A contour-supported paddy field precision land leveler and land leveling method

Abstract

The present invention relates to a profiling support type paddy field precision leveler, comprising a frame, a profiling support mechanism, a leveling mechanism, a height adjustment mechanism, and a control system; the frame is connected to a tractor through a three-point suspension device; the leveling mechanism is connected to the frame through a height adjustment mechanism, and the control system controls the height adjustment mechanism to achieve the lifting and lowering adjustment of the leveling mechanism; the profiling support mechanism comprises a support frame and a support frame adjustment mechanism, the frame, the support frame adjustment mechanism, and the support frame are connected in sequence, the support frame adjustment mechanism drives the frame to lift relative to the support frame, and the support frame is supported by the hard bottom layer of the paddy field; the number of the profiling support mechanisms is more than two groups, arranged along the left and right directions, and the control system adjusts each support frame adjustment mechanism to keep the frame horizontal in the left and right directions. The present invention also relates to a profiling support type paddy field precision leveling method. The present invention can adapt to paddy field leveling operations under complex hard bottom environments, and belongs to the technical field of paddy field leveling machinery.

Description

Technical Field

[0001] The invention relates to a paddy field leveling machine, and in particular to a contour-supported paddy field precision leveler and a leveling method. Background Art

[0002] Precision leveling of farmland can effectively improve land utilization, weed control efficiency, crop maturity uniformity and crop yield, as well as reduce water use and fertilizer application in rice production. There are two ways to level farmland: dry paddy field leveling and horizontal paddy field leveling. According to climate characteristics and the need to seize farming time for multi-season rice production, paddy field leveling is an indispensable part of the rice production process.

[0003] According to the different supporting power, paddy field levelers are divided into two types: rice transplanter type and tractor type. Paddy field levelers with rice transplanter as supporting power are suitable for small-scale farmland operations, but they are prone to getting stuck when operating in a complex hard bottom environment. The complex hard bottom refers to a relatively stable soil layer with uneven topography formed after agricultural machinery operations roll over the farmland. This soil layer can support agricultural machinery operations and its topography will not change significantly. Paddy field levelers with tractors as supporting power are suitable for large-scale farmland operations and can improve the leveling efficiency. However, when operating in a complex hard bottom environment, the tractor body posture fluctuates greatly, resulting in an increase in the height change of the leveling shovel, and the height control response cannot compensate for the height difference in time, resulting in digging and piling up of soil.

[0004] CN 108834445 A discloses a paddy field laser land leveler with a contoured support roller, which reduces the height variation of the land leveler by supporting the contoured support roller on the tillage layer. However, the contoured support roller structure will increase the soil disturbance after acting on the tillage layer, reduce the earthwork handling capacity of the land leveler, and cannot adapt to the tillage layer of any depth. Therefore, the prior art has the problems of low adaptability and low operating efficiency. The contoured support type paddy field precision land leveler of the present invention avoids the height variation of the land leveler being affected by the change of the tractor's posture, improves the height control response time, and improves the operating efficiency and quality to adapt to the complex hard bottom operating environment. Summary of the invention

[0005] In view of the technical problems existing in the prior art, the purpose of the present invention is to provide a contour-supported paddy field precision land leveler and land leveling method, which are suitable for complex hard bottom working environment.

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

[0007] A contour-supported paddy field precision land leveler comprises a frame, a contour-supporting mechanism, a land leveling mechanism, a height-adjusting mechanism and a control system; the frame is connected to a tractor via a three-point suspension device; the land leveling mechanism is connected to the frame via a height-adjusting mechanism, and the height-adjusting mechanism is controlled by the control system to achieve lifting and lowering adjustment of the land leveling mechanism; the contour-supporting mechanism comprises a support frame and a support frame adjusting mechanism, the frame, the support frame adjusting mechanism and the support frame are connected in sequence, the support frame adjusting mechanism drives the frame to lift and lower relative to the support frame, and the support frame is supported by a paddy field hard bottom layer; the contour-supporting mechanisms are in two or more groups, arranged in left-right directions, and the control system adjusts each support frame adjusting mechanism to keep the frame horizontal in the left-right directions.

[0008] As a preferred embodiment, the support frame adjustment mechanism is a telescopic structure, and the support height of the contoured support mechanism relative to the hard bottom layer is adjusted by the telescopic length of the support frame adjustment mechanism, thereby rationalizing the lifting and lowering adjustment stroke of the leveling mechanism to adapt to farmland leveling operations with different tillage layer thicknesses.

