Disc harrow adjusting system, disc harrow adjusting method and operation machine

Abstract

The invention relates to the field of operation machinery, and discloses a disc harrow adjusting system, an adjusting method and operation machinery. The disc harrow adjusting system comprises a harrow frame base body, a movable harrow and a deflection angle adjusting module. The deflection angle adjusting module is used for driving the movable harrow to deflect and adjust relative to the harrow frame base body; the control module comprises a data processing module, a data input module and a controller, a parameter optimization platform model and a simulation real-time response model after big data training are built in the data processing module, and the data input module is configured to import operation parameters into the simulation real-time response model to obtain all working condition data meeting requirements; the parameter optimization platform model is used for selecting an optimal working deflection angle from all the working condition data, and the controller is configured to control the deflection angle adjusting module to work according to the optimal working deflection angle. The disc harrow adjusting system disclosed by the invention can guarantee the farming quality and improve the working efficiency.

Description

Technical Field

[0001] The present application belongs to the field of operating machinery, and specifically relates to a disc harrow adjustment system, an adjustment method and an operating machinery. Background Art

[0002] Disc harrows are an important agricultural tool. The deflection angle of the harrow blade has a direct impact on the tillage effect and mechanical performance. Among them, if the deflection angle of the harrow blade is too small, the harrow blade will not be in sufficient contact with the soil during the rotation process. In this case, it is difficult for the harrow blade to fully turn over and loosen the soil, resulting in a significant reduction in tillage depth and effect. If the deflection angle of the harrow blade is too large, the friction resistance between the harrow blade and the soil will be significantly increased, thereby placing a greater load on the mechanical system, consuming more energy, and increasing the cost of tillage.

[0003] At present, the angle of the disc harrow blade is mainly adjusted manually one by one. Due to the different soil environments of different cultivated lands, the angle of the harrow blade cannot be adaptively adjusted according to different farming scenes. This requires repeated manual debugging during the work process, increases labor intensity, and makes it difficult to achieve the optimal state, which ultimately affects the quality of farming. Summary of the invention

[0004] The purpose of this application is to provide a disc harrow adjustment system, adjustment method and operating machinery, which are used to solve the problems that the existing manual adjustment structure cannot automatically adapt to different operating scenarios, has high labor intensity and cannot be adjusted to the optimal state, affecting the quality of farming.

[0005] In order to achieve the above-mentioned object, the present application provides a disc harrow adjustment system in a first aspect, comprising:

[0006] rake base;

[0007] A movable rake, hingedly connected to the rake frame base;

[0008] An angle adjustment module is provided on the rake frame base or on the fixed rake of the rake frame base, and is used to drive the movable rake to adjust the deflection relative to the rake frame base;

[0009] The control module includes a data processing module, a data input module and a controller. The data processing module is equipped with a parameter optimization platform model and a simulation real-time response model after big data training. The data input module is configured to import operating parameters into the simulation real-time response model to obtain all operating condition data that meet the requirements. The parameter optimization platform model is used to select the best working deflection angle from all the working condition data. The controller is configured to control the operation of the deflection angle adjustment module according to the best working deflection angle.

[0010] As a further improvement of the above technical solution:

[0011] In some embodiments, each of the working condition data output by the simulation real-time response model according to the imported working parameters includes a working deflection angle and a tillage depth, tillage resistance and overall stress of the disc harrow corresponding to the working deflection angle;

[0012] The parameter optimization platform model is used to set the working deflection angle corresponding to the tillage depth, the tillage resistance and the overall stress of the disc harrow that meet the current operation requirements in the working condition data as the optimal working deflection angle.

[0013] In some embodiments, the working parameters include travel speed, working deflection angle and soil parameter information.

[0014] In some embodiments, the movable rake includes a mounting crossbar and a plurality of rake blades arranged along the length direction of the mounting crossbar, and one end of the mounting crossbar is hinged to the rake frame base;

[0015] Wherein, the driving end of the angle adjustment module is hingedly connected to the mounting cross bar.

[0016] In some embodiments, an angle detection module is provided on the movable rake or the rake frame base for detecting the deflection angle of the movable rake in real time.

[0017] In a second aspect, the present application further provides a disc harrow adjustment method, which is applied to the disc harrow adjustment system provided according to the first aspect, and the disc harrow adjustment method comprises:

[0018] S100: start the disc harrow;

[0019] S200: configuring the operation parameters required for the current working scene through the data input module;

[0020] S300: Importing the operation parameters into the simulation real-time response model trained with big data to obtain working condition data that meets all requirements;

[0021] S400: Optimizing all the working condition data by using the parameter optimization platform model to select the best working deflection angle in the working condition data;

[0022] S500: Controlling the deflection angle adjustment module to drive the movable rake to swing relative to the rake frame base according to the optimal working deflection angle, so that the movable rake is deflected as a whole to the optimal working deflection angle position.

