Hydraulic integrated depth control mechanism and its monitoring feedback adjustment system

Abstract

The application discloses a hydraulic integrated type ploughing depth control mechanism and a monitoring feedback adjusting system thereof, adopts a mechanical transmission mode of a hydraulic cylinder driving a rotary support arm and a power conversion arm, and adjusts a spiral spring pre-tightening force in real time, so that when ploughing depth fluctuation is small, passive profiling stability can be realized by means of spring pre-tightening, and when hard obstacles such as stones, soil blocks and stubble are encountered, hydraulic compensation can be quickly provided to restore the target ploughing depth, so that the ploughing depth stability is improved and the depth disturbance caused by tractor vibration is reduced. Meanwhile, the application is matched with a set of ploughing depth real-time monitoring feedback adjusting system, angle sensors are used to monitor the key postures of the four-bar mechanism in real time and convert the ploughing depth, and a closed-loop control algorithm is combined to realize quick and accurate adjustment of the hydraulic cylinder extension and retraction, so that the demand of subsoiling operation on quick adjustment and stable control of the ploughing depth is met.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery, and in particular relates to a hydraulically integrated tillage depth control mechanism and its monitoring and feedback adjustment system. Background Technology

[0002] Long-term over-cultivation and irrational agricultural management have led to soil hardening, forming a hard plow pan. Deep tillage can break up the plow pan and improve soil structure. Tillage depth, as a key parameter in deep tillage operations, plays an important role in modern agricultural production, significantly contributing to improved soil quality and crop growth. However, current technologies for controlling tillage depth still have many limitations, resulting in difficulties in dynamically adjusting deep tillage equipment and poor stability of deep tillage operations. This seriously hinders the further promotion and application of deep tillage. In actual operations, due to complex terrain and variable soil environments, traditional control methods struggle to adjust the deep tillage depth in real time according to changes in terrain and soil hardness during the operation.

[0003] Existing tillage depth control technologies are widely used in equipment such as rotary tillers, suspended tillers, and subsoilers. However, due to problems such as high resistance, high energy consumption, poor stability, and difficulty in control during subsoil operations, existing technologies still have many limitations in controlling the operating depth. In actual operations, due to complex terrain and variable soil environments, traditional control methods exhibit shortcomings such as slow response speed, insufficient adjustment precision, and poor adaptability, making it difficult to adjust the subsoil operating depth in real time according to changes in terrain and soil hardness during the operation. In order to reduce the gap in the level of subsoil technology research at home and abroad and solve the problem of insufficient stability in subsoil operations, there is an urgent need to develop a subsoil mechanism that can achieve dynamic adjustment, as well as a monitoring system with high monitoring precision and good control stability. Therefore, this invention proposes a hydraulically integrated tillage depth control mechanism and its monitoring feedback adjustment system. Summary of the Invention

[0004] The purpose of this invention is to better solve the problems caused by poor tillage depth stability and lack of real-time tillage depth monitoring and feedback adjustment system during the operation of existing deep tillage devices. By combining hydraulic control technology with a contour spring mechanism, a hydraulic integrated tillage depth control mechanism and its monitoring and feedback adjustment system are provided.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] A hydraulically integrated tillage depth control mechanism and its monitoring feedback adjustment system are characterized in that they include: a frame, a depth limiting wheel, a hydraulic cylinder, a rotating support arm, a fixed base, a power conversion arm, a helical spring, a helical spring mounting base, a four-bar linkage, a four-bar linkage fixed side plate, an angle sensor, a deep loosening shovel, and a tillage depth monitoring feedback adjustment system.

[0007] The depth-limiting wheels are installed on both sides of the frame to limit the maximum soil penetration depth of the deep loosening shovel; one end of the hydraulic cylinder is hinged to the frame and the other end is hinged to the rotating support arm; the rotating support arm is hinged to the power conversion arm, and the other end of the power conversion arm is connected to the fixed base and applies adjustable downward pressure to the helical spring;

[0008] The helical spring is preloaded through the helical spring mounting base to form a passive conformal bearing; the angle sensor is set on the fixed side plate of the four-bar linkage and connected to the hinge point of the four-bar linkage, and is used to detect the angle change of the four-bar linkage relative to the horizontal plane and output a tillage depth feedback signal.

