Hill steel caterpillar rotary tillage robot

Abstract

This invention discloses a tracked rotary tiller robot for hilly terrain, specifically relating to a tracked rotary tiller robot device. It includes a frame with two pulleys fixedly mounted on its left and right sides. A diesel engine is fixedly mounted on the upper rear center of the frame. The diesel engine is connected to a generator shaft via an output shaft, and a power supply unit is fixedly mounted thereon. This power supply unit is then connected to a clutch shaft, with an electromagnetic clutch fixedly mounted in the center. Power is output from the clutch shaft via a coupling. Lifting mechanisms are fixedly mounted on the left and right sides of the diesel engine, located on the rear center of the frame, between the two pulleys. An equipment box is fixedly mounted on the upper part of the transmission clutch, and a rotary tiller is fixedly mounted behind the electromagnetic clutch. This invention allows the robot to adjust the tension of the track pulleys to adapt to different terrains. It also incorporates a generator and a battery, enabling hybrid operation by driving the electric motor when only walking is not required or when diesel fuel is unavailable.

Description

Technical Field

[0001] This invention relates to the field of tracked rotary tillage robot equipment technology, and in particular to a steel tracked rotary tillage robot for hills. Background Technology

[0002] In mountainous areas, hilly areas, greenhouses, and under economic forests, the areas are small, with large bends and steep slopes, requiring small and flexible machinery to replace manual labor. To ensure safety, it is necessary to separate humans from machines and enable remote control. Agricultural robots, due to their small size and maneuverability, have solved the needs of manual labor in mountainous areas, hilly areas, greenhouses, and under economic forests.

[0003] Chinese patent document CN111758311A discloses an orchard rotary tillage robot, including a walking unit, a rotary tillage unit, and a control unit. The walking unit includes a tracked vehicle driven by a brushless motor. The rotary tillage unit includes a rotary tiller, which is hinged to the rear of the tracked vehicle via a connecting rod. A lifting rod motor is fixedly installed on the tracked vehicle. The drive rod of the lifting rod motor is hinged to the top of the rotary tiller via a lifting rod. The rotary tiller can be lifted by pulling the lifting rod motor. A rotary tillage motor is also fixed on the tracked vehicle. The rotary tillage motor is connected to the power output shaft of the rotary tiller via a coupling and drives the rotary tiller's blades.

[0004] In practical applications, the tightness of the tracks cannot be adjusted, which means the robot can only work in areas with good terrain and cannot work in areas with poor terrain. Furthermore, when the robot loses its power source, there is no backup power source, which renders it unable to work, greatly reducing the robot's work efficiency and its practicality and reliability. Summary of the Invention

[0005] The main objective of this invention is to provide a steel-tracked rotary tillage robot for hilly terrain, which can effectively solve the problem that robots cannot work in harsh terrain.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] A hill-crawling rotary tiller robot includes a frame with two pulleys fixedly mounted on its left and right sides. A diesel engine is fixedly mounted on the upper rear center of the frame, and a power unit is fixedly mounted on the output end of the diesel engine via a coupling. A transmission clutch is fixedly mounted in the middle of the power unit. Lifting mechanisms are fixedly mounted on the left and right sides of the diesel engine and on the rear center of the frame, with the two lifting mechanisms located between the two pulleys. An equipment box is fixedly mounted on the upper part of the transmission clutch, and a rotary tiller is fixedly mounted on the front of the transmission clutch.

[0008] Preferably, the transmission clutch includes a clutch body, an adjustment handle is fixedly installed on the right rear part of the clutch body, a first drive shaft is provided on both the left and right front sides of the clutch body, and a second drive shaft is provided on both the left and right rear sides of the clutch body.

