Remote control unmanned crawler-type mini-tiller

Abstract

The application discloses the technical fields of agricultural machinery, and discloses an unmanned remote control caterpillar type mini-cultivator, which comprises a supporting frame, a power system located above the supporting frame, an unmanned remote control system and a reversing control system, a caterpillar type running mechanism located below the supporting frame, a speed change system connected with the power output end of the power system, and a rotary tillage mechanism connected with the power output end of the speed change system; the power output end of the speed change system is connected with the power input end of the caterpillar type running mechanism simultaneously. The application has the advantages of simple structure, improved walking stability and reduced maintenance cost in the later period. The application has the advantages of simple structure, easy operation and reduced maintenance cost in the later period.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of agricultural machinery, and specifically provides an unmanned remote control tracked micro-cultivator which is simple in structure, stable in operation and easy to maintain in later period. BACKGROUND

[0002] The agricultural cultivator is a tillage machine matched with the micro-cultivator to complete plowing and harrowing operations. It has been widely used due to its strong soil breaking capacity and flat ground surface after plowing. It can also cut and bury the roots buried under the ground surface, which is convenient for the operation of the seeding machine and provides a good seedbed for later seeding.

[0003] The micro-cultivator is a kind of agricultural cultivator, which is deeply loved by farmers in hilly and mountainous areas in China. The existing micro-cultivator market is still dominated by traditional manual micro-cultivators, which cannot liberate manpower and improve efficiency. Basically, they use fuel power, which is complex in structure and operation, and has high maintenance cost in later period.

[0004] The rotating cultivator based on an artificial intelligence platform disclosed in Chinese patent 2019103740246, the agricultural robot walking control system and method based on Beidou positioning disclosed in Chinese patent 202010356429 X, and the control system for greenhouse unmanned micro-cultivator disclosed in Chinese patent 2017214949444 have all realized unmanned remote control of the micro-cultivator to a great extent, but they have not considered the technical problems of the complex structure, large quality, difficult operation and high maintenance cost of the micro-cultivator. The difficulty in operation mainly lies in the fact that the rotating cultivation and walking need independent power control systems, the walking mechanism needs to be debugged and maintained by professional technicians using professional tools, and the gearbox has a single function. SUMMARY

[0005] Therefore, the present application aims to provide an unmanned remote control tracked micro-cultivator, which solves the problems of complex structure, difficult operation and high maintenance cost of the existing agricultural cultivator.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical solutions.

[0007] The present application provides an unmanned remote control tracked micro-cultivator, which comprises a support frame, a power system located above the support frame, an unmanned remote control system and a reversing control system located below the support frame, two sets of tracked walking mechanisms, a speed change system connected to the power output end of the power system, and a rotating cultivation mechanism connected to the power output end of the speed change system.

[0008] The power output end of the variable speed system is connected with the power input end of the crawler traveling mechanism, the variable speed system further comprises a variable speed upper box, a variable speed lower box and a rear box connected with the two power output shafts of the variable speed upper box, the axis center line of the power input shaft of the rear box is parallel to or located on the same straight line with the axis center line of the power input shaft of the variable speed upper box, the axis center line of the power input shaft of the variable speed lower box is perpendicular to the axis center line of the power input shaft of the variable speed upper box, the power output shaft of the variable speed lower box is connected with the power input end of the crawler traveling mechanism; the power output end of the rear box is provided with a cutter power output shaft, the axis center line of the cutter power output shaft has an included angle with the axis center line of the power input shaft of the rear box, the cutter power output shaft is connected with a universal shaft, the lower end of the universal shaft is connected with a rotary tillage power input shaft in a cutter small box of the rotary tillage mechanism;

[0009] The rotary tillage mechanism further comprises a rotary tillage cutter installed on a rotary tillage rotating shaft, the rotary tillage rotating shaft passes through the lower part of the cutter small box, the rotary tillage rotating shaft is provided with a rotary tillage driven bevel gear on the shaft section of the cutter small box, a rotary tillage driving bevel gear engaged with the rotary tillage driven bevel gear, the rotary tillage driving bevel gear is fixed on the lower end of the rotary tillage power input shaft;