[0009] The tillage depth monitoring feedback adjustment system determines whether the real-time tillage depth is within the preset tillage depth range based on the signal from the angle sensor, and controls the extension and retraction of the hydraulic cylinder to adjust the force of the helical spring when it deviates from the preset tillage depth range, thereby achieving closed-loop stable control of the tillage depth in deep loosening operations.

[0010] Furthermore, the angle of the four-bar linkage detected by the angle sensor is used to calculate the real-time tillage depth. The calculation of the real-time tillage depth satisfies the following relationship: the real-time tillage depth changes with the angle between the four-bar linkage and the horizontal plane. The system converts the angle change into the tillage depth change and outputs the real-time tillage depth value.

[0011] Furthermore, the helical spring mounting base includes fastening bolts or an equivalent preload adjustment structure for applying different preloads to the helical spring before operation to adapt to working conditions requiring different soil firmness or different target tillage depths.

[0012] Furthermore, when the real-time tillage depth is within the preset tillage depth range, the tillage depth monitoring feedback adjustment system keeps the hydraulic cylinder inactive or maintains its current position, relying solely on the preload of the helical spring and the geometric constraints of the mechanism to achieve stable tillage depth; when the real-time tillage depth deviates from the preset tillage depth range, the system controls the hydraulic cylinder push rod to extend to increase the downward pressure on the helical spring, thereby restoring the tillage depth to the preset tillage depth range.

[0013] Furthermore, the tillage depth monitoring feedback adjustment system includes a tillage depth data monitoring and control module, a unit slippage rate monitoring module, and a Beidou position monitoring module; wherein, the tillage depth data monitoring and control module includes a core controller, a display terminal, a storage module, a power supply module, an angle encoder or angle acquisition unit, and an isolated drive unit for driving the actuator.

[0014] Furthermore, the unit slippage rate monitoring module includes a first speed sensor installed on the drive wheel and a second speed sensor installed on the non-drive wheel. The core controller calculates the slippage rate based on the speed difference between the drive wheel and the non-drive wheel, and uses the slippage rate as one of the compensation parameters or alarm criteria for tillage depth adjustment.

[0015] Furthermore, the Beidou position monitoring module is used to acquire real-time latitude and longitude information and travel speed information during the operation, and to record them in time and space synchronously with the real-time tillage depth value to generate a tillage depth trajectory map, and to record the alarm location when a tillage depth deviation alarm occurs.

[0016] Furthermore, the tillage depth monitoring feedback adjustment system adopts a PID control algorithm or an equivalent closed-loop control algorithm, taking the deviation between the real-time tillage depth and the preset tillage depth range as the control input, and outputting the target extension or retraction amount of the hydraulic cylinder or the drive signal to achieve rapid, continuous adjustment and stable control of the tillage depth.

[0017] Furthermore, the tillage depth monitoring feedback adjustment method of the system includes the following steps:

[0018] S1, based on the soil type and target tillage depth of the work site, apply preload to the helical spring through the helical spring mounting seat;

[0019] S2, the angle sensor collects the real-time angle of the four-bar linkage and the core controller calculates the real-time tillage depth;

[0020] S3 compares the real-time tillage depth with the preset tillage depth range: when it is within the preset tillage depth range, the hydraulic cylinder remains stationary or maintains its current position; when it deviates from the preset tillage depth range, an error signal is output.

[0021] S4. Based on the error signal, the extension and retraction control amount of the hydraulic cylinder is calculated by the PID control algorithm, and the hydraulic cylinder is driven to adjust the mechanical transmission relationship between the rotating arm and the power conversion arm, thereby changing the downward pressure of the helical spring and returning the tillage depth to the preset tillage depth range.

[0022] Furthermore, before the operation, a two-dimensional coordinate system with the plot base point as the origin is established, and the reference point of the Beidou position monitoring module is aligned with the plot base point; during the operation, real-time latitude and longitude, travel speed and real-time tillage depth are collected and recorded simultaneously to generate a tillage depth trajectory map; when the real-time tillage depth deviates from the preset tillage depth range, the alarm deep loosening shovel number and alarm location are recorded, and the closed-loop adjustment of the hydraulic cylinder is executed to achieve stable tillage depth.

