CN110199592B - Automatic rotary tillage adjusting system and method thereof - Google Patents
Automatic rotary tillage adjusting system and method thereof Download PDFInfo
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- CN110199592B CN110199592B CN201910280793.XA CN201910280793A CN110199592B CN 110199592 B CN110199592 B CN 110199592B CN 201910280793 A CN201910280793 A CN 201910280793A CN 110199592 B CN110199592 B CN 110199592B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/08—Tools; Details, e.g. adaptations of transmissions or gearings
- A01B33/087—Lifting devices; Depth regulation devices; Mountings
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- Lifting Devices For Agricultural Implements (AREA)
Abstract
The invention provides a rotary tillage automatic adjusting method of an automatic rotary cultivator, which comprises the following steps: (a) setting a suitable pressure set point; (B) monitoring a monitored pressure value; (C) Comparing said monitored pressure value to said suitable pressure set point; and (D) automatically regulating and controlling the rotary tillage device to lift.
Description
Technical Field
The invention relates to an agricultural machine, in particular to an automatic rotary tillage adjusting system and a method thereof, which are used for ensuring rotary tillage effect and reducing operation intensity of a driver.
Background
With the progress of science and technology and the development of agricultural machinery, the cultivation mode of agriculture is changed to achieve better agricultural production efficiency. In other words, the present agriculture gets rid of the lag mode of completely relying on manpower cultivation in the past, and all links from sowing, plant protection to harvesting and the like of the present agriculture are almost completely finished by agricultural machinery equipment, so that the modern agriculture can be said to have entered the mechanized era. It is worth mentioning that the agricultural machinery not only improves the agricultural cultivation production condition, but also replaces people to carry out heavy work. In particular, agricultural machinery can be used to perform work in environments unsuitable for human work. Therefore, the development of the mechanization of agriculture relatively improves the efficiency of agricultural production, and brings great convenience and benefit to farmers.
It is worth mentioning that at present, when the cultivation in paddy field is cultivated and land is prepared, rotary cultivator unit is basically adopted, and the rotary cultivator of this unit hangs behind the agricultural machinery with the mode of three-point suspension, has advantages such as simple structure, convenient operation. However, in actual operation, mud is often accumulated in front of the rotary cultivator due to uneven ground surfaces and plough bottom layers of farmlands, and the tractor is not pulled, so that an operator has to twist back to check whether the rotary cultivator behind the agricultural machine has serious mud accumulation or uneven ground surfaces. However, such a twisting back of the operator or driver's operational posture often causes excessive fatigue and physical injury to the operator or driver. Meanwhile, the situation of serious mud accumulation or uneven ground surface can cause uneven bottom surface after rotary tillage, and the tillage depth can not meet the requirements of agricultural production, so that the rotary tillage operation effect is poor and the operation efficiency is low. Therefore, a rotary cultivator unit for paddy fields is urgently needed to be provided with a device capable of automatically controlling the cultivation depth and preventing serious mud accumulation in front of a rotary cultivator, and the cultivation depth can be ensured to be consistent during operation, so that the labor of operators is reduced. Meanwhile, the problems of mud accumulation in front of the rotary cultivator, static traction of the agricultural machinery and the like can be avoided.
Disclosure of Invention
One advantage of the present invention is that it provides an automatic rotary tillage adjustment system and method thereof to automatically control the tillage depth, prevent severe mud accumulation in front of the rotary cultivator, and reduce the difficulty of operation and the burden on the driver. Further, the automatic rotary tillage adjusting system can avoid the problems of mud accumulation in front of a rotary cultivator, static traction of an agricultural machine and the like.
One advantage of the present invention is that it provides an automatic rotary tillage adjustment system and method thereof to enhance the effect of rotary tillage operations, and to ensure consistent tilling depth and to reduce operator labor when the rotary cultivator is operated.
One advantage of the present invention is that it provides a rotary tillage automatic adjustment system and method thereof, wherein the rotary tillage automatic adjustment system is used for applying the tilling depth of a rotary tillage device to an agricultural machine through intelligent control and monitoring, so as to truly realize unmanned technique of the agricultural machine or reduce the operation intensity of operators.
An advantage of the present invention is that it provides an automatic rotary tillage adjustment system and method thereof, wherein the rotary tillage device will automatically adjust the height of the rotary tillage device according to the tilling depth to ensure consistent tilling depth. Further, when the automatic rotary cultivator runs, the automatic rotary tillage adjusting system can avoid the problems of mud accumulation in front of the rotary tillage device, immovable traction of the agricultural machinery and the like.
Another advantage of the present invention is that it provides a device suitable for applications where precision parts and complex structures are not required, and which is simple and inexpensive to manufacture.
Other advantages and features of the present invention will become more fully apparent from the following detailed description, and may be learned by the practice of the invention as set forth hereinafter.
To meet the above objects and other objects and advantages of the present invention, the present invention provides an automatic tilling adjusting method of an automatic rotary tiller, comprising the steps of:
(A) Setting a proper pressure setting value;
(B) Monitoring a monitored pressure value;
(C) Comparing said monitored pressure value to said suitable pressure set point; and
(D) Automatically regulating and controlling the rotary tillage device to lift.
According to a method of the invention, the suitable pressure set point is set by means of a pressure regulating valve according to step (a).
According to a method of the invention, according to step (B), a change in the tilling height is detected by a monitor, a hydraulic oil is caused to flow between a monitoring cylinder and a hydraulic oil storage reservoir, and a pressure sensor monitors the monitored pressure value.