[0010] The housing of the variable speed upper box and / or the housing of the rear box is fixed with a reversing control system support plate, the reversing control system is fixed on the reversing control system support plate; the reversing control system further comprises a gas pressure or hydraulic pressure box fixed on the reversing control system support plate and three electromagnetic valves, the three electromagnetic valves respectively control the opening and closing of three cylinders or hydraulic cylinders, the cylinder body of one of the three cylinders or hydraulic cylinders is fixed on the housing of the variable speed upper box and / or the housing of the rear box, the piston rod of the cylinder or hydraulic cylinder fixed on the housing of the variable speed upper box and / or the housing of the rear box is fixed on the housing of the universal shaft; the movable clamping jaws of the other two cylinders or hydraulic cylinders are respectively located on the traveling driving shafts of the two sets of crawler traveling mechanisms; the cylinders or hydraulic cylinders are connected in series with the gas pressure pump or hydraulic pump, the electromagnetic valves and the gas pressure or hydraulic pressure box through pipelines; the power input shaft of the gas pressure pump or hydraulic pump is connected with the gas pressure pump or hydraulic pump power input shaft on the rear box;

[0011] The power system further comprises at least one storage battery, the storage battery is electrically connected with an electric control board, the electric control board is electrically connected with a motor, the power output shaft of the motor is connected with the power input shaft of the variable speed upper box, and the storage battery is electrically connected with an unmanned remote control system.

[0012] In order to ensure that the unmanned remote control can be realized and the control is simple, further, in the above scheme: the unmanned remote control system further comprises a LINUX system control board, an environment sensing module, an RTK positioning module, a decision planning module, a WIFI module, a safety module, a single-chip microcomputer control piece and a touch display screen electrically connected with the LINUX system control board.

[0013] The environmental perception module further comprises a camera, a laser radar and a millimeter wave radar, and the camera, the laser radar, the millimeter wave radar and the touch display are fixed on the top of the protective cover fixed on the support frame and / or the reversing control system support plate.

[0014] The RTK positioning module further comprises a base station, an antenna, a dual-frequency positioning module and a wireless data transmission module.

[0015] The single-chip microcomputer control piece further comprises a receiver and a remote controller, and the receiver is electrically connected with the electric control board and the electromagnetic valve.

[0016] In order to protect the service life of the LINUX system control board, the RTK positioning module single-chip microcomputer control piece and the receiver, further, in the above scheme: the LINUX system control board, the RTK positioning module single-chip microcomputer control piece and the receiver are fixed on the top surface of the support frame.

[0017] In order to facilitate the farmers to adjust the track and reduce the maintenance cost in the later period, further, in the above scheme: the track-type running mechanism further comprises a track support frame, fixed supporting wheels and movable supporting wheels installed at both ends of the track support frame, and a driving wheel located at the middle part of the track support frame, and at least five driving teeth are uniformly distributed on the outer edge of the driving wheel, and under normal circumstances, at least three driving teeth are inserted into corresponding three driving grooves matched with the driving teeth, and each driving groove is independently arranged on each track link block, and a plurality of track link blocks are fixed to form a track.

[0018] The fixed supporting wheel is fixed on one end of the track support frame through a pin shaft or a bolt, the movable supporting wheel is fixed in the strip-shaped hole on the other end of the track support frame through a bolt X, an adjusting push rod is fixed on the end of the bolt X extending out of the strip-shaped hole, a locking nut and an adjusting nut are threadedly connected on the threaded section of the adjusting push rod, the screw rod section of the adjusting push rod between the locking nut and the adjusting nut is located in the clamping groove of the limiting plate, and the limiting plate is fixed on the track support frame and close to the driving wheel.

[0019] In order to facilitate the disassembly and assembly of the track and the maintenance in the later period, further, in the above scheme: the adjacent two track link blocks are fixed as a whole through a pin shaft, and the track link block further comprises a support plate, a claw foot plate a located at the middle part of one end of the support plate, and two claw foot plates b located at both sides of one end of the support plate, and the two claw foot plates b have a gap for the claw foot plate a on the adjacent track link block to swing; the lower part of the claw foot plate a is provided with a pin shaft hole a, the lower part of the claw foot plate b is provided with a pin shaft hole b, and a clamping groove is arranged on the support plate.

[0020] In order to improve the overall stress, further, in the above scheme: the track support frame is fixed with the bottom of the support frame through the support beam.

[0021] In order to prevent the mud from splashing during rotary tillage, further, in the above scheme: the rotary tillage mechanism further comprises a mud guard fixed on the bearing sleeve on the rotary tillage shaft, and the bearing sleeve is fixed on the lower part of the cutter box.

[0022] In order to realize one machine with multiple functions, further, in the above scheme: a water pump connecting seat is arranged on the rear box, and the water pump power output shaft in the rear box extends into the water pump connecting seat.

[0023] In order to simplify the structure of the rear box and the speed change upper box, further, in the above scheme: the rear box and the speed change upper box are fixed as a whole through the box connecting frame, the cylinder body of the cylinder or the hydraulic cylinder at the position where the piston rod is fixed on the universal shaft is fixed on the cylinder body supporting connecting frame, and the cylinder body supporting connecting frame is fixed on the box connecting frame.

