A grapevine automatic avoidance soil cleaning machine

Abstract

The present invention discloses an automatic soil-clearing machine for avoiding grapevines, which is installed on a tractor and includes a suspension frame, a soil-clearing device bracket, two swing arms that are parallel to each other and of the same length, a soil-clearing device, an obstacle avoidance device, and a soil-clearing angle adjustment device. The machine belongs to the field of agricultural machinery and equipment. The left and right ends of the suspension frame are respectively hinged to the soil-clearing device bracket located at the rear of the suspension frame through two swing arms; the soil-clearing device includes a cross plate, a reducer, two sprockets, and a circulating chain; the soil-clearing device is rotatably mounted on the soil-clearing device bracket; the obstacle avoidance device includes an obstacle avoidance rod, a first hydraulic cylinder, and a first hydraulic cylinder control device. The obstacle avoidance rod is connected to the first hydraulic cylinder control device via a reset spring and is connected to the first hydraulic cylinder hydraulic pressure control valve on the first hydraulic cylinder control device via a connecting rod. The automatic soil-clearing machine for avoiding grapevines of the present invention solves the problem in the prior art that when soil is cleared after grape vines are buried, the soil-clearing range is small and the driving skills of the driver are required to be high.

Description

Technical Field

[0001] The present invention relates to the field of agricultural machinery and equipment, in particular to an automatic grapevine avoidance soil-clearing machine. Background Art

[0002] Grapes are a major fruit in my country and a key ingredient in winemaking. With changes in my country's industrial structure, the grape industry has experienced rapid growth in recent years, with significant increases in both cultivated area and yield, making China the world's largest grape producer. Grape cultivation in my country is primarily concentrated in the northwest region. However, due to its cold and dry climate, a common practice is to cover the vines with soil during winter to prevent them from drying out and freezing. This involves laying the vines down and covering them with soil, with the soil removed at the end of winter. This is labor-intensive. Furthermore, by the time the vines are removed in the spring, they have already sprouted, and soil removal is necessary to avoid damaging the buds. Consequently, manual soil removal is currently the primary method. However, this labor-intensive and inefficient process leads to high costs and hinders the development of the grape industry. This significantly reduces the income of grape growers. Therefore, developing machinery for soil removal is crucial.

[0003] The patent with publication number CN206948826U discloses an automatic grapevine avoidance omnidirectional earth remover, which includes a frame, a traction frame, a side scraper, an inter-pile scraper, an obstacle detection device, a hydraulic control device and a depth-limiting wheel. The traction frame is fixedly mounted on the front end of the frame, the side scraper is mounted on the right rear end of the frame, the inter-pile scraper is connected to the side scraper, and the angle between the inter-pile scraper and the side scraper is greater than or equal to 60 degrees and less than or equal to 90 degrees. The obstacle detection device is fixed on the right front end of the frame, the hydraulic control device is mounted on the hydraulic system of the traction machine, and the depth-limiting wheel is mounted on the rear end of the frame. The hydraulic control device controls the contraction and expansion of the inter-pile scraper toward the side scraper, the hydraulic control device controls the left and right movement of the side scraper, and the hydraulic control device controls the height of the depth-limiting wheel. The side scrapers and inter-pile scrapers are used to remove soil from above the vines and on one side, as in patent CN207573854U. The impeller cleaning mechanism removes soil from one side of the vines. These solutions have a limited range of soil removal and require high operator skills. Summary of the Invention

[0004] The purpose of the present invention is to provide an automatic grapevine avoidance soil clearing machine to address the deficiencies in the prior art, thereby solving the problems in the prior art of a small soil clearing range and high requirements on the driver's driving skills.

[0005] The technical solutions adopted in the present invention are as follows.

[0006] The invention relates to an automatic grapevine avoidance soil cleaning machine, which is installed on a tractor and is characterized by comprising a suspension frame, a soil cleaning device bracket, two mutually parallel swing arms of the same length, a soil cleaning device, an obstacle avoidance device, and a soil cleaning angle adjustment device.

