Automatic profiling obstacle surmounting device for agricultural machinery and obstacle surmounting method thereof

Abstract

The invention discloses an automatic profiling obstacle-crossing device for agricultural machinery and an obstacle-crossing method thereof, comprising: a pull rod mechanism, a depth-limiting mechanism, a hydraulic station, a hydraulic oil cylinder, a torque sensor, a speed sensor and a single-chip computer. The automatic profiling obstacle-crossing device for agricultural machinery disclosed by the invention is powered by a hydraulic mechanism. When the torque sensor detects that the torque in the gearbox of the agricultural machinery increases or the speed sensor detects that the speed of the rotary tiller shaft of the agricultural machinery decreases, the torque sensor and the speed sensor transmit signals to the single-chip computer, and the single-chip computer controls the hydraulic station, and the hydraulic station controls the hydraulic oil cylinder to extend forward, the depth-limiting mechanism to descend, and the entire agricultural machinery is lifted to realize the obstacle-crossing function; when the torque and speed return to normal, the hydraulic oil cylinder is controlled to retract through the single-chip computer and the hydraulic station, the depth-limiting wheel rises, the agricultural machinery descends, and normal operation is resumed.

Description

Technical Field

[0001] The invention relates to the technical field of supporting facilities for agricultural machinery, and more particularly to an automatic profiling obstacle surmounting device for agricultural machinery and an obstacle surmounting method thereof. Background Art

[0002] Agricultural machinery refers to a general term for various mechanical equipment used in agricultural production, such as: large and small tractors, land leveling machinery, tillage plows, cultivators, micro-tillage machines, rice transplanters, seeders, threshers, pumps, combine harvesters, roller blinds, thermal felts and other equipment.

[0003] However, when the agricultural machinery in the prior art is working in the field, when the rotary tiller shaft encounters hard debris, the rotation speed is reduced and it cannot smoothly pass the obstacle, which seriously affects the working efficiency.

[0004] Therefore, how to provide an automatic contour-profiling obstacle-crossing device for agricultural machinery and an obstacle-crossing method thereof is a problem that those skilled in the art urgently need to solve. Summary of the invention

[0005] In view of this, the present invention provides a contour-profiling obstacle-crossing device for agricultural machinery, which can solve at least one of the above-mentioned technical problems.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] An automatic contour-profiling obstacle-crossing device for agricultural machinery is installed on an agricultural machinery frame, and a gearbox is installed on the top of the agricultural machinery frame, including: a pull rod mechanism, a depth-limiting mechanism, a hydraulic mechanism and an automatic control mechanism; the depth-limiting mechanism is divided into two groups, which are symmetrically installed on the front end cross beam of the agricultural machinery; and each group includes a depth-limiting bottom plate, a depth-limiting mounting plate, a support rod, an upper pull plate, a lower pull plate and a depth-limiting wheel, the depth-limiting bottom plate is vertically fixedly installed on the front end cross beam of the agricultural machinery, and the depth-limiting mounting plate is horizontally fixed on the depth-limiting bottom plate; one end of the lower pull plate is rotatably connected to the depth-limiting mounting plate, and the other end is fixedly connected to the support rod; the bottom end of the support rod is rotatably connected to the depth-limiting wheel, and the upper pull plate is fixedly installed on the side opposite to the lower pull plate near the top position; the pull rod mechanism includes A pull rod and a pull rod side plate, the pull rod side plates are fixedly installed on the sides of both ends of the pull rod, and the pull rod side plates are rotatably connected to the upper pull plates at corresponding positions; the hydraulic mechanism includes a hydraulic station, a hydraulic cylinder and a hydraulic oil pipe, the hydraulic station is fixedly installed on the top platform of the agricultural machinery frame; the two ends of the hydraulic oil cylinder are respectively rotatably connected to the agricultural machinery frame and the middle part of the pull rod; one end of the hydraulic oil pipe is connected to the hydraulic station, and the other end is connected to the hydraulic cylinder; the automatic control mechanism includes a single-chip microcomputer, a torque sensor and a speed sensor, the torque sensor is installed in the gearbox of the agricultural machinery, the speed sensor is installed on the rotary tiller shaft of the agricultural machinery, and the hydraulic station, the torque sensor and the speed sensor are all electrically connected to the single-chip microcomputer.