[0024] In order to ensure that the structure is more compact, further, in the above scheme: the axis of the water pump power output shaft in the rear box is parallel to the axis of the air pressure pump or the hydraulic pump power input shaft of the air pressure pump or the hydraulic pump, and the power output end of the water pump power output shaft and the air pressure pump or the hydraulic pump power input shaft of the air pressure pump or the hydraulic pump is located on the same side of the rear box.

[0025] The beneficial effects of the present application are:

[0026] 1. The rationality of the position layout of the speed change lower box and the rear box connected with the two power output shafts of the speed change upper box, i.e. the speed change lower box and the rear box and the speed change upper box, makes the overall layout structure of the micro tiller simple, compared with the existing structure, effectively removes the redundant support structure, reduces the overall weight, and makes the unmanned remote control system more easy to control the micro tiller.

[0027] 2. The track of the present application is a plurality of track blocks with the same structure, which are fixed as a whole by a pin shaft after being buckled with each other, so that the track driving structure is simplified, only one driving wheel is needed, the whole unmanned remote control track type micro tiller structure is simple, and the post-maintenance is facilitated.

[0028] 3. The reversing control system of the present application realizes the lifting control of the rotary tillage mechanism by opening and closing one cylinder or hydraulic cylinder through the corresponding electromagnetic valve; two other cylinders or hydraulic cylinders are realized by two other corresponding electromagnetic valves, so that the two sets of track type running mechanisms can run on one side or both sides according to actual needs. The running and rotary tillage are easy to control.

[0029] 4、The application of the unmanned remote control system of the present application reduces the labor intensity of farmers, and the unmanned remote control system adopts the same control technology as the remote control car for children to play, so that farmers can learn without obstacles and promote without difficulty. Other advantages, objects and features of the present application will be described in the subsequent specification to some extent, and to some extent, it will be obvious to those skilled in the art based on the study of the following text or can be taught from the practice of the present application. The objects and other advantages of the present application can be achieved and obtained by the following specification. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to make the objects, technical solutions and advantages of the present application clearer, the preferred detailed description of the present application will be combined with the drawings as follows, wherein:

[0031] Figure 1 is a schematic view of the three-dimensional structure of the present application;

[0032] Figure 2 is a schematic view of the three-dimensional structure of the present application in the explosion state;

[0033] Figure 3 is a schematic view of the three-dimensional structure of the present application when the protective cover is opened;

[0034] Figure 4 is a schematic view of the three-dimensional structure of the present application at the track;

[0035] Figure 5 is a schematic view of the three-dimensional structure of the track block of the present application;

[0036] Figure 6 is a schematic view of the three-dimensional structure of the present application at the rear box position;

[0037] Figure 7 is a schematic view of the three-dimensional structure of the gear train in the rear box of the present application;

[0038] Figure 8 is a schematic view of the three-dimensional structure of the gear train in the cutter small box of the present application;

[0039] Figure 9 is a control block diagram of the present application;

[0040] Reference signs: 1, support frame; 2, power system; 3, unmanned remote control system; 4, reversing control system; 5, track-type running gear; 6, speed change system; 7, rotary tillage mechanism; 8, reversing control system support plate; 9, protective cover; 10, receiver; 11, remote controller; 12, pipeline; 13, water pump connecting seat; 14, box connecting frame; 15, cylinder body support connecting frame;

[0041] 201, battery; 202, electric control board; 203, motor;

[0042] 301, LINUX system control board; 302, environment sensing module; 303, decision planning module; 304, WIFI module; 305, security module; 306, single-chip microcomputer control piece; 307, touch display screen; 308, RTK positioning module;

[0043] 3021, camera; 3022, laser radar; 3023, millimeter wave radar;

[0044] 401, pneumatic or hydraulic tank; 402, electromagnetic valve; 403, pneumatic or hydraulic cylinder; 404, piston rod; 405, movable clamping jaw; 501, walking drive shaft; 502, fixed supporting wheel; 503, movable supporting wheel; 504, drive wheel; 505, drive tooth; 506, drive groove; 507, track link block; 508, track; 509, strip-shaped hole; 510, bolt X; 511, adjusting push rod; 512, track support frame; 513, locking nut; 514, adjusting nut; 515, limiting plate; 516, clamping groove

[0045] 5071, support plate; 5072, claw foot plate a; 5073, claw foot plate b; 5074, notch; 5075, pin shaft hole a; 5076, pin shaft hole b;

