the cultivator in the working position + 15 ° relative to the longitudinal axis of the tractor.

The information-logic electronic control system of FIG. 5 comprises a driving generator on inverters on the “2-not” logic elements DD1.1, DD1.2, resistor R1, capacitor C1; a unit for recording information about the depth of tillage on infrared photodiodes VD1, VD2 (6, 7 in FIGS. 1, 2) that specify the initial current of infrared photodiodes resistors R2, R3, an inverter on the 2-nd logic element DD1.3, the logical element "2-not" DD1.4, low-pass filter on resistor R5 and capacitor C2, D-flip-flops DD2.1, DD2.2; a unit for forced extraction of the frontal rotational subsoil cultivator from the soil on the on-off switch SA1; the block of optical-mechanical fixation of the neutral position of the mechanical optical shutter on the logic element “2i-not” DD3.1, resistor R6, infrared photodiode VD4 (figure 4 eliminates the spontaneous shift of the shutter 8 down), on the logic element “2i-not” DD3 .2, resistor R7, infrared photodiode VD5 (Fig.4 eliminates the spontaneous shift of the shutter 8 up); optical-mechanical control unit for the execution of logical commands on the logical element "4-no" DD4.1, resistor R8, infrared photodiode VD6 (Fig.4 fixing the plug in the "rise" position), on the logical element "4-no" DD4. 2, the resistor R9, infrared photodiode VD7 (Fig.4 fixing the plug in the "lower" position); an optical-mechanical unit for protecting the cultivator and tractor from mechanical overloads, containing a control unit for the maximum angle of inclination of the propeller shaft of the cultivator drive no more than + 15 ° relative to the longitudinal axis of the tractor with optical shutter 10 in Fig. 4 with an open optoelectronic pair on a light-emitting infrared diode (5 1, 2), an infrared photodiode VD3, a current resistor R4; a ripper limiting unit with a KA1 sensor, a low-pass filter on a resistor R12 and a capacitor C3, a multivibrator on the “2-no” logic elements DD3.3, DD3.4, a capacitor C4 and a resistor R13; the optical-mechanical control unit for the angle of inclination of the driveshaft in the transport position of -25 ° relative to the longitudinal axis of the tractor of FIG. 4 with an optical shutter 21 in an open optoelectronic pair on a light-emitting infrared diode 26, infrared photodiode 27 (VD8 in FIG. 5), on a logical element "3 or not" DD5.2, resistor R16; power take-off shaft electronic switch on normally open single-position switch SA2, resistors R14, R15, capacitor C5, inverter on logic element “3-no” DD5.1, D-trigger DD6.1; an electronic switching unit of the information-logic actuator on a normally open single-position switch SA3, resistor R17, capacitor C6, an inverter on the logic element "3-no" DD5.3, D-trigger DD6.2; an executive unit on key transistors VT1-VT6 with a reversible DC motor M1; the unit for electronic inclusion of the standby mode of information and logical control when manually acting on the hydraulic distributor lever of a standard tractor mounted system on resistors R18, R19, R20, capacitor C7, transistor VT7 with a unit for preparing for turning on the standby mode of the device at the time of turning on the power of the information-logical electronic system on diode VD9.

Information-logical electronic control system but figure 5 registers the specified mode of the frontal rotational subsoil cultivator 1 in figure 1 (D-flip-flops DD2.1, DD2.2), sets the limit of movement of the optical shutter 17 of the information-logic Executive unit of figure 3 (infrared photodiodes VD6, VD7), allows the optical shutter 17 of the information-logic executive unit of FIG. 3 to be returned from the upper (lower) working position to neutral (infrared (photodiodes VD4, VD5), generates electric motor control signals I eat M1 (VT1-VT6 keys).

The frontal rotational subsoil cultivator 1 with slots of the drive 2, the shaft of the milling machine 3 in the initial position is raised above the soil surface by the mounted tractor system. The control lever for the tractor’s hydraulic distributor is in the “neutral” position.

A device for controlling the depth of soil tillage by a frontal rotational subsoil cultivator works as follows.

In the limit state of the device, the transmission and the tractor power take-off shaft are switched off. This is done as follows.

The logical electronic control system of the information-logical executive unit of a constant depth of soil cultivation by a frontal rotary subsoil cultivator generates an emergency emergency shutdown signal for the tractor transmission and power take-off shaft using an electronic-mechanical sensor for the maximum deceleration of the working body of the frontal rotational subsoil cultivator.

