Flexible deviation adjusting device and control system for large traction type agricultural implement

Abstract

The invention belongs to the field of agricultural machinery, and particularly relates to a large traction type agricultural implement flexible deviation adjusting device and a control system. The flexible deviation adjusting device comprises a suspension-traction bearing connecting mechanism, a multi-layer push-pull deviation adjusting mechanism, a double-point quick hooking balance mechanism and a distributed control system. The front end of the suspension-traction bearing connecting mechanism is suspended on a tractor through three points, and the rear end of the suspension-traction bearing connecting mechanism is quickly connected with a balance mechanism traction machine tool through two points of the multi-layer push-pull deviation adjusting mechanism; the multi-layer push-pull deviation adjusting mechanism is provided with a deviation correction traction oil cylinder, so that the flexible traction driving mechanism can slowly swing left and right by taking the rear end center as the circle center, the double-point quick hooking balance mechanism is adjusted, and the transverse and course deviation of the machine is further compensated; the distributed control system integrates technologies of satellite navigation, sensors and the like, a BP-PID control algorithm is adopted, a deviation adjustment control strategy is formulated, an automatic control device compensates transverse and course deviations of the seeder in real time, a seeding path is accurately adjusted, and the no-tillage seeding quality is improved.

Description

Technical Field

[0001] The invention patent belongs to the field of agricultural machinery technology, and particularly relates to a flexible deviation adjustment device and control system for a large-scale traction agricultural machinery. Background Art

[0002] Corn no-tillage seeding is one of the key technologies for implementing conservation tillage in the drip irrigation area of ​​Xinjiang Uygur Autonomous Region. It mainly combines conservation tillage technology with wide and narrow row planting mode, and performs no-tillage seeding on the surface covered with straw, which can achieve cost savings and increase efficiency. As the main machine for large-scale operations in the contiguous and concentrated areas of land in Xinjiang Uygur Autonomous Region, large-scale traction-type corn no-tillage seeders have been widely promoted and applied. However, after corn is harvested in the drip irrigation area of ​​Xinjiang Uygur Autonomous Region, the corn stubble is high, the straw coverage is large, and the surface is undulating. The tractor cannot accurately constrain the walking path of the large-scale traction-type seeder, which easily causes the seeder to deviate from the inter-row sowing path, resulting in lateral and heading deviations, and the furrowing and sowing parts touching the corn stubble, which leads to a decrease in sowing quality. Therefore, under the premise of not changing the forward direction of the tractor, in order to reduce the flexibility between the large-scale traction-type corn no-tillage seeder and the tractor, a flexible deviation adjustment device is installed between the tractor and the seeder to constrain the sowing path of the seeder, thereby compensating for the lateral and heading deviations of the seeder.

[0003] The deviation compensation of traditional large-scale traction-type corn no-till planters is mainly completed by the heavy tractor driving the planter, which cannot fully meet the requirements of accurately constraining the planter's flexibility and accurately adjusting the planting path. Although there are some machine path deviation adjustment devices at this stage, the following problems still exist: (1) In terms of adapting to large-scale traction agricultural machinery, most of the existing deviation adjustment devices are suitable for small and medium-sized suspended seeding machines, and most of them adopt rigid adjustment, which cannot achieve flexible adjustment to compensate for the lateral and heading deviations of the seeding machine, resulting in high power consumption and low efficiency. The patent applications for "Active navigation steering and leveling universal suspension device" (patent number: CN 111226524 B) and "No-tillage machine front and rear synchronous steering active row and posture adjustment device" (patent number: CN 112154749 B) are connected to small and medium-sized suspended machinery at the rear end and adopt rigid adjustment. The hydraulic actuator instantly applies a pulling force, causing the trenching and soil seeding parts to directly touch the soil, causing the trenching parts of the machine to be easily damaged. The above-mentioned patented devices are not suitable for large-scale traction seeding operations, affecting seeding efficiency and quality. (2) In terms of automatic control of the deviation adjustment device of large-scale tractor-type agricultural implements, the automatic control accuracy of existing devices is low. Due to the uneven surface of the field, the lateral and heading deviations are mostly roughly adjusted based on the driver's experience, and the adjustment accuracy and response time are not high; the patent application "Traction-type agricultural implement path tracking device and control method based on multi-information fusion navigation (patent number: CN115792999A)" adopts single-point traction, simple structure, small moving range, and the control system lacks relevant algorithms to optimize the lateral and heading errors of the implements, and cannot guarantee the adjustment error range and actual accuracy of large-scale tractor-type agricultural implements. In addition, the structural design of the existing device is unreasonable, and it does not consider the convenience of the implement hooking, the layout of wires and oil pipes, the load of the device's own parts, and the disassembly and sanitation of the device. It still needs to be further improved. Therefore, in order to meet the actual needs of precise inter-row deviation adjustment of large-scale tractor-type agricultural implements, it is urgent to develop a flexible deviation adjustment device and control system for large-scale tractor-type agricultural implements. . Summary of the invention

[0004] In view of the above problems, the present invention provides a flexible deviation adjustment device and control system for large-scale traction agricultural machinery. The flexible deviation adjustment device is installed between the tractor and the machinery, and can deflect the machinery left and right to compensate for the lateral and directional deviations of the machinery, so that the deflected traction machinery can quickly return to the set sowing operation path. A lateral deviation control system based on the BP-PID algorithm is built to achieve precise deviation control of large-scale traction machinery, ensure the deviation adjustment and sowing performance of large-scale traction agricultural machinery, and improve the deviation adjustment and no-till sowing quality of agricultural machinery.

[0005] In order to achieve the above object, the present invention provides the following technical solutions: A large-scale towed agricultural machinery and implement flexible deviation adjustment device is characterized in that the large-scale towed agricultural machinery and implement flexible deviation adjustment device comprises a suspension-traction load-bearing connection mechanism 1, a multi-layer push-pull deviation adjustment mechanism 2, a double-point quick-hook balancing mechanism 3, and a distributed control system 4; the agricultural machinery and implement comprises a tractor 5 and an implement 6.

[0006] The multi-layer push-pull deviation adjustment mechanism 2 and the distributed control system 4 are respectively installed in cooperation with the suspension-traction load-bearing connection mechanism 1, and the two-point quick-hook balancing mechanism 3 is clamped and fixed by the multi-layer push-pull deviation adjustment mechanism 2 and installed directly behind the suspension-traction load-bearing connection mechanism 1. The front end of the flexible deviation adjustment device is connected to the tractor 5 by three-point suspension, and the rear end is connected to the machine 6 by traction through the two-point quick-hook balancing mechanism 3.

[0007] The suspension-traction bearing connection mechanism 1 includes a left hanging shaft 1-1, a left side plate 1-2, an upper hanging shaft 1-3, a "V"-shaped upper top plate 1-4, a right side plate 1-5, a right hanging shaft 1-6, and a lower bottom plate 1-7.

[0008] The "V"-shaped upper top plate 1-4 has a "V"-shaped appearance, and the left side plate 1-2 and the right side plate 1-5 are respectively located on the left and right sides of the "V"-shaped upper top plate 1-4 and the lower bottom plate 1-7. The left side plate 1-2 and the right side plate 1-5 are fixedly supported by welding on the "V"-shaped upper top plate 1-4 and the lower bottom plate 1-7, thereby improving the stability of the suspension-traction load-bearing connection mechanism 1.

[0009] The multi-layer push-pull deviation adjustment mechanism 2 includes a "fishtail" type multi-layer support plate 2-1, a flexible traction drive mechanism 2-2, and a parallel four-bar clamping mechanism 2-3.

[0010] The "fishtail" type multi-layer support plate 2-1 includes a top support plate 2-1-1, a middle support plate 2-1-2, and a bottom support plate 2-1-3. The flexible traction drive mechanism 2-2 and the parallel four-bar clamping mechanism 2-3 are sequentially installed on the upper end surfaces of the bottom support plate 2-1-3 and the middle support plate 2-1-2.

