阅读说明：本技术 一种大型直播机组自动调平装置及其数据采集方法 (Automatic leveling device for large direct seeding unit and data acquisition method thereof ) 是由 杨进超 吴承隆 张诗雨 尹修杰 于 2021-04-13 设计创作，主要内容包括：本发明的一种大型直播机组自动调平装置包括电子控制单元：倾角传感器、带位移传感器的油缸总成、自动调平液压控制单元模块；电子控制单元面板上包含一个4档旋转开关,4档旋转开关4个位置分别：左提、停止、右提、自动平衡,2个参数设置旋钮,分别为：农具倾斜角度设置旋钮、灵敏度设定旋钮；所述倾角传感器安装于拖拉机底盘机体上；可以测量拖拉机的俯仰角度\俯仰角速度、横滚角度\横滚角速度。油缸活塞处于中间位置时,油缸的总长度和左侧(右侧)提升杆长度等长；本发明提出一种大型直播机组自动调平装置及其数据采集方法；使悬挂作业机组在作业过程中始终保持水平。(The invention discloses an automatic leveling device of a large direct seeding unit, which comprises an electronic control unit: the automatic leveling hydraulic control system comprises an inclination angle sensor, an oil cylinder assembly with a displacement sensor and an automatic leveling hydraulic control unit module; the electronic control unit panel comprises a 4-gear rotary switch, and the 4 positions of the 4-gear rotary switch are respectively as follows: carry on a left side, stop, carry on the right side, automatic balance, 2 parameter setting knobs are: a farm tool inclination angle setting knob and a sensitivity setting knob; the inclination angle sensor is arranged on the chassis body of the tractor; the pitching angle/pitching angle speed and the rolling angle/rolling angle speed of the tractor can be measured. When the oil cylinder piston is in the middle position, the total length of the oil cylinder is equal to the length of the left (right) lifting rod; the invention provides an automatic leveling device of a large direct seeding unit and a data acquisition method thereof; the suspension operation unit is kept horizontal all the time in the operation process.)

1. The utility model provides a large-scale live unit automatic levelling device which characterized in that: comprises an electronic control unit: the automatic leveling hydraulic control system comprises an inclination angle sensor, an oil cylinder assembly with a displacement sensor and an automatic leveling hydraulic control unit module;

the electronic control unit panel comprises a 4-gear rotary switch, and the 4 positions of the 4-gear rotary switch are respectively as follows: carry on a left side, stop, carry on the right side, automatic balance, 2 parameter setting knobs are: a farm tool inclination angle setting knob and a sensitivity setting knob;

the inclination angle sensor is arranged on the chassis body of the tractor; the pitching angle/pitching angle speed and the rolling angle/rolling angle speed of the tractor can be measured;

the oil cylinder assembly is provided with a displacement sensor which can detect the position information of an oil cylinder piston, the oil cylinder assembly is arranged at the position of the original right lifting rod or the position of the left lifting rod, the upper side of the oil cylinder assembly is hinged with the lifting arm, and the lower side of the oil cylinder assembly is hinged with the lower pull rod; when the oil cylinder piston is in the middle position, the total length of the oil cylinder is equal to the length of the left lifting rod or the right lifting rod.

2. The automatic leveling device of the large direct seeding unit according to claim 1, characterized in that: the automatic leveling hydraulic control unit receives a signal of a PWM output module of the electronic control unit.