The node of the maximum deceleration of the cultivator of the logical electronic control system of the information-logical Executive unit of constant depth of soil cultivation by the frontal rotational subsoil cultivator is triggered by the electronic-mechanical sensor of the maximum deceleration of the cultivator in figure 5 KA1 (9 in figure 1), which is mounted on the connecting bracket of the frame of the cultivator . In the initial position, the logic level 1 is established at the output of the sensor. At the moment when the cultivator encounters an obstacle, the sensor KA1 generates a short negative electric pulse. The low-pass filter on resistor R12 and capacitor C3 eliminates the false response of the ultimate deceleration unit. A negative electrical pulse from the KA1 sensor is fed to the standby multivibrator on the “2-no” logic elements DD3.3, DD3.4, capacitor C4 and resistor R13, the waiting multivibrator generates a negative electric pulse at the output of the “2-no” DD3.4 logic element . The pulse disables the transmission of the tractor through its standard actuator. The pulse duration of the waiting multivibrator 3 ... 5 seconds, set by the time constant of the circuit C4R13. At the same time, a positive pulse of the same duration from the output of the “2-no” DD3.3 logic element supplies logic level 1 of the prohibition of turning on the power take-off shaft to the lower output of the “3-no” DD5.2 logical element in Fig. 5. The time constant of the C4R13 chain is sufficient for a decision by the operator servicing the cultivator to further control the tractor and cultivator.

The information-logical executive unit of constant depth of soil cultivation by the cultivator has the ability to nominal and emergency electronic on / off of the tractor power take-off shaft.

The logical electronic control system, based on the signal of the sensor for the angle of inclination of the tractor power take-off shaft -25 °, relative to the longitudinal axis of the tractor, generates a signal allowing the inclusion of the power take-off shaft of the tractor when the angle of inclination relative to the longitudinal axis of the tractor is more than -25 °, and a signal for forced shutdown of the power take-off shaft tractor with an angle of inclination less than -25 °.

The electronic on / off node of the tractor power take-off shaft is initially in the prohibition state of switching on according to the logic level signals from infrared photodiodes VD3, VD8.

The drive shaft of the frontal rotational subsoil cultivator in the initial position is located at an angle of -35 ... 50 ° relative to the longitudinal axis of the tractor. The optical shutter 21 of FIG. 4 breaks the optical connection in the bracket of the upper shaft mounted on the bracket of the upper shaft fixed to the tractor and the open optoelectronic infrared pair 22, 23 (VD8 of FIG. 5). The infrared photodiode VD8 of FIG. 5 is de-energized, a logic level 1 is set through the resistor R16 at the average of FIG. 5 input of the logic element DD5.2, which prohibits the electronic inclusion of the tractor PTO shaft at an angle of inclination of less than -25 °.

The logical electronic control system generates a signal for prohibiting deepening of the cultivator when the angle of inclination of the power take-off shaft relative to the longitudinal axis of the tractor is more than + 15 ° based on the signal from the sensor for the angle of inclination of the tractor power take-off shaft + 15 °. In Fig. 4, the optical shutter 21 includes optical communication in an open optoelectronic pair, a light-emitting infrared diode 26, an infrared photodiode 27 (VD3 in Fig. 5), a logic level is set at the lower input of the "2and-no" DD1.4 logic element in Fig. 5 0. Regardless of the state of the infrared photodiode VD2, the logic level 1 is set on the D input of the D-trigger DD2.2, which logically prohibits the hydraulic distributor lever of the standard tractor attachment system in the “lower” position.

The power take-off shaft is completely turned off by pressing the button of the switch SA2 of the information-logical electronic unit. When the SA2 switch button is pressed at the inverter input, logic level 0 is set on logic 3 or not DD5.1, logic level 1 is set at the output, and a pulse front is formed at input C of D-trigger DD6.1, at which the input D into trigger DD6.1, which is turned on according to the binary pulse counting scheme, the logic level 0 is written from the inverse output. On the inverse output of the DD6.1 trigger, logic level 1 is formed, which through the “3or-not” DD5.2 logic element prohibits the connection of the power take-off shaft to the cultivator. Pressing the button of the switch SA2 again returns the electronic power take-off shaft switching unit to the initial state of enabling the power take-off shaft.

The device in nominal mode operates as follows.

The depth of soil cultivation by the frontal rotary subsoil cultivator is controlled by the electronic-logic signals of the position sensor of the working body of the frontal rotary subsoil cultivator relative to the soil surface using the information-logic executive unit of a constant depth of soil cultivation.

When the electric power is turned on, the information-logical executive unit of a constant depth of soil cultivation by the cultivator is in the initial position, the information-logical electronic control system is set to standby mode. 5, the capacitor C7 is discharged. An electric current flows through the circuit on resistors R18, R19, R20, capacitor C7, opens the transistor VT7, which connects the resistor R21 and the installation inputs of the D-flip-flops "R" DD2.1, "S" DD2.2, "S" DD6.1 and “S” DD6.2 to the potential “+” of the power source. At the same time, logic level 1 is set at the inverse output of D-trigger DD2.1, logic level 1 is set at the direct output of DD-trigger DD2.2, logic level 1 is set at the direct output of DD-trigger DD6.1, logic level 0 is set at inverse , logic level 0 is set at the inverse output of the D-trigger DD6.2. After a period corresponding to the time constant of the circuit R18, R19, С7, the capacitor C7 is charged to the potential of the power source, the transistor VT7 is closed, at the corresponding installation inputs of the D-flip-flops through the resistor R21 at logic level 0 is set. Switch SA1 is brought into the closed state of the contacts. Installation of the information-logical electronic control system in standby mode is completed.