[0011] The top support plate 2-1-1 includes a top plate threaded hole 2-1-1-1, an oil pipe connecting groove 2-1-1-2, an electric wire 2-1-1-3, an electric wire connecting groove 2-1-1-4, and an oil pipe 2-1-1-5. The middle support plate 2-1-2 includes a middle plate threaded hole 2-1-2-1, a left rocker connecting hole 2-1-2-2, a rotating arm angle sensor connecting hole 2-1-2-3, a right rocker connecting hole 2-1-2-4, and a middle plate threaded hole 2-1-2-5. The bottom support plate 2-1-3 includes a right traction cylinder connecting hole 2-1-3-1, a left traction cylinder connecting hole 2-1-3-2, and a bottom plate threaded hole 2-1-3-3.

[0012] The flexible traction drive mechanism 2-2 is installed on the upper end surface of the bottom support plate 2-1-3 through a support bearing, and the bottom support plate 2-1-3 is connected to the lower bottom plate 1-7 with fixing screws through the bottom plate threaded hole 2-1-3-3. The parallel four-bar clamping mechanism 2-3 is symmetrically installed on the left and right sides of the "fishtail" type middle support plate 2-1-2, and is connected with fixing screws through the left rocker connecting hole 2-1-2-2 and the right rocker connecting hole 2-1-2-4. The "fishtail" type middle support plate 2-1-2 is connected with the "fishtail" type bottom support plate 2-1-3 with fixing screws through the middle plate threaded hole 2-1-2-1. The "fishtail" type top support plate 2-1-1 is connected with the "fishtail" type middle support plate 2-1-2 with fixing screws through the top plate threaded hole 2-1-1-1.

[0013] The flexible traction drive mechanism 2-2 includes a flexible support rotating arm 2-2-1, a circular asbestos filling gasket 2-2-2, a nylon drag reducing gasket 2-2-3, a right deviation correction traction cylinder 2-2-4, a support shaft connecting hole 2-2-5, an inlet and outlet oil transmission pipe 2-2-6, a left deviation correction traction cylinder 2-2-7, a "U"-shaped clamping block 2-2-8, and a connecting lifting ear 2-2-9.

[0014] The right and left traction cylinders 2-2-4 and 2-2-7 are symmetrically arranged and are respectively fixed to the front end 1 / 3 of the flexible support rotating arm 2-2-1 through the connecting ears 2-2-9. The "U"-shaped clamping block 2-2-8 is fixed to the front end of the flexible support rotating arm 2-2-1 through screws. The inlet and outlet oil transmission pipes 2-2-6 are respectively connected to the middle of the rear end of the left and right traction cylinders 2-2-7 and 2-2-4 through threads. The nylon drag reduction gasket 2-2-3 is located at the lower end surface of the flexible support rotating arm 2-2-1. The circular asbestos filling gasket 2-2-2 is located at the upper end surface of the "U"-shaped clamping block 2-2-8.

[0015] The parallel four-bar clamping mechanism 2-3 includes a right connecting rod clamping mechanism 2-3-1 and a left connecting rod clamping mechanism 2-3-2. The right connecting rod clamping mechanism 2-3-1 and the left connecting rod clamping mechanism 2-3-2 have the same structure, and both include a clamping connector 2-3-1-1, a threaded connection sleeve 2-3-1-2, a steering connection rod 2-3-1-3 and a fastening connection shaft 2-3-1-4.

[0016] The clamping connector 2-3-1-1 is threadedly connected to the steering connecting rod 2-3-1-3 by means of a threaded connecting sleeve 2-3-1-2, and the right connecting rod clamping mechanism 2-3-1 and the left connecting rod clamping mechanism 2-3-2 are respectively fixedly connected to the "fishtail" type bottom support plate 2-3 connecting shaft by means of a fastening connecting shaft 2-3-1-4.

[0017] The double-point quick-hook balancing mechanism 3 comprises a concave double-layer hooking plate 3-1, a connecting through hole 3-2, and a quick clamping assembly 3-4. The quick clamping assembly 3-4 comprises a front joystick 3-4-1 and a rear rocker 3-4-2.

[0018] The two-point quick-hook balancing mechanism 3 is pin-fixed with the right connecting rod clamping mechanism 2-3-1, the flexible traction drive mechanism 2-2, and the left connecting rod clamping mechanism 2-3-2 through the connecting through hole 3-2. The "concave"-shaped double-layer hanging plate 3-1 is fixed to the left and right ends of the suspension beam 3-3 by welding. The rocker 3-4-1 and the rear operating rod 3-4-2 are fixed inside the "concave"-shaped double-layer hanging plate 3-1 by screws.

[0019] The distributed control system 4 includes a BP-PID controller 4-1, a signal receiver 4-2, an electro-hydraulic proportional valve 4-3, a swivel arm angle sensor 4-4, a tractor satellite antenna 4-5, and an implement satellite antenna 4-6.

[0020] The BP-PID controller 4-1 and the signal receiver 4-2 are respectively fixed to the upper end surface of the "fishtail" type top support plate 2-1-1 by welding. The rotating arm angle sensor 4-4 is used to detect the swing angle of the flexible support rotating arm 2-2-1. The mounting seat of the rotating arm angle sensor 4-4 is fixed to the "fishtail" type middle support plate 2-1-2 by bolts. The inner axis of the rotating arm angle sensor 4-4 is connected to the mounting shaft of the flexible support rotating arm 2-2-1 through a coupling. The left and right swing of the flexible support rotating arm 2-2-1 drives it to swing around the mounting shaft, thereby driving the swing of the rotating arm angle sensor 4-4, thereby realizing the detection of the swing distance of the flexible traction drive mechanism. The tractor satellite antenna 4-5 and the tool satellite antenna 4-6 are respectively installed at the top center of the tractor 5 and the tool 6.

[0021] The upper top plate 1-3 adopts a "V"-shaped casting design structure to move the center of gravity of the device backward to avoid contact with the tractor. The bending angle of the upper top plate 1-3 is α 1. Bending angle α 1The range is 120°~150°.

[0022] The "fishtail" type multi-layer support plate 2-1 is a stacked structure as a whole, which is stacked in sequence and fixedly connected by screws; the "fishtail" type support plate 2-1 adopts a "fishtail" structural design, and the left and right rear ends are provided with oil pipe connecting grooves 2-1-1-2, and the rear end is provided with an electric wire connecting groove 2-1-1-4.

[0023] The radius of the oil pipe connecting groove 2-1-1-2 is r1, the radius of the oil pipe 2-1-1-5 is r4, the radius of the wire connecting groove 2-1-1-4 is r2, and the radius of the wire 2-1-1-3 is r3; the radius r1 of the oil pipe connecting groove 2-1-1-2 is 2 to 3 times the radius r4 of the oil pipe, and the radius r2 of the wire connecting groove is 5 to 6 times the radius r3 of the wire; the radius r1 of the wire connecting groove and the radius r4 of the oil pipe connecting groove are set to different sizes.

[0024] The flexible traction drive mechanism 2-2 is fixed to the upper end surface of the "fishtail" type bottom support plate 2-1-3 by symmetrically placing the left correcting traction cylinder 2-2-7 and the right correcting traction cylinder 2-2-4, and can rotate left and right around the support shaft connecting hole 2-2-5.

[0025] According to the flexible deviation adjustment device for large-scale traction agricultural machinery as claimed in claim 1, it is characterized in that the flexible traction drive mechanism (2-2) is fixed to the upper end surface of the "fishtail" type bottom support plate (2-1-3) by symmetrically placing a left deviation correction traction cylinder (2-2-7) and a right deviation correction traction cylinder (2-2-4) on the left and right sides, and can rotate left and right along the support shaft connection hole (2-2-5) as the center; The distance between the center of the flexible support rotating arm support shaft connection hole (2-2-5) and the center of the asbestos filling gasket (2-2-2) is l 10 , the swing angle of the flexible traction drive mechanism (2-2) is α 3. From formula 1, we can get the swing distance of the flexible traction drive mechanism (2-2): l 11 for: Formula 1 The swing angle rotation angle α 3 The rotation range is 0 ~ 60°, and the swing distance of the rocker clamping mechanism is l 11 The range is 0~640mm.