[0023] As a further improvement of the above technical solution:

[0024] In some implementations, the step S400 includes:

[0025] Taking the stress σ≤[σ] of the disc harrow as a whole as the objective function, limiting the tillage depth h∈[hmin, hmax] interval, and taking the working deflection angle corresponding to the tillage resistance F=Fmin as the optimal working deflection angle;

[0026] Where [σ] is the allowable stress of the disc harrow.

[0027] In some embodiments, the disc harrow adjustment method further includes constructing the simulation real-time response model after big data training, wherein constructing the simulation real-time response model after big data training includes:

[0028] Carry out full parametric modeling of the disc harrow structure, set variable parameters including the active harrow limit deflection angle θ[], and convert it into an output file;

[0029] Import the disc harrow model into the dynamic simulation software for training;

[0030] The overall stress σ, tillage resistance F and tillage depth h of the disc harrow output by dynamic simulation are compared and verified with the test results, and the dynamic simulation model is corrected by the test data;

[0031] The material property setting of the modified dynamic simulation model, the establishment of the internal constraint relationship of the components, the setting of the boundary conditions and the simulation solution operation are written into a script file. Similarly, the overall stress σ, tillage resistance F and tillage depth h of the disc harrow output by the motion simulation post-processing are written into a post-processing script file to realize the automatic operation and result output of the motion simulation;

[0032] The parameter optimization platform model is used to realize the automatic calculation of the motion simulation model to output all working condition data that meet the requirements;

[0033] The simulation input data and simulation output data of the working condition data simulation calculation are taken to establish a numerical model library. Through the training of the numerical model, a mapping function relationship between the input and output results is provided to the parameter optimization platform, that is, the simulation real-time response model is obtained.

[0034] The fully parameterized modeling of the disc harrow structure includes a soil model and a disc harrow entity model.

[0035] In a third aspect, the present application further provides a working machine, comprising a disc harrow adjustment system provided according to the first aspect.

[0036] Compared with the prior art, the disc harrow adjustment system, adjustment method and operating machine provided by the present application include the following technical effects:

[0037] The disc harrow adjustment system provided by the present application imports operating parameters into the simulation real-time response model in the data processing module through the data input module to obtain all the working condition data that meet the requirements. The parameter optimization platform model in the data processing module is used to select the best working deflection angle from all the working condition data, and then the controller controls the deflection angle adjustment module to adjust the movable harrow according to the best working deflection angle, so that the movable harrow is deflected to the best working deflection angle position as a whole. In this way, the disc harrow adjustment system provided by the present application can automatically control and adjust the movable harrow to the best working deflection angle according to the working scene, ensure the quality of farming, and do not need manual adjustment, which reduces the intensity of manual labor and improves work efficiency.

[0038] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings:

[0040] Figure 1 A schematic diagram of the structure of a disc harrow provided in an embodiment of the present application;

[0041] Figure 2 A schematic diagram of a training simulation real-time response model provided in an embodiment of the present application;

[0042] Figure 3 A schematic diagram of a control module of a disc harrow adjustment system provided in an embodiment of the present application.

[0043] Description of Reference Numerals

[0044] 1. Movable rake;

[0045] 2. Fixed rake;

[0046] 3. Rake frame base;

[0047] 4. Angle adjustment module;

[0048] 5. Roller mechanism;

[0049] 6. Control module; 60. Data processing module; 61. Data input module; 62. Controller. DETAILED DESCRIPTION

[0050] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0051] The present application will be described in detail below with reference to the accompanying drawings and in conjunction with exemplary embodiments.

[0052] See also Figure 1 , Figure 2 and Figure 3 , this embodiment provides a disc harrow adjustment system, which can be applied to working machinery, such as agricultural working machinery.

[0053] The disc harrow adjustment system provided in this embodiment includes a harrow frame base 3, a movable harrow 1, an angle adjustment module 4 and a control module 6. In this embodiment, both sides of the harrow frame base 3 are hinged with movable harrows 1, and the harrow frame base 3 is also provided with a fixed harrow 2 and a roller mechanism 5 along its length direction. The movable harrow 1, the fixed harrow 2 and the roller mechanism 5 are arranged in sequence.