In Fig.3, after connecting the electric power and setting the information-logical electronic unit in standby mode, the engine 10 is disconnected, the spur gears of the transmission 12, 13, 16 are in a free state on their axes. They have a small inertial mechanical damping effect on the control lever 19 of the hydraulic distributor of the standard tractor mounted system, which does not interfere with the operation of the distributor according to the standard scheme. The control lever 19 of the distributor is manipulated manually.

To perform the intra-soil loosening technological process, the operator engages the tractor transmission, starts moving in the selected processing direction, and according to Fig. 5, by pressing the button of the switch SA3 switches the information-logical electronic unit into active mode.

Logic level 0 is set at the input of the inverter on the “3-on-no” DD5.3 logic element, at the output of the “3-on-no” DD5.3 logic element is logic level 1, the pulse front is formed at the input C of the D-trigger DD6.2, according to to which logic level 0 is recorded at the input D to trigger DD6.2, logic level 1 is formed at the inverse output of trigger DD6.2, which, through the 4-nd logic elements DD4.1, DD4.2, enables the operation of the executive unit on key transistors VT1 -VT6 and reversible DC motor M1.

Infrared photodiodes VD1 and VD2 (6, 7 of FIGS. 1, 2) provide information on the immersion depth of the working body of the frontal rotational subsoil cultivator in the soil. If the support ski 4 in FIGS. 1, 2 is in the free position or barely touches the soil, the optical shutter 8 in FIGS. 1, 2 is in the lower position, the on-off switch SA1 is in the closed position, the infrared photodiode VD1 (6 in Fig. 1 , 2) is irradiated with a radiating infrared diode 5 according to FIGS. 1, 2. At the input D of the D-trigger DD2.1, a logic level of 0 is set.

The infrared photodiode VD2 (7 in FIGS. 1, 2) is irradiated with a radiating infrared diode 5 in FIGS. 1, 2. At the inverter input, a logic level 0 is set at the “2-no” DD1.3 logic element, at the top input in FIG. 5 logic element DD1.4 is set to logic level 1.

In Fig. 4, the optical shutter 21 mounted on the upper shaft of the hinge plate 25, in the initial position, overlaps the open optoelectronic pair mounted on the bracket of the upper shaft of the hinge shaft mounted relative to the tractor bracket. The infrared LED 22 does not irradiate the infrared photodiode 23 (VD3 of FIG. 5), which controls the position of the propeller drive shaft of the cultivator no more than + 15 ° relative to the longitudinal axis of the tractor. At the lower input of logic element DD1.4 in FIG. 5, logic level 1 is set. Since logic level 1 is applied to both inputs of logic element DD1.4, logic level 0 is set at its output and at input D of D-flip-flop DD2.2.

A master oscillator on inverters DD1.1, DD1.2 generates pulses according to the time constant of the circuit of resistor R1 and capacitor C1. The pulse repetition rate of 0.3-0.5 seconds. Logical level 0 is written along the front of the pulse of the master oscillator entering the input C of the D flip-flop DD2.1, at the input D of the flip-flop DD2.1 from the infrared photodiode VD1 0. Logical level 1 is formed at the inverse output of the trigger DD2.1. At the same time, along the same front pulse at input D of trigger DD2.2 from the output of logic element DD1.4 via R5 and capacitor C2, logic level 0 is recorded, and logic level 0 is generated at the direct output of trigger DD2.2.

In the “neutral” position of the information-logic actuator of a constant depth of tillage with the cultivator of FIG. 3, the optical shutter 17 breaks the optical connection in open optoelectronic infrared pairs 14, 15. In this case, in FIG. 5, the infrared photodiode VD4 is de-energized, and at the upper input of the logical element DD3.1 through the resistor R6 sets the logic level 1. The infrared photodiode VD5 is also de-energized, at the top in Fig.5 input logic element DD3.2 through the resistor R7 sets the logic level 1. At the output of logic element DD3.1, logic level 0 is formed, at the output of logic element DD3.2 logic level 1 is formed. At the same time, according to Fig. 3, the optical shutter 17 breaks the optical connection in open optoelectronic infrared pairs with infrared photodiodes in Fig. 5 VD6, VD7 , the logic level 1 is formed at the top inputs of the “4-no” DD4.1, DD4.2 logic elements 1. Logical level 0 is fed to the lower input of the “4-not” DD4.1 logic element from the direct output of trigger DD2.2, therefore, at the output of the logic element “4i-not” DD4.1 y tanavlivaetsya logic level 1. At the bottom of Figure 5 input NAND gate "4n-not» DD4.2 with inverted output fed DD2.1 trigger logic level 1, i.e. logic level 1 is installed on all inputs of the logic element "4-not" DD4.2. Therefore, with the initial position of the frontal rotational subsoil cultivator at the output of the logical element "4-not" DD4.2, a logical level of 0 is set.

