CN-120077796-B - Electric control lifting method and system for self-propelled rotary cultivator

CN120077796BCN 120077796 BCN120077796 BCN 120077796BCN-120077796-B

Abstract

The invention discloses an electric control lifting method and system of a self-propelled rotary cultivator, which belong to the technical field of agricultural machinery and aim to solve the operation problem of the conventional rotary cultivator; generating an electric signal of a corresponding electromagnetic valve according to the vehicle state and a control instruction to control the suspension cylinder to stretch and retract so as to enable the suspension mechanism to lift, and generating an electric signal which cannot be generated by the electromagnetic valve according to a comparison result of the suspension angle and a memory angle so as to stop the movement of the suspension cylinder, wherein the memory angle refers to the suspension mechanism angle recorded before the lifting is executed and the vehicle signal is not received. The system comprises an electromagnetic valve, a suspension cylinder, an angle sensor, a control handle, a main speed change control mechanism, a controller and a reversing sensor, wherein the system and the method can automatically lift and control the suspension height in one key and return to a memory position or a set position in different vehicle states, so that the operation difficulty of a user is reduced.

Inventors

ZHANG LIANG
ZHANG YUE
LIU HAO
XIE FENGYU
LV JINGZHI
CHEN XINGYE
LI DEPENG
LI TAO
ZHANG CONGCONG

Assignees

徐州徐工农业装备科技有限公司

Dates

Publication Date: 20260508
Application Date: 20250429

Claims (6)

1. An electric control lifting method for a self-propelled rotary cultivator is characterized by comprising the following steps: acquiring a vehicle signal, a handle signal and a suspension angle; respectively analyzing the vehicle signal and the handle signal to correspondingly obtain a vehicle state and a control instruction; generating an electric signal of a corresponding electromagnetic valve according to the vehicle state and the control instruction so as to control the suspension cylinder to stretch and retract and enable the suspension mechanism to lift; Generating an electromagnetic valve which cannot obtain an electric signal according to a comparison result of the suspension angle and the memory angle so as to stop the motion of the suspension cylinder; Wherein, the memory angle refers to the suspension mechanism angle recorded before the current lifting and the vehicle signal is not received; The vehicle state comprises straight running, steering below a first angle threshold, steering above a second angle threshold, turning around and reversing; The control instruction comprises an instruction for controlling the suspension mechanism to ascend, descend, stop and reset; generating an electric signal of a corresponding electromagnetic valve according to the vehicle state and the control instruction to control the suspension cylinder to stretch and retract so as to enable the suspension mechanism to lift, and the method comprises the following steps: when the vehicle state is straight or lower than a first angle threshold value for steering and the control instruction is ascending, generating an electric signal of a first electromagnetic valve to enable the suspension cylinder to extend outwards; When the vehicle state is straight or lower than the first angle threshold value steering and the control instruction is descending, generating an electric signal of the second electromagnetic valve to enable the suspension cylinder to retract inwards; Further comprises: When the vehicle state is higher than the second angle threshold value for turning or turning around and the control instruction is ascending, generating an electric signal of the first electromagnetic valve, enabling the suspension cylinder to extend outwards, and when the vehicle state is turned from the state higher than the second angle threshold value for turning around to the state of straight running or lower than the first angle threshold value for turning around and the control instruction is resetting, generating the electric signal of the second electromagnetic valve, enabling the suspension cylinder to retract until the suspension mechanism descends to the memory angle; When the vehicle state is higher than the second angle threshold value for turning or turning around and the control instruction is descending, generating an electric signal of the second electromagnetic valve, enabling the suspension oil cylinder to stretch inwards, and when the vehicle state is turned from the state higher than the second angle threshold value for turning around to the state of straight running or lower than the first angle threshold value for turning around and the control instruction is resetting, generating the electric signal of the first electromagnetic valve, enabling the suspension oil cylinder to extend outwards until the suspension mechanism ascends to a memory angle; the memory angles are respectively the suspension mechanism angles recorded before steering, turning around and reversing the vehicle, which are higher than the second angle threshold.
2. The electric control lifting method of the self-propelled rotary cultivator according to claim 1, wherein the electric signal of the corresponding electromagnetic valve is generated according to the state of the vehicle and the control command to control the extension and retraction of the suspension cylinder, further comprising: When the vehicle is in a reversing state and the control instruction is ascending, an electric signal of a first electromagnetic valve is generated, so that the suspension oil cylinder extends outwards until reaching a preset height to generate a stop instruction and record a suspension angle in real time, and when the reversing is disappeared and the control instruction is resetting, an electric signal of a second electromagnetic valve is generated, so that the suspension oil cylinder is retracted until the suspension mechanism descends to a memory angle.
3. The electric control lifting system of the self-propelled rotary cultivator is characterized by comprising an electromagnetic valve assembly, a suspension oil cylinder, an angle sensor, a control handle, a main speed change control mechanism, a controller and a reversing sensor; the controller being electrically coupled to the solenoid valve, the angle sensor, the control assembly and the reverse sensor, respectively, for performing the steps of the method of any one of claims 1 to 2; The electromagnetic valve assembly is used for receiving a current signal output by the controller so as to control the opening and closing and the opening of the corresponding electromagnetic valve; the suspension oil cylinder is used for driving the suspension mechanism to lift; The angle sensor is arranged on the suspension mechanism and is used for feeding back the suspension angle of the suspension mechanism to the controller; The control handle is used for outputting a handle signal to the controller; The main speed change control mechanism is used for outputting vehicle signals of straight running, steering below a first angle threshold value, steering above a second angle threshold value and turning around to the controller; the reversing sensor is used for feeding back reversing vehicle signals to the controller.
4. The electric control lifting system of the self-propelled rotary cultivator according to claim 3, wherein the main speed change control mechanism comprises an adjusting screw rod connected with the travelling mechanism, a switching support connected with the adjusting screw rod through a connecting shaft, a rotary sleeve arranged on the switching support and a pull rod connected with the rotary sleeve; the rotary sleeve is spliced with the rotary shaft, and the rotary shaft is arranged on the switching support; the connecting shaft is arranged at the bottom of the switching support and is rotationally connected with the rotary cultivator frame through a pin shaft; The reversing sensor is arranged on the switching bracket; The pull rod passes through the sealing plate, a Z-shaped groove is formed in the sealing plate, and the pull rod moves in the Z-shaped groove.
5. The electric control lifting system of the self-propelled rotary cultivator according to claim 3, wherein the suspension mechanism comprises an upper rocker arm connected to a frame of the rotary cultivator through a frame hoop, a lifting rod and a swinging 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 with the rotary cultivator frame and the power rod of the suspension cylinder, and the other end of the upper rocker arm is connected with the lifting rod and the swinging rod; The swinging rod is connected with a sensor rocker arm, and the sensor rocker arm is used for installing an 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 lower pull rod, one end of the lower pull rod is connected to the bottom of the rotary cultivator frame, and the other end of the lower pull rod is connected to an upper pull point of the rotary cultivator frame.
6. The electric control lifting system of the self-propelled rotary cultivator according to claim 3, wherein more than one key is arranged on the control handle for inputting a handle signal to the controller.