[0009] As a preferred embodiment, the support frame includes a connecting section and an arc-shaped flat plate section arranged in sequence from top to bottom. In the side view direction, the arc-shaped flat plate section is horizontally arranged and is located below the connecting section; the connecting section connects the support frame adjustment mechanism and the arc-shaped flat plate section.

[0010] As a preferred embodiment, the curved flat plate segment is a rectangular plate whose length direction is arranged along the front-to-back direction, and has a curved structure at one end in the forward direction.

[0011] As a preferred embodiment, the leveling mechanism includes a leveling shovel, which includes a main body extending along the left-right direction and side panels located on the left and right sides of the main body; the connecting section of the support frame is located in front of the main body; in the rear view direction, the curved flat plate section of the support frame is located below the main body.

[0012] As a preferred embodiment, in the contour support mechanism, positions of two groups of contour support mechanisms correspond to positions of rear wheels of the tractor, so that the hard bottom layer rolled by the rear wheels of the tractor supports the two groups of contour support mechanisms.

[0013] Preferably, the leveling mechanism includes a leveling shovel, a floating drag plate, and a sensor mounting rod, wherein the floating drag plate is hinged to the rear side of the leveling shovel, and the sensor mounting rod is fixed to the leveling shovel; the leveling mechanism also includes a limiting mechanism for limiting the movement height of the floating drag plate relative to the leveling shovel.

[0014] As a preferred embodiment, the height adjustment mechanism includes a parallel four-bar linkage and a height adjustment cylinder. The leveling shovel is connected to the frame through the parallel four-bar linkage to maintain the vertical state of the leveling shovel. One end of the height adjustment cylinder is hinged to the frame, and the other end is hinged to the leveling shovel.

[0015] As a preferred embodiment, the control system includes a display and control terminal and a sensor; the sensor is a dual-antenna GNSS receiver, and the dual antennas are arranged along the left and right directions to measure the real-time height and inclination information of the leveling shovel in the leveling mechanism.

[0016] A method for accurate paddy field leveling using a contour support type is provided, and a contour support type paddy field accurate leveling machine is used, and the method comprises the following steps: (1) adjusting the three-point suspension of a tractor to the lowest position and setting it to a floating mode; (2) setting a reference height for leveling operation according to the height of the field surface terrain; (3) setting the support height of a contour support mechanism according to the thickness of the paddy field tillage layer, so that the leveling blade is in the middle position of the lifting adjustment stroke when it is at the reference height; (4) using a dual-antenna GNSS receiver to measure real-time height information of the leveling blade; (5) calculating the real-time height difference of the leveling blade according to the real-time height information of the leveling blade measured in step (4) and the reference height set in step (2); (6) controlling the height adjustment mechanism based on the height difference information to ensure that the operating height of the leveling blade is at the set reference height, thereby realizing automatic height adjustment and accurate leveling of the leveling blade; (7) when the leveling blade or the leveling machine as a whole tilts left or right, the dual-antenna GNSS receiver detects different height information on the left and right; (8) when the hard bottom layer of the paddy field is different on the left and right, the overall level of the leveling machine is controlled by adjusting the left and right contour support mechanisms.

[0017] The principle of the present invention is to design a contour support mechanism that acts on the hard bottom layer of the paddy field. The contour support mechanism moves to imitate the terrain of the hard bottom layer and is leveled left and right, so that the height change of the leveling shovel is not affected by the change of the tractor's posture. At the same time, the height control amount of the leveling shovel can be reduced, thereby realizing the precise leveling operation of "digging high and filling low".

[0018] The present invention has the following advantages:

[0019] 1. The contour support mechanism acts on the hard bottom layer of the paddy field, which can adapt to the complex hard bottom operation environment and can be applied to the paddy field leveling operation needs with different tillage layer thicknesses.

[0020] 2. The contoured support mechanism reduces the height variation of the leveling blade, improves the control response time and stability of the leveling blade, and reduces the impact of the hard bottom layer of the paddy field on the work efficiency and quality.

[0021] 3. Each contour support mechanism can be adjusted independently to ensure the leveling of the whole grader and the grader blade, and improve the adaptability of the grader in complex hard substrate environments. And each contour support mechanism can be adjusted synchronously, for example, one extends while the other shortens, to accelerate the leveling operation of the whole machine.

