A tractor tillage depth automatic control device based on torque regulation

Abstract

The present invention belongs to the field of automatic control technology, and in particular, is a tractor tillage depth automatic control device based on torque adjustment. The following scheme is proposed, including an axle seat and two rotating arms, both of which are fixedly connected to the top of the axle seat, the top of the axle seat is fixedly connected to the engine, the middle of the axle seat is rotatably connected to a lower rotating shaft, the two ends of the lower rotating shaft are respectively located on both sides of the axle seat, and both ends of the lower rotating shaft are fixedly connected to equidistantly distributed plow cutters, and the lower rotating shaft is transmission-connected to the output end of the engine. In the present invention, the relative position between the copper column and the copper plate is used to realize the angle monitoring of the rotating arm. When the rotating arm is deflected to the set angle, the device can realize automatic adjustment. Copper plates are installed on both sides of the insulating plate, so the device can adjust the two deflection directions of increasing and decreasing the inclination angle of the rotating arm. The tillage depth control steps are simple, and the adjustment and maintenance of the parts are simple, which has a wider promotion value.

Description

Technical Field

[0001] The invention relates to the technical field of automatic control, and in particular to an automatic control device for tractor tillage depth based on torque regulation. Background Art

[0002] When the tractor is matched with farm implements, it can complete ploughing and harrowing operations. It has been widely used because of its strong soil crushing ability and flat surface after ploughing. At the same time, it can cut up the root stubble buried below the surface, which is convenient for the operation of the seeder and provides a good seed bed for later sowing.

[0003] After searching, a Chinese patent application with application publication number CN107643716A discloses a tractor tillage depth automatic control device based on torque adjustment, which consists of five major parts: a control panel, a controller, a hydraulic system, a suspension mechanism and a sensor. The controller sends control instructions to the electro-hydraulic proportional valve, thereby realizing comprehensive adjustment of the torque and position of the tillage depth.

[0004] The above-mentioned device relies on sensors for collecting tillage depth information, and the complex outdoor working environment can easily affect the working state and sensitivity of the sensors. Once damaged, it is difficult for workers to maintain and adjust the sensors, and the operation is complicated. Therefore, it is not suitable for large-scale and long-term tillage operations. It is urgent to design a tractor tillage depth automatic control device based on torque adjustment to solve the above problems. Summary of the invention

[0005] Based on the technical problems that the existing tractor tillage depth automatic control device is difficult to maintain and adjust and has complex operation, the present invention proposes a tractor tillage depth automatic control device based on torque regulation.

[0006] The present invention proposes an automatic tractor tillage depth control device based on torque adjustment, comprising an axle seat and two rotating arms, the two rotating arms are fixedly connected to the top of the axle seat, the top of the axle seat is fixedly connected to the engine, the middle part of the axle seat is rotatably connected to a lower rotating shaft, the two ends of the lower rotating shaft are respectively located on the two sides of the axle seat, the two ends of the lower rotating shaft are fixedly connected to equidistantly distributed plow cutters, the lower rotating shaft is transmission-connected to the output end of the engine, the tops of the two rotating arms are rotatably connected to the same upper rotating shaft, the outer wall of one side of the upper rotating shaft is fixedly connected to a first connecting rod, the end of the first connecting rod away from the upper rotating shaft is fixedly connected to a traction rod, the rod body of the traction rod is provided with equidistantly distributed traction holes, the outer wall of the upper rotating shaft away from the first connecting rod is fixedly connected to a T-frame, the two sides of the bottom of the T-frame are fixedly connected to support arms, the bottoms of the two support arms are rotatably connected to each other The cam is connected to a same supporting roller, a same supporting platform is fixedly connected between the middle parts of the two rotating arms, a guide rail is rotatably connected to the middle position of the top of the supporting platform, a sliding seat is slidably connected to the top of the guide rail, the bottom of the first connecting rod is fixedly connected to the top seat, the bottom of the top seat is rotatably connected to the hydraulic rod, the bottom of the hydraulic rod is rotatably connected to the top of the sliding seat, and the bottom of the supporting platform is fixedly connected to a controller, a shield is fixedly connected to the top of one of the rotating arms near the upper rotating shaft, and the inner wall of the top of the shield is fixedly connected to two frames, copper plates are fixedly connected to the inner walls on both sides of the two frames, insulating plates are fixedly connected to the middle inner walls of the two frames, a connecting column is fixedly connected to the top of the upper rotating shaft near one end of the shield, the top of the connecting column is rotatably connected to the copper column, and the adjacent sides of the two insulating plates are respectively in contact with the two sides of the copper column.

