A floating deep tillage, pulverizing and loosening machine

Abstract

The present invention provides a floating deep tillage crushing and loosening machine, which includes a powder loosening device, a hydraulic system and an electronic control system; the electronic control system can obtain the information of the powder loosening pressure, device pressure, forward pressure and backward pressure of the powder loosening device in real time, enabling the driver to better control the deep tillage crushing and loosening machine; the hydraulic system uses a unified drive module to drive and control different actuators, making the connection between the oil circuits simple and unified, and different actuators are controlled by the drive modules corresponding to themselves, so that the oil circuits between each actuator will not affect each other, thereby improving the working efficiency.

Description

Technical Field

[0001] The present invention relates to a subsoiling and pulverizing ridger, and particularly to a floating deep tillage and pulverizing cultivator. Background Art

[0002] Subsoiling and pulverizing ridging is to deeply till and pulverize the soil by using equipment. After ridging, the soil layer will not be disturbed. After ridging, the nutrients, moisture and oxygen in the soil can be expanded, and the production capacity can be improved. There are mainly two types of existing subsoiling machines. One is to drive the ridging head by a tractor, and the other is to drive the ridging head by a newly developed walking machine. This machine mainly includes a walking mechanism, a frame, a cab, a power system and a ridging device. There are two types of walking mechanisms for the above two types of subsoiling machines. One is a wheeled walking mechanism, and the other is a crawler-type walking mechanism with one crawler on each side.

[0003] For the wheeled walking mechanism, during the subsoiling process, due to the uneven ground and the cutting tools extending into the soil, the soil has a certain resistance to the cutting tools. In this way, the vibration of the whole equipment is large, and the damage to the equipment is large. In addition, the subsoiling depth of the cutting tools will change according to the bump of the equipment, resulting in inconsistent subsoiling depth; when the wheeled subsoiling machine is climbing and descending slopes, the cutting tools need to be lifted higher so as not to interfere with the soil. In addition, when the equipment moves to the top of the slope, the front wheels will enter the downhill surface first, while the rear wheels are still on the uphill surface. If the slope is too large, the top of the slope will hit the frame, causing the equipment to be unable to move forward.

[0004] In addition, when the existing deep tillage and pulverizing equipment is in the process of tillage operation, due to the uneven tightness and bottom surface of the soil, the deep tillage and pulverizing equipment cannot travel in a straight line as expected, the tillage path is curved and not straight, the planting area is reduced, and thus the tillage income is reduced. At the same time, the control oil circuit of the existing deep tillage and pulverizing equipment is complex; some oil circuits interfere with each other during operation; and the working efficiency is low. Summary of the Invention

[0005] The present invention provides a floating deep tillage and pulverizing cultivator. The electronic control system can obtain the information of the powder loosening pressure, device pressure, forward pressure and reverse pressure in real time, so that the driver can better control the deep tillage and pulverizing cultivator; the hydraulic system uses a unified drive module to drive and control different actuators, making the connection between the oil circuits simple and unified, and different actuators are controlled by the drive modules corresponding to themselves, so that the oil circuits between each actuator will not affect each other, thereby improving the working efficiency.

[0006] To achieve the above object, the technical solution of the present invention is: a floating deep tillage crushing and loosening machine, including a hydraulic system and an electric control system. The hydraulic system includes a driving module and an execution module. The driving module includes more than one execution driving module. The execution driving module is connected to an oil tank. The execution module includes a crushing and loosening execution module and a moving execution module. The crushing and loosening execution module includes a powder loosening motor oil circuit, a lifting cylinder oil circuit, a corner cylinder oil circuit, and a steering cylinder oil circuit. The lifting cylinder oil circuit, the corner cylinder oil circuit, and the steering cylinder oil circuit are connected to the oil tank through an oil cylinder hydraulic pump oil circuit.

[0007] The execution driving module includes a variable control oil circuit, a balance oil circuit, a control valve oil circuit, and an execution hydraulic pump oil circuit. The execution hydraulic pump oil circuit is connected to the oil tank. The execution hydraulic pump oil circuit is also connected to the balance oil circuit. The balance oil circuit is connected to the control valve oil circuit. The control valve oil circuit is also connected to the variable control oil circuit. The variable control oil circuit is connected to the powder loosening motor oil circuit.

[0008] The execution hydraulic pump oil circuit includes an execution hydraulic pump, an execution overflow valve, and a filter. One end of the execution hydraulic pump is connected to the oil tank. The other end of the execution hydraulic pump is connected to one end of the filter. An execution overflow valve is provided between the execution hydraulic pump and the filter. The execution overflow valve is connected to the oil tank. The other end of the filter is connected to the balance oil circuit.

[0009] The balance oil circuit includes a balance first spring-loaded one-way valve, a balance second spring-loaded one-way valve, a balance first pilot-operated overflow valve, a balance second pilot-operated overflow valve, a balance first overflow valve, a balance second overflow valve, a balance first one-way valve, a balance second one-way valve, a first stop valve, and a second stop valve. The other end of the filter is connected to one ends of the balance first spring-loaded one-way valve and the balance second spring-loaded one-way valve. The other end of the balance first spring-loaded one-way valve is connected to one end of the balance first pilot-operated overflow valve. The other end of the balance first pilot-operated overflow valve is connected to one end of the balance first overflow valve. The other end of the balance first overflow valve is connected to one end of the balance first one-way valve. The other end of the balance first one-way valve is connected to one end of the balance first overflow valve. The first stop valve is arranged in parallel with the balance first one-way valve. The other end of the balance second spring-loaded one-way valve is connected to one end of the balance second pilot-operated overflow valve. The other end of the balance second pilot-operated overflow valve is connected to one end of the balance second overflow valve. The other end of the balance second overflow valve is connected to one end of the balance second one-way valve. The other end of the balance second one-way valve is connected to one end of the balance second overflow valve. The second stop valve is arranged in parallel with the balance second one-way valve. The balance first pilot-operated overflow valve and the balance second pilot-operated overflow valve are connected to the control valve oil circuit.

[0010] The oil circuit of the control valve includes a control three-position five-way solenoid directional valve, a control three-position four-way solenoid directional valve, a control check valve, and a control throttle valve. The balance second pilot-operated relief valve is connected to the TP end of the control three-position five-way solenoid directional valve. The TA end of the control three-position five-way solenoid directional valve is connected to the UP end of the control three-position four-way solenoid directional valve. The UA end and the UT end of the control three-position four-way solenoid directional valve are connected to one end of the control check valve. The other end of the control check valve is connected to the balance oil circuit. The control throttle valve is arranged in parallel with the control check valve. The balance first pilot-operated relief valve is connected to the TB end of the control three-position five-way solenoid directional valve. The TT end of the control three-position five-way solenoid directional valve is connected to the fuel tank. The UB end of the control three-position four-way solenoid directional valve is connected to the TT end of the control three-position five-way solenoid directional valve. The control three-position five-way solenoid directional valve is also connected to the variable control oil circuit.

[0011] The variable control oil circuit includes a bidirectional variable pump and a variable piston cylinder. The TP end of the control three-position five-way solenoid directional valve is connected to one end of the variable piston cylinder. The TB end of the control three-position five-way solenoid directional valve is connected to the other end of the variable piston cylinder. The control end of the variable piston cylinder is connected to the control end of the bidirectional variable pump. The bidirectional variable pump is connected to the powder loosening motor oil circuit. The control end of the control three-position five-way solenoid directional valve is also connected to the control end of the variable piston cylinder.

[0012] The electronic control system includes a power supply module, a relay control module, a travel controller, a first engine controller, a second engine controller, a start safety module, a GPS module, a first control module, and a second control module. The power supply module is respectively connected to the relay control module and the second engine controller. The relay control module is connected to the first engine controller. The other end of the first engine controller is connected to the travel controller. The cab control module and the first control module are respectively connected to the travel controller. The start safety module is connected between the relay control module and the first engine controller. The travel controller is connected to the relay control module. The second control module and the GPS module are respectively connected to the relay control module.