[0008] The automatic contour-profiling obstacle-crossing device for agricultural machinery disclosed in the present invention is powered by a hydraulic station. When the torque sensor detects that the torque in the gearbox increases or the speed sensor detects that the speed of the rotary tiller shaft decreases, the torque sensor and the speed sensor transmit signals to the single-chip microcomputer, and the single-chip microcomputer controls the hydraulic station. The hydraulic station controls the hydraulic cylinder to extend forward and the depth-limiting wheel to descend, so as to lift the entire agricultural machinery and implement to achieve the obstacle-crossing function. When the torque and speed return to normal, the hydraulic cylinder is controlled to retract through the single-chip microcomputer and the hydraulic station, the depth-limiting wheel rises, the agricultural machinery descends, and normal operation is resumed.

[0009] Preferably, it also includes a first limit plate and a second limit plate, the first limit plate is fixedly mounted on the bottom of the depth limiting mounting plate, the second limit plate is mounted on the bottom of the upper pull plate, and the end away from the support rod is longer than the end of the upper pull plate.

[0010] The beneficial effect of adopting the above technical solution is that the first limit plate ensures that the lower pull plate cannot continue to rotate after rotating to be parallel to the depth limit mounting plate; the second limit plate ensures that the pull rod side plate cannot continue to rotate after rotating to the depth limit position and being parallel to the upper pull plate.

[0011] Preferably, the hydraulic mechanism further comprises two hydraulic cylinder mounting seats, one is fixedly mounted on the agricultural machine frame, and the other is fixedly mounted on the middle portion of the pull rod; both ends of the hydraulic cylinder are rotatably connected to the two hydraulic cylinder mounting seats respectively.

[0012] The beneficial effect of adopting the above technical solution is that the hydraulic mechanism is fixed to the middle of the frame or the pull rod through the hydraulic cylinder mounting seat, and the structure is simple and stable.

[0013] Preferably, it can be installed on a field return machine, a seed drill or a rotary tiller.

[0014] The beneficial effect of adopting the above technical solution is that it can be used for various agricultural machinery and implements to achieve contour-based obstacle-crossing operations.

[0015] Preferably, the agricultural implement is connected to the tractor in a three-point manner via a tractor rear suspension and a tractor rear pull rod.

[0016] The beneficial effect of adopting the above technical solution is that the lifting and lowering of agricultural machinery can be controlled through a three-point connection.

[0017] Preferably, the tractor rear suspension is connected to the agricultural machinery frame through a mounting plate, and the mounting plate is provided with a long hole.

[0018] The beneficial effect of adopting the above technical solution is that the setting of the mounting plate and the long hole can ensure the free lifting and lowering of the agricultural machinery, and realize contour following in conjunction with the three-point suspension.

[0019] The present invention also discloses an automatic contour-matching obstacle-crossing method for agricultural machinery. The hydraulic station provides power. When the torque sensor detects that the torque in the gearbox increases or the speed sensor detects that the speed of the rotary tiller shaft of the agricultural machinery decreases, the torque sensor and the speed sensor transmit signals to the single-chip microcomputer. The single-chip microcomputer controls the hydraulic station. The hydraulic station controls the hydraulic cylinder to extend forward and the depth-limiting wheel to descend, thereby lifting the entire agricultural machinery and realizing the obstacle-crossing function. When the torque and speed return to normal, the single-chip microcomputer and the hydraulic station control the hydraulic cylinder to retract, the depth-limiting wheel to rise, the agricultural machinery to descend, and normal operation to resume. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0021] Figure 1 A schematic diagram of the structure provided by the present invention.

[0022] Figure 2 This is a schematic diagram of the connection between the hydraulic mechanism and the depth limiting mechanism provided by the present invention.

[0023] Figure 3 The front view provided by the present invention.

[0024] Figure 4 This is a schematic diagram of the connection with agricultural machinery provided by the present invention.

[0025] Figure 5 This is a schematic structural diagram of the depth limiting mounting plate and the depth limiting bottom plate provided by the present invention.

[0026] Figure 6 This is a schematic structural diagram of the pull rod provided by the present invention.

[0027] Wherein, each figure is marked as:

[0028] 1-agricultural machinery frame, 2-gearbox, 3-pull rod mechanism, 4-depth limiting mechanism, 5-hydraulic mechanism, 6-automatic control mechanism, 7-front end beam of agricultural machinery, 8-rotary tillage blade shaft of agricultural machinery, 9-first limit plate, 10-second limit plate, 11-tractor rear suspension, 12-tractor rear pull rod, 13-hook plate, 14-long hole, 31-pull rod, 32-pull rod side plate, 41-depth limiting bottom plate, 42-depth limiting mounting plate, 43-support rod, 44-upper pull plate, 45-lower pull plate, 46-depth limiting wheel, 51-hydraulic station, 52-hydraulic cylinder, 53-hydraulic cylinder mounting seat, 54-hydraulic oil pipe, 61-single chip microcomputer, 62-torque sensor, 63-speed sensor. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] The embodiment of the present invention discloses an automatic contour-profiling obstacle-crossing device for agricultural machinery, which is installed on an agricultural machinery frame 1. A gearbox 2 is installed on the top of the agricultural machinery frame 1. The device includes a pull rod mechanism 3, a depth-limiting mechanism 4, a hydraulic mechanism 5 and an automatic control mechanism 6.