[0007] The left and right ends of the suspension frame are respectively hinged to the soil cleaning device bracket located at the rear of the suspension frame through two swing arms.

[0008] The soil cleaning device includes a horizontal plate, a reducer, two sprockets, and an endless chain; a sprocket is installed on the left and right ends of the horizontal plate, and the two sprockets are connected by an endless chain; one of the left and right ends of the horizontal plate is mounted on the soil cleaning device bracket through a shaft sleeve whose central axis is perpendicular to the front side of the frame plate, and the horizontal plate can rotate along the shaft sleeve; a scraper plate is provided on the radial outer peripheral surface of the endless chain; a sprocket is connected to the reducer installed in the shaft sleeve, and the front end of the reducer is connected to the transmission rod through a universal joint coupling, and the transmission rod is connected to the gearbox of the tractor; the suspension frame is installed at the rear end of the tractor; the length of the horizontal plate is not less than 1200mm.

[0009] The obstacle avoidance device includes an obstacle avoidance rod, a first hydraulic cylinder, and a first hydraulic cylinder control device. The rear end of the first hydraulic cylinder is hinged to the soil cleaning device bracket, the front end of the first hydraulic cylinder is hinged to a swing arm, and the first hydraulic cylinder control device is provided with a hydraulic volume control valve.

[0010] The first hydraulic cylinder control device is connected to the soil cleaning device bracket, and the obstacle avoidance rod is hinged to the front side of the first hydraulic cylinder control device on the soil cleaning device bracket through a hinge shaft perpendicular to the ground.

[0011] The obstacle avoidance rod is connected to the first hydraulic cylinder control device through a return spring and is connected to the first hydraulic cylinder hydraulic pressure control valve on the first hydraulic cylinder control device through a connecting rod. The first hydraulic cylinder hydraulic pressure control valve is connected to the hydraulic circuit of the first hydraulic cylinder.

[0012] The soil cleaning angle adjustment device includes a second hydraulic cylinder; a longitudinal rod is provided outside the soil cleaning device bracket on the front side of the cross plate, and a connecting plate is provided on the longitudinal rod; the first hydraulic cylinder control device is installed on the connecting plate; the output shaft of the second hydraulic cylinder is hinged to the connecting plate, the second hydraulic cylinder is hinged to the soil cleaning device bracket away from its output shaft end, and the output shaft of the second hydraulic cylinder is perpendicular to the longitudinal rod.

[0013] During operation, the automatic grapevine-avoiding soil-clearing device is mounted on the rear end of a tractor 11. The tractor moves along the length of the ridge, outside one side, to perform unilateral soil clearing. As the endless chain rotates, the scraper blade scrapes the soil off the ridge, completing the soil clearing process. When the tractor is in motion and the obstacle avoidance bar encounters an obstacle, such as a stake or grapevine, the bar presses the hydraulic pressure control valve on the first hydraulic cylinder control device via a connecting rod, controlling the hydraulic pressure of the first hydraulic cylinder. The first hydraulic cylinder then drives a swing arm to rotate. The two swing arms are hinged to the suspension bracket and the soil-clearing device support, forming a parallelogram. When the first hydraulic cylinder drives the swing arm to rotate clockwise, the soil-clearing device support moves away from the ridge, and the scraper blade on the soil-clearing device support, which is close to the obstacle, avoids the obstacle during operation. After clearing the obstacle, the return spring resets the obstacle avoidance bar, the first hydraulic cylinder returns to its initial state, and the crossbar returns to its original position.

[0014] The beneficial effects of the present invention are as follows.

[0015] 1. The present invention can remove soil covering one side of a soil ridge. The horizontal board is relatively long, and the tractor is far away from the soil ridge when driving, which reduces the labor intensity of the operation and improves the operation efficiency.

[0016] 2. The obstacle avoidance rod is set in front of the horizontal board, which not only effectively removes the covering soil, but also ensures the safety of the scraper and grapevines.