[0009] Preferably, the frame includes a fixing rod, on which two side plates are threadedly installed on both outer surfaces. Each side plate has a limiting groove on both its front and rear sides, and a limiting groove on its upper front side. A pusher is fixedly installed on the rear side of one of the two inner side plates that are close to each other. A T-block is fixedly installed on the front side of one of the two inner side plates that are close to each other. A support plate is fixedly installed at the lower part of one of the two T-blocks that are close to each other. Two push plates are movably connected to the middle of the fixing rod. A support plate is fixedly installed on the rear side of the upper part of the two push plates. The left side of the two push plates is rotatably mounted on the lower part of the transmission clutch.

[0010] Preferably, the lifting mechanism includes a slide rail, a fixing plate is fixedly installed on the upper rear side of the slide rail, and arc-shaped plates are fixedly installed on the upper sides of both the left and right end faces of the fixing plate. A cylinder is rotatably installed on the upper side of the relatively close end of the arc-shaped plates. An L-shaped plate is rotatably installed with bolts on the end of the cylinder near the push plate. A pulley is rotatably installed with bolts on the end of the L-shaped plate near the slide rail, and the pulley is slidably installed inside the slide rail. One end of the horizontal portion of the L-shaped plate is fixedly and rotatably installed on one side of the support plate.

[0011] Preferably, the pulley includes a drive wheel, which is fixedly installed in two limiting grooves on its left and right sides using shims. The drive wheel is fixedly connected to the transmission shaft. A guide wheel is movably installed between the limiting grooves on the front and rear sides of the two side plates using screws. An adjustment mechanism is fixedly installed on the rear side of the two side plates at their opposite ends. The adjustment mechanism is movably connected to the guide wheel located on the rear side. A track wheel is fitted around the outer surface of the drive wheel and the two guide wheels.

[0012] Preferably, the adjusting mechanism includes a fixing block, which is fixedly installed on the rear side of one end of the two side plates that are far apart from each other. A threaded rod passes through the middle of the front and rear end faces of the fixing block. The threaded rod is threadedly connected to the fixing block. Nuts with threads installed on the outer surface of the threaded rod are provided on both the front and rear sides of the fixing block. An L-shaped plate is rotatably installed on the rear end of the threaded rod. A U-shaped groove is opened on the rear side of the horizontal part of the L-shaped plate, and the U-shaped groove is movably connected to the directional wheel. A nut with threads installed on the outer surface of the threaded rod is provided at the front end of the vertical part of the L-shaped plate.

[0013] Preferably, the track wheel is composed of several track plates connected together. Each track plate includes a triangular plate with convex grooves on its upper and lower end faces. A connecting block is fixedly installed on each of the upper triangular faces of the triangular plate. Connecting holes are opened on the left and right end faces of the connecting blocks. Two limiting strips are fixedly installed on the front side of the lower end of the triangular plate.

[0014] Preferably, the rotary tiller includes a mudguard, which is fixedly installed on the upper front side of the transmission clutch. A top cover is fixedly installed on the front side of the mudguard. A turning mechanism is fixedly installed on the upper middle part of the top cover. Movable doors are movably installed on both the left and right sides of the upper part of the top cover. The bottom of the left and right sides of the turning mechanism is fixedly installed on the upper ends of the two movable doors. Two rotary tillage blades are fixedly installed on both the left and right sides of the lower end of the top cover. The two rotary tillage blades are fixedly connected to a drive shaft. A traction rod is fixedly installed on the upper front side of the top cover. Two sieve plates are fixedly installed on the middle front side of the top cover.

[0015] Preferably, the tightening mechanism includes a support block, the lower end of which is fixedly installed in the middle of the upper part of the top cover. A tightening screw is provided in the middle of the support block, the tightening screw passes through and is threadedly connected to the surface of the support block. A tightening device is fixedly installed at the front end of the tightening screw. Two arc-shaped limiting plates are provided between the tightening device and the support block. The two arc-shaped limiting plates are movably installed in the middle of the tightening screw. The bottom right side of the arc-shaped limiting plate located on the front side is fixedly installed in the upper part of the right movable door, and the bottom left side of the arc-shaped limiting plate located on the rear side is fixedly installed in the upper part of the left movable door.