According to a method of the invention, according to step (B), the pressure sensor converts the monitored pressure value into a pressure signal and transmits it to an automatic control and regulation module.
According to one method of the present invention, in accordance with step (C), a controller compares the appropriate pressure set point with the monitored pressure value and issues an automatic up-down command to a control reversing valve.
According to the method, according to the step (D), a lifting oil cylinder stretches and contracts, so that the whole rotary tillage device is lifted and lowered.
According to a method of the invention, according to step (D), said monitored pressure value is greater than said suitable pressure set point, and said rotary tillage device is raised as a whole.
According to a method of the invention, according to step (D), said monitored pressure value is less than said suitable pressure set point, and said rotary tillage device is lowered as a whole.
In addition, in order to meet the above objects and other objects and advantages of the present invention, the present invention provides an automatic rotary tillage adjusting method, which is applicable to an automatic rotary cultivator, comprising the steps of:
(a) Adjusting a monitor to a proper height, setting a proper pressure setting value and transmitting the pressure setting value to an automatic control and regulation module;
(b) When the rotary tillage device is actuated, an auxiliary monitoring module monitors a monitoring pressure value and transmits the monitoring pressure value to the automatic control and regulation module;
(c) A controller compares the monitored pressure value with the appropriate pressure set point;
(d) The controller gives an automatic lifting instruction to a control reversing valve; and
(E) A lifting oil cylinder stretches out and draws back to control the rotary tillage device to ascend or descend.
According to the method, when the monitor monitors that the tilling depth increases, the pressure of the monitored pressure value rises to a rising pressure value, the rising pressure value is larger than the proper pressure set value, a rising pressure signal of the automatic lifting instruction is transmitted to the control reversing valve, the lifting oil cylinder stretches out, and the rotary tillage device is integrally improved.
According to a method of the present invention, according to step (b), when the monitor monitors an increase in tilling depth, the monitor lifts and compresses a monitoring cylinder in which hydraulic oil flows to a hydraulic oil storage accumulator, and a pressure sensor transmits an ascending pressure signal to a controller of the automatic control adjustment module.
According to a method of the present invention, according to step (d), the controller controls the control reversing valve to form a circuit for supplying oil to a lift cylinder, which is extended and lifts the rotary tillage device.
According to the method, after the rotary tillage device is lifted, the pressure of the monitoring oil cylinder is reduced, the hydraulic oil in the hydraulic oil storage energy accumulator is returned to the monitoring oil cylinder, when the pressure of the auxiliary monitoring module is reduced to the proper pressure set value, the pressure sensor transmits a proper signal to the controller of the automatic control and regulation module, the controller controls the control reversing valve to stop acting, the lifting oil cylinder stops extending, and the rotary tillage device stays at a proper working height.
According to the method, when the monitor monitors that the tilling depth is reduced, the pressure of the monitored pressure value is reduced to a reduced pressure value, the reduced pressure value is smaller than the proper pressure set value, a reduced pressure signal of the automatic lifting instruction is transmitted to the control reversing valve, the lifting oil cylinder is contracted, and the rotary tillage device is wholly lowered.
According to a method of the present invention, according to step (b), when the monitor monitors a decrease in tilling depth, the monitor descends and extends the monitoring cylinder, hydraulic oil in the hydraulic oil storage accumulator flows toward the monitoring cylinder, and the pressure sensor transmits a descending signal to the controller of the automatic control adjustment module.
According to a method of the present invention, according to step (d), the controller controls the control reversing valve to make the lifting cylinder contract and the rotary tillage device descends under the action of gravity, so that a circuit for discharging oil to the lifting cylinder is formed.
According to the method, after the rotary tillage device descends, the pressure of the monitoring oil cylinder is increased, hydraulic oil in the monitoring oil cylinder flows to the hydraulic oil storage energy accumulator, when the pressure of the auxiliary monitoring module is wholly increased to the proper pressure set value, the pressure sensor transmits the proper signal to the controller of the automatic control and regulation module, the controller controls the control reversing valve to stop acting, and therefore the lifting oil cylinder stops retracting, and the rotary tillage device stays at a proper working height.
In addition, in order to meet the above objects and other objects and advantages of the present invention, the present invention provides an automatic rotary tillage adjusting system, suitable for an automatic rotary cultivator, comprising:
An auxiliary monitoring module for monitoring the tilling depth of a rotary tillage device of the automatic rotary cultivator and generating a pressure signal; and
And the automatic control and adjustment module receives the pressure signal and automatically controls the rotary tillage device to ascend or descend.
According to an embodiment of the present invention, the auxiliary monitoring module includes a monitor, a monitoring cylinder, a hydraulic oil storage accumulator, and a pressure sensor, wherein the monitor is connected to the monitoring cylinder, the monitoring cylinder is connected to the hydraulic oil storage accumulator, and the pressure sensor is connected to the hydraulic oil storage accumulator.
According to an embodiment of the invention, the auxiliary monitoring module further comprises a pressure regulating valve connected to the hydraulic oil storage accumulator and the pressure sensor for setting a suitable pressure set point.
According to an embodiment of the invention, the automatic control and adjustment module comprises a controller, a lifting oil cylinder and a control reversing valve, wherein the controller is connected with the control reversing valve, the control reversing valve is connected with the lifting oil cylinder, the lifting oil cylinder is connected with the rotary tillage device, and the pressure sensor is connected with the controller.
According to an embodiment of the present invention, the automatic control adjustment module further includes an oil pump, wherein the control reversing valve is respectively connected to the lift cylinder, the oil pump, and the controller.