[0013] The first control module includes a powder loosening device adjustment module, a forward and reverse control module for the powder loosening device, a brake valve, a high and low speed valve, a traveling module, a fuel level switch, a parking brake switch, a high and low speed switch, a pressure control system, a powder loosening speed encoder, a powder loosening handle, and a hand throttle; one end of the powder loosening device adjustment module is connected to the traveling controller, and the other end is grounded; one end of the forward and reverse control module for the powder loosening device is connected to the traveling controller, and the other end is grounded; one end of the brake valve is connected to the traveling controller, and the other end is grounded; one end of the high and low speed valve is connected to the traveling controller, and the other end is grounded; one end of the traveling module is connected to the traveling controller, and the other end is grounded; the signal output end of the fuel level switch is connected to the traveling controller, and the power supply end of the fuel level switch is connected to a relay; the signal output end of the parking brake is connected to the traveling controller, the power supply port of the parking brake is connected to a relay, the power supply port of the high and low speed switch is connected to a relay, and the high speed signal input port and the low speed signal output port of the high and low speed switch are respectively connected to the traveling controller; one end of the pressure control system is connected to a relay, and the other end is grounded, and the signal output end of the pressure control system is connected to the traveling controller; the power supply end of the powder loosening speed encoder is connected to the weak power interface of the traveling controller, and the signal output port of the powder loosening speed encoder is connected to the traveling controller; one end of the powder loosening handle is connected to a relay, the other end of the powder loosening handle is grounded, and the signal output end of the powder loosening handle is connected to the traveling controller; the power supply end of the hand throttle is connected to the weak power interface, and the signal output end of the hand throttle is connected to the traveling controller.

[0014] For the above hydraulic system, the execution module is driven by a unified drive module, so that the oil circuits of each execution element do not affect each other, thereby improving the working efficiency. During operation, the hydraulic oil circulates between the drive module and the execution module. When it is necessary to change the oil flow direction, controlling the bidirectional variable pump causes the hydraulic oil flowing through the drive module to flow in the reverse direction, thereby controlling the commutation of the entire oil circuit, and the operation is simple.

[0015] For the above electronic control system, the position of the powder loosening device can be controlled and adjusted through the powder loosening device adjustment module, which can accurately control the deep tillage and pulverizing soil loosener to perform better soil loosening operations, with more flexible control and good soil loosening effect; the forward and reverse rotation of each powder loosening tool on the powder loosening device can also be controlled through the cooperation of the forward and reverse control module of the powder loosening device and the powder loosening handle.

[0016] The forward and backward movement of the deep tillage and pulverizing soil loosener can also be independently controlled for forward or backward movement through the cooperation of the traveling module and the hand throttle; in addition, the driver can obtain information on the powder loosening pressure, device pressure, forward pressure, and backward pressure in real time, enabling the driver to better control the deep tillage and pulverizing soil loosener to perform soil loosening operations. Description of the Drawings

[0017] Figure 1 It is a schematic diagram of the hydraulic system in the present invention.

[0018] Figure 2 It is a schematic diagram of the actuator drive module of the hydraulic system in the present invention.

[0019] Figure 3 It is Figure 2 an enlarged view of location A in

[0020] Figure 4 It is Figure 2 an enlarged view of location B in

[0021] Figure 5 It is Figure 2 an enlarged view of location C in

[0022] Figure 6 It is a schematic diagram of the oil circuit of the oil cylinder hydraulic pump of the hydraulic system in the present invention.

[0023] Figure 7 It is a schematic diagram of the oil circuits of the lifting oil cylinder and the slewing oil cylinder of the hydraulic system in the present invention.

[0024] Figure 8 It is Figure 7 an enlarged view of location D in

[0025] Figure 9 It is Figure 6 an enlarged view of location E in

[0026] Figure 10 It is a schematic diagram of the oil circuit of the powder loosening motor of the hydraulic system in the present invention.

[0027] Figure 11 It is a schematic diagram of the mobile actuator module of the hydraulic system in the present invention.

[0028] Figure 12 It is Figure 11 an enlarged view of location F in

[0029] Figure 13 It is Figure 6 an enlarged view of location G in

[0030] Figure 14 It is a schematic diagram of the connection relationship of the electric control system in the present invention.

[0031] Figure 15 It is a schematic diagram of the connection relationship between the travel controller and the first control module of the electric control system in the present invention.

[0032] Figure 16 It is a schematic diagram of the connection relationship between the relay module and each module of the electric control system in the present invention.

[0033] Figure 17 It is a schematic diagram of the connection relationship between the second load resistor and the signal module of the electric control system in the present invention.

[0034] Figure 18 It is a schematic diagram of the connection relationship of the traveling module of the electric control system in the present invention.

[0035] Figure 19 It is a schematic diagram of the connection relationship of the pressure control system of the electric control system in the present invention.

[0036] Figure 20 It is a block diagram of the present invention. Detailed implementation manners

[0037] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0038] As Figure 1-20 shown; a floating deep tillage, crushing and soil loosening machine includes a hydraulic system and an electric control system; the hydraulic system includes a driving module 1y and an execution module 2y, the driving module 1y includes more than one execution driving module 10y, the execution driving module 10y is connected to an oil tank 0y, the execution module 2y includes a crushing and soil loosening execution module 4y and a moving execution module 22y, the crushing and soil loosening execution module 4y includes a powder loosening motor oil circuit 41y, a lifting oil cylinder oil circuit 42y, a corner oil cylinder oil circuit 43y and a steering oil cylinder oil circuit 44y, and the lifting oil cylinder oil circuit 42y, the corner oil cylinder oil circuit 43y and the steering oil cylinder oil circuit 44y are connected to the oil tank 0y through an oil cylinder hydraulic pump oil circuit 45y.

[0039] As Figure 2 shown, the execution driving module 10y includes a variable control oil circuit 101y, a balance oil circuit 102y, a control valve oil circuit 103y and an execution hydraulic pump oil circuit 104y, the execution hydraulic pump oil circuit 104y is connected to the oil tank 0y, the execution hydraulic pump oil circuit 104y is further connected to the balance oil circuit 102y, the balance oil circuit 102y is connected to the control valve oil circuit 103y, the control valve oil circuit 103y is further connected to the variable control oil circuit 101y, and the variable control oil circuit 101y is connected to the powder loosening motor oil circuit 41y.

[0040] As Figure 2 and Figure 5 shown, the execution hydraulic pump oil circuit 104y includes an execution hydraulic pump 1041y, an execution overflow valve 1042y and a filter 1043y, one end of the execution hydraulic pump 1041y is connected to the oil tank 0y, the other end of the execution hydraulic pump 1041y is connected to one end of the filter 1043y, an execution overflow valve 1042y is arranged between the execution hydraulic pump 1041y and the filter 1043y, the execution overflow valve 1042y is connected to the oil tank 0y, and the other end of the filter 1043y is connected to the balance oil circuit 102y. Thus, the hydraulic oil pumped out by the execution hydraulic pump and flowing to other oil circuits will first pass through the filter to filter out the impurities in the hydraulic oil.

[0041] As Figure 3 shown, the balance oil circuit 102y includes a balance first spring-loaded check valve 1021y, a balance second spring-loaded check valve 1022y, a balance first pilot-operated relief valve 1023y, a balance second pilot-operated relief valve 1024y, a balance first relief valve 1025y, a balance second relief valve 1026y, a balance first check valve 1027y, a balance second check valve 1028y, a first stop valve 1029y, and a second stop valve 1020y. The other end of the filter 1043y is connected to one ends of the balance first spring-loaded check valve 1021y and the balance second spring-loaded check valve 1022y. The other end of the balance first spring-loaded check valve 1021y is connected to one end of the balance first pilot-operated relief valve 1023y. The other end of the balance first pilot-operated relief valve 1023y is connected to one end of the balance first relief valve 1025y. The other end of the balance first relief valve 1025y is connected to one end of the balance first check valve 1027y. The other end of the balance first check valve 1027y is connected to one end of the balance first relief valve 1025y. The first stop valve 1029y is arranged in parallel with the balance first check valve 1027y. The other end of the balance second spring-loaded check valve 1022y is connected to one end of the balance second pilot-operated relief valve 1024y. The other end of the balance second pilot-operated relief valve 1024y is connected to one end of the balance second relief valve 1026y. The other end of the balance second relief valve 1026y is connected to one end of the balance second check valve 1028y. The other end of the balance second check valve 1028y is connected to one end of the balance second relief valve 1026y. The second stop valve 1020y is arranged in parallel with the balance second check valve 1028y. The balance first pilot-operated relief valve 1023y and the balance second pilot-operated relief valve 1024y are connected to the control valve oil circuit 103y. Through the action of the balance oil circuit, the hydraulic oil pressure flowing to the control valve oil circuit is made stable.

