A rotary cultivator and control method

Abstract

The application provides a rotary cultivator and a control method, which comprise a frame, a hydraulic transmission device, a front inclined cutter roller and a control device; the hydraulic transmission device and the front inclined cutter roller are installed on the frame, the front inclined cutter roller is located on the front side of the frame, the hydraulic transmission device is connected with the front inclined cutter roller, and the control device is connected with the hydraulic transmission device; the front inclined cutter roller comprises a front left cutter shaft and a front right cutter shaft, and the hydraulic transmission device comprises a first hydraulic motor. The front inclined cutter roller adopts a split-shaft design, the coaxial reverse rotation of the front inclined cutter roller can be realized by controlling the left and right shafts of the first hydraulic motor to rotate respectively, the force generated by the rotation of the front inclined cutter roller itself can be offset, and the parasitic power of the rotary cultivator is reduced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of agricultural machinery, and particularly relates to a rotary cultivator and a control method. BACKGROUND

[0002] Soil tillage is a heavy load operation and consumes a large amount of energy. At present, the main way of soil tillage is still plowing and rotary tillage. At present, the rotary tillage depth in China is generally about 12-15 cm. Shallow soil tillage will affect the growth of crop root systems, hinder the absorption of water and nutrients by crops, and is not conducive to crop growth. Moreover, when adopting double-axle layered rotary tillage, the rear axle is difficult to enter the soil, which causes the tillage depth to be unable to be effectively increased. All rotary cultivators on the market, whether single-sided transmission single-axle type or middle transmission two-sided split axle type, have difficulty in cutting the soil under the middle transmission box when rotary tillage, which affects the tillage depth and tillage quality. The method commonly used in the prior art to solve the problems of the middle box, missed tillage and missed stubble of the middle transmission rotary tillage machine is to install a plow blade at the lower part of the box to till the missed tillage part under the box, so that the tillage quality of the lower part of the middle box cannot meet the pulverization quality requirements. In particular, the middle transmission stubble cleaner has extremely poor middle region stubble tillage effect, and a large amount of stubble is left in the field without being removed, which greatly affects the tillage quality and effect.

[0003] The rotary cultivator in the prior art cannot be used by the user to monitor the size of the tillage depth in real time. When determining the tillage quality, the laborer needs to use a measuring tool to measure the tillage depth in the field, and to collect and record multiple points, so as to determine whether the tillage quality meets the agronomic requirements. This kind of measurement method is complex and has high labor intensity.

[0004] The traditional rotary cultivator adopts a transmission box. The power of the tractor rear output shaft is transmitted to the transmission box input shaft through a universal joint, and is output after speed change and steering to drive the cutter shaft to rotate. This transmission method brings fluctuations in the machine set running speed due to the operator's operation and the undulating ground surface. The change in the soil physical properties leads to a change in the soil acting force of the cutter, which brings a change in the cutter rotating speed. It is difficult to ensure that the speed ratio is constant during the working process of the rotary cultivator, which reduces the uniformity of soil pulverization, cannot make the rotary cultivator always work in the lowest resistance state, and increases the work power consumption. Since the cutter shaft rotating speed is not adjustable, the speed ratio cannot be changed according to different work conditions and tillage requirements in different regions.

[0005] In summary, the existing rotary cultivator mostly adopts mechanical transmission, which is difficult to ensure the constant speed ratio during the working process of the rotary cultivator, thereby reducing the uniformity of soil crushing, causing the rotary cultivator to not be able to always be in the lowest resistance working state, increasing the working power consumption, and the rotary speed of the existing rotary cultivator is mostly not adjustable, and the rotary speed of the rotary cultivator of the few existing rotary cultivators can only be adjusted in stages, and the rotary speed of the rotary cultivator cannot be accurately adjusted, the rotary shafts of the existing rotary cultivators are mostly rotated in the same direction, the rotary cultivator generates a forward force when the rotary shaft is rotated forward, thereby driving the tractor connected with the rotary cultivator to accelerate forward movement, which is easy to cause damage to the transmission system of the tractor, the rotary cultivator generates a force opposite to the transmission system of the tractor when the rotary shaft is reversed, which is also easy to cause damage to the transmission system of the tractor, the parasitic power of the existing rotary cultivator is large relative to the vertical rotary cultivator, which causes the transmission mechanism to be easy to be damaged, thereby causing the service life of the rotary cultivator to be short, causing the transmission loss to be too large during the movement of the rotary cultivator, thereby increasing the energy consumption, and the lateral force is still a big problem in the existing rotary cultivator, and the problem of how to reduce the lateral force to the tractor forward movement has not been properly solved. SUMMARY

[0006] The present application aims to solve at least one of the above technical problems to some extent. The present application provides a rotary cultivator and a control method, the present application adopts hydraulic transmission as a whole, controls the rotary speed and rotation direction of each knife roller through the control of the opening degree of the electro-hydraulic proportional valve by the control device, thereby controls the coaxial reverse rotation of the front inclined knife roller, or causes the opposite rotation of the front inclined knife roller and the rear inclined knife roller, thereby reduces the parasitic power of the rotary cultivator, improves the service life of the rotary cultivator, and reduces the energy consumption.

[0007] Note that the description of these objects does not hinder the existence of other objects. One embodiment of the present application does not need to achieve all the above-mentioned objects. The objects other than the above-mentioned objects can be extracted from the description, drawings, and claims.

[0008] The technical scheme of the present application is:

[0009] A rotary cultivator, comprising a frame, a hydraulic transmission device, a front inclined knife roller, and a control device;

[0010] The hydraulic transmission device and the front inclined knife roller are installed on the frame, the front inclined knife roller is located on the front side of the frame, the hydraulic transmission device and the front inclined knife roller are connected, and the control device and the hydraulic transmission device are connected.