Description

Electric control lifting method and system for self-propelled rotary cultivator Technical Field The invention relates to an electric control lifting method and system of a self-propelled rotary cultivator, and belongs to the technical field of agricultural machinery. Background The self-propelled rotary cultivator is driven by self matched power, takes the caterpillar band as a travelling device, and the chassis and the rotary tillage operation mechanism are connected into a whole, so that the advantage is particularly outstanding especially when in paddy field operation, therefore, the self-propelled rotary cultivator is widely used in south areas, comprises the operation tasks of various soil fields in plain, mountain areas and hilly areas, and the like, has small operation land, needs to turn and turn around frequently in operation, and has higher requirement on user operation. The existing rotary cultivator is required to manually lift the machine tool when backing, the working time is manually adjusted to the original position, the backing handle is required to be controlled when backing, meanwhile, the steering handle is controlled, the lifting handle of the machine tool is operated again, the operation is complex, the operation intensity is increased, and the operation efficiency is low. Secondly, the existing rotary cultivator has less control on suspension, only simple realization of manual lifting control on suspension, partial suspension control is purely hydraulic control, the control precision is poor, and when in rotary tillage operation of small plots in the south, a user needs to frequently turn around and turn around, the height of the rotary cultivator needs to be adjusted when turning, turning around and reversing, the user needs to simultaneously adjust the height of the rotary cultivator when turning around and reversing, and the operation difficulty is large. Disclosure of Invention The invention aims to provide an electric control lifting method and system for a self-propelled rotary cultivator, which can solve the difficulty of complicated operation of the conventional rotary cultivator in paddy field operation in special zones, and can rapidly and accurately control corresponding electromagnetic valves according to the working state of the rotary cultivator and according to electric control instructions by adopting an electric control hydraulic combination mode, accurately control the suspension state along with the vehicle state and reduce the operation difficulty. In order to solve the technical problems, the invention is realized by adopting the following technical scheme. In a first aspect, the present invention provides a method for lifting and lowering a self-propelled rotary cultivator, comprising: acquiring a vehicle signal, a handle signal and a suspension angle; respectively analyzing the vehicle signal and the handle signal to correspondingly obtain a vehicle state and a control instruction; generating an electric signal of a corresponding electromagnetic valve according to the vehicle state and the control instruction so as to control the suspension cylinder to stretch and retract and enable the suspension mechanism to lift; And generating an electromagnetic valve which can not generate an electric signal according to a comparison result of the suspension angle and a memory angle to stop the motion of the suspension cylinder, wherein the memory angle refers to the suspension mechanism angle recorded before the current lifting and the vehicle signal is not received, so that a user can automatically lift and control the suspension height by one key under different vehicle states, and one key returns to a memory position or a set position to reduce the operation difficulty of the user. Optionally, the vehicle state includes straight-going, steering below a first angle threshold, steering above a second angle threshold, turning around, and reversing; The control instructions include instructions to control the suspension mechanism to rise, fall, stop and reset. Optionally, generating an electric signal of a corresponding electromagnetic valve according to a vehicle state and a control instruction to control the suspension cylinder to stretch and retract, so that the suspension mechanism is lifted, including: when the vehicle state is straight or lower than a first angle threshold value for steering and the control instruction is ascending, generating an electric signal of a first electromagnetic valve to enable the suspension cylinder to extend outwards; when the vehicle state is straight or lower than the first angle threshold value steering and the control command is descending, generating an electric signal of the second electromagnetic valve, so that the suspension cylinder is retracted inwards. Optionally, generating an electric signal of a corresponding electromagnetic valve according to the vehicle state and the control instruction to control the suspension cylinder t