WO2021093414A1

WO2021093414A1 - Implement working attitude detection device, agricultural working machine, and ground engaging working method for agricultural working machine

Info

Publication number: WO2021093414A1
Application number: PCT/CN2020/111841
Authority: WO
Inventors: 肖名涛; 周志
Original assignee: 长沙桑铼特农业机械设备有限公司
Priority date: 2019-11-13
Filing date: 2020-08-27
Publication date: 2021-05-20
Also published as: CN110836655B; CN110836655A

Abstract

An implement working attitude detection device, an agricultural working machine, and a ground engaging working method for the agricultural working machine. The device comprises a bracket (1) and a mounting plate (2) used for being connected to a walking chassis; a rotating part (3) which can move up and down is mounted on the mounting plate (2); the bracket (1) is connected to the rotating part (3) and can adjust a tilt angle by means of rotation of the rotating part (3); ground wheels (11) used for supporting the bracket (1) to walk are provided on the two sides of the bracket (1) correspondingly; the detection device further comprises a height measurement assembly used for measuring the height of the rotating part (3) and a tilt angle measurement assembly used for measuring the tilt angle of the bracket (1). The agricultural working machine comprises the walking chassis, a working implement (100) capable of adjusting the height and the tilt angle, and the implement working attitude detection device. The method comprises the steps: obtaining a height difference and an angle difference; and adjusting the height and the angle of the working implement (100) according to the comparison results of the height difference and the angle difference with preset thresholds. The implement working attitude detection device has the advantages that the structure is simple and compact, the costs are low, manufacturing and assembling are easy, working is stable and reliable, detection is accurate, and the working effect can be improved.

Description

Machine tool working posture detection device, agricultural working machine and ground working method

Technical field

The invention relates to the technical field of agricultural operations, in particular to a machine tool operating posture detection device, agricultural operating machinery and a grounding operation method.

Background technique

When rapeseed direct seeding and other dryland operation machinery are operating in the field, because the dryland has good support for the equipment, the walking chassis is susceptible to the influence of terrain changes to change the driving posture, which in turn affects the working posture of the rear work equipment. For example, when the traveling chassis travels to a plot with a large difference in height between the left and right wheels, and the plot of the rear work tool is still in a flat state, since the rear work tool and the front traveling chassis are rigidly connected by a three-point suspension, the side tilt of the vehicle body will be reduced. It will be transmitted to the work tool through the connecting parts, resulting in a height difference between the left and right sides of the work tool, and poor grounding performance during work, which will affect the final work effect.

Summary of the invention

The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art, and provide a machine tool working posture detection device with simple and compact structure, low cost, easy production and assembly, stable and reliable work, and accurate detection, and correspondingly provides a device that adopts the An agricultural work machine of a machine tool work posture detection device and a grounding operation method of the agricultural work machine.

To solve the above technical problems, the present invention adopts the following technical solutions:

A machine tool working posture detection device, comprising a bracket and a mounting plate for connecting with a walking chassis. A rotating part that can move up and down is mounted on the mounting plate. The bracket is connected to the rotating part and can be rotated by the rotating part. To adjust the inclination angle, both sides of the bracket are provided with ground wheels for supporting the bracket to walk, and the detection device further includes a height detection assembly for detecting the height of the rotating part and an inclination detection assembly for detecting the inclination angle of the bracket.

In the above-mentioned device working posture detection device, preferably, the height detection component includes a distance sensor, the distance sensor is installed on the mounting plate and detects the distance between the distance sensor and the rotating part, and the inclination angle detection component includes a rotation angle sensor, The rotation angle sensor is connected to the rotating part and detects the rotation angle of the rotating part.

In the above-mentioned machine tool working posture detection device, preferably, a spirit level for measuring the level of the support is provided on the support.

In the above-mentioned device working posture detection device, preferably, the mounting plate is provided with a sliding groove, and the rotating shaft of the rotating component is slidably installed in the sliding groove.

An agricultural working machine includes a walking chassis and a working tool. The working tool is installed behind the walking chassis in a height-adjustable manner through a lifting assembly. Both sides of the working tool are provided with support wheels for supporting the walking of the working tool. , Each support wheel is installed on the work tool in a height-adjustable manner through the height adjustment assembly, the above-mentioned tool working posture detection device is also installed behind the walking chassis, and the two ground wheels of the tool working posture detection device are respectively Correspondingly located directly in front of the two supporting wheels.

