Self-propelled rotary cultivator electric control lifting method and system

Abstract

The application discloses a self-propelled rotary cultivator electric control lifting method and system, belongs to the field of agricultural machinery technology, and aims to solve the operation problem of the existing rotary cultivator. The method is as follows: vehicle signals, handle signals and suspension angles are acquired and analyzed to obtain vehicle states and control instructions; the power-on signals of corresponding electromagnetic valves are generated according to the vehicle states and the control instructions to control the extension and retraction of the suspension oil cylinder, so that the suspension mechanism is lifted and lowered; the power-off signals of the electromagnetic valves are generated according to the comparison result of the suspension angle and the memory angle to stop the movement of the suspension oil cylinder; the memory angle refers to the recorded suspension mechanism angle before the vehicle signal is received in the execution of the present lifting. The system comprises electromagnetic valves, suspension oil cylinders, angle sensors, control handles, main speed change control mechanisms, controllers and reverse sensors; through the system and the method, the suspension height can be automatically lifted and lowered, one-key control of the suspension height can be realized, and one-key return to the memory position or the setting position is realized, so that the operation difficulty of the user is reduced.

Description

Technical Field

[0001] This invention relates to an electronically controlled lifting method and system for a self-propelled rotary tiller, belonging to the field of agricultural machinery technology. Background Technology

[0002] Self-propelled rotary tillers are rotary tillage machines that are driven by their own power source and use tracks as their walking device. The chassis and rotary tillage mechanism are integrated into one unit. They are particularly advantageous when working in paddy fields, so they are widely used in southern regions for various soil types in plains, mountains and hilly areas, as well as for both paddy and dry fields. The working plots are small, and frequent turning and U-turns are required during operation, which places high demands on the user's operation.

[0003] Existing rotary tillers all require manual lifting of the implement when reversing and manual adjustment back to the original position when working. When reversing, it is necessary to operate the reversing handle, control the steering handle at the same time, and operate the implement lifting handle again. The operation is cumbersome, increases the workload, and has low work efficiency.

[0004] Secondly, existing rotary tillers have limited suspension control, only offering simple manual lifting control. Some suspension controls are purely hydraulic, resulting in poor precision. Furthermore, in small plots in the south, users frequently need to turn and revolve. Due to the limitations of the rotary tiller's features, the height of the tiller needs to be adjusted when turning, reversing, or going backwards, making operation quite difficult. Summary of the Invention

[0005] The purpose of this invention is to provide an electronically controlled lifting method and system for a self-propelled rotary tiller, which can solve the problem of cumbersome operation of existing rotary tillers in paddy fields in special areas. It adopts an electro-hydraulic combination method to quickly and accurately control the corresponding solenoid valves according to the working status of the rotary tiller and the electronic control command, so as to accurately control the suspension status according to the vehicle status and reduce the difficulty of operation.

[0006] To solve the above-mentioned technical problems, the present invention is implemented using the following technical solution.

[0007] In a first aspect, the present invention provides an electrically controlled lifting method for a self-propelled rotary tiller, comprising:

[0008] Acquire vehicle signals, handle signals, and suspension angles;

[0009] The vehicle signals and the handle signals are analyzed separately to obtain the corresponding vehicle status and control commands;

[0010] Based on the vehicle status and control commands, the corresponding solenoid valves are energized to control the extension and retraction of the suspension cylinders, thereby raising and lowering the suspension mechanism.

[0011] Based on the comparison between the suspension angle and the memory angle, an electrical signal is generated to stop the solenoid valve from moving; wherein, the memory angle refers to the suspension mechanism angle recorded before the current lifting and lowering operation and before receiving a vehicle signal; this allows users to automatically lift and lower the suspension under different vehicle conditions, control the suspension height with one key, and return to the memory position or set position with one key, reducing the difficulty of user operation.

[0012] Optionally, the vehicle status includes driving straight, turning below a first angle threshold, turning above a second angle threshold, making a U-turn, and reversing;

[0013] The control commands include commands to control the suspension mechanism to rise, fall, stop, and reset.

[0014] Optionally, based on the vehicle status and control commands, an energizing signal is generated for the corresponding solenoid valve to control the extension and retraction of the suspension cylinder, thereby raising and lowering the suspension mechanism, including:

[0015] When the vehicle is in a straight-line or turning position below the first angle threshold and the control command is to rise, an energizing signal is generated for the first solenoid valve, causing the suspension cylinder to extend outward.