According to an embodiment of the invention, the monitor is selected from the group consisting of a rolling wheel, a floating plate, a travelling wheel, and a pressure wheel.
Further objects and advantages of the present invention will become fully apparent from the following description and the accompanying drawings.
These and other objects, features and advantages of the present invention will become more fully apparent from the following detailed description, the accompanying drawings and the appended claims.
Drawings
Figure 1 is a schematic view of an automatic rotary tiller and rotary tillage automatic adjustment system in accordance with a preferred embodiment of the present invention.
Figure 2 is a logical schematic of a rotary tillage automatic adjustment system according to a preferred embodiment of the present invention.
Fig. 3 is a schematic view of a rotary tillage automatic adjustment system according to a preferred embodiment of the present invention. .
Fig. 4 is a schematic cross-sectional view of a control reversing valve in accordance with a preferred embodiment of the present invention.
Figure 5 is a logical schematic of an automatic rotary cultivator according to a preferred embodiment of the present invention.
Detailed Description
The following description is presented to enable one of ordinary skill in the art to make and use the invention. The preferred embodiments in the following description are by way of example only and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
It will be appreciated by those skilled in the art that in the present disclosure, the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used as references to orientations or positional relationships based on the orientations or relationships illustrated in the drawings, merely to facilitate description of the present invention and to simplify the description, and do not indicate or imply that the device or component being referred to must have a particular orientation, be configured and operated in a particular orientation, so that the above terms should not be construed as limiting the present invention.
It is to be understood that the terms "a" and "an" are to be interpreted as referring to "at least one" or "one or more," i.e., in one embodiment, the number of components may be one, while in another embodiment, the number of components may be plural, and the term "a" is not to be construed as limiting the number.
As shown in fig. 1 to 5, according to a rotary tillage automatic adjustment system and method of the first preferred embodiment of the present invention, the automatic rotary cultivator 1 automatically adjusts the height of a rotary tillage device 200 of the automatic rotary cultivator 1 through the rotary tillage automatic adjustment system 100 to automatically control the cultivation depth, prevent serious mud accumulation in front of the rotary tillage device 200, and reduce the operation difficulty and the burden of a driver. Further, the automatic rotary tillage adjusting system 100 is adapted to the automatic rotary cultivator 1 to automatically adjust the height of the rotary tillage device 200 when the automatic rotary cultivator 1 travels, so as to further secure the tilling effect. In other words, the automatic rotary cultivator 1 further comprises the rotary cultivator unit 200, wherein the rotary cultivator automatic adjustment system 100 is connected to the rotary cultivator unit 200 to automatically control the rotary cultivator unit 200 to be lifted up and down to reach a proper height.
In this embodiment of the present invention, the rotary tillage automatic adjustment system 100 includes at least one auxiliary monitoring module 10 and an automatic control adjustment module 20. The auxiliary monitoring module 10 is connected to the automatic control and adjustment module 20, wherein when the auxiliary monitoring module 10 senses a change in the tilling depth and height, the automatic control and adjustment module 20 automatically controls the lifting and lowering of the rotary tillage device 200 of the automatic rotary cultivator 1 to reach a proper height.
In this embodiment of the invention, the auxiliary monitoring module 10 includes a monitor 11, a monitoring cylinder 12, a hydraulic oil storage accumulator 13, and a pressure sensor 14. The monitor 11 is connected to the monitoring cylinder 12 for directly transmitting the sensed tilling height to the monitoring cylinder 12. The monitoring cylinder 12 is connected to the hydraulic oil storage accumulator 13. The pressure sensor 14 is connected to the hydraulic oil storage accumulator 13. The condition sensed by the monitor 11 will then be transmitted to the automatic control adjustment module 20 via the pressure sensor 14. Further, the automatic rotary cultivator 1 senses the change of the ground surface through the monitor 11 and causes hydraulic oil to flow between the monitoring cylinder 12 and the hydraulic oil storage accumulator 13, so that the overall pressure of the auxiliary monitoring module 10 is changed, the pressure sensor 14 monitors the change of the pressure and transmits a pressure signal to the automatic control and regulation module 20, so that the automatic control and regulation module 20 controls the rotary cultivator 200 to ascend or descend.
In this embodiment of the invention, the auxiliary monitoring module 10 further comprises a pressure regulating valve 15 connected to the hydraulic oil storage reservoir 13 and the pressure sensor 14 for setting the initial pressure of the auxiliary monitoring module 10 as a whole. In other words, a suitable pressure set point a, which is a suitable initial pressure value, is set by the pressure regulating valve 15. And when the rotary tillage device 200 of the automatic rotary cultivator 1 is in operation, the pressure sensor 14 detects the pressure change of the whole auxiliary monitoring module 10 and forms the pressure signal, wherein the pressure signal is transmitted to the automatic control and regulation module 20. Further, before the automatic rotary cultivator 1 works, the monitor 11 is adjusted to a proper height to ensure that the rotary cultivator 200 is at a proper working height during the work, wherein the monitor 11 is contacted with the ground or muddy water surface. Meanwhile, when the rotary tillage device 200 of the automatic rotary cultivator 1 works, the monitor 11 detects the change of the tillage height, the overall pressure of the auxiliary monitoring module 10 is changed, the pressure sensor 14 obtains a monitored pressure value B, and the pressure sensor 14 generates the received monitored pressure value B into the pressure signal to be transmitted to the automatic control and regulation module 20. It should be noted that the monitor 11 may be implemented as a rolling wheel, a ground rolling wheel, a floating plate, a traveling wheel, a pressure wheel, etc., which is not a limitation of the present invention.
