Subsoiler and real-time control system and control method of subsoiling penetrating angle thereof

Abstract

The invention discloses a subsoiler, which comprises a plurality of groups of subsoiler operation units, wherein each group of subsoiler operation unit comprises a hydraulic cylinder and a bionic claw-finger mechanism, and the hydraulic cylinder is hinged to the bionic claw-finger mechanism. The invention also discloses a real-time control system of a subsoiling penetrating angle. The real-time control system of the subsoiling penetrating angle comprises a main controller, a touch screen display, a plurality of controller units, and a plurality of sensor groups. The touch screen display and the main controller are connected by a circuit, and the plurality of controller units are respectively connected with the main controller through the circuit; each controller unit is connected with a corresponding group of sensors, and the sensor groups are arranged on the subsoiler operation units, and comprises a three-position four-way electromagnetic proportional reversing valve, a shaft pin sensor, a subsoiling shovel shaft angle sensor and ultrasonic sensors; the three-position four-way electromagnetic proportional reversing valve is connected with a hydraulic cylinder oil circuit, and theshaft pin sensor is placed at the hinge joint of a hydraulic cylinder and a four-bar mechanism; the subsoiling shovel shaft angle sensor is fixedly arranged on a subsoiling shovel shaft, and the ultrasonic sensors are fixedly arranged at both sides of the subsoiling shovel shaft angle sensor.

Description

technical field [0001] The invention relates to the technical field of agricultural machinery, in particular to a real-time control system and method for a subsoiling angle of a bionic finger and claw mechanism, belonging to the field of soil subsoiling and farming. Background technique [0002] Soil subsoiling is the key technology of mechanized conservation tillage. It can break the bottom layer of the plow, improve the soil solid-liquid-gas ratio, enhance the soil water storage capacity, promote the development of plant roots, and achieve the purpose of increasing production and income. The penetration performance of the subsoiler is an important indicator of the performance of the subsoiler. The entry angle of most subsoilers on the market is fixed, even if it is variable, the range of variation is small. The working conditions of soil subsoiling are complex, and the specific resistance of soil cultivation in different plots is quite different, and the specific resistan...

AI Technical Summary

Problems solved by technology

In addition, most of the subsoilers on the market are integrated, that is, the subsoiler is rigidly connected with the subsoiler. When this subsoiler is operating, when the resistance of a single subsoiler increases, it will affect the overall operation effect and efficiency. , so it is necessary to realize that each subsoiling shovel can self-adjust the size of the subsoiling angle according to the operation resistance during the subsoiling operation

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