[0016] When the vehicle is in a straight-line state or turning below the first angle threshold, and the control command is to descend, an energizing signal is generated for the second solenoid valve, causing the suspension cylinder to retract inward.

[0017] Optionally, generating energizing signals for the corresponding solenoid valves based on vehicle status and control commands to control the extension and retraction of the suspension cylinders also includes:

[0018] When the vehicle is in a turning or U-turn state above the second angle threshold and the control command is to rise, an energizing signal is generated for the first solenoid valve, causing the suspension cylinder to extend outward. When the vehicle changes from turning or U-turning above the second angle threshold to straight driving or turning below the first angle threshold and the control command is to reset, an energizing signal is generated for the second solenoid valve, causing the suspension cylinder to retract until the suspension mechanism descends to the memory angle.

[0019] When the vehicle is in a turning or U-turn state above the second angle threshold and the control command is to descend, an energizing signal is generated for the second solenoid valve, causing the suspension cylinder to extend or retract inward. This continues until the vehicle's state changes from turning or U-turning above the second angle threshold to straight driving or turning below the first angle threshold, and the control command is to reset. In this case, an energizing signal is generated for the first solenoid valve, causing the suspension cylinder to extend outward until the suspension mechanism rises to the memory angle.

[0020] Optionally, generating energizing signals for the corresponding solenoid valves based on vehicle status and control commands to control the extension and retraction of the suspension cylinders also includes:

[0021] When the vehicle is in reverse and the control command is to rise, an energizing signal is generated to the first solenoid valve, causing the suspension cylinder to extend outward until it reaches the preset height, generating a stop command and recording the suspension angle in real time; when the reversing stops and the control command is to reset, an energizing signal is generated to the second solenoid valve, causing the suspension cylinder to retract until the suspension mechanism descends to the memory angle.

[0022] Optionally, the memory angles are the suspension angles recorded before turning, U-turn, and reversing, which are all above the second angle threshold.

[0023] In a second aspect, the present invention provides an electronically controlled lifting system for a self-propelled rotary tiller, comprising: a solenoid valve assembly, a suspension cylinder, an angle sensor, a control handle, a main transmission control mechanism, a controller, and a reversing sensor;

[0024] The controller is electrically connected to the solenoid valve, angle sensor, control assembly and reversing sensor respectively to perform the steps of the above method;

[0025] The solenoid valve assembly is used to receive the power signal output by the controller in order to control the opening and closing and the opening degree of the corresponding solenoid valve.

[0026] The suspension cylinder is used to drive the lifting and lowering of the suspension mechanism;

[0027] The angle sensor is mounted on the suspension mechanism and is used to feed back the suspension angle of the suspension mechanism to the controller;

[0028] The control handle is used to output handle signals to the controller;

[0029] The main transmission control mechanism is used to output vehicle signals to the controller for going straight, turning below the first angle threshold, turning above the second angle threshold, and making a U-turn.

[0030] The reversing sensor is used to send a signal to the controller that the vehicle is reversing.

[0031] Optionally, the main transmission control mechanism includes an adjusting screw connected to the travel mechanism, a transfer bracket connected to the adjusting screw via a connecting shaft, a rotating sleeve mounted on the transfer bracket, and a pull rod connected to the rotating sleeve;

[0032] The rotating sleeve is inserted into the rotating shaft, and the rotating shaft is mounted on the adapter bracket;

[0033] The connecting shaft is installed at the bottom of the adapter bracket, and the connecting shaft is rotatably connected to the rotary tiller frame via a pin.

[0034] The reversing sensor is mounted on an adapter bracket;

[0035] The pull rod passes through the sealing plate, which has a Z-shaped groove, and the pull rod moves within the Z-shaped groove.

[0036] Optionally, the suspension mechanism includes an upper rocker arm connected to the rotary tiller frame via a frame clamp, a lifting rod and a swing rod connected to the upper rocker arm, and a lower pull rod connected to the lifting rod;

[0037] One end of the upper rocker arm is connected to the rotary tiller frame and the suspension cylinder power rod, and the other end is connected to the lifting rod and the swing rod;

[0038] The swing arm is connected to the sensor rocker arm, which is used to mount the angle sensor, so that the angle sensor is fixed on the frame along the rotation axis of the upper rocker arm.