[0054] At least one deflection adjustment module 4 is arranged on both sides of the rake frame base 3, one end of the deflection adjustment module 4 is hingedly connected to the mounting rod of the fixed rake 2 on the same side of the rake frame base 3, and the other end (driving end of the deflection adjustment module 4) is hingedly connected to the movable rake 1. The deflection adjustment module 4 can output linear telescopic motion, thereby driving the movable rake 1 to swing relative to the rake frame base 3, so as to achieve the deflection adjustment of the movable rake 1.

[0055] In some embodiments, at least one deflection angle adjustment module 4 is arranged on both sides of the rake frame base 3, one end of the deflection angle adjustment module 4 is hinged on the rake frame base 3, and the other end (driving end of the deflection angle adjustment module 4) is hingedly connected to the movable rake 1. The deflection angle adjustment module 4 can output linear telescopic motion to achieve deflection angle adjustment of the movable rake 1.

[0056] The control module 6 includes a data processing module 60, a data input module 61 and a controller 62. The data processing module 60 has a built-in parameter optimization platform model and a simulation real-time response model after big data training. The data input module 61 is configured to import operating parameters into the simulation real-time response model to obtain all operating condition data that meet the requirements. The parameter optimization platform model is used to select the optimal working deflection angle from all operating condition data. The controller 62 is configured to control the deflection angle adjustment module 4 to work according to the optimal working deflection angle.

[0057] The data input module 61 can collect data through external detection elements and / or input data manually.

[0058] The movable rake 1 and the fixed rake 2 both include a mounting crossbar and a plurality of rake blades arranged along the length direction of the mounting crossbar. One end of the mounting crossbar of the movable rake 1 is hinged to the rake frame base 3, and the other end is a free end. The driving end of the deflection adjustment module 4 is connected to the mounting crossbar.

[0059] Optionally, the angle adjustment module 4 can be selected as an oil cylinder, a pneumatic cylinder, an electric cylinder, a linear motor or a motor screw, etc.

[0060] Specifically, each working condition data output by the simulation real-time response model according to the imported working parameters includes a working deflection angle and a tillage depth corresponding to the working deflection angle, tillage resistance, and overall stress of the disc harrow.

[0061] In this embodiment, the above-mentioned operation parameters include travel speed, working deflection angle and soil parameter information. The soil parameter information includes soil structure, soil compaction, soil temperature and humidity, etc.

[0062] The parameter optimization platform model includes multidisciplinary simulation software and self-compiled optimization programs. Here, the multidisciplinary simulation platform Isight software is taken as an example to realize motion simulation automation calculation. Thus, in this embodiment, the working deflection angle corresponding to the tillage depth, tillage resistance and overall stress of the disc harrow in the working condition data that meet the current operation requirements can be set as the optimal working deflection angle through the parameter optimization platform model.

[0063] Among them, the limiting condition of the optimal working deflection angle in the parameter optimization platform model is to take the overall stress σ≤[σ] of the disc harrow as the objective function, limit the tillage depth h∈[hmin, hmax] interval, and take the working deflection angle corresponding to the tillage resistance F=Fmin as the optimal working deflection angle; where [σ] is the allowable stress of the disc harrow. The reason for limiting the overall stress σ of the disc harrow to be less than or equal to the allowable stress [σ] is to protect the safety of the equipment during tillage, prevent equipment damage, and extend its service life.

[0064] In some embodiments, an angle detection module is provided on the movable rake 1 or the rake frame base 3 for real-time detection of the deflection angle ( Figure 1 The angle detection module can feed back the detected working angle to the controller 62 in real time to implement feedback adjustment and ensure the accuracy of the movable rake 1 after adjustment.

[0065] See also Figure 1 and Figure 3 Furthermore, this embodiment also provides a disc harrow adjustment method, which is applied to the disc harrow adjustment system provided according to the above embodiment. The disc harrow adjustment method includes the following steps:

[0066] S100: Start the disc harrow.

[0067] S200: configuring the operation parameters required for the current operation scene through the data input module 61. Specifically, the operation parameters include driving speed, working deflection angle and soil parameter information.

[0068] S300: Import the operation parameters into the simulation real-time response model trained with big data to obtain the working condition data that meets all requirements.

[0069] S400: All working condition data are optimized through the parameter optimization platform model to select the best working deflection angle in the working condition data. Among them, the parameter optimization platform (including multidisciplinary simulation software and self-compiled optimization program, here taking the multidisciplinary simulation platform Isight software as an example) is used to realize the automatic operation of motion simulation.