Logical level 0 at the output of the logic element “4-not” DD4.2 leads to the opening of transistor switches VT2, VT4, VT5, which connect the DC motor M1 (11 of FIG. 3) to an electric power source. In Fig.3, the electric motor 11 through the drive gear 12, the block of the intermediate gears 13, the gear rack of the mechanical drive 16 moves down the mechanical movable longitudinal guide system with an optical shutter 17, the drive fork 18.

At the moment of turning on the motor M1 of FIG. 5, a short voltage drop pulse appears on resistor R18, which smooths the low-pass filter on resistor R19, capacitor C7. The potential on the resistor R20 changes less than necessary to enable the base-emitter junction of the VT7 bipolar transistor, which does not open and does not change the state of the logic level 0 of the trigger trigger inputs.

Figure 3 fork 18 in the autonomous mode of operation of the device without operator intervention puts the control lever of the hydraulic distributor of the standard mounted system of the tractor 19 in the "lower" position. The optical shutter 17 includes optical communication in an open optoelectronic infrared pair with the infrared photodiode of FIG. 5 VD7. At the top of FIG. 5, the input of the 4-nd DD4.2 logic element is set to logic level 0. The output of the 4-nd DD4.2 element switches to the state of logical level 1, transistor switches VT2, VT4, VT5 are closed, which disconnect the DC motor M1 (2 of FIG. 4) from the electric power source. In Fig.3, the electric motor 11, the drive gear 12, the block of the intermediate gears 13, the gear rack of the mechanical drive 16, the mechanical movable longitudinal guide system with the optical shutter 17, the drive fork 18 are stopped in the "lowering" position, in which the standard mounted mounted hydraulic distributor holds the lock tractor systems. Figure 3 in the lower position of the optical shutter 17, the infrared photodiode VD4 is irradiated. In FIG. 5, logic level 0 is set at the upper input of logic element DD3.1 (logic level 1 at the lower input of logic element DD3.1 in FIG. 5 is saved). At the output of the logic element DD3.1 is set to logic level 1.

The information-logical executive unit of constant depth of soil cultivation by the cultivator has completed the transfer of the tractor's hinged system to the “lowering” position.

In the “lowering” position, the hydraulic distributor of the standard tractor mounted system directs the oil through the hydraulic system of the tractor to the upper cavity of the power cylinder. The tractor hinged system is lowered, the upper hitch shaft is rotated so that at an angle of inclination of the cardan shaft of the ripper drive -25 ° relative to the longitudinal axis of the tractor in Fig. 5, optical communication is activated in an open optoelectronic infrared pair with an infrared photodiode VD8, which is irradiated and forms a logic level of 0 at the middle input of the logic element "3 or not" DD5.2. Logic level 1 is formed at the output of the “3or-not” DD5.2 logic element (logical level 0 at the two remaining inputs of the “3or-not” DD5.2 logic element is set respectively from the output of the “2-no” DD3.3 logical element and with direct trigger output DD6.1). The tractor PTO is switched on. The hitch continues to lower, the cultivator comes into contact with the soil, the crevice and the milling cutter are buried in the soil.

When the cultivator reaches a predetermined depth of processing, the supporting ski rests on the soil and slides along it. The support ski has an extended contact zone with the soil in the direction of front loosening and integrates the unevenness of the terrain much better than the standard gauge wheel. The cultivator skis touch the soil and undergo mechanical elastic deformation.

The position and stiffness of the ski is chosen so that when the reaction force of the ski support on the soil is within 0.1 ripper weight, the device sets a predetermined depth of tillage. The sliding friction resistance of the support ski on the soil is small.

By controlling the vertical load of the supporting ski by the device, at the same time, by means of the tractor attachment system, 0.9 masses of the cultivator are transferred to the rear wheels of the tractor, which increases the loading of the rear wheels of the tractor, improves their adhesion to the soil, and reduces the slippage of the transmission.

At the moment when the desired depth of soil cultivation is established, in Figs. 1, 2, the mechanical shutter 8 disconnects the optical communication in an open optoelectronic infrared pair with the infrared photodiode in Fig. 5 VD2 (7 in Figs. 1, 2). At the input of the inverter, logic level 1 is set on the 2-nd logic element DD1.3, logic level 0 is set at the top input of logic element DD1.4 in Fig. 5 (logical logic DD1.4 is stored at the lower input in Fig. 5 level 1). Since logic level 0 is applied to one of the inputs of the DD1.4 logic element, at its output and through the low-pass filter R5C2, which eliminates the influence of the noise component of the soil-support ski mechanical system on the logical state of the control system, at the input of DD-trigger DD2 .2 logic level 1 is set. On the next edge of the pulse from the master oscillator, which goes to the input C of the D-trigger DD2.2, at the input D of the trigger DD2.2 from the output of the logic element DD1.4, logic level 1 is written, on the direct output of the trigger DD2 .2 formed by gical level 1 (D DD2.1 trigger condition is not changed). At the output of the logical element DD3.2 is formed logical level 0.