[0031] Among them, the depth limiting mechanism 4 is divided into two groups, which are symmetrically installed on the front end beam 7 of the agricultural machinery; and each group of depth limiting mechanism 4 includes a depth limiting bottom plate 41, a depth limiting mounting plate 42, a support rod 43, an upper pull plate 44, a lower pull plate 45 and a depth limiting wheel 46; the depth limiting bottom plate 41 is vertically fixedly installed on the front end beam 7 of the agricultural machinery, and the depth limiting mounting plate 42 is horizontally fixed on the depth limiting bottom plate 41; one end of the lower pull plate 45 is rotatably connected to the depth limiting mounting plate 42, and the other end is fixedly connected to the support rod 43; the bottom end of the support rod 43 is rotatably connected to the depth limiting wheel 46, and the upper pull plate 44 is fixedly installed on the side opposite to the lower pull plate 45 near the top position; the pull rod mechanism 3 includes a pull rod 31 and a pull rod side plate 32, and the side surfaces of the two ends of the pull rod 31 are fixedly installed with pull rod side plates 32, and the pull rod side plates 32 are rotatably connected to the upper pull plates 44 at the corresponding positions.

[0032] The hydraulic mechanism 5 includes a hydraulic station 51, a hydraulic cylinder 52 and a hydraulic oil pipe 54. The hydraulic station 51 is fixedly mounted on the top platform of the agricultural machine frame 1; the two ends of the hydraulic cylinder 52 are rotatably connected to the agricultural machine frame 1 and the middle of the pull rod 31 respectively; one end of the hydraulic oil pipe 54 is connected to the hydraulic station 51, and the other end is connected to the hydraulic cylinder 52. It also includes two hydraulic cylinder mounting seats 53, one of which is fixedly mounted on the agricultural machine frame 1 and the other is fixedly mounted in the middle of the pull rod 31; the two ends of the hydraulic cylinder 52 are rotatably connected to the two hydraulic cylinder mounting seats 53 respectively.

[0033] The automatic control mechanism 6 includes a single-chip microcomputer 61, a torque sensor 62 and a speed sensor 63. The torque sensor 62 is installed in the agricultural machinery gearbox 2, and the speed sensor 63 is installed on the rotary tiller shaft 8 of the agricultural machinery. The hydraulic station 51, the torque sensor 62 and the speed sensor 63 are all electrically connected to the single-chip microcomputer 61.

[0034] It also includes a first limit plate 9 and a second limit plate 10 . The first limit plate 9 is fixedly mounted on the bottom of the depth limiting mounting plate 42 . The second limit plate 10 is mounted on the bottom of the upper pull plate 44 , and the end away from the support rod 43 is longer than the end of the upper pull plate 44 .

[0035] The automatic contour-profiling obstacle-crossing device for agricultural machinery disclosed in this embodiment can be installed on a field return machine, a seed drill or a rotary tiller.

[0036] The agricultural machine frame 1 is connected to the tractor in a three-point manner through two tractor rear suspensions 11 and a tractor rear tie rod 12 to control the lifting and lowering of the agricultural machine.

[0037] The rear tie rod 12 of the tractor is connected to the agricultural machine frame 1 through a mounting plate 13, and a long hole 14 is provided on the mounting plate 13 to ensure that the agricultural machine can be lifted and lowered freely and realize contouring by cooperating with three points.

[0038] The present invention also discloses a method for automatically contouring and overcoming obstacles for agricultural machinery, comprising the following steps: a hydraulic station 51 provides power, and when a torque sensor 62 detects that the torque in a gearbox 2 increases or a speed sensor 63 detects that the speed of a rotary tiller shaft 8 of the agricultural machinery decreases, the torque sensor 62 and the speed sensor 63 transmit signals to a single-chip computer 61, and the single-chip computer 61 controls the hydraulic station 51, and the hydraulic station 51 controls the hydraulic cylinder 52 to extend forward, and the depth limiting wheel 46 to descend, so as to lift the entire agricultural machinery and implement to realize the obstacle overcoming function; when the torque and speed return to normal, the hydraulic cylinder 52 is controlled to retract through the single-chip computer 61 and the hydraulic station 51, and the depth limiting wheel 46 is raised, and the agricultural machinery and implement descends, so as to resume normal operation.