[0042] As Figure 4As shown, the control valve oil circuit 103y includes a control three-position five-way solenoid directional valve 1031y, a control three-position four-way solenoid directional valve 1032y, a control check valve 1033y, and a control throttle valve 1034y. The balance second pilot-operated relief valve 1024y is connected to the TP end of the control three-position five-way solenoid directional valve 1031y. The TA end of the control three-position five-way solenoid directional valve 1031y is connected to the UP end of the control three-position four-way solenoid directional valve 1032y. The UA end and the UT end of the control three-position four-way solenoid directional valve 1032y are connected to one end of the control check valve 1033y. The other end of the control check valve 1033y is connected to the balance oil circuit 102y. The control throttle valve 1034y is arranged in parallel with the control check valve 1033y. The balance first pilot-operated relief valve 1023y is connected to the TB end of the control three-position five-way solenoid directional valve 1031y. The TT end of the control three-position five-way solenoid directional valve 1031y is connected to the oil tank 0y. The UB end of the control three-position four-way solenoid directional valve 1032y is connected to the TT end of the control three-position five-way solenoid directional valve 1031y. The control three-position five-way solenoid directional valve 1031y is also connected to the variable control oil circuit 101y.

[0043] As Figure 5 As shown, the variable control oil circuit 101y includes a bidirectional variable pump 1011y and a variable piston cylinder 1012y. The TP end of the control three-position five-way solenoid directional valve 1031y is connected to one end of the variable piston cylinder 1012y. The TB end of the control three-position five-way solenoid directional valve 1031y is connected to the other end of the variable piston cylinder 1012y. The control end 10121y of the variable piston cylinder 1012y is connected to the control end 10111y of the bidirectional variable pump 1011y. The bidirectional variable pump 1011y is connected to the powder loosening motor oil circuit 41y. The control end 10311y of the control three-position five-way solenoid directional valve 1031y is also connected to the control end 10121y of the variable piston cylinder 1012y. With this setting, when it is necessary to reverse the bidirectional variable pump, the TP end and the TT end of the control three-position five-way solenoid directional valve are communicated, and the TA end and the TB end are communicated, so that the hydraulic oil flowing to one end of the variable piston cylinder through the balance second pilot-operated relief valve flows back to the oil tank, and the hydraulic oil flows to the other end of the variable piston cylinder through the balance first pilot-operated relief valve, thereby driving the variable piston cylinder to control and reverse the bidirectional variable pump.

[0044] As Figure 6As shown, the oil circuit 45y of the oil cylinder hydraulic pump includes an oil cylinder hydraulic pump 451y, a two-position three-way directional control valve 452y, and an oil cylinder hydraulic pump relief valve 453y. One end of the oil cylinder hydraulic pump 451y is connected to the fuel tank 0y. The PF port of the two-position three-way directional control valve 452y is connected to the other end of the oil cylinder hydraulic pump 451y. The CF port of the two-position three-way directional control valve 452y is connected to the lifting oil cylinder oil circuit 42y and the slewing cylinder oil circuit 43y. The EF port of the two-position three-way directional control valve 452y is connected to the steering cylinder oil circuit 44y. The control port 4521y of the two-position three-way directional control valve 452y is connected to the fuel tank 0y through the oil cylinder hydraulic pump relief valve 453y. With this setting, when it is necessary to control the lifting oil cylinder and the slewing cylinder, the two-position three-way directional control valve is controlled to link its CF port and EF port with the PF port, so that hydraulic oil can flow to the lifting oil cylinder, the slewing cylinder, and the steering cylinder. When it is not necessary for the hydraulic oil to flow to the steering cylinder, the two-position three-way directional control valve is controlled to connect the CF port and the PF port.

[0045] As Figure 7 and Figure 8 , the lifting oil cylinder oil circuit 42y includes a lifting three-position five-way solenoid valve 421y, a lifting check valve 422y, a first lifting pilot-operated check valve 423y, a second lifting pilot-operated check valve 424y, and a lifting oil cylinder 425y. The CF port of the two-position three-way directional control valve 452y is connected to the E1P port of the lifting three-position five-way solenoid valve 421y. A lifting check valve 422y is provided between the CF port of the two-position three-way directional control valve 452y and the E1P port of the lifting three-position five-way solenoid valve 421y. The E1A port of the lifting three-position five-way solenoid valve 421y is connected to one end of the first lifting pilot-operated check valve 423y. The other end of the first lifting pilot-operated check valve 423y is connected to one end of the lifting oil cylinder 425y. The E1B port of the lifting three-position five-way solenoid valve 421y is connected to one end of the second lifting pilot-operated check valve 424y. The other end of the second lifting pilot-operated check valve 424y is connected to the other end of the lifting oil cylinder 425y. The E1T port of the lifting three-position five-way solenoid valve 421y is connected to the fuel tank 0y. When it is necessary to drive the lifting oil cylinder, the lifting three-position five-way solenoid valve is controlled to connect its E1P port to the E1A port and the E1B port to the E1T port. Thus, the hydraulic oil can flow to the lifting oil cylinder, and the lifting oil cylinder drives in one direction. When it is necessary for the lifting oil cylinder to drive in the other direction, the lifting three-position five-way solenoid valve is controlled to connect its E1P port to the E1B port and the E1A port to the E1T port. Thus, the lifting oil cylinder can be driven in the other direction.

[0046] As Figure 7 and Figure 8, the oil circuit 43y of the slewing cylinder includes a three-position five-way solenoid valve 431y for slewing, a check valve 432y for slewing, a first pilot-operated check valve 433y for slewing, a second pilot-operated check valve 434y for slewing, and a lifting cylinder 435y. The CF port of the two-position three-way directional control valve 452y is connected to the E2P port of the three-position five-way solenoid valve 431y for slewing. A check valve 432y for lifting is provided between the CF port of the two-position three-way directional control valve 452y and the E2P port of the three-position five-way solenoid valve 431y for slewing. The E2A port of the three-position five-way solenoid valve 431y for slewing is connected to one end of the first pilot-operated check valve 433y for slewing, and the other end of the first pilot-operated check valve 433y for slewing is connected to one end of the slewing cylinder 435y. The E2B port of the three-position five-way solenoid valve 431y for slewing is connected to one end of the second pilot-operated check valve 434y for slewing, and the other end of the second pilot-operated check valve 434y for slewing is connected to the other end of the slewing cylinder 435y. The E1T port of the three-position five-way solenoid valve 431y for slewing is connected to the oil tank 0y. When it is necessary to drive the slewing cylinder, control the three-position five-way solenoid valve to connect its E2P port to the E2A port and its E2B port to the E2T port. Thus, the hydraulic oil can flow to the slewing cylinder, and the slewing cylinder is driven in one direction. When it is necessary to drive the slewing cylinder in the other direction, control the three-position five-way solenoid valve to connect its E2P port to the E2B port and its E2A port to the E2T port. Thus, the slewing cylinder can be driven in the other direction.

[0047] Such as Figure 8As shown, a lifting angle control oil circuit 46y is further provided between the oil circuit 45y of the oil cylinder hydraulic pump, the oil circuit 43y of the slewing cylinder, and the oil circuit 42y of the lifting cylinder. The lifting angle control oil circuit 46y includes a first relief valve 461y for lifting angle control, a lifting angle filter 462y, a second relief valve 463y for lifting angle control, a third relief valve 464y for lifting angle control, and a fourth relief valve 465y for lifting angle control. The CF end of the two-position three-way directional control valve 452y is connected to one end of the lifting angle filter 462y. The other end of the lifting angle filter 462y is connected to one end of the first relief valve 461y for lifting angle control. The other end of the first relief valve 461y for lifting angle control is connected to the oil tank 0y. The CF end of the two-position three-way directional control valve 452y is also connected to one end of the second relief valve 463y for lifting angle control. The other end of the second relief valve 463y for lifting angle control is connected to the control end 4211y of the three-position five-way solenoid valve 421y for lifting and the control end 4311y of the three-position five-way solenoid valve 431y for slewing. One end of the third relief valve 464y for lifting angle control is connected between the CF end of the two-position three-way directional control valve 452y and one end of the second relief valve 463y for lifting angle control. The other end of the third relief valve 464y for lifting angle control is connected to the oil tank 0y. One end of the fourth relief valve 465y for lifting angle control is connected between the second relief valve 463y for lifting angle control and the control end 4211y of the three-position five-way solenoid valve 421y for lifting and the control end 4311y of the three-position five-way solenoid valve 431y for slewing. The other end of the fourth relief valve 465y for lifting angle control is connected to the oil tank 0y. With this arrangement, the three-position five-way solenoid valve for lifting and the three-position five-way solenoid valve for slewing are controlled through the lifting angle control oil circuit.