To the lower input of the 4i-ne logic element DD4.1 in FIG. 5, the logic level 1 is supplied from the direct output of the DD2.2 trigger (logic level 1 was set earlier on the remaining inputs), therefore, at the output of the 4i-not logic DD4 .1 logic level 0 is set (the output of the 4-nd element DD4.2 remains in the state of logic level 1).

Logical level 0 at the output of the logic element “4-not” DD4.1 leads to the opening of transistor switches VT1, VT3, VT6, which connect the DC motor M1 (11 of FIG. 3) to an electric power source. In Fig.3, the electric motor 11 through the pinion gear 12, the block of intermediate gears 13, the gear rack of the mechanical drive 16 moves upward in Fig.3 a mechanical movable longitudinal guide system with an optical shutter 17, a drive plug 18. The plug 18 transfers the control lever of the hydraulic distributor to the standard mounted tractor system 19 to the "neutral" position. The optical shutter 17 in FIG. 5 turns off optical communication in an open optoelectronic infrared pair with an infrared photodiode VD4. At the top of FIG. 5, the input of the 2-nd DD3.1 logic element is set to logic level 1 through resistor R6. The output of the 2-nd DD3.1 logic element goes to state 0, the output of the 4-nd DD4 element. 1 switches to the state of logic level 1, the transistor switches VT1, VT3, VT6 are closed, which disconnect the DC motor M1 (11 of FIG. 3) from the electric power source. In Fig.3, the electric motor 11, the drive gear 12, the block of the intermediate gears 13, the gear rack of the mechanical drive 16, the mechanical movable longitudinal guide system with the optical shutter 17, the drive fork 18 are stopped in the "neutral" position, in which they are held by the hydraulic distributor with a standard mounted tractor systems.

The information-logical executive unit of constant depth of tillage by the cultivator has completed the transfer of the cultivator to the operating mode at a given depth of tillage.

During operation of the cultivator, the driveshaft can receive a tilt of + 15 ° relative to the longitudinal axis of the tractor. At the same time, as indicated above, the optical-mechanical fixation unit of the position of the propeller shaft of the drive of the cultivator is triggered not more than + 15 ° relative to the longitudinal axis of the tractor. The depth of cultivating the soil does not increase.

In the process of operation of the tractor attachment system in the “neutral” position on uneven field topography, the cultivator can be buried in the soil to a depth somewhat greater than the specified one. In FIGS. 1, 2, the support ski 4 experiences increased mechanical elastic deformation, and the shutter 8 disconnects the optical communication in the open optoelectronic infrared pair with the infrared photodiode 6 (VD1 of FIG. 5). In Fig. 5, the optical communication in the optoelectronic infrared pair with the infrared photodiode VD2 was disconnected earlier at the time of reaching the desired depth of tillage. Logic level 1 is established at the input D of the D-flip-flop DD2.1 through resistor R2. A logic level is recorded at the next edge of the pulse from the master oscillator supplied to the input C of the D-flip-flop DD2.1, at the input D of the flip-flop DD2.1 from the infrared photodiode VD1 1, a logic level 0 is generated at the inverted output of trigger DD2.1. State D of trigger DD2.2 does not change; logic direct level 1 is stored at its direct output. Logic level 1 is generated at the output of logic element DD3.1.

Logic level 1 is supplied to the input of the 4-not DD4.1 logic element from the output of the DD3.1 logic element (logic level 1 was established earlier on the remaining inputs). Therefore, the logic level 0 is set at the output of the 4-nd DD4.1 logic element (the output of the 4-nd DD4.2 element remains in the state of logical level 1).

Logical level 0 at the output of the logic element “4-not” DD4.1 leads to the opening of transistor switches VT1, VT3, VT6, which connect the DC motor M1 to an electric power source. In Fig.3, the electric motor 11 through the pinion gear 12, the block of intermediate gears 13, the gear rack of the mechanical drive 16 moves up the mechanical movable longitudinal guide system with an optical shutter 17, the drive plug 18. The drive plug 18 transfers the control lever of the hydraulic distributor of the standard tractor mounted system 19 in the "rise" position. The optical shutter 17 includes, in FIG. 5, optical communication in an open optoelectronic infrared pair with a VD6 infrared photodiode. At the upper input of the 4-in logic element DD4.1, logic level 0 is set. The output of the 4-in logic element DD4.1 switches to the state of logic level 1, transistor switches VT1, VT3, VT6 are closed, which turn off the DC motor M1 from an electrical power source. In Fig.3, the electric motor 11, the pinion gear 12, the block of the intermediate gears 13, the gear rack of the mechanical drive 16, the mechanical movable longitudinal guide system with the optical shutter 17, the drive plug 18 are stopped in the “lift” position, in which the hydraulic distributor 19 is held in place by the retainer tractor mounted system.