A grounding operation method of the above-mentioned agricultural working machine. The grounding operation method is to control the actions of the lifting assembly and the height adjustment assembly according to the following steps during the traveling operation of the walking chassis with the work tool and the work attitude detection device of the machine tool. Adjust the height of the work tool and the height of each support wheel:

(S1) The height detection component detects the height value of the rotating component and obtains the height difference value representing the height change of the bracket, and the inclination angle detection component detects the tilt angle value of the bracket and obtains the angle difference representing the tilt angle change of the bracket;

(S2) The height difference is compared with a preset height threshold, the angle difference is compared with a preset angle threshold, and the actions of the lifting assembly and the height adjustment assembly are controlled in the following ways according to the comparison result:

When the height difference is greater than the preset height threshold and the angle difference is greater than the preset angle threshold, the lifting assembly adjusts the height of the work tool to make the height difference equal to the preset height threshold, and the height adjustment assembly adjusts the height of the two support wheels Adjust the inclination angle of the work tool to make the angle difference equal to the preset angle threshold;

When the height difference is greater than the preset height threshold and the angle difference is less than or equal to the preset angle threshold, the lifting component adjusts the height of the work tool until the height difference is equal to the preset height threshold, and the height adjustment component does not act;

When the height difference is less than or equal to the preset height threshold, and the angle difference is greater than the preset angle threshold, the lifting assembly does not move, and the height adjustment assembly adjusts the height of the two support wheels to adjust the inclination angle of the work tool to make the angle difference equal to the preset angle. Set the angle threshold;

When the height difference is less than or equal to the preset height threshold, and the angle difference is less than or equal to the preset angle threshold, neither the lifting component nor the height adjusting component will act.

In the above ground operation method, preferably, at the beginning of the operation, when the work tool is horizontal and the two support wheels are both grounded, the height value of the rotating part detected by the height detection assembly is used as the preset initial height value, and the inclination angle The inclination angle value of the bracket detected by the detection component is used as the preset initial inclination angle value; the walking chassis is equipped with a sensor for detecting the height variation and the inclination angle variation of the walking chassis; the height difference is first set by the height detection component The height value of the detected rotating component is compared with the preset initial height value to obtain a height difference value, and then the height difference value is compared with the height change amount of the walking chassis detected by the sensor; the angle difference value is The inclination angle value of the bracket detected by the inclination angle detection component is compared with the preset initial inclination angle value to obtain the inclination difference value, and then the inclination difference value is compared with the inclination angle change of the walking chassis height detected by the sensor to obtain the difference value.

In the above ground operation method, preferably, in the step (S2), the front-to-rear distance between the support wheel and the ground wheel is divided by the instantaneous vehicle speed of the walking chassis to obtain the execution delay time, so that the lifting assembly adjustment and height adjustment assembly actions The execution will be executed after the delay time.

In the above ground operation method, preferably, the lifting assembly includes a suspension mounted on a walking chassis and driven by a hydraulic jack, the work tool is connected to the suspension; the height adjustment assembly includes a work tool mounted on the suspension The support wheel is installed on the telescopic rod of the electric push rod.

In the above ground operation method, preferably, the height of the lifting assembly is adjusted by controlling the length of the hydraulic jack to change the execution time, and the height adjustment assembly adjusts the height of the two support wheels by controlling the electric push rod. The length changes the execution time to control.

Compared with the prior art, the advantages of the present invention are:

The machine tool working posture detection device of the present invention adopts a combination of a mounting plate, a rotating component, and a bracket with a ground wheel to form a road information sensing mechanism that enables the bracket to change the height and inclination angle corresponding to changes in the terrain, and adopts a height detection component to detect the rotating component The height change and inclination detection component detects the bracket tilt angle change, and then the bracket height and tilt angle change can be obtained, and then the road topography change information can be obtained, which provides real and reliable data for the attitude adjustment of the machine. The machine tool working posture detection device has a simple and compact structure, has little impact on the load of the walking chassis, and has the advantages of low cost, easy production and assembly, stable and reliable work, and accurate detection.