[0070] S500: Control the deflection angle adjustment module 4 to drive the movable harrow 1 to swing relative to the harrow frame base 3 according to the optimal working deflection angle, so that the movable harrow 1 is deflected as a whole to the optimal working deflection angle position.

[0071] The above step S400 includes:

[0072] The overall stress σ≤[σ] of the disc harrow is taken as the objective function, the tillage depth h∈[hmin, hmax] interval is limited, and the working deflection angle corresponding to the tillage resistance F=Fmin is taken as the optimal working deflection angle; where [σ] is the allowable stress of the disc harrow.

[0073] Please also read Figure 2 The disc harrow adjustment method also includes constructing a simulation real-time response model after big data training, wherein constructing the simulation real-time response model after big data training includes the following steps:

[0074] S10: Perform full parametric modeling of the disc harrow structure (use 3D software to perform full parametric modeling of the disc harrow structure, including UG, SolidWorks, Catia, Pro-e, etc.), set variable parameters including the active harrow 1 limit deflection angle θ[], and convert it into an output file; in this embodiment, UG modeling is taken as an example, and the format of the output file is a ".xt" file. Among them, the full parametric modeling of the disc harrow structure includes a soil model and a disc harrow entity model.

[0075] S20: Import the disc harrow model into dynamic simulation software for training. The dynamic simulation software includes LS-DYNA, Adams, SolidWorks Simulation, AnyLogic, LabVIEW, etc. LS-DYNA is taken as an example here. In LS-DYNA software, material properties are set, internal constraints of components are established, boundary conditions are set, simulation solutions are calculated, and post-processing is performed to extract the overall stress σ, tillage resistance F, and tillage depth h of the disc harrow in the motion simulation results.

[0076] S30: The overall stress σ, tillage resistance F and tillage depth h of the disc harrow output by the dynamic simulation are compared and verified with the test results, and the dynamic simulation model is corrected by the test data to establish an accurate LS-DYNA motion simulation model.

[0077] S40: Then, the material property setting of the modified dynamic simulation model, the establishment of the internal constraint relationship of the components, the setting of the boundary conditions and the simulation solution operation are written into a script file. Similarly, the overall stress σ, tillage resistance F and tillage depth h of the disc harrow output by the motion simulation post-processing are written into a post-processing script file to realize the automatic operation and result output of the motion simulation;

[0078] S50: Use the parameter optimization platform model to realize the automatic calculation of the motion simulation model to output all working condition data that meet the requirements.

[0079] S60: Take the simulation input data (driving speed v, active harrow 1 limited deflection angle θ[]) and simulation output data (disc harrow overall stress σ, tillage resistance F and tillage depth h) of the working condition data simulation calculation, establish a numerical model library, and through the training of the numerical model, provide the parameter optimization platform with a mapping function relationship between the input and output results, that is, obtain a simulation real-time response model.

[0080] Furthermore, this embodiment also provides a working machine, comprising the above-mentioned disc harrow adjustment system. The working machine also includes a traction drive device (such as a tractor).

[0081] In this embodiment, the program for executing the disc harrow adjustment method can be implanted into the traction drive device, and combined with external data acquisition equipment (including a driving speed measuring instrument, an angle detection module, etc.) and a simulation real-time response model of the disc harrow to achieve real-time data transmission and result output.

[0082] Compared with the prior art, the working machine provided in this embodiment has the following advantages:

[0083] (1) The angle of the movable harrow 1 on the disc harrow can be adjusted in real time to meet the current farming conditions, ensure the quality of farming, use the best working deflection angle for farming, greatly reduce energy consumption, reduce the wear of the harrow blades, and extend the service life of the disc harrow.

[0084] (2) The disc harrow adjustment system can realize automatic adjustment of the angle of the harrow blade on the movable harrow 1 without manual adjustment, thus saving labor costs and improving work efficiency.

[0085] (3) The simulation real-time response model uses the allowable stress as the objective function, which can greatly improve the safety of the disc harrow and extend its service life.

[0086] (4) The disc harrow adjustment system can output the tillage depth in real time through simulation under different working conditions such as different traction speeds of the traction drive equipment and steering of the cultivated land, thus ensuring the qualified cultivated land under different working conditions.

[0087] (5) The disc harrow adjustment system automatically adjusts the working angle of the movable harrow 1, which can be applied to more farming environments and is more practical.