[0048] As Figure 6 , 7 and Figure 9As shown, the steering cylinder oil circuit 44y includes a circulating oil circuit 441y, a steering cylinder 442y, a steering drain overflow valve 443y, and a steering inlet check valve 444y. The EF end of the two-position three-way directional control valve 452y is connected to one end of the steering inlet check valve 444y. The other end of the steering inlet check valve 444y is connected to the circulating oil circuit 441y. One end of the steering inlet check valve 444y is also connected to one end of the steering drain overflow valve 443y. The other end of the steering drain overflow valve 443y is connected to the circulating oil circuit 441y. The circulating oil circuit 441y is connected to the steering cylinder 442y. The steering cylinder 442y is provided with a first steering cylinder 4421y and a second steering cylinder 4422y. The circulating oil circuit 441y includes a steering regulating valve 445y and a steady flow oil circuit 446y. The OP end of the steering regulating valve 445y is connected to the other end of the steering inlet check valve 444y. The OT end of the steering regulating valve 445y is connected to the other end of the steering drain overflow valve 443y and is connected to the fuel tank 0y. The OR end of the steering regulating valve 445y is connected to one end of the first steering cylinder 4421y and the other end of the second steering cylinder 4422y. The OL end of the steering regulating valve 445y is connected to one end of the second steering cylinder 4422y and the other end of the first steering cylinder 4421y (shown in Figure 7 ). A steady flow oil circuit 446y is provided between the OR end and the OL end of the steering regulating valve 445y. Thus, when it is necessary to drive the steering cylinder to turn to the left, the steering regulating valve is controlled to connect its OP end to the OL end. At this time, the hydraulic oil flows from the OL end of the steering regulating valve to one end of the second steering cylinder and the other end of the first steering cylinder, thereby realizing turning to the left. When it is necessary to drive the steering cylinder to turn to the right, the steering regulating valve is controlled to connect its OP end to the OR end. At this time, the hydraulic oil flows from the OR end of the steering regulating valve to one end of the first steering cylinder and the other end of the second steering cylinder, thereby realizing turning to the right.

[0049] As Figure 9As shown, the steady flow oil circuit 441y includes a steering first overflow valve 4411y, a steering second overflow valve 4412y, a steering first one-way valve 4413y, and a steering second one-way valve 4414y. One end of the steering first overflow valve 4411y is connected to the OR end of the steering regulating valve 445y, and the other end of the steering first overflow valve 4411y is connected to one end of the steering second overflow valve 4412y. The other end of the steering second overflow valve 4412y is connected to the OL end of the steering regulating valve 445y. The other end of the steering first overflow valve 4411y and one end of the steering second overflow valve 4412y are also connected to the fuel tank 0y. One end of the steering first one-way valve 4413y is connected to the OR end of the steering regulating valve 445y, and the other end of the steering first one-way valve 4413y is connected to one end of the steering second one-way valve 4414y. The other end of the steering second one-way valve 4414y is connected to the OL end of the steering regulating valve 445y. There is also a connection to the fuel tank 0y between the steering first one-way valve 4413y and the steering second one-way valve 4414y. With this setting, the hydraulic oil leading to the steering cylinder will not have large fluctuations through the steady flow oil circuit, making the oil circuit stable.

[0050] As Figure 10 shown, the powder loosening motor oil circuit 41y includes a powder loosening motor 411y and a motor drain oil circuit 412y. One end of the bidirectional variable pump 101y is connected to one end of the powder loosening motor 411y, and the other end of the powder loosening motor 411y is connected to the other end of the bidirectional variable pump 101y. A motor drain oil circuit 412y is provided between the powder loosening motor 411y and the bidirectional variable pump 101y. The motor drain oil circuit 412y includes a motor drain three-position two-way change-over valve 413y and a motor drain overflow valve 414y. The MA end of the motor drain three-position two-way change-over valve 413y is connected to one end of the powder loosening motor 411y, and the MB end of the motor drain three-position two-way change-over valve 413y is connected to the other end of the powder loosening motor 411y. The MT end of the motor drain three-position two-way change-over valve 413y is connected to one end of the motor drain overflow valve 414y, and the other end of the motor drain overflow valve 414y is connected to the fuel tank 0y. With this setting, when the powder loosening motor stops working, the hydraulic oil remaining in the powder loosening motor flows back to the fuel tank through the motor drain oil circuit.

[0051] As Figure 11 and Figure 12As shown, the execution drive module 10y is also connected to the mobile execution module 22y. The mobile execution module 22y includes a brake motor 221y, a brake control valve 222y, and a brake two-position two-way changeover valve 223y. One end of the bidirectional variable pump 101y is connected to one end of the brake motor 221y, and the other end of the brake motor 221y is connected to the other end of the bidirectional variable pump 101y. A brake control valve 222y is also provided on the brake motor 221y. The brake control valve 222y is connected to the SA end of the brake two-position two-way changeover valve 223y. The SP end of the brake two-position two-way changeover valve 223y is connected to the execution drive module 10y, and the ST end of the brake two-position two-way changeover valve 223y is connected to the fuel tank 0y. Thus, when braking is required, the SP end of the brake two-position two-way changeover valve is controlled to communicate with the SA end, so that the hydraulic oil can flow to the brake control valve, thereby realizing braking. When braking stops, the SA end of the brake two-position two-way changeover valve is controlled to communicate with the ST end, so that the hydraulic oil can flow back to the fuel tank.

[0052] As Figure 6 and Figure 13 shown, one end of the oil cylinder hydraulic pump 451y connected to the fuel tank 0y is connected to a fan motor oil circuit 47y. The fan motor oil circuit 47y includes a fan motor hydraulic pump 471y, a fan motor 472y, and a fan motor relief valve 473y. One end of the fan motor hydraulic pump 471y is connected to the fuel tank 0y, and the other end of the fan motor hydraulic pump 471y is connected to one end of the fan motor 472y. The other end of the fan motor 472y is connected to the fuel tank 0y. A fan motor relief valve 473y is provided between the two ends of the fan motor 472y. One end of the fan motor relief valve 473y is connected to the end where the fan motor 472y is connected to the fan motor hydraulic pump 471y, and the other end of the fan motor relief valve 473y is connected to the end where the fan motor 472y is connected to the fuel tank 0y. With this setting, heat dissipation is achieved through the action of the fan motor oil circuit.

[0053] For the above hydraulic system, the execution module is driven by a unified drive module, so that the oil circuits of each execution element do not affect each other, thereby improving the working efficiency. During operation, the hydraulic oil circulates between the drive module and the execution module. When it is necessary to change the flow direction of the oil circuit, the bidirectional variable pump is controlled to make the hydraulic oil flowing through the drive module flow in the reverse direction, so that the commutation of the entire oil circuit can be controlled, and the operation is simple.

[0054] The deep tillage, pulverizing and loosening machine includes a pulverizing and loosening device for inserting into the soil to loosen the soil. The electronic control system includes a power supply module 1, a relay control module 2, a travel controller, a first engine controller, a second engine controller, a start safety module 3, a GPS module, a first control module and a second control module 4; the power supply module 1 is respectively connected to the relay control module 2 and the second engine controller, the relay control module 2 is connected to the first engine controller, the other end of the first engine controller is connected to the travel controller, and the working signal control module and the first control module are respectively connected to the travel controller; the start safety module 3 is connected between the relay control module 2 and the first engine controller; the travel controller is connected to the relay control module 2; the second control module 4 and the GPS module are respectively connected to the relay control module 2.

[0055] The power supply module 1 includes a starting motor, a storage battery and a generator. One end of the starting motor is connected to the second generator controller, the other end of the starting motor is connected to the storage battery, and the power output end of the generator is respectively connected to the storage battery and the relay control module 2; the generator is a diesel engine.

[0056] The start safety module includes an emergency stop switch and a key switch. The emergency stop switch is connected in series with the key switch. One end of the key switch is connected to the first load resistor, and the other end of the key switch is provided with a first output port and a second output port. The key switch is a double-throw switch. The key switch respectively intercepts the first output port and the second output port. The first interface is connected to the emergency stop switch, the other end of the emergency stop switch is connected to one end of the main relay control circuit, and the second interface is connected to the first engine controller.