[0046] 601, speed change upper box; 602, speed change lower box; 603, rear box; 604, cutter power output shaft; 605, pneumatic or hydraulic pump power input shaft; 606, water pump power output shaft; 701, cutter small box; 702, rotary tillage power input shaft; 703, universal shaft; 704, rotary tillage rotating shaft; 705, rotary tillage cutter; 706, rotary tillage driven bevel gear; 707, rotary tillage driving bevel gear. DETAILED DESCRIPTION

[0047] The present application is described herein with reference to specific embodiments thereof which are illustrated in the accompanying drawings. These embodiments are described in detail so as to enable those skilled in the art to practice the application, and will provide workings of the application to persons of ordinary skill in the art. Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. Various embodiments and subcombinations of these embodiments can be employed without departing from the spirit of the application. It is intended that the specification and shown drawings be considered as illustrative only presenting the preferred embodiment of the application and that the scope of the application is to be given by the claims.

[0048] The accompanying drawings are only used for illustrative purposes, and the representation is only a schematic diagram, not a physical diagram, and cannot be understood as a limitation of the patent; in order to better illustrate the embodiments of the present application, some components of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted. In addition, the present application can repeatedly refer to numbers and / or letters in different examples. Such repetition is for the purpose of simplification and clarity, and in itself does not indicate the relationship between the various embodiments and / or settings discussed.

[0049] As shown in Figures 1-9 The unmanned remote control tracked mini-cultivator described in the present application comprises a support frame 1, a power system 2 located above the support frame 1, an unmanned remote control system 3 and a reversing control system 4, two sets of tracked running mechanisms 5 located below the support frame 1, a speed change system 6 connected with the power output end of the power system 2, and a rotary tillage mechanism 7 connected with the power output end of the speed change system 6; wherein:

[0050] The power output end of the speed change system 6 is connected with the power input end of the tracked running mechanism 5, the speed change system 6 further comprises a speed change upper box 601, a speed change lower box 602 and a rear box 603 connected with the two power output shafts of the speed change upper box 601, the axis center line of the power input shaft of the rear box 603 is parallel to or located on the same straight line as the axis center line of the power input shaft of the speed change upper box 601, and the axis center line of the power input shaft of the speed change lower box 602 is perpendicular to the axis center line of the power input shaft of the speed change upper box 601, the power output shaft of the speed change lower box 602 is connected with the power input end of the tracked running mechanism 5; the power output end of the rear box 603 is provided with a cutter power output shaft 604, the axis center line of the cutter power output shaft 604 has an included angle with the axis center line of the power input shaft of the rear box 603, the cutter power output shaft 604 is connected with a universal shaft 703, and the lower end of the universal shaft 703 is connected with a rotary tillage power input shaft 702 in a rotary tillage small box 701 of the rotary tillage mechanism 7;

[0051] The rotary tillage mechanism 7 further comprises a rotary tillage cutter 705 installed on a rotary tillage rotating shaft 704, the rotary tillage rotating shaft 704 passes through the lower part of the cutter small box 701, and the rotary tillage rotating shaft 704 is provided with a rotary tillage driven bevel gear 706 on the shaft section of the cutter small box 701, a rotary tillage driving bevel gear 707 engaged with the rotary tillage driven bevel gear 706, and the rotary tillage driving bevel gear 707 is fixed at the lower end of the rotary tillage power input shaft 702;

[0052] The housing of the variable speed upper box 601 and / or the housing of the rear box 603 is fixed with a reversing control system support plate 8, and the reversing control system 4 is fixed on the reversing control system support plate 8; the reversing control system 4 further includes an air pressure or hydraulic tank 401 and three electromagnetic valves 402 fixed on the reversing control system support plate 8, and the three electromagnetic valves 402 control the opening and closing of three air cylinders or hydraulic cylinders 403 respectively, the cylinder body of one of the three air cylinders or hydraulic cylinders 403 is fixed on the housing of the variable speed upper box 601 and / or the housing of the rear box 603, and the piston rod 404 of the air cylinder or hydraulic cylinder 403 fixed on the housing of the variable speed upper box 601 and / or the housing of the rear box 603 is fixed on the housing of the universal shaft 703; the movable clamping jaws 405 of the other two air cylinders or hydraulic cylinders 403 are respectively located on the driving shafts 501 of the two sets of track-type running mechanisms 5; the air cylinder or hydraulic cylinder 403 is connected in series with the air pressure pump or hydraulic pump 405, the electromagnetic valve 402 and the air pressure or hydraulic tank 401 through the pipeline 12; the power input shaft of the air pressure pump or hydraulic pump 403 is connected with the power input shaft 605 of the air pressure pump or hydraulic pump on the rear box 603.