[0039] The lifting rod is connected to the middle of the pull rod, and one end of the pull rod is connected to the bottom of the rotary tiller frame, while the other end is connected to the upper pull point of the rotary tiller blade holder.

[0040] Optionally, the control handle has one or more buttons, including an up button, a down button, a stop button, and a reset button.

[0041] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0042] 1. Real-time acquisition of vehicle signals, handle signals, and suspension angle allows for precise determination of the rotary tiller's working status and suspension angle. Employing an electro-hydraulic coordinated working mode, it rapidly and accurately controls the corresponding solenoid valves based on the rotary tiller's working status and electronic control commands. This achieves automatic adjustment of the hydraulic oil flow and pressure in the suspension mechanism according to the vehicle's status, ultimately realizing automatic adjustment of the suspension height based on the vehicle's status and control commands. This avoids operational errors caused by frequent adjustments to the suspension mechanism due to factors such as terrain, turning, U-turns, and reversing.

[0043] 2. The suspension height can be controlled with one click when the user turns or makes a U-turn. The suspension will automatically rise when reversing and return to the initial position with one click after reaching the correct position, reducing the difficulty of operation for the user. Attached Figure Description

[0044] Figure 1 The diagram shows a flowchart of an electrically controlled lifting method for a self-propelled rotary tiller provided in an embodiment of the present invention;

[0045] Figure 2 The diagram shown is a structural diagram of an electrically controlled lifting system for a self-propelled rotary tiller provided in an embodiment of the present invention.

[0046] Figure 3 The diagram shown is a structural diagram of the main transmission control mechanism provided in an embodiment of the present invention;

[0047] Figure 4 The diagram shown is an installation schematic of the main transmission control mechanism provided in an embodiment of the present invention.

[0048] Figure 5The diagram shown is a structural diagram of the suspension mechanism provided in an embodiment of the present invention;

[0049] Figure 6 The diagram shown is an installation schematic of the angle sensor provided in an embodiment of the present invention;

[0050] Figure 7 The diagram shown is a structural diagram of the control handle provided in an embodiment of the present invention.

[0051] In the diagram: 1-Solenoid valve assembly; 2-Hydraulic cylinder; 3-Suspension mechanism; 31-Frame clamp; 32-Upper rocker arm; 33-Lifting rod; 34-Swing rod; 35-Pull rod; 36-Rotary tiller frame; 37-Sensor rocker arm; 38-Rotary tiller blade holder; 39-Pull rod; 4-Angle sensor; 5-Controller; 6-Control handle; 61-Up button; 62-Down button; 63-Reset button; 8-Main transmission control; 81-Adjusting screw; 82-Adapter bracket; 83-Rotating sleeve; 84-Pull rod; 85-Rotating shaft; 86-Pin shaft; 87-Reversing sensor; 88-Sealing plate; 89-Z-groove; 810-Torsion spring; 811-Connecting shaft; 9-Traveling mechanism. Detailed Implementation

[0052] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention. Example

[0053] This embodiment provides an electrically controlled lifting method for a self-propelled rotary tiller, including:

[0054] Step 1: Acquire vehicle signals, handle signals, and suspension angle;

[0055] Step 2: Analyze the vehicle signals and handle signals to obtain the vehicle status and control commands;

[0056] Step 3: Generate the corresponding solenoid valve energizing signal according to the vehicle status and control command to control the extension and retraction of the suspension cylinder, thereby raising and lowering the suspension mechanism;

[0057] Step 4: Based on the comparison between the suspension angle and the memory angle, generate an electrical signal to stop the solenoid valve from moving; wherein, the memory angle refers to the suspension mechanism angle recorded before the current lifting and lowering operation and before receiving a vehicle signal.

[0058] This implementation example Figure 1As shown, the system acquires the status of agricultural machinery vehicles through multiple sensors and uses a combination of electro-hydraulic control to achieve precise control of the suspension height and implement height. When the user turns or makes a U-turn, the suspension height can be controlled with one button. When reversing, the suspension is automatically raised, and after reaching the desired position, it returns to the initial position with one button, reducing the difficulty of user operation. This allows the user to automatically raise and lower the rotary tiller, control the suspension height with one button, and return to the memory position or set position with one button under different conditions, reducing the difficulty of user operation.

[0059] Optionally, vehicle status includes driving straight, turning below a first angle threshold, turning above a second angle threshold, making a U-turn, and reversing;

[0060] Control commands include commands to control the suspension mechanism to rise, fall, stop, and reset.