In this embodiment of the invention, the automatic control adjustment module 20 includes a controller 21, a lift cylinder 22, and a control reversing valve 23. The controller 21 is connected to the control reversing valve 23. The control switch valve 23 is connected to the lift cylinder 22. The pressure sensor 14 of the auxiliary monitoring module 10 is connected to the controller 21, wherein the connection may be wired or wireless, which is not a limitation of the present invention. It can be understood that, in operation, the rotary tillage device 200 of the automatic rotary cultivator 1 monitors the change of the tilling height through the monitor 11, and when the tilling height changes, hydraulic oil flows between the monitoring cylinder 12 and the hydraulic oil storage accumulator 13, so that the overall pressure of the auxiliary monitoring module 10 changes, the sensing signal is transmitted to the controller 21 of the automatic control adjusting module 20 through the pressure sensor 14, and an automatic lifting command is given to the control reversing valve 23 after the controller 21 of the automatic control adjusting module 20 compares the proper pressure set value a and the monitoring pressure value B, so that the rotary tillage device 200 is controlled to be lifted or lowered.
In this embodiment of the invention, the automatic control adjustment module 20 further includes an oil pump 24. The control reversing valve 23 is connected to the lift cylinder 22, the oil pump 24, and the controller 21, respectively. The lift cylinder 22 is connected to the rotary tillage device 200. It will be appreciated that the monitor 11 senses the ground pressure and converts the monitored pressure value B into the pressure signal via the pressure sensor 14 and communicates it to the controller 21 of the automatic control adjustment module 20. After the controller 21 of the automatic control and adjustment module 20 receives the pressure signal, the control reversing valve 23 is controlled to make the lifting cylinder 22 perform telescopic action, so as to realize the lifting and lowering of the whole rotary tillage device 200.
It should be noted that the control reversing valve 23 is implemented as an electromagnetic reversing valve, and includes a body 231, a sliding shaft 232, and a plurality of valve ports 2311. The slide shaft 232 moves in the body 231 to open and close the different valve ports 2311. Further, four ports 2311 are implemented in the present embodiment, which are defined as a first port P, a second port a, a third port B, and a fourth port T, respectively, for convenience of explanation. When the sliding shaft 232 moves in the body 231, the corresponding valve ports 2311 are conducted or closed, so as to further control the lifting cylinder 22 to actuate. In addition, the controller 21 of the automatic control adjustment module 20 controls the hydraulic oil of the oil pump 24 to be input to the control directional valve 23. It should be noted that the control reversing valve 23 further has a first coil YV01 and a second coil YV02. The controller 21 is connected to the first coil YV01 and the second coil YV02, respectively, to input an electrical signal to the first coil YV01 or the second coil YV02. It should be noted that the automatic lifting instruction is the electrical signal.
Further, the automatic rotary tillage adjusting system 100 is composed of at least one auxiliary monitoring module 10 and an automatic control adjusting module 20, wherein the auxiliary monitoring module 10 is composed of the monitor 11, the monitoring cylinder 12, the hydraulic oil storage accumulator 13, and the pressure sensor 14. The automatic control and regulation module 20 is composed of the controller 21, the lifting oil cylinder 22 and the control reversing valve 23. Then, the auxiliary monitoring module 10 monitors the pressure value between the monitoring cylinder 12 and the hydraulic oil storage accumulator 13, and the pressure sensor 14 feeds back the pressure signal to the controller 21, wherein the controller 21 compares the monitored pressure value B with the suitable pressure set value a to determine the tilling depth, then the controller 21 sends the automatic lifting instruction to the control reversing valve 23, and the control reversing valve 23 moves the sliding shaft 232 after receiving the instruction to form an oil path to control the expansion and contraction of the lifting cylinder 22, so as to adjust the position of the rotary tillage device 200, so that the tilling depth effect reaches the optimal state.
In particular, in normal operation of the rotary tillage apparatus 200, when the tilling depth increases due to environmental influences, the monitor 11 of the auxiliary monitoring module 10 compresses the monitoring cylinder 12, the monitoring cylinder 12 is retracted, then the pressure sensor 14 detects that the monitored pressure value B between the monitoring cylinder 12 and the hydraulic oil storage accumulator 13 is greater than the appropriate pressure set value a, that is, generates a rising pressure signal and transmits the rising pressure signal to the controller 21, the controller 21 issues the automatic rising and falling command to the control reversing valve 23 of the automatic control and regulation module 20, and after YV02 is powered on, the lifting cylinder 22 is extended, the rotary tillage apparatus 200 is integrally raised and adjusted to the monitored pressure value equivalent to the appropriate pressure set value a, so that the tilling depth reaches an ideal state.
In particular, in the normal operation of the rotary tillage apparatus 200, when the tilling depth is reduced due to environmental influence, the monitor 11 of the auxiliary monitoring module 10 is extended and the monitoring cylinder 12 is extended, the pressure sensor 14 detects that the monitored pressure value B between the monitoring cylinder 12 and the hydraulic oil storage and accumulator 13 is smaller than the proper pressure set value a, that is, a lowering pressure signal is generated and transmitted to the controller 21, the controller 21 issues the automatic raising and lowering command to the control reversing valve 23 of the automatic control and regulation module 20, so that after YV01 is powered on, the lifting cylinder 22 is retracted, the rotary tillage apparatus 200 is lowered as a whole and is regulated to the monitored pressure value equal to the proper pressure set value a, so that the tilling depth reaches the ideal state.
