A rotary tiller

Abstract

The present invention discloses a rotary tiller, which includes an agricultural machine having a vehicle frame and an output shaft; a rotary tilling mechanism hingedly connected to the vehicle frame and connected to the output shaft through a universal coupling; a lifting drive member with one end hingedly connected to the agricultural machine and the other end hingedly connected to the rotary tilling mechanism; a first detection radar member installed at the front end of the rotary tilling mechanism in the forward direction of tilling; a second detection radar member installed at the rear end of the rotary tilling mechanism in the forward direction of tilling; a mobile drive member installed at the rear end of the rotary tilling mechanism in the forward direction of tilling; an identification mechanism having a positioning sensor and installed on the mobile drive member; and a controller communicatively connected to the lifting drive member, the first detection radar member, the second detection radar member, the mobile drive member, and the identification mechanism.

Description

Technical Field

[0001] The invention relates to rotary tillage equipment, in particular to a rotary tiller. Background Art

[0002] Rotary tillers are tilling machines that work with tractors to complete ploughing and harrowing operations. They are widely used because of their strong soil crushing ability and flat surface after ploughing. They can also cut up the root stubble buried below the surface, making it easier for the seeder to operate and providing a good seed bed for later sowing.

[0003] It can be seen that the rotary tiller brings great convenience to the land preparation and soil loosening. However, when the rotary tiller on the rotary tiller collides with hard objects such as stones, it will cause breakage and other damage. For example, the Guangxi Zhuang Autonomous Region belongs to karst landform; some cultivated land is surrounded by stone mountains, and some of the cultivated land has large stones hidden on the ground. When the depth of the stone is less than 30 cm, when the rotary tiller is rotary tilling the cultivated land, the rotary tiller will collide with the hidden stone, causing the rotary tiller to collide and be damaged; and the stone is hidden under the surface and difficult to be found with the naked eye. In view of the defects of the prior art, a rotary tiller is urgently needed. Summary of the invention

[0004] The purpose of the present invention is to provide a rotary tiller to solve the defects of the prior art.

[0005] In order to achieve the above-mentioned purpose of the present invention, the following technical scheme is adopted:

[0006] A rotary tiller comprises an agricultural machine having a frame and an output shaft; a rotary tilling mechanism, the rotary tilling mechanism being hingedly connected to the frame and connected to the output shaft via a universal coupling; a lifting drive component, one end of the lifting drive component being hingedly connected to the agricultural machine and the other end being hingedly connected to the rotary tilling mechanism; a first detection radar component, the first detection radar component being installed at the front end of the rotary tilling mechanism in a rotary tilling direction; a second detection radar component, the second detection radar component being installed at the rear end of the rotary tilling mechanism in a rotary tilling direction; a mobile drive component, the mobile drive component being installed at the rear end of the rotary tilling mechanism in a rotary tilling direction; an identification mechanism, the identification mechanism having a positioning sensor and being installed on the mobile drive component; and a controller, the controller being communicatively connected to the lifting drive component, the first detection radar component, the second detection radar component, the mobile drive component, and the identification mechanism.

[0007] As a further improvement of the technical solution, the identification mechanism includes a liquid storage barrel; a suction pump, one end of which is connected to the liquid storage barrel; a guide pipe, one end of which is connected to the suction pump and the other end of which is freely extended and bent downward; and a nozzle, which is installed at the other end of the guide pipe.

[0008] As a further improvement of the technical solution, the identification mechanism includes a vertical pole identification member; the vertical pole identification member includes a first bracket, a driving motor is installed on the first bracket, a driving wheel is installed on the rotating shaft of the driving motor; a second bracket, the second bracket is arranged in parallel with the first bracket at an interval, and a driven wheel is rotatably installed thereon; a transmission member, a plurality of short cylinders are installed on the transmission member at intervals, one end of which is connected to the driving wheel and the other end is connected to the driven wheel; an identification rod, each short cylinder is penetrated and installed with an identification rod; and a photoelectric sensor, a falling hole is opened on the moving driving member, and the photoelectric sensor is installed at the top of the falling hole, and the transmission member drives the identification rod to move to the falling hole.

[0009] As a further improvement of the technical solution, the vertical pole identification member of the present invention further includes a guiding cylinder; the guiding cylinder is installed at the bottom of the falling hole.

[0010] As a further improvement of the technical solution, a color layer is provided on the top of the identification rod.