[0016] Preferably, the power unit includes a generator, which is fixedly installed at the output end of the diesel engine. Batteries are provided on both the left and right sides of the generator, and two batteries are fixedly installed on the upper part of the T-shaped block. An electric motor is provided at the lower part of the batteries.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. An adjustment mechanism is set up, which controls the distance between the two directional wheels by adjusting the nut. The tension of the track wheels can be adjusted, so that the robot can adapt to different geographical features and work in many places without being unable to move. Specific track plates can limit the position of all wheels, and the use of the adjustment mechanism can prevent the track from disengaging from the wheels, thus avoiding accidents and damage to the robot.

[0019] 2. A lifting and lowering mechanism is set up. The lifting and lowering of the front rotary tiller can be controlled by adjusting the scaling of two cylinders. The structure is simple and easy to repair in case of damage. In addition, the robot is not only powered by a diesel engine, but also equipped with a battery and an electric motor, which can operate in a hybrid mode. Even without diesel, it can work, which enhances the robot's work efficiency. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the component structure of the present invention;

[0022] Figure 3 This is a schematic diagram of the vehicle frame structure of the present invention;

[0023] Figure 4 This is a schematic diagram of the lifting and placing mechanism of the present invention;

[0024] Figure 5 This is a schematic diagram of the working structure of the lifting and placing mechanism of the present invention;

[0025] Figure 6 This is a schematic diagram of the pulley structure of the present invention;

[0026] Figure 7 This is a schematic diagram of the adjustment mechanism structure of the present invention;

[0027] Figure 8 This is a schematic diagram of the upper structure of the track block of the present invention;

[0028] Figure 9 This is a schematic diagram of the lower structure of the track block of the present invention;

[0029] Figure 10 This is a schematic diagram of the rotary tiller structure of the present invention;

[0030] Figure 11 This is a schematic diagram of the tightening mechanism of the present invention;

[0031] Figure 12 This is a schematic diagram of the power unit structure of the present invention.

[0032] In the diagram: 1. Frame; 2. Pulley; 3. Diesel engine; 4. Electric motor; 5. Transmission clutch; 6. Lifting and lowering mechanism; 7. Equipment box; 8. Rotary tiller; 11. Fixing rod; 12. Side plate; 13. Limiting groove one; 14. Limiting groove two; 15. Hand push frame; 16. Push plate; 17. Support plate two; 18. T-block; 19. Support plate one; 21. Drive wheel; 22. Directional wheel; 23. Adjustment mechanism; 231. Fixing block; 232. Threaded rod; 233. Nut; 234. L-shaped plate two; 235. U-shaped groove; 24. Track wheel; 241. Track plate; 242. Triangular plate; 243. 244. Convex groove; 245. Connecting block; 246. Connecting hole; 247. Limiting strip; 41. Storage battery; 42. Motor; 43. Generator; 51. Clutch body; 52. Adjusting handle; 53. Drive shaft one; 54. Drive shaft two; 61. Slide rail; 62. Fixing plate; 63. Arc-shaped plate; 64. Cylinder; 65. L-shaped plate one; 66. Pulley; 81. Mudguard; 82. Top cover; 83. Tightening mechanism; 831. Support block; 832. Tightening screw; 833. Tightener; 834. Arc-shaped limiting plate; 84. Movable door; 85. Rotary tillage blade; 86. Pulling rod; 87. Screen plate. Detailed Implementation

[0033] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0034] like Figure 1 and Figure 2 As shown, the device includes a frame 1, characterized in that: two pulleys 2 are fixedly installed on the left and right sides of the frame 1; a diesel engine 3 is fixedly installed on the middle of the rear side of the frame 1; a power unit 4 is fixedly installed on the output end of the diesel engine 3 via a coupling; a transmission clutch 5 is fixedly installed in the middle of the power unit 4; lifting mechanisms 6 are fixedly installed on the left and right sides of the diesel engine 3 at the middle of the rear side of the frame 1; the two lifting mechanisms 6 are located between the two pulleys 2; an equipment box 7 is fixedly installed on the upper part of the transmission clutch 5; a rotary tiller 8 is fixedly installed on the front part of the transmission clutch 5; and the transmission clutch 5 controls the operation of the robot through two drive shafts.