In the “lift” position, the hydraulic distributor of the tractor’s standard mounted tractor system sends oil through the tractor’s hydraulic system to the lower cavity of the power cylinder, the hitch lifts the cultivator to the soil surface. The elastic mechanical deformation of the support ski of the ripper decreases, the shutter 8 of FIGS. 1, 2 includes the optical coupling of FIG. 5 in an open optoelectronic infrared pair with an infrared photodiode VD1. At the input D of the D-flip-flop DD2.1 logic level 0 is set. On the next edge of the pulse from the master oscillator, which goes to the input C of the D-flip-flop DD2.1, at the input D of the flip-flop DD2.1 from the infrared photodiode VD1, the logical level 0 is written, the inverse output of the trigger DD2.1 is formed logical level 1 (state D of the trigger DD2.2 does not change). At the output of the logic element DD3.1 is formed logical level 0.

Logic level 1 is supplied to the lower input of the “4-not” DD4.2 logic element from the inverted output of trigger DD2.1 (logic level 1 was established earlier on the remaining inputs). Therefore, the logic level 0 is set at the output of the 4-nd DD4.2 logic element (the output of the 4-nd DD4.1 element remains in the state of logical level 1).

Logical level 0 at the output of the logic element “4-not” DD4.2 leads to the opening of transistor switches VT2, VT4, VT5, which connect the DC motor M1 to an electric power source. In Fig.3, the electric motor 11 through the pinion gear 12, the block of intermediate gears 13, the gear rack of the mechanical drive 16 moves downward in Fig.3 a mechanical movable longitudinal guide system with an optical shutter 17, a drive plug 18. The drive plug 18 transfers the control lever of the standard hydraulic distributor hinged system of the tractor 19 to the "neutral" position. In Fig. 3, the optical shutter 17 turns off in Fig. 5 optical communication in an open optoelectronic infrared pair with an infrared photodiode VD5. At the upper input of the 2-nd logic element DD3.2, a logic level 1 is set via resistor R7. The output of the 2-nd DD3.2 logic element goes to state 0, the output of the 4-nd DD4.2 element switches to the state logic level 1, the transistor switches VT2, VT4, VT5 are closed, which disconnect the DC motor M1 from the electric power source. In Fig.3, the electric motor 11, the drive gear 12, the block of the intermediate gears 13, the gear rack of the mechanical drive 16, the mechanical movable longitudinal guide system with the optical shutter 17, the actuator fork 18 are stopped in the “neutral” position, in which the hydraulic distributor 19 is held in place by the retainer tractor mounted system.

The cultivator is raised and returned to the specified depth of tillage.

When describing the information-logical electronic control system, it is indicated that, in FIG. 3, infrared photodiodes 14 (VD4-VD7) exclude spontaneous displacement of the shutter 17 up or down. The result is achieved by the fact that a mechanical movable longitudinal guide system of an information-logical executive unit of constant depth of tillage with a cultivator, an optical shutter 17, emitting infrared diodes 15, and infrared photodiodes VD4-VD7 form a system with negative negative optoelectronic mechanical coupling.

Feedback eliminates the parasitic action of the fork 18 on the control lever of the hydraulic distributor of the standard mounted system of the tractor 19 during mechanical vibrations experienced by the mechanical movable longitudinal guide system during the movement of the tractor.

The optical-mechanical fixation of the neutral position in FIG. 3 of the optical shutter 17 eliminates its spontaneous displacement down or up as a result of the action of the electrical circuits in FIG. 5, respectively: “2-no” DD3.1 logic element, resistor R6, infrared photodiode VD4, logical element “2i-not” DD3.2, resistor R7, infrared photodiode VD5.

The optical-mechanical fixation of FIG. 3 of the optical shutter 17 in the “up” position eliminates its spontaneous displacement downward in FIG. 3 as a result of the action of the electric circuit, the “4-no” logic element DD4.1, resistor R8, infrared photodiode VD6.

The optical-mechanical fixation of the optical shutter 17 in the “lowering” position eliminates its spontaneous upward shift in FIG. 3 as a result of the action of an electric circuit consisting of the 4-not logic element DD4.2, resistor R9, infrared photodiode VD7.

The stability of the servo drive during external vibration is ensured using opto-mechanical feedback.

The rise of a working cultivator from the soil is carried out in the movement of the unit.