[0017] 3. A second hydraulic cylinder, hinged between the horizontal plate and the soil-cleaning device bracket, controls the angle between the horizontal plate and the ground, thereby controlling the depth of the scraper blade mounted on the horizontal plate. The height can be adjusted in real time based on ground unevenness, ensuring effective support when the machine is driven by a tractor and ensuring the scraper blade can operate stably at the required height.

[0018] 4. Make full use of the tractor's power and hydraulic oil circuit.

[0019] 5. It can be towed by a tractor to work and can be unloaded when not in use.

[0020] 6. Simple structure, small overall weight, compact and light size.

[0021] As an optimal technical solution, the left and right ends of the soil cleaning device bracket and the left and right ends of the bottom end of the suspension frame are respectively provided with an articulated shaft mounting frame, and each articulated shaft mounting frame is provided with an articulated shaft whose central axis is perpendicular to the ground; among the two swing arms, the two ends of one swing arm are respectively hinged to the articulated shaft on the articulated shaft mounting frame at the left end of the soil cleaning device bracket and the articulated shaft on the articulated shaft mounting frame at the left end of the bottom end of the suspension frame, and the two ends of the other swing arm are respectively hinged to the articulated shaft on the articulated shaft mounting frame at the right end of the soil cleaning device bracket and the articulated shaft on the articulated shaft mounting frame at the right end of the bottom end of the suspension frame.

[0022] As a preferred technical solution, the articulated shaft mounting frame includes a top plate and a bottom plate, and both ends of the articulated shaft mounted on the articulated shaft mounting frame are connected to the top plate and the bottom plate.

[0023] As a preferred technical solution, each swing arm is parallel to the ground.

[0024] As a preferred technical solution, the top surface of the soil cleaning device bracket is parallel to the ground.

[0025] As an optimal technical solution, the distance between the obstacle avoidance rod and the soil cleaning device bracket end is greater than the distance between the cross plate and the soil cleaning device bracket end.

[0026] As a preferred technical solution, the obstacle avoidance rod is in an arc shape that opens backwards away from the soil cleaning device bracket end.

[0027] As a preferred technical solution, the sprocket away from the reducer is installed on the transverse plate through a sprocket mounting shaft.

[0028] As an optimal technical solution, the rear end of the first hydraulic cylinder is hinged to the soil cleaning device bracket through the rear articulation shaft of the first hydraulic cylinder; the rear articulation shaft of the first hydraulic cylinder is arranged in the middle of the top surface of the soil cleaning device bracket, the rear articulation shaft of the first hydraulic cylinder is perpendicular to the ground, the front end of the first hydraulic cylinder is hinged to a swing arm through the front articulation shaft of the first hydraulic cylinder, and the first hydraulic cylinder is parallel to the ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the three-dimensional structure of a preferred embodiment of the automatic grapevine avoidance soil cleaning machine of the present invention.

[0030] Figure 2 yes Figure 1 A partial enlarged view of part A.

[0031] Figure 3 yes Figure 1 A partial enlarged view of part B.

[0032] Figure 4 yes Figure 1 A partial enlarged view of part C.

[0033] Figure 5 yes Figure 1 A partial enlarged view of part D.

[0034] Figure 6 yes Figure 1 Left side view of the automatic vine-avoiding cleaner shown.

[0035] Figure 7 yes Figure 6 A partial enlarged view of part E.

[0036] Figure 8 yes Figure 1 A top view of the automatic vine-avoiding cleaner is shown.

[0037] Figure 9 yes Figure 1 Right side view of the automatic vine-avoiding cleaner shown.

[0038] Figure 10 yes Figure 9 A partial enlarged view of part F.

[0039] Figure 11 yes Figure 1 A front view of the automatic vine-avoiding cleaner is shown.

[0040] Figure 12 yes Figure 1 The diagram shows a working state of the automatic grapevine avoidance soil cleaning machine.

[0041] Figure 13 yes Figure 12 A partial enlarged view of part G.

[0042] Figure 14 yes Figure 12 Cross-sectional view along line H-H'.