[0022] 4. Design a support frame with a specific structure that can not only cut through the cultivated layer of soil but also provide sufficient supporting force.

[0023] 5. The positions of the two sets of contour support mechanisms correspond to the positions of the rear wheels of the tractor, which can reduce the soil disturbance caused by the contour support mechanisms.

[0024] 6. Design the relative position of the support frame and the leveling blade to eliminate traces of the contoured support mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 The present invention is a diagram showing the use status of a contour-supported paddy field precision land grader.

[0026] Figure 2 It is a stereoscopic image of a contour-supported paddy field precision land grader.

[0027] Figure 3 It is a rear view of a contour-supported paddy field precision land grader.

[0028] Figure 4 It is a side view of a contour-supported paddy field precision land grader.

[0029] Figure 5 This is a schematic diagram of the level adjustment of the whole machine when the left and right sides of the hard bottom are sunken at different depths.

[0030] Figure 6 It is the height variation of a leveling shovel operating at a speed of 0.8m / s in complex terrain.

[0031] Figure 7 It is the height variation of a leveling shovel operating at a speed of 1m / s in complex terrain.

[0032] Figure 8 It is the height variation of a leveling blade operating at a speed of 1.2m / s in complex terrain.

[0033] Among them, 1 is a frame, 2 is a leveling blade, 3 is a height adjustment mechanism, 4 is a contoured support mechanism, 5 is a floating drag plate, 6 is a limit mechanism, 7 is an oil tank, 8 is a gear pump, 9 is a hydraulic valve seat, 10 is an electromagnetic reversing valve, and 11 is a dual-antenna GNSS receiver.

[0034] 301 is a parallel connecting rod, and 302 is an oil cylinder.

[0035] A is the cultivated layer and B is the hard bottom layer. DETAILED DESCRIPTION

[0036] The present invention will be further described in detail below in conjunction with specific implementation methods.

[0037] A contour support type paddy field precision leveler comprises a frame, a contour support mechanism, a leveling mechanism, a height adjustment mechanism, and a control system; the frame is connected to the tractor through a three-point suspension device. The leveling mechanism is connected to the frame through the height adjustment mechanism, and the control system controls the height adjustment mechanism to achieve the lifting and lowering adjustment of the leveling mechanism. The power source of the mechanism is driven by the tractor power output shaft to drive the gear pump to work, the gear pump sucks hydraulic oil from the oil tank and outputs high-pressure oil to the hydraulic valve seat, and then controls the electromagnetic reversing valve to drive the mechanism.

[0038] The contour support mechanism includes a support frame and a support frame adjustment mechanism. The frame, the support frame adjustment mechanism, and the support frame are connected in sequence. The support frame adjustment mechanism drives the frame to rise and fall relative to the support frame, and the support frame is supported by the paddy field hard bottom layer. The number of contour support mechanisms is more than two groups. In this embodiment, there are two groups, which are arranged along the left and right directions. The control system adjusts each support frame adjustment mechanism to keep the frame horizontal in the left and right directions. The support frame adjustment mechanism is a telescopic structure. In this embodiment, a hydraulic cylinder is used to adjust the support height of the contour support mechanism relative to the hard bottom layer through the telescopic length of the hydraulic cylinder, thereby rationalizing the lifting and lowering adjustment stroke of the leveling mechanism to adapt to the farmland leveling operation with different tillage layer thicknesses. The support frame includes a connecting section and an arc-shaped flat plate section arranged in sequence from top to bottom. In the side view direction, the arc-shaped flat plate section is horizontally arranged and is located below the connecting section. The connecting section connects the support frame adjustment mechanism and the arc-shaped flat plate end. The arc-shaped flat plate section is a rectangular plate arranged along the front-back direction in the length direction, with an arc structure at one end in the forward direction, and the arc-shaped flat plate section acts on the hard bottom layer. The positions of the two sets of contour support mechanisms correspond to the positions of the rear wheels of the tractor, so that the hard bottom layer after the rear wheels of the tractor roll over supports the two sets of contour support mechanisms. The hydraulic cylinder of the contour support mechanism adjusts the support height of the frame relative to the hard bottom layer (i.e., the bottom end of the support frame) by telescoping to adapt to the farmland leveling operation with different tillage layer thicknesses. The contour support mechanism can be adjusted to different heights individually to ensure the overall leveling of the grader when the hard bottom layer is different on the left and right.