It should be noted that, the value of the pressure sensor 14 is monitored in real time and compared with the appropriate pressure set value a, and the value is transmitted to the controller 21 for processing and the control of the opening and closing of the control reversing valve 23 is controlled by a concurrent signal, so as to control the lifting of the lifting oil cylinder 22, thereby adjusting the cultivation depth of the rotary cultivation device 200, avoiding the need of real-time adjustment of operators, reducing the operation intensity and operation skill of the operators, and realizing unmanned operation.
Further, before the automatic rotary cultivator 1 works, the monitor 11 of the auxiliary monitoring module 10 is contacted with the ground or muddy water surface, and the monitor 11 is adjusted to a proper height, so that the rotary cultivator device 200 is at a proper working height during the working. At the same time, the appropriate pressure set point a is set by the pressure regulating valve 15.
When the automatic rotary cultivator 1 works, the monitor 11 synchronously lifts and compresses the monitoring oil cylinder 12 when the cultivation depth is increased, wherein the hydraulic oil in the monitoring oil cylinder 12 flows to the hydraulic oil storage accumulator 13. And, when the pressure in the auxiliary monitoring module 10 as a whole rises to a rising pressure value Y, the pressure sensor 14 transmits the rising pressure signal to the controller 21 of the automatic control adjustment module 20, and then the controller 21 controls the valve block of the control reversing valve 23 to move so as to form a circuit for supplying oil to the lifting cylinder 22. At this time, the lifting cylinder 22 is extended and the rotary tillage device 200 is lifted. After the rotary tillage device 200 is lifted, the pressure of the monitoring cylinder 12 is reduced, the hydraulic oil in the hydraulic oil storage accumulator 13 is returned to the monitoring cylinder 12, when the pressure of the auxiliary monitoring module 10 is reduced to the proper pressure set value A, the pressure sensor 14 transmits a proper signal to the controller 21 of the automatic control and regulation module 20, and then the controller 21 controls the control reversing valve 23 to stop acting, so that the lifting cylinder 22 stops extending, and the rotary tillage device 200 stays at a proper working height.
When the automatic rotary cultivator 1 works, the cultivation depth is reduced. The monitor 11 is lowered simultaneously and the monitoring cylinder 12 is extended, wherein the hydraulic oil in the hydraulic oil storage accumulator 13 flows toward the inflow monitoring cylinder 12. When the pressure in the auxiliary monitoring module 10 is reduced to a reduced pressure value Z, the pressure sensor 14 transmits a reduced pressure signal to the controller 21 of the automatic control and regulation module 20, and then the controller 21 controls the valve block of the control reversing valve 23 to move, so that a circuit for discharging oil to the lifting cylinder 22 is formed. At this time, the lift cylinder 22 is contracted, and the rotary tillage device 200 is lowered by gravity. After the rotary tillage device 200 descends, the pressure of the monitoring cylinder 12 rises, the hydraulic oil in the monitoring cylinder 12 flows to the hydraulic oil storage accumulator 13, when the pressure of the auxiliary monitoring module 10 rises to the proper pressure set value a, the pressure sensor 14 transmits the proper signal to the controller 21 of the automatic control adjusting module 20, and then the controller 21 controls the control reversing valve 23 to stop acting, so that the lifting cylinder 22 stops retracting, and the rotary tillage device 200 stays at the proper working height.
In this embodiment of the present invention, the automatic rotary cultivator 1 includes the rotary tillage automatic adjusting system 100, a rotary tillage device 200, a machine body 300, a central control device 400, a traveling device 500, and a driving device 600. The rotary tillage device 200 is mounted on the machine body 300. The walking device 500 is disposed at the bottom of the machine body 300. The driving device 600 is mounted to the body 300. In particular, the central control apparatus 400 is installed at the middle of the body 300 to facilitate operation. The rotary tillage automatic adjusting system 100, the rotary tillage device 200, the walking device 500 and the driving device 600 are respectively connected to the central control device 400. It should be noted that the central control device 400 is a central control system of the automatic rotary cultivator 1, and is used for integrally controlling various devices of the automatic rotary cultivator 1. In particular, the controller 21 of the automatic control and regulation module 20 of the rotary tillage automatic regulation system 100 may also be part of the central control device 400, which is not a limitation of the present invention. The driving device 600 is connected to the rotary tillage device 200, the traveling device 500 and the central control device 400, respectively, and supplies power thereto, and drives the respective components to perform corresponding operations under the control of the central control device 400. In particular, the driving device 600 may be implemented as a fuel, electric or hybrid driving, which is not a limitation of the present invention. The walking device 500 is used for driving the automatic rotary cultivator 1 to walk, wherein the walking device can be crawler walking, two-wheel walking or four-wheel walking. The rotary tillage automatic adjusting system 100 is used for automatically adjusting the height of the rotary tillage device 200 of the automatic rotary cultivator 1.
In addition, the invention also provides a rotary tillage automatic adjusting method of the automatic rotary cultivator. The rotary tillage automatic adjustment method of the automatic rotary cultivator comprises the following steps:
(A) Setting a proper pressure set value A;
(B) Monitoring a monitoring pressure value B;
(C) Comparing said monitored pressure value B with said suitable pressure set point a; and
(D) Automatically regulate and control the lifting of the rotary tillage device 200.
According to step (a), the suitable pressure set point a is set by a pressure regulating valve 15.