[0007] Preferably, the outer wall circumference of the support roller is provided with anti-skid grooves distributed at equal distances, and a same cross bar is fixedly connected between the ends of the two support arms close to the support roller, and a scraper is fixedly connected to one side of the cross bar.

[0008] Preferably, the bottom of the scraper is fixedly connected with scraping teeth distributed at equal distances, the scraping teeth correspond to the anti-skid grooves one by one, and a through hole is opened in the middle of the scraper body.

[0009] Preferably, a hanger is fixedly connected to the bottom of the support platform, and the controller is fixedly connected to the inside of the hanger.

[0010] Preferably, the output end of the engine is fixedly connected to a driving pulley, the outer wall circumference of the lower rotating shaft is fixedly connected to a driven pulley, the driven pulley is rotatably connected to one side of the shaft seat through a bearing, and the same transmission belt is sleeved inside the wheel groove of the driving pulley and the wheel groove of the driven pulley.

[0011] Preferably, the four corners of the top of the top seat are fixedly connected with screws, the tops of the four screws are inserted with the same positioning seat, the bottom of the positioning seat contacts the top of the first connecting rod, and the tops of the four screws are threadedly connected with nuts.

[0012] Preferably, the bottoms of the outer walls on both sides of the traction rod are fixedly connected with cross beams, the bottoms of the two cross beams away from one end are fixedly connected with second connecting rods, and the two second connecting rods are fixedly connected to the two support arms respectively.

[0013] Preferably, a wheel groove is opened in the middle part of the side away from the two rotating arms, rollers are arranged inside the two wheel grooves, the side away from the two rollers is rotatably connected to the first pressure plate, the middle part of the side away from the two first pressure plates is fixedly connected to the sleeve, the ends away from the two sleeves are inserted with insertion rods, the ends away from the two insertion rods are fixedly connected with the second pressure plates, and the two second pressure plates are respectively fixedly connected to the two support arms.

[0014] Preferably, a spring is sleeved on the outside of the two sleeves, and two ends of the spring are respectively in contact with a first pressing plate and a second pressing plate adjacent to the spring.

[0015] Preferably, the hydraulic rod is connected to the hydraulic system, the copper plate is connected to the controller via a signal line, and the engine is connected to the controller via a signal line.

[0016] Compared with the prior art, the present invention provides a tractor tillage depth automatic control device based on torque regulation, which has the following beneficial effects:

[0017] 1. A tractor ploughing depth automatic control device based on torque adjustment, by setting an insulating plate, a copper plate, a copper column and a hydraulic rod, the engine drives the lower shaft to rotate, the plow cutter breaks the soil to plow the land, when the plow cutter is affected by the terrain or soil and deflects, the swing arm rotates synchronously, the connecting column drives the copper column to deflect, and moves from between two insulating plates to between two copper plates, the signal circuit is turned on, the controller controls the hydraulic rod to operate after receiving the level signal change, and applies a counter force opposite to the deflection direction to the swing arm, when the hydraulic rod is operating, its top rotates relative to the top seat, and its bottom rotates relative to the sliding seat, the sliding seat slides along the guide rail to adapt to the change of the length of the hydraulic rod, and the controller makes corresponding adjustments to the engine torque to achieve the purpose of controlling the ploughing depth to maintain stability, the relative position between the copper column and the copper plate is used to realize the angle monitoring of the swing arm, when the swing arm is deflected to the set angle, the device can realize automatic adjustment, copper plates are installed on both sides of the insulating plate, so the device can realize adjustment in two deflection directions of increasing and decreasing the inclination angle of the swing arm, the plowing depth control steps are simple, and the adjustment and maintenance of parts are simple, which has a wider promotion value.

[0018] 2. This tractor tillage depth automatic control device based on torque adjustment is provided with support rollers, anti-skid grooves, scrapers, scraping teeth and through holes. When the plow breaks the soil to till the land, the support roller contacts the ground to be tilled before the plow, and plays a supporting and stabilizing role. The anti-skid groove increases the friction between the support roller and the ground to enhance its gripping ability. The support roller rotates relative to the scraper, and the scraper stays on the rotation path of the support roller to scrape off the soil attached to the surface of the support roller. The scraping teeth scrape off the soil accumulated inside the anti-skid groove. The through holes can prevent the soil from accumulating on the surface of the scraper.