[0053] The power system 2 further includes at least one storage battery 201, which is electrically connected with an electric control board 202, and the electric control board 202 is electrically connected with a motor 203, the power output shaft of the motor 203 is connected with the power input shaft of the variable speed upper box 601, and the storage battery 201 is electrically connected with the unmanned remote control system 3.

[0054] In order to ensure that the unmanned remote control can be realized and the control is simple, in the above embodiment, the unmanned remote control system 3 further includes a LINUX system control board 301, an environment perception module 302, an RTK positioning module 308, a decision planning module 303, a WIFI module 304, a safety module 305, a single-chip microcomputer control piece 306 and a touch display screen 307 electrically connected with the LINUX system control board 301.

[0055] The environment perception module 302 further includes a camera 3021, a laser radar 3022 and a millimeter wave radar 3023, and the camera 3021, the laser radar 3022, the millimeter wave radar 3023 and the touch display screen 307 are all fixed on the top of the protective cover 9, which is fixed on the support frame 1 and / or the reversing control system support plate 8.

[0056] The RTK positioning module 308 further includes a base station, an antenna, a dual-frequency positioning module and a wireless data transmission module.

[0057] The single-chip microcomputer control piece 306 further includes a receiver 10 and a remote controller 11, and the receiver 10 is electrically connected with the electric control board 202 and the electromagnetic valve 402.

[0058] In order to protect the service life of the LINUX system control board 301, the RTK positioning module 308, the single-chip microcomputer control board 306 and the receiver 10, in the above embodiment, the LINUX system control board 301, the RTK positioning module 308, the single-chip microcomputer control board 306 and the receiver 10 are all fixed on the top surface of the support frame 1.

[0059] In the above unmanned remote control system 3, the environment perception includes camera, laser radar and millimeter wave radar. The laser radar scans the surrounding to obtain point cloud data and transmits it to the processor. Different point cloud data is extracted and classified to realize the recognition of dynamic and static obstacles such as people, animals and numbers. The millimeter wave radar emits millimeter wave outward and receives the target reflection signal to detect the obstacles around the machine. The camera confirms the obstacles detected by the millimeter wave radar, and the processor processes to obtain more accurate obstacle distance information. Finally, the type and distance information of the obstacle are transmitted to the decision planning module, and the distance information of the obstacle is transmitted to the safety module. The RTK positioning module includes a reference station, an antenna, a dual-frequency positioning module and a wireless data transmission module. The reference station continuously observes the satellite and transmits its observation data and station information to the antenna for wireless transmission, which is sent to the micro-cultivator positioning module in real time. The micro-cultivator positioning module receives the data transmitted by the reference station through the wireless receiving device while receiving the satellite signal, and then calculates the three-dimensional coordinates and accuracy of the micro-cultivator in real time according to the principle of relative positioning, and then sends the data to the LINUX system through the serial port to obtain the high-precision positioning of the micro-cultivator in real time. The decision planning module includes behavior decision algorithm and path planning algorithm. The decision control receives real-time position from the RTK positioning module, type and distance information of the obstacle from the environment perception module, action intervention instructions and attitude data from the single-chip system, and data instructions from the WiFi module, and combines the path information planned by the path planning algorithm for comprehensive analysis, calculates the action to be taken by the micro-cultivator, and then controls the specific action of the micro-cultivator through CAN bus communication, digital or analog output. The path planning module first drives the micro-cultivator around the edge of the to-be-worked land to determine the boundary and position information of the to-be-worked land, and then selects the path planning mode: horizontal mode or ring mode, and the path planning algorithm automatically plans the path. The safety module includes anti-collision and emergency stop module. The automatic gearbox is a control unit for controlling the direction and power position of the micro-cultivator. During the working process of the unmanned micro-cultivator, it mainly works in the mode of receiving decision control instructions through CAN bus communication, but at the same time it also directly receives obstacle distance information from the environment perception module through CAN bus communication. When the distance between the obstacle and the micro-cultivator is less than 3 meters, but the decision control module still does not make brake or turning action instructions due to some unknown reasons, the automatic gearbox control unit will directly enter the protection mode, immediately switch the micro-cultivator power to neutral, turn off the power output device and hydraulic device, and send a distress warning to the monitoring personnel through the WiFi module. If the decision control module and the anti-collision module fail due to some unknown reasons, the monitoring personnel can still press the emergency stop button on the remote controller. When the receiver on the single-chip receives the emergency stop signal, the single-chip system sends an emergency stop instruction to drive the electromagnetic relay to cut off the power supply of the engine control unit, realizing reliable and rapid emergency stop. WiFi module.The camera image, radar and other information are transmitted to the mobile phone APP or PC terminal through wireless transmission. The mobile phone terminal and PC terminal can also send some instructions to the LINUX system through remote connection. The single-chip microcomputer system includes a receiver, a remote controller and an inertial attitude module. The inertial attitude module obtains the speed, angle and other data of the machine and then feeds back to the system, and then the system makes adjustment commands. The single-chip microcomputer system receives instructions from the LINUX system, and then controls electromagnetic valves, relays, motor drives and the like through the IO port to realize the actions of the machine. The remote controller sends signals, which are transmitted to the receiver through radio frequency communication. The single-chip microcomputer processes the signals and then sends instruction information to control the switching of the relays and electromagnetic valves to complete the corresponding actions.