According to step (B), a change in the tilling height is detected by a monitor 11, a hydraulic oil is caused to flow between a monitoring cylinder 12 and a hydraulic oil storage accumulator 13, and a pressure sensor 14 monitors the monitored pressure value B.
According to step (B), the pressure sensor 14 converts the monitored pressure value B into a pressure signal and transmits it to an automatic control and regulation module 20.
According to step (C), a controller 21 compares the appropriate pressure set point a with the monitored pressure value B and issues an automatic up-down command to a control reversing valve 23.
According to step (D), a lift cylinder 22 is telescopically actuated to thereby raise and lower the rotary tillage apparatus 200 as a whole.
According to step (D), the monitored pressure value B is greater than the suitable pressure set point a and the rotary tillage device 200 is raised as a whole.
According to step (D), the monitored pressure value B is less than the suitable pressure set point a and the rotary tillage device 200 is lowered as a whole.
In addition, the invention also provides a rotary tillage automatic adjusting method of the automatic rotary cultivator. The rotary tillage automatic adjustment method of the automatic rotary cultivator comprises the following steps:
(a) Adjusting a monitor 11 to a proper height, setting a proper pressure setting A and transmitting to an automatic control and regulation module 20;
(b) When the rotary tillage device 200 is activated, an auxiliary monitoring module 10 monitors a monitoring pressure value B and transmits the monitoring pressure value B to the automatic control and regulation module 20;
(c) A controller 21 compares the monitored pressure value B with the appropriate pressure set point a;
(d) The controller 21 gives an automatic lifting instruction to a control reversing valve 23; and
(E) A lift cylinder 22 is telescopic to control the rotary tillage device 200 to ascend or descend.
According to step (a), the overall pressure of the auxiliary monitoring module 10 is set to a suitable pressure set point a.
According to step (B), when the monitor 11 detects an increase in the tilling depth, the pressure of the monitored pressure value B increases to an ascending pressure value Y. According to step (c), the rising pressure value Y is greater than the suitable pressure set point a. According to step (d), an ascending pressure signal of the automatic ascending and descending command is transmitted to the control directional valve 23. According to step (e), the lift cylinder 22 is extended and the rotary tillage device 200 is raised as a whole.
According to step (b), when the monitor 11 detects an increase in the tilling depth, the monitor 11 lifts and compresses a monitor cylinder 12, wherein hydraulic oil in the monitor cylinder 12 flows to a hydraulic oil storage accumulator 13, and a pressure sensor 14 transmits an ascending pressure signal to a controller 21 of the automatic control adjustment module 20.
According to step (d), the controller 21 controls the control switching valve 23 to form a circuit for supplying oil to a lift cylinder 22. At this time, the lifting cylinder 22 is extended and the rotary tillage device 200 is lifted.
According to the above method, after the rotary tillage device 200 is lifted, the pressure of the monitoring cylinder 12 is reduced, the hydraulic oil in the hydraulic oil storage accumulator 13 is returned to the monitoring cylinder 12, when the pressure of the auxiliary monitoring module 10 is reduced to the proper pressure set value a, the pressure sensor 14 transmits a proper signal to the controller 21 of the automatic control and regulation module 20, the controller 21 controls the control reversing valve 23 to stop acting, the lifting cylinder 22 stops extending, and the rotary tillage device 200 stays at a proper working height.
According to step (B), when the monitor 11 monitors a reduction in tilling depth, the pressure of the monitored pressure value B drops to a drop pressure value Z. According to step (c), the reduced pressure value Z is smaller than the suitable pressure set point a. According to step (d), a falling pressure signal of the automatic up-down command is transmitted to the control directional valve 23. According to step (e), the lift cylinder 22 is contracted and the rotary tillage device 200 is entirely lowered.
According to step (b), when the monitor 11 detects a decrease in the tilling depth, the monitor 11 descends and extends the monitoring cylinder 12, the hydraulic oil in the hydraulic oil storage reservoir 13 flows toward the inflow monitoring cylinder 12, and the pressure sensor 14 transmits a descending signal to the controller 21 of the automatic control adjustment module 20.
According to step (d), the controller 21 controls the control switching valve 23 so that a circuit for discharging oil to the lift cylinder 22 is formed. At this time, the lift cylinder 22 is contracted, and the rotary tillage device 200 is lowered by gravity.
According to the above method, after the rotary tillage device 200 descends, the pressure of the monitoring cylinder 12 rises, the hydraulic oil in the monitoring cylinder 12 flows to the hydraulic oil storage accumulator 13, when the pressure of the auxiliary monitoring module 10 wholly rises to the proper pressure set value a, the pressure sensor 14 transmits the proper signal to the controller 21 of the automatic control and regulation module 20, the controller 21 controls the control reversing valve 23 to stop acting, so that the lifting cylinder 22 stops retracting, and the rotary tillage device 200 stays at the proper working height.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are by way of example only and are not limiting.
The objects of the present invention have been fully and effectively achieved. The functional and structural principles of the present invention have been shown and described in the examples and embodiments of the invention may be modified or practiced without departing from the principles described.