The operator for lifting the cultivator puts the switch SA1 in the contact opening position in FIG. 5. The information-logic executive unit of constant depth of cultivating the soil with the cultivator is forcibly switched to the signal mode of excessive deepening of the cultivator, since when the photodiode VD1 is irradiated, the circuit of its common wire breaks with the switch SA1 and through the resistor R2 the level of logic 1 at the D input of the D-trigger DD2.1 is set. The tractor attachment system extracts a working cultivator from the soil. In Fig. 4, upon reaching a tilt angle of the propeller drive shaft of the cultivator in the transport position of -25 ° relative to the longitudinal axis of the tractor, the optical shutter 21 turns off the optical communication in the bracket of the upper shaft mounted on a stationary bracket relative to the tractor of the open optoelectronic infrared pair 22, 23. Fig. 5 the VD8 infrared photodiode is de-energized, at the middle input of the logic element DD5.2, a logic level 1 is set through the resistor R16, which prohibits the electronic inclusion of the power take-off shaft. The power take-off shaft is switched off.

The lifting of the hitch in the range of large angles of inclination of the propeller shaft relative to the longitudinal axis of the tractor ends when the power take-off shaft is turned off, which eliminates the occurrence of torsional vibrations in the mechanical system "tractor-propeller shaft-ripper".

After a complete lift, the tractor hinged system remains in the “lift” position, the standard bypass valve of the hydraulic system is activated.

After the tractor is brought to the direction of the next working passage, the operator sets the switch SA1 to the open contact position.

The cultivator performs the next duty cycle in the mode described above.

Upon completion of subsoil cultivation, the information-logic executive unit of a constant depth of tillage is turned off by pressing the switch SA3.

The operation process of the information-logical executive unit of a constant depth of tillage with a cultivator can be interrupted by the operator at any time. For this, the operator manually transfers, in FIG. 3, the lever 19 of the hydraulic distributor of the standard tractor attachment system from the position (P, N, O) currently set by the device to any standard position (P, N, O, Pl). In this case, the optical-mechanical feedback is turned on, but in Fig. 5 in an open optoelectronic infrared pair with one of the infrared photodiodes VD4-VD7, in Fig. 3, the motor 11 is turned on in the direction of returning the mechanical movable longitudinal guide system with the optical shutter 17 to the position determined by the current the logical state of the information-logical electronic control circuit. The rotation of the engine 11, through the plug 18, the gear rack of the mechanical drive 16, the block of the intermediate gears 13, the drive gear 12 is prevented by the effort of the operator’s hand on the lever 19. The force of the hand is certainly greater than the force developed by the motor 11 on the rail of the mechanical drive 16. In this case, according to FIG. 5, a voltage drop occurs on the resistor R18, which is caused by an electric current through it during braking of the motor M1. The voltage at the lower terminal of Fig. 5 of resistor R18 through resistor R19, capacitor C7, resistor R20 with a delay, according to the time constant of circuit R19C7, is supplied to the base of transistor VT7, which opens and feeds logic level 1 to the installation inputs of the triggers of the information-logic electronic control system.

Similarly, the information-logical electronic control system is switched off in an emergency mode when the key transistors VT3-VT6 are overloaded in the event of a break, short circuit of the electric circuits of the infrared photodiodes VD1 or VD2 and the simultaneous inclusion of transistors VT1, VT2.

The information-logic executive unit of a constant depth of soil cultivation by a cultivator switches to standby mode.

The device provides the ability to switch from processor control of the depth of tillage to standby mode and vice versa at any time during operation.

The device provides the ability to manually manipulate the hydraulic distributor of the standard tractor mounted attachment system when the stand-by informational-logical executive control unit for controlling the depth of soil cultivation by the frontal rotational subsoil cultivator is in the standby mode or turned off.