[0057] The relay control module 2 includes a main relay, a first load resistor, a second load resistor, a key interlock switch and a T15 relay. One end of the control circuit of the main relay is connected to one end of the emergency stop switch, and the other end of the control circuit of the main relay is grounded; one end of the working circuit of the main relay is connected to the first load resistor and the power output end of the engine, the other end of the first load resistor is respectively connected to the start safety module and the first engine controller, the other end of the working circuit of the main relay is connected to the second load resistor, and the second control module is connected to the other end of the second load resistor; one end of the control circuit of the T15 relay is connected to the start safety module, and the other end of the control circuit of the T15 relay is grounded; one end of the working circuit of the T15 relay is connected to the first engine controller, and the other end of the working circuit of the T15 relay is connected to the second load resistor; the travel controller is connected to the second load resistor; one end of the engine is also connected with a charging indicator light. When the engine starts, the charging indicator light is on to indicate charging the storage battery.

[0058] One end of the GPS module is connected to the first load resistor, and the other end of the GPS module is connected to the second load resistor; the GPS module is grounded, and the signal output end of the GPS module is connected to the travel controller.

[0059] With the above settings, when starting the deep tillage, pulverizing and loosening machine, turn the key switch. After the first output port of the key switch is connected to the emergency stop switch, the battery outputs signals to the starting motor and the first load resistor respectively. The current passes through the first load resistor and sends signals to the first engine controller and the starting safety module respectively. The output electrical signal flows to the key switch and the emergency stop switch, and the electrical signal outputs a signal from the emergency stop switch to one end of the main controller control circuit. After the main relay control circuit is powered on, the working circuit of the main relay is turned on. The working circuit of the main relay outputs signals to the first control module, the second control module and the GPS module through the second load circuit to complete the ignition action. The engine continuously charges the battery. The output end of the battery outputs a signal to the second load resistor through the working circuit of the main relay, and provides power for the travel controller, the first engine controller, the first control module, the second control module and the cab control module through the second load resistor.

[0060] Through the pulverizing and loosening device adjustment module, the position of the pulverizing and loosening device can be controlled and adjusted. Also, through the cooperation of the pulverizing and loosening device forward and reverse control module and the pulverizing and loosening handle, the forward and reverse rotation of each pulverizing tool on the pulverizing and loosening device can be controlled; also, through the cooperation of the travel module and the hand throttle, the forward movement or reverse movement of the front and rear moving device of the deep tillage, pulverizing and loosening machine can be separately controlled. In this way, the deep tillage, pulverizing and loosening machine can be accurately controlled to perform better soil loosening operations, with more flexible operation and good soil loosening effect; at the same time, the GPS module outputs signals to the deep tillage, pulverizing and loosening machine in real time to provide a reference for the driver on the operation route.

[0061] The first engine controller is connected with an engine controller diagnostic interface, which is powered by the second load resistor. After the engine controller diagnoses the first engine controller, it outputs a signal to the travel controller, and the driver can intuitively obtain the current situation of the engine and the first engine controller.

[0062] The first control module includes a powder loosening device adjustment module, a forward and reverse control module for the powder loosening device, a brake valve, a high and low speed valve, a traveling module, a fuel level switch, a parking brake switch, a high and low speed switch, a pressure control system, a powder loosening speed encoder, a powder loosening handle, and a hand throttle; one end of the powder loosening device adjustment module is connected to the traveling controller and the other end is grounded; one end of the forward and reverse control module for the powder loosening device is connected to the traveling controller and the other end is grounded; one end of the brake valve is connected to the traveling controller and the other end is grounded; one end of the high and low speed valve is connected to the traveling controller and the other end is grounded; one end of the traveling module is connected to the traveling controller and the other end is grounded; the signal output end of the fuel level switch is connected to the traveling controller, and the power supply end of the fuel level switch is connected to the second load resistor; the signal output end of the parking brake is connected to the traveling controller, the power supply port of the parking brake is connected to the second load resistor, the power supply port of the high and low speed switch is connected to the second load resistor, and the high speed signal input port and the low speed signal output port of the high and low speed switch are respectively connected to the traveling controller; one end of the pressure control system is connected to the second load resistor and the other end is grounded, and the signal output end of the pressure control system is connected to the traveling controller; the power supply end of the powder loosening speed encoder is connected to the weak power interface of the traveling controller, and the signal output port of the powder loosening speed encoder is connected to the traveling controller; one end of the powder loosening handle is connected to the second load resistor, the other end of the powder loosening handle is grounded, and the signal output end of the powder loosening handle is connected to the traveling controller; the power supply end of the hand throttle is connected to the weak power interface, and the signal output end of the hand throttle is connected to the traveling controller.

[0063] With the above settings, through the powder loosening device adjustment module, the height and front-back position of the powder loosening device can be controlled. Also, through the cooperation of the forward and reverse control module of the powder loosening device and the powder loosening handle, the forward and reverse rotation of each powder loosening tool on the powder loosening device can be controlled; moreover, through the cooperation of the traveling module and the hand throttle, the forward and backward movement of the front and rear movement device of the deep tillage and pulverizing soil loosener can be controlled, making the operation more flexible and having a good soil loosening effect; at the same time, the fuel level switch and the powder loosening speed encoder can provide a reference for the working state of the deep tillage and pulverizing soil loosener for the driver; when adjusting the high and low speed switch, the high and low speed switch outputs a signal to the traveling controller, and after processing by the traveling controller, a corresponding output signal is output to the high and low speed valve; when adjusting the parking brake switch, the parking brake switch outputs a signal to the traveling controller, and after processing by the traveling controller, a corresponding output signal is output to the brake valve; the pressure control system is powered by the second load resistor and outputs signals to the traveling controller. In this way, important parameters such as hydraulic oil temperature, powder loosening pressure, device pressure, forward pressure, and reverse pressure can be obtained through the traveling controller, facilitating safe and standardized operation.

[0064] The second engine controller is also respectively connected to a preheating relay and a fuel water content sensor. The second engine controller is connected to the starting motor, and the signal output end of the fuel water content sensor is connected to the second engine controller. In this way, the second engine controller is connected to the preheating relay and the fuel water content sensor, and can heat the intake air through the second engine controller. At the same time, the second engine controller can detect the fuel water content. If there is water in the fuel system, it may cause ignition failure or even power damage.

[0065] The second control module includes an electronic fuel pump, a display instrument, and a signal module. One end of the electronic fuel pump is connected to the second load resistor, and the other end of the electronic fuel pump is grounded. One end of the display instrument is connected to the second load resistor, and the other end of the display instrument is grounded. The output signal end of the display instrument is connected to the travel controller. One end of the signal module is connected to the second load resistor, and the other end of the signal module is connected to the ground wire. The second load resistor supplies power to the second control module, and the electronic fuel pump continuously supplies fuel to the engine. The signal output end of the display instrument outputs a signal to the travel controller to provide information to the driver.

[0066] The signal module includes a front lamp group, a front lamp switch, a cab lamp group, a cab lamp switch, a strobe lamp group, a strobe lamp switch, a horn, and a horn switch. One end of the front lamp group is connected to the front lamp switch, and the other end of the front lamp group is grounded. The other end of the front lamp switch is connected to the second load resistor. One end of the cab lamp group is connected to the cab lamp switch, and the other end of the cab lamp group is grounded. The other end of the cab lamp switch is connected to the second load resistor. One end of the strobe lamp group is connected to the strobe lamp switch, and the other end of the strobe lamp group is grounded. The other end of the strobe lamp switch is connected to the second load resistor. One end of the horn is connected to the horn switch, and the other end of the horn is grounded. The other end of the horn switch is connected to the second load resistor. The second load resistor supplies power to the signal module, and the driver can control the front lamp, the cab lamp group, and the strobe lamp in the cab, which is simple and convenient.

[0067] The front lamp group includes a left front lamp and a right front lamp. One end of the left front lamp and the right front lamp are connected in parallel to the front lamp switch, and the other end of the left front lamp and the right front lamp are connected in parallel to the ground.