[0035] To achieve multiple uses with one device, such as Figure 12As shown, the transmission clutch 5 includes a clutch body 51. An adjusting handle 52 is fixedly installed on the right rear part of the clutch body 51. A first transmission shaft 53 is provided on both the left and right sides of the front part of the clutch body 51, and a second transmission shaft 54 ​​is provided on both the left and right sides of the rear part of the clutch body 51. The transmission clutch 5 has four gears. When the transmission clutch 5 is in the 60 rpm output gear, it is used for rotary tillage. When the gear is in the 30 rpm gear, it is used for ridging and leveling. When the gear is in the 600 rpm gear, it is used for ditching. The last gear, 1800-2300 rpm, is used for weeding. It can play different roles at different speeds, and different blades need to be changed for different purposes.

[0036] To further explain, such as Figure 3 As shown, the frame 1 includes a fixed rod 11. Two side plates 12 are threadedly installed on both outer surfaces of the fixed rod 11. Limiting grooves 13 are opened on both the front and rear sides of the side plate 12. Limiting grooves 14 are opened on the upper front side of the side plate 12. A pusher 15 is fixedly installed on the rear side of the two inner side plates 12 that are close to each other. T-blocks 18 are fixedly installed on the front side of the two inner side plates 12 that are close to each other. Support plate 19 is fixedly installed on the lower part of the two T-blocks 18 that are close to each other. A diesel engine 3 is placed on the upper end of the support plate 19. Two push plates 16 are movably connected in the middle of the fixed rod 11. Support plate 17 is fixedly installed on the rear side of the upper end of the two push plates 16. The two push plates 16 are rotatably installed on the left side of the lower part of the transmission clutch 5. The frame 1 supports the basic framework of the entire robot.

[0037] In order for the rotary tiller to swing up and down, such as Figure 4 and 5 As shown, the lifting mechanism 6 includes a slide rail 61. A fixed plate 62 is fixedly installed on the rear side of the upper end of the slide rail 61. Arc-shaped plates 63 are fixedly installed on the upper side of both the left and right end faces of the fixed plate 62. A cylinder 64 is rotatably installed on the upper side of the relatively close end of the arc-shaped plates 63. An L-shaped plate 65 is bolted to the end of the cylinder 64 near the push plate 16. A pulley 66 is bolted to the end of the L-shaped plate 65 near the slide rail 61. The pulley 66 is slidably installed inside the slide rail 61. One end of the horizontal part of the L-shaped plate 65 is fixedly and rotatably installed on one side of the support plate 17. When the cylinder 64 in the lifting mechanism 6 is not extended, the pulley 66 is in front of the slide rail 61, the entire L-shaped plate 65 is in a flat state, and the rotary tiller 8 is in a raised state. When it is needed to work, the cylinder 64 extends, driving the pulley 66 to move to the rear side of the slide rail 61, driving the L-shaped plate 65 to a semi-vertical state, and the rotary tiller 8 is lowered to work.