[0011] The front oblique cutter roller comprises a front left cutter shaft and a front right cutter shaft, the hydraulic transmission device comprises a first hydraulic motor, the first hydraulic motor is provided with opposite output shafts, the front left cutter shaft and the front right cutter shaft are connected to the output shafts of the first hydraulic motor respectively, and the control device controls the rotation speed and rotation direction of each output shaft of the first hydraulic motor to make the front left cutter shaft and the front right cutter shaft rotate in opposite directions. That is, the front left cutter shaft 501 rotates counterclockwise, the front right cutter shaft 502 rotates clockwise, or the front left cutter shaft 501 rotates clockwise, and the front right cutter shaft 502 rotates counterclockwise; thereby reducing parasitic power generation.

[0012] In the above scheme, the rear oblique cutter roller is further included.

[0013] The rear oblique cutter roller is installed on the rack, the rear oblique cutter roller is located at the rear side of the rack, the hydraulic transmission device is connected to the rear oblique cutter roller, and the control device controls the rotation speed and rotation direction of the rear oblique cutter roller by controlling the hydraulic transmission device. When the front oblique cutter roller 5 works, the front oblique cutter roller 5 and the rear oblique cutter roller 6 rotate in opposite directions, thereby reducing parasitic power generation. That is, the front left cutter shaft 501 and the front right cutter shaft 502 both rotate counterclockwise, and the rear oblique cutter roller 6 rotates clockwise; or the front left cutter shaft 501 and the front right cutter shaft 502 both rotate clockwise, and the rear oblique cutter roller 6 rotates counterclockwise.

[0014] In the above scheme, the hydraulic transmission device further comprises an electro-hydraulic proportional valve, a hydraulic pump, a hydraulic motor box, a second hydraulic motor, an oil tank, and a filter.

[0015] The liquid input end of the hydraulic pump is communicated with the oil tank, a filter is arranged between the liquid input end of the hydraulic pump and the oil tank, the liquid output end of the hydraulic pump is communicated with the oil inlet of the electro-hydraulic proportional valve, the oil outlet of the electro-hydraulic proportional valve is connected to the oil inlets of the first hydraulic motor and the second hydraulic motor, the first hydraulic motor is installed in the hydraulic motor box, the second hydraulic motor is connected to the rear oblique cutter shaft, and the oil outlets of the first hydraulic motor and the second hydraulic motor are communicated with the oil tank through an oil pipe.

[0016] In the above scheme, a lateral force balancing device is further included, and the lateral force balancing device is installed at both ends of the front oblique cutter roller.

[0017] The lateral force balancing device comprises a circular balancing side plate, a lateral force sensor, and a hydraulic push rod.

[0018] The circular balancing side plate is rotatably connected to one end of the front oblique cutter roller, the lateral force sensor is installed on the circular balancing side plate, the lateral force sensor is connected to the control device, and the lateral force sensor is used for detecting the lateral force received by the rotary tiller and transmitting the lateral force to the control device.

[0019] The hydraulic push rod is connected with the frame at one end and connected with the circular balance plate at the other end, and the hydraulic push rod is connected with the control device, which compares the lateral force detected by the lateral force sensor with the preset value to control the extension and retraction amount of the hydraulic push rod.

[0020] The scheme further includes an oblique angle adjusting device and a suspension frame;

[0021] The oblique angle adjusting device includes an electric push rod and a steering knuckle, the suspension frame is connected with the frame, one side of the suspension frame is connected with the frame through the steering knuckle, the other side of the suspension frame is connected with the frame through the electric push rod, and the electric push rod is connected with the control device, which adjusts the oblique angle of the frame by controlling the electric push rod.

[0022] The scheme further includes a plowing depth detection device;

[0023] The plowing depth detection device includes an angle sensor and a distance sensor, the angle sensor and the distance sensor are installed on the frame, and the output ends of the angle sensor and the distance sensor are connected with the control device;

[0024] The angle sensor detects the angle between the suspension frame and the horizontal direction, and the distance sensor detects the horizontal distance between the frame and the transmission component of the tractor, the angle sensor and the distance sensor transmit the detection values to the control device in real time, and the control device calculates the real-time plowing depth H;

[0025] The plowing depth H is calculated according to the formula: H = L1*tanβ - L*tanα;

[0026] wherein, β is the angle between the suspension frame and the horizontal direction when the rear oblique cutter shaft blade initially contacts the ground, L is the horizontal distance between the sensor and the suspension frame when the rear oblique cutter shaft blade initially contacts the ground, α is the angle between the suspension frame and the horizontal direction when the rotary tiller is lowered to the specified plowing depth, L is the horizontal distance between the sensor and the suspension frame when the rear oblique cutter shaft blade initially contacts the ground when the rotary tiller is lowered to the specified plowing depth.

[0027] The scheme further includes a cutter shaft rotating speed sensor;

[0028] The cutter shaft rotating speed sensor is installed at the cutter shaft of the front oblique cutter roller and the rear oblique cutter roller respectively, the cutter shaft rotating speed sensor is connected with the control device, and the cutter shaft rotating speed sensor transmits the detected rotating speeds of the cutter shafts of the front oblique cutter roller and the rear oblique cutter roller to the control device.

[0029] A control method of a rotary tiller, comprising the following steps:

[0030] The first hydraulic motor of the hydraulic transmission drives the front oblique cutter roller to rotate.

[0031] The control device adjusts the rotation direction and rotation speed of the front left cutter shaft and the front right cutter shaft by controlling the rotation direction and rotation speed of the output shafts of the first hydraulic motor, so that the front left cutter shaft and the front right cutter shaft can be coaxially reversed.