[0088] It should be noted that in the present application, unless otherwise specified, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like used to indicate orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0089] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0090] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0091] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0092] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A disc harrow adjustment system, characterized in that: include: Rake frame base (3); A movable rake (1) is hingedly connected to the rake frame base (3); An angle adjustment module (4) is arranged on the rake frame base (3) or on the fixed rake (2) of the rake frame base (3); a driving end of the angle adjustment module (4) is hingedly connected to the movable rake (1) and is used to drive the movable rake (1) to deflect and adjust relative to the rake frame base (3); and The control module (6) comprises a data processing module (60), a data input module (61) and a controller (62); the data processing module (60) is equipped with a parameter optimization platform model and a simulation real-time response model trained with big data; the data input module (61) is configured to import operating parameters into the simulation real-time response model to obtain all operating condition data that meet the requirements; the parameter optimization platform model is used to select an optimal working deflection angle from all the working condition data; and the controller (62) is configured to control the operation of the deflection angle adjustment module (4) according to the optimal working deflection angle.

2. The disc harrow adjustment system according to claim 1, characterized in that: Each of the working condition data output by the simulation real-time response model according to the imported working parameters includes a working deflection angle and a tillage depth, tillage resistance and overall stress of the disc harrow corresponding to the working deflection angle; The parameter optimization platform model is used to set the working deflection angle corresponding to the tillage depth, the tillage resistance and the overall stress of the disc harrow that meet the current operation requirements in the working condition data as the optimal working deflection angle.

3. The disc harrow adjustment system according to claim 1, characterized in that: The operating parameters include travel speed, working deflection angle and soil parameter information.

4. The disc harrow adjustment system according to claim 1, characterized in that: The movable harrow (1) comprises a mounting crossbar and a plurality of harrow blades arranged along the length direction of the mounting crossbar, and one end of the mounting crossbar is hinged to the harrow frame base (3); Wherein, the driving end of the angle adjustment module (4) is hingedly connected to the mounting cross bar.

5. The disc harrow adjustment system according to any one of claims 1 to 4, characterized in that: The movable rake (1) or the rake frame base (3) is provided with an angle detection module for detecting the deflection angle of the movable rake (1) in real time.

6. A method for adjusting a disc harrow, characterized in that: Applied to the disc harrow adjustment system according to any one of claims 1 to 5, the disc harrow adjustment method comprises: S100: start the disc harrow; S200: configuring the operation parameters required for the current working scene through the data input module (61); S300: Importing the operation parameters into the simulation real-time response model trained with big data to obtain working condition data that meets all requirements; S400: Optimizing all the working condition data by using the parameter optimization platform model to select the best working deflection angle in the working condition data; S500: According to the optimal working deflection angle, the deflection angle adjustment module (4) is controlled to drive the movable rake (1) to swing relative to the rake frame base (3), so that the movable rake (1) is deflected as a whole to the optimal working deflection angle position.

7. The disc harrow adjustment method according to claim 6, characterized in that: The step S400 includes: Taking the stress σ≤[σ] of the disc harrow as a whole as the objective function, limiting the tillage depth h∈[hmin, hmax] interval, and taking the working deflection angle corresponding to the tillage resistance F=Fmin as the optimal working deflection angle; Where [σ] is the allowable stress of the disc harrow.

8. The disc harrow adjustment method according to claim 6, characterized in that: The disc harrow adjustment method further includes constructing the simulation real-time response model after big data training, wherein constructing the simulation real-time response model after big data training includes: The disc harrow structure is fully parametrically modeled, and variable parameters are set including the active harrow (1) limiting the deflection angle θ[], and converted into an output file; Import the disc harrow model into the dynamic simulation software for training; The overall stress σ, tillage resistance F and tillage depth h of the disc harrow output by dynamic simulation are compared and verified with the test results, and the dynamic simulation model is corrected by the test data; The material property setting of the modified dynamic simulation model, the establishment of the internal constraint relationship of the components, the setting of the boundary conditions and the simulation solution operation are written into a script file. Similarly, the overall stress σ, tillage resistance F and tillage depth h of the disc harrow output by the motion simulation post-processing are written into a post-processing script file to realize the automatic operation and result output of the motion simulation; The parameter optimization platform model is used to realize the automatic calculation of the motion simulation model to output all working condition data that meet the requirements; The simulation input data and simulation output data of the working condition data simulation calculation are taken to establish a numerical model library. Through the training of the numerical model, a mapping function relationship between the input and output results is provided to the parameter optimization platform, that is, the simulation real-time response model is obtained.

9. The disc harrow adjustment method according to claim 8, characterized in that: The fully parameterized modeling of the disc harrow structure includes a soil model and a disc harrow entity model.

10. A working machine, characterized in that: The invention comprises a disc harrow adjustment system according to any one of claims 1 to 5.

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