[0043] Figure 15 yes Figure 1 The diagram shows a working state of the automatic grapevine avoidance soil cleaning machine.

[0044] Figure 16 yes Figure 15 A partial enlarged view of part I.

[0045] Figure 17 yes Figure 1 The diagram shows a working state of the automatic grapevine avoidance soil cleaning machine.

[0046] Figure 18 yes Figure 17 A partial enlarged view of part J.

[0047] Figure 19 yes Figure 1 The diagram shows a working state of the automatic grapevine avoidance soil cleaning machine.

[0048] Figure 20 yes Figure 19 A partial enlarged view of the K part. Figure 21 It is a structural schematic diagram of a preferred embodiment of the automatic grapevine avoidance soil cleaning machine of the present invention.

[0049] Figure 22 It is a schematic diagram of the three-dimensional structure of a preferred embodiment of the automatic grapevine avoidance soil cleaning machine of the present invention.

[0050] Suspension frame 1; soil-clearing device bracket 2; swing arm 3; cross plate 4; reducer 5; sprocket 6; endless chain 7; scraper blade 8; bushing 9; universal joint coupling 10; tractor 11; first hydraulic cylinder control device 12; obstacle avoidance bar 13; first hydraulic cylinder 14; return spring 15; connecting rod 16; articulated shaft mounting frame 17; top plate 171; bottom plate 172; articulated shaft 18; transmission rod 19; second hydraulic cylinder 20; longitudinal rod 21; connecting plate 22; sprocket mounting shaft 23; front articulated shaft of first hydraulic cylinder 24; soil ridge 25; pile 26; rear articulated shaft of first hydraulic cylinder 27. DETAILED DESCRIPTION

[0051] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0052] Example 1. Figure 1-20 As shown, a grapevine automatic avoidance soil cleaning machine is installed on a tractor 11 and includes a suspension frame 1, a soil cleaning device bracket 2, two parallel swing arms 3 with the same length, a soil cleaning device, an obstacle avoidance device, and a soil cleaning angle adjustment device.

[0053] The left and right ends of the suspension frame 1 are respectively hinged to the soil cleaning device bracket 2 located at the rear of the suspension frame 1 through two swing arms 3.

[0054] The soil cleaning device includes a cross plate 4, a speed reducer 5, two sprockets 6, and an endless chain 7. A sprocket 6 is mounted on each of the left and right ends of the cross plate 4, and the two sprockets 6 are connected by the endless chain 7. The right end of the cross plate 4 is mounted on the soil cleaning device bracket 2 via a sleeve 9 whose central axis is perpendicular to the front side of the bracket, allowing the cross plate 4 to rotate along the sleeve 9. A scraper blade 8 is provided on the radial outer surface of the endless chain 7. Of the two sprockets 6, the right sprocket 6 is connected to the speed reducer 5 mounted in the sleeve 9. The front end of the speed reducer 5 is connected to a transmission rod 19 via a universal joint coupling 10, and the transmission rod 19 is connected to the gearbox of the tractor 11. The suspension frame 1 is mounted on the rear end of the tractor 11. The length of the cross plate 4 should be no less than 1200 mm.

[0055] The obstacle avoidance device includes an obstacle avoidance rod 13, a first hydraulic cylinder 14, and a first hydraulic cylinder control device 12. The rear end of the first hydraulic cylinder 14 is hinged to the soil cleaning device bracket 2, and the front end of the first hydraulic cylinder 14 is hinged to the middle part of the right swing arm 3 of the two swing arms 3.

[0056] The first hydraulic cylinder control unit 12 is connected to the left end of the earth-clearing device support 2. The obstacle avoidance bar 13 is hinged in front of the first hydraulic cylinder control unit 12 on the left end of the earth-clearing device support 2 via a hinge axis perpendicular to the ground. A hydraulic pressure control valve is installed on the first hydraulic cylinder control unit 12. The obstacle avoidance bar 13 is connected to the first hydraulic cylinder control unit 12 via a return spring 15 and to the first hydraulic cylinder hydraulic pressure control valve on the first hydraulic cylinder control unit 12 via a connecting rod 16. The first hydraulic cylinder hydraulic pressure control valve is connected to the hydraulic circuit of the first hydraulic cylinder 14. The obstacle avoidance bar 13 is located in front of the crossbar 4.