[0032] The above scheme further comprises the following steps:

[0033] The first hydraulic motor of the hydraulic transmission drives the front oblique cutter roller to rotate, and the second hydraulic motor drives the rear oblique cutter roller to rotate; the control device adjusts the rotation direction and rotation speed of the cutter shafts of the front oblique cutter roller and the rear oblique cutter roller by controlling the rotation direction and rotation speed of the output shafts of the first hydraulic motor and the second hydraulic motor, so that the cutter shafts of the front oblique cutter roller and the rear oblique cutter roller can be forward rotated or reversed.

[0034] The above scheme further comprises the following steps:

[0035] The lateral force sensor transmits the detected lateral force to the control device, and when the lateral force exceeds the preset value, the control device adjusts the extension amount of the hydraulic push rod to offset the lateral force of the rotary tiller.

[0036] Compared with the prior art, the present application has the following advantages:

[0037] 1. The front oblique cutter roller of the present application adopts a split shaft design, and the left and right shafts of the first hydraulic motor are controlled to rotate respectively, so that the coaxial reversal of the front oblique cutter roller can be realized, thereby offsetting the force generated by the rotation of the oblique cutter roller itself, and reducing the parasitic power of the rotary tiller.

[0038] 2. The rotation direction and rotation speed of the cutter shafts of the front oblique cutter roller and the rear oblique cutter roller can be adjusted, so that the rotation directions of the cutter shafts of the front oblique cutter roller and the rear oblique cutter roller are opposite, thereby reducing the damage to the transmission mechanism of the tractor connected to the rotary tiller, improving the service life of the rotary tiller, and reducing energy consumption.

[0039] 3. The present application collects the rotation speed of the corresponding cutter shaft through the cutter shaft rotation speed sensor and transmits it to the control device, thereby realizing the monitoring of the target cutter shaft rotation speed. The operator inputs the adjustment instruction through the control device, and the control device controls the opening of the corresponding electro-hydraulic proportional valve to achieve the purpose of accurately adjusting the cutter shaft rotation speed, thereby improving the uniformity of the target soil crushing.

[0040] 4. The lateral force sensor detects the lateral force of the rotary tiller and transmits it to the control device, and the control device controls the hydraulic push rod to exert force on the circular side plate to offset the force of the lateral force on the circular side plate, thereby reducing the lateral force and making the rotary tiller work more stably.

[0041] 5. The present application uses hydraulic transmission, relative to the traditional mechanical transmission simplifies the transmission link, reduces the overall weight, the overall structure, conducive to ensure the constant speed ratio during the working process of rotary cultivator, improve the soil crushing uniformity, make rotary cultivator always in the minimum resistance working state.

[0042] Note that the description of these effects does not preclude the existence of other effects. One embodiment of the present application does not necessarily have all the above effects. Effects other than the above can be obvious from the description, drawings, claims, etc. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 is a rotary cultivator structure schematic diagram of an embodiment of the present application.

[0044] Figure 2 is a rotary cultivator knife roll position schematic diagram of an embodiment of the present application.

[0045] Figure 3 is a rotary cultivator front inclined knife roll structure schematic diagram of an embodiment of the present application.

[0046] Figure 4 is a rotary cultivator front and rear knife roll position schematic diagram of an embodiment of the present application.

[0047] Figure 5 is a rotary cultivator rack inclined schematic diagram of an embodiment of the present application.

[0048] Figure 6 is a rotary cultivator front and rear knife roll knife shaft and rotary cultivator installation schematic diagram of an embodiment of the present application.

[0049] Figure 7 is a rotary cultivator electric push rod structure schematic diagram of an embodiment of the present application.

[0050] Figure 8 is a rotary cultivator front and rear knife roll knife shaft speed regulation principle schematic diagram of an embodiment of the present application.

[0051] Figure 9 is a rotary cultivator front inclined knife roll speed regulation principle schematic diagram of an embodiment of the present application.

[0052] Figure 10 is a rotary cultivator depth detection principle schematic diagram of an embodiment of the present application.

[0053] Figure 11 is a rotary cultivator front and rear knife roll knife shaft rotary cultivator different depth schematic diagram of an embodiment of the present application.

[0054] Figure 12 is a rotary cultivator knife roll position schematic diagram of an embodiment of the present application.

[0055] Figure: 1-frame; 2-hanging frame; 3-hydraulic transmission device; 3-1 hydraulic pump; 3-2 first hydraulic motor; 3-3 hydraulic motor box; 3-4 second hydraulic motor; 3-5 hydraulic motor fixing frame; 3-6 oil tank; 3-7 filter; 4-electro-hydraulic proportional valve; 401 is a three-position six-way electro-hydraulic proportional valve, 402 is a three-position four-way electro-hydraulic proportional valve; 4-1 overflow valve; 4-2 pressure gauge; 5-front inclined knife roller; 501-front left knife shaft; 502-front right knife shaft; 5-1 front rotary tillage knife; 5-2 knife disc; 5-3 inclined knife roller shaft; 5-4 bearing seat; 6-rear inclined knife roller; 6-1 rear rotary tillage knife; 7-inclined angle adjusting device; 7-1 electric push rod; 7-2 knuckle; 7-101 electric wire; 7-102 motor; 7-103 gear; 7-104 brake; 7-105 screw; 7-106 nut; 7-107 telescopic rod; 8-rotational speed control device; 8-1 coupling; 8-2 controller; 8-3 proportional amplifier; 8-201 single-chip microcomputer; 8-202 digital-to-analog converter; 8-203 rotational speed input key; 8-204 display; 9-cultivation depth detection device; 9-1, angle sensor; 9-2, power module; 9-4, distance sensor; 10-knife shaft rotational speed sensor; 11-circular balance side plate; 12-1 lateral force sensor, 12-2 hydraulic push rod. DETAILED DESCRIPTION

[0056] Embodiments of the present application are described below in detail with reference to the accompanying drawings, wherein the same or similar components or components having the same or similar functions are denoted by the same or similar reference numerals throughout. The embodiments described below by reference to the accompanying drawings are exemplary and are intended to explain the present application, and cannot be understood as limiting the present application.