[0038] In order for the machine to adapt to various terrains, such as Figure 6As shown, the pulley 2 includes a drive wheel 21. The drive wheel 21 is fixedly installed in two limiting grooves 14 on both sides using shims. The drive wheel 21 is fixedly connected to the transmission shaft 54. The two side plates 12 are connected to the limiting grooves 13 on both sides using screws to movably install directional wheels 22. An adjustment mechanism 23 is fixedly installed on the rear side of the two side plates 12 that are far apart from each other. The adjustment mechanism 23 is movably connected to the directional wheel 22 located on the rear side. A ring of tracked wheels 24 is embedded on the outer surface of the drive wheel 21 and the two directional wheels 22. The adjustment mechanism 23 in the pulley 2 can adjust the tightness of the tracked blocks 241 in the tracked wheel 24. It can adapt to different working sites. When turning is required, only the pulley 2 on the side to be turned needs to be rotated, while the pulley 2 on the other side remains stationary to achieve turning.

[0039] To further explain, such as Figure 7 As shown, the adjustment mechanism 23 includes a fixing block 231, which is fixedly installed on the rear side of one end of the two side plates 12 that are far apart from each other. A threaded rod 232 passes through the middle of the front and rear end faces of the fixing block 231. The threaded rod 232 is threadedly connected to the fixing block 231. Nuts 233 with threads installed on the outer surface of the threaded rod 232 are provided on both the front and rear sides of the fixing block 231. An L-shaped plate 234 is rotatably installed at the rear end of the threaded rod 232. A U-shaped groove 235 is opened on the rear side of the horizontal part of the L-shaped plate 234. The U-shaped groove 235 is movably connected to the directional wheel 22. A nut 233 with threads installed on the outer surface of the threaded rod 232 is provided at the front end of the vertical part of the L-shaped plate 234. Tightening the nuts on both sides of the fixing block 231 will cause the threaded rod 232 to move backward, which will drive the L-shaped plate 234 to move backward. The U-shaped groove 235 can push the directional wheel 22 located on the rear side to move backward, so that the track block 241 becomes tighter.

[0040] To elaborate further, such as Figure 8 and Figure 9 As shown, the tracked wheel 24 is composed of several tracked blocks 241 connected together. The tracked block 241 includes a triangular plate 242. The upper and lower end faces of the triangular plate 242 are provided with convex grooves 243. The upper triangular face of the triangular plate 242 is fixedly installed with a connecting block 244. The left and right end faces of the connecting block 244 are provided with connecting holes 245. The lower front side of the triangular plate 242 is fixedly installed with two limiting strips 246. The convex grooves 243 in the tracked block 241 can be locked on the power wheel 21 for limiting, while the limiting strips 246 limit the position of the directional wheel 22. When the connecting block 244 rotates, it can enter the soil downwards to increase the robot's grip.

[0041] In order for the machine to perform rotary tillage, such as Figure 10As shown, the rotary tiller 8 includes a mudguard 81, which is fixedly installed on the upper front side of the transmission clutch 5. A top cover 82 is fixedly installed on the front side of the mudguard 81. A turning mechanism 83 is fixedly installed on the middle upper part of the top cover 82. Movable doors 84 are movably installed on both the left and right sides of the upper part of the top cover 82. The bottom of the left and right sides of the turning mechanism 83 is fixedly installed on the upper ends of the two movable doors 84. Two rotary tillage blades 85 are fixedly installed on both the left and right sides of the lower end of the top cover 82. The two rotary tillage blades 85 are fixedly connected to the drive shaft 53. A pull rod 86 is fixedly installed on the upper front side of the top cover 82. Two sieve plates 87 are fixedly installed on the middle front side of the top cover 82. During operation, the rotary tillage blades 85 rotate and then till. The sieve plates 87 on the front side can block the garbage in the soil, so that the rotary tillage blades 85 will not be entangled by some rope-like garbage and cause malfunction. The mudguard 81 on the rear side separates the soil during rotary tillage, so that the soil cannot enter the transmission clutch 5 of the robot and cause damage.