[0068] The cab lamp group includes a left front work lamp, a right front work lamp, a left rear work lamp, a right rear work lamp, and a ceiling lamp. One end of the left front work lamp is connected to the cab lamp switch, and the other end of the left front work lamp is grounded. One end of the right front work lamp is connected to the cab lamp switch, and the other end of the right front work lamp is grounded. One end of the left rear work lamp is connected to the cab lamp switch, and the other end of the left rear work lamp is grounded. One end of the right rear work lamp is connected to the cab lamp switch, and the other end of the right rear work lamp is grounded.

[0069] The flashing lamp group includes a left rear flashing lamp and a right rear flashing lamp. One end of the left rear flashing lamp and the right rear flashing lamp are connected in parallel to the flashing lamp switch, and the other end of the left rear flashing lamp and the right rear flashing lamp are connected in parallel to the ground.

[0070] The electronic control system further includes a cab control module. The cab control module includes a wiper, a wiper switch, a water pump motor, a water pump switch, and a fan motor. One end of the wiper motor is connected to a second load resistor, and the other end of the wiper motor is grounded. Both ends of the wiper are respectively connected to the reset signal terminal, the low-speed signal terminal, and the high-speed signal terminal of the wiper motor; one end of the water pump switch is connected to the second load resistor, the other end of the water pump switch is connected to the water pump motor, and the other end of the water pump motor is grounded; one end of the fan motor is connected to the second load resistor, and the other end of the fan motor is grounded; the second load resistor provides power for the cab module, and the driver can control the wiper, the water pump, and the fan in the cab, which is simple and convenient.

[0071] The pressure control system includes a hydraulic oil temperature sensor, a powder loosening pressure sensor, a device pressure sensor, a forward pressure sensor, and a reverse pressure sensor. The input ends of the hydraulic oil temperature sensor, the powder loosening pressure sensor, the device pressure sensor, the forward pressure sensor, and the reverse pressure sensor are connected in parallel to the second load resistor, and the other ends of the hydraulic oil temperature sensor, the powder loosening pressure sensor, the device pressure sensor, the forward pressure sensor, and the reverse pressure sensor are connected in parallel to the ground. The signal output ends of the hydraulic oil temperature sensor, the powder loosening pressure sensor, the device pressure sensor, the forward pressure sensor, and the reverse pressure sensor are respectively connected to the travel control.

[0072] With the above settings, the second load resistor respectively provides power for the powder loosening pressure sensor, the device pressure sensor, the forward pressure sensor, and the reverse pressure sensor. The powder loosening pressure sensor, the device pressure sensor, the forward pressure sensor, and the reverse pressure sensor output sensing signals to the travel controller. In this way, the driver can obtain information about the powder loosening pressure, the device pressure, the forward pressure, and the reverse pressure in the travel controller, which is convenient for the soil loosening operation of the deep tillage and pulverizing soil cultivator; the hydraulic oil temperature sensor outputs the hydraulic oil temperature signal to the travel controller, and the driver can obtain information about the hydraulic oil temperature from the travel controller.

[0073] The walking module includes a forward walking pump forward solenoid valve, a forward walking pump reverse solenoid valve, a rear walking pump forward solenoid valve, and a rear walking pump reverse solenoid valve. One ends of the forward walking pump forward solenoid valve, the forward walking pump reverse solenoid valve, the rear walking pump forward solenoid valve, and the rear walking pump reverse solenoid valve are respectively connected to the walking controller, and the other ends of the forward walking pump forward solenoid valve, the forward walking pump reverse solenoid valve, the rear walking pump forward solenoid valve, and the rear walking pump reverse solenoid valve are grounded. In this way, the forward and backward movement devices of the deep tillage, pulverizing, and loosening machine can be individually controlled for forward or backward movement, enabling accurate control of the deep tillage, pulverizing, and loosening machine for better soil loosening operations, with more flexible operation and good soil loosening effect.

[0074] The working method of the electronic control system of the deep tillage, pulverizing, and loosening machine includes the following steps:

[0075] S1. When starting the deep tillage, pulverizing, and loosening machine, turn the key switch. After the first output port of the key switch is connected to the emergency stop switch, the storage battery outputs signals to the starting motor and the first load resistor respectively. The current passes through the first load resistor and sends signals to the first engine controller and the starting safety module respectively. The output electrical signal flows to the key switch and the emergency stop switch, and the electrical signal outputs a signal from the emergency stop switch to one end of the main controller control circuit.

[0076] S2. When it is necessary to control and adjust the position of the pulverizing and loosening device, control and adjust the position of the pulverizing and loosening device through the pulverizing and loosening device adjustment module.

[0077] S3. After the pulverizing and loosening device is adjusted to the target position, control the forward and reverse rotation of each pulverizing tool on the pulverizing and loosening device through the cooperation of the pulverizing and loosening device forward and reverse control module and the pulverizing handle.

[0078] S4. When it is necessary to drive the deep tillage, pulverizing, and loosening machine to move, control the forward or backward movement of the forward and backward movement devices of the deep tillage, pulverizing, and loosening machine through the cooperation of the walking module and the hand throttle.

[0079] S5. Obtain the parameters of the pulverizing pressure, device pressure, forward pressure, and backward pressure through the pulverizing pressure sensor, device pressure sensor, forward pressure sensor, and backward pressure sensor.

[0080] In the above method, the position of the powder loosening device is controlled and adjusted through the powder loosening device adjustment module, so that the deep tillage, pulverization and soil loosening machine can be accurately controlled to better perform the soil loosening operation, with more flexible operation and good soil loosening effect. The forward and reverse rotation of each powder loosening tool on the powder loosening device can also be controlled through the cooperation of the forward and reverse rotation control module of the powder loosening device and the powder loosening handle. In addition, the forward and reverse movement of the deep tillage, pulverization and soil loosening machine can be separately controlled through the cooperation of the traveling module and the hand throttle, and the forward movement or reverse movement of the front and rear moving devices of the deep tillage, pulverization and soil loosening machine can be separately controlled. In addition, the driver can obtain the information of the powder loosening pressure, device pressure, forward pressure and reverse pressure in real time, so that the driver can better control the deep tillage, pulverization and soil loosening machine to perform the soil loosening operation.