[0026] According to the flexible deviation adjustment device for large-scale traction agricultural machinery according to claim 1, it is characterized in that the right connecting rod clamping mechanism (2-3-1) and the left connecting rod clamping mechanism (2-3-2) form a parallelogram double connecting rod structure, which can rotate along the upper end surface of the middle support plate (2-1-2); The rotation angles of the right connecting rod clamping mechanism (2-3-1) and the left connecting rod clamping mechanism (2-3-2) are α 2. The length of the parallel four-bar clamping mechanism is l 3. From formula 2, we can get the swing distance of the parallel four-bar clamping mechanism: l 2 is: Formula 2 The rotation angle α 2 The rotation range is 0 ~ 65°, and the parallel four-bar clamping mechanism swings l 2The range is 0 mm ~650 mm.

[0027] According to the flexible deviation adjustment device for large-scale traction agricultural machinery according to claim 1, it is characterized in that the nylon drag reduction gasket (2-2-3) is located at the lower end surface of the flexible support rotating arm (2-2-1) to reduce the rotation friction of the flexible traction drive mechanism (2-2); the circular asbestos filling gasket (2-2-2) is located at the front end of the flexible support rotating arm (2-2-1) to increase the clamping friction of the double-point quick-hook balancing mechanism (3); The protruding distance of the support shaft (2-2-5) is l 6. The height of the nylon drag reduction pad (2-2-3) is l 7. The width of the flexible support rotating arm (2-2-1) is l 8. The width of the nylon drag reduction pad (2-2-3) is l 9; The height of the nylon drag reduction pad (2-2-3) l 7 is the protruding distance of the support shaft (2-2-5) l 1.1~1.2 times of 6, width of nylon drag reduction pad (2-2-3) l 9 is the width of the flexible support rotating arm (2-2-1) l 1.3~1.5 times of 8.

[0028] The large-scale traction-type agricultural implement flexible deviation adjustment device according to claim 1 is characterized in that the double-point quick-hook balancing mechanism (3) is clamped and fixed by a multi-layer push-pull deviation adjustment mechanism (2) and is installed directly behind the suspension-traction bearing connection mechanism (1); The clamping range of the parallel four-bar clamping mechanism clamping connector (2-3-1-1) is l 1. The maximum clamping distance of the "U"-shaped clamping block (2-2-8) is l 4. The minimum clamping distance of the "U"-shaped clamping block (2-2-8) is l 5. The height of the suspension beam (3-3) is l 12 ; The maximum clamping distance of the "U"-shaped clamping block (2-2-8) l 4 is the minimum clamping distance of the "U"-shaped clamping block (2-2-8) l 1.3~1.5 times of 5, parallel four-bar clamping mechanism clamping connector (2-3-1-1) clamping range l 1. Minimum clamping distance of "U"-shaped clamping block (2-2-8) l 5 is the height of the suspension beam (3-3)l 12 1.2~1.4 times of.

[0029] According to claim 1, the flexible deviation adjustment device for large-scale traction agricultural machinery is characterized in that the "concave"-shaped double-layer hanging plate (3-1) is in the shape of a hook as a whole, and the diameter of the groove of the "concave"-shaped double-layer hanging plate (3-1) is d 1Can fully match the diameter of the machine hitch shaft d 2; The diameter of the groove of the "concave" shaped double-layer hanging plate (3-1) is d 1 is set to the diameter of the implement attachment shaft d 1.2~1.5 times of 2.

[0030] A control system using the flexible deviation adjustment device for large-scale traction agricultural machinery as claimed in any one of claims 1 to 8, characterized in that the distributed control system (4) arranges information collection, processing, execution and other modules in layers to build a BP-PID controller (4-1) to enhance the reliability and accuracy of the distributed control system (4); the structure of the BP neural network includes an input layer, a hidden layer and an output layer. When the output layer does not output the target position, back propagation is performed to return the error signal to the path, and the error between the final actual output and the target output position is minimized by modifying the connection weights of the neurons in each layer, thereby determining the proportional coefficient K of the BP-PID controller (4-1). p , integral coefficient K i , differential coefficient K d Three main parameters, real-time adjustment of lateral deviation value Δl To adapt to the field environment; from formula 3, the output of the neural network input layer is selected as: Formula 3 in: is the output of the input layer; From formula 4, we can get the input and output of the hidden layer of the neural network: Formula 4 in: is the hidden layer input; is the hidden layer output; is the hidden layer activation function; From formula 5, we can get the input and output of the neural network output layer: Formula 5 in: Input to the output layer of the neural network; Output of the neural network output layer; is the hidden layer weight coefficient; is the weight coefficient of the output layer; K p , K i , K d These are the three adjustable parameters of the BP-PID controller (4-1), which are then used to determine the main parameters of the BP-PID controller (4-1) and optimize the lateral deviation value.

[0031] A control system working process of a flexible deviation adjustment device for a large-scale traction agricultural implement includes the following steps: S1. Obtain the offset information of the flexible deviation adjustment device; initialize the distributed control system 4 program, and establish communication connection between the electro-hydraulic proportional valve 4-3, the rotating arm angle sensor 4-4, the tractor satellite antenna 4-5, and the implement satellite antenna 4-6 and the BP-PID controller 4-1, set the installation position of the satellite positioning antenna, and navigate the AB line of the path, and the whole machine starts to operate; the signal receiver 4-2 obtains the differential signal received by the tractor satellite antenna 4-5 and the implement satellite antenna 4-6.

[0032] S2, flexible deviation adjustment device action adjustment; the BP-PID controller 4-1 processes the signal to extract the difference between the tool satellite antenna 4-6 and the target position, and obtains the real-time lateral deviation adjustment value of the tool during operation Δ l ; When the lateral deviation of the machine Δl When it is not equal to the target value, the distributed control system 4 controls the extension and retraction of the right deviation correction traction cylinder 2-5-4 and the left deviation correction traction cylinder 2-5-7 through the electro-hydraulic proportional valve 4-3, and the two-point quick-hook balancing mechanism 3 starts to deflect, thereby driving the machine to move left and right; at the same time, the rotating arm angle sensor 4-4 detects and feeds back the actual deflection angle of the flexible deviation adjustment device in real time, forming a closed-loop information feedback to adjust the deviation sowing operation path of the machine. At this time, the action adjustment of the flexible deviation adjustment device has three states: State 1: Δl When it is greater than 0, the BP-PID controller 4-1 sends an adjustment command to the electro-hydraulic proportional valve 4-3, the right deviation-correcting traction cylinder 2-5-4 contracts and the left deviation-correcting traction cylinder 2-5-7 extends, and the flexible traction drive mechanism 2-2 drives the double-point quick-hook balancing mechanism 3 to move horizontally to the right, and the rotating arm angle sensor 4-4 feeds back the horizontal movement information.

[0033] State 2: Δl Less than 0, the BP-PID controller 4-1 sends an adjustment command to the electro-hydraulic proportional valve 4-3, the right deviation-correcting traction cylinder 2-5-4 extends and the left deviation-correcting traction cylinder 2-5-7 contracts, the flexible traction drive mechanism 2-2 drives the double-point quick-hook balancing mechanism 3 to move horizontally to the left, and the rotating arm angle sensor 4-4 feeds back the horizontal movement information.

[0034] State 3: Δl When it is equal to 0, the BP-PID controller 4-1 stops sending instructions, the valve port of the electro-hydraulic proportional valve 4-3 is closed, the right deviation-correcting traction cylinder 2-5-4 and the left deviation-correcting traction cylinder 2-5-7 stop extending and retracting, and the flexible deviation-adjusting device ends its operation.