[0042] To elaborate further, such as Figure 11 As shown, the tightening mechanism 83 includes a support block 831. The lower end of the support block 831 is fixedly installed in the middle of the upper end of the top cover 82. A tightening screw 832 is provided in the middle of the support block 831. The tightening screw 832 passes through and is threadedly connected to the surface of the support block 831. A tightener 833 is fixedly installed at the front end of the tightening screw 832. Two arc-shaped limiting plates 834 are provided between the tightener 833 and the support block 831. The two arc-shaped limiting plates 834 are movably installed in the middle of the tightening screw 832 and are located on the front side. The right bottom of the arc-shaped limiting plate 834 is fixedly installed on the upper end of the right movable door 84, and the left bottom of the arc-shaped limiting plate 834 located on the rear side is fixedly installed on the upper end of the left movable door 84. The set screwing mechanism 83 can pull up the movable door 84 to facilitate the inspection and replacement of the rotary tillage blades 85. Tightening the tightening device 833 moves the tightening screw 832 backward, causing the two arc-shaped limiting plates 834 to move closer to each other, pulling the movable door 84 at its bottom upward to open it, and then inspecting or replacing the blades.

[0043] To achieve hybrid powertrain, such as Figure 12 As shown, the power unit 4 includes a generator 43, which is fixedly installed at the output end of the diesel engine 3. There are batteries 41 on both sides of the generator 43. The two batteries 41 are fixedly installed on the upper end of the T-shaped block 18. An electric motor 42 is installed at the lower part of the batteries 41. The diesel engine 3 drives the generator 43 to rotate. The generator 43 transmits electricity to the batteries 41 for storage. When there is no diesel, the electricity in the batteries 41 enters the electric motor 42, and the electric motor 42 will continuously provide the working power for the entire robot.

[0044] It should be noted that this invention is a hill-crawling rotary tiller robot. The connection method and usage of the diesel engine 3, generator 43 and transmission clutch 5 are all conventional designs in the prior art. The installation method between the transmission shaft 53 and rotary tiller blade 85 in the transmission clutch 5 and the transmission shaft 54 ​​and drive wheel 21 are also prior art. The use of the battery 41 and motor 42 in the transmission clutch 5 is also prior art. This invention will not elaborate on these points.

[0045] The working principle of this invention is as follows: When the machine is started, the diesel engine 3 provides power, driving the transmission clutch 5 and generator 43 to rotate. The transmission shaft 53 and transmission shaft 54 ​​in the transmission clutch 5 drive the rotary tiller 8 and pulley 2 to rotate for operation. The generator 43 transmits a portion of the power to the battery 41 for storage, ensuring normal operation even without diesel fuel. When there is no diesel fuel, the power from the battery 41 enters the motor 42, which continuously provides power to the entire robot. When the cylinder 64 in the lifting mechanism 6 is not extended, the pulley 66 is in front of the slide rail 61, the entire L-shaped plate 65 is in a flat position, and the rotary tiller 8 is in a raised position. When work is required... During operation, cylinder 64 extends, causing pulley 66 to move behind slide rail 61, which in turn causes L-shaped plate 65 to be in a semi-vertical position. L-shaped plate 65 then causes support plate 17 to move upward, which in turn causes diesel engine 3 to move upward. Push plate 16 pushes transmission clutch 5 to rotate counterclockwise around drive shaft 53. Transmission clutch 5 causes rotary tiller 8 to lower and begin operation. Transmission clutch 5 is used for rotary tillage when in the 60 rpm output gear, for ridging and leveling when in the 30 rpm gear, for ditching when in the 600 rpm gear, and for weeding when in the last gear of 1800-2300 rpm. It can play different roles at different speeds and needs to be adjusted according to different purposes. By changing different cutting tools, the adjusting mechanism 23 in pulley 2 can adjust the tightness of the track block 241 in track wheel 24, adapting to different working environments. Tightening the nuts on both sides of the fixing block 231 will cause the threaded rod 232 to move backward, driving the L-shaped plate 234 to move backward. The U-shaped groove 235 can then push the rear-side guide wheel 22 backward, making the track block 241 tighter. When turning is needed, only the pulley 2 on the side of the turn needs to be controlled to rotate, while the pulley 2 on the other side remains stationary to achieve the turn. The convex groove 243 in the track block 241 can be locked onto the drive wheel 21 for limiting, while the limiting strip 246 limits the position of the guide wheel 22. The connecting block 244 is in When rotating downwards, the rotary tiller blades 85 can penetrate the soil, increasing the robot's grip. During operation, the rotary tiller blades 85 rotate and till. The front sieve plate 87 can block debris in the soil, preventing the rotary tiller blades 85 from getting tangled in rope-like debris and causing malfunctions. The rear mudguard 81 separates the soil during tilling, preventing soil from entering the robot's transmission clutch 5 and causing damage. The included tightening mechanism 83 can pull up the movable door 84 to facilitate the inspection and replacement of the rotary tiller blades 85. Tightening the tightening device 833 moves the tightening screw 832 backwards, causing the two arc-shaped limit plates 834 to move closer together, pulling the movable door 84 at the bottom upwards, and then inspecting or replacing the blades.