[0061] In this embodiment, steering below the first angle threshold is considered a slight steering, with a small steering angle. The magnitude of this slight steering varies in different regions, and the angle threshold range can be adjusted according to actual needs. Steering above the second angle threshold results in a larger steering angle, exceeding the first angle threshold, and may even approach or reach the maximum steering angle. Similarly, the threshold range can be edited according to different terrains and usage requirements.

[0062] Optionally, step 3 generates an energizing signal for the corresponding solenoid valve based on the vehicle status and control commands to control the extension and retraction of the suspension cylinder, thereby raising and lowering the suspension mechanism, including:

[0063] When the vehicle is in a straight-line or turning position below the first angle threshold and the control command is to rise, an energizing signal is generated for the first solenoid valve, causing the suspension cylinder to extend outward.

[0064] When the vehicle is in a straight-line state or turning below the first angle threshold, and the control command is to descend, an energizing signal is generated for the second solenoid valve, causing the suspension cylinder to retract inward.

[0065] In this embodiment, when driving straight or making slight turns, the vehicle's movements are small, the vehicle's center of gravity shifts slightly, and the body tilt is not obvious. Therefore, the extension and retraction of the suspension cylinders can be directly controlled by control commands, making the operation simple.

[0066] Optionally, step 3, which generates an energizing signal for the corresponding solenoid valve based on the vehicle status and control commands to control the extension and retraction of the suspension cylinder, further includes:

[0067] When the vehicle is in a turning or U-turn state above the second angle threshold and the control command is to rise, an energizing signal is generated for the first solenoid valve, causing the suspension cylinder to extend outward. When the vehicle changes from turning or U-turning above the second angle threshold to straight driving or turning below the first angle threshold and the control command is to reset, an energizing signal is generated for the second solenoid valve, causing the suspension cylinder to retract until the suspension mechanism descends to the memory angle.

[0068] When the vehicle is in a turning or U-turn state above the second angle threshold and the control command is to descend, an energizing signal is generated for the second solenoid valve, causing the suspension cylinder to extend or retract inward. This continues until the vehicle's state changes from turning or U-turning above the second angle threshold to straight driving or turning below the first angle threshold, and the control command is to reset. In this case, an energizing signal is generated for the first solenoid valve, causing the suspension cylinder to extend outward until the suspension mechanism rises to the memory angle.

[0069] Due to the complex and diverse terrain of my country's arable land (such as terraced fields with slopes of 15°-30° and paddy field furrow height differences of 0.3-0.8m), traditional mechanical suspension systems struggle to quickly adjust height after sharp turns and U-turns. If the implement height is too low during sharp turns and U-turns, the rotary tiller blades may rub against and become stuck with obstacles such as stones, field ridges, or tree roots in the paddy field, causing damage to related components. If the implement height is too high, the vehicle's center of gravity will become unstable during rotation, resulting in swaying. Furthermore, different crops require different tillage depths, necessitating readjustment of the implement height after sharp turns and U-turns to match the initial height to ensure the overall working depth. Therefore, in this embodiment, during the transition from a sharp turn or U-turn to straight-line movement, the user automatically controls the implement to lower if too high and raise if too low, based on the vehicle's status, to prevent the implement from rubbing against the ground when too low and to prevent suspension swaying caused by the implement being too high. After turning and then turning around, precisely control the height of the implement to be consistent with that before turning, ensuring consistent rotary tillage depth and reducing equipment failure rate due to improper operation.

[0070] Optionally, step 3, which generates an energizing signal for the corresponding solenoid valve based on the vehicle status and control commands to control the extension and retraction of the suspension cylinder, further includes:

[0071] When the vehicle is in reverse and the control command is to rise, an energizing signal is generated to the first solenoid valve, causing the suspension cylinder to extend outward until it reaches the preset height, generating a stop command and recording the suspension angle in real time; when the reversing stops and the control command is to reset, an energizing signal is generated to the second solenoid valve, causing the suspension cylinder to retract until the suspension mechanism descends to the memory angle.