[0019] 3. This tractor tillage depth automatic control device based on torque adjustment is provided with a screw rod, a nut, a positioning seat and a top seat. The nuts on the four screw rods are tightened respectively. The positioning seat and the top seat are clamped and fixed on the rod body of the first connecting rod together. The four nuts are unscrewed from the top of the four screw rods respectively, so that the installation position of the positioning seat and the top seat can be adjusted, and then the positioning of the top of the hydraulic rod can be adjusted.

[0020] 4. This tractor tillage depth automatic control device based on torque adjustment is provided with a spring, a roller, a wheel groove, a sleeve and an insertion rod. After the spring is installed, it is in a compressed state and is pushed out to both ends under the action of elastic potential energy. The first pressure plate presses the rotating arm, and the second pressure plate presses the supporting arm, thereby further enhancing the stability of the supporting arm. The roller can roll along the inner wall of the wheel groove to adapt to the relative rotation of the rotating arm and the supporting arm, and the spring continues to be compressed. The insertion rod retracts into the sleeve, and the roller can be separated from the wheel groove, which is convenient for disassembly and maintenance of the spring. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a structural schematic diagram of a tractor tillage depth automatic control device based on torque regulation proposed by the present invention;

[0022] Figure 2 It is a right view structural schematic diagram of a tractor tillage depth automatic control device based on torque regulation proposed by the present invention;

[0023] Figure 3 A schematic diagram of the spring structure of a tractor tillage depth automatic control device based on torque regulation proposed by the present invention;

[0024] Figure 4 This is a schematic diagram of the upper rotating shaft structure of a tractor tillage depth automatic control device based on torque regulation proposed by the present invention;

[0025] Figure 5 A schematic diagram of a shield structure of a tractor tillage depth automatic control device based on torque regulation proposed by the present invention;

[0026] Figure 6 A schematic diagram of the support roller and scraper structure of a tractor tillage depth automatic control device based on torque regulation proposed by the present invention;

[0027] Figure 7 This is a bottom-up structural schematic diagram of a tractor tillage depth automatic control device based on torque regulation proposed by the present invention;

[0028] Figure 8 This is a schematic diagram of the top view of the structure of a tractor tillage depth automatic control device based on torque regulation proposed by the present invention.

[0029] In the figure: 1, shaft seat; 2, rotating arm; 3, upper rotating shaft; 4, first connecting rod; 5, traction rod; 6, traction hole; 7, cross beam; 8, second connecting rod; 9, supporting platform; 10, guide rail; 11, sliding seat; 12, hydraulic rod; 13, top seat; 14, positioning seat; 15, T-shaped frame; 16, supporting arm; 17, supporting roller; 18, anti-skid groove; 19, cross bar; 20, wheel groove; 21, spring; 22, engine; 23, driving Pulley; 24, driving belt; 25, driven pulley; 26, lower shaft; 27, plow blade; 28, controller; 29, shield; 30, hanger; 31, roller; 32, first pressure plate; 33, sleeve; 34, scraper; 35, plug rod; 36, second pressure plate; 37, frame; 38, insulating plate; 39, copper plate; 40, connecting column; 41, screw; 42, nut; 43, through hole; 44, scraper teeth; 45, copper column. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0031] Reference Figure 1-8A tractor ploughing depth automatic control device based on torque adjustment comprises an axle seat 1 and two rotating arms 2, the two rotating arms 2 are fixedly connected to the top of the axle seat 1, the top of the axle seat 1 is fixedly connected to an engine 22, the middle of the axle seat 1 is rotatably connected to a lower rotating shaft 26, the two ends of the lower rotating shaft 26 are respectively located on both sides of the axle seat 1, the two ends of the lower rotating shaft 26 are fixedly connected to equidistantly distributed plow cutters 27, the lower rotating shaft 26 is transmission-connected to the output end of the engine 22, the tops of the two rotating arms 2 are rotatably connected to the same upper rotating shaft 3, the outer wall of one side of the upper rotating shaft 3 is fixedly connected to a first connecting rod 4, the end of the first connecting rod 4 away from the upper rotating shaft 3 is fixedly connected to a traction rod 5, the rod body of the traction rod 5 is provided with equidistantly distributed traction holes 6, the outer wall of the upper rotating shaft 3 away from the first connecting rod 4 is fixedly connected to a T-shaped frame 15, the two sides of the bottom of the T-shaped frame 15 are fixedly connected to support arms 16, the bottoms of the two support arms 16 are rotatably connected to the same support Roller 17, a same supporting platform 9 is fixedly connected between the middle parts of the two rotating arms 2, a guide rail 10 is rotatably connected to the middle position of the top of the supporting platform 9, a sliding seat 11 is slidably connected to the top of the guide rail 10, a top seat 13 is fixedly connected to the bottom of the first connecting rod 4, a hydraulic rod 12 is rotatably connected to the bottom of the top seat 13, and the bottom of the hydraulic rod 12 is rotatably connected to the top of the sliding seat 11, a controller 28 is fixedly connected to the bottom of the supporting platform 9, a shield 29 is fixedly connected to the top of one rotating arm 2 near the upper rotating shaft 3, two frames 37 are fixedly connected to the inner wall of the top of the shield 29, copper plates 39 are fixedly connected to the inner walls of the two sides of the two frames 37, insulating plates 38 are fixedly connected to the middle inner walls of the two frames 37, a connecting column 40 is fixedly connected to the top of the upper rotating shaft 3 near one end of the shield 29, a copper column 45 is rotatably connected to the top of the connecting column 40, and the adjacent sides of the two insulating plates 38 are respectively in contact with the two sides of the copper column 45.