Claims (21)
1. An automatic rotary tillage adjusting method of an automatic rotary cultivator, which is applied to an automatic rotary tillage adjusting system, is characterized by comprising the following steps:
(A) Setting a proper pressure setting value;
(B) Detecting a change in tilling depth by a monitor, flowing a hydraulic oil between a monitoring cylinder and a hydraulic oil storage accumulator according to the change in tilling depth to change a monitored pressure value between the monitoring cylinder and the hydraulic oil storage accumulator, the monitored pressure value being monitored by a pressure sensor connected to the hydraulic oil storage accumulator;
(C) Comparing, by a controller, the monitored pressure value with the appropriate pressure set point; and
(D) Automatically regulating and controlling the lifting of a rotary tillage device of the automatic rotary cultivator according to the comparison result;
after the rotary tillage device is lifted, the monitor connected with the rotary tillage device is driven to expand the monitoring oil cylinder, the pressure of the monitoring oil cylinder is reduced, and hydraulic oil in the hydraulic oil storage energy accumulator which is not driven returns to the monitoring oil cylinder; after the rotary tillage device descends, a monitor connected with the rotary tillage device is driven to compress the monitoring oil cylinder, the pressure of the monitoring oil cylinder is increased, and hydraulic oil in the monitoring oil cylinder flows to the hydraulic oil storage energy accumulator which is not driven, so that the monitoring pressure value between the monitoring oil cylinder and the hydraulic oil storage energy accumulator is changed;
(E) The pressure sensor monitors the monitored pressure value again;
(F) The controller compares the monitored pressure value with the appropriate pressure set point; and
(G) And automatically passing through a coil of a control reversing valve according to the comparison result, sending an automatic lifting instruction to the control reversing valve, and stopping the rotary tillage device to a proper working height by the control reversing valve according to the automatic lifting instruction.
2. The rotary tillage automatic adjustment method according to claim 1, wherein the proper pressure setting value is set by a pressure adjustment valve according to step (a).
3. The rotary tillage automatic adjustment method of claim 1, wherein according to step (B), the pressure sensor converts the monitored pressure value into a pressure signal and transmits the pressure signal to an automatic control adjustment module.
4. The automatic rotary tillage adjustment method according to claim 1, wherein according to step (D), a lift cylinder is telescopically actuated, thereby achieving the lifting or lowering of the rotary tillage apparatus as a whole.
5. The rotary tillage automatic adjustment method according to claim 1, wherein according to step (D), the monitored pressure value is greater than the suitable pressure set point, and the rotary tillage device is raised as a whole.
6. The rotary tillage automatic adjustment method according to claim 1, wherein according to step (D), the monitored pressure value is smaller than the proper pressure set value, and the rotary tillage device is lowered as a whole.
7. An automatic rotary tillage adjusting method of an automatic rotary cultivator, which is applied to an automatic rotary tillage adjusting system, is characterized by comprising the following steps:
(a) Adjusting a monitor to a proper height, setting a proper pressure setting value and transmitting the pressure setting value to an automatic control and regulation module;
(b) When the rotary tillage device of the automatic rotary cultivator is operated, and the monitor monitors the change of the tillage depth, the monitor enables hydraulic oil between the monitoring oil cylinder and the hydraulic oil storage energy accumulator to flow according to the change of the tillage depth so as to enable the monitoring pressure value between the monitoring oil cylinder and the hydraulic oil storage energy accumulator to change;
a pressure sensor connected to the hydraulic oil storage accumulator monitors the monitored pressure value and transmits the monitored pressure value to the automatic control and regulation module;
(c) A controller compares the monitored pressure value with the appropriate pressure set point;
(d) The controller gives an automatic lifting instruction to a control reversing valve; and
(E) A lifting oil cylinder stretches and contracts to control the rotary tillage device to ascend or descend;
after the rotary tillage device is lifted, the monitor connected with the rotary tillage device is driven to expand the monitoring oil cylinder, the pressure of the monitoring oil cylinder is reduced, and hydraulic oil in the hydraulic oil storage energy accumulator which is not driven returns to the monitoring oil cylinder; after the rotary tillage device descends, a monitor connected with the rotary tillage device is driven to compress the monitoring oil cylinder, the pressure of the monitoring oil cylinder is increased, and hydraulic oil in the monitoring oil cylinder flows to the hydraulic oil storage energy accumulator which is not driven, so that the monitoring pressure value between the monitoring oil cylinder and the hydraulic oil storage energy accumulator is changed;
(f) The pressure sensor monitors the monitored pressure value again;
(g) The controller compares the monitored pressure value with the appropriate pressure set point; and
(H) And automatically passing through a coil of a control reversing valve according to the comparison result, sending an automatic lifting instruction to the control reversing valve, and stopping the rotary tillage device to a proper working height by the control reversing valve according to the automatic lifting instruction.
8. The automatic rotary tillage adjustment method according to claim 7, wherein when the monitor monitors that the tillage depth increases, the pressure of the monitored pressure value increases to an ascending pressure value, the ascending pressure value is larger than the proper pressure set value, an ascending pressure signal of the automatic lifting command is transmitted to the control reversing valve, the lifting oil cylinder is extended, and the rotary tillage device is integrally improved.
9. The automatic rotary tillage adjustment method according to claim 7, wherein according to step (b), when the monitor monitors an increase in tillage depth, the monitor lifts and compresses a monitor cylinder in which hydraulic oil flows to a hydraulic oil storage accumulator, and a pressure sensor transmits a rising pressure signal to a controller of the automatic control adjustment module.
10. The automatic rotary tillage adjustment method according to claim 7, wherein according to step (d), the controller controls the valve block of the control reversing valve to move to form a circuit for supplying oil to a lift cylinder, which is extended and lifts the rotary tillage device.