[0011] As a further improvement of the technical solution, the moving driving member includes a sliding support frame; a lead screw, both ends of the lead screw are rotatably installed on the sliding support frame, and one end thereof penetrates the sliding support frame and is in transmission connection with the driving member, and the driving member is installed on the sliding support frame; a guide rod, the guide rod and the lead screw are installed on the sliding support frame in parallel at an interval; a sliding block, one end of the sliding block is in transmission connection with the lead screw, and the other end is slidably connected to the guide rod; and an extension plate, one end of the extension plate is connected to the sliding block, and the other end extends out of the sliding support frame.

[0012] As a further improvement of the technical solution, the first detection radar member includes a plurality of first detection radars.

[0013] As a further improvement of the technical solution, the second detection radar member includes a plurality of second detection radars.

[0014] As a further improvement of the technical solution, the rotary tillage mechanism includes a tool rest, a transmission gearbox, and the transmission gearbox is installed on the tool rest; a rotating cylinder, a plurality of rotary tillage blades are installed on the circumferential surface of the rotating cylinder at intervals along the axial direction, and both ends are rotatably connected to the tool rest through support shafts and are in transmission connection with the transmission gearbox; a baffle, the baffle is installed on one side of the tool rest; and a support frame, the support frame is installed on the baffle.

[0015] As a further improvement of the technical solution, a rotary tiller of the present invention further includes a triangular member and a bolt; the triangular member includes two side surfaces, the two side surfaces are connected at an angle, and the area corresponding to the angle is an open space; the triangular member is sleeved on one side of the rotary tillage blade in the rotation direction; the triangular member and the rotary tillage blade are fixedly connected by bolts.

[0016] The present invention has significant progress compared with the prior art:

[0017] The present invention enables the rotary tillage blades to avoid hard objects such as stones, preventing the rotary tillage blades from colliding with hard objects like stones and getting damaged. That is, when the first detection radar detects that there are hard objects such as stones buried on or under the ground and finds that the hard objects such as stones will pose a danger to the rotary tillage blades, the first detection radar will transmit a data signal to the controller. The controller controls the lifting drive member to lift the tool carrier according to this data signal, so as to avoid the rotary tillage blades from colliding with hard objects such as stones. When the second detection radar detects the hard objects such as stones detected by the first detection radar again, it indicates that the tool carrier has deviated from the hard objects such as stones. The second detection radar will send a data signal to the controller. The controller controls the lifting drive member to lower the tool carrier to the reset position according to the received data signal. While the rotary tillage blades continue to till, the controller controls the moving drive member to move the marking mechanism to the corresponding second detection radar, and the marking mechanism marks the places with hard objects such as stones, so that the planting personnel can timely know the places with hard objects such as stones, which is convenient for cleaning the hard objects such as stones. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0019] Figure 1 It is a structural diagram of a rotary tiller of the present invention;

[0020] Figure 2 It is a schematic structural diagram of a color marking member installed on the moving drive member of the present invention;

[0021] Figure 3 It is a schematic structural diagram of a vertical rod marking member installed on the moving drive member of the present invention;

[0022] Figure 4 It is a schematic structural diagram of the vertical rod marking member of the present invention;

[0023] The numbers and their corresponding component names in the figure:

[0024] 1 - Agricultural machinery, 2 - Controller, 3 - First support, 4 - Lifting drive, 5 - Universal coupling, 6 - Transmission gearbox, 61 - Input shaft, 7 - Tool rest, 8 - Second detection radar unit, 81 - Second detection radar, 9 - Rotary drum, 10 - Rotary tillage blade, 11 - Support shaft, 12 - Baffle, 13 - First detection radar unit, 131 - First detection radar, 132 - Radar mount, 14 - Second support, 15 - Support frame, 16 - Vehicle frame, 17 - Moving drive, 171 - Drive, 172 - Sliding support frame, 173 - Sliding block, 174 - Extension plate, 175 - Guide rod, 176 - Lead screw, 18 - Positioning sensor, 181 - Trigger, 182 - Positioner, 19 - Liquid storage barrel, 20 - Feed pump, 21 - Delivery pipe, 22 - Nozzle, 23 - Upright pole marking member, 231 - Marking pole, 232 - Color layer, 233 - Short cylinder, 234 - Driving wheel, 235 - Driving motor, 236 - First bracket, 237 - Transmission member, 238 - Guide cylinder, 239 - Falling hole, 2310 - Photoelectric emitter, 2311 - Photoelectric receiver, 2312 - Second bracket, 2313 - Driven wheel, 24 - Output shaft. Detailed implementation mode

[0025] In order to enable those skilled in the art of the present technology to better understand the technical solutions in this application, the technical solutions of the present invention will be clearly and completely described below in conjunction with the drawings and embodiments. Obviously, the described embodiments are only a part of the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the scope of protection of this application.