[0039] The leveling mechanism includes a leveling shovel, a floating drag plate, and a sensor mounting rod. The floating drag plate is hinged to the rear side of the leveling shovel, and the sensor mounting rod is fixed to the leveling shovel. The leveling mechanism also includes a limit mechanism for limiting the movement height of the floating drag plate relative to the leveling shovel. The leveling shovel includes a main body extending in the left and right directions, and also includes side plates located on the left and right sides of the main body. The connecting section of the support frame is located in front of the main body; in the rear view direction, the curved flat plate section of the support frame is located below the main body.

[0040] The height adjustment mechanism includes a parallel four-bar linkage and a height adjustment cylinder. The leveling shovel is connected to the frame through the parallel four-bar linkage to keep the leveling shovel in a vertical state. One end of the height adjustment cylinder is hinged to the frame, and the other end is hinged to the leveling shovel. In this embodiment, there are four groups of height adjustment mechanisms, which are arranged along the width direction of the leveling shovel, and the four height adjustment cylinders are synchronously extended and retracted.

[0041] The control system includes a display and control terminal and a sensor; the sensor is a dual-antenna GNSS receiver, which is arranged in the left and right directions to measure the real-time height and inclination information of the leveling blade in the leveling mechanism. The display and control terminal controls the height adjustment cylinder and the support frame adjustment mechanism according to the difference between the real-time height and inclination and the reference value to achieve automatic adjustment of the height and level of the leveling blade.

[0042] A method for accurately leveling a paddy field using a contour-supported paddy field precision leveler is provided, and the method comprises the following steps:

[0043] (1) Adjust the tractor's three-point suspension to the lowest position and set it to floating mode.

[0044] (2) Use aerial survey drones, three-dimensional laser radar systems, total stations and other equipment to measure field surface terrain data, and set the benchmark height for leveling operations based on the field surface terrain height data.

[0045] (3) The support height of the contour support mechanism is set according to the thickness of the paddy field tillage layer so that the leveling blade is in the middle position of the lifting and lowering adjustment stroke when it is at the reference height.

[0046] (4) A dual-antenna GNSS receiver measures the real-time height information of the leveling shovel.

[0047] (5) Calculate the real-time height difference of the leveling shovel based on the real-time height information of the leveling shovel measured in step (4) and the reference height set in step (2).

[0048] (6) Based on the height difference information, the control system controls the valve group of the hydraulic system to drive and adjust the height adjustment mechanism to ensure that the working height of the leveling blade is at the set reference height, thereby achieving automatic height adjustment and precise leveling of the leveling blade. When the real-time height of the leveling blade is greater than the reference height, the leveling blade is controlled to descend to the reference height; when the real-time height of the leveling blade is less than the reference height, the leveling blade is controlled to rise to the reference height; when the real-time height of the leveling blade is consistent with the reference height, no control is performed.

[0049] (7) When the motor grader or the motor grader as a whole tilts left or right, the dual-antenna GNSS receiver detects different height information on the left and right sides.

[0050] (8) When the hard bottom layer of the paddy field is different on the left and right, the overall level of the grader can be controlled by adjusting the left and right contour support mechanisms. Figure 5As shown, when the hard bottom terrain on the right side is higher than that on the left side, the right side contour support mechanism is shortened and the left side contour support mechanism is extended synchronously to quickly realize the leveling operation of the whole machine.

[0051] When working on the ground, the contour support mechanism moves to imitate the hard bottom terrain, so that the height change of the leveling blade is not affected by the change of the tractor's posture, reducing the height change of the leveling blade, improving the control response time and stability of the leveling blade, and reducing the impact of the hard bottom of the paddy field on the work efficiency and quality. Figure 6-8 As shown, compared with the leveling operation without the profiling support mechanism, the leveling blade height variation amplitude of the leveling operation with the profiling support mechanism at three speeds is reduced by 55.02%, 51.18% and 56.52% respectively, indicating that the high-speed leveling operation with the profiling support mechanism can also reduce the leveling blade height variation amplitude, which effectively improves the adaptability of the grader to operate in a complex hard substrate environment.