3. The data acquisition method for the automatic leveling device of the large direct seeding unit as claimed in claim 1, characterized in that: controlling means gathers tractor chassis's inclination sensor data on the one hand, and this inclination sensor installs on tractor chassis organism but not agricultural implement, mainly used real-time detection tractor chassis and the contained angle between the horizontal plane, aim at: eliminating the self-vibration influence of the operation unit caused by the gap of the three-point suspension rod piece to obtain the left-right shaking angle of the operation unit caused by the uneven left and right ground, and replacing the angle between the suspension unit and the horizontal plane by the angle through data processing by taking the horizontal 0 degree as a reference;

on the other hand, the oil cylinder assembly is additionally provided with a displacement sensor, the sensor can detect the position information of an oil cylinder piston, the oil cylinder assembly is arranged at the position of the original right lifting rod, the displacement sensor is used for measuring the position information of the oil cylinder piston, the output compensation angle of the automatic leveling control device of the tractor suspension operation unit can be obtained after data processing, and a closed loop is formed by the output compensation angle and the inclination angle sensor data of the tractor chassis.

Technical Field

The invention belongs to the technical field of agricultural machinery, and particularly relates to an automatic leveling device of a large-scale rice seeding unit and a data acquisition method for the leveling device.

Background

At present, the rice production mostly adopts machine transplanting, and the basic requirements of the rice production are as follows: leveling paddy fields, which are generally leveled by using a beater. In addition, due to the fact that the height of the hard land under the paddy field silt is uneven left and right or front and back, the whole operation unit can shake left and right in the operation process of the tractor; when the wide agricultural implement is shaken from side to side, one end of the wide agricultural implement is easy to be pricked into soil, so that loss is caused; therefore, the wide and efficient paddy field machine is required to be horizontal all the time, and a driver hardly ensures the horizontal working state of the suspension unit.

Disclosure of Invention

The invention aims to solve the technical problem of providing an automatic leveling device of a large direct seeding unit and a data acquisition method thereof aiming at a tractor suspension unit; the suspension operation unit is kept horizontal all the time in the operation process.

Above-mentioned large-scale live unit automatic levelling device includes wherein: an electronic control unit: the hydraulic control system comprises an inclination angle sensor, an oil cylinder assembly with a displacement sensor and an automatic leveling hydraulic control unit module.

The electronic control unit panel comprises a 4-gear rotary switch, and the 4 positions of the 4-gear rotary switch are respectively as follows: carry on a left side, stop, carry on the right side, automatic balance, 2 parameter setting knobs are: the farm tool inclination angle setting knob and the sensitivity setting knob.

The inclination angle sensor is arranged on the chassis body of the tractor; the pitching angle/pitching angle speed and the rolling angle/rolling angle speed of the tractor can be measured.

The oil cylinder assembly is additionally provided with a displacement sensor which can detect the position information of an oil cylinder piston, the oil cylinder assembly is arranged at the position of the original right lifting rod or the position of the left lifting rod, the upper side of the oil cylinder assembly is hinged with the lifting arm, and the lower side of the oil cylinder assembly is hinged with the lower pull rod. When the oil cylinder piston is in the middle position, the total length of the oil cylinder is equal to the length of the left (right) lifting rod.

The automatic leveling hydraulic control unit: and receiving a signal of a PWM output module of the electronic control unit.

In order to better achieve the aim, the invention also provides a set of data acquisition method for the automatic leveling of the tractor suspension operation unit.

By adopting the automatic leveling device for the large direct seeding unit, the automatic leveling function of the operation unit of the rice direct seeding machine is realized by acquiring the data of the inclination angle sensor on the tractor chassis and the data of the displacement sensor of the leveling cylinder assembly, processing the data by the electronic control unit and then controlling the leveling hydraulic control unit, and controlling the leveling cylinder by the leveling hydraulic control unit.

The tractor suspension operation unit is a set of data acquisition method for automatic leveling. The basic scheme is as follows:

controlling means gathers tractor chassis's inclination sensor data on the one hand, and this inclination sensor installs on tractor chassis organism but not agricultural implement, mainly used real-time detection tractor chassis and the contained angle between the horizontal plane, aim at: eliminating the self-vibration influence of the operation unit caused by the gap of the three-point suspension rod piece to obtain the left-right shaking angle of the operation unit caused by the uneven left and right ground, and replacing the angle between the suspension unit and the horizontal plane by the angle through data processing by taking the horizontal 0 degree as a reference;

on the other hand, the oil cylinder assembly is additionally provided with a displacement sensor, the sensor can detect the position information of an oil cylinder piston, the oil cylinder assembly is arranged at the position of the original right lifting rod, the displacement sensor is used for measuring the position information of the oil cylinder piston, the output compensation angle of the automatic leveling control device of the tractor suspension operation unit can be obtained after data processing, and a closed loop is formed by the output compensation angle and the inclination angle sensor data of the tractor chassis.