[0026] Embodiment 1:

[0027] As Figures 1-4 shown, a rotary tiller of the present invention includes agricultural machinery 1, a rotary tillage mechanism, a lifting drive 4, a first detection radar unit 13, a second detection radar unit 8, a moving drive 17, a marking mechanism, and a controller 2. The agricultural machinery 1 has a vehicle frame 16 and an output shaft 24; the rotary tillage mechanism is hinged to the vehicle frame 16 and connected to the output shaft 24 through a universal coupling 5; one end of the lifting drive 4 is hinged to the agricultural machinery 1, and the other end is hinged to the rotary tillage mechanism; the first detection radar unit 13 is installed at the front end of the rotary tillage mechanism in the forward direction of rotary tillage; the second detection radar unit 8 is installed at the rear end of the rotary tillage mechanism in the forward direction of rotary tillage; the moving drive 17 is installed at the rear end of the rotary tillage mechanism in the forward direction of rotary tillage; the marking mechanism has a positioning sensor 18 and is installed on the moving drive 17; the controller 2 is communicatively connected to the lifting drive 4, the first detection radar unit 13, the second detection radar unit 8, the moving drive 17, and the marking mechanism.

[0028] One structure of the moving driving member 17 includes a sliding support frame 172, a lead screw 176, a guide rod 175, a driving member 171, a sliding block 173 and an extension plate 174. The two ends of the lead screw 176 are rotatably installed on the sliding support frame 172, and one end thereof penetrates through the sliding support frame 172 and is in transmission connection with the driving member 171. The driving member 171 is installed on the sliding support frame 172; the guide rod 175 and the lead screw 176 are installed on the sliding support frame 172 in parallel at intervals; one end of the sliding block 173 is in transmission connection with the lead screw 176, and the other end is slidably connected to the guide rod 175; one end of the extension plate 174 is connected to the sliding block 173, and the other end extends out of the sliding support frame 172.

[0029] The driving member 171 is a lead screw driving motor.

[0030] The working mode of the moving driving member: The driving member 171 drives the lead screw 176 to rotate, the lead screw 176 drives the sliding block 173, and the sliding block 173 slides along the guide rod under the auxiliary action of the guide rod 175, and the sliding block 173 drives the extension plate 174 to move.

[0031] The positioning sensor 18 includes a trigger 181 and a positioner 182. Working mode: When the trigger 181 moves to the positioner 182, positioning is triggered.

[0032] As Figure 2 and 3 shown, a plurality of positioners 182 are installed on the support frame 172 at intervals. The trigger 181 is installed on the extension plate 174. The extension plate 174 drives the trigger 181 to move, and positioning is triggered every time it moves to a positioner 182.

[0033] As Figure 2 and 3 shown, the first detection radar member 13 includes a plurality of first detection radars 131. The first detection radars 131 are installed on the tool rest 7 through radar brackets 132. The first detection radars 131 are installed in parallel at intervals. The first detection radar is used to detect whether there are stones on the driving route of the agricultural machine 1. The stones can be hidden stones, that is, stones buried under the soil, which are not easy to be found. During rotary tillage, the rotary tillage blades are easy to collide and break. The depth that the rotary tillage blades can usually till is 0 to 35 cm. If the hidden stones are located at a depth below 35 cm in the soil, there will be a risk of the rotary tillage blades colliding and breaking. When the first detection radar monitors that there are stones on the driving route of the agricultural machine, it will transmit the data information signal to the controller 2, and the controller 2 will control the lifting driving member 4 to contract, and the lifting driving member 4 will pull the tool rest 7 to lift, so as to avoid the rotary tillage blades colliding with the stones.

[0034] As Figure 2 and 3As shown, the second detection radar unit 8 includes a plurality of second detection radars 81. The second detection radars 81 are installed at intervals at the rear end in the traveling direction of the tool rest, and are used to reconfirm that the tool rest has deviated from the stone. The second detection radars 81 can be installed on the tool rest through radar mounts.

[0035] It should be noted that the number of the first detection radars 131 is equal to that of the second detection radars 81, and the first detection radars 131 and the second detection radars 81 on both sides of the tool rest are aligned with each other. The multiple first detection radars and second detection radars are numbered respectively, and the respective numbers corresponding to each first detection radar and second detection radar are input into the controller, which can facilitate the moving drive to move the marking mechanism to the corresponding second detection radar. Both the first detection radar 131 and the second detection radar 81 can be ground-penetrating radars. The depth that can be detected underground can be set from 0 to 50 cm; during detection, if a stone is found on the ground and below the ground, a data signal is sent to the controller, and the controller controls the marking mechanism to make a mark so that the planting personnel can timely know the position of the stone.