[0046] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A hill-crawling rotary tillage robot, comprising a frame (1), characterized in that: Two pulleys (2) are fixedly installed on the left and right sides of the frame (1). A diesel engine (3) is fixedly installed on the middle of the rear side of the frame (1). An electric motor (4) is fixedly installed at the output end of the diesel engine (3) by a coupling. A transmission clutch (5) is fixedly installed in the middle of the electric motor (4). Lifting and lowering mechanisms (6) are fixedly installed on the left and right sides of the diesel engine (3) and are located between the two pulleys (2). An equipment box (7) is fixedly installed on the upper part of the transmission clutch (5). A rotary tiller (8) is fixedly installed in front of the transmission clutch (5). The speed-changing clutch (5) includes a clutch body (51), and a drive shaft (53) is provided on both the left and right sides of the front part of the clutch body (51). The rotary tiller (8) includes a mudguard (81), which is fixedly installed on the upper front side of the transmission clutch (5). A top cover (82) is fixedly installed on the front side of the mudguard (81). A turning mechanism (83) is fixedly installed in the middle of the upper end of the top cover (82). Movable doors (84) are movably installed on both the left and right sides of the upper part of the top cover (82). The bottom of the left and right sides of the turning mechanism (83) is fixedly installed on the upper end of the two movable doors (84). Two rotary tillage blades (85) are fixedly installed on both the left and right sides of the lower end of the top cover (82). The two rotary tillage blades (85) are fixedly connected to the drive shaft (53). A traction rod (86) is fixedly installed on the upper front side of the top cover (82). Two sieve plates (87) are fixedly installed in the middle of the front side of the top cover (82). The tightening mechanism (83) includes a support block (831). The lower end of the support block (831) is fixedly installed in the middle of the upper end of the top cover (82). A tightening screw (832) is provided in the middle of the support block (831). The tightening screw (832) passes through and is threadedly connected to the surface of the support block (831). A tightening device (833) is fixedly installed at the front end of the tightening screw (832). Two arc-shaped limiting plates (834) are provided between the tightening device (833) and the support block (831). The two arc-shaped limiting plates (834) are movably installed in the middle of the tightening screw (832). The bottom right side of the arc-shaped limiting plate (834) located on the front side is fixedly installed on the upper end of the right-side movable door (84). The bottom left side of the arc-shaped limiting plate (834) located on the rear side is fixedly installed on the upper end of the left-side movable door (84).

2. The hill-crawling rotary tillage robot according to claim 1, characterized in that: An adjustment handle (52) is fixedly installed on the right rear part of the clutch body (51), and a transmission shaft (54) is provided on both the left and right rear sides of the clutch body (51).