The invention provides an automatic leveling control device for a tractor suspension operation unit and a set of data acquisition method thereof.

By using the control device, the automatic balance of the tractor suspension unit is realized, the data acquisition method is simple and efficient, and the unevenness of the hard ground below the paddy field can be truly reflected.

The control device greatly improves the operating efficiency of paddy field production by combining an electro-hydraulic control technology, an automatic control technology and a high-precision sensor technology.

Drawings

FIG. 1 is a schematic view of an installation structure of components according to an embodiment of the present invention

FIG. 2 is a schematic diagram of hydraulic circuit connections according to an embodiment of the present invention

FIG. 3 is a schematic diagram of electrical connections according to an embodiment of the present invention.

Detailed Description

The invention will be described in detail with reference to the following drawings, which illustrate the principles of the invention:

example one

Referring to fig. 1, fig. 1 is a schematic view of an installation structure of an embodiment of the present invention,

the attached figure 1 shows that the automatic leveling device of the tractor suspension unit comprises: the hydraulic control unit is connected with the electronic control unit and the automatic leveling hydraulic control unit, and the oil cylinder assembly is provided with a displacement sensor, an electronic tilt angle sensor and the like. Wherein the electronic control unit is installed in the cab, the electronic tilt sensor is installed on the chassis body of the tractor body, the X/Y measuring axis of the sensor is required to be installed in parallel with the X/Y axis of the tractor body, and the electronic tilt sensor is required to be installed when the electronic tilt sensor is installed: the tractor is horizontally placed, the X/Y measuring shaft of the sensor is horizontally placed, and the long edge of the sensor is longitudinally consistent with that of the tractor.

FIG. 2 is a drawing, the automatic leveling hydraulic control unit is installed on the chassis body of the tractor, the oil inlet of the P port of the leveling valve group is connected with the oil outlet of the lift pump of the tractor, the T port is connected with the oil return port of the hydraulic oil tank of the tractor, the A port and the B port are connected with the oil port of the leveling oil cylinder, and the leveling oil cylinder replaces the position of the right lifting rod of the tractor; and the N port of the leveling valve group is connected with the P port of the lifting valve group.

Fig. 3 shows the electrical interface of the auto-leveling hydraulic control unit interfaced with the pwm output module of the electronic control unit. The inclination angle sensor and the oil cylinder displacement sensor are connected with the signal input module of the electronic control unit through the electrical interface.

The automatic control device of the large-scale rice direct seeding unit provided by the invention has the following functions:

the automatic leveling function of the suspension unit to be realized is set on the panel of the electronic control unit: the agricultural implement inclination angle setting device comprises a left lifting/stopping/right lifting/automatic 4-gear selection switch, an agricultural implement inclination angle setting knob, a sensitivity setting knob and a control switch, wherein the angle setting knob is selected from-30 degrees to 30 degrees, and the sensitivity setting knob is selected from 0 to 1. After the electronic control unit reads the signal, the output module outputs pwm to control the leveling cylinder to extend or retract, thereby realizing the leveling operation function of the manual control operation unit. When the tractor is in an automatic position, after the electronic control unit reads signals, the electronic control unit collects the data of an inclination angle sensor and the information of an oil cylinder displacement sensor which are arranged on a tractor body, and after the data are processed, a leveling output module of the control device outputs information in real time to control a leveling valve group so as to control the position of a leveling oil cylinder, thereby realizing the horizontal operation function of an operation unit.