[0036] It should be noted that the lifting drive 4 can be a hydraulic cylinder structure. The agricultural machine 1 is the hydraulic power source of the lifting drive.

[0037] One end of the lifting drive 4 is installed on the agricultural machine 1 through the first support 3, and the other end is installed on the tool rest 7 through the second support 14; the lifting drive is respectively rotatably connected to the first support 3 and the second support 14.

[0038] The marking mechanism is installed on the sliding block 173, and the moving drive drives the marking mechanism to move through the sliding block. The marking mechanism is used to mark the places with stones, so that the planting personnel can quickly know the positions of the stones; it is convenient for the planting personnel to remove the stones from the cultivated land.

[0039] It should be noted that this is a structure of the rotary tillage mechanism. As Figure 1 shown, the rotary tillage mechanism includes a tool rest 7, a transmission gearbox 6, a rotating cylinder 9, a baffle 12 and a support frame 15. The transmission gearbox 6 is installed on the tool rest 7; a plurality of rotary tillage blades 10 are installed at intervals along the axial direction on the circumferential surface of the rotating cylinder 9, and both ends are rotatably connected to the tool rest 17 through support shafts and are in transmission connection with the transmission gearbox 6; the baffle 12 is installed on one side of the tool rest 7; the support frame 15 is installed on the baffle 12.

[0040] The output shaft 24 of the agricultural machine 1 drives the universal coupling 5, the universal coupling 5 drives the transmission gearbox 6 to work, the transmission gearbox 6 drives the rotating cylinder 9 to rotate, and the rotating cylinder 9 drives the rotary tillage blades 10 thereon to rotate.

[0041] The support frame 15 is hinged to the vehicle frame 16 on the agricultural machine 1.

[0042] Working mode:

[0043] The agricultural machine 1 drives the rotary tillage mechanism to move. The output shaft 24 drives the input shaft 61 through the universal coupling 5. The input shaft 61 drives the transmission gearbox 6 to work. The transmission gearbox 6 drives the rotating cylinder 9 to rotate, and the rotating cylinder 9 drives a plurality of rotary tillage blades 10 thereon to rotate.

[0044] During rotary tillage, the lifting drive member 4 supports the tool rest 7, and the rotating cylinder 9 drives a plurality of rotary tillage blades 10 to perform rotary tillage. When the lifting drive member 4 contracts, it pulls down the tool rest 7, causing the tool rest 7 to swing upward, so as to lift the rotary tillage blades 10 off the ground and avoid the stones buried on and under the ground. When the lifting drive member 4 extends, it supports the tool rest 7, and the extension stroke of the lifting drive member 4 can be controlled as needed, thereby increasing the depth of rotary tillage of the rotary tillage blades.

[0045] When the agricultural machine 1 drives the rotary tillage mechanism to perform rotary tillage and move, if one of the plurality of first detection radars 131 monitors a stone and there is a risk of being collided by the rotary tillage blade, the first detection radar sends a data signal to the controller. The controller drives the moving drive member 17 to move the marking mechanism to the second detection radar corresponding to the first detection radar according to the received data signal; when the second detection radar detects a stone, it means that the tool rest drives the rotary tillage blade to deviate from the stone, and sends a data signal to the controller. The controller controls the marking mechanism to make a mark, so that the planting personnel can remove the stone according to the mark to avoid the rotary tillage blade being broken and damaged when colliding with the stone during the next rotary tillage.

[0046] Embodiment 2:

[0047] Compared with Embodiment 1, the difference lies in that a structure of the marking mechanism is given.

[0048] As Figure 2 shown, the marking mechanism includes a liquid storage barrel 19; a material pumping pump 20, one end of the material pumping pump 20 is connected to the liquid storage barrel 19; a conveying pipe 21, one end of the conveying pipe 21 is connected to the material pumping pump 20, and the other end extends freely and bends downward; and a nozzle 22, the nozzle 22 is installed at the other end of the conveying pipe 21.

[0049] The liquid stored in the liquid storage barrel 19 can be a colored liquid, such as a colored liquid such as red, green, blue or yellow.