[0035] S3, the operation of the flexible deviation adjustment device is completed: the signal receiver (4-2) obtains the differential signal received by the tractor satellite antenna (4-5) and the machine satellite antenna (4-6), obtains the real-time movement state of the corn no-till planter, determines whether the tractor (5) and the machine (6) are in the same straight line, and repeats steps S1 to S2 until the machine (6) avoids the corn stubble, the BP-PID controller (4-1) and the electro-hydraulic proportional valve (4-3) stop working, and the operation task of the flexible deviation adjustment device is completed.

[0036] Compared with the prior art, the present invention has the following beneficial effects: 1. In view of the problem that the existing deviation adjustment device is not suitable for large-scale traction agricultural machinery, resulting in low efficiency, the suspension-traction bearing connection mechanism of this device changes the connection mode between the tractor and the machine, retains the characteristics of the three-point suspension type precise connection, and gives full play to the advantage of the traction type connection with large traction force. The front end of the flexible deviation adjustment device is connected to the tractor through the left hitch shaft, the upper hitch shaft, and the right hitch shaft. The rear end is connected to the machine by traction through a two-point quick-hook balancing mechanism; without changing the tractor's forward direction, the flexible deviation adjustment device can pull the machine to deviate left and right, and quickly compensate for the lateral and heading deviations of the machine.

[0037] 2. In view of the rigid adjustment compensation of the existing large-scale traction agricultural machinery for the lateral and directional deviation of the machinery, the actuator applies a pulling force instantly, causing damage to the machinery's ditching and sowing parts, resulting in increased power consumption. This device uses a flexible traction drive mechanism for dual-cylinder power output. The right and left correction traction cylinders are symmetrically installed at an angle of 60° on the left and right sides of the flexible support rotating arm. During operation, the double-cylinder telescopic distance is accurately adjusted to drive the flexible traction drive mechanism to twist left and right to drive the machinery, slowly increase the pulling force of the machinery's ditching parts, and then compensate for the lateral and directional deviations of the machinery, solving the problem of easy damage to the machinery's ditching and sowing parts caused by rigid pulling, and achieving the purpose of increasing the service life of the machinery.

[0038] 3. In view of the problem that large-scale traction agricultural machinery needs to be frequently adjusted when lateral and directional deviations occur, which results in low adjustment accuracy and response time, this device builds a distributed control system, arranges the information collection, processing, execution and other modules in layers, and the BP-PID controller uses the BP-PID control algorithm according to the lateral deviation information transmitted by the navigation positioning, optimizes the main parameters, formulates the deviation control strategy, and automatically compensates for the lateral and directional deviations of the seeder in real time, thereby improving the adjustment accuracy and response time. The distributed control system determines the relative position information between the tractor and the seeder according to the navigation. When the seeder deviates from the navigation line, the system controls the deviation correction traction cylinder to extend and retract, thereby driving the adjustment mechanism to start deflection, compensating for the lateral and directional deviations of the seeder, and ensuring good sowing effect and efficiency.

[0039] 4. In view of the low efficiency of machine adjustment operation caused by the existing deviation adjustment devices not considering the convenience of machine attachment, the layout of wires and oil pipes, the load of the device's own parts and the difficulty of disassembling the device, the "fishtail" type multi-layer support plate of this device adopts a layered load-bearing structure, reasonably arranges the installation positions of various mechanisms, saves space, prevents mutual squeezing, ensures stable operation of the device, and improves the accuracy of deviation adjustment. The distributed control system, parallel four-bar clamping mechanism, and flexible traction drive mechanism are installed on the top, middle, and bottom support plates in sequence. Compared with the single-layer structure design, the movement space is increased, the weight of the device is dispersed, and the device is safer. Six through holes are provided at the front end of the support plate, and the rear end is designed as a "fishtail" type groove structure, which saves installation space, avoids collision of oil pipes, wires and agricultural machinery during operation, and reduces the difficulty of disassembling the device.

[0040] 5. In view of the problem that the existing device and the machine tool connection mechanism have large assembly errors, which cause the stability of the machine tool to decrease and affect the adjustment accuracy, the parallel rods of the parallel four-bar clamping mechanism of this device are relatively evenly stressed, which can provide a smooth motion trajectory and power transmission, reduce the amplitude of vibration and swing of each rod, and improve the motion accuracy of the flexible deviation adjustment device. During the left and right deviation adjustment process, the right connecting rod clamping mechanism and the left connecting rod clamping mechanism always remain parallel, so that the two-point quick-hook balancing mechanism installed on the multi-layer push-pull deviation adjustment mechanism is constant in the horizontal direction during the working process, ensuring the smooth movement of each component of the device during operation and reducing assembly errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic diagram of the overall structure of the flexible deviation adjustment device of the present invention; Figure 2 It is a schematic diagram of the overall structure of the suspension-traction bearing connection mechanism of the present invention; Figure 3 This is a top view of the "V"-shaped upper roof structure of the present invention; Figure 4 It is a schematic diagram of the structure of the multi-layer push-pull deviation adjustment mechanism of the present invention; Figure 5 It is a schematic diagram of the structure of the "fishtail" type upper support plate of the present invention; Figure 6 This is a schematic diagram of the structure of the "fishtail" type middle support plate of the present invention; Figure 7 It is a schematic diagram of the structure of the "fishtail" type bottom support plate of the present invention; Figure 8 It is a structural schematic diagram of the flexible traction drive mechanism of the present invention; Fig. 9 is a side view of the flexible traction drive mechanism of the present invention; Fig.10 is a top view of the flexible traction drive mechanism of the present invention; Fig.11 It is a schematic diagram of the working process of the flexible traction drive mechanism of the present invention; Fig.12 It is a schematic diagram of the structure of the parallel four-bar clamping mechanism of the present invention; Fig.13 is a side view of the parallel four-bar clamping mechanism of the present invention; Fig.14 It is a schematic diagram of the working process of the parallel four-bar clamping mechanism of the present invention; Fig.15 It is a structural schematic diagram of the double-point quick-hook balancing mechanism of the present invention; Fig.16 This is a front view of the double-point quick-hook balancing mechanism of the present invention; Fig.17 It is a structural schematic diagram of a "concave" shaped double-layer hanging plate of the present invention; Fig.18 It is a schematic diagram of the installation structure position of the distributed control system of the present invention; Fig.19 This is a working principle diagram of the control system of the flexible deviation adjustment device of the present invention; Fig. 20 This is a schematic diagram of the work flow of corn no-tillage sowing of the present invention; Fig.21 This is a schematic diagram of the left-shift operation of corn no-tillage sowing according to the present invention; Fig. 22 This is a schematic diagram of the right-shift operation of corn no-tillage sowing according to the present invention; Fig.23 It is a schematic diagram of the non-offset operation of the no-tillage sowing of corn according to the present invention. Implementation

[0042] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0043] like Figure 1As shown, a flexible deviation adjustment device for a large-scale traction agricultural machinery includes a suspension-traction bearing connection mechanism 1, a multi-layer push-pull deviation adjustment mechanism 2, a double-point quick-hook balancing mechanism 3, and a distributed control system 4.

[0044] like Figure 2 As shown, the suspension-traction bearing connection mechanism 1 includes a left hanging shaft 1-1, a left side plate 1-2, an upper hanging shaft 1-3, a "V"-shaped upper top plate 1-4, a right side plate 1-5, a right hanging shaft 1-6, and a lower bottom plate 1-7.

[0045] like Figure 3 As shown, the V-shaped upper top plate 1-4 is V-shaped in appearance and adopts a V-shaped casting design structure, so that the center of gravity of the device moves backward to avoid contact with the tractor; the bending angle of the V-shaped upper top plate 1-4 is α 1. Bending angle α 1The range is 120°~150°.

[0046] like Figure 4 As shown, the multi-layer push-pull deviation adjustment mechanism 2 includes a "fishtail" type multi-layer support plate 2-1, a flexible traction drive mechanism 2-2, and a parallel four-bar clamping mechanism 2-3.