[0032] In the present invention, the outer wall circumference of the support roller 17 is provided with anti-skid grooves 18 distributed at equal distances, and a same cross bar 19 is fixedly connected between the ends of the two support arms 16 close to the support roller 17. A scraper 34 is fixedly connected to one side of the cross bar 19. The anti-skid grooves 18 increase the friction between the support roller 17 and the ground, thereby enhancing its gripping ability.

[0033] In the present invention, the bottom of the scraper 34 is fixedly connected with scraping teeth 44 distributed at equal distances, the scraping teeth 44 correspond to the anti-skid groove 18 one by one, and a through hole 43 is opened in the middle of the plate body of the scraper 34. The support roller 17 rotates relative to the scraper 34, and the scraper 34 stays on the rotation path of the support roller 17 to scrape off the soil attached to the surface of the support roller 17. The scraping teeth 44 scrape off the soil accumulated inside the anti-skid groove 18. After scraping off the soil, the scraper 34 and the scraping teeth 44 fall downward to the ground. The through hole 43 can prevent the surface of the scraper 34 from accumulating soil.

[0034] In the present invention, a hanger 30 is fixedly connected to the bottom of the support platform 9 , and the controller 28 is fixedly connected to the inside of the hanger 30 , and the controller 28 is fixed below the support platform 9 through the hanger 30 .

[0035] In the present invention, the output end of the engine 22 is fixedly connected to a driving pulley 23, the outer wall circumference of the lower rotating shaft 26 is fixedly connected to a driven pulley 25, the driven pulley 25 is rotatably connected to one side of the shaft seat 1 through a bearing, the wheel groove of the driving pulley 23 and the wheel groove of the driven pulley 25 are sleeved with the same transmission belt 24, the engine 22 drives the driving pulley 23 to rotate, the driving pulley 23 drives the driven pulley 25 to rotate through the transmission belt 24, and then drives the lower rotating shaft 26 and the plow 27 to rotate.

[0036] In the present invention, the four corners of the top of the top seat 13 are fixedly connected with screws 41, the tops of the four screws 41 are plugged with the same positioning seat 14, the bottom of the positioning seat 14 contacts the top of the first connecting rod 4, and the tops of the four screws 41 are threadedly connected with nuts 42. The nuts 42 on the four screws 41 are tightened respectively, and the positioning seat 14 and the top seat 13 are clamped and fixed on the rod body of the first connecting rod 4. The four nuts 42 are unscrewed from the tops of the four screws 41 respectively, so that the installation positions of the positioning seat 14 and the top seat 13 can be adjusted, thereby adjusting the positioning of the top of the hydraulic rod 12.

[0037] In the present invention, the bottom of the outer walls on both sides of the traction rod 5 are fixedly connected with a cross beam 7, and the bottom of the two cross beams 7 away from one end are fixedly connected with a second connecting rod 8. The two second connecting rods 8 are respectively fixedly connected to the two support arms 16. The second connecting rod 8 is fixed between the cross beam 7 and the support arm 16 to enhance the stability of the support arm 16.