[0072] In the application scenarios of rotary tillers, the tilling height must remain consistent before and after reversing to meet the requirements of precision production. Furthermore, collisions between critical components and obstacles must be avoided during reversing. Therefore, the implement height is set to the predetermined reversing height to effectively reduce the annual maintenance rate of the cutter shaft. Additionally, if the cutter shaft is not raised during reversing, it may lead to common malfunctions such as overload and breakage of the drive shaft and oil leakage from the gearbox. Therefore, this embodiment automatically raises the cutter shaft during reversing and automatically restores the memorized height after reversing ceases, greatly reducing user error and operational complexity. Example

[0073] This embodiment provides an electrically controlled lifting system for a self-propelled rotary tiller, such as... Figure 2The components shown include: a solenoid valve assembly 1, a suspension cylinder 2, an angle sensor 4, a control handle 6, a main transmission control mechanism 8, a controller 5, and a reversing sensor 87.

[0074] The controller 5 is electrically connected to the solenoid valve assembly 1, the angle sensor 4, the control assembly, and the reversing sensor 87 to execute the steps of the method in Example 1.

[0075] The solenoid valve assembly 1 is used to receive the power signal output by the controller 5 to control the opening and closing of the solenoid valve assembly 1 and its opening degree.

[0076] The suspension cylinder 2 is used to drive the lifting and lowering of the suspension mechanism 3;

[0077] Angle sensor 4 is mounted on suspension mechanism 3 and is used to feed back the suspension angle of suspension mechanism 3 to controller 5;

[0078] The control handle 6 is used to output handle signals to the controller 5;

[0079] The main transmission control mechanism 8 is used to output vehicle signals to the controller 5 for straight driving, steering below the first angle threshold, steering above the second angle threshold, and U-turn.

[0080] The reversing sensor 87 is used to send a reversing vehicle signal to the controller 5.

[0081] Optional, such as Figure 3 and Figure 4 As shown, the main transmission control mechanism 8 includes: an adjusting screw 81, a transfer bracket 82, a rotating sleeve 83, and a pull rod 84; the rotating sleeve 83 is welded onto the pull rod 84, the rotating sleeve 83 passes through the rotating shaft 85 and a torsion spring 810 is installed on the rotating sleeve 83, the rotating shaft 85 is locked onto the transfer bracket 82 by a nut, the lower part of the transfer bracket 82 is welded onto a connecting shaft 811, the reversing sensor 87 is installed on the transfer bracket 82, one end of the adjusting screw 81 is connected to the transfer bracket 82 through the connecting shaft 811, and the other end is connected to the travel mechanism 9.

[0082] The pull rod 84 passes through the sealing plate 88, which has a Z-shaped groove 89. The pull rod 84 moves within the Z-shaped groove 89.

[0083] Optional, such as Figure 5 and Figure 6 As shown, the suspension mechanism 3 includes: an upper rocker arm 32, a lifting rod 33, a swing rod 34, a lower pull rod 35, and an upper pull rod 39; the upper rocker arm 32 is connected to the rotary tiller frame 36 via a frame clamp 31, the lifting rod 33 and the swing rod 34 are respectively connected to the upper rocker arm 32, and the lower pull rod 35 is connected to the lifting rod 33; wherein, one end of the upper rocker arm 32 is connected to the rotary tiller frame 36 and the power rod of the suspension cylinder 2, and the other end is connected to the lifting rod 33 and the swing rod 34;

[0084] The swing arm 34 is connected to the sensor rocker arm 37, which is used to mount the angle sensor 4, so that the angle sensor 4 is fixed on the frame along the rotation axis 85 of the upper rocker arm 32.

[0085] The lifting rod 33 is connected to the middle of the pull rod 35, and one end of the pull rod 35 is connected to the bottom of the rotary tiller frame 36, and the other end is connected to the upper pull point of the rotary tiller blade holder 38.

[0086] In this embodiment, the suspension mechanism 3 is a three-point suspension. Power is output to the pull rod 35 through the connection between the upper rocker arm 32 and the suspension cylinder 2, so that the upper rocker arm 32 drives the pull rod 35 to move during rotation. When the pull rod 35 moves, it drives the rotary tiller blade holder 38 to rise and fall, thereby making the rotary tiller blade holder 38 rise and fall relative to the ground. At the same time, another pull point of the rotary tiller blade holder 38 is connected to the upper pull rod 39, and the upper pull rod 39 is connected to the rotary tiller frame 36. The working angle of the rotary tiller blade holder 38 is adjusted by other power components.

[0087] Optional, such as Figure 7 As shown, the control handle 6 has one or more buttons, including an up button 61, a down button 62, a stop button, and a reset button 63. This allows the user to control the suspension height with a single button when turning or making a U-turn, automatically raise the suspension when reversing, and return to the initial position with a single button after reaching the correct position, reducing the difficulty of operation for the user.