[0047] like Figure 5 As shown, the top support plate 2-1-1 includes a top plate threaded hole 2-1-1-1, an oil pipe connecting groove 2-1-1-2, an electric wire 2-1-1-3, an electric wire connecting groove 2-1-1-4, and an oil pipe 2-1-1-5; the radius of the oil pipe connecting groove 2-1-1-2 of the "fishtail" type multi-layer support plate 2-1 is r 1. The radius of the oil pipe (2-1-1-5) is r 4. The radius of the wire connection groove (2-1-1-4) is r 2. Wire (2-1-1-3) radius r 3; Radius of the oil pipe connecting groove (2-1-1-2) r 1 is the radius of the oil pipe r 2~3 times of 4, the radius of the wire connection groove r 2 is the wire radius r 5~6 times of 3.

[0048] like Figure 6 As shown, the middle layer support plate 2-1-2 includes a middle layer plate threaded hole 2-1-2-1, a left rocker connecting hole 2-1-2-2, a rotating arm angle sensor connecting hole 2-1-2-3, a right rocker connecting hole 2-1-2-4, and a middle layer plate threaded hole 2-1-2-5.

[0049] like Figure 7As shown, the bottom support plate 2-1-3 includes a right traction cylinder connecting hole 2-1-3-1, a left traction cylinder connecting hole 2-1-3-2, and a bottom plate threaded hole 2-1-3-3.

[0050] like Figure 8 As shown, the flexible traction drive mechanism 2-2 includes a flexible support rotating arm 2-2-1, a circular asbestos filling gasket 2-2-2, a nylon drag reducing gasket 2-2-3, a right deviation correction traction cylinder 2-2-4, a support shaft connecting hole 2-2-5, an inlet and outlet oil transmission pipe 2-2-6, a left deviation correction traction cylinder 2-2-7, a "U"-shaped clamping block 2-2-8, and a connecting ear 2-2-9.

[0051] like Fig. 9 As shown, the circular asbestos filling gasket 2-2-2 is located at the front end of the flexible support rotating arm 2-2-1, increasing the clamping friction force of the double-point quick-hook balancing mechanism 3; the maximum clamping distance of the "U"-shaped clamping block is l 4. The minimum clamping distance of the "U"-shaped clamping block is l 5. The protruding distance of the support shaft is l 6. The height of nylon drag reduction pad is l 7; The maximum clamping distance of the "U"-shaped clamping block 2-2-8 l 4 is the minimum clamping distance of "U" shaped clamping block 2-2-8 l 5, the height of the nylon drag reduction pad 2-2-3 is 1.3~1.5 times l 7 is the protruding distance of the support shaft 2-2-5 l 1.1~1.2 times of 6.

[0052] like Fig.10 As shown, the nylon drag reduction pad 2-2-3 is located at the lower end surface of the flexible support rotating arm 2-2-1, and is used to reduce the rotation friction of the flexible traction drive mechanism 2-2; the width of the flexible support rotating arm 2-2-1 l 8 is the width of the nylon drag reduction pad 2-2-3 l 1.3~1.5 times of 9.

[0053] like Fig.11 As shown, the flexible traction drive mechanism 2-2 is fixed to the upper end surface of the "fishtail" type bottom support plate 2-1-3 by symmetrically placing the left correction traction cylinder 2-2-7 and the right correction traction cylinder 2-2-4, and swings left and right along the support shaft connection hole 2-2-5 at the rear end of the flexible support rotating arm 2-2-1; the distance from the center of the flexible support rotating arm support shaft connection hole 2-2-5 to the center of the asbestos filling gasket 2-2-2 is l 10 , the swing angle of the flexible traction drive mechanism 2-2 is α3. According to formula 1, the swing distance of the flexible traction drive mechanism 2-2 can be obtained l 11 for: Formula 1 The swing angle rotation angle α 3 The rotation range is 0 ~ 60°, and the swing distance of the rocker clamping mechanism is l 11 The range is 0~640mm.

[0054] According to the flexible deviation adjustment device for large-scale traction agricultural machinery according to claim 1, it is characterized in that the right connecting rod clamping mechanism (2-3-1) and the left connecting rod clamping mechanism (2-3-2) form a parallelogram double connecting rod structure, which can rotate along the upper end surface of the middle support plate (2-1-2); The rotation angles of the right connecting rod clamping mechanism (2-3-1) and the left connecting rod clamping mechanism (2-3-2) are α 2. The length of the parallel four-bar clamping mechanism is l 3. From formula 2, we can get the swing distance of the parallel four-bar clamping mechanism: l 2 is: Formula 2 The rotation angle α 2 The rotation range is 0 ~ 65°, and the parallel four-bar clamping mechanism swings l 2The range is 0 mm ~650 mm.

[0055] According to the flexible deviation adjustment device for large-scale traction agricultural machinery according to claim 1, it is characterized in that the nylon drag reduction gasket (2-2-3) is located at the lower end surface of the flexible support rotating arm (2-2-1) to reduce the rotation friction of the flexible traction drive mechanism (2-2); the circular asbestos filling gasket (2-2-2) is located at the front end of the flexible support rotating arm (2-2-1) to increase the clamping friction of the double-point quick-hook balancing mechanism (3); The protruding distance of the support shaft (2-2-5) is l 6. The height of the nylon drag reduction pad (2-2-3) is l 7. The width of the flexible support rotating arm (2-2-1) is l 8. The width of the nylon drag reduction pad (2-2-3) is l 9; The height of the nylon drag reduction pad (2-2-3) l 7 is the protruding distance of the support shaft (2-2-5) l 1.1~1.2 times of 6, width of nylon drag reduction pad (2-2-3) l 9 is the width of the flexible support rotating arm (2-2-1) l 1.3~1.5 times of 8;

[0056] The large-scale traction-type agricultural implement flexible deviation adjustment device according to claim 1 is characterized in that the double-point quick-hook balancing mechanism (3) is clamped and fixed by a multi-layer push-pull deviation adjustment mechanism (2) and is installed directly behind the suspension-traction bearing connection mechanism (1); The clamping range of the parallel four-bar clamping mechanism clamping connector (2-3-1-1) is l 1. The maximum clamping distance of the "U"-shaped clamping block (2-2-8) is l 4. The minimum clamping distance of the "U"-shaped clamping block (2-2-8) is l 5. The height of the suspension beam (3-3) is l 12 ; The maximum clamping distance of the "U"-shaped clamping block (2-2-8) l 4 is the minimum clamping distance of the "U"-shaped clamping block (2-2-8) l 1.3~1.5 times of 5, parallel four-bar clamping mechanism clamping connector (2-3-1-1) clamping range l 1. Minimum clamping distance of "U"-shaped clamping block (2-2-8) l 5 is the height of the suspension beam (3-3) l 12 1.2~1.4 times of.

[0057] According to claim 1, the flexible deviation adjustment device for large-scale traction agricultural machinery is characterized in that the "concave"-shaped double-layer hanging plate (3-1) is in the shape of a hook as a whole, and the diameter of the groove of the "concave"-shaped double-layer hanging plate (3-1) is d 1Can fully match the diameter of the machine hitch shaft d 2; The diameter of the groove of the "concave" shaped double-layer hanging plate (3-1) is d 1 is set to the diameter of the implement attachment shaft d 1.2~1.5 times of 2.