[0057] The cleaning angle adjustment device includes a second hydraulic cylinder 20. A longitudinal rod 21 is provided on the front side of the crossbar 4, outside the cleaning device bracket 2. A connecting plate 22 is attached to the longitudinal rod 21. The first hydraulic cylinder control device 12 is mounted on the connecting plate 22. The right end of the second hydraulic cylinder 20 is hinged to the cleaning device bracket 2, and the output shaft on the left end of the second hydraulic cylinder 20 is hinged to the connecting plate 22. The output shaft of the second hydraulic cylinder 20 is perpendicular to the longitudinal rod 21. The scraper blade 8 is made of rubber or resin and is resilient.

[0058] The left and right ends of the soil cleaning device bracket 2 and the left and right ends of the bottom end of the suspension frame 1 are each provided with an articulated shaft mounting bracket 17, and each articulated shaft mounting bracket 17 is provided with an articulated shaft 18 with its central axis perpendicular to the ground; of the two swing arms 3, the two ends of one swing arm 3 are respectively articulated to the articulated shaft 18 on the articulated shaft mounting bracket 17 at the left end of the soil cleaning device bracket 2 and the articulated shaft 18 on the articulated shaft mounting bracket 17 at the left end of the bottom end of the suspension frame 1, and the two ends of the other swing arm 3 are respectively articulated to the articulated shaft 18 on the articulated shaft mounting bracket 17 at the right end of the soil cleaning device bracket 2 and the articulated shaft 18 on the articulated shaft mounting bracket 17 at the right end of the bottom end of the suspension frame 1. The suspension frame 1 is in the shape of a "U" with its opening downward.

[0059] Font.

[0060] The hinge shaft mounting frame 17 includes a top plate 171 and a bottom plate 172 . Both ends of the hinge shaft mounted on the hinge shaft mounting frame 17 are connected to the top plate 171 and the bottom plate 172 . Each swing arm 3 is parallel to the ground.

[0061] The top surface of the soil cleaning device bracket 2 is parallel to the ground.

[0062] The distance between the left end of the obstacle avoidance rod 13 and the soil cleaning device bracket 2 is greater than the distance between the left end of the cross plate 4 and the soil cleaning device bracket 2 .

[0063] The obstacle avoidance rod 13 is in an arc shape that opens backwards away from the soil cleaning device bracket 2 ends. The obstacle avoidance rod 13 forms a semi-enclosed protection structure to the left end of the horizontal plate 4.

[0064] The first hydraulic cylinder control device 12 is located behind the obstacle avoidance bar 13 .

[0065] Of the two sprockets 6 , the sprocket 6 on the left is mounted on the transverse plate 4 via a sprocket mounting shaft 23 .

[0066] The rear end of the first hydraulic cylinder 14 is hinged to the soil cleaning device support 2 via the first hydraulic cylinder rear hinge shaft 27; the first hydraulic cylinder rear hinge shaft 27 is arranged in the middle of the top surface of the soil cleaning device support 2, and the first hydraulic cylinder rear hinge shaft 27 is perpendicular to the ground. The front end of the first hydraulic cylinder 14 is hinged to a swing arm 3 via the first hydraulic cylinder front hinge shaft 24, and the first hydraulic cylinder 14 is parallel to the ground. Figure 12-14 As shown in the figure, the grapevines automatically avoid the soil cleaner to remove the covering soil on the left side of the ridge. Figure 15-20 As shown, the grapevines automatically avoid the soil cleaner to remove the covering soil on the right side of the ridge.