[0023] The advantages of this invention are: longitudinal contouring can be achieved through a hydraulic compensation mechanism, enabling rapid response to complex soil structures and improving tillage depth stability; the working status of the deep tillage device can be monitored in real time through a real-time tillage depth monitoring and feedback adjustment system; different parameter ranges can be manually set before operation according to the reasonable tillage depth requirements of different crops and soil conditions; the system can quickly and accurately adjust the tillage depth in real time according to the set range values ​​and record the adjustment position and real-time tillage depth; and the vibration disturbance caused by the tractor can be reduced through the shock absorption characteristics of the helical spring, achieving stable tillage depth fluctuations and more uniform tillage depth consistency. Attached Figure Description

[0024] Figure 1 This is a front view schematic diagram of a hydraulically integrated tillage depth control mechanism and its monitoring feedback adjustment system according to an embodiment of the present invention.

[0025] Figure 2 yes Figure 1 A schematic diagram of the AA direction section.

[0026] Figure 3 This is a flowchart of the control system program in an embodiment of the present invention.

[0027] Figure 4 This is a schematic diagram of the PID control algorithm in an embodiment of the present invention. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0029] In the description of this invention patent, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention patent and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention patent.

[0030] See Figures 1 to 3 (as well as Figure 4 The present invention discloses a hydraulically integrated tillage depth control mechanism and its monitoring feedback adjustment system, comprising a tillage depth control mechanism and a real-time tillage depth monitoring feedback adjustment system.

[0031] The tillage depth control mechanism includes a depth limiting wheel 1, a frame 2, a hydraulic cylinder 3, a rotating support arm 4, a fixed base 5, a power conversion arm 6, a helical spring 7, a helical spring mounting base 8, a four-bar linkage 9, a four-bar linkage fixed side plate 10, an angle sensor 11, and a deep loosening shovel.

[0032] The depth-limiting wheel 1 is tightly fixed to both sides of the frame 2 with U-bolts to limit the maximum soil penetration depth of the deep loosening shovel and improve travel stability. The hydraulic system support and motor support are fixed to the front beam and middle crossbeam of the frame 2 with U-bolts, providing rigidity for the installation of the hydraulic cylinder 3 and control components. The cylinder body of the hydraulic cylinder 3 is hinged to the frame 2 with a pin, and the piston rod is hinged to the rotating arm 4. The combined support plate is fixed to the rear beam of the frame 2 with U-bolts, and its central position is connected to the rotating arm 4 with a pin to form a stable fulcrum for rotation. One end of the rotating arm 4 is connected to the upper end of the power conversion arm 6 with a pin, and the other end of the power conversion arm 6 is connected to the fixed seat 5, thus forming a mechanical transmission link between the displacement of the hydraulic cylinder 3 and the downward pressure of the helical spring 7.

[0033] The helical spring 7 is installed inside the helical spring mounting base 8, which is equipped with fastening bolts for applying different preloads to the helical spring 7. The helical spring 7 works in conjunction with the subsoil shovel and the four-bar linkage 9 to achieve passive conformal shaping and shock absorption during subsoil operations. The four-bar linkage 9 is connected to the handle of the subsoil shovel. When the subsoil shovel swings up and down due to soil resistance, it drives the four-bar linkage 9 to change angle around its hinge point.

[0034] Angle sensor 11 is fixed to the fixed side plate 10 of the four-bar linkage and connected to the hinge point of the four-bar linkage 9. It is used to collect the angle change of the four-bar linkage 9 relative to the horizontal plane in real time. When the subsoil mechanism starts to work, the subsoil shovel drives the four-bar linkage to rotate upward around the hinge mechanism, and the depth of the shovel into the soil gradually changes. Since the handle of the subsoil shovel is kept horizontal with the ground, the real-time tillage depth can be calculated by formula (1-1) by geometrically modeling the spatial position of the key points of the mechanism and combining the dynamic characteristics of the angle change during the soil penetration process.