3. The hill-crawling rotary tillage robot according to claim 1, characterized in that: The frame (1) includes a fixing rod (11). Two side plates (12) are threadedly installed on both outer surfaces of the fixing rod (11). Limiting grooves (13) are opened on both the front and rear sides of the side plate (12). Limiting grooves (14) are opened on the upper front side of the side plate (12). A pusher (15) is fixedly installed on the rear side of the two inner side plates (12) that are close to each other. T-blocks (18) are fixedly installed on the front side of the two inner side plates (12) that are close to each other. Support plate (19) is fixedly installed on the lower part of the two T-blocks (18) that are close to each other. Two push plates (16) are movably connected in the middle of the fixing rod (11). Support plate (17) is fixedly installed on the rear side of the upper end of the two push plates (16). The two push plates (16) are rotatably installed on the lower part of the transmission clutch (5) on the left side.

4. The hill-crawling rotary tillage robot according to claim 3, characterized in that: The lifting mechanism (6) includes a slide rail (61), a fixed plate (62) is fixedly installed on the rear side of the upper end of the slide rail (61), and an arc plate (63) is fixedly installed on the upper side of both the left and right end faces of the fixed plate (62). A cylinder (64) is rotatably installed on the upper side of the relatively close end of the arc plate (63). An L-shaped plate (65) is rotatably installed on the end of the cylinder (64) near the push plate (16) by bolts. A pulley (66) is rotatably installed on the end of the L-shaped plate (65) near the slide rail (61) by bolts. The pulley (66) is slidably installed in the slide rail (61). One end of the horizontal part of the L-shaped plate (65) is fixedly and rotatably installed on one side of the support plate (17).

5. A hill-crawling rotary tillage robot according to claim 4, characterized in that: The pulley (2) includes a power wheel (21). The power wheel (21) is fixedly installed in two limiting grooves (14) on the left and right sides with shims. The power wheel (21) is fixedly connected to the transmission shaft (54). The two side plates (12) are connected to the limiting grooves (13) on the front and rear sides with screws to install directional wheels (22). An adjustment mechanism (23) is fixedly installed on the rear side of the two side plates (12) at the ends that are far apart from each other. The adjustment mechanism (23) is movably connected to the directional wheel (22) located on the rear side. A ring of tracked wheels (24) is fitted on the outer surface of the power wheel (21) and the two directional wheels (22).

6. A hill-crawling rotary tiller robot according to claim 5, characterized in that: The adjustment mechanism (23) includes a fixing block (231), which is fixedly installed on the rear side of one end of the two side plates (12) that are far apart from each other. A threaded rod (232) passes through the middle of the front and rear end faces of the fixing block (231). The threaded rod (232) is threadedly connected to the fixing block (231). Nuts (233) with threads installed on the outer surface of the threaded rod (232) are provided on both the front and rear sides of the fixing block (231). An L-shaped plate (234) is rotatably installed at the rear end of the threaded rod (232). A U-shaped groove (235) is provided on the rear side of the horizontal part of the L-shaped plate (234). The U-shaped groove (235) is movably connected to the directional wheel (22). A nut (233) with threads installed on the outer surface of the threaded rod (232) is provided at the front end of the vertical part of the L-shaped plate (234).

7. A hill-crawling rotary tiller robot according to claim 5, characterized in that: The track wheel (24) is made up of several track plates (241) connected together. The track plate (241) includes a triangular plate (242). The upper and lower end faces of the triangular plate (242) are provided with convex grooves (243). The upper triangular face of the triangular plate (242) is fixedly installed with a connecting block (244). The left and right end faces of the connecting block (244) are provided with connecting holes (245). The lower front side of the triangular plate (242) is fixedly installed with two limiting strips (246).

8. A hill-crawling rotary tillage robot according to claim 1, characterized in that: The power unit (4) includes a generator (43), which is fixedly installed at the output end of the diesel engine (3). The generator (43) is equipped with batteries (41) on both the left and right sides. The two batteries (41) are fixedly installed on the upper end of the T-shaped block (18). The lower part of the batteries (41) is equipped with an electric motor (42).

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