[0088] The lifting system of this embodiment is applicable to the following states, including: straight driving, turning below a first angle threshold, turning above a second angle threshold, U-turn, and reversing.

[0089] When traveling in a straight line or turning below the first angle threshold, the transmission process of the lifting system in this embodiment is as follows:

[0090] Pushing the main transmission control 8 forward causes the lever 84 to move in front of the Z-slot 89. Because the Z-slot 89 restricts the lateral space of the lever 84, pushing the main transmission control 8 at this time does not trigger the reversing sensor 87. The lever 84, via the rotating shaft 85, drives the adapter bracket 82 to rotate counterclockwise around the pin 86 of the frame. The adapter bracket 82 drives the adjusting screw 81 upward, controlling the travel mechanism 9 to move forward. When the rotary tiller needs to be raised or lowered, simply operate the up or down button on the control handle 6. The controller 5 receives the signal and transmits it to the solenoid valve assembly. 1. Energize the first or second solenoid valve, and the suspension cylinder 2 extends or retracts to control the upper rocker arm 32 to rise or fall. The upper rocker arm 32 drives the lifting rod 33 to rise or fall, the lifting rod 33 drives the pull rod 35 to rise or fall, and the pull rod 35 drives the rotary tiller to rise or fall. At the same time, the swing rod 34 on the upper rocker arm 32 drives the sensor rocker arm 37 to rotate a certain angle. The angle sensor 4 transmits the signal to the controller 5 to realize the one-key recovery of the rotary tiller's position memory when traveling in a straight line or turning below the first angle threshold.

[0091] When turning or turning around above the second angle threshold, the transmission process of the lifting system in this embodiment is as follows:

[0092] Pushing the main transmission control 8 forward causes the lever 84 to move in the front section of the Z-slot 89. Because the Z-slot 89 restricts the left and right space of the lever 84, pushing the main transmission control 8 at this time does not trigger the reversing sensor 87. The lever 84 drives the adapter bracket 82 to rotate counterclockwise around the pin 86 of the frame via the rotating shaft 85. The adapter bracket 82 drives the adjusting screw 81 to move upward, controlling the walking mechanism 9 to move forward. When turning or turning around above the second angle threshold, the rotary tiller must be raised or lowered. Operating the up or down button on the control handle 6 causes the controller 5 to receive a signal and transmit it to the solenoid valve assembly 1, energizing the first or second solenoid valve. The cylinder 2 extends or retracts, controlling the upper rocker arm 32 to rise or fall. The upper rocker arm 32 drives the lifting rod 33 to rise or fall, which in turn drives the lower lever 35 to rise or fall. The lower lever 35 then drives the rotary tiller to rise or fall. Simultaneously, the swing rod 3 on the upper rocker arm 32... 4. The sensor rocker arm 37 rotates at a certain angle, and the angle sensor 4 transmits the signal to the controller 5. After completing the turn or U-turn, the controller handle 6 is operated with a reset button. The controller 5 controls the solenoid valve assembly 1 to be energized according to the signal from the angle sensor 4 before the suspension rises. The cylinder 2 retracts or extends to control the upper rocker arm 32 of the suspension to descend or rise. The upper rocker arm 32 drives the lifting rod 33 to descend or rise. The lifting rod 33 drives the pull rod 35 to descend or rise. The pull rod 35 drives the rotary tiller to descend or rise. At the same time, the swing rod 34 on the upper rocker arm 32 drives the sensor rocker arm 37 to rotate at a certain angle. The angle sensor 4 transmits the signal to the controller 5. When the signal received by the controller 5 is consistent with the rotary tiller before it rises or falls, the cylinder extension and retraction are stopped. This achieves one-key restoration of the rotary tiller's memory position after turning or U-turning above the second angle threshold, ensuring consistent working depth and reducing the operator's difficulty in operation.

[0093] When reversing, the transmission process of the lifting system in this embodiment is as follows:

[0094] Before reversing, the main transmission control 8 is in the limiting section of the Z-shaped groove 89. When reversing, first pull the lever 84 outward. When pulling the lever 84, the lever 84 can rotate around the rotating shaft 85 at a certain angle, so that the lever 84 leaves the limiting section. At this time, the lever 84 contacts the reversing sensor 87, triggering the reversing signal. The reversing signal is simultaneously transmitted to the reversing horn 9 and the controller 5. The reversing horn 9 sounds an alarm. At the same time, when the lever 84 rotates, it compresses the torsion spring 810, pushing the main transmission control 8 to move backward. During the movement, the reversing sensor 87 is continuously triggered. The lever 84 drives the adapter bracket 82 to rotate clockwise around the pin shaft 86 of the frame through the rotating shaft 85. The adapter bracket 82 drives the adjusting screw 81 to move downward, controlling the walking mechanism 9 to move backward. When reversing, the rotary tiller must be lifted. After receiving the reversing signal, the controller 5 controls the first solenoid valve to be energized. The hydraulic cylinder 2 extends to control the upper rocker arm 32 of the suspension to rise. The upper rocker arm 32 drives the lifting rod 33 to rise. The lifting rod 33 drives the lower pull rod 35 to rise, and the lower pull rod 35 drives the rotary tiller to rise. At the same time, the swing rod 34 on the upper rocker arm 32 drives the sensor rocker arm 37 to rotate at a certain angle. The angle sensor 4 transmits the signal to the controller 5. When the angle sensor 4 reaches the set lifting height, the controller 5 controls the first solenoid valve to de-energize, stopping the rise. The main transmission control 8 is pushed forward to the limit section of the Z-shaped groove 89. The torsion spring 810 on the pull rod 84 pushes the pull rod 84 to rotate inward. The pull rod 84 rotates around the rotation axis 85 at a certain angle. At this time, the pull rod 84 moves away from the angle sensor 4, and the reversing signal disappears. The reset button of the control handle 6 is operated. The controller 1 controls the second solenoid valve to be energized according to the signal from the angle sensor 4 before the suspension rises. The cylinder 2 retracts and controls the three-point suspension mechanism 3 to descend to the front memory position, realizing one-key restoration of the rotary tiller memory position after reversing, ensuring consistent working depth before and after reversing and reducing the difficulty of operation for the operator.

[0095] In summary, this invention collects vehicle signals, handle signals, and suspension angles in real time, enabling precise judgment of the rotary tiller's working status and suspension angle. Employing an electro-hydraulic coordinated working method, it rapidly and accurately controls the corresponding solenoid valves based on the rotary tiller's working status and electronic control commands. This achieves automatic adjustment of the hydraulic oil flow and pressure in the suspension mechanism according to the vehicle's status, ultimately realizing automatic adjustment of the suspension height based on the vehicle's status and control commands. This avoids operational errors caused by frequent adjustments to the suspension mechanism due to factors such as terrain, turning, U-turns, and reversing. By using multiple sensors to collect real-time data on the rotary tiller's operation and combining the hydraulic and electronic control systems, the invention precisely controls the rotary tiller's suspension height in real time based on its working status, avoiding operational errors caused by frequent adjustments to the suspension mechanism due to factors such as terrain, turning, U-turns, and reversing. Users can control the suspension height with a single button when turning or making a U-turn, and automatically raise the suspension when reversing, returning to the initial position with a single button press after reaching the correct position, reducing the difficulty of operation.

[0096] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0097] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0098] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0099] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0100] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A method for electrically controlled lifting of a self-propelled rotary tiller, characterized in that, include: Acquire vehicle signals, handle signals, and suspension angles; The vehicle signals and the handle signals are analyzed separately to obtain the corresponding vehicle status and control commands; Based on the vehicle status and control commands, the corresponding solenoid valves are energized to control the extension and retraction of the suspension cylinders, thereby raising and lowering the suspension mechanism. Based on the comparison between the suspension angle and the memory angle, an electrical signal is generated to stop the solenoid valve from moving, thereby halting the movement of the suspension cylinder. The memory angle refers to the suspension mechanism angle recorded before the current lifting and lowering operation was performed and before a vehicle signal was received. The vehicle status includes driving straight, turning below a first angle threshold, turning above a second angle threshold, making a U-turn, and reversing; The control commands include commands to control the suspension mechanism to rise, fall, stop, and reset; Based on the vehicle status and control commands, corresponding energizing signals are generated for the solenoid valves to control the extension and retraction of the suspension cylinders, thereby raising and lowering the suspension mechanism, including: When the vehicle is in a straight-line or turning position below the first angle threshold and the control command is to rise, an energizing signal is generated for the first solenoid valve, causing the suspension cylinder to extend outward. When the vehicle is in a straight-line or turning position below the first angle threshold, and the control command is to descend, an energizing signal is generated for the second solenoid valve, causing the suspension cylinder to retract inward. Also includes: When the vehicle is in a turning or U-turn state above the second angle threshold and the control command is to rise, an energizing signal is generated for the first solenoid valve, causing the suspension cylinder to extend outward. When the vehicle changes from turning or U-turning above the second angle threshold to straight driving or turning below the first angle threshold and the control command is to reset, an energizing signal is generated for the second solenoid valve, causing the suspension cylinder to retract until the suspension mechanism descends to the memory angle. When the vehicle is in a turning or U-turn state above the second angle threshold and the control command is to descend, an energizing signal is generated for the second solenoid valve, causing the suspension cylinder to extend or retract inward. When the vehicle state changes from turning or U-turning above the second angle threshold to straight driving or turning below the first angle threshold and the control command is to reset, an energizing signal is generated for the first solenoid valve, causing the suspension cylinder to extend outward until the suspension mechanism rises to the memory angle. The memory angles are the suspension angles recorded before turning, making a U-turn, and reversing, respectively, when the angles are above the second angle threshold.

2. The electrically controlled lifting method for a self-propelled rotary tiller according to claim 1, characterized in that, Based on the vehicle status and control commands, the system generates energizing signals for the corresponding solenoid valves to control the extension and retraction of the suspension cylinders, and also includes: When the vehicle is in reverse and the control command is to rise, an energizing signal is generated to the first solenoid valve, causing the suspension cylinder to extend outward until it reaches the preset height, generating a stop command and recording the suspension angle in real time; when the reversing stops and the control command is to reset, an energizing signal is generated to the second solenoid valve, causing the suspension cylinder to retract until the suspension mechanism descends to the memory angle.

3. An electrically controlled lifting system for a self-propelled rotary tiller, characterized in that, include: Solenoid valve assembly, suspension cylinder, angle sensor, control handle, main transmission control mechanism, controller, and reversing sensor; The controller is electrically connected to the solenoid valve, the angle sensor, the control assembly, and the reversing sensor respectively to perform the steps of the method according to any one of claims 1 to 2; The solenoid valve assembly is used to receive the current signal output by the controller in order to control the opening and closing and the opening degree of the corresponding solenoid valve. The suspension cylinder is used to drive the lifting and lowering of the suspension mechanism; The angle sensor is mounted on the suspension mechanism and is used to feed back the suspension angle of the suspension mechanism to the controller; The control handle is used to output handle signals to the controller; The main transmission control mechanism is used to output vehicle signals to the controller for going straight, turning below the first angle threshold, turning above the second angle threshold, and making a U-turn. The reversing sensor is used to send a signal to the controller that the vehicle is reversing.

4. The electrically controlled lifting system for a self-propelled rotary tiller according to claim 3, characterized in that, The main transmission control mechanism includes an adjusting screw connected to the travel mechanism, a transfer bracket connected to the adjusting screw via a connecting shaft, a rotating sleeve mounted on the transfer bracket, and a pull rod connected to the rotating sleeve. The rotating sleeve is inserted into the rotating shaft, and the rotating shaft is mounted on the adapter bracket; The connecting shaft is installed at the bottom of the adapter bracket, and the connecting shaft is rotatably connected to the rotary tiller frame via a pin. The reversing sensor is mounted on an adapter bracket; The pull rod passes through the sealing plate, which has a Z-shaped groove, and the pull rod moves within the Z-shaped groove.

5. The electrically controlled lifting system for a self-propelled rotary tiller according to claim 3, characterized in that, The suspension mechanism includes an upper rocker arm connected to the rotary tiller frame via a frame clamp, a lifting rod and a swing rod connected to the upper rocker arm, and a lower pull rod connected to the lifting rod; One end of the upper rocker arm is connected to the rotary tiller frame and the suspension cylinder power rod, and the other end is connected to the lifting rod and the swing rod; The swing arm is connected to the sensor rocker arm, which is used to mount the angle sensor, so that the angle sensor is fixed on the frame along the rotation axis of the upper rocker arm. The lifting rod is connected to the middle of the pull rod, and one end of the pull rod is connected to the bottom of the rotary tiller frame, while the other end is connected to the upper pull point of the rotary tiller blade holder.

6. The electrically controlled lifting system for a self-propelled rotary tiller according to claim 3, characterized in that, The control handle has one or more keys for inputting handle signals to the controller.

Images