[0058] A control system using the flexible deviation adjustment device for large-scale traction agricultural machinery as claimed in any one of claims 1 to 8, characterized in that the distributed control system (4) arranges information collection, processing, execution and other modules in layers to build a BP-PID controller (4-1) to enhance the reliability and accuracy of the distributed control system (4); the structure of the BP neural network includes an input layer, a hidden layer and an output layer. When the output layer does not output the target position, back propagation is performed to return the error signal to the path, and the error between the final actual output and the target output position is minimized by modifying the connection weights of the neurons in each layer, thereby determining the proportional coefficient K of the BP-PID controller (4-1). p , integral coefficient K i, differential coefficient K d Three main parameters, real-time adjustment of lateral deviation value Δl To adapt to the field environment; from formula 3, the output of the neural network input layer is selected as: Formula 3 in: is the output of the input layer; From formula 4, we can get the input and output of the hidden layer of the neural network: Formula 4 in: is the hidden layer input; is the hidden layer output; is the hidden layer activation function; From formula 5, we can get the input and output of the neural network output layer: Formula 5 in: Input to the output layer of the neural network; Output of the neural network output layer; is the hidden layer weight coefficient; is the weight coefficient of the output layer; K p , K i , K d These are the three adjustable parameters of the BP-PID controller (4-1), which are then used to determine the main parameters of the BP-PID controller (4-1) and optimize the lateral deviation value.

[0059] like Fig. 20As shown, taking the application in the corn no-tillage sowing operation scenario in the drip irrigation area of ​​Xinjiang Uygur Autonomous Region as an example, it includes a suspension-traction load-bearing connection mechanism 1, a multi-layer push-pull deviation adjustment mechanism 2, a double-point quick-hook balancing mechanism 3, a distributed control system 4, a tractor 5, and an implement 6; the front end of the suspension-traction load-bearing connection mechanism 1 is suspended on the tractor 5 through three points, and the rear end is connected to the double-point quick-hook balancing mechanism 3 connected to the fixed multi-layer push-pull deviation adjustment mechanism 2 to pull the implement 6, and the distributed control system 4 obtains the position information of the implement in real time and continuously detects the lateral deviation information; the deviation adjustment operation of the flexible deviation adjustment device includes the following three steps: S1. Obtain the offset information of the flexible deviation adjustment device; initialize the distributed control system 4 program, and establish communication connection between the electro-hydraulic proportional valve 4-3, the rotating arm angle sensor 4-4, the tractor satellite antenna 4-5, and the implement satellite antenna 4-6 and the BP-PID controller 4-1, set the installation position of the satellite positioning antenna, and navigate the AB line of the path, and the whole machine starts to operate; the signal receiver 4-2 obtains the differential signal received by the tractor satellite antenna 4-5 and the implement satellite antenna 4-6.

[0060] S2, flexible deviation adjustment device action adjustment; the BP-PID controller 4-1 processes the signal to extract the difference between the tool satellite antenna 4-6 and the target position, and obtains the real-time lateral deviation adjustment value of the tool during operation Δ l ; When the lateral deviation of the machine Δl When it is not equal to the target value, the distributed control system 4 controls the extension and retraction of the right correcting traction cylinder 2-5-4 and the left correcting traction cylinder 2-5-7 through the electro-hydraulic proportional valve 4-3, and the two-point quick-hook balancing mechanism 3 starts to deflect, thereby driving the machine to move left and right; at the same time, the rotating arm angle sensor 4-4 detects and feeds back the actual deflection angle of the flexible deviation adjustment device in real time, forming a closed-loop information feedback to adjust the deviation adjustment sowing operation path of the machine.

[0061] S3, the operation of the flexible deviation adjustment device is completed: the signal receiver (4-2) obtains the differential signal received by the tractor satellite antenna (4-5) and the machine satellite antenna (4-6), obtains the real-time movement state of the corn no-till planter, determines whether the tractor (5) and the machine (6) are in the same straight line, and repeats steps S1 to S2 until the machine (6) avoids the corn stubble, the BP-PID controller (4-1) and the electro-hydraulic proportional valve (4-3) stop working, and the operation task of the flexible deviation adjustment device is completed.

[0062] like Fig.21 , 22, 23, and is applied to the no-tillage corn sowing operation in the drip irrigation area of ​​Xinjiang Uygur Autonomous Region. The BP-PID controller 4-1 processes the signal to extract the difference between the machine satellite antenna 4-6 and the target position, and obtains the real-time lateral deviation value during the operation. Δl , the operation lateral movement control state includes the following three types: State 1: Δl If it is greater than 0, the BP-PID controller 4-1 sends an adjustment command to the electro-hydraulic proportional valve 4-3, the right deviation correction traction cylinder 2-5-4 contracts and the left deviation correction traction cylinder 2-5-7 extends, the flexible traction drive mechanism 2-2 drives the double-point quick-hook balancing mechanism 3 to move horizontally to the right, and the rotating arm angle sensor 4-4 feeds back the horizontal movement information; State 2: Δl When the value is less than 0, the BP-PID controller 4-1 sends an adjustment command to the electro-hydraulic proportional valve 4-3, the right deviation correction traction cylinder 2-5-4 extends and the left deviation correction traction cylinder 2-5-7 contracts, the flexible traction drive mechanism 2-2 drives the double-point quick-hook balancing mechanism 3 to move horizontally to the left, and the rotating arm angle sensor 4-4 feeds back the horizontal movement information; State 3: Δl =0, BP-PID controller 4-1 stops sending instructions, the valve port of electro-hydraulic proportional valve 4-3 is closed, the right deviation correction traction cylinder 2-5-4 and the left deviation correction traction cylinder 2-5-7 stop extending and retracting, and the flexible deviation adjustment device ends the operation; The above embodiments are only used to illustrate the present invention, wherein the structures and connection modes of the components may be changed. Any equivalent transformations and improvements based on the technical solution of the present invention should not be excluded from the protection scope of the present invention.