[0060] To facilitate the farmers to adjust the track 508 and reduce the maintenance cost in the later period, further, in the above embodiment: the track-type running gear 5 further comprises a track support frame 512, fixed supporting wheels 502 and movable supporting wheels 503 installed at both ends of the track support frame 512, and a drive wheel 504 located at the middle part of the track support frame 512. At least five driving teeth 505 are uniformly distributed on the outer edge of the drive wheel 504. Under normal circumstances, at least three driving teeth 505 are inserted into the corresponding three driving grooves 506 matched therewith. Each driving groove 506 corresponds to an independently arranged track link block 507. A plurality of track link blocks 507 are fixedly integrated to form a track 508, which is sleeved on the outer edges of the fixed supporting wheels 502, the movable supporting wheels 503 and the drive wheel 504.

[0061] The fixed supporting wheel 502 is fixed at one end of the track support frame 512 through a pin shaft or a bolt. The movable supporting wheel 503 is fixed in a strip-shaped hole 509 on the other end of the track support frame 512 through a bolt X 510. An adjusting push rod 511 is fixed at the end of the bolt X 510 extending out of the strip-shaped hole 509. A locking nut 513 and an adjusting nut 514 are threadedly connected on the threaded section of the adjusting push rod 511. The screw rod section of the adjusting push rod 511 between the locking nut 513 and the adjusting nut 514 is located in the clamping groove 516 of the limiting plate 515. The limiting plate 515 is fixed on the track support frame 512, and the limiting plate 515 is close to the drive wheel 504.

[0062] For the convenience of loading and unloading the track 508 and the convenience of later maintenance, further, in the above embodiment: two adjacent track blocks 507 are fixed as a whole through a pin shaft, the track block 507 further comprises a support plate 5071, a claw foot plate a 5072 located at the middle of one end of the support plate 5071, two claw foot plates b 5073 located at both sides of one end of the support plate 5071, and the two claw foot plates b 5073 have a gap 5074 for the claw foot plate a 5072 on the adjacent track block 507 to swing; the lower part of the claw foot plate a 5072 is provided with a pin shaft hole a 5075, the lower part of the claw foot plate b 5073 is provided with a pin shaft hole b 5076, and a clamping groove 516 is arranged on the support plate 5071.

[0063] In order to improve the overall stress, further, in the above embodiment: the track support frame 512 is fixed as a whole with the bottom of the support frame 1 through the support beam 13.

[0064] In order to prevent the mud from splashing during rotary tillage, further, in the above embodiment: the rotary tillage mechanism 7 further comprises a mud guard 708, the mud guard 708 is fixed on a bearing sleeve located on the rotary tillage shaft 704, and the bearing sleeve is fixed on the lower part of the cutter small box 701.

[0065] In order to realize one machine with multiple functions, further, in the above embodiment: the rear box 603 is provided with a water pump connecting seat 13, and the water pump power output shaft located in the rear box 603 extends into the water pump connecting seat 13.

[0066] In order to simplify the structure of the rear box 603 and the speed change upper box 601, further, in the above embodiment: the rear box 603 and the speed change upper box 601 are fixed as a whole through a box connecting frame 14, the piston rod 404 is fixed at the position of the cylinder body of the pneumatic cylinder or hydraulic cylinder 403 on the universal shaft 703, the cylinder body is fixed on a cylinder body support connecting frame 15, and the cylinder body support connecting frame 15 is fixed on the box connecting frame 14.

[0067] In order to ensure that the structure is more compact, further, in the above embodiment: the axis line of the water pump power output shaft 606 located in the rear box 603 is parallel to the axis line of the pneumatic pump or hydraulic pump power input shaft 605 of the pneumatic pump or hydraulic pump 403, and the power output end of the water pump power output shaft and the pneumatic pump or hydraulic pump power input shaft 605 of the pneumatic pump or hydraulic pump 403 are located on the same side of the rear box 603.

[0068] All the above components are market sales products.