[0035] ; (1-1)

[0036] In the formula, h1—the changing tillage depth during the dynamic process, cm; h—the preset tillage depth for deep tillage operations, cm; l—the horizontal length of the four-bar linkage, cm; θ—the initial angle between the four-bar linkage and the horizontal plane, °; θ d —The angle between the four-bar linkage and the horizontal plane during dynamic processes (°).

[0037] The microcontroller converts the angle signal into a real-time tillage depth h1 based on the mechanism's geometry and compares it with a preset tillage depth h, which is a set value within the range of 30 to 40 cm. To ensure stable control even at a forward speed of 4 km / h, the system periodically samples the angle signal and updates the calculated tillage depth value in real time to meet the control requirements under rapid tillage depth disturbances.

[0038] The real-time tillage depth monitoring and feedback adjustment system includes a power module, a core controller, a display terminal, a storage module, a tillage depth data monitoring module, a unit slippage rate monitoring module, a Beidou position monitoring module, and a hydraulic actuation control unit.

[0039] The tillage depth data monitoring module includes an angle acquisition unit and an isolation drive unit. The angle acquisition unit is electrically connected to the angle sensor 11 to obtain the angle of the four-bar linkage and convert it into tillage depth. The isolation drive unit is used to output the control signal of the hydraulic cylinder 3 and improve the anti-interference capability.

[0040] The unit's slippage rate monitoring module is equipped with speed sensors on both the non-drive wheels and the drive wheels. The speed of the non-drive wheels is used to characterize the actual ground speed, while the speed of the drive wheels is used to characterize the theoretical speed. The microcontroller calculates the slippage rate based on the difference between the two, which is used for operational status identification and control compensation.

[0041] The Beidou position monitoring module is used to obtain real-time latitude and longitude and travel speed during the operation, and records them synchronously with the tillage depth data to generate a tillage depth trajectory map and mark the tillage depth deviation position.

[0042] Before operation, the operator sets the target tillage depth h to 30 to 40 cm on the display terminal according to the plot conditions and operational requirements, and sets the allowable tillage depth fluctuation range I. Then, the preload of the helical spring 7 is adjusted via the helical spring mounting seat 8, enabling the deep tillage shovel to have both foundation pressure and conformal buffering capabilities. After the implement enters the operation at 4 km / h, the angle sensor 11 collects the angle changes of the four-bar linkage 9 in real time, and the microcontroller calculates the real-time tillage depth h1 and determines whether h1 is within range I.

[0043] When h1 is within interval I, the hydraulic cylinder 3 remains stationary or maintains its current position. The system mainly relies on the preload of the helical spring 7 to achieve passive conformation, suppressing the fluctuation of tillage depth caused by operational vibration, thereby maintaining stable tillage depth.

[0044] When the subsoiler encounters a hard obstacle or a sudden change in soil firmness, causing the subsoiler to rise and lower h1 below the lower limit of interval I, the microcontroller determines the deviation in tillage depth and outputs the error. This drives the hydraulic cylinder 3 to extend its push rod, which, through the mechanical transmission of the rotating support arm 4 and the power conversion arm 6, applies greater downward pressure to the helical spring 7, restoring the subsoiler to the target tillage depth range. Conversely, when h1 is higher than the upper limit of interval I, the system controls the hydraulic cylinder 3 to retract to reduce the additional load, returning the tillage depth to the target range, thus achieving dynamic compensation and stable control of tillage depth. During operation, the system simultaneously records the tillage depth h1, travel speed, and latitude and longitude information, generates a tillage trajectory map, and records the alarm location and corresponding work unit number when the tillage depth deviates.

[0045] The control method of the deep tillage depth stabilization control mechanism in this embodiment includes the following steps:

[0046] S1: Before the deep tillage device is in operation, apply different preloads to the helical spring by adjusting the fastening bolts 9 on the helical spring mounting base according to the soil type of the working site.