The agricultural working machine of the present invention adopts the machine tool working posture detection device of the present invention, which also has the advantages of the machine tool working posture detection device, and can accurately respond to the influence of terrain on the working tool posture, and its detection consistency is good , Which can provide true and reliable data for the posture adjustment of the subsequent work tools.

The grounding operation method of the present invention obtains the height change of the support and the change of the tilt angle of the support according to the detected height value of the rotating component and the tilt angle of the support, compares the height change with a preset height threshold, and compares the change of the tilt angle with After the preset angle thresholds are compared, the height and inclination angle of the work tool can be adjusted to adapt to the terrain through the lifting component and the height adjustment component, which can make the work tool always work on the ground, ensure the stable and reliable operation of the agricultural work machine, and improve the work effect.

Description of the drawings

Fig. 1 is a schematic diagram of a three-dimensional structure of a device working posture detection device.

Figure 2 is a partial three-dimensional structure diagram of the work tool.

Figure 3 is a flow chart of the method of pasting to the ground.

illustration:

1. Bracket; 11. Ground wheel; 2. Mounting plate; 21. Chute; 3. Rotating part; 4. Distance sensor; 5. Rotation angle sensor; 6. Level; 100. Work tools; 101. Support wheel; 102. electric putter.

Detailed ways

Hereinafter, the present invention will be further described in detail with reference to the drawings and specific embodiments.

As shown in Figure 1, the machine tool working posture detection device of this embodiment includes a bracket 1 and a mounting plate 2 for connecting with a walking chassis. The mounting plate 2 is mounted with a rotating part 3 that can move up and down, the bracket 1 and the rotating part 3 are connected and can be rotated at any angle to adjust the tilt angle of the bracket 1. Both sides of the bracket 1 are equipped with ground wheels 11 for supporting the bracket 1 to walk. The detection device also includes a height detection assembly for detecting the height of the rotating part 3 And an inclination detection component for detecting the inclination angle of the bracket 1. The ground wheel 11 rolls close to the ground. When the left and right height of the ground changes, the ground wheel 11 drives the support 1 to rotate around the rotation axis of the rotating component 3. At this time, the tilt detection assembly detects the change of the tilt angle of the support 1, and when the ground undulates, the ground wheel 11 The support 1 and the rotating part 3 are driven to move up and down. At this time, the height detection assembly detects the height change of the rotating part 3 (that is, the height change of the support 1). The machine tool working attitude detection device adopts the combination of mounting plate 2, rotating part 3 and bracket 1 with ground wheel 11 to form a road information sensing mechanism that enables bracket 1 to change the height and inclination angle corresponding to changes in terrain, and adopts height detection components The height change of the rotating part 3 is detected, and the tilt angle detection component detects the change of the tilt angle of the bracket 1 to obtain the change of the height and the tilt angle of the bracket 1, and then obtain the road topographic change information, and provide real and reliable data for the posture adjustment of the implement. The machine tool working posture detection device has a simple and compact structure, has little impact on the load of the walking chassis, and has the advantages of low cost, easy production and assembly, stable and reliable work, and accurate detection.

In this embodiment, the height detection assembly includes a distance sensor 4, which is installed on the mounting plate 2 and detects the distance between the distance sensor 4 and the rotating part 3. The inclination detection assembly includes a rotation angle sensor 5, the rotation angle sensor 5 and the rotation part 3 is connected and detects the rotation angle of the rotating part 3. Since the support 1 is connected to the rotating part 3, the rotation angle of the rotating part 3 is also the rotation angle of the support 1. Preferably, the aforementioned distance sensor 4 adopts an existing photoelectric distance sensor 4, and the rotation angle sensor 5 adopts an existing angle sensor capable of detecting the rotation angle of the rotating component 3.

In this embodiment, the support 1 is provided with a level 6 for measuring the levelness of the support 1 to facilitate the observation of the levelness of the support 1 and facilitate the calibration of the levelness of the support 1.

In this embodiment, the mounting plate 2 is provided with a sliding groove 21, the rotating shaft of the rotating part 3 is slidably installed in the sliding groove 21, and the mounting plate 2 adopts a sliding structure to move up and down on the bracket 1. Its structure is simple, and the movement is stable and reliable. .