[0057] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "front", "rear", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or components referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified.

[0058] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and other terms should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0059] Figure 1 、 2 , 3, 4 shows a preferred embodiment of the rotary cultivator, comprising a frame 1, a suspension frame 2, a hydraulic transmission device 3, a front inclined cutter roller 5 and a control device;

[0060] The hydraulic transmission device 3 and the front inclined cutter roller 5 are mounted on the frame 1, the suspension frame 2 is connected with the frame 1, the front inclined cutter roller 5 is located at the front side of the frame 1, the hydraulic transmission device 3 is connected with the front inclined cutter roller 5, and the control device is connected with the hydraulic transmission device 3;

[0061] As shown in Figure 3 , the front inclined cutter roller 5 comprises a front left cutter shaft 501 and a front right cutter shaft 502, the hydraulic transmission device 3 comprises a first hydraulic motor 3-2, the first hydraulic motor 3-2 is provided with opposite output shafts, the front left cutter shaft 501 and the front right cutter shaft 502 are respectively connected with the output shafts of the first hydraulic motor 3-2, so that the control device can control the rotating speed and direction of each output shaft of the first hydraulic motor 3-2, thereby enabling the front left cutter shaft 501 and the front right cutter shaft 502 to rotate in opposite directions on the same axis.

[0062] Preferably, it also comprises a rear inclined cutter roller 6;

[0063] The rear inclined cutter roller 6 is mounted on the frame 1, the rear inclined cutter roller 6 is located at the rear side of the frame 1, the hydraulic transmission device 3 is connected with the rear inclined cutter roller 6, so that the control device can control the rotating speed and direction of the front inclined cutter roller 5 and the rear inclined cutter roller 6 by controlling the hydraulic transmission device 3, thereby enabling the control device to control the rotating direction of the cutter shafts of the front inclined cutter roller and the rear inclined cutter roller in opposite directions by controlling the corresponding hydraulic motor, thereby reducing the damage to the transmission mechanism of the tractor connected with the rotary cultivator, improving the service life of the rotary cultivator and reducing energy consumption.

[0064] Preferably, the hydraulic transmission device 3 further comprises an electro-hydraulic proportional valve 4, a hydraulic pump 3-1, a hydraulic motor box 3-3, a second hydraulic motor 3-4, an oil tank 3-6, a filter 3-7, an overflow valve 4-1 and a pressure gauge 4-2;

[0065] The hydraulic pump 3-1 has its liquid input end connected to the oil tank 3-6. A filter 3-7 is installed between the liquid input end of the hydraulic pump 3-1 and the oil tank 3-6. The hydraulic pump 3-1 is connected to the tractor, which provides power to it. The hydraulic pump 3-1 has its liquid output end connected to the inlet of the electro-hydraulic proportional valve 4. The outlet of the electro-hydraulic proportional valve 4 is connected to the inlets of the first hydraulic motor 3-2 and the second hydraulic motor 3-4. The first hydraulic motor 3-2 is installed inside the hydraulic motor housing 3-3, and its output shafts on both sides are connected to the front inclined cutter roller 5. The output shaft of the second hydraulic motor 3-4 is connected to one end of the rear inclined cutter shaft 6 via a corresponding coupling. The oil outlets of the first hydraulic motor 3-2 and the second hydraulic motor 3-4 are connected to the oil tank 3-6 via oil pipes. The second hydraulic motor 3-4 is fixed on the frame 1 via a hydraulic motor mounting bracket 3-5. The oil inlet of the electro-hydraulic proportional valve 4 is connected to the oil tank 3-6 via an overflow valve 4-1. A pressure gauge 4-2 is provided between the oil inlet of the electro-hydraulic proportional valve 4 and the overflow valve 4-1. The oil tank 3-6 and the hydraulic pump 3-1 are mounted on the frame 1.

[0066] Preferably, the first hydraulic motor 3-2 is located in the middle of the front inclined cutter roller 5 and is a central hydraulic motor, while the second hydraulic motor 3-4 is located on the side of the rear inclined cutter shaft 6 and is a side hydraulic motor.

[0067] According to one embodiment of the present invention, preferably, the hydraulic pump 3-1 has an operating pressure of 50 kPa to 200 kPa and an oil consumption of 30 to 50 L / h. The adjustable flow rate of the electro-hydraulic proportional valve 4 is 50 to 200 L / min.

[0068] like Figure 12 As shown, preferably, it also includes a lateral force balancing device, which is installed at both ends of the front inclined cutter roller 5;

[0069] The lateral force balancing device includes a circular balancing side plate 11, a lateral force sensor 12-1, and a hydraulic push rod 12-2. The lateral force sensor 12-1 detects the direction and magnitude of the lateral force and cancels it out through the hydraulic push rod 12-2, providing some assistance for steering the tractor in the forward direction. The lateral force sensor 12-1 is used to detect the lateral force on the rotary tiller and transmit it to the control device.