[0047] S2: When dealing with loose soil during deep tillage, consult relevant literature and apply a total preload of 800~1300N to the helical spring. If there are no large clods or crop residues in the soil within a depth of 0-30cm in the deep tillage area, the angle sensor 11 will change a small angle, that is, the tillage depth will fluctuate slightly, but all within a reasonable set range (such as fluctuations of less than 5% within the set range). At this time, the hydraulic cylinder 3 will not work, and the purpose of stabilizing the tillage depth will be achieved by relying on the preload of the helical spring.

[0048] S3: When working in conditions where the soil is relatively loose but there are hard obstacles in the tillage layer, such as stones, clods, and crop residues, a preload of 1200-1600N is applied to the helical spring, based on relevant literature. If the subtilizing shovel encounters large clods or crop residues during subtilizing, these obstacles will prevent the shovel from maintaining the original tillage depth, exerting an upward force on the shovel and causing the tillage depth to be less than the predetermined value. At this time, the angle sensor 11 will experience a large angle change, that is, the tillage depth will fluctuate significantly, deviating from the reasonable set range (the actual tillage depth fluctuates by more than 5% within the set range). At this time, the hydraulic cylinder 3 will start to work, the hydraulic cylinder push rod will extend, driving the mechanical transmission between the rotating arm and the power conversion arm, giving the helical spring greater downward pressure, so as to stabilize the tillage depth.

[0049] S4: When working in deep-tillage conditions where the soil is firm and there are hard obstacles in the tillage layer, such as stones, clods, and crop residues, a preload of 1500~2400N is applied to the helical spring, based on relevant literature. If the deep-tillage shovel encounters large clods or crop residues during the deep-tillage operation, these obstacles will prevent the shovel from maintaining the original tillage depth, exerting an upward force on the shovel and causing the tillage depth to be less than the predetermined value. At this time, the angle sensor 11 will experience a large angle change, that is, the tillage depth will fluctuate significantly, deviating from the reasonable set range (the actual tillage depth fluctuates by more than 5% within the set range). At this time, the hydraulic cylinder 3 will start to work, the hydraulic cylinder push rod will extend, driving the mechanical transmission between the rotating arm and the power conversion arm, giving the helical spring greater downward pressure, so as to stabilize the tillage depth.

[0050] The tillage depth monitoring feedback and adjustment system consists of a tillage depth data monitoring and control module, a unit slippage rate monitoring module, a BeiDou positioning monitoring module, and other components (see attached). Figure 3(As shown). The tillage depth data monitoring and control module consists of a core controller, an LCD touch screen, an SD card storage module, a power supply module, an angle encoder, an optocoupler relay, and a photoelectric encoder. The unit slippage rate monitoring module obtains corresponding speed signals by installing Hall sensors on both the non-drive and drive wheels for judgment. Further, a Hall sensor is installed on the non-drive wheel, as the non-drive wheel is basically unaffected by slippage under normal operating conditions, and its rotational speed can be regarded as a reliable substitute for the actual ground speed. Secondly, a second Hall sensor is installed on the drive wheel to obtain the frequency signal of the theoretical speed, thereby reflecting the rotational speed of the drive wheel. The pulse signals from the dual Hall sensors are processed by a microcontroller. Since the drive wheel may slip to varying degrees when working on soft or muddy ground, the difference between its rotational speed and that of the non-drive wheel can be used to accurately calculate the slippage rate. The tractor slippage rate can be calculated by formula (1-2).

[0051] (1-2)

[0052] In the formula, s—tractor slippage rate, %; f non-drive —Pulse frequency of the Hall sensor for the non-drive wheel, in Hz; r non-drive —Non-driving wheel radius, in meters; f drive —Pulse frequency of the Hall sensor on the drive wheel, Hz; r drive —Drive wheel radius, in meters.

[0053] PID control algorithm is adopted (as shown in the attached image) Figure 4 As shown, the parameters are judged. The tillage depth feedback adjustment system determines whether the tillage depth of the deep tillage device is within the set range I based on the monitoring information provided by the angle sensor on the deep tillage device; when the sensor is within the normal threshold range, the system outputs signal 0, and when it is higher or lower than the normal tillage depth range, the system outputs an error value and makes adjustments.