An agricultural working machine includes a walking chassis and a working tool 100. The working tool 100 is installed at the rear of the walking chassis in a height-adjustable manner through a lifting assembly. Both sides of the working tool 100 are provided with support wheels for supporting the working tool 100 to travel. 101. Each support wheel 101 is mounted on the work tool 100 in a height-adjustable manner through a height adjustment component. The tool work posture detection device of this embodiment is also installed behind the walking chassis, and the two ground wheels of the tool work posture detection device 11 are respectively located directly in front of the two supporting wheels 101, so that the two ground wheels 11 and the two supporting wheels 101 change consistently when passing through the same terrain, and the posture changes of the work tool 100 and the support 1 are also consistent. The agricultural working machine adopts the tool working posture detection device of this embodiment, which can accurately respond to the influence of terrain on the posture of the working tool 100, with good detection consistency, and can provide true and reliable data for subsequent posture adjustment of the working tool 100.

In this embodiment, the walking chassis adopts an existing tractor suitable for agricultural operations, the work tool 100 is a planting tool, and the planting tool is an existing technology. Of course, in other embodiments, the work tool 100 may also be other agricultural work devices.

A grounding operation method of the above-mentioned agricultural working machine. The grounding operation method is to control the actions of the lifting assembly and the height adjustment assembly according to the following steps during the traveling operation of the walking chassis with the work tool 100 and the tool work posture detection device, To adjust the height of the work tool 100 and the height of each support wheel 101 (see Figure 3):

(S1) The height detection component detects the height value of the rotating part 3 and obtains the height difference value representing the height change of the support 1, and the tilt angle detection component detects the tilt angle value of the support 1 and obtains the angle difference representing the tilt angle change of the support 1;

When the height difference is greater than the preset height threshold and the angle difference is greater than the preset angle threshold, the lifting assembly adjusts the height of the work tool 100 to make the height difference equal to the preset height threshold, and the height adjustment assembly adjusts the two support wheels 101 Adjust the inclination angle of the work tool 100 to make the angle difference equal to the preset angle threshold;

When the height difference is greater than the preset height threshold and the angle difference is less than or equal to the preset angle threshold, the lifting component adjusts the height of the work tool 100 to make the height difference equal to the preset height threshold, and the height adjustment component does not act;

When the height difference is less than or equal to the preset height threshold and the angle difference is greater than the preset angle threshold, the lifting assembly does not move, and the height adjustment assembly adjusts the height of the two support wheels 101 to adjust the inclination angle of the work tool 100 to the angle difference Equal to the preset angle threshold;

According to the detected height value of the rotating part 3 and the tilt angle value of the support 1, the method of sticking to the ground obtains the height change of the support 1 and the change of the tilt angle of the support 1, and compares the height change with the preset height threshold, and changes the tilt angle After the amount is compared with the preset angle threshold, the height and inclination angle of the work tool 100 can be adjusted to adapt to the terrain through the lifting component and the height adjustment component, so that the work tool 100 can always operate on the ground, ensuring the stable and reliable operation of the agricultural operation machinery, and improving the operation effect.

In this embodiment, at the beginning of the operation, when the work tool 100 is horizontal and the two support wheels 101 are grounded, the height value of the rotating part 3 detected by the height detection assembly is used as the preset initial height value, and the inclination detection assembly The detected tilt angle value of the support 1 is used as the preset initial tilt angle value; a sensor for detecting the height change and tilt angle change of the walking chassis is installed on the walking chassis. Preferably, the sensor adopts the existing three-axis sensor; The value is the height difference value obtained by comparing the height value of the rotating part 3 detected by the height detection assembly with the preset initial height value, and then comparing the height difference value with the height change of the walking chassis detected by the sensor. ; The angle difference is to first compare the inclination angle value of the bracket 1 detected by the inclination detection component with the preset initial inclination angle value to obtain the inclination difference value, and then compare the inclination difference value with the inclination angle change of the walking chassis height detected by the sensor The difference obtained afterwards. The above determination of the height difference and the angle difference eliminates the influence of the change in the posture of the walking chassis caused by the front terrain on the support 1, so that real road condition information can be obtained, the smoothness of the work is ensured, and the work effect is improved.