11. The automatic rotary tillage adjustment method according to claim 10, wherein after the rotary tillage device is lifted, the pressure of the monitoring oil cylinder is reduced, the hydraulic oil in the hydraulic oil storage energy accumulator is returned to the monitoring oil cylinder, when the overall pressure is reduced to the proper pressure set value, the pressure sensor transmits a proper signal to the controller of the automatic control adjustment module, the controller controls the control reversing valve to stop acting, the lifting oil cylinder stops extending, and the rotary tillage device stays at a proper working height.
12. The automatic rotary tillage adjustment method according to claim 7, wherein when the monitor monitors that the tilling depth is reduced, the pressure of the monitored pressure value is reduced to a reduced pressure value, the reduced pressure value is smaller than the proper pressure set value, a reduced pressure signal of the automatic lifting command is transmitted to the control reversing valve, the lifting oil cylinder is contracted, and the rotary tillage device is wholly lowered.
13. The rotary tillage automatic adjustment method according to claim 7, wherein according to step (b), when the monitor monitors a decrease in tillage depth, the monitor descends and extends the monitoring cylinder, hydraulic oil in the hydraulic oil storage accumulator flows into the monitoring cylinder, and the pressure sensor transmits a descending signal to the controller of the automatic control adjustment module.
14. The automatic rotary tillage adjustment method according to claim 7, wherein according to step (d), the controller controls the valve block of the control reversing valve to move to form a circuit for discharging oil to the lift cylinder, the lift cylinder is contracted, and the rotary tillage device is lowered by gravity.
15. The automatic rotary tillage adjustment method according to claim 14, wherein after the rotary tillage device descends, the pressure of the monitoring oil cylinder rises, hydraulic oil in the monitoring oil cylinder flows to the hydraulic oil storage energy accumulator, when the overall pressure rises to the proper pressure set value, the pressure sensor transmits a proper signal to the controller of the automatic control adjustment module, the controller controls the control reversing valve to stop acting, so that the lifting oil cylinder stops retracting, and the rotary tillage device stays at a proper working height.
16. An automatic rotary tillage adjustment system suitable for an automatic rotary cultivator, which is characterized by comprising:
the auxiliary monitoring module comprises a monitor, a monitoring oil cylinder, a hydraulic oil storage accumulator and a pressure sensor connected with the hydraulic oil storage accumulator; the monitor is used for monitoring the change of the tilling depth of a rotary tillage device of the automatic rotary cultivator, and enabling hydraulic oil to flow between the monitoring oil cylinder and the hydraulic oil storage energy accumulator according to the change of the tilling depth so as to change the monitoring pressure value between the monitoring oil cylinder and the hydraulic oil storage energy accumulator, and the pressure sensor is used for generating a pressure signal according to the monitoring pressure value; and
The automatic control and regulation module comprises a controller, and the controller receives the pressure signal and automatically controls the rotary tillage device to ascend or descend;
after the rotary tillage device is lifted, the monitor connected with the rotary tillage device is driven to expand the monitoring oil cylinder, the pressure of the monitoring oil cylinder is reduced, and hydraulic oil in the hydraulic oil storage energy accumulator which is not driven returns to the monitoring oil cylinder; after the rotary tillage device descends, a monitor connected with the rotary tillage device is driven to compress the monitoring oil cylinder, the pressure of the monitoring oil cylinder is increased, and hydraulic oil in the monitoring oil cylinder flows to the hydraulic oil storage energy accumulator which is not driven, so that the monitoring pressure value between the monitoring oil cylinder and the hydraulic oil storage energy accumulator is changed;
the pressure sensor monitors the monitored pressure value again;
The controller compares the monitored pressure value with a suitable pressure set point; and
And automatically passing through a coil of a control reversing valve according to the comparison result, sending an automatic lifting instruction to the control reversing valve, and stopping the rotary tillage device to a proper working height by the control reversing valve according to the automatic lifting instruction.
17. The rotary tillage automatic adjustment system of claim 16, the monitor being connected to the monitoring cylinder, the monitoring cylinder being connected to the hydraulic oil storage accumulator, the pressure sensor being connected to the hydraulic oil storage accumulator.
18. The rotary tillage automatic adjustment system of claim 17, wherein the auxiliary monitoring module further comprises a pressure adjustment valve coupled to the hydraulic oil storage accumulator and the pressure sensor for setting a suitable pressure setting.
19. The rotary tillage automatic adjustment system of claim 18, wherein the automatic control adjustment module comprises a lift cylinder, and a control reversing valve, wherein the pressure sensor is coupled to the controller.
20. The rotary tillage automatic adjustment system of claim 19, wherein the automatic control adjustment module further comprises an oil pump, wherein the control reversing valve is connected to the lift cylinder, the oil pump, and the controller, respectively.
21. The rotary tillage automatic adjustment system of claim 20, wherein the monitor is selected from the group consisting of a rolling wheel, a floating plate, a traveling wheel, and a pressure wheel.
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| CN201910280793.XA CN110199592B (en) | 2019-04-09 | 2019-04-09 | Automatic rotary tillage adjusting system and method thereof |
| PCT/CN2019/106972 WO2020206938A1 (en) | 2019-04-09 | 2019-09-20 | Rotary tillage automatic adjustment system and method therefor |
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| WO2020206938A1 (en) * | 2019-04-09 | 2020-10-15 | 丰疆智能科技股份有限公司 | Rotary tillage automatic adjustment system and method therefor |
| CN110800395A (en) * | 2019-11-12 | 2020-02-18 | 王建策 | Intelligent control straw returning plough |
| CN112460082A (en) * | 2020-04-23 | 2021-03-09 | 丰疆智能科技股份有限公司 | Electric control hydraulic system and automatic adjusting method thereof |
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