[0054] When the data uploaded by the aforementioned sensors is outside the set normal range, the tillage depth feedback adjustment system can determine the number of the deep loosening shovel that triggered the alarm based on the real-time position signal from the angle sensor. It then promptly adjusts the length of the hydraulic cylinder push rod to ensure the tillage depth remains within a reasonable range and records the alarm location on the tillage depth trajectory map.

[0055] This embodiment uses a PID control algorithm to achieve closed-loop regulation. The controller takes the deviation between the real-time tillage depth h1 and the target tillage depth h as input and outputs the control quantity of the hydraulic cylinder 3. When the deviation is zero or within the allowable fluctuation range I, the output is a zero control quantity. When the deviation exceeds the threshold, the corresponding adjustment quantity is output to drive the hydraulic cylinder 3 to extend and retract rapidly, thereby achieving stable control of the tillage depth within the range of 30 to 40 cm at an operating speed of 4 km / h.

[0056] The tillage depth monitoring feedback adjustment method includes the following steps:

[0057] S1: Select the base point 0 of the work plot, and establish a two-dimensional coordinate system in the microcontroller with the base point 0 as the origin. The vertical axis y is the direction of the machine's movement, and the horizontal axis x is the direction perpendicular to the ridge direction.

[0058] S2: Align the BeiDou positioning system reference point with the land parcel reference point 0, obtain and store the latitude and longitude information of reference point 0;

[0059] S3: Set the target tillage depth h to 30 to 40 cm and set the allowable fluctuation range I. Angle sensor 11 collects the real-time angle of four-bar linkage 9 and converts it to obtain the real-time tillage depth h1.

[0060] S4: Determine whether h1 is within interval I. If it is not within interval I, calculate the extension and retraction of hydraulic cylinder 3 using PID algorithm, control hydraulic cylinder 3 to drive rotating support arm 4 and power conversion arm 6 to adjust the additional load of helical spring 7, so that the tillage depth returns to the target range.

[0061] S5: During operation, latitude, longitude, speed and tillage depth data are recorded in real time, a tillage depth trajectory map is generated and deviation alarm points are marked.

[0062] The above are preferred embodiments of the present invention. Equivalent substitutions or improvements made by those skilled in the art without departing from the concept of the present invention should all fall within the protection scope of the present invention.

Claims

1. A hydraulically integrated tillage depth control mechanism and its monitoring and feedback regulation system, characterized in that, include: The machine includes a frame, depth limiting wheel, hydraulic cylinder, rotating support arm, fixed base, power conversion arm, helical spring, helical spring mounting base, four-bar linkage, four-bar linkage fixed side plate, angle sensor, deep tillage shovel, and tillage depth monitoring feedback adjustment system. The depth-limiting wheels are installed on both sides of the frame to limit the maximum soil penetration depth of the deep loosening shovel; one end of the hydraulic cylinder is hinged to the frame and the other end is hinged to the rotating support arm; the rotating support arm is hinged to the power conversion arm, and the other end of the power conversion arm is connected to the fixed base and applies adjustable downward pressure to the helical spring; The helical spring is preloaded through the helical spring mounting base to form a passive conformal bearing; the angle sensor is set on the fixed side plate of the four-bar linkage and connected to the hinge point of the four-bar linkage, and is used to detect the angle change of the four-bar linkage relative to the horizontal plane and output a tillage depth feedback signal. The tillage depth monitoring feedback adjustment system determines whether the real-time tillage depth is within the preset tillage depth range based on the signal from the angle sensor, and controls the extension and retraction of the hydraulic cylinder to adjust the force of the helical spring when it deviates from the preset tillage depth range, thereby achieving closed-loop stable control of the tillage depth in deep loosening operations.

2. The hydraulically integrated tillage depth control mechanism and its monitoring feedback adjustment system according to claim 1, characterized in that: The angle of the four-bar linkage detected by the angle sensor is used to calculate the real-time tillage depth. The calculation of the real-time tillage depth satisfies the following relationship: the real-time tillage depth changes with the angle between the four-bar linkage and the horizontal plane. The system converts the angle change into the tillage depth change and outputs the real-time tillage depth value.