The specific example for obtaining the above-mentioned height difference is as follows: If a pit in front causes the walking chassis to drop by 5cm (the amount of change in the height of the walking chassis detected by the sensor), and at this time, the ground wheel 11 encounters a small soil slope and rises by 3cm. The accumulation of changes, the height change detected by the height detection component is 8cm (that is, the height value of the rotating part 3 detected by the height detection component is compared with the preset initial height value to obtain the height difference value), and the height detected by the height detection component The amount of change is 8cm- the walking chassis is lowered by 5cm, and the actual soil slope raises the height difference of the bracket 1 by 3cm.

In this embodiment, in step (S2), the front-to-back distance between the support wheel 101 and the ground wheel 11 is divided by the instantaneous vehicle speed of the walking chassis to obtain the execution delay time, so that the lifting assembly adjustment and height adjustment assembly actions are executed at the execution delay time After execution. Since the support wheel 101 of the work tool 100 is behind the ground wheel 11 of the tool work posture detection device, the lifting assembly adjustment and the height adjustment assembly are executed after the execution delay time, which happens to be the work tool 100 moving to the tool work posture detection The position of the ground detected by the device makes the work tool 100 fit the position of the ground, ensuring the grounding effect.

In this embodiment, as shown in Figure 2, the lifting assembly includes a suspension (not shown in the figure) that is mounted on the walking chassis and driven by a hydraulic jack. The work tool 100 is connected to the suspension, and the hydraulic jack drives the suspension. Movement, and then the lifting movement with the work tool 100 to adjust the height, the suspension driven by the hydraulic ejector rod adopts the traditional three-point suspension driven by the hydraulic ejector rod, and the cost is low. The height adjustment assembly includes an electric push rod 102 installed on the work tool 100, a support wheel 101 is installed on a telescopic rod of the electric push rod 102, and the telescopic motion of the electric push rod 102 can carry the support wheel 101 to move up and down to adjust the height.

When adjusting the height of the work tool 100 and the height of each support wheel 101, the adjustment amount is controlled by controlling the telescopic rod extension time of the hydraulic jack rod and the telescopic rod extension time of the electric push rod 102. Specifically: calculate the elongation and contraction of the electric push rod 102 according to the amount of angle change that needs to be adjusted, and then convert the elongation and contraction into the length change of the electric push rod 102. The execution time t1, and calculate the hydraulic push rod according to the amount of height change that needs to be adjusted. The amount of elongation and contraction, and then the amount of elongation and contraction is converted into the electric push rod length change execution time t2.

In this embodiment, the execution delay time is obtained by the vehicle speed sensor.

The above are only the preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments. For those skilled in the art, improvements and transformations obtained without departing from the technical concept of the present invention should also be regarded as the protection scope of the present invention.

Claims

A machine tool working posture detection device, which is characterized in that it comprises a bracket (1) and a mounting plate (2) for connecting with a walking chassis, and a rotating part (3) that can move up and down is mounted on the mounting plate (2) The bracket (1) is connected to the rotating member (3) and can be rotated to adjust the inclination angle through the rotating member (3). Both sides of the bracket (1) are provided with ground for supporting the bracket (1) to walk. The wheel (11), the detection device further comprises a height detection component for detecting the height of the rotating component (3) and an inclination detection component for detecting the inclination angle of the bracket (1).
The machine tool working posture detection device according to claim 1, characterized in that: the height detection component includes a distance sensor (4), and the distance sensor (4) is installed on the mounting plate (2) and detects the distance sensor (4). ) And the distance between the rotating part (3), the inclination detecting assembly includes a rotation angle sensor (5), the rotation angle sensor (5) is connected with the rotating part (3) and detecting the rotation angle of the rotating part (3).
The machine tool working posture detection device according to claim 1, characterized in that: the bracket (1) is provided with a level (6) for measuring the level of the bracket (1).
The machine tool work posture detection device according to claim 1, characterized in that: the mounting plate (2) is provided with a sliding groove (21), and the rotating shaft of the rotating component (3) is slidably installed in the sliding groove (21) In.
An agricultural working machine, comprising a walking chassis and a working tool (100), characterized in that: the working tool (100) is installed behind the walking chassis in a height-adjustable manner through a lifting assembly, and the working tool (100) Both sides are provided with supporting wheels (101) for supporting the walking of the working tool (100), and each supporting wheel (101) is installed on the working tool (100) in a height-adjustable manner through a height adjustment assembly. The back of the walking chassis The machine tool working posture detection device according to any one of claims 1 to 3 is also installed, and the two ground wheels (11) of the machine tool working posture detection device correspond to the two supporting wheels (101) respectively. In front of.
A method for attaching to the ground of an agricultural work machine according to claim 5, characterized in that: the method of attaching to the ground is as follows: Steps control the actions of the lifting assembly and the height adjustment assembly to adjust the height of the work tool (100) and the height of each support wheel (101): (S1) the height detection assembly detects the height value of the rotating part (3) and obtains the representative support (1) ) The height difference of the height change, the inclination detection component detects the tilt angle value of the bracket (1) and obtains the angle difference representing the tilt angle change of the bracket (1);

(S2) The height difference is compared with a preset height threshold, the angle difference is compared with a preset angle threshold, and the actions of the lifting assembly and the height adjustment assembly are controlled in the following ways according to the comparison result:

When the height difference is greater than the preset height threshold and the angle difference is greater than the preset angle threshold, the lifting assembly adjusts the height of the work tool (100) to make the height difference equal to the preset height threshold, and the height adjustment assembly adjusts the two supports at the same time The height of the wheel (101) adjusts the inclination angle of the work tool (100) to make the angle difference equal to the preset angle threshold;

When the height difference is greater than the preset height threshold and the angle difference is less than or equal to the preset angle threshold, the lifting assembly adjusts the height of the work tool (100) to make the height difference equal to the preset height threshold, and the height adjustment assembly does not act;

When the height difference is less than or equal to the preset height threshold and the angle difference is greater than the preset angle threshold, the lifting assembly does not move, and the height adjustment assembly adjusts the height of the two support wheels (101) to adjust the inclination angle of the work tool (100) to Make the angle difference equal to the preset angle threshold;

When the height difference is less than or equal to the preset height threshold, and the angle difference is less than or equal to the preset angle threshold, neither the lifting component nor the height adjusting component will act.
The grounding operation method according to claim 6, characterized in that: at the beginning of the operation, when the work tool (100) is in a horizontal state and the two support wheels (101) are both grounded, the height detection assembly detects the rotating part The height value of (3) is used as the preset initial height value, and the inclination angle value of the bracket (1) detected by the inclination angle detection assembly is used as the preset initial inclination angle value; the walking chassis is equipped with a vehicle for detecting the height change of the walking chassis and A sensor for the amount of inclination change; the height difference is to first compare the height value of the rotating component (3) detected by the height detection assembly with the preset initial height value to obtain a height difference value, and then the height difference value is compared with the sensor The difference value obtained by comparing the height change of the detected walking chassis; the angle difference value is obtained by first comparing the inclination angle value of the bracket (1) detected by the inclination angle detection assembly with the preset initial inclination angle value The difference value obtained by comparing the inclination difference value with the change in the inclination angle of the traveling chassis height detected by the sensor.
The grounding operation method according to claim 6, characterized in that: in the step (S2), the front-to-rear distance between the support wheel (101) and the ground wheel (11) is divided by the instantaneous vehicle speed of the walking chassis to obtain the execution delay time , The actions of the lifting assembly adjustment and the height adjustment assembly are executed after the execution delay time.
The grounding operation method according to claim 8, characterized in that: the lifting assembly comprises a suspension mounted on a walking chassis and driven by a hydraulic jack, and the work tool (100) is connected to the suspension; The height adjustment assembly includes an electric push rod (102) installed on a work tool (100), and the support wheel (101) is installed on a telescopic rod of the electric push rod (102).
The grounding operation method according to claim 9, characterized in that: the height of the lifting assembly adjusting the work tool (100) is controlled by controlling the length of the hydraulic ejector rod to change the execution time, and the height adjusting assembly adjusts the two supports The height of the wheel (101) is controlled by controlling the length of the electric push rod (102) to change the execution time.