[0052] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A contour-supported paddy field precision land leveler, characterized in that: It includes a frame, a contour support mechanism, a leveling mechanism, a height adjustment mechanism, and a control system; the frame is connected to the tractor through a three-point suspension device; the leveling mechanism is connected to the frame through the height adjustment mechanism, and the control system controls the height adjustment mechanism to achieve the lifting and lowering adjustment of the leveling mechanism; the contour support mechanism includes a support frame and a support frame adjustment mechanism, the frame, the support frame adjustment mechanism, and the support frame are connected in sequence, the support frame adjustment mechanism drives the frame to rise and fall relative to the support frame, and the support frame is supported by the hard bottom layer of the paddy field; the number of contour support mechanisms is more than two groups, which are arranged in the left and right directions, and the control system adjusts each support frame adjustment mechanism to keep the frame horizontal in the left and right directions; The leveling mechanism includes a leveling blade; The support frame includes a connecting section and an arc-shaped flat plate section which are arranged in sequence from top to bottom. In the side view direction, the arc-shaped flat plate section is arranged horizontally and is located below the connecting section, and the connecting section is located in the leveling shovel; the connecting section connects the support frame adjustment mechanism and the arc-shaped flat plate section.

2. A contour-supported paddy field precision land leveler according to claim 1, characterized in that: The support frame adjustment mechanism is a telescopic structure. The support height of the contoured support mechanism relative to the hard bottom layer is adjusted by the telescopic length of the support frame adjustment mechanism, thereby rationalizing the lifting and lowering adjustment stroke of the leveling mechanism to adapt to farmland leveling operations with different tillage layer thicknesses.

3. A contour-supported paddy field precision land leveler according to claim 1, characterized in that: The curved flat plate section is a rectangular plate whose length direction is arranged along the front-rear direction, and has a curved structure at one end in the forward direction.

4. A contour-supported paddy field precision land leveler according to claim 1, characterized in that: The leveling shovel includes a main body extending in the left-right direction, and also includes side panels located on the left and right sides of the main body; the connecting section of the support frame is located in front of the main body; in the rearward viewing direction, the curved flat plate section of the support frame is located below the main body.

5. A contour-supported paddy field precision land leveler according to claim 1, characterized in that: Among the contour-forming support mechanisms, positions of two groups of contour-forming support mechanisms correspond to positions of rear wheels of the tractor, so that the hard bottom layer rolled by the rear wheels of the tractor supports the two groups of contour-forming support mechanisms.

6. A contour-supported paddy field precision land leveler according to claim 1, characterized in that: The leveling mechanism includes a leveling shovel, a floating drag plate, and a sensor mounting rod. The floating drag plate is hinged on the rear side of the leveling shovel, and the sensor mounting rod is fixed on the leveling shovel. The leveling mechanism also includes a limiting mechanism for limiting the moving height of the floating drag plate relative to the leveling shovel.

7. A contour-supported paddy field precision land leveler according to claim 6, characterized in that: The height adjustment mechanism includes a parallel four-bar linkage and a height adjustment cylinder. The leveling shovel is connected to the frame through the parallel four-bar linkage to keep the leveling shovel in a vertical state. One end of the height adjustment cylinder is hinged to the frame, and the other end is hinged to the leveling shovel.

8. A contour-supported paddy field precision land leveler according to claim 1, characterized in that: The control system includes a display and control terminal and a sensor; the sensor is a dual-antenna GNSS receiver, and the dual antennas are arranged along the left and right directions to measure the real-time height and inclination information of the leveling shovel in the leveling mechanism.

9. A method for accurate land leveling of paddy fields using a precise land leveling machine of a paddy field according to any one of claims 1 to 8, characterized in that: The steps include: (1) Adjust the tractor's three-point suspension to the lowest position and set it to floating mode; (2) Setting the base height for leveling operations based on the terrain height of the field; (3) Setting the support height of the contour support mechanism according to the thickness of the paddy field tillage layer so that the leveling blade is at the middle position of the lifting and lowering adjustment stroke when at the reference height; (4) A dual-antenna GNSS receiver measures the real-time height information of the leveling shovel; (5) calculating the real-time height difference of the leveling shovel based on the real-time height information of the leveling shovel measured in step (4) and the reference height set in step (2); (6) Based on the height difference information, the control system controls the height adjustment mechanism to ensure that the leveling blade's operating height is at a set reference height, thereby achieving automatic height adjustment and precise leveling of the leveling blade; (7) When the shovel or the grader tilts left or right, the dual-antenna GNSS receiver detects different height information on the left and right sides; (8) When the hard bottom layer of the paddy field is different on the left and right, the overall level of the grader can be controlled by adjusting the left and right contour support mechanisms.

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