[0038] In the present invention, a wheel groove 20 is opened in the middle part of the side away from the two rotating arms 2, and rollers 31 are arranged inside the two wheel grooves 20. The side away from the two rollers 31 is rotatably connected to the first pressure plate 32, and the middle part of the side away from the two first pressure plates 32 is fixedly connected to the sleeve 33, and the ends away from the two sleeves 33 are inserted with insertion rods 35, and the ends away from the two insertion rods 35 are fixedly connected with the second pressure plates 36, and the two second pressure plates 36 are respectively fixedly connected to the two support arms 16.

[0039] In the present invention, the outside of the two sleeves 33 are both sleeved with springs 21, and the two ends of the spring 21 are respectively in contact between the first pressure plate 32 and the second pressure plate 36 adjacent to itself. After the spring 21 is installed, it is in a compressed state and is pushed out to both ends under the action of elastic potential energy. The first pressure plate 32 presses the rotating arm 2, and the second pressure plate 36 presses the supporting arm 16, which further enhances the stability of the supporting arm 16. The roller 31 can roll along the inner wall of the wheel groove 20 to adapt to the relative rotation of the rotating arm 2 and the support arm 16, and continue to compress the spring 21. The rod 35 retracts into the sleeve 33, and the roller 31 can be separated from the wheel groove 20, which is convenient for disassembly and maintenance of the spring 21.

[0040] In the present invention, the hydraulic rod 12 is connected to the hydraulic system, the copper plate 39 is connected to the controller 28 through a signal line, and the engine 22 is connected to the controller 28 through a signal line.

[0041] When in use, the device is connected to the tractor through the traction rod 5. Different traction holes 6 are used to adjust the installation height of the device. When in operation, the engine 22 drives the lower shaft 26 to rotate, the plow 27 breaks the soil and plows the land, and the support roller 17 contacts the ground to be plowed before the plow 27, playing a supporting and stabilizing role. When the plow 27 is deflected by the terrain or soil, the rotating arm 2 rotates synchronously, and the connecting column 40 drives the copper column 45 to deflect, moving from between the two insulating plates 38 to between the two copper plates 39, turning on the signal circuit. After receiving the level signal change, the controller 28 controls the hydraulic rod 12 to operate, and applies an opposing force opposite to the deflection direction to the rotating arm 2. When the hydraulic rod 12 is in operation, Its top rotates relative to the top seat 13, and its bottom rotates relative to the sliding seat 11. The sliding seat 11 slides along the guide rail 10 to adapt to the change in the length of the hydraulic rod 12. At the same time, the controller 28 makes corresponding adjustments to the torque of the engine 22 to achieve the purpose of controlling the depth of the cultivated land to remain stable. The relative position between the copper column 45 and the copper plate 39 is used to realize the angle monitoring of the swing arm 2. When the swing arm 2 deflects to the set angle, the device can realize automatic adjustment. Copper plates 39 are installed on both sides of the insulating plate 38. Therefore, the device can adjust the two deflection directions of the swing arm 2, that is, the increasing and decreasing inclination angles. The shield 29 protects and isolates the copper column 45 and the copper plate 39 inside it.

[0042] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A tractor tillage depth automatic control device based on torque regulation, comprising an axle seat (1) and two rotating arms (2), wherein the two rotating arms (2) are fixedly connected to the top of the axle seat (1), characterized in that: The top of the shaft seat (1) is fixedly connected to the engine (22), the middle of the shaft seat (1) is rotatably connected to the lower shaft (26), the two ends of the lower shaft (26) are respectively located on both sides of the shaft seat (1), and the two ends of the lower shaft (26) are fixedly connected to equidistantly distributed plow cutters (27), the lower shaft (26) is transmission-connected to the output end of the engine (22), the tops of the two rotating arms (2) are rotatably connected to the same upper shaft (3), the outer wall of one side of the upper shaft (3) is fixedly connected to the first connecting rod (4), and the first connecting rod (5) is fixedly connected to the first connecting rod (6). A traction rod (5) is fixedly connected to one end of a connecting rod (4) away from the upper rotating shaft (3); the rod body of the traction rod (5) is provided with traction holes (6) distributed at equal distances; a T-shaped frame (15) is fixedly connected to the outer wall of the upper rotating shaft (3) away from the first connecting rod (4); support arms (16) are fixedly connected to both sides of the bottom of the T-shaped frame (15); a support roller (17) is rotatably connected between the bottoms of the two support arms (16); and a support platform (9) is fixedly connected between the middle parts of the two rotating arms (2). The middle position of the top of the support platform (9) is rotatably connected to a guide rail (10), the top of the guide rail (10) is slidably connected to a sliding seat (11), the bottom of the first connecting rod (4) is fixedly connected to a top seat (13), the bottom of the top seat (13) is rotatably connected to a hydraulic rod (12), the bottom of the hydraulic rod (12) is rotatably connected to the top of the sliding seat (11), the bottom of the support platform (9) is fixedly connected to a controller (28), and the top of one of the rotating arms (2) close to the upper rotating shaft (3) is fixedly connected to a guard A cover (29), the inner wall of the top of the cover (29) is fixedly connected to two frames (37), the inner walls on both sides of the two frames (37) are fixedly connected to copper plates (39), the middle inner walls of the two frames (37) are fixedly connected to insulating plates (38), the top of the upper rotating shaft (3) close to one end of the cover (29) is fixedly connected to a connecting column (40), the top of the connecting column (40) is rotatably connected to a copper column (45), and the adjacent sides of the two insulating plates (38) are respectively in contact with the two sides of the copper column (45).