Claims

1. A floating deep tillage, pulverizing and soil loosening machine, comprising a pulverizing and loosening device, a hydraulic system and an electric control system. The pulverizing and loosening device is used to insert into the soil for soil loosening; characterized in that: The hydraulic system includes a driving module and an execution module. The driving module includes more than one execution driving module. The execution driving module is connected to the fuel tank. The execution module includes a crushing and soil-loosening execution module and a moving execution module. The crushing and soil-loosening execution module includes a powder-loosening motor oil circuit, a lifting cylinder oil circuit, a corner cylinder oil circuit, and a steering cylinder oil circuit. The lifting cylinder oil circuit, the corner cylinder oil circuit, and the steering cylinder oil circuit are connected to the fuel tank through the oil cylinder hydraulic pump oil circuit; The powder-loosening motor oil circuit includes a powder-loosening motor and a motor drain oil circuit. One end of a bidirectional variable pump is connected to one end of the powder-loosening motor, and the other end of the powder-loosening motor is connected to the other end of the bidirectional variable pump. A motor drain oil circuit is provided between the powder-loosening motor and the bidirectional variable pump. The motor drain oil circuit includes a motor drain three-way two-position directional control valve and a motor drain overflow valve. The MA end of the motor drain three-way two-position directional control valve is connected to one end of the powder-loosening motor, and the MB end of the motor drain three-way two-position directional control valve is connected to the other end of the powder-loosening motor. The MT end of the motor drain three-way two-position directional control valve is connected to one end of the motor drain overflow valve, and the other end of the motor drain overflow valve is connected to the fuel tank. The execution driving module includes a variable control oil circuit, a balance oil circuit, a control valve oil circuit, and an execution hydraulic pump oil circuit. The execution hydraulic pump oil circuit is connected to the fuel tank, and the execution hydraulic pump oil circuit is also connected to the balance oil circuit. The balance oil circuit is connected to the control valve oil circuit, and the control valve oil circuit is also connected to the variable control oil circuit. The variable control oil circuit is connected to the powder-loosening motor oil circuit; The execution hydraulic pump oil circuit includes an execution hydraulic pump, an execution overflow valve, and a filter. One end of the execution hydraulic pump is connected to the fuel tank, and the other end of the execution hydraulic pump is connected to one end of the filter. An execution overflow valve is provided between the execution hydraulic pump and the filter. The execution overflow valve is connected to the fuel tank, and the other end of the filter is connected to the balance oil circuit; The balance oil circuit includes a balance first spring-loaded one-way valve, a balance second spring-loaded one-way valve, a balance first pilot-operated relief valve, a balance second pilot-operated relief valve, a balance first relief valve, a balance second relief valve, a balance first one-way valve, a balance second one-way valve, a first stop valve and a second stop valve. The other end of the filter is connected to one ends of the balance first spring-loaded one-way valve and the balance second spring-loaded one-way valve. The other end of the balance first spring-loaded one-way valve is connected to one end of the balance first pilot-operated relief valve. The other end of the balance first pilot-operated relief valve is connected to one end of the balance first relief valve. The other end of the balance first relief valve is connected to one end of the balance first one-way valve. The other end of the balance first one-way valve is connected to one end of the balance first relief valve. The first stop valve is arranged in parallel with the balance first one-way valve. The other end of the balance second spring-loaded one-way valve is connected to one end of the balance second pilot-operated relief valve. The other end of the balance second pilot-operated relief valve is connected to one end of the balance second relief valve. The other end of the balance second relief valve is connected to one end of the balance second one-way valve. The other end of the balance second one-way valve is connected to one end of the balance second relief valve. The second stop valve is arranged in parallel with the balance second one-way valve. The balance first pilot-operated relief valve and the balance second pilot-operated relief valve are connected to the control valve oil circuit; The control valve oil circuit includes a control three-position five-way solenoid directional valve, a control three-position four-way solenoid directional valve, a control one-way valve and a control throttle valve. The balance second pilot-operated relief valve is connected to the TP end of the control three-position five-way solenoid directional valve. The TA end of the control three-position five-way solenoid directional valve is connected to the UP end of the control three-position four-way solenoid directional valve. The UA end and the UT end of the control three-position four-way solenoid directional valve are connected to one end of the control one-way valve. The other end of the control one-way valve is connected to the balance oil circuit. The control throttle valve is arranged in parallel with the control one-way valve. The balance first pilot-operated relief valve is connected to the TB end of the control three-position five-way solenoid directional valve. The TT end of the control three-position five-way solenoid directional valve is connected to the oil tank. The UB end of the control three-position four-way solenoid directional valve is connected to the TT end of the control three-position five-way solenoid directional valve. The control three-position five-way solenoid directional valve is also connected to the variable control oil circuit; The variable control oil circuit includes a bidirectional variable pump and a variable piston cylinder. The TP end of the control three-position five-way solenoid directional valve is connected to one end of the variable piston cylinder. The TB end of the control three-position five-way solenoid directional valve is connected to the other end of the variable piston cylinder. The control end of the variable piston cylinder is connected to the control end of the bidirectional variable pump. The bidirectional variable pump is connected to the powder loosening motor oil circuit. The control end of the control three-position five-way solenoid directional valve is also connected to the control end of the variable piston cylinder; The electronic control system includes a power supply module, a relay control module, a travel controller, a first engine controller, a second engine controller, a start safety module, a GPS module, a first control module and a second control module; The power supply module is respectively connected to the relay control module and the second engine controller. The relay control module is connected to the first engine controller. The other end of the first engine controller is connected to the travel controller. The cab control module and the first control module are respectively connected to the travel controller. The start safety module is connected between the relay control module and the first engine controller. The travel controller is connected to the relay control module. The second control module and the GPS module are respectively connected to the relay control module; The first control module includes a powder loosening device adjustment module, a powder loosening device forward and reverse control module, a brake valve, a high and low speed valve, a travel module, a fuel level switch, a parking brake switch, a high and low speed switch, a pressure control system, a powder loosening speed encoder, a powder loosening handle and a hand throttle. One end of the powder loosening device adjustment module is connected to the travel controller and the other end is grounded. One end of the powder loosening device forward and reverse control module is connected to the travel controller and the other end is grounded. One end of the brake valve is connected to the travel controller and the other end is grounded. One end of the high and low speed valve is connected to the travel controller and the other end is grounded. One end of the travel module is connected to the travel controller and the other end is grounded. The signal output end of the fuel level switch is connected to the travel controller, and the power supply end of the fuel level switch is connected to the relay. The signal output end of the parking brake is connected to the travel controller, the power supply port of the parking brake is connected to the relay, the power supply port of the high and low speed switch is connected to the relay, and the high speed signal input port and the low speed signal output port of the high and low speed switch are respectively connected to the travel controller. One end of the pressure control system is connected to the relay and the other end is grounded, and the signal output end of the pressure control system is connected to the travel controller. The power supply end of the powder loosening speed encoder is connected to the weak power interface of the travel controller, and the signal output port of the powder loosening speed encoder is connected to the travel controller. One end of the powder loosening handle is connected to the relay, the other end of the powder loosening handle is grounded, and the signal output end of the powder loosening handle is connected to the travel controller. The power supply end of the hand throttle is connected to the weak power interface, and the signal output end of the hand throttle is connected to the travel controller.

2. The floating deep tillage, pulverizing and soil loosening machine according to claim 1, characterized in that: The oil cylinder hydraulic pump oil circuit includes an oil cylinder hydraulic pump, a two-position three-way directional valve and an oil cylinder hydraulic pump overflow valve. One end of the oil cylinder hydraulic pump is connected to the fuel tank. The PF end of the two-position three-way directional valve is connected to the other end of the oil cylinder hydraulic pump. The CF end of the two-position three-way directional valve is connected to the lifting oil cylinder oil circuit and the swing oil cylinder oil circuit. The EF end of the two-position three-way directional valve is connected to the steering oil cylinder oil circuit. The control end of the two-position three-way directional valve is connected to the fuel tank through the oil cylinder hydraulic pump overflow valve; The oil circuit of the lifting oil cylinder includes a three-position five-way solenoid valve for lifting, a check valve for lifting, a first pilot-operated check valve for lifting, a second pilot-operated check valve for lifting, and a lifting oil cylinder. The CF end of the two-position three-way directional control valve is connected to the E1P end of the three-position five-way solenoid valve for lifting. A check valve for lifting is arranged between the CF end of the two-position three-way directional control valve and the E1P end of the three-position five-way solenoid valve for lifting. The E1A end of the three-position five-way solenoid valve for lifting is connected to one end of the first pilot-operated check valve for lifting, and the other end of the first pilot-operated check valve for lifting is connected to one end of the lifting oil cylinder; the E1B end of the three-position five-way solenoid valve for lifting is connected to one end of the second pilot-operated check valve for lifting, and the other end of the second pilot-operated check valve for lifting is connected to the other end of the lifting oil cylinder. The E1T end of the three-position five-way solenoid valve for lifting is connected to the fuel tank. The oil circuit of the slewing oil cylinder includes a three-position five-way solenoid valve for slewing, a check valve for slewing, a first pilot-operated check valve for slewing, a second pilot-operated check valve for slewing, and a lifting oil cylinder. The CF end of the two-position three-way directional control valve is connected to the E2P end of the three-position five-way solenoid valve for slewing. A check valve for lifting is arranged between the CF end of the two-position three-way directional control valve and the E2P end of the three-position five-way solenoid valve for slewing. The E2A end of the three-position five-way solenoid valve for slewing is connected to one end of the first pilot-operated check valve for slewing, and the other end of the first pilot-operated check valve for slewing is connected to one end of the slewing oil cylinder; the E2B end of the three-position five-way solenoid valve for slewing is connected to one end of the second pilot-operated check valve for slewing, and the other end of the second pilot-operated check valve for slewing is connected to the other end of the slewing oil cylinder. The E1T end of the three-position five-way solenoid valve for slewing is connected to the fuel tank.

3. The floating deep tillage, pulverizing and soil loosening machine according to claim 2, characterized in that: A lifting and slewing control oil circuit is also provided between the oil circuit of the oil hydraulic pump of the oil cylinder and the oil circuits of the slewing oil cylinder and the lifting oil cylinder. The lifting and slewing control oil circuit includes a first relief valve for lifting and slewing control, a filter for lifting and slewing, a second relief valve for lifting and slewing, a third relief valve for lifting and slewing, and a fourth relief valve for lifting and slewing. The CF end of the two-position three-way directional control valve is connected to one end of the filter for lifting and slewing, and the other end of the filter for lifting and slewing is connected to one end of the first relief valve for lifting and slewing control. The other end of the first relief valve for lifting and slewing control is connected to the fuel tank. The CF end of the two-position three-way directional control valve is also connected to one end of the second relief valve for lifting and slewing. The other end of the second relief valve for lifting and slewing is connected to the control end of the three-position five-way solenoid valve for lifting and the control end of the three-position five-way solenoid valve for slewing. One end of the third relief valve for lifting and slewing is connected between the CF end of the two-position three-way directional control valve and one end of the second relief valve for lifting and slewing, and the other end of the third relief valve for lifting and slewing is connected to the fuel tank; one end of the fourth relief valve for lifting and slewing is connected between the second relief valve for lifting and slewing and the control end of the three-position five-way solenoid valve for lifting and the control end of the three-position five-way solenoid valve for slewing, and the other end of the fourth relief valve for lifting and slewing is connected to the fuel tank.