[0039] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0040] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic contour-profiling obstacle-crossing device for agricultural machinery, mounted on an agricultural machinery frame (1), a gearbox (2) being mounted on the top of the agricultural machinery frame (1), characterized in that: include: A pull rod mechanism (3), a depth limiting mechanism (4), a hydraulic mechanism (5) and an automatic control mechanism (6); the depth limiting mechanism (4) is divided into two groups and symmetrically mounted on the front end cross beam (7) of the agricultural implement; and each group comprises a depth limiting bottom plate (41), a depth limiting mounting plate (42), a support rod (43), an upper pull plate (44), a lower pull plate (45) and a depth limiting wheel (46); the depth limiting bottom plate (41) is vertically fixedly mounted on the front end cross beam (7) of the agricultural implement, and the depth limiting mounting plate (42) is horizontally fixed on the depth limiting bottom plate (41); one end of the lower pull plate (45) is rotatably connected to the depth limiting mounting plate (42), and the other end is fixedly connected to the support rod (43); the bottom end of the support rod (43) is rotatably connected to the depth limiting wheel (46), and the upper pull plate (44) is fixedly mounted on the side opposite to the lower pull plate (45) near the top end; The pull rod mechanism (3) comprises a pull rod (31) and a pull rod side plate (32), the pull rod side plates (32) being fixedly mounted on the side surfaces at both ends of the pull rod (31), and the pull rod side plates (32) are rotatably connected to the upper pull plates (44) at corresponding positions; The hydraulic mechanism (5) comprises a hydraulic station (51), a hydraulic cylinder (52), and a hydraulic oil pipe (54); the hydraulic station (51) is fixedly mounted on the top platform of the agricultural machine frame (1); the two ends of the hydraulic cylinder (52) are rotatably connected to the agricultural machine frame (1) and the middle part of the pull rod (31), respectively; one end of the hydraulic oil pipe (54) is connected to the hydraulic station (51), and the other end is connected to the hydraulic cylinder (52); The automatic control mechanism (6) comprises a single-chip computer (61), a torque sensor (62) and a rotation speed sensor (63); the torque sensor (62) is installed in a gearbox (2) of the agricultural implement, the rotation speed sensor (63) is installed on a rotary tiller shaft (8) of the agricultural implement, and the hydraulic station (51), the torque sensor (62) and the rotation speed sensor (63) are all electrically connected to the single-chip computer (61); It also includes a first limit plate (9) and a second limit plate (10), wherein the first limit plate (9) is fixedly mounted on the bottom of the depth limiting mounting plate (42), and the second limit plate (10) is mounted on the bottom of the upper pull plate (44), and an end of the second limit plate (10) away from the support rod (43) is longer than an end of the upper pull plate (44); The agricultural machine frame (1) is connected to the tractor in a three-point manner via two tractor rear suspensions (11) and a tractor rear tie rod (12); The tractor rear pull rod (12) is connected to the agricultural machine frame (1) via a mounting plate (13), and the mounting plate (13) is provided with a long hole (14).

2. The automatic contour-profiling obstacle-crossing device for agricultural machinery according to claim 1, characterized in that: The hydraulic mechanism (5) further comprises two hydraulic cylinder mounting seats (53), one of which is fixedly mounted on the agricultural machine frame (1) and the other of which is fixedly mounted on the middle portion of the pull rod (31); both ends of the hydraulic cylinder (52) are rotatably connected to the two hydraulic cylinder mounting seats (53) respectively.

3. The automatic contour-profiling obstacle-crossing device for agricultural machinery according to claim 1, characterized in that: It can be installed on a tiller, a seed drill or a rotary tiller.

4. A method for automatically profiling and overcoming obstacles for agricultural machinery, characterized in that: The automatic contour-profiling obstacle-crossing device for agricultural machinery according to any one of claims 1 to 3 comprises the following steps: a hydraulic station (51) provides power, and when the torque sensor (62) detects that the torque in the gearbox (2) increases or the speed sensor (63) detects that the speed of the rotary tiller shaft (8) of the agricultural machinery decreases, the torque sensor (62) and the speed sensor (63) transmit signals to the single-chip computer (61), and the single-chip computer (61) controls the hydraulic station (51), and the hydraulic station (51) controls the hydraulic cylinder (52) to extend forward and the depth-limiting wheel (46) to descend, thereby lifting the entire agricultural machinery and realizing the obstacle-crossing function; when the torque and speed return to normal, the single-chip computer (61) and the hydraulic station (51) control the hydraulic cylinder (52) to retract, the depth-limiting wheel (46) to rise, the agricultural machinery to descend, and normal operation is resumed.

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