The use of new elements in the form of a sensor for the vertical position of the working body of the frontal rotary subsoil cultivator relative to the soil surface of Figs. 1, 2 in the form of a support ski 4 made on the frame of the cultivator 1 with the possibility of elastic deformation with a vertical load of 0.1 weight of the frontal rotational subsoil 1 ; mechanical optical shutter 8, which is made on the upper surface of the support ski and is optically coupled to a double optoelectronic pair 5, 6, 7, which is mounted on the frame of a frontal rotational subsoil cultivator 1; information-logical Executive unit constant depth of tillage containing the actuating actuator of figure 3 with a drive fork 9 of the lever of the hydraulic distributor of the standard mounted hydraulic system of the tractor; the electronic-mechanical sensor of the maximum deceleration of the working body of the frontal rotational subsoil cultivator 9 of FIGS. 1, 2 mounted on the frame of the frontal rotational subsoil cultivator; the sensor angle of the tractor power take-off shaft -25 ° relative to the longitudinal axis of the tractor in the form of an optomechanical electronic position sensor, consisting in Fig. 4 of an optomechanical shutter 21 mounted on the upper shaft of the tractor’s mounted system, and an optoelectronic open infrared pair 22, 23 mounted on the bracket of the tractor attachment system; a tractor angle of the tractor PTO + 15 ° relative to the longitudinal axis of the tractor in the form of an optical-mechanical electronic position sensor, consisting of an optical-mechanical shutter mounted on the upper shaft of the tractor’s hinged system, and an optoelectronic open infrared pair 26, 27 mounted on the bracket tractor mounted system; the logical electronic control system of the information-logical executive unit of a constant depth of soil cultivation by the frontal rotary subsoil cultivator in Fig. 5, which according to the state of the control elements according to the electronic-logic signals of the position sensor of the working body of the frontal rotational subsoil cultivator relative to the soil surface, the electronic-mechanical limit deceleration sensor working body of the frontal rotational subsoil cultivator, angle sensor on the slope of the tractor power take-off shaft -25 ° relative to the longitudinal axis of the tractor, the tractor angle of the power take-off shaft + 15 ° relative to the longitudinal axis of the tractor generates signals corresponding to the specified depth of soil cultivation by the frontal rotary subsoil cultivator, which specify the direction and duration of rotation of the drive servomotor of the mechanical drive fork of the lever of the hydraulic distributor of the standard tractor hinged system, prohibit lowering the tractor hitch, disconnect the transmission and shaft tbora power tractor, allows the motion of the unit control the depth of soil treatment front subsurface rotary agitator with high stability, quality, reliability, and lower power consumption, because due to the abandonment of the support wheels, the dimensions and weight of the frontal rotary subsoil cultivator are reduced, due to the load on the support ski 0.1 weight of the frontal rotary subsoil cultivator, the resistance to movement of the unit is reduced, the load and slippage of the rear wheels of the tractor are increased, the accuracy of observing the specified processing depth is increased soil due to its control and integrated copying of the surface of the treated field with a support ski instead of a wheel, reliability of the aggregate is increased that through the use of an electronic-mechanical sensor of the maximum deceleration of the working body of the frontal rotational subsoil cultivator, a sensor for the angle of the tractor PTO -25 ° relative to the longitudinal axis of the tractor, a sensor for the angle of the tractor PTO + 15 ° relative to the longitudinal axis of the tractor, the possibility of switching from processor mode for controlling the depth of tillage in manual mode and vice versa at any time during operation without dismantling the device.

Claims (7)

1. A device for controlling the depth of soil cultivation by a frontal rotary subsoil cultivator, characterized in that it is equipped with a sensor for the vertical position of the working body of the frontal rotational subsoil cultivator relative to the soil surface in the form of a support ski made on the frame of the cultivator with the possibility of elastic deformation with a vertical load of 0.1 the weight of the frontal rotational subsoil cultivator, information-logical executive unit of a constant depth of tillage, lo matic electronic control execution unit constant depth of soil treatment. 2. The device according to claim 1, characterized in that it is equipped with a mechanical optical shutter, which is made on the upper surface of the supporting ski and is optically coupled to a double optoelectronic pair, which is mounted on the frame of a frontal rotational subsoil cultivator. 3. The device according to claim 1, characterized in that the information-logic Executive unit of a constant depth of tillage contains an actuating actuator with a actuator fork of the lever of the hydraulic distributor of the standard mounted hydraulic system of the tractor. 4. The device according to claim 1, characterized in that it is equipped with an electronic-mechanical sensor of the maximum deceleration of the working body of the frontal rotational subsoil cultivator mounted on the frame of the frontal rotational subsoil cultivator. 5. The device according to claim 1, characterized in that it is equipped with a sensor for the angle of inclination of the tractor power take-off shaft -25 ° relative to the longitudinal axis of the tractor in the form of an optical-mechanical electronic position sensor, consisting of an optical-mechanical shutter mounted on the upper shaft of the hinged system tractor, and optoelectronic open infrared pair mounted on the bracket of the tractor’s hinged system. 6. The device according to claim 1, characterized in that it is equipped with a sensor for the angle of inclination of the tractor PTO + 15 ° relative to the longitudinal axis of the tractor in the form of an optical-mechanical electronic position sensor, consisting of an optical-mechanical shutter mounted on the bracket of the tractor’s hinged system , and an optoelectronic open infrared pair mounted on the upper shaft of the tractor's mounted system. 7. The device according to claim 1, characterized in that by means of a logical electronic control system of an executive unit of constant depth of soil cultivation by a frontal rotary subsoil cultivator, according to the state of the controls, according to the electronic-logic signals of the position sensor of the working body of the frontal rotational subsoil cultivator relative to the soil surface, electronic-mechanical sensor of the maximum deceleration of the working body of the frontal rotational subsoil cultivator, sensor Tractor angle of the tractor power take-off shaft -25 ° relative to the longitudinal axis of the tractor, a tractor angle of the power take-off shaft of the tractor + 15 ° relative to the longitudinal axis of the tractor generate signals corresponding to the specified depth of soil cultivation by the frontal rotary subsoil cultivator, which specify the direction and duration of rotation of the drive servomotor mechanical forks of the lever drive of the hydraulic distributor of the standard tractor hinged system, prohibit lowering the tractor's hitch, turn off the trans mission and the PTO shaft of the tractor.

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