2. The tractor tillage depth automatic control device based on torque regulation according to claim 1, characterized in that: The outer wall circumference of the support roller (17) is provided with anti-skid grooves (18) distributed at equal distances, and a common cross bar (19) is fixedly connected between the ends of the two support arms (16) close to the support roller (17), and a scraper (34) is fixedly connected to one side of the cross bar (19).

3. The tractor tillage depth automatic control device based on torque regulation according to claim 2, characterized in that: The bottom of the scraper (34) is fixedly connected with scraper teeth (44) distributed at equal distances, the scraper teeth (44) correspond one to one with the anti-slip grooves (18), and a through hole (43) is provided in the middle of the body of the scraper (34).

4. The tractor tillage depth automatic control device based on torque regulation according to claim 1, characterized in that: A hanger (30) is fixedly connected to the bottom of the support platform (9), and a controller (28) is fixedly connected to the inside of the hanger (30).

5. The tractor tillage depth automatic control device based on torque regulation according to claim 1, characterized in that: The output end of the engine (22) is fixedly connected to a driving pulley (23), the outer wall circumference of the lower rotating shaft (26) is fixedly connected to a driven pulley (25), the driven pulley (25) is rotatably connected to one side of the shaft seat (1) through a bearing, and the same transmission belt (24) is sleeved inside the wheel groove of the driving pulley (23) and the wheel groove of the driven pulley (25).

6. The tractor tillage depth automatic control device based on torque regulation according to claim 1, characterized in that: The four corners of the top of the top seat (13) are fixedly connected to screw rods (41), the tops of the four screw rods (41) are plugged into the same positioning seat (14), the bottom of the positioning seat (14) contacts the top of the first connecting rod (4), and the tops of the four screw rods (41) are threadedly connected to nuts (42).

7. The tractor tillage depth automatic control device based on torque regulation according to claim 1, characterized in that: The bottoms of the outer walls on both sides of the traction rod (5) are fixedly connected to crossbeams (7), the bottoms of the two crossbeams (7) at the ends away from each other are fixedly connected to second connecting rods (8), and the two second connecting rods (8) are respectively fixedly connected to the two support arms (16).

8. The tractor tillage depth automatic control device based on torque regulation according to claim 1, characterized in that: A wheel groove (20) is provided in the middle of the two rotating arms (2) on the side away from each other, and rollers (31) are provided inside the two wheel grooves (20). The side away from each other of the two rollers (31) is rotatably connected to a first pressing plate (32), the middle of the side away from each other of the two first pressing plates (32) is fixedly connected to a sleeve (33), the ends away from each other of the two sleeves (33) are plugged with an insertion rod (35), the ends away from each other of the two insertion rods (35) are fixedly connected to a second pressing plate (36), and the two second pressing plates (36) are fixedly connected to the two support arms (16), respectively.

9. The tractor tillage depth automatic control device based on torque regulation according to claim 8, characterized in that: The outsides of the two sleeves (33) are each sleeved with a spring (21), and the two ends of the spring (21) are respectively in contact with a first pressing plate (32) and a second pressing plate (36) adjacent to the spring.

10. The tractor tillage depth automatic control device based on torque regulation according to claim 1, characterized in that: The hydraulic rod (12) is connected to the hydraulic system, the copper plate (39) is connected to the controller (28) via a signal line, and the engine (22) is connected to the controller (28) via a signal line.

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