Claims

1. A flexible deviation adjustment device for large-scale traction agricultural machinery, It is characterized in that The device comprises a suspension-traction load-bearing connection mechanism (1), a multi-layer push-pull deviation adjustment mechanism (2), a two-point quick-hook balancing mechanism (3), and a distributed control system (4); the agricultural implement comprises a tractor (5) and an implement (6); The multi-layer push-pull deviation adjustment mechanism (2) and the distributed control system (4) are respectively installed in cooperation with the suspension-traction load-bearing connection mechanism (1); the double-point quick-hook balancing mechanism (3) is clamped and fixed by the multi-layer push-pull deviation adjustment mechanism (2) and installed directly behind the suspension-traction load-bearing connection mechanism (1); the front end of the flexible deviation adjustment device is connected to the tractor (5) by three-point suspension, and the rear end is connected to the implement (6) by traction through the double-point quick-hook balancing mechanism (3); The suspension-traction bearing connection mechanism (1) comprises a left hanging shaft (1-1), a left side plate (1-2), an upper hanging shaft (1-3), a "V"-shaped upper top plate (1-4), a right side plate (1-5), a right hanging shaft (1-6), and a lower bottom plate (1-7); The "V"-shaped upper top plate (1-4) is in a "V"-shaped shape, and the left side plate (1-2) and the right side plate (1-5) are respectively located on the left and right sides of the "V"-shaped upper top plate (1-4) and the lower bottom plate (1-7), and the left side plate (1-2) and the right side plate (1-5) are fixedly supported by welding on the "V"-shaped upper top plate (1-4) and the lower bottom plate (1-7), thereby improving the stability of the suspension-traction load-bearing connection mechanism (1); The multi-layer push-pull deviation adjustment mechanism (2) comprises a "fishtail" type multi-layer support plate (2-1), a flexible traction drive mechanism (2-2), and a parallel four-bar clamping mechanism (2-3); The "fishtail" type multi-layer support plate (2-1) comprises a top support plate (2-1-1), a middle support plate (2-1-2), and a bottom support plate (2-1-3); the flexible traction drive mechanism (2-2) and the parallelogram clamping mechanism (2-3) are sequentially mounted on the upper end surfaces of the bottom support plate (2-1-3) and the middle support plate (2-1-2). The top support plate (2-1-1) comprises a top plate threaded hole (2-1-1-1), an oil pipe connecting groove (2-1-1-2), an electric wire (2-1-1-3), an electric wire connecting groove (2-1-1-4), and an oil pipe (2-1-1-5); the middle support plate (2-1-2) comprises a middle plate threaded hole (2-1-2-1), a left rocker connecting hole (2-1-2-2), a rotating arm angle sensor connecting hole (2-1-2-3), a right rocker connecting hole (2-1-2-4), and a middle plate threaded hole (2-1-2-5); the bottom support plate (2-1-3) comprises a right traction cylinder connecting hole (2-1-3-1), a left traction cylinder connecting hole (2-1-3-2), and a bottom plate threaded hole (2-1-3-3); The flexible traction drive mechanism (2-2) is mounted on the upper end surface of the bottom support plate (2-1-3) via a support bearing, and the bottom support plate (2-1-3) is connected to the bottom plate (1-7) by fixing screws via the bottom plate threaded holes (2-1-3-3); the parallelepiped clamping mechanism (2-3) is symmetrically mounted on the left and right sides of the "fishtail" type middle support plate (2-1-2), and is connected by fixing screws via the left rocker connecting hole (2-1-2-2) and the right rocker connecting hole (2-1-2-4); the "fishtail" type middle support plate (2-1-2) is connected to the "fishtail" type bottom support plate (2-1-3) by fixing screws via the middle plate threaded holes (2-1-2-1); the "fishtail" type top support plate (2-1-1) is connected to the "fishtail" type middle support plate (2-1-2) by fixing screws via the top plate threaded holes (2-1-1-1); The flexible traction drive mechanism (2-2) comprises a flexible support rotating arm (2-2-1), a circular asbestos filling gasket (2-2-2), a nylon drag reduction gasket (2-2-3), a right deviation-correcting traction oil cylinder (2-2-4), a support shaft connection hole (2-2-5), an inlet and outlet oil transmission pipe (2-2-6), a left deviation-correcting traction oil cylinder (2-2-7), a "U"-shaped clamping block (2-2-8), and a connection lifting lug (2-2-9); The right deviation-correcting traction cylinder (2-2-4) and the left deviation-correcting traction cylinder (2-2-7) are symmetrically arranged on the left and right sides and are respectively fixed to the front end 1 / 3 of the flexible support rotating arm (2-2-1) through connecting ears (2-2-9); the "U"-shaped clamping block (2-2-8) is fixed to the front end of the flexible support rotating arm (2-2-1) through screws; the inlet and outlet oil transmission pipes (2-2-6) are respectively connected to the middle of the rear ends of the left deviation-correcting traction cylinder (2-2-7) and the right deviation-correcting traction cylinder (2-2-4) through threads; the nylon drag-reducing gasket (2-2-3) is located on the lower end surface of the flexible support rotating arm (2-2-1); and the circular asbestos filling gasket (2-2-2) is located on the upper end surface of the "U"-shaped clamping block (2-2-8); The parallel four-bar clamping mechanism (2-3) comprises a right connecting rod clamping mechanism (2-3-1) and a left connecting rod clamping mechanism (2-3-2); the right connecting rod clamping mechanism (2-3-1) and the left connecting rod clamping mechanism (2-3-2) have the same structure, and both comprise a clamping connector (2-3-1-1), a threaded connection sleeve (2-3-1-2), a steering connection rod (2-3-1-3) and a fastening connection shaft (2-3-1-4); The clamping connector (2-3-1-1) is threadedly connected to the steering connecting rod (2-3-1-3) by means of a threaded connecting sleeve (2-3-1-2), and the right connecting rod clamping mechanism (2-3-1) and the left connecting rod clamping mechanism (2-3-2) are respectively fixedly connected to the "fishtail" type bottom support plate (2-3) connecting shaft by means of a fastening connecting shaft fastening connecting shaft (2-3-1-4); The double-point quick-hook balancing mechanism (3) comprises a "concave"-shaped double-layer hooking plate (3-1), a connecting through hole (3-2), and a quick clamping assembly (3-4); the quick clamping assembly (3-4) comprises a front joystick (3-4-1) and a rear rocker (3-4-2); The two-point quick-hook balancing mechanism (3) is pin-fixed with the right connecting rod clamping mechanism (2-3-1), the flexible traction drive mechanism (2-2), and the left connecting rod clamping mechanism (2-3-2) via a connecting through hole (3-2); the "concave"-shaped double-layer hooking plate (3-1) is fixed to the left and right ends of the suspension beam (3-3) by welding; the rocker (3-4-1) and the rear operating lever (3-4-2) are fixed inside the "concave"-shaped double-layer hooking plate (3-1) by screws; The distributed control system (4) comprises a BP-PID controller (4-1), a signal receiver (4-2), an electro-hydraulic proportional valve (4-3), a rotating arm angle sensor (4-4), a tractor satellite antenna (4-5), and an implement satellite antenna (4-6); The BP-PID controller (4-1) and the signal receiver (4-2) are fixed to the rear end of the upper end surface of the "fishtail" type top support plate (2-1-1) by welding; the rotating arm angle sensor (4-4) is used to detect the swing angle of the flexible support rotating arm (2-2-1); the mounting seat of the rotating arm angle sensor (4-4) is fixed to the "fishtail" type middle support plate (2-1-2) by bolts; the inner axis of the rotating arm angle sensor (4-4) is connected to the mounting shaft of the flexible support rotating arm (2-2-1) by a coupling; the left and right swing of the flexible support rotating arm (2-2-1) drives it to swing around the mounting shaft as the center, thereby driving the swing of the rotating arm angle sensor (4-4), thereby realizing the detection of the swing distance of the flexible traction drive mechanism; the tractor satellite antenna (4-5) and the tool satellite antenna (4-6) are respectively mounted at the top center of the tractor (5) and the tool (6).

2. According to claim 1, the flexible deviation adjustment device for large-scale traction agricultural machinery, It is characterized in that The upper top plate (1-3) adopts a "V"-shaped casting design structure, so that the center of gravity of the device is moved backward to avoid contact with the tractor; the bending angle of the upper top plate (1-3) is α 1 , bending angle α 1 The range is 120°~150°.

3. The flexible deviation adjustment device for large-scale traction agricultural implements according to claim 1, It is characterized in that The "fishtail" type multi-layer support plate (2-1) is an overall stacked structure, which is stacked in sequence and fixedly connected by screws; the "fishtail" type support plate (2-1) adopts a "fishtail" structural design, with oil pipe connecting grooves (2-1-1-2) provided at the left and right rear ends, and an electric wire connecting groove (2-1-1-4) provided at the front rear end; The radius of the oil pipe connecting groove (2-1-1-2) is r 1 , the radius of the oil pipe (2-1-1-5) is r 4 , the radius of the wire connecting groove (2-1-1-4) is r 2 , the radius of the wire (2-1-1-3) is r 3 The radius r of the oil pipe connecting groove (2-1-1-2) 1 is the radius of the oil pipe r 4 2~3 times the radius of the wire connection groove r 2 is the wire radius r 3 5 to 6 times the radius of the wire connecting groove r 1 , radius of the oil pipe connecting groove r 4 Set to different sizes.

4. The flexible deviation adjustment device for large-scale traction agricultural machinery according to claim 1, It is characterized in that The flexible traction drive mechanism (2-2) is fixed to the upper end surface of the "fishtail"-shaped bottom support plate (2-1-3) by symmetrically placing a left deviation-correcting traction cylinder (2-2-7) and a right deviation-correcting traction cylinder (2-2-4), and can rotate left and right around the support shaft connection hole (2-2-5); The distance between the center of the flexible support rotating arm support shaft connection hole (2-2-5) and the center of the asbestos filling gasket (2-2-2) is l 10 , the swing angle of the flexible traction drive mechanism (2-2) is α 3 , the swing distance of the flexible traction drive mechanism (2-2) can be obtained from formula 1 l 11 for: Formula 1 The swing angle rotation angle α 3 The rotation range is 0 ~ 60°, and the swing distance of the rocker clamping mechanism is l 11 The range is 0 ~640 mm.