4. The floating deep tillage, pulverizing and soil loosening machine according to claim 2, characterized in that: The steering cylinder oil circuit includes a circulating oil circuit, a steering cylinder, a steering drain overflow valve, and a steering inlet check valve. The EF end of the two-position three-way directional control valve is connected to one end of the steering inlet check valve, and the other end of the steering inlet check valve is connected to the circulating oil circuit. One end of the steering inlet check valve is also connected to one end of the steering drain overflow valve, and the other end of the steering drain overflow valve is connected to the circulating oil circuit. The circulating oil circuit is connected to the steering cylinder. The steering cylinder is provided with a first steering cylinder and a second steering cylinder. The circulating oil circuit includes a steering regulating valve and a steady flow oil circuit. The OP end of the steering regulating valve is connected to the other end of the steering inlet check valve, the OT end of the steering regulating valve is connected to the other end of the steering drain overflow valve and is connected to the fuel tank, the OR end of the steering regulating valve is connected to one end of the first steering cylinder and the other end of the second steering cylinder, and the OL end of the steering regulating valve is connected to one end of the second steering cylinder and the other end of the first steering cylinder. A steady flow oil circuit is provided between the OR end and the OL end of the steering regulating valve. The steady flow oil circuit includes a first steering overflow valve, a second steering overflow valve, a first steering check valve, and a second steering check valve. One end of the first steering overflow valve is connected to the OR end of the steering regulating valve, the other end of the first steering overflow valve is connected to one end of the second steering overflow valve, the other end of the second steering overflow valve is connected to the OL end of the steering regulating valve, the other end of the first steering overflow valve and one end of the second steering overflow valve are also connected to the fuel tank. One end of the first steering check valve is connected to the OR end of the steering regulating valve, the other end of the first steering check valve is connected to one end of the second steering check valve, the other end of the second steering check valve is connected to the OL end of the steering regulating valve, and a connection to the fuel tank is also provided between the first steering check valve and the second steering check valve.

5. The floating deep tillage, pulverizing and soil loosening machine according to claim 1, characterized in that: The execution drive module is also connected to the mobile execution module. The mobile execution module includes a brake motor, a brake control valve, and a brake two-position two-way directional control valve. One end of the bi-directional variable pump is connected to one end of the brake motor, the other end of the brake motor is connected to the other end of the bi-directional variable pump. A brake control valve is also provided on the brake motor. The brake control valve is connected to the SA end of the brake two-position two-way directional control valve. The SP end of the brake two-position two-way directional control valve is connected to the execution drive module, and the ST end of the brake two-position two-way directional control valve is connected to the fuel tank.

6. The floating deep tillage, pulverizing and soil loosening machine according to claim 2, characterized in that: One end of the oil cylinder hydraulic pump connected to the fuel tank is connected to a fan motor oil circuit. The fan motor oil circuit includes a fan motor hydraulic pump, a fan motor, and a fan motor overflow valve. One end of the fan motor hydraulic pump is connected to the fuel tank, the other end of the fan motor hydraulic pump is connected to one end of the fan motor, the other end of the fan motor is connected to the fuel tank. A fan motor overflow valve is provided between the two ends of the fan motor. One end of the fan motor overflow valve is connected to the end where the fan motor is connected to the fan motor hydraulic pump, and the other end of the fan motor overflow valve is connected to the end where the fan motor is connected to the fuel tank.

7. The floating deep tillage, pulverizing and soil loosening machine according to claim 1, characterized in that: The power supply module is respectively connected to the relay control module and the second engine controller. The relay control module is connected to the first engine controller. The other end of the first engine controller is connected to the travel controller. The cab control module and the first control module are respectively connected to the travel controller; The start safety module is connected between the relay control module and the first engine controller; The travel controller is connected to the relay control module; The second control module and the GPS module are respectively connected to the relay control module; The power supply module includes a starting motor, a storage battery and a generator. One end of the starting motor is connected to the second generator controller, the other end of the starting motor is connected to the storage battery, and the power output ends of the generator are respectively connected to the storage battery and the relay control module; The start safety module includes an emergency stop switch and a key switch. The emergency stop switch is connected in series with the key switch. One end of the key switch is connected to the first load resistor. The other end of the key switch is provided with a first output port and a second output port. The key switch is a double-throw switch. The key switch respectively intercepts the first output port and the second output port. The first interface is connected to the emergency stop switch, the other end of the emergency stop switch is connected to one end of the main relay control circuit, and the second interface is connected to the first engine controller; The relay control module includes a main relay, a first load resistor, a second load resistor, a key interlocking switch and a T15 relay. One end of the control circuit of the main relay is connected to one end of the emergency stop switch, and the other end of the control circuit of the main relay is grounded; One end of the working circuit of the main relay is connected to the first load resistor and the power output end of the engine. The other end of the first load resistor is respectively connected to the start safety module and the first engine controller. The other end of the working circuit of the main relay is connected to the second load resistor. The second control module is connected to the other end of the second load resistor; One end of the control circuit of the T15 relay is connected to the start safety module, and the other end of the control circuit of the T15 relay is grounded; One end of the working circuit of the T15 relay is connected to the first engine controller, and the other end of the working circuit of the T15 relay is connected to the second load resistor; The travel controller is connected to the second load resistor; One end of the GPS module is connected to the first load resistor, and the other end of the GPS module is connected to the second load resistor; The GPS module is grounded, and the signal output end of the GPS module is connected to the travel controller; The power supply end of the fuel level switch, the power port of the parking brake, the power port of the high-low speed switch, one end of the pressure control system and one end of the powder loosening handle are all connected to the second load resistor.

8. The floating deep tillage, pulverizing and soil loosening machine according to claim 7, characterized in that: The second engine controller is also respectively connected with a preheating relay and a fuel water content sensor. The second engine controller is connected to the starting motor, and the signal output end of the fuel water content sensor is connected to the second engine controller; The second control module includes an electronic fuel pump, a display instrument and a signal module. One end of the electronic fuel pump is connected to the second load resistor, and the other end of the electronic fuel pump is grounded; One end of the display instrument is connected to the second load resistor, the other end of the display instrument is grounded, and the output signal end of the display instrument is connected to the travel controller; One end of the signal module is connected to the second load resistor, and the other end of the signal module is connected to the ground wire; The pressure control system includes a hydraulic oil temperature sensor, a powder loosening pressure sensor, a device pressure sensor, a forward pressure sensor, and a reverse pressure sensor. The input ends of the hydraulic oil temperature sensor, the powder loosening pressure sensor, the device pressure sensor, the forward pressure sensor, and the reverse pressure sensor are connected in parallel to a second load resistor, and the other ends of the hydraulic oil temperature sensor, the powder loosening pressure sensor, the device pressure sensor, the forward pressure sensor, and the reverse pressure sensor are connected to ground in parallel. The signal output ends of the hydraulic oil temperature sensor, the powder loosening pressure sensor, the device pressure sensor, the forward pressure sensor, and the reverse pressure sensor are respectively connected to the travel control.

9. The floating deep tillage, pulverizing and soil loosening machine according to claim 7, characterized in that:The travel module includes a forward travel pump forward rotation solenoid valve, a forward travel pump reverse rotation solenoid valve, a rear travel pump forward rotation solenoid valve, and a rear travel pump reverse rotation solenoid valve. One ends of the forward travel pump forward rotation solenoid valve, the forward travel pump reverse rotation solenoid valve, the rear travel pump forward rotation solenoid valve, and the rear travel pump reverse rotation solenoid valve are respectively connected to the travel controller, and the other ends of the forward travel pump forward rotation solenoid valve, the forward travel pump reverse rotation solenoid valve, the rear travel pump forward rotation solenoid valve, and the rear travel pump reverse rotation solenoid valve are connected to ground.

Images