[0050] Working mode: The material pumping pump 20 pumps the colored liquid in the liquid storage barrel 19, then conveys it to the conveying pipe 21, and the conveying pipe 21 conveys the colored liquid to the nozzle 22. The nozzle 22 sprays out the colored liquid, and the position covered by the colored liquid is used as a mark, indicating that there is a stone buried under the soil (of course, the stone on the soil surface is sprayed with the colored liquid and is easier to be identified), which needs to be cleaned to avoid the rotary tillage blade being broken and damaged when colliding during subsequent tillage.

[0051] Embodiment 3:

[0052] Compared with Embodiment 1, the difference lies in that another structure of the identification mechanism is given.

[0053] As Figure 3 and 4 shown, the identification mechanism includes a vertical pole identification member 23. The vertical pole identification member 23 includes a first bracket 236, a second bracket 2312, a drive motor 235, a transmission member 237, an identification pole 231 and a photoelectric sensor. A drive motor 235 is installed on the first bracket 236, and a drive wheel 235 is installed on the rotating shaft of the drive motor 235; the second bracket 2312 is arranged in parallel at an interval with the first bracket 236, and a driven wheel 2313 is rotatably installed thereon; a plurality of short cylinders 233 are installed at intervals on the transmission member 237, one end of which is connected to the drive wheel 234, and the other end is connected to the driven wheel 2313; each short cylinder 233 is penetrated by an identification pole; a falling hole 239 is formed on the moving drive member, and a photoelectric sensor is installed at the top of the falling hole 239. The transmission member 237 drives the identification pole 231 to move to the falling hole 239.

[0054] It should be noted that the photoelectric sensor includes a photoelectric emitter 2310 and a photoelectric receiver 2311. When an object passes between the photoelectric emitter 2310 and the photoelectric receiver 2311, the photoelectric signal sent by the photoelectric emitter 2310 to the photoelectric receiver 2311 is blocked. For example, when the identification pole 231 is driven by the transmission member 237 to between the photoelectric emitter 2310 and the photoelectric receiver 2311, the photoelectric sensor sends a data signal to the controller 2. The controller controls the drive motor 235 to suspend operation according to the received data signal. The identification pole 231 falls into the falling hole 239, falls downward through the falling hole 239, and is inserted into the soil as a mark.

[0055] Working mode:

[0056] The drive motor 235 drives the drive wheel 234 to rotate. The transmission member 237 is driven by the drive wheel 234 under the auxiliary action of the driven wheel 2313. The transmission member 237 drives the plurality of short cylinders 233 thereon to rotate accordingly. The short tube 233 drives the identification pole 231 installed thereon to move. When the identification pole 231 moves to the falling hole 239, it is sensed by the photoelectric sensor. The photoelectric sensor sends a data signal to the controller 2. When the controller receives this data signal, it controls the drive motor 235 to suspend operation, the transmission member stops rotating, and the identification pole 231 falls downward through the falling hole 239. If it falls into the cultivated land, it means that there is a stone at the position where the identification pole is located, which is convenient for the planting personnel to clean the stone in time to avoid the collision between the stone and the rotary tillage knife when rotary tilling again, resulting in the breakage of the rotary tillage knife.

[0057] Embodiment 4:

[0058] Compared with Embodiment 3, the difference lies in that in order to facilitate the downward fall of the identification rod, a guiding cylinder 238 is added. The guiding cylinder 238 is installed at the bottom of the falling hole 239. The identification rod 231 falls into the guiding cylinder 238 through the falling hole 239, and the guiding cylinder 238 guides the identification rod 231 to fall downward, which is conducive to the identification rod falling more accurately onto the place with stones.

[0059] Embodiment 5:

[0060] Compared with Embodiment 3, the difference lies in that in order to more conveniently search for the identification rod, a color layer 232 is provided on the top of the identification rod 231. The color layer 232 can be coated with red, blue, yellow, green, etc.

[0061] Embodiment 6:

[0062] Compared with any one of Embodiments 1 - 5, the difference lies in that in order to prevent weeds from winding around the rotary tillage blade, a triangular part and a bolt are added. The triangular part includes two side surfaces, the two side surfaces are connected at an angle, and the area corresponding to the angle is an open space; the triangular part is sleeved on one side of the rotary tillage blade 10 in the rotation direction; the triangular part and the rotary tillage blade 10 are fixedly connected by bolts.

[0063] The triangular part is sleeved on one side of the rotary tillage blade in the rotation direction, and the tip of the triangular part also faces the rotation direction side. When the rotary tillage blade rotates, it drives the triangular part to rotate, and the triangular part cuts the weeds and straws on the cultivated land, thus preventing the weