Rotary tillage film uncovering banking machine and control method thereof

Abstract

The invention discloses a rotary tillage film uncovering banking machine and a control method thereof.The rotary tillage film uncovering banking machine comprises a rotary tillage unit which comprises a rack, a double-output-shaft engine, a rotary tillage cutter and walking wheels, the double-output-shaft engine is arranged on the rack, and the bottom of the double-output-shaft engine is provided with a first output component vertically arranged and a second output component obliquely arranged backwards; the rotary tillage cutter is installed at the end of the first output component, and the walking wheel is installed at the end of the second output component. The film uncovering unit comprises a film uncovering frame, a film uncovering shaft and film uncovering cylinders, the film uncovering frame is installed on the rack, the film uncovering shaft is rotatably installed on the upper portion of the film uncovering frame, the film uncovering cylinders are installed at the two ends of the film uncovering shaft, the rotating shaft end of the walking wheel is connected with one end of the power transmission flexible shaft, and the other end of the power transmission flexible shaft is connected with an input shaft of the transmission. An output shaft of the transmission is connected with the film uncovering shaft. According to the invention, the machine can stably advance under a complex soil condition, and the speed fluctuation caused by uneven soil looseness and hardness is avoided.

Description

Technical Field

[0001] This invention relates to a rotary tillage film removal and ridging machine and its control method, belonging to the field of rotary tillage film removal technology for tobacco fields. Background Technology

[0002] In tobacco cultivation, mulch film is often used to cover the ridges, and it needs to be removed and recycled during the field management stage. Existing literature (CN119032649A) discloses a multifunctional rotary tiller with mulch film removal and hilling, comprising: a rotary tillage component, including a rotary tillage frame, a power mechanism mounted on the rotary tillage frame, a first transmission mechanism connected to the power mechanism, and rotary tillage blades connected to the first transmission mechanism; a hilling component, including two scraper blades detachably mounted at the bottom of the rotary tillage frame and behind the rotary tillage blades; and a mulch film removal component, including a mulch film removal frame mounted on the top of the rotary tillage frame, a rotatable mulch film removal shaft mounted on the mulch film removal frame, mulch film removal cylinders mounted at both ends of the mulch film removal shaft, and a second transmission mechanism mounted between the first transmission mechanism and the mulch film removal shaft. This solution, by replacing the walking wheels with rotary tillage blades and installing two scraper blades behind the rotary tillage blades, can simultaneously rotary till and loosen the soil in the furrows during movement, and guide the soil to the ridge surfaces on both sides through the scraper blades, thereby achieving the rotary tillage and hilling function. However, the applicant discovered in actual production that the existing solution still has the following problems: First, the machine relies on the rotation of the rotary tiller blades to propel the entire machine forward. Due to the varying soil hardness in the field, the machine's travel speed is unstable, sometimes fast and sometimes slow, which not only affects the quality of rotary tillage but also makes it difficult to maintain uniform and continuous film removal, reducing overall work efficiency and effectiveness. Second, during the film removal process, the rotation speed of the film removal drum is usually fixed or simply adjusted by mechanical transmission, and cannot be adaptively adjusted in real time according to the actual travel speed and the film wrapping situation. When the amount of film wrapping increases, the effective radius of the film removal drum changes. If the rotation speed cannot be adjusted accordingly, it can easily lead to the film stretching and breaking or accumulating and tangling, seriously affecting the recycling effect and even causing work interruption. Summary of the Invention

[0003] Based on the above, the present invention provides a rotary tillage film-removing and ridging machine and its control method to overcome the shortcomings of the prior art.

[0004] The technical solution of this invention is: a rotary tillage and mulch removal machine, comprising:

[0005] A rotary tillage unit includes a frame, a dual-output shaft engine, rotary tillage blades, and wheels. The dual-output shaft engine is mounted on the frame. The bottom of the dual-output shaft engine has a first output component arranged vertically and a second output component arranged at an angle to the rear. The rotary tillage blades are mounted at the end of the first output component, and the wheels are mounted at the end of the second output component.

[0006] The film-removing unit includes a film-removing frame, a film-removing shaft, and a film-removing cylinder. The film-removing frame is mounted on the frame, the film-removing shaft is rotatably mounted on the upper part of the film-removing frame, the film-removing cylinder is mounted on both ends of the film-removing shaft, the end of the rotating shaft of the traveling wheel is connected to one end of the power transmission flexible shaft, the other end of the power transmission flexible shaft is connected to the input shaft of the gearbox, and the output shaft of the gearbox is connected to the film-removing shaft.

[0007] One example also includes:

[0008] The protective unit includes an adjusting rod, a rotating shaft, support wheels, a bracket, a spring, and a soil-inserting block. The adjusting rod is adjustable up and down and is mounted on the front side of the frame. The rotating shaft is mounted on the bottom of the adjusting rod. The support wheels are mounted on both sides of the rotating shaft. The bracket is mounted on the bottom front side of the adjusting rod. The front part of the soil-inserting block is rotatably mounted on the bracket. The middle and rear parts of the soil-inserting block are inclined downwards and backwards, and the soil-inserting block is located below the rotating shaft. One end of the spring is connected to the front part of the soil-inserting block, and the other end of the spring is connected to the adjusting rod.

[0009] In one example, the front side of the soil block is provided with a first ear plate, the lower part of the adjusting rod is provided with a second ear plate, and the two ends of the spring are respectively connected to the first ear plate and the second ear plate.

[0010] In one example, the front side of the frame is provided with a sleeve, and the adjusting rod is adjustablely installed inside the sleeve.

[0011] In one example, the walking wheel is provided with triangular blocks spaced around its circumference to increase friction with the ground and ensure stable walking.

[0012] In one example, the rack is equipped with handrails.

[0013] This invention also provides a control method for a rotary tillage film removal and ridging machine, comprising the following steps:

[0014] S1 collects the walking speed of the walking wheels, the torque of the film-removing shaft, and the actual rotational speed of the film-removing shaft;

[0015] S2 calculates the amount of plastic film wrapped based on the torque value of the film-unwrapping shaft;

[0016] S3 calculates the effective radius of the film-unwrapping cylinder based on the amount of plastic film wrapped;

[0017] S4 calculates the target rotational speed based on the walking speed and effective radius.

[0018] The S5 uses a proportional-integral-derivative controller to generate a control signal based on the error between the target speed value and the actual speed value.

[0019] S6 adjusts the transmission speed signal of the gearbox according to the control signal to match the linear speed of the film-unwrapping drum with the travel speed.

[0020] In one example, the amount of plastic film wrapped is calculated by multiplying the torque value of the film-unwrapping shaft by a preset calibration constant.

[0021] In one example, the effective radius is calculated by adding the unloaded radius value to the amount of plastic film wrapped by a proportional constant.

[0022] In one example, the target rotational speed value is calculated by dividing the walking speed value by 2π times the effective radius value and multiplying by 60 to convert it into revolutions per minute.

[0023] The beneficial effects of this invention are:

[0024] 1. By setting independent walking wheels and having a dual-output shaft engine drive the rotary tiller blades and walking wheels respectively, this invention ensures the machine moves smoothly under complex soil conditions, avoids speed fluctuations caused by uneven soil hardness, and improves the consistency and quality of rotary tillage and film removal operations.

[0025] 2. This invention incorporates a protective unit. This unit, by tilting a soil-inserting block into the soil, forms an effective anti-backward mechanism. When the machine lacks power due to increased soil resistance on uphill sections, it can immediately prevent the entire machine from sliding backward, fundamentally eliminating the safety threat to the operator. Simultaneously, the hinged connection between the spring and the soil-inserting block constitutes an elastic buffer system, allowing the machine to be passively lifted and passed over hard obstacles such as underground rocks, avoiding rigid collisions with the obstacles, effectively protecting the device itself from damage, and ensuring the continuity of movement and rotary tillage operations.

[0026] 3. This invention introduces a control method based on sensor data and a PID control algorithm. It collects real-time signals of walking speed, torque, and rotational speed, dynamically calculates the amount of plastic film wrapped and the effective radius of the film-unwrapping drum, and automatically adjusts the rotational speed of the film-unwrapping drum to ensure that its linear speed always matches the machine's walking speed. This control method effectively prevents the plastic film from breaking due to excessive stretching or piling up due to insufficient rotational speed, significantly improving the quality and efficiency of plastic film recycling. Attached Figure Description

[0027] Figure 1 A schematic diagram of a rotary tillage machine for removing mulch and ridging soil from one perspective;

[0028] Figure 2 Another perspective diagram of a rotary tillage mulch removal and ridging machine;

[0029] Figure 3 This is a schematic diagram of a rotary tillage mulch removal and ridging machine (excluding the mulch removal cylinder);

[0030] Figure 4 This is a schematic diagram of the protection unit;

[0031] Figure 5 A schematic diagram of the adjusting rod, support wheel, and soil insertion block;

[0032] Figure 6 A schematic diagram of the adjusting rod, rotating shaft, and soil insertion block;

[0033] Explanation of reference numerals in the attached figures:

[0034] Rotary tillage unit: 11 Frame, 12 Dual output shaft motor, 13 Rotary tillage blades, 14 Walking wheels, 15 First output component, 16 Second output component, 17 Triangular block, 18 Handrail;

[0035] Film peeling unit: 21 Film peeling frame, 22 Film peeling shaft, 23 Film peeling cylinder, 24 Power transmission flexible shaft, 25 Gearbox

[0036] Protective unit: 31 Adjusting rod, 32 Rotating shaft, 33 Support wheel, 34 Bracket, 35 Spring, 36 Soil block, 37 Sleeve, 38 First ear plate, 39 Second ear plate. Detailed Implementation

[0037] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0038] Example 1: A rotary tillage film-removing and ridging machine

[0039] See Figures 1 to 6 The film-removing and ridging machine includes a rotary tillage unit and a film-removing unit.

[0040] The rotary tillage unit includes a frame 11, a dual-output shaft engine 12, rotary tillage blades 13, and wheels 14. A handrail 18 is installed on the frame 11. The dual-output shaft engine 12 is mounted on the frame 11. The bottom of the dual-output shaft engine 12 has a vertically arranged first output component 15 and a rearwardly inclined second output component 16. The rotary tillage blades 13 are installed at the end of the first output component 15, and the wheels 14 are installed at the end of the second output component 16. Thus, the dual-output shaft engine 12 controls the rotation of the rotary tillage blades 13 to loosen the soil through the first output component 15, and controls the rotation of the wheels 14 through the second output component 16 to achieve smooth forward movement of the frame 11.

[0041] The film-unwinding unit includes a film-unwinding frame 21, a film-unwinding shaft 22, and a film-unwinding cylinder 23. The film-unwinding frame 21 is mounted on the frame 11. The film-unwinding shaft 22 is rotatably mounted on the upper part of the film-unwinding frame 21. The film-unwinding cylinder 23 is mounted at both ends of the film-unwinding shaft 22 and can rotate with the film-unwinding shaft 22. The shaft end of the traveling wheel 14 is connected to one end of the power transmission flexible shaft 24. The other end of the power transmission flexible shaft 24 is connected to the input shaft of the gearbox 25. The output shaft of the gearbox 25 is connected to the film-unwinding shaft 22. Thus, power can be transmitted to the film-unwinding cylinder 23 through the traveling wheel 14, driving the film-unwinding cylinder 23 to rotate synchronously to achieve film winding. The rotation speed of the film-unwinding cylinder 23 can be adjusted as needed.

[0042] During operation, the dual-output shaft engine 12 can synchronously drive the rotary tiller blades 13 and the traveling wheels 14 to rotate. The traveling wheels 14 maintain the stability of its movement speed, avoiding the problem of the rotary tiller blades 13 moving at inconsistent speeds due to the uneven soil hardness. Traditional solutions do not have traveling wheels 14 and rely on the engine to drive the rotary tiller blades 13 to move. When encountering soil hardness inconsistencies, the movement speed will fluctuate.

[0043] To ensure smooth movement, triangular blocks 17 are provided at intervals along the circumference of the walking wheel 14 to increase the friction with the ground.

[0044] To reduce instability caused by rotary tillage on slopes, a protective unit is also included, comprising an adjusting rod 31, a rotating shaft 32, support wheels 33, a bracket 34, a spring 35, and a soil-inserting block 36. A sleeve 37 is provided on the front side of the frame 11, and the adjusting rod 31 is adjustablely installed within the sleeve 37. The rotating shaft 32 is installed at the bottom of the adjusting rod 31, and two support wheels 33 are installed on both sides of the rotating shaft 32. The bracket 34 is installed on the bottom front side of the adjusting rod 31. The front part of the soil-inserting block 36 is rotatably installed on the bracket 34. The middle and rear parts of the soil-inserting block 36 are inclined downwards and backwards, and the soil-inserting block 36 is located below the rotating shaft 32. A first ear plate 38 is provided on the front side of the soil-inserting block 36, and a second ear plate 39 is provided at the lower part of the adjusting rod 31. The two ends of the spring 35 are connected to the first ear plate 38 and the second ear plate 39, respectively.

[0045] By setting up a protective unit consisting of an adjusting rod 31, a rotating shaft 32, a support wheel 33, a bracket 34, a spring 35, and a soil-inserting block 36, the soil-inserting block is tilted and inserted into the soil during rotary tillage. Due to its elasticity, it avoids hard contact with stones. When rotary tilling on uphill ground, if the power is insufficient, the soil-inserting block 36 can prevent the entire machine from rolling backward and causing danger to people, greatly improving the safety of operation.

[0046] Example 2: Control method of rotary tillage film removal and ridging machine

[0047] The control method includes the following steps:

[0048] Step S1: Collect the walking speed value of the walking wheel 14, the torque value of the film-removing shaft 22, and the actual rotational speed value of the film-removing shaft 22.

[0049] Specifically, a speed sensor is installed on the traveling wheel 14 to measure the travel speed of the film-unwrapping and soil-laying machine, outputting an analog or digital signal, typically in meters per second (m / s). A film-unwrapping torque sensor is installed on the film-unwrapping shaft 22, using a strain gauge or torque sensor unit to measure the torque value during the film-unwrapping process, in Newton-meters (N·m). An actual rotational speed sensor is also installed on the film-unwrapping shaft 22, for example, using an encoder or Hall effect sensor, to measure the actual rotational speed of the film-unwrapping cylinder 23, in revolutions per minute (rpm). Data acquisition is achieved through a microcontroller or PLC, reading sensor signals via a digital interface. The acquisition sensors read data at a sampling frequency of 100Hz and perform low-pass filtering to eliminate noise. The low-pass filtering uses a second-order Butterworth low-pass filter with a cutoff frequency set to 10Hz to eliminate high-frequency noise (such as mechanical vibration or electromagnetic interference).

[0050] Step S2: Calculate the amount of plastic film wrapped based on the torque value of the film-unwrapping shaft 22.

[0051] The amount of mulch film wrapped indicates the degree to which the mulch film is wrapped on the film-unwrapping cylinder 23, and is positively correlated with the torque value. Specifically, the amount of mulch film wrapped is calculated by multiplying the film-unwrapping torque value by a preset calibration constant. The specific formula is as follows:

[0052]

[0053] in, This refers to the amount of plastic film wrapped (unit: meters). This is the film-peeling torque value (unit: N·m). This is a calibration constant (unit: m / N·m), determined experimentally. During experimental calibration, in a controlled environment, the known amount of plastic film wrapping was gradually increased while the torque value was recorded, and the result was obtained using linear regression fitting. .

[0054] Step S3: Calculate the effective radius of the film-unwrapping cylinder 23 based on the amount of plastic film wrapped.

[0055] The effective radius is the actual radius of the film-unwrapping cylinder 23 after including the mulch film, and is used to calculate the linear velocity. The effective radius is calculated by adding the unloaded radius value to the amount of mulch film wrapped by a proportional constant. The specific formula is:

[0056]

[0057] in, It is the effective radius (unit: meters). It is the unloaded radius (the radius of the film-removing cylinder 23 when there is no film, determined by measurement, unit: meters). It refers to the amount of plastic film wrapped around the mulch. It is a proportionality constant (unit: m / unit winding amount), determined through calibration. During calibration, the actual radius is measured under different winding amounts (using a laser rangefinder or calipers), and determined through linear fitting. .

[0058] Step S4: Calculate the target rotational speed based on the walking speed and effective radius.

[0059] The target rotational speed is the speed that the film-unwrapping cylinder 23 should achieve to match the linear velocity with the travel speed. The target rotational speed is calculated by dividing the travel speed by 2π times the effective radius and multiplying by 60 to convert it to revolutions per minute (RPM). The specific formula is as follows:

[0060]

[0061] in, It is the target rotational speed (unit: rpm). This represents the walking speed (in m / s) and the effective radius (in meters). It is the constant of pi (approximately 6.2832), multiplied by 60 to convert from revolutions per second to revolutions per minute. Ensure the target rotation speed is synchronized with the walking speed to reduce mulch stretching or accumulation.

[0062] Step S5: Using a proportional-integral-derivative controller, generate a control signal based on the error between the target speed and the actual speed.

[0063] A PID controller is used for closed-loop control to adjust the rotational speed of the film-unwrapping shaft 22. (Error) Defined as:

[0064]

[0065] in The speed is obtained from the actual speed sensor (unit: rpm). The proportional-integral-derivative (PI-DE) controller uses proportional gain, integral gain, and derivative gain parameters, which are set through tuning. Specifically, the proportional gain parameter... Integral gain parameter Differential gain parameter Setting via the Ziegler-Nichols tuning method: First set ,Increase Record the critical gain until the system oscillates. and oscillation period Then set Control signals The generating formula is:

[0066]

[0067] in, This is the sampling time (0.01 seconds, corresponding to 100Hz), and the summation term is achieved through numerical integration. Parameter value range: The range is 0.1 to 10. The range is 0.01 to 1. The value is between 0.001 and 0.1. PID control is used to achieve smooth error correction, improve system response speed and stability, and adapt to real-time changes.

[0068] Step S6: Adjust the transmission signal of the gearbox 25 according to the control signal to match the linear speed of the film-unwrapping cylinder 23 with the travel speed.

[0069] control signals This is used to control a transmission 25, which is coaxially mounted with the film-removing shaft 22. The transmission 25 receives control signals and adjusts its gear ratio or output speed, thereby controlling the speed of the film-removing shaft 22. For example, the transmission 25 can be an electronically controlled continuously variable transmission (CVT) or gearbox, with a microcontroller outputting analog voltage signals or digital signals to the transmission 25 controller. Control signals This is mapped to a setpoint on the transmission 25, such as a speed command. After adjustment, the transmission 25 changes the speed of the film-removing shaft 22, making the actual speed approach the target speed, achieving linear speed matching, i.e.:

[0070]

[0071] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A rotary tillage and mulch removal machine, characterized in that, include: The rotary tillage unit includes a frame (11), a dual-output shaft engine (12), rotary tillage blades (13), and wheels (14). The dual-output shaft engine (12) is mounted on the frame (11). The bottom of the dual-output shaft engine (12) has a vertically arranged first output component (15) and an inclined rearward arranged second output component (16). The rotary tillage blades (13) are mounted on the end of the first output component (15), and the wheels (14) are mounted on the end of the second output component (16). The film-removing unit includes a film-removing frame (21), a film-removing shaft (22), and a film-removing cylinder (23). The film-removing frame (21) is mounted on the frame (11). The film-removing shaft (22) is rotatably mounted on the upper part of the film-removing frame (21). The film-removing cylinder (23) is mounted on both ends of the film-removing shaft (22). The shaft end of the walking wheel (14) is connected to one end of the power transmission flexible shaft (24). The other end of the power transmission flexible shaft (24) is connected to the input shaft of the gearbox (25). The output shaft of the gearbox (25) is connected to the film-removing shaft (22).

2. The rotary tillage and mulch removal machine according to claim 1, characterized in that, Also includes: The protective unit includes an adjusting rod (31), a rotating shaft (32), a support wheel (33), a bracket (34), a spring (35), and a soil-inserting block (36). The adjusting rod (31) is adjustable up and down and is installed on the front side of the frame (11). The rotating shaft (32) is installed at the bottom of the adjusting rod (31). The support wheel (33) is installed on both sides of the rotating shaft (32). The bracket (34) is installed at the bottom front side of the adjusting rod (31). The front part of the soil-inserting block (36) is rotatably installed on the bracket (34). The middle and rear part of the soil-inserting block (36) is inclined downward and backward, and the soil-inserting block (36) is located below the rotating shaft (32). One end of the spring (35) is connected to the front part of the soil-inserting block (36), and the other end of the spring (35) is connected to the adjusting rod (31).

3. The rotary tillage and mulch removal machine according to claim 2, characterized in that, The front side of the soil block (36) is provided with a first ear plate (38), the lower part of the adjusting rod (31) is provided with a second ear plate (39), and the two ends of the spring (35) are respectively connected to the first ear plate (38) and the second ear plate (39).

4. The rotary tillage and mulch removal machine according to claim 2, characterized in that, The front side of the frame (11) is provided with a sleeve (37), and the adjusting rod (31) is adjustablely installed in the sleeve (37).

5. The rotary tillage and mulch removal machine according to claim 1, characterized in that, The walking wheel (14) is provided with triangular blocks (17) spaced around its circumference to increase the friction with the ground and ensure the stability of walking.

6. The rotary tillage and mulch removal machine according to claim 1, characterized in that, The frame (11) is equipped with handrails (18).

7. The control method for the rotary tillage film-removing and ridging machine as described in any one of claims 1 to 6, characterized in that, Includes the following steps: S1 collects the walking speed value of the walking wheel (14), the torque value of the film-removing shaft (22), and the actual rotation speed value of the film-removing shaft (22); S2 calculates the amount of plastic film wrapped based on the torque value of the film-unwrapping shaft (22); S3 calculates the effective radius value of the film-unwrapping cylinder (23) based on the amount of film wrapped; S4 calculates the target rotational speed based on the walking speed and effective radius. The S5 uses a proportional-integral-derivative controller to generate a control signal based on the error between the target speed value and the actual speed value. S6 adjusts the speed change signal of the transmission (25) according to the control signal to match the linear speed of the film-removing cylinder (23) with the travel speed.

8. The control method for the rotary tillage film-removing and ridging machine according to claim 7, characterized in that, In step S2, the amount of mulch film wrapped is calculated by multiplying the torque value of the film-unwrapping shaft (22) by a preset calibration constant.

9. The control method for the rotary tillage film-removing and ridging machine according to claim 7, characterized in that, In step S3, the effective radius is calculated by adding the unloaded radius value to the result of multiplying the amount of plastic film wrapped by a proportional constant.

10. The control method for the rotary tillage film-removing and ridging machine according to claim 7, characterized in that, In step S4, the target rotational speed value is calculated by dividing the walking speed value by 2π times the effective radius value and multiplying by 60 to convert it into revolutions per minute.

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