[0067] During operation, the automatic grapevine avoidance and soil cleaning device is mounted on the rear end of the tractor 11. The tractor moves along the length of the soil ridge 25, outside one side, to perform unilateral soil cleaning. As the endless chain rotates, the scraper blade scrapes the soil off the soil ridge 25, completing the soil cleaning process. When the tractor 11 encounters an obstacle, such as a stake 26 or grapevines, the obstacle avoidance bar, through a connecting rod, presses the hydraulic pressure control valve on the first hydraulic cylinder control device, controlling the hydraulic pressure level of the first hydraulic cylinder. The first hydraulic cylinder then drives a swing arm to rotate. The two swing arms are hinged to the suspension frame and the soil cleaning device bracket, forming a parallelogram. When the first hydraulic cylinder drives the swing arm to rotate clockwise, the soil cleaning device bracket moves away from the soil ridge 25. The scraper blade on the soil cleaning device bracket, which is close to the obstacle, will avoid the obstacle during operation. After clearing the obstacle, the obstacle avoidance bar is reset by the return spring, the first hydraulic cylinder returns to its initial state, and the crossbar is reset.

[0068] The beneficial effects of this embodiment are as follows.

[0069] 1. The present invention can remove soil covering one side of a soil ridge. The horizontal plate 4 is relatively long, and the tractor is far away from the soil ridge when driving, which reduces the labor intensity of the operation and improves the operation efficiency.

[0070] 2. The obstacle avoidance rod 13 is arranged in front of the horizontal plate 4, which not only effectively removes the covering soil, but also ensures the safety of the scraper and the grapevines.

[0071] 3. A second hydraulic cylinder 20 is provided, and the cross plate 4 is hingedly connected to the soil cleaning device bracket 2. This second hydraulic cylinder 20 controls the angle between the cross plate 4 and the ground, thereby controlling the penetration depth of the scraper blade 8 mounted on the cross plate 4. The height can be adjusted in real time according to the unevenness of the ground, ensuring that the machine has effective travel support when driven by a tractor and that the scraper blade can operate stably at the required height.

[0072] 4. Make full use of the tractor's power and hydraulic oil circuit.

[0073] 5. It can be towed by a tractor to work and can be unloaded when not in use.

[0074] 6. Simple structure, small overall weight, compact and light size.

[0075] Example 2. Figure 21 As shown, the difference between this embodiment and embodiment 1 is that the left end of the horizontal plate 4 is mounted on the soil cleaning device bracket 2 through a shaft sleeve 9 whose central axis is perpendicular to the front side of the frame plate.

[0076] Example 3. Figure 22 As shown, the difference between this embodiment and embodiment 1 is that the first hydraulic cylinder control device 12 is connected to the left side of the rear hinge shaft of the first hydraulic cylinder on the soil cleaning device bracket 2.

[0077] The embodiments listed above are intended only for understanding the present invention and are not intended to limit the technical solutions described herein. Persons skilled in the relevant art may make various changes or modifications based on the technical solutions described in the claims, and all equivalent changes or modifications are intended to be within the scope of protection of the claims. Any details not described herein are generally known to persons skilled in the art.

Claims

1. A grapevine automatic avoidance soil cleaner, mounted on a tractor, characterized by: It includes a suspension frame, a soil cleaning device bracket, two parallel swing arms of the same length, a soil cleaning device, an obstacle avoidance device, and a soil cleaning angle adjustment device; The left and right ends of the suspension frame are respectively hinged to the soil cleaning device bracket located at the rear of the suspension frame through two swing arms; The soil cleaning device includes a cross plate, a reducer, two sprockets, and an endless chain; a sprocket is mounted on each of the left and right ends of the cross plate, and the two sprockets are connected by an endless chain; one of the left and right ends of the cross plate is mounted on a soil cleaning device bracket via a shaft sleeve whose central axis is perpendicular to the front side of the frame plate, and the cross plate can rotate along the shaft sleeve; a scraper plate is provided on the radial outer peripheral surface of the endless chain; one sprocket is connected to the reducer mounted in the shaft sleeve, the front end of the reducer is connected to the transmission rod via a universal joint coupling, and the transmission rod is connected to the tractor's gearbox; the suspension frame is mounted on the rear end of the tractor; the length of the cross plate is not less than 1200mm; The obstacle avoidance device includes an obstacle avoidance rod, a first hydraulic cylinder, and a first hydraulic cylinder control device. The rear end of the first hydraulic cylinder is hinged to the soil cleaning device bracket, the front end of the first hydraulic cylinder is hinged to a swing arm, and the first hydraulic cylinder control device is provided with a hydraulic volume control valve; The first hydraulic cylinder control device is connected to the soil cleaning device bracket, and the obstacle avoidance rod is hinged to the front side of the first hydraulic cylinder control device on the soil cleaning device bracket through a hinge axis perpendicular to the ground; The obstacle avoidance rod is connected to the first hydraulic cylinder control device through a return spring and is connected to the first hydraulic cylinder hydraulic pressure control valve on the first hydraulic cylinder control device through a connecting rod. The first hydraulic cylinder hydraulic pressure control valve is connected to the hydraulic circuit of the first hydraulic cylinder. The soil cleaning angle adjustment device includes a second hydraulic cylinder; a longitudinal rod is provided on the front side of the transverse plate outside the soil cleaning device bracket, and a connecting plate is provided on the longitudinal rod; the first hydraulic cylinder control device is mounted on the connecting plate; the output shaft of the second hydraulic cylinder is hinged to the connecting plate, and the second hydraulic cylinder is hinged to the soil cleaning device bracket away from its output shaft end, and the output shaft of the second hydraulic cylinder is perpendicular to the longitudinal rod; An articulated shaft mounting bracket is provided at the left and right ends of the soil cleaning device bracket and the left and right ends of the bottom end of the suspension frame, and each articulated shaft mounting bracket is provided with an articulated shaft whose central axis is perpendicular to the ground; of the two swing arms, the two ends of one of the swing arms are respectively articulated to the articulated shaft on the articulated shaft mounting bracket at the left end of the soil cleaning device bracket and the articulated shaft on the articulated shaft mounting bracket at the left end of the bottom end of the suspension frame, and the two ends of the other swing arm are respectively articulated to the articulated shaft on the articulated shaft mounting bracket at the right end of the soil cleaning device bracket and the articulated shaft on the articulated shaft mounting bracket at the right end of the bottom end of the suspension frame; The hinge shaft mounting frame includes a top plate and a bottom plate, and both ends of the hinge shaft mounted on the hinge shaft mounting frame are connected to the top plate and the bottom plate; Each swing arm is parallel to the ground.

2. The automatic grapevine avoidance soil cleaning machine according to claim 1, characterized in that: The top surface of the soil cleaning device bracket is parallel to the ground.

3. The automatic grapevine avoidance soil cleaning machine according to claim 1, characterized in that: The distance between the obstacle avoidance rod and the soil cleaning device bracket end is greater than the distance between the horizontal plate and the soil cleaning device bracket end.

4. The automatic grapevine avoidance soil cleaning machine according to claim 1, characterized in that: The obstacle avoidance rod is in an arc shape that opens backwards and is away from the soil cleaning device bracket end.

5. The automatic grapevine avoidance soil cleaning machine according to claim 1, characterized in that: The sprocket away from the speed reducer is mounted on the transverse plate via a sprocket mounting shaft.

6. The automatic grapevine avoidance soil cleaning machine according to claim 1, characterized in that: The rear end of the first hydraulic cylinder is hinged to the soil cleaning device bracket through the rear hinge shaft of the first hydraulic cylinder; the rear hinge shaft of the first hydraulic cylinder is arranged in the middle of the top surface of the soil cleaning device bracket, the rear hinge shaft of the first hydraulic cylinder is perpendicular to the ground, the front end of the first hydraulic cylinder is hinged to a swing arm through the front hinge shaft of the first hydraulic cylinder, and the first hydraulic cylinder is parallel to the ground.

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