5. The flexible deviation adjustment device for large-scale traction agricultural machinery according to claim 1, It is characterized in that The right connecting rod clamping mechanism (2-3-1) and the left connecting rod clamping mechanism (2-3-2) form a parallelogram double connecting rod structure and can rotate along the upper end surface of the middle support plate (2-1-2); The rotation angles of the right connecting rod clamping mechanism (2-3-1) and the left connecting rod clamping mechanism (2-3-2) are α 2 , the length of the parallel four-bar clamping mechanism is l 3 , the swing distance of the parallel four-bar clamping mechanism can be obtained from formula 2 l 2 for: Formula 2 The rotation angle α 2 The rotation range is 0 ~ 65°, and the parallel four-bar clamping mechanism swings l 2 The range is 0mm ~ 650mm.

6. The flexible deviation adjustment device for large-scale traction agricultural machinery according to claim 1, It is characterized in that The nylon drag reduction gasket (2-2-3) is located at the lower end surface of the flexible support rotating arm (2-2-1) and is used to reduce the rotational friction of the flexible traction drive mechanism (2-2); the circular asbestos filling gasket (2-2-2) is located at the front end of the flexible support rotating arm (2-2-1) and increases the clamping friction of the double-point quick-hook balancing mechanism (3); The protruding distance of the support shaft (2-2-5) is l 6 , the height of the nylon drag reduction pad (2-2-3) is l 7 , the width of the flexible support rotating arm (2-2-1) is l 8 , the width of the nylon drag reduction pad (2-2-3) is l 9 ; The height of the nylon drag reduction pad (2-2-3) l 7 is the protruding distance of the support shaft (2-2-5) l 6 1.1~1.2 times the width of the nylon drag reduction pad (2-2-3) l 9 is the width of the flexible support rotating arm (2-2-1) l 8 1.3~1.5 times of.

7. The flexible deviation adjustment device for large-scale traction agricultural implements according to claim 1, It is characterized in that The two-point quick-hook balancing mechanism (3) is clamped and fixed by the multi-layer push-pull deviation adjustment mechanism (2) and is installed directly behind the suspension-traction bearing connection mechanism (1); The clamping range of the parallel four-bar clamping mechanism clamping connector (2-3-1-1) is l 1 , the maximum clamping distance of the "U"-shaped clamping block (2-2-8) is l 4 , the minimum clamping distance of the "U"-shaped clamping block (2-2-8) is l 5 , the height of the suspension beam (3-3) is l 12 ; The maximum clamping distance of the "U"-shaped clamping block (2-2-8) l 4 The minimum clamping distance for the "U"-shaped clamping block (2-2-8) l 5 1.3~1.5 times of the parallel four-bar clamping mechanism clamping connector (2-3-1-1) clamping range l 1 、Minimum clamping distance of "U"-shaped clamping block (2-2-8) l 5 Height of suspension beam (3-3) l 12 1.2~1.4 times of.

8. The flexible deviation adjustment device for large-scale traction agricultural implements according to claim 1, It is characterized in that The "concave"-shaped double-layer hanging plate (3-1) is in the shape of a hook as a whole, and the diameter of the groove of the "concave"-shaped double-layer hanging plate (3-1) is d 1 Perfectly matches the diameter of the implement hitch shaft d 2 ; The diameter of the groove of the "concave" shaped double-layer hanging plate (3-1) is d 1 Set to implement hitch shaft diameter d 2 1.2~1.5 times of.

9. A control system using the flexible deviation adjustment device for large-scale traction agricultural machinery according to any one of claims 1 to 8, It is characterized in that The distributed control system (4) arranges information collection, processing, execution and other modules in layers to build a BP-PID controller (4-1) to enhance the reliability and accuracy of the distributed control system (4); the structure of the BP neural network includes an input layer, a hidden layer and an output layer. When the output layer does not output the target position, back propagation is performed to return the error signal to the path, and the connection weights of the neurons in each layer are modified to minimize the error between the final actual output and the target output position, thereby determining the proportional coefficient K of the BP-PID controller (4-1). p , integral coefficient K i , differential coefficient K d Three main parameters, real-time adjustment of lateral deviation value Δl To adapt to the field environment; from formula 3, the output of the neural network input layer is selected as: Formula 3 in: is the output of the input layer; From formula 4, we can get the input and output of the hidden layer of the neural network: Equation 4 in: Is the hidden layer input; is the hidden layer output; is the hidden layer activation function; From formula 5, we can get the input and output of the neural network output layer: Formula 5 in: Input to the output layer of the neural network; Output of the neural network output layer; is the hidden layer weight coefficient; is the weight coefficient of the output layer; K p , K i , K d These are the three adjustable parameters of the BP-PID controller (4-1), which are then used to determine the main parameters of the BP-PID controller (4-1) and optimize the lateral deviation value.

10. A control system using the flexible deviation adjustment device for large-scale traction agricultural machinery according to any one of claims 1 to 9, It is characterized in that The following steps are involved: S1, obtaining the offset information of the flexible deviation adjustment device; initializing the distributed control system (4) program, the electro-hydraulic proportional valve (4-3), the rotating arm angle sensor (4-4), the tractor satellite antenna (4-5), the machine satellite antenna (4-6) and the BP-PID controller (4-1) are connected to communicate, the installation position of the satellite positioning antenna is set, the navigation path AB line is set, and the whole machine starts to operate; the signal receiver (4-2) obtains the differential signal received by the tractor satellite antenna (4-5) and the machine satellite antenna (4-6); S2, flexible deviation adjustment device action adjustment; the BP-PID controller (4-1) processes the signal to extract the difference between the machine satellite antenna (4-6) and the set target position, and obtains the real-time lateral deviation adjustment value of the machine during the operation Δ l ; When the lateral deviation of the machine Δl When the angle is not equal to the target value, the distributed control system (4) controls the extension and retraction of the right deviation-correcting traction cylinder (2-5-4) and the left deviation-correcting traction cylinder (2-5-7) through the electro-hydraulic proportional valve (4-3), and the double-point quick-hook balancing mechanism (3) starts to deflect, thereby driving the implement (6) to move left and right; at the same time, the rotating arm angle sensor (4-4) detects and feeds back the actual deflection angle of the flexible deviation-correcting device in real time, forming a closed-loop information feedback, and adjusting the deviation-correcting sowing operation path of the implement (6); At this time, the flexible deviation adjustment device has three states of action adjustment: State 1: Δl When the value is greater than 0, the BP-PID controller (4-1) sends an adjustment command to the electro-hydraulic proportional valve (4-3), the right deviation correction traction cylinder (2-5-4) contracts and the left deviation correction traction cylinder (2-5-7) extends, the flexible traction drive mechanism (2-2) drives the double-point quick-hook balancing mechanism (3) to move horizontally to the right, and the rotating arm angle sensor (4-4) feeds back the horizontal movement information; State 2: Δl When the value is less than 0, the BP-PID controller (4-1) sends an adjustment command to the electro-hydraulic proportional valve (4-3), the right deviation correction traction cylinder (2-5-4) extends and the left deviation correction traction cylinder (2-5-7) contracts, the flexible traction drive mechanism (2-2) drives the double-point quick-hook balancing mechanism (3) to move horizontally to the left, and the rotating arm angle sensor (4-4) feeds back the horizontal movement information; State 3: Δl When the value is equal to 0, the BP-PID controller (4-1) stops sending commands, the valve port of the electro-hydraulic proportional valve (4-3) is closed, the right deviation correction traction cylinder (2-5-4) and the left deviation correction traction cylinder (2-5-7) stop extending and retracting, and the flexible deviation adjustment device continues to operate in the current operating state; S3, the operation of the flexible deviation adjustment device is completed: the signal receiver (4-2) obtains the differential signal received by the tractor satellite antenna (4-5) and the machine satellite antenna (4-6), obtains the real-time movement state of the corn no-till planter, determines whether the tractor (5) and the machine (6) are in the same straight line, and repeats steps S1 to S2 until the machine (6) avoids the corn stubble, the BP-PID controller (4-1) and the electro-hydraulic proportional valve (4-3) stop working, and the operation task of the flexible deviation adjustment device is completed.

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