[0070] The circular balance side plate 11 is rotatably connected with one end of the front oblique cutter roller 5, a lateral force sensor 12-1 is installed on the circular balance side plate 11, the lateral force sensor 12-1 is connected with a control device, one end of a hydraulic push rod 12-2 is connected with the frame 1, the other end of the hydraulic push rod 12-2 is connected with the outside of the circular balance plate 11, the hydraulic push rod 12-2 is connected with the control device, and the control device compares the lateral force detected by the lateral force sensor 12-1 with a preset value, and when the lateral force exceeds the preset value, the control device adjusts the extension amount of the hydraulic push rod 12-2.

[0071] Preferably, the oblique angle adjusting device 7 is further included, and the oblique angle adjusting device 7 is connected with the control device;

[0072] As shown in the drawings, Figure 5 The oblique angle adjusting device 7 includes an electric push rod 7-1 and a steering knuckle 7-2, one side of the suspension frame 2 is connected with the frame 1 through the steering knuckle 7-2, and the other side of the suspension frame 2 is connected with the frame 1 through the electric push rod 7-1, the control device controls the electric push rod 7-1 to adjust the oblique angle of the frame 1, so that the frame 1 is obliquely arranged, and the rotary cultivator is adjusted to be an oblique rotary cultivator, thereby improving the problem that the rear axle is difficult to enter the soil.

[0073] Preferably, the cutter shaft rotating speed sensor 10 is further included;

[0074] The measuring shaft of the cutter shaft rotating speed sensor 10 is connected with one end of the cutter shaft of the front oblique cutter roller 5 and the rear oblique cutter roller 6 through a corresponding shaft coupling 8-1, the cutter shaft rotating speed sensor 10 is connected with a cutter shaft rotating speed signal input end of the control device, and the cutter shaft rotating speed sensor 10 transmits the detected cutter shaft rotating speed signal to the control device.

[0075] Preferably, the depth detection device 9 is further included, which realizes real-time monitoring of the depth, is simple to measure, has low labor intensity, and is convenient for adjusting the height of the suspension frame to adjust the depth.

[0076] As shown in the drawings, Figure 10 , 11 The depth detection device 9 can realize real-time monitoring of the depth of tillage;

[0077] The depth detection device 9 includes an angle sensor 9-1, a power module 9-2 and a distance sensor 9-4, the angle sensor 9-1 and the distance sensor 9-4 are installed on the frame 1, the power module 9-2 is installed on the frame 1 or the suspension frame 2, the power module 9-2 supplies power to the angle sensor 9-1 and the distance sensor 9-4, and output ends of the angle sensor 9-1 and the distance sensor 9-4 are connected with the control device;

[0078] The angle sensor 9-1 detects the angle of the hanger 2 and the horizontal direction, the distance sensor 9-4 detects the horizontal distance between the hanger 1 and the tractor transmission part, and the angle sensor 9-1 and the distance sensor 9-4 transmit the detection values to the control device in real time, and the control device calculates the real-time plowing depth H;

[0079] The plowing depth H calculation formula is H=L1*tanβ-L*tanα;

[0080] Wherein, is the angle of the hanger 2 and the horizontal direction of the ground when the blade of the rear inclined cutter shaft 6 initially contacts the ground, is the horizontal distance between the sensor and the hanger 2 when the blade of the rear inclined cutter shaft 6 initially contacts the ground when the rotary tiller is lowered to the specified plowing depth, is the angle of the hanger 2 and the horizontal direction of the ground when the blade of the rear inclined cutter shaft 6 initially contacts the ground when the rotary tiller is lowered to the specified plowing depth, is the horizontal distance between the sensor and the hanger 2 when the blade of the rear inclined cutter shaft 6 initially contacts the ground when the rotary tiller is lowered to the specified plowing depth.

[0081] The power module supplies power to the angle sensor and the distance sensor, and the output ends of the angle sensor and the distance sensor are connected to the control device, and the values of the angle sensor and the distance sensor can be observed in real time in the control device.

[0082] Preferably, the control device comprises a rotating speed control device 8, and the rotating speed control device 8 comprises a controller 8-2 and a proportional amplifier 8-3.

[0083] The measuring shaft of the cutter shaft rotating speed sensor 10 is connected to the other end of the cutter shaft of the front inclined cutter roller 5 and the rear inclined cutter roller 6 through a corresponding shaft coupling 8-1, the cutter shaft rotating speed sensor 10 is connected to the input end of the controller 8-2, and the signal output end of the controller 8-2 is connected to the control signal input end of the electro-hydraulic proportional valve 4.

[0084] Preferably, the controller 8-2 comprises a single-chip microcomputer 8-201 and a digital-to-analog converter 8-202, a rotating speed input key 8-203, and a display 8-204.

[0085] The signal output end of the rotating speed input key 8-203 is connected to the rotating speed input end of the single-chip microcomputer 8-201, the control signal output end of the single-chip microcomputer 8-201 is connected to the digital signal input end of the digital-to-analog converter 8-202, the analog signal output end of the digital-to-analog converter 8-202 is connected to the signal input end of the proportional amplifier 8-3, and the signal output end of the proportional amplifier 8-3 is connected to the control signal input end of the electro-hydraulic proportional valve 4. The cutter shaft rotating speed sensor 8-1 collects the rotating speed signals of the front inclined cutter roller 5 and the rear inclined cutter roller 6 and transmits them to the display 8-204, so that the operator can see the cutter shaft rotating speeds of the cutter rollers.

[0086] The rotating speed input key 8-203 inputs the rotating speed, and inputs to the single-chip microcomputer 8-201. The single-chip microcomputer 8-201 outputs the current signal, which is input to the proportional amplifier 8-3 through the digital-to-analog converter 8-202. After power amplification by the proportional amplifier 8-3, the valve opening of the electro-hydraulic proportional valve 4 is controlled, the flow into the first hydraulic motor 3-2 and the second hydraulic motor 3-4 is adjusted, the rotating speed of the front oblique knife roller 5 and the rear oblique knife roller 6 is changed, and the front oblique knife roller 5 and the rear oblique knife roller 6 are taken as feedback signals. Through the difference between the actual rotating speed and the theoretical rotating speed, the opening of the electro-hydraulic proportional valve 4 is further adjusted.

[0087] As shown in Figure 6 Preferably, the front oblique knife roller 5 comprises a front rotary tillage blade 5-1, a cutter head 5-2 and an oblique knife roller shaft 5-3. The cutter head 5-2 is installed on the knife shaft 5-3, and the front rotary tillage blade 5-1 is fixed on the cutter head 5-3 by bolts. The front oblique knife roller 5 is arranged on the frame 1 through the corresponding two bearing seats 5-4.

[0088] Preferably, the rear oblique knife roller 6 comprises a rear rotary tillage blade 6-1, a cutter head 5-2 and an oblique knife roller shaft 5-3. The cutter head 5-2 is installed on the knife shaft 5-3, and the rear rotary tillage blade 6-1 is fixed on the cutter head 5-3 by bolts. The rear oblique knife roller 6 is arranged on the frame 1 through the corresponding two bearing seats 5-4.

[0089] According to one embodiment of the present application, preferably, the cutter heads 5-2 of adjacent rotary tillage blades are 125 mm apart, each cutter head 5-2 is installed with two rotary tillage blades, the phase angle of the rotary tillage blades installed on adjacent cutter heads 5-2 is 60°, the length of the front rotary tillage blade 5-1 is 200 mm, the thickness is 8 mm, the tangent surface width is 12 mm, and the side surface width is 80 mm. The length of the rear rotary tillage blade 6-1 is 120 mm, the thickness is 6 mm, the tangent surface width is 10 mm, and the side surface width is 60 mm.

[0090] Preferably, the electro-hydraulic proportional valve 4 comprises a three-position six-way electro-hydraulic proportional valve 401 and a three-position four-way electro-hydraulic proportional valve 402. The three-position six-way electro-hydraulic proportional valve 401 adjusts the two output shafts of the first hydraulic motor 3-2, and the three-position four-way electro-hydraulic proportional valve 402 adjusts the steering of the output shaft of the second hydraulic motor 3-4, so that the steering of the front oblique knife roller 5 and the rear oblique knife roller 6 can be opposite, and the left and right parts of the front oblique knife roller 5 can be opposite, so as to reduce the parasitic power and reduce the damage to the tractor transmission mechanism.

[0091] As shown in Figure 7As shown, preferably, the electric push rod 7-1 includes an electric wire 7-101 connected to the motor 7-102, a gear 7-103, a brake 7-104, a screw jack 7-105, a nut 7-106, and an extension rod 7-107. The nut 7-106 is connected to the screw jack 7-105. The motor 7-102 is controlled by the oblique angle control unit through the electric wire 7-101 to rotate the gear 7-103, input power to the brake 7-104, and adjust the distance of the extension rod 7-107 to adjust the size of the oblique angle.

[0092] In the working process, the power output shaft of the tractor drives the rotary cultivator through the hydraulic pump 3-1. The liquid input end of the hydraulic pump 3-1 is connected to the oil tank 3-6. The hydraulic pump 3-1 outputs the liquid in the oil tank to provide power for the first hydraulic motor 3-2 and the second hydraulic motor 3-4 through the electro-hydraulic proportional valve 4. The oil outlets of the first hydraulic motor 3-2 and the second hydraulic motor 3-4 are connected to the oil tank 3-6 through oil pipes to form a liquid circuit, and then the hydraulic motor provides power for the front oblique knife roller 5 and the rear oblique knife roller 6 to perform oblique rotary cultivation on the soil, realize high-speed and orderly soil cutting, make the soil more destroyed by "pulling", change the soil throwing trajectory, reduce the re-cultivation, greatly reduce the power consumption, and increase the plowing depth.

[0093] Workflow:

[0094] Before work, the oblique angle of the machine frame 1 is adjusted by controlling the electric push rod 7-1 through the control device, so that the rotary cultivator becomes an oblique rotary cultivator.

[0095] In the working process, the operator inputs the rotating speed through the rotating speed input key 8-203, and inputs it to the single-chip microcomputer 8-201. The single-chip microcomputer 8-201 outputs a current signal, which is input to the proportional amplifier 8-3 through the digital-to-analog converter 8-202. After power amplification by the proportional amplifier 8-3, the valve port opening of the three-position six-way electro-hydraulic proportional valve 401 and the three-position four-way electro-hydraulic proportional valve 402 is controlled, the flow rate entering the first hydraulic motor 3-2 and the second hydraulic motor 3-4 is adjusted, the rotating speed of the front oblique knife roller 5 and the rear oblique knife roller 6 is changed, and the front oblique knife roller 5 and the rear oblique knife roller 6 are used as feedback signals. Through the difference between the actual rotating speed and the theoretical rotating speed, the opening of the electro-hydraulic proportional valve 4 is further adjusted.

[0096] In the working process, the lateral force sensor 12-1 transmits the detected lateral force to the control device, and the control device adjusts the extension amount of the hydraulic push rod 12-2 to offset the lateral force on the circular balance side plate 11, so as to stabilize the travel route of the machine body.

[0097] Preferably, the first hydraulic motor 3-2 of the hydraulic transmission device 3 drives the front oblique cutter roller 5 to rotate; the control device adjusts the rotation direction and rotation speed of the first hydraulic motor 3-2 output shaft, so as to adjust the rotation direction and rotation speed of the front left cutter shaft 501 and the front right cutter shaft 502, and make the front left cutter shaft 501 and the front right cutter shaft 502 be coaxial and reverse.

[0098] The first hydraulic motor 3-2 of the hydraulic transmission device 3 drives the front oblique cutter roller 5 to rotate, and the second hydraulic motor 3-4 drives the rear oblique cutter roller 6 to rotate; the control device adjusts the rotation direction and rotation speed of the first hydraulic motor 3-2 and the second hydraulic motor 3-4 output shaft, so as to adjust the rotation direction and rotation speed of the front oblique cutter roller 5 and the rear oblique cutter roller 6 cutter shaft, and make the front oblique cutter roller 5 and the rear oblique cutter roller 6 cutter shaft be able to rotate forward or reverse.

[0099] A control method of a rotary cultivator, comprising the following steps:

[0100] As shown in Figure 8 , 9 , the control device adjusts the liquid flow entering the first hydraulic motor 3-2 and the second hydraulic motor 3-4 by controlling the opening of the electro-hydraulic proportional valve 4, so as to change the rotation speed of the first hydraulic motor 3-2 and the second hydraulic motor 3-4, adjust the cutter shaft rotation speed of the front oblique cutter roller 5 and the rear oblique cutter roller 6, and take the rotation speed of the front oblique cutter roller 5 and the rear oblique cutter roller 6 measured by the cutter shaft rotation speed sensor 10 as a feedback signal, further adjust the opening of the electro-hydraulic proportional valve 4 through the difference between the actual rotation speed and the preset rotation speed of the control device, so as to adjust the cutter shaft rotation speed of the front oblique cutter roller 5 and the rear oblique cutter roller 6 to the preset rotation speed value of the control device;

[0101] The control device adjusts the rotation direction of the first hydraulic motor 3-2 and the second hydraulic motor 3-4 output shaft by adjusting the liquid flow direction through the electro-hydraulic proportional valve 4, so as to adjust the rotation direction of each cutter shaft of the front oblique cutter roller 5 and the rear oblique cutter roller 6.

[0102] Preferably, the method further comprises the following steps:

[0103] The control device controls the extension and retraction amount of the electric push rod 7-1, so that the frame 1 rotates along the knuckle 7-2, so as to adjust the oblique angle of the frame 1, and make the rotary cultivator become an oblique rotary cultivator.

[0104] Preferably, the method further comprises the following steps:

[0105] The lateral force sensor 12-1 transmits the detected lateral force to the control device, and when the lateral force exceeds the preset value, the control device adjusts the extension and retraction amount of the hydraulic push rod 12-2, so that the lateral force on the rotary cultivator is offset, and the body travel route is stabilized.

[0106] An example of the balanced lateral force device is as follows:

[0107] When the force detected by the lateral force sensor 12-1 on the circular balanced lateral plate 11 is 400 N, an electric signal is input into the control device, and the control device sends a control signal to the hydraulic push rod, so that the hydraulic push rod is calculated to extend 3 rod positions, and then the received lateral force is balanced, and the body running route is stabilized.

[0108] The rotary cultivator realizes high-speed and orderly soil cutting in the working process, makes the soil more damaged by "pulling", changes the soil throwing trajectory, reduces heavy tillage, greatly reduces power consumption, improves the problem of difficult soil entering of the rear axle, and further increases the tillage depth.

[0109] It should be understood that although the present specification is described according to each embodiment, not every embodiment contains only one independent technical solution, and the description manner of the specification is only for the sake of clarity, and the skilled person in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be combined to form other embodiments which can be understood by the skilled person.

[0110] The series of detailed descriptions listed above are only specific descriptions of the feasible embodiments of the present application, and are not used to limit the protection scope of the present application, and any equivalent embodiments or changes made without departing from the spirit of the present application should be included in the protection scope of the present application.

Claims

1. A rotary cultivator, characterized in that It comprises a frame (1), a hydraulic transmission device (3), a front oblique knife roller (5) and a control device; The hydraulic transmission device (3) and the front oblique knife roller (5) are installed on the frame (1), the front oblique knife roller (5) is located on the front side of the frame (1), the hydraulic transmission device (3) is connected with the front oblique knife roller (5), and the control device is connected with the hydraulic transmission device (3); The front oblique knife roller (5) comprises a front left knife shaft (501) and a front right knife shaft (502), the hydraulic transmission device (3) comprises a first hydraulic motor (3-2), the first hydraulic motor (3-2) is provided with opposite output shafts, the front left knife shaft (501) and the front right knife shaft (502) are connected with the output shafts of the first hydraulic motor (3-2) respectively, and the control device controls the rotating speed and rotating direction of each output shaft of the first hydraulic motor (3-2) to make the front left knife shaft (501) and the front right knife shaft (502) rotate in the opposite directions coaxially; It also comprises a rear oblique knife roller (6); The rear oblique knife roller (6) is installed on the frame (1), the rear oblique knife roller (6) is located on the rear side of the frame (1), the hydraulic transmission device (3) is connected with the rear oblique knife roller (6), and the control device controls the rotating speed and rotating direction of the rear oblique knife roller (6) by controlling the hydraulic transmission device (3); It also comprises a lateral force balancing device, and the lateral force balancing device is installed at two ends of the front oblique knife roller (5) respectively; The lateral force balancing device comprises a circular balancing side plate (11), a lateral force sensor (12-1) and a hydraulic push rod (12-2); The circular balancing side plate (11) is rotatably connected with one end of the front oblique knife roller (5), the lateral force sensor (12-1) is installed on the circular balancing side plate (11), the lateral force sensor (12-1) is connected with the control device, and the lateral force sensor (12-1) is used for detecting the lateral force received by the rotary cultivator and transmitting the lateral force to the control device; One end of the hydraulic push rod (12-2) is connected with the frame (1), the other end of the hydraulic push rod (12-2) is connected with the circular balancing side plate (11), and the hydraulic push rod (12-2) is connected with the control device; the control device compares the lateral force detected by the lateral force sensor (12-1) with a preset value, and adjusts the extension amount of the hydraulic push rod (12-2) when the lateral force exceeds the preset value; It also comprises an oblique angle adjusting device (7) and a suspension frame (2); The oblique angle adjusting device (7) comprises an electric push rod (7-1) and a steering knuckle (7-2), the suspension frame (2) is connected with the frame (1), one side of the suspension frame (2) is connected with the frame (1) through the steering knuckle (7-2), the other side of the suspension frame (2) is connected with the frame (1) through the electric push rod (7-1), the electric push rod (7-1) is connected with the control device, and the control device adjusts the oblique angle of the frame (1) by controlling the electric push rod (7-1); It also comprises a depth detection device (9); The depth detection device (9) comprises an angle sensor (9-1) and a distance sensor (9-4), the angle sensor (9-1) and the distance sensor (9-4) are installed on the frame (1), and the output ends of the angle sensor (9-1) and the distance sensor (9-4) are connected to the control device; The angle sensor (9-1) detects the angle between the suspension frame (2) and the horizontal direction, and the distance sensor (9-4) detects the horizontal distance between the frame (1) and the transmission part of the tractor, the angle sensor (9-1) and the distance sensor (9-4) transmit the detection values to the control device in real time, and the control device calculates the real-time depth H.

2. The rotary cultivator of claim 1, characterized in that The hydraulic transmission device (3) further comprises an electro-hydraulic proportional valve (4), a hydraulic pump (3-1), a hydraulic motor box (3-3), a second hydraulic motor (3-4), an oil tank (3-6) and a filter (3-7); The liquid input end of the hydraulic pump (3-1) is communicated with the oil tank (3-6), a filter (3-7) is arranged between the liquid input end of the hydraulic pump (3-1) and the oil tank (3-6), the liquid output end of the hydraulic pump (3-1) is communicated with the oil inlet of the electro-hydraulic proportional valve (4), the oil outlet of the electro-hydraulic proportional valve (4) is connected to the oil inlets of the first hydraulic motor (3-2) and the second hydraulic motor (3-4), the first hydraulic motor (3-2) is installed in the hydraulic motor box (3-3), the second hydraulic motor (3-4) is connected to the rear inclined cutter roller (6), and the oil outlets of the first hydraulic motor (3-2) and the second hydraulic motor (3-4) are communicated with the oil tank (3-6) through oil pipes.

3. The rotary cultivator of claim 1, characterized in that; The formula for calculating the depth of tillage H is: H = L1 tanβ -L tan a; wherein, is the angle of the suspension frame (2) and the horizontal direction of the ground when the blade of the rear oblique cutter roller (6) initially contacts the ground, is the horizontal distance of the sensor from the suspension frame (2) when the blade of the rear oblique cutter roller (6) initially contacts the ground, is the angle of the suspension frame (2) and the horizontal direction of the ground when the rotary cultivator is lowered to the specified depth, is the horizontal distance of the sensor from the suspension frame (2) when the blade of the rear oblique cutter roller (6) initially contacts the ground when the rotary cultivator is lowered to the specified depth.

4. The rotary cultivator of claim 1, wherein, Further comprising a cutter shaft rotation speed sensor (10); The cutter shaft rotation speed sensor (10) is respectively installed at the cutter shafts of the front inclined cutter roller (5) and the rear inclined cutter roller (6), the cutter shaft rotation speed sensor (10) is connected to the control device, and the cutter shaft rotation speed sensor (10) transmits the detected rotation speeds of the cutter shafts of the front inclined cutter roller (5) and the rear inclined cutter roller (6) to the control device.

5. A control method for the rotary cultivator according to any one of claims 1 to 4, characterized in that, The method comprises the following steps: The first hydraulic motor (3-2) of the hydraulic transmission device (3) drives the front inclined cutter roller (5) to rotate; The control device controls the rotation direction and speed of the output shafts of the first hydraulic motor (3-2), so as to adjust the rotation direction and speed of the front left cutter shaft (501) and the front right cutter shaft (502), and enable the front left cutter shaft (501) and the front right cutter shaft (502) to be coaxially reversed.

6. The control method of the rotary cultivator according to claim 5, characterized in that, Further comprising the following steps: The first hydraulic motor (3-2) of the hydraulic transmission device (3) drives the front inclined cutter roller (5) to rotate, and the second hydraulic motor (3-4) drives the rear inclined cutter roller (6) to rotate; the control device controls the rotation direction and speed of the output shafts of the first hydraulic motor (3-2) and the second hydraulic motor (3-4) of the hydraulic transmission device (3), so as to adjust the rotation direction and speed of the cutter shafts of the front inclined cutter roller (5) and the rear inclined cutter roller (6), and enable the cutter shafts of the front inclined cutter roller (5) and the rear inclined cutter roller (6) to be forward rotated or reversed.

7. The control method of the rotary cultivator according to claim 5, characterized by Further comprising the following steps: The lateral force sensor (12-1) transmits the detected lateral force to a control device, which adjusts the extension amount of the hydraulic push rod (12-2) so that the lateral force of the rotary tiller is counteracted when the lateral force exceeds a preset value.

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