3. The hydraulically integrated tillage depth control mechanism and its monitoring feedback adjustment system according to claim 1, characterized in that: The helical spring mounting base includes fastening bolts or an equivalent preload adjustment structure, which is used to apply different preloads to the helical spring before operation to adapt to working conditions with different soil firmness or different target tillage depths.

4. The hydraulically integrated tillage depth control mechanism and its monitoring feedback adjustment system according to claim 1, characterized in that: When the real-time tillage depth is within the preset tillage depth range, the tillage depth monitoring feedback adjustment system keeps the hydraulic cylinder inactive or maintains its current position, relying solely on the preload of the helical spring and the geometric constraints of the mechanism to achieve stable tillage depth; when the real-time tillage depth deviates from the preset tillage depth range, the system controls the hydraulic cylinder push rod to extend to increase the downward pressure on the helical spring, thereby restoring the tillage depth to the preset tillage depth range.

5. The hydraulically integrated tillage depth control mechanism and its monitoring feedback adjustment system according to claim 1, characterized in that: The tillage depth monitoring feedback adjustment system includes a tillage depth data monitoring and control module, a unit slippage rate monitoring module, and a Beidou position monitoring module; wherein, the tillage depth data monitoring and control module includes a core controller, a display terminal, a storage module, a power supply module, an angle encoder or angle acquisition unit, and an isolated drive unit for driving the actuator.

6. The hydraulically integrated tillage depth control mechanism and its monitoring feedback adjustment system according to claim 5, characterized in that: The slippage rate monitoring module of the unit includes a first speed sensor installed on the drive wheel and a second speed sensor installed on the non-drive wheel. The core controller calculates the slippage rate based on the speed difference between the drive wheel and the non-drive wheel, and uses the slippage rate as one of the compensation parameters or alarm criteria for tillage depth adjustment.

7. The hydraulically integrated tillage depth control mechanism and its monitoring feedback adjustment system according to claim 5, characterized in that: The Beidou position monitoring module is used to acquire real-time latitude and longitude information and travel speed information during the operation, and to record them in time and space synchronously with the real-time tillage depth value to generate a tillage depth trajectory map, and to record the alarm location when a tillage depth deviation alarm occurs.

8. The hydraulically integrated tillage depth control mechanism and its monitoring feedback adjustment system according to claim 1 or 5, characterized in that: The tillage depth monitoring feedback adjustment system adopts a PID control algorithm or an equivalent closed-loop control algorithm, taking the deviation between the real-time tillage depth and the preset tillage depth range as the control input, and outputting the target extension or drive signal of the hydraulic cylinder to achieve rapid, continuous adjustment and stable control of the tillage depth.

9. A hydraulically integrated tillage depth control mechanism and its monitoring feedback adjustment system, characterized in that, The tillage depth monitoring feedback adjustment method of the system includes the following steps: S1, based on the soil type and target tillage depth of the work site, apply preload to the helical spring through the helical spring mounting seat; S2, the angle sensor collects the real-time angle of the four-bar linkage and the core controller calculates the real-time tillage depth; S3 compares the real-time tillage depth with the preset tillage depth range: when it is within the preset tillage depth range, the hydraulic cylinder remains stationary or maintains its current position; when it deviates from the preset tillage depth range, an error signal is output. S4. Based on the error signal, the extension and retraction control amount of the hydraulic cylinder is calculated by the PID control algorithm, and the hydraulic cylinder is driven to adjust the mechanical transmission relationship between the rotating arm and the power conversion arm, thereby changing the downward pressure of the helical spring and returning the tillage depth to the preset tillage depth range.

10. The tillage depth monitoring feedback adjustment method according to claim 9, characterized in that: Before operation, a two-dimensional coordinate system with the plot base point as the origin is established, and the reference point of the Beidou position monitoring module is aligned with the plot base point; during operation, real-time latitude and longitude, travel speed and real-time tillage depth are collected and recorded simultaneously to generate a tillage depth trajectory map; when the real-time tillage depth deviates from the preset tillage depth range, the alarm deep loosening shovel number and alarm location are recorded, and the closed-loop adjustment of the hydraulic cylinder is executed to achieve stable tillage depth.

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