[0069] The working process of the application is: the unmanned remote control system 3 controls whether the rotary tillage mechanism 7 rotates and the rotary tillage depth according to the actual rotary tillage environment according to the pre-input program, and controls the track type walking mechanism 5 walking track.

[0070] The above unmanned remote control system 3 adopts conventional prior art, and the description about the program control is for the convenience of the person skilled in the art to understand the present application, and is not the invention point to be protected by the present application. In the present application, the structure about the gear and the reverse gear adopts conventional prior art, and will not be described herein. Finally, it is to be explained that the above embodiments are only used to illustrate the technical solutions of the present application but not to limit the present application. Although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced equivalently without departing from the purpose and scope of the technical solutions, and all should be covered in the scope of the claims of the present application.

Claims

1. A remote control unmanned tracked mini-cultivator, comprising a support frame (1), a power system (2) above the support frame (1), a remote control unmanned control system (3) and a reversing control system (4), a tracked running gear (5) below the support frame (1), a speed change system (6) connected with the power output end of the power system (2), and a rotary tillage mechanism (7) connected with the power output end of the speed change system (6); characterized in that: the power output end of the speed change system (6) is connected with the power input end of the tracked running gear (5), the speed change system (6) further comprises a speed change upper box (601), a speed change lower box (602) and a rear box (603) connected with the two power output shafts of the speed change upper box (601), the axis center line of the power input shaft of the rear box (603) is parallel to or on the same straight line with the axis center line of the power input shaft of the speed change upper box (601), the axis center line of the power input shaft of the speed change lower box (602) is perpendicular to the axis center line of the power input shaft of the speed change upper box (601), and the power output shaft of the speed change lower box (602) is connected with the power input end of the tracked running gear (5); the power output end of the rear box (603) is provided with a cutter power output shaft (604), the axis center line of the cutter power output shaft (604) has an included angle with the axis center line of the power input shaft of the rear box (603), the cutter power output shaft (604) is connected with a universal shaft (703), and the lower end of the universal shaft (703) is connected with a rotary tillage power input shaft (702) in a cutter small box (701) of the rotary tillage mechanism (7); the rotary tillage mechanism (7) further comprises a rotary tillage blade (705) mounted on a rotary tillage rotating shaft (704) penetrating through the lower part of the cutter small box (701), and a rotary tillage driven bevel gear (706) provided on the shaft section of the cutter small box (701), a rotary tillage driving bevel gear (707) engaged with the rotary tillage driven bevel gear (706), and the rotary tillage driving bevel gear (707) is fixed on the lower end of the rotary tillage power input shaft (702). The housing of the variable speed upper box (601) and / or the housing of the rear box (603) is fixed with a reversing control system support plate (8), and the reversing control system (4) is fixed on the reversing control system support plate (8); the reversing control system (4) further comprises an air pressure or hydraulic tank (401) and three electromagnetic valves (402) fixed on the reversing control system support plate (8), the three electromagnetic valves (402) control the opening and closing of three air cylinders or hydraulic cylinders (403) respectively, the cylinder body of one of the three air cylinders or hydraulic cylinders (403) is fixed on the housing of the variable speed upper box (601) and / or the housing of the rear box (603), and the piston rod (404) of the air cylinder or hydraulic cylinder (403) fixed on the housing of the variable speed upper box (601) and / or the housing of the rear box (603) is fixed on the housing of the universal shaft (703); the movable clamping jaws (405) of the other two air cylinders or hydraulic cylinders (403) are respectively located on the running drive shaft (501) of the two sets of track-type running mechanisms (5); the air cylinder or hydraulic cylinder (403) is connected in series with the air pressure pump or hydraulic pump, the electromagnetic valve (402) and the air pressure or hydraulic tank (401) through the pipeline (12); the power input shaft of the air pressure pump or hydraulic pump (403) is connected with the air pressure pump or hydraulic pump power input shaft (605) on the rear box (603). The power system (2) further comprises at least one storage battery (201), the storage battery (201) is electrically connected with the electric control board (202), the electric control board (202) is electrically connected with the motor (203), the power output shaft of the motor (203) is connected with the power input shaft of the variable speed upper box (601), and the storage battery (201) is electrically connected with the unmanned remote control system (3).

