Lateral Pressure Grass-Crushing Disc Ditching Control System Based on Closed-Loop Pressure Dual-Route Regulation Technology

Abstract

The present invention belongs to the technical field of agricultural machinery, and specifically relates to a lateral grass-pressing disc ditching control system based on closed-loop pressure dual-channel regulation technology, which includes a ditching and seeding unit, an electric control system, and a hydraulic system; the ditching and seeding unit includes a first unit and a second unit, and the electric control system includes a main control unit, a fuselage acceleration sensor, a unit displacement sensor, a disc displacement sensor, a spring displacement sensor, a pressure sensor of the first unit, etc.; the main control unit processes the signals of each sensor and stores data. The main control unit calculates the average value of the data of each sensor stored within nearly 20S, and by comparing and analyzing the real-time signal data of the sensor with the average value of the data of each sensor within 20S, controls the opening and closing of each solenoid valve. This application uses the change in the pressure difference between the two oil circuits to adjust the depth of the ditching and seeding unit's descent, and can automatically adjust the seeding depth and downward pressure according to different seeding operation surfaces and working conditions.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and particularly relates to a lateral grass-pressing disc ditching control system based on a closed-loop pressure dual-channel regulation technology. Background Art

[0002] During no-till seeding, the function of the disc ditching opener is to open a seed furrow, assist in cutting the residual straw on the ground surface, provide a suitable seedbed for seeding, and ensure the germination rate of seeds. The operation quality of the disc ditching opener directly affects the seeding quality of the seeder.

[0003] The existing disc ditching openers have the problem of poor straw cutting effect and cannot completely cut the straw. While the straw blocks the seeder, it also increases the seed exposure rate and affects seed emergence.

[0004] At the same time, the current control of the pressure and depth of the disc ditching opener is mainly achieved by means of a parallel four-bar mechanism combined with an artificial adjustment spring. To a certain extent, the stability of the depth can be ensured. However, such adjustment is a passive profiling method. In the case of complex soil conditions and excessive residual straw, the profiling effect is poor, and it cannot well ensure the stability of the depth and the straw cutting effect. The active depth control technology has become one of the key research contents of the current precision seeding technology. Summary of the Invention

[0005] In view of the above problems, the invention provides a lateral grass-pressing disc ditching control system based on a closed-loop pressure dual-channel regulation technology. While providing a grass cutting device to ensure straw cutting, it also provides a control system based on a closed-loop pressure dual-channel hydraulic regulation technology, which can adapt to complex and changeable field tillage conditions, adjust the position of the target in real time according to different soil conditions, improve the stability of the ditching depth, and achieve the purpose of cutting straw at the same time.

[0006] To achieve the above object, the invention provides the following technical solutions:

[0007] A lateral grass-pressing disc ditching control system based on a closed-loop pressure dual-channel regulation technology, the system comprising a ditching and seeding unit, an electric control system and a hydraulic system;

[0008] The ditching and seeding unit includes a first unit 31 and a second unit 32. The structures of the first unit 31 and the second unit 32 are the same. Each ditching and seeding unit includes a seeding system, a front beam 1, a hydraulic cylinder 2, a parallel four-bar linkage profiling mechanism 4, a seeding unit connecting frame 8, a ditching and grass cutting device and a grass pressing device;

[0009] The front beam 1 is fixedly connected to the front part of the parallelogram profiling mechanism 4; the fixed end of the hydraulic cylinder 2 is fixed to the top of the parallelogram fixing frame above the front end of the parallelogram profiling mechanism 4, and the extending rod end of the hydraulic cylinder 2 is fixed to the cross beam between the lower connecting rods at the rear of the parallelogram profiling mechanism 4; the seeding unit connecting frame 8 is installed at the rear end of the parallelogram profiling mechanism 4 and is hinged to the lower connecting rod and the upper connecting rod of the parallelogram profiling mechanism 4 through bolts and bushings.

[0010] The seeding system includes a seed box 6, a seed metering device 7 and a seed guiding pipe 10.

[0011] The seed metering device 7 is installed inside the seed box 6. The upper part of the seed guiding pipe 10 is connected to the seed metering device 7 and passes through the seeding unit connecting frame 8 and is hung on the seed box 6. The lower part of the seed guiding pipe 10 is fixed to the disc hanging plate 19 by screws.

[0012] The ditching and grass cutting device includes a soil scraping plate 11, a grass cutting support plate 13, a ditching disc 18 and a disc hanging plate 19.

[0013] The top of the plate body of the disc hanging plate 19 is provided with a first connection hole, and the disc hanging plate 19 is fixed to the seeding unit connecting frame 8 by a first bolt passing through the first connection hole.

[0014] In the middle of the plate body of the disc hanging plate 19, there are a hanging plate center hole A in the upper part and a second hole B in the lower part on the same straight line in the vertical direction.

[0015] The bottom of the plate body of the disc hanging plate 19 is provided with a group of horizontal second connection holes and a group of inclined third connection holes.

[0016] A bearing base is fixed at the center hole position of the ditching disc 18, and the bearing is located on the bearing base; a second bolt passes through the second hole B and the bearing to connect the ditching disc 18 and the disc hanging plate 19 together; the ditching disc 18 can rotate around the second bolt, which is convenient for ditching and straw cutting.

[0017] The soil scraping plate 11 is fixed to the disc hanging plate 19 by a third bolt passing through the second connection hole; the soil scraping plate 11 is closely attached to the ditching disc 18; the middle part of the soil scraping plate 11 is provided with an arc-shaped notch.

[0018] The grass cutting support plate 13 is fixed to the disc hanging plate 19, passes through the arc-shaped notch of the soil scraping plate 11, and is closely attached to the ditching disc 18; the shape of the arc-shaped notch of the soil scraping plate 11 has a certain fit with the shape of the grass cutting support plate 13.

[0019] The grass cutting support plate 13 consists of four sections. The first section L1 includes two threaded through holes. Bolts are connected and fixed to the third connection holes of the disc hanging plate 19 through the threaded through holes, and the grass cutting support plate 13 is thus fixed. The second section L2 is a straight section. The third section L3 is an arc section. Among them, the upper part of the third section L3 is tangent to the first section L1. The middle part of the third section L3 is the main body part, and the shape of this part is the same as the arc-shaped notch of the soil scraping plate and fits perfectly with the arc-shaped notch of the soil scraping plate. The lower part of the third section L3 is connected to the fourth section L4. The arc-shaped third section L3 can adjust the fourth section L4 while connecting the fourth section L4 and the second section L2, that is, adjust the entry angle of the main body of the support plate by adjusting the curvature of the arc. The fourth section L4 is the main body of the support plate, and the angle between it and the ground is adjusted by the arc-shaped third section L3. The fourth section L4 is in a horizontal position.

[0020] The grass pressing device includes a grass pressing wheel support arm 14, a spring connecting rod 15, a grass pressing wheel spring 17, and a grass pressing wheel 12.

[0021] The spring connecting rod 15 passes through the grass pressing wheel spring 17. The upper part of the spring connecting rod 15 is connected to the parallel four-link copying mechanism 4 through a first hinge, and the spring connecting rod 15 can rotate around the first hinge. The lower part of the spring connecting rod 15 is connected to the grass pressing wheel support arm 14 through a second hinge, and the spring connecting rod 15 can rotate around the second hinge. The spring connecting rod 15 is connected to the grass pressing wheel 12 through the grass pressing wheel support arm 14. Bolts connect the grass pressing wheel support arm 14 and the disc hanging plate 19 through a third hinge through the center hole A of the hanging plate. The length d1 of the grass pressing wheel support arm 14 is the same as the radius of the ditching disc 18, and the grass pressing wheel support arm 14 can rotate around the third hinge. The up and down swing of the grass pressing wheel 12 drives the grass pressing wheel support arm 14 to swing around its connection axis with the disc hanging plate 19, that is, the center of the center hole A of the hanging plate. The downward pressure of the grass pressing wheel 12 is controlled by the elastic force of the spring. The radius of the grass pressing wheel 12 is the same as the length AB from the center point of the center hole A of the hanging plate to the center point of the second hole B.

[0022] The hydraulic system includes a hydraulic cylinder 2, an electromagnetic overflow valve 20, a filter 21, a motor 22, a hydraulic pump 23, a check valve 24, a hydraulic gauge 25, a four-way servo valve 26, an accumulator 27, and a two-way four-way proportional valve 29.

[0023] One end of the filter 21 is connected to the fuel tank, and the other end is installed at the oil suction port of the hydraulic pump 23. The motor 22 is connected to the hydraulic pump 23 to provide power for the hydraulic pump 23. The electromagnetic overflow valve 20 is connected in parallel at the outlet of the hydraulic pump 23, and the other end is connected to the fuel tank to ensure the safety of the hydraulic oil circuit system and prevent the hydraulic oil circuit from overloading. The inlet of the check valve 24 is also connected to the outlet of the hydraulic pump 23 to control the direction of the hydraulic oil circuit and prevent the oil circuit from flowing back. The outlet of the check valve 24 is connected in parallel to the hydraulic gauge 25.

[0024] The oil outlet end of the one-way valve 24 is respectively connected to the P ports of the four-way servo valve 26-1 of the first monomer and the four-way servo valve 26-2 of the second monomer;

[0025] In the first monomer 31, the T port of the four-way servo valve 26-1 of the first monomer is connected to the oil tank. The A and B ports of the four-way servo valve 26-1 of the first monomer are respectively connected to the oil inlet and oil return ports of the hydraulic cylinder 2-1 of the first monomer. A pressure sensor 28-1 of the first monomer is connected between the A port of the four-way servo valve 26-1 of the first monomer and the oil inlet of the hydraulic cylinder 2-1 of the first monomer. An accumulator 27-1 of the first monomer is connected between the B port of the four-way servo valve 26-1 of the first monomer and the oil outlet of the hydraulic cylinder 2-1 of the first monomer. The P and T ports of the two-way four-way proportional valve 29-1 of the first monomer are respectively connected to the oil inlet and oil return ports of the hydraulic cylinder 2-1 of the first monomer. The A and B ports of the two-way four-way proportional valve 29-1 of the first monomer are directly connected;

[0026] Similarly, in the second monomer 32, the T port of the four-way servo valve 26-2 of the second monomer is connected to the oil tank. The A and B ports of the four-way servo valve 26-2 of the second monomer are respectively connected to the oil inlet and oil return ports of the hydraulic cylinder 2-2 of the second monomer. A pressure sensor 28-2 of the second monomer is connected between the A port of the four-way servo valve 26-2 of the second monomer and the oil inlet of the hydraulic cylinder 2-2 of the second monomer. An accumulator 27-2 of the second monomer is connected between the B port of the four-way servo valve 26-2 of the second monomer and the oil outlet of the hydraulic cylinder 2-2 of the second monomer. The P and T ports of the two-way four-way proportional valve 29-2 of the second monomer are respectively connected to the oil inlet and oil return ports of the hydraulic cylinder 2-2 of the second monomer. The A and B ports of the two-way four-way proportional valve 29-2 of the second monomer are directly connected;

[0027] The electromagnetic overflow valve 20 is connected between the hydraulic pump 23, the four-way servo valve 26-1 of the first monomer, and the four-way servo valve 26-2 of the second monomer to stabilize the oil pressure of the hydraulic system within the specified oil pressure. The signal input end electromagnets 1-1DT of the four-way servo valve 26-1 of the first monomer and 1-2DT of the four-way servo valve 26-2 of the second monomer are connected to the output end of the main control unit 30. The electromagnet 1-1DT of the four-way servo valve 26-1 of the first monomer receives a signal from the main control unit 30 to control the movement direction and speed of the hydraulic cylinder 2-1 of the first monomer. The electromagnet 1-2DT of the four-way servo valve 26-2 of the second monomer receives a signal from the main control unit 30 to control the movement direction and speed of the hydraulic cylinder 2-2 of the second monomer, and respectively adjusts the up and down movement of the ditching and seeding monomer according to the position / thrust of the push rods of the hydraulic cylinder 2-1 of the first monomer and the hydraulic cylinder 2-2 of the second monomer to realize the rise or fall of the ditching and seeding monomer;

[0028] The described electronic control system includes a main control unit 30, a fuselage acceleration sensor 3, a single-body displacement sensor 5, a disc displacement sensor 9, a spring displacement sensor 16, a pressure sensor 28-1 of the first single body, a pressure sensor 28-2 of the second single body, an electromagnet 1-1DT of a four-way servo valve 26-1 of the first single body, an electromagnet 1-2DT of a four-way servo valve 26-2 of the second single body, an electromagnet 2-1DT of a two-way four-way proportional valve 29-1 of the first single body, and an electromagnet 2-2DT of a two-way four-way proportional valve 29-1 of the second single body;

[0029] The main control unit 30 processes the signals of each sensor and stores data. The main control unit 30 also calculates the average value of the data of each sensor stored within the recent 20S, and controls the opening and closing of each solenoid valve by comparing and analyzing the real-time signal data of the sensor with the average value of the data of each sensor within 20S;

[0030] The fuselage acceleration sensor 3 is fixed on the front beam 1;

[0031] The single-body displacement sensor 5 is fixed in the middle of the upper connecting rod of the parallelogram copying mechanism 4;

[0032] The disc displacement sensor 9 is fixed on the outside of the disc hanging plate 19 of the ditching and grass cutting device, near the upper part where the soil scraping plate 11 is installed;

[0033] The spring displacement sensor 16 is fixedly installed at the middle position between the lower part of the grass pressing wheel spring 17 and the second hinge;

[0034] The pressure sensor 28-1 of the first single body and the pressure sensor 28-2 of the second single body are arranged on the hydraulic circuit.

[0035] The length of the straight line segment is between 8 - 16 cm.

[0036] By adjusting the curvature of the arc of the third section L3, the entry angle of the support plate body, that is, the fourth section L4, is adjusted between 0° - 20°, facilitating the better insertion of the support plate body into the soil.

[0037] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0038] 1. A grass pressing structure and a grass cutting support body are added to the side of the ditching disc, ensuring that the disc can cut straw during the ditching process, and is not affected by the hardness of the soil, improving the efficiency of straw cutting and providing a clean seed furrow for the sowing mechanism.

[0039] 2. A depth and downforce adjustment system is provided for the no-till seeder, realizing the comprehensive control of the seeding depth and real-time downforce of the seeder. A dual-channel hydraulic control system is adopted. The oil pressure in the hydraulic circuit is monitored in real time by a pressure sensor, and the depth of the seeding unit's descent is adjusted by the change in the pressure difference between the two oil circuits, enabling the automatic adjustment of the seeding depth and downforce according to different seeding operation surfaces and working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 FIG. is a schematic structural diagram of a ditching and seeding unit (the first unit 31 or the second unit 32) of the side grass-pressing disc ditching control system based on the closed-loop pressure dual-channel control technology of the present invention;

[0041] Figure 2 FIG. is a schematic structural diagram of the ditching and grass-cutting device of the side grass-pressing disc ditching control system based on the closed-loop pressure dual-channel control technology of the present invention;

[0042] Figure 3 FIG. is a schematic structural diagram of the grass-pressing device of the side grass-pressing disc ditching control system based on the closed-loop pressure dual-channel control technology of the present invention;

[0043] Figure 4 FIG. is a schematic structural diagram of the hydraulic system of the side grass-pressing disc ditching control system based on the closed-loop pressure dual-channel control technology of the present invention;

[0044] Figure 5 FIG. is a simplified schematic diagram of the electronic control system of the side grass-pressing disc ditching control system based on the closed-loop pressure dual-channel control technology of the present invention;

[0045] Figure 6 FIG. is a schematic structural diagram of the grass-cutting support plate 13 of the side grass-pressing disc ditching control system based on the closed-loop pressure dual-channel control technology of the present invention;

[0046] Figure 7 FIG. is a schematic structural diagram of the two-unit structure of the side grass-pressing disc ditching control system based on the closed-loop pressure dual-channel control technology of the present invention.

[0047] The reference numerals therein are:

[0048] 1. Front beam 2. Hydraulic cylinder

[0049] 2-1. Hydraulic cylinder of the first unit 2-2. Hydraulic cylinder of the second unit

[0050] 3. Body acceleration sensor 4. Parallel four-link profiling mechanism

[0051] 5. Unit displacement sensor

[0052] 5-1. First unit displacement sensor 5-2. Second unit displacement sensor

[0053] 6. Seed box 7. Seed metering device

[0054] 8. Sowing monomer connecting frame 9. Disc displacement sensor

[0055] 9-1. First monomer disc displacement sensor

[0056] 9-2. Second monomer disc displacement sensor

[0057] 10. Seed guiding tube 11. Soil scraping plate

[0058] 12. Weed pressing wheel 13. Weed cutting support plate

[0059] 14. Weed pressing wheel support arm 15. Spring connecting rod

[0060] 16. Spring displacement sensor

[0061] 16-1. Second monomer spring displacement sensor

[0062] 16-2. Second monomer spring displacement sensor

[0063] 17. Weed pressing wheel spring 18. Ditching disc

[0064] 19. Disc hanging plate 20. Electro-hydraulic overflow valve

[0065] 21. Filter 22. Motor

[0066] 23. Hydraulic pump 24. Check valve

[0067] 25. Hydraulic pressure gauge 26. Four-way servo valve

[0068] 26-1. Four-way servo valve of the first monomer 26-2. Four-way servo valve of the second monomer

[0069] 27. Accumulator

[0070] 27-1. Accumulator of the first monomer 27-2. Accumulator of the second monomer

[0071] 28. Pressure sensor

[0072] 28-1. Pressure sensor of the first monomer 28-2. Pressure sensor of the second monomer

[0073] 29. Two-position four-way proportional valve

[0074] 29-1. Two-position four-way proportional valve of the first monomer

[0075] 29-2. Two-position four-way proportional valve of the second monomer

[0076] 30. Main control unit

[0077] 31. First monomer 32. Second monomer

[0078] A. Hanging plate center hole B. Second hole

[0079] 1-1DT. Solenoid valve of the four-way servo valve of the first monomer, electromagnet of 26-1

[0080] 1-2DT. Solenoid valve of the four-way servo valve of the second monomer, electromagnet of 26-2

[0081] 2-1DT. Solenoid valve of the two-way four-way proportional valve of the first monomer, electromagnet of 29-1

[0082] 2-2DT. Solenoid valve of the two-way four-way proportional valve of the second monomer, electromagnet of 29-2 Specific embodiments

[0083] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0084] As Figure 1 shown, the lateral grass-pressing disc ditching control system based on the closed-loop pressure dual-channel regulation technology of the present invention includes a ditching and seeding monomer, an electric control system and a hydraulic system.

[0085] The ditching and seeding monomer includes a first monomer 31 and a second monomer 32. The structures of the first monomer 31 and the second monomer 32 are the same. Each ditching and seeding monomer includes a seeding system, a front beam 1, a hydraulic cylinder 2, a parallelogram linkage profiling mechanism 4, a seeding monomer connecting frame 8, a ditching and grass-cutting device and a grass-pressing device.

[0086] The front beam 1 is fixedly connected to the front part of the parallelogram linkage profiling mechanism 4. The fixed end of the hydraulic cylinder 2 is fixed on the top of the parallelogram fixed frame above the front end of the parallelogram linkage profiling mechanism 4, and the extending rod end of the hydraulic cylinder 2 is fixed on the cross beam between the lower linkages at the rear of the parallelogram linkage profiling mechanism 4. The seeding monomer connecting frame 8 is installed at the rear end of the parallelogram linkage profiling mechanism 4 and is hinged to the lower and upper linkages of the parallelogram linkage profiling mechanism 4 through bolts and bushings.

[0087] The seeding system includes a seed box 6, a metering device 7 and a seed guide tube 10.

[0088] The metering device 7 is installed inside the seed box 6. The upper part of the seed guide tube 10 is connected to the metering device 7 and passes through the seeding monomer connecting frame 8 and is hung on the seed box 6. The lower part of the seed guide tube 10 is fixed to the disc hanging plate 19 by screws.

[0089] As Figure 2 shown, the ditching and grass-cutting device includes a soil scraping plate 11, a grass-cutting support plate 13, a ditching disc 18 and a disc hanging plate 19.

[0090] The top of the plate body of the disc hanging plate 19 is provided with a first connection hole, and the disc hanging plate 19 is fixed on the seeding unit connecting frame 8 by a first bolt passing through the first connection hole.

[0091] In the middle of the plate body of the disc hanging plate 19, there are a hanging plate center hole A in the upper part and a second hole B in the lower part on a straight line in the same vertical direction.

[0092] The bottom of the plate body of the disc hanging plate 19 is provided with a set of horizontal second connection holes and a set of inclined third connection holes.

[0093] A bearing base is fixed at the center hole position of the furrowing disc 18, and the bearing is located on the bearing base. A second bolt passes through the second hole B and the bearing to connect the furrowing disc 18 and the disc hanging plate 19 together. The furrowing disc 18 can rotate around the second bolt, facilitating furrowing and straw cutting.

[0094] The soil scraping plate 11 is fixed on the disc hanging plate 19 by a third bolt passing through the second connection hole. The soil scraping plate 11 is closely attached to the furrowing disc 18, facilitating the soil scraping plate 11 to scrape the soil on the furrowing disc 18 during the furrowing process to prevent the soil from adhering to the furrowing disc 18 and blocking the seeder. The middle part of the soil scraping plate 11 is provided with an arc-shaped notch.

[0095] The grass cutting support plate 13 is fixed on the disc hanging plate 19, passes through the arc-shaped notch of the soil scraping plate 11, and is closely attached to the furrowing disc 18. The shape of the arc-shaped notch of the soil scraping plate 11 has a certain fit with the shape of the grass cutting support plate 13, facilitating the close combination and passing through of the grass cutting support plate 13 and the soil scraping plate 11. The furrowing disc 18 can cut the straw and open a suitable seed furrow under the support of the grass cutting support plate 13.

[0096] As Figure 6As shown, the grass cutting support plate 13 consists of four sections. The first section L1 includes two threaded through holes, and bolts are connected and fixed to the third connection hole of the disc hanging plate 19 through the threaded through holes, and the grass cutting support plate 13 is also fixed accordingly. The second section L2 is a straight section. Preferably, the length of the straight section is between 8 and 16 cm. The third section L3 is an arc section. Among them, the upper part of the third section L3 is tangent to the first section L1. The middle part of the third section L3 is the main body part, and the shape of this part is the same as the arc-shaped notch of the soil scraping plate and fits perfectly with the arc-shaped notch of the soil scraping plate. The lower part of the third section L3 is connected to the fourth section L4. The arc-shaped third section L3 can adjust the fourth section L4 while connecting the fourth section L4 and the second section L2, that is, adjust the soil entry angle of the main body of the support plate by adjusting the curvature of the arc. The fourth section L4 is the main body of the support plate, and its angle with the ground is adjusted by the arc-shaped third section L3. The fourth section L4 is in a horizontal position, but by adjusting the curvature of the arc of the third section L3, the soil entry angle of the main body of the support plate, that is, the fourth section L4, can be adjusted between 0° and 20°, which is convenient for the main body of the support plate to better insert into the soil.

[0097] During the forward movement of the machine, the grass cutting support plate 13 of the ditching and grass cutting device is always in the state of entering the soil, and the soil entry depth of the grass cutting support plate 13 is maintained at 3 - 5 cm. Since the straw is on the ground surface, the straw is always above the grass cutting support plate 13. During the process of the disc cutting the straw, the grass cutting support plate 13 supports the straw until the straw is cut off.

[0098] As Figure 3 shown, the grass pressing device includes a grass pressing wheel support arm 14, a spring connecting rod 15, a grass pressing wheel spring 17, and a grass pressing wheel 12.

[0099] The spring connecting rod 15 passes through the grass pressing wheel spring 17. The upper part of the spring connecting rod 15 is connected to the parallel four-link copying mechanism 4 through a first hinge, and the spring connecting rod 15 can rotate around the first hinge. The lower part of the spring connecting rod 15 is connected to the grass pressing wheel support arm 14 through a second hinge, and the spring connecting rod 15 can rotate around the second hinge. The spring connecting rod 15 is connected to the grass pressing wheel 12 through the grass pressing wheel support arm 14, and bolts connect the grass pressing wheel support arm 14 and the disc hanging plate 19 through a third hinge through the central hole A of the hanging plate. The length d1 of the grass pressing wheel support arm 14 is the same as the radius of the ditching disc 18, and the grass pressing wheel support arm 14 can rotate around the third hinge. The up and down swing of the grass pressing wheel 12 drives the grass pressing wheel support arm 14 to swing around its connection axis with the disc hanging plate 19, that is, the center of the central hole A of the hanging plate. The downward pressure of the grass pressing wheel 12 is controlled by the elastic force of the spring. The radius of the grass pressing wheel 12 is the same as the length AB from the center point of the central hole A of the hanging plate to the center point of the second hole B. During the process of the ditching disc 18 cutting the straw, the grass pressing wheel 12 presses one side of the straw to prevent the pressed side of the straw from warping up, which is beneficial to straw cutting and improves the straw cutting rate.

[0100] As shown Figure 4 in the figure, the hydraulic system includes a hydraulic cylinder 2, an electromagnetic overflow valve 20, a filter 21, a motor 22, a hydraulic pump 23, a check valve 24, a hydraulic pressure gauge 25, a four-way servo valve 26, an accumulator 27, and a two-way four-way proportional valve 29.

[0101] One end of the filter 21 is connected to the fuel tank, and the other end is installed at the oil suction port of the hydraulic pump 23. The motor 22 is connected to the hydraulic pump 23 to provide power for the hydraulic pump 23. The electromagnetic overflow valve 20 is connected in parallel at the outlet of the hydraulic pump 23, and the other end is connected to the fuel tank to ensure the safety of the hydraulic oil circuit system and prevent the hydraulic oil circuit from being overloaded. The inlet of the check valve 24 is also connected to the outlet of the hydraulic pump 23 to control the direction of the hydraulic oil circuit and prevent the oil circuit from flowing back. The outlet of the check valve 24 is connected in parallel with the hydraulic pressure gauge 25.

[0102] The outlet end of the check valve 24 is respectively connected to the P ports of the four-way servo valve 26-1 of the first monomer and the four-way servo valve 26-2 of the second monomer.

[0103] In the first monomer 31, the T port of the four-way servo valve 26-1 of the first monomer is connected to the fuel tank. The A and B ports of the four-way servo valve 26-1 of the first monomer are respectively connected to the oil inlet and oil return ports of the hydraulic cylinder 2-1 of the first monomer. A pressure sensor 28-1 of the first monomer is connected between the A port of the four-way servo valve 26-1 of the first monomer and the oil inlet of the hydraulic cylinder 2-1 of the first monomer. An accumulator 27-1 of the first monomer is connected between the B port of the four-way servo valve 26-1 of the first monomer and the oil outlet of the hydraulic cylinder 2-1 of the first monomer. The P and T ports of the two-way four-way proportional valve 29-1 of the first monomer are respectively connected to the oil inlet and oil return ports of the hydraulic cylinder 2-1 of the first monomer, and the A and B ports of the two-way four-way proportional valve 29-1 of the first monomer are directly connected.

[0104] Similarly, in the second monomer 32, the T port of the four-way servo valve 26-2 of the second monomer is connected to the fuel tank. The A and B ports of the four-way servo valve 26-2 of the second monomer are respectively connected to the oil inlet and oil return ports of the hydraulic cylinder 2-2 of the second monomer. A pressure sensor 28-2 of the second monomer is connected between the A port of the four-way servo valve 26-2 of the second monomer and the oil inlet of the hydraulic cylinder 2-2 of the second monomer. An accumulator 27-2 of the second monomer is connected between the B port of the four-way servo valve 26-2 of the second monomer and the oil outlet of the hydraulic cylinder 2-2 of the second monomer. The P and T ports of the two-way four-way proportional valve 29-2 of the second monomer are respectively connected to the oil inlet and oil return ports of the hydraulic cylinder 2-2 of the second monomer, and the A and B ports of the two-way four-way proportional valve 29-2 of the second monomer are directly connected.

[0105] The electromagnetic overflow valve 20 is connected between the hydraulic pump 23, the four-way servo valve 26-1 of the first monomer, and the four-way servo valve 26-2 of the second monomer, and stabilizes the oil pressure of the hydraulic system within the specified oil pressure. The signal input end electromagnets 1-1DT of the four-way servo valve 26-1 of the first monomer and the signal input end electromagnet 1-2DT of the four-way servo valve 26-2 of the second monomer are connected to the output end of the main control unit 30. The electromagnet 1-1DT of the four-way servo valve 26-1 of the first monomer receives a signal from the main control unit 30 to control the movement direction and speed of the hydraulic cylinder 2-1 of the first monomer; the electromagnet 1-2DT of the four-way servo valve 26-2 of the second monomer receives a signal from the main control unit 30 to control the movement direction and speed of the hydraulic cylinder 2-2 of the second monomer, and adjusts the up and down movement of the ditching and seeding monomer respectively according to the position / thrust of the push rods of the hydraulic cylinder 2-1 of the first monomer and the hydraulic cylinder 2-2 of the second monomer, so as to realize the rise or fall of the ditching and seeding monomer.

[0106] When the difference between the target position and the current position is large, it is necessary to control the four-way servo valve 26 to realize the telescopic movement of the hydraulic cylinder 2 to adjust the position of the ditching and seeding monomer. When the difference between the target position and the current position is small, the four-way servo valve 26 can be in the normally closed state, and at this time, the two-way four-way proportional valve 29 and the accumulator 27 start to work.

[0107] The two-way four-way proportional valve 29 is located on the oil path connecting the oil outlet of the hydraulic cylinder and the oil inlet of the hydraulic cylinder. When the four-way servo valve 26 is in the normally open state, the two-way four-way proportional valve 29 is in the normally closed state, that is, the two-way four-way proportional valve 29 does not work when the four-way servo valve 26 is working. When the four-way servo valve 26 is in the normally closed state and the pressure sensor 28 shows the pressure change of the hydraulic cylinder 2, the two-way four-way proportional valve 29 starts to work. When the pressure sensor 28 shows that the pressure increases, the two-way four-way proportional valve 29 opens, and the hydraulic cylinder 2 contracts. The hydraulic oil flows from the rodless cylinder through the two-way four-way proportional valve 29 to the rod cylinder. At this time, the accumulator 27 also starts to work to store the excess hydraulic oil in the circuit; when the pressure sensor 28 shows that the pressure decreases, the two-way four-way proportional valve 29 opens, and the hydraulic cylinder 2 extends. The hydraulic oil flows from the rod cylinder through the two-way four-way proportional valve 29 to the rodless cylinder. At this time, the accumulator 27 works to release the hydraulic oil to make up for the insufficient hydraulic oil in the circuit.

[0108] Such as Figure 5As shown in the figure, the electric control system includes a main control unit 30, a fuselage acceleration sensor 3, a single-body displacement sensor 5, a disc displacement sensor 9, a spring displacement sensor 16, a pressure sensor 28-1 of the first single body, a pressure sensor 28-2 of the second single body, an electromagnet 1-1DT of the four-way servo valve 26-1 of the first single body, an electromagnet 1-2DT of the four-way servo valve 26-2 of the second single body, an electromagnet 2-1DT of the two-way four-way proportional valve 29-1 of the first single body, and an electromagnet 2-2DT of the two-way four-way proportional valve 29-1 of the second single body.

[0109] The main control unit 30 processes the signals of each sensor and stores the data. The main control unit 30 also calculates the average value of the data of each sensor stored within the recent 20S. By comparing and analyzing the real-time signal data of the sensor with the average value of the data of each sensor within 20S, it controls the opening and closing of each solenoid valve.

[0110] The fuselage acceleration sensor 3 is fixed on the front beam 1 and is used to monitor the acceleration of the machine. When the machine suddenly has an acceleration downward or upward, the fuselage acceleration sensor 3 converts the signal into an electrical signal and transmits it to the main control unit 30. The main control unit 30 makes corresponding actions in combination with the states of other sensors.

[0111] The single-body displacement sensor 5 is fixed in the middle of the upper connecting rod of the parallelogram profiling mechanism 4. The single-body displacement sensor 5 monitors the up and down displacement of the ditching and seeding single body. When the up and down displacement of the single body is greater than 5 cm, it feeds back the signal to the main control unit 30. The main control unit 30 controls the corresponding solenoid valve to make corresponding actions and controls the telescoping of the hydraulic cylinder.

[0112] The disc displacement sensor 9 is fixed on the outside of the disc hanging plate 19 of the ditching and grass-cutting device, near the upper part where the soil scraping plate 11 is installed. The disc displacement sensor 9 monitors the up and down displacement of the seeding disc. When the up and down displacement of the disc is greater than 3 cm and appropriate, it feeds back the signal to the main control unit 30. The main control unit 30 will control the corresponding solenoid valve to make corresponding actions and controls the telescoping of the hydraulic cylinder.

[0113] The spring displacement sensor 16 is fixedly installed at the middle position between the lower part of the grass-pressing wheel spring 17 and the second hinge. The spring displacement sensor 16 monitors the up and down movement of the grass-cutting disc. When too much straw accumulates or the soil begins to bulge, the grass-cutting disc will move upward. The spring displacement sensor 16 feeds back the signal to the main control unit 30. The main control unit 30 makes corresponding actions in combination with the information of other displacement sensors and the fuselage acceleration sensor 3; when the amount of straw is small or the soil begins to sink, the grass-cutting disc will move downward. The spring displacement sensor 16 feeds back the signal to the main control unit 30. The main control unit 30 makes corresponding actions in combination with the information of other displacement sensors and the fuselage acceleration sensor 3.

[0114] The pressure sensor 28-1 of the first monomer and the pressure sensor 28-2 of the second monomer are arranged on the hydraulic circuit. The pressure sensors 28-1 of the first monomer and 28-2 of the second monomer measure and record once every 0.008 seconds. When the pressures of the two circuits are inconsistent, it indicates that the pressure of a certain monomer has changed. When the pressure difference reaches the preset value, the corresponding hydraulic valve is controlled to perform corresponding actions.

[0115] The working process of the present invention is as follows:

[0116] After the machine starts, signals are respectively sent to the electromagnets 1-1DT of the four-way servo valve 26-1 of the first monomer and the electromagnet 1-2DT of the four-way servo valve 26-2 of the second monomer through the main control unit 30, opening the four-way servo valve 26-1 of the first monomer and the four-way servo valve 26-2 of the second monomer, adjusting the telescoping of the hydraulic cylinder 2, adjusting the first monomer 31 and the second monomer 32 to appropriate positions, and then closing the four-way servo valve 26-1 of the first monomer and the four-way servo valve 26-2 of the second monomer.

[0117] When the second monomer 32 is stable during driving and the first monomer 31 encounters a sunken road surface or the soil humidity is relatively high during driving, the press wheel spring 17 of the first monomer and the ditching disc 18 of the first monomer will generate an instantaneous downward displacement. To ensure that the monomer is always in a state where it can cut the straw, the hydraulic rod in the first monomer 31 should move downward relative to the hydraulic cylinder 2-1 of the first monomer. The specific movement process is as follows: When the road surface passed by the first monomer 31 sinks downward or the soil humidity is relatively high, the spring displacement sensor 16 of the first monomer monitors a downward displacement signal of the press wheel 12 in the first monomer 31, the disc displacement sensor 9 of the first monomer monitors a downward displacement signal of the ditching disc 18, and the value of the pressure sensor 28-1 of the first monomer is lower than that of the pressure sensor 28-2 of the second monomer. Each signal is transmitted to the main control unit 30. The main control unit 30 (compares with the average value of the data collected within nearly 20S,) combines the signals measured by the pressure sensors of the two-way oil pressures, controls the electromagnet 2-1DT of the two-position four-way proportional valve 29-1 of the first monomer to be energized, and the remaining electromagnets remain de-energized. At this time, the two-position four-way proportional valve 29-1 is connected, and the two chambers of the hydraulic cylinder 2-1 of the first monomer are connected. Due to the existence of the pressure difference, the piston rod of the hydraulic cylinder starts to move downward, and the hydraulic oil in the rodless chamber of the hydraulic cylinder flows into the rod chamber of the hydraulic cylinder through the two-position four-way proportional valve 29-1. At the same time, since the volume of the rod chamber is smaller than that of the rodless chamber, the excess hydraulic oil is stored by the accumulator 27-1 of the first monomer, ensuring that the downward vertical movement of the monomer can be inside the soil, achieving the effect of cutting the straw.

[0118] When the second monomer 32 is stable during driving and the first monomer 31 encounters a road surface bump during driving, the pressing wheel spring 17 of the first monomer and the ditching disc 18 of the first monomer will generate an instantaneous upward displacement. To ensure that the monomer can cut straw and pass quickly, the hydraulic rod should move upward relative to the hydraulic cylinder 2-1 of the first monomer. The specific movement process is as follows: When the road surface passed by the first monomer 31 bulges upward, the spring displacement sensor 16 of the first monomer monitors an upward displacement signal of the grass pressing wheel, and the disc displacement sensor 9 of the first monomer monitors an upward displacement signal of the ditching disc 18 of the first monomer. The value of the pressure sensor 28-1 of the first monomer increases compared with that of the pressure sensor 28-2 of the second monomer. Each signal is transmitted to the main control unit 30. The main control unit 30 (compares with the average value of the data collected in the recent 20S,) combines the signals measured by the pressure sensors of the two-way oil pressure, and controls the electromagnet 2-1DT of the two-position four-way proportional valve 29-1 of the first monomer to be energized, and the other electromagnets remain de-energized. At this time, the two-position four-way proportional valve 29-1 is connected, and the two chambers of the hydraulic cylinder are connected. Due to the existence of the pressure difference, the piston rod of the hydraulic cylinder starts to move upward, and the hydraulic oil in the rod chamber of the hydraulic cylinder flows into the rodless chamber of the hydraulic cylinder through the two-position four-way proportional valve 29-1. At the same time, since the volume of the rod chamber is smaller than that of the rodless chamber, the insufficient hydraulic oil is supplemented by the accumulator 27-1 of the first monomer to ensure that the disc of the monomer can be at a certain depth inside the soil during the upward vertical movement, reducing the energy consumption of the machine tool.

[0119] When the second monomer 32 is stable during driving and the first monomer 31 encounters straw accumulation on the road surface during driving, the pressing wheel spring 17 of the first monomer 31 will generate an instantaneous upward displacement. To ensure that the monomer can cut straw and pass quickly, the hydraulic cylinder needs to remain stable. The specific movement process is as follows:

[0120] When there is straw accumulation on the road surface passed by the first monomer 31, the spring displacement sensor 16-1 of the first monomer monitors an upward displacement signal of the grass pressing wheel 12 of the first monomer. The value of the pressure sensor 28-1 of the first monomer changes little compared with that of the pressure sensor 28-2 of the second monomer. Each signal is transmitted to the main control unit 30. The main control unit 30 (compares with the average value of the data collected in the recent 20S,) combines the signals measured by the pressure sensors of the two-way oil pressure, and controls the electromagnets on the first monomer 31 to remain de-energized. At this time, the solenoid valve does not act.

Claims

1. A lateral grass - pressing disc ditching control system based on closed - loop pressure dual - path regulation technology, characterized in that: the system includes a ditching and seeding unit, an electric control system and a hydraulic system; the ditching and seeding unit includes a first unit (31) and a second unit (32), and the structures of the first unit (31) and the second unit (32) are the same. Each ditching and seeding unit includes a seeding system, a front beam (1), a hydraulic cylinder (2), a parallelogram profiling mechanism (4), a seeding unit connecting frame (8), a ditching and grass - cutting device and a grass - pressing device; The front beam (1) is fixedly connected to the front part of the parallelogram profiling mechanism (4); the fixed end of the hydraulic cylinder (2) is fixed on the top of the parallelogram fixed frame above the front end of the parallelogram profiling mechanism (4), and the extending rod end of the hydraulic cylinder (2) is fixed on the cross - beam between the lower connecting rods at the rear part of the parallelogram profiling mechanism (4); the seeding unit connecting frame (8) is installed at the rear end of the parallelogram profiling mechanism (4) and is hinged to the lower connecting rod and the upper connecting rod of the parallelogram profiling mechanism (4) through bolts and bushings; The seeding system includes a seed box (6), a seed metering device (7) and a seed guiding pipe (10); The seed metering device (7) is installed inside the seed box (6). The upper part of the seed guiding pipe (10) is connected to the seed metering device (7) and passes through the seeding unit connecting frame (8) and is hung on the seed box (6). The lower part of the seed guiding pipe (10) is fixed to the disc hanging plate (19) by screws; The ditching and grass - cutting device includes a soil scraping plate (11), a grass - cutting support plate (13), a ditching disc (18) and a disc hanging plate (19); The top of the plate body of the disc hanging plate (19) is provided with a first connection hole, and the disc hanging plate (19) is fixed on the seeding unit connecting frame (8) through a first bolt passing through the first connection hole; In the middle of the plate body of the disc hanging plate (19), there are a hanging plate center hole A in the upper part and a second hole B in the lower part on the same straight line in the vertical direction; The bottom of the plate body of the disc hanging plate (19) is provided with a group of horizontal second connection holes and a group of inclined third connection holes; A bearing base is fixed at the center hole position of the ditching disc (18), and the bearing is located on the bearing base; a second bolt passes through the second hole B and the bearing to connect the ditching disc (18) and the disc hanging plate (19) together; the ditching disc (18) can rotate around the second bolt, which is convenient for ditching and straw cutting; The soil scraping plate (11) is fixed on the disc hanging plate (19) through a third bolt passing through the second connection hole; the soil scraping plate (11) is closely attached to the ditching disc (18); an arc - shaped notch is provided in the middle of the soil scraping plate (11); The grass - cutting support plate (13) is fixed on the disc hanging plate (19), passes through the arc - shaped notch of the soil scraping plate (11) and is closely attached to the ditching disc (18); the shape of the arc - shaped notch of the soil scraping plate (11) has a certain fit with the shape of the grass - cutting support plate (13); The grass cutting support plate (13) consists of four sections. The first section L1 includes two threaded through holes. Bolts are connected and fixed to the third connection hole of the disc hanging plate (19) through the threaded through holes, and the grass cutting support plate (13) is thus fixed. The second section L2 is a straight section. The third section L3 is an arc section. Among them, the upper part of the third section L3 is tangent to the first section L1. The middle part of the third section L3 is the main body part, and its shape is the same as the arc-shaped notch of the soil scraping plate and fits perfectly with the arc-shaped notch of the soil scraping plate. The lower part of the third section L3 is connected to the fourth section L4. While connecting the fourth section L4 and the second section L2, the arc-shaped third section L3 can also adjust the fourth section L4 by adjusting the curvature of the arc, that is, the entry angle of the main body of the support plate into the soil. The fourth section L4 is the main body of the support plate, and its included angle with the ground is adjusted by the arc-shaped third section L3. The fourth section L4 is in a horizontal position. The grass pressing device includes a grass pressing wheel support arm (14), a spring connecting rod (15), a grass pressing wheel spring (17), and a grass pressing wheel (12). The spring connecting rod (15) passes through the grass pressing wheel spring (17). The upper part of the spring connecting rod (15) is connected to the parallel four-link copying mechanism (4) through a first hinge, and the spring connecting rod (15) can rotate around the first hinge. The lower part of the spring connecting rod (15) is connected to the grass pressing wheel support arm (14) through a second hinge, and the spring connecting rod (15) can rotate around the second hinge. The spring connecting rod (15) is connected to the grass pressing wheel (12) through the grass pressing wheel support arm (14). Bolts connect the grass pressing wheel support arm (14) and the disc hanging plate (19) through a third hinge through the central hole A of the hanging plate. The length d1 of the grass pressing wheel support arm (14) is the same as the radius of the furrow opening disc (18), and the grass pressing wheel support arm (14) can rotate around the third hinge. The up and down swing of the grass pressing wheel (12) drives the grass pressing wheel support arm (14) to swing around its connection axis with the disc hanging plate (19), that is, the center of the central hole A of the hanging plate. The downward pressure of the grass pressing wheel (12) is controlled by the elastic force of the spring. The radius of the grass pressing wheel (12) is the same as the length AB from the center point of the central hole A of the hanging plate to the center point of the second hole B. The hydraulic system includes a hydraulic cylinder (2), an electromagnetic overflow valve (20), a filter (21), a motor (22), a hydraulic pump (23), a check valve (24), a hydraulic pressure gauge (25), a four-way servo valve (26), an accumulator (27), and a two-way four-way proportional valve (29). One end of the filter (21) is connected to the fuel tank, and the other end is installed at the oil suction port of the hydraulic pump (23). The motor (22) is connected to the hydraulic pump (23) to provide power for the hydraulic pump (23). The electromagnetic overflow valve (20) is connected in parallel at the outlet of the hydraulic pump (23), and the other end is connected to the fuel tank to ensure the safety of the hydraulic oil circuit system and prevent the hydraulic oil circuit from overloading. The inlet of the check valve (24) is also connected to the outlet of the hydraulic pump (23) to control the direction of the hydraulic oil circuit and prevent the oil circuit from flowing back. The outlet of the check valve (24) is connected in parallel with the hydraulic pressure gauge (25). The oil outlet end of the one-way valve (24) is respectively connected to the P ports of the four-way servo valve (26-1) of the first unit and the four-way servo valve (26-2) of the second unit; In the first unit (31), the T port of the four-way servo valve (26-1) of the first unit is connected to the oil tank. The A and B ports of the four-way servo valve (26-1) of the first unit are respectively connected to the oil inlet and oil return ports of the hydraulic cylinder (2-1) of the first unit. A pressure sensor (28-1) of the first unit is connected between the A port of the four-way servo valve (26-1) of the first unit and the oil inlet port of the hydraulic cylinder (2-1) of the first unit. An accumulator (27-1) of the first unit is connected between the B port of the four-way servo valve (26-1) of the first unit and the oil outlet port of the hydraulic cylinder (2-1) of the first unit. The P and T ports of the two-position four-way proportional valve (29-1) of the first unit are respectively connected to the oil inlet and oil return ports of the hydraulic cylinder (2-1) of the first unit, and the A and B ports of the two-position four-way proportional valve (29-1) of the first unit are directly connected; Similarly, in the second unit (32), the T port of the four-way servo valve (26-2) of the second unit is connected to the oil tank. The A and B ports of the four-way servo valve (26-2) of the second unit are respectively connected to the oil inlet and oil return ports of the hydraulic cylinder (2-2) of the second unit. A pressure sensor (28-2) of the second unit is connected between the A port of the four-way servo valve (26-2) of the second unit and the oil inlet port of the hydraulic cylinder (2-2) of the second unit. An accumulator (27-2) of the second unit is connected between the B port of the four-way servo valve (26-2) of the second unit and the oil outlet port of the hydraulic cylinder (2-2) of the second unit. The P and T ports of the two-position four-way proportional valve (29-2) of the second unit are respectively connected to the oil inlet and oil return ports of the hydraulic cylinder (2-2) of the second unit, and the A and B ports of the two-position four-way proportional valve (29-2) of the second unit are directly connected; The electromagnetic overflow valve (20) is connected between the hydraulic pump (23) and the four-way servo valve (26-1) of the first unit and the four-way servo valve (26-2) of the second unit to stabilize the oil pressure of the hydraulic system within the specified oil pressure. The signal input end electromagnet (1-1DT) of the four-way servo valve (26-1) of the first unit and the signal input end electromagnet (1-2DT) of the four-way servo valve (26-2) of the second unit are connected to the output end of the main control unit (30). The electromagnet (1-1DT) of the four-way servo valve (26-1) of the first unit receives a signal from the main control unit (30) to control the movement direction and speed of the hydraulic cylinder (2-1) of the first unit. The electromagnet (1-2DT) of the four-way servo valve (26-2) of the second unit receives a signal from the main control unit (30) to control the movement direction and speed of the hydraulic cylinder (2-2) of the second unit, and respectively adjusts the up and down movement of the ditching and seeding unit according to the position / thrust of the push rods of the hydraulic cylinders (2-1) of the first unit and the hydraulic cylinders (2-2) of the second unit to realize the rise or fall of the ditching and seeding unit; The electronic control system includes a main control unit (30), a fuselage acceleration sensor (3), a single-body displacement sensor (5), a disc displacement sensor (9), a spring displacement sensor (16), a pressure sensor (28-1) for the first single body, a pressure sensor (28-2) for the second single body, an electromagnet (1-1DT) of a four-way servo valve (26-1) for the first single body, an electromagnet (1-2DT) of a four-way servo valve (26-2) for the second single body, an electromagnet (2-1DT) of a two-way four-way proportional valve (29-1) for the first single body, and an electromagnet (2-2DT) of a two-way four-way proportional valve (29-1) for the second single body; The main control unit 30 processes the signals of each sensor and stores data. The main control unit (30) also calculates the average value of the data of each sensor stored in the past 20S, and controls the opening and closing of each solenoid valve by comparing and analyzing the real-time signal data of the sensor with the average value of the data of each sensor within 20S; The fuselage acceleration sensor (3) is fixed on the front beam (1); The single-body displacement sensor (5) is fixed in the middle of the upper connecting rod of the parallelogram profiling mechanism (4); The disc displacement sensor (9) is fixed on the outside of the disc hanging plate (19) of the ditching and grass cutting device, near the upper part where the soil scraping plate (11) is installed; The spring displacement sensor (16) is fixed at the middle position between the lower part of the grass pressing wheel spring (17) and the second hinge; The pressure sensor (28-1) for the first single body and the pressure sensor (28-2) for the second single body are arranged on the hydraulic circuit.

2. The lateral grass pressing disc ditching control system based on the closed-loop pressure dual-channel regulation technology as described in claim 1, characterized in that: The length of the straight line segment is between 8 and 16 centimeters.

3. The lateral grass pressing disc ditching control system based on the closed-loop pressure dual-channel regulation technology as described in claim 1, characterized in that: By adjusting the curvature of the arc of the third section L3, the entry angle of the support plate body, that is, the fourth section L4, is adjusted between 0° and 20°, which is convenient for the support plate body to better insert into the soil.

Images