2. The unmanned remote control tracked mini-tiller according to claim 1, characterized in that: The unmanned remote control system (3) further comprises a LINUX system control board (301), an environment perception module (302), an RTK positioning module (308), a decision planning module (303), a WIFI module (304), a safety module (305), a single-chip microcomputer control piece (306) and a touch display screen (307) electrically connected with the LINUX system control board (301); The environment perception module (302) further comprises a camera (3021), a laser radar (3022) and a millimeter wave radar (3023), the camera (3021), the laser radar (3022), the millimeter wave radar (3023) and the touch display screen (307) are all fixed on the top of the protective cover (9), and the protective cover (9) is fixed on the support frame (1) and / or the reversing control system support plate (8); The RTK positioning module (308) further comprises a base station, an antenna, a dual-frequency positioning module and a wireless data transmission module; The single-chip microcomputer control piece (306) further comprises a receiver (10) and a remote controller (11), and the receiver (10) is electrically connected with the electric control board (202) and the electromagnetic valve (402).

3. The unmanned remote control tracked mini-tiller as claimed in claim 2, wherein: The LINUX system control board (301), RTK positioning module (308) single-chip microcomputer control sheet (306) and receiver (10) are all fixed on the top plate surface of the support frame (1).

4. The unmanned remote control tracked mini-tiller as claimed in claim 1, wherein: The crawler traveling mechanism (5) further comprises a crawler support frame (512), fixed supporting wheels (502) and movable supporting wheels (503) installed at both ends of the crawler support frame (512), and a driving wheel (504) located at the middle part of the crawler support frame (512), wherein at least five driving teeth (505) are uniformly distributed on the outer edge of the driving wheel (504), and at least three driving teeth (505) are inserted into corresponding three driving grooves (506) matched with the driving teeth (505) under normal conditions, each driving groove (506) is independently arranged on each crawler link block (507), and a plurality of crawler link blocks (507) are fixed to form a crawler belt (508), which is sleeved on the outer edges of the fixed supporting wheels (502), the movable supporting wheels (503) and the driving wheel (504). The fixed supporting wheels (502) are fixed at one end of the crawler support frame (512) through a pin shaft or a bolt, the movable supporting wheels (503) are fixed in the strip-shaped hole (509) on the other end of the crawler support frame (512) through the bolt X (510), the adjusting push rod (511) is fixed at the end of the bolt X (510) extending out of the strip-shaped hole (509), the threaded section of the adjusting push rod (511) is threadedly connected with the locking nut (513) and the adjusting nut (514), the screw rod section of the adjusting push rod (511) between the locking nut (513) and the adjusting nut (514) is located in the clamping groove (516) of the limiting plate (515), and the limiting plate (515) is fixed on the crawler support frame (512) and close to the driving wheel (504).

5. The unmanned remote control tracked mini-tiller as claimed in claim 4, wherein: The adjacent two crawler link blocks (507) are fixed as a whole through a pin shaft, and the crawler link block (507) further comprises a supporting plate (5071), a claw foot plate a (5072) located at the middle part of one end of the supporting plate (5071), and two claw foot plates b (5073) located at both sides of one end of the supporting plate (5071), wherein the two claw foot plates b (5073) have a gap (5074) for the claw foot plate a (5072) on the adjacent crawler link block (507) to swing, the lower part of the claw foot plate a (5072) is provided with a pin shaft hole a (5075), the lower part of the claw foot plate b (5073) is provided with a pin shaft hole b (5076), and the clamping groove (516) is arranged on the supporting plate (5071).

6. The unmanned remote control tracked mini-tiller as claimed in claim 4, wherein: The crawler support frame (512) is fixed as a whole with the bottom of the support frame (1) through a support beam.

7. The unmanned remote control tracked mini-tiller of claim 1, wherein: The mud guard (708) is fixed on the bearing sleeve located on the rotary tillage rotating shaft (704), and the bearing sleeve is fixed on the lower part of the cutter small box (701).

8. The unmanned remote control tracked mini-tiller of claim 1, wherein: The water pump connecting seat (13) is arranged on the rear box (603), and the water pump power output shaft in the rear box (603) extends into the water pump connecting seat (13).

9. The unmanned remote control tracked mini-tiller as claimed in claim 1 or 8, wherein: The rear box (603) and the variable speed upper box (601) are fixed as a whole through a box connecting frame (14), the piston rod (404) is fixed on the cylinder body of the air cylinder or hydraulic cylinder (403) at the position of the universal shaft (703), and the cylinder body is fixed on a cylinder body supporting connecting frame (15) which is fixed on the box connecting frame (14).

10. The unmanned remote control tracked mini-tiller as claimed in claim 8, wherein: The axis center line of the water pump power output shaft (606) in the rear box (603) is parallel to the axis center line of the air pressure pump or hydraulic pump power input shaft (605) of the air pressure pump or hydraulic pump (403), and the power output end of the water pump power output shaft and the air pressure pump or hydraulic pump power input shaft (605) of the air pressure pump or hydraulic pump (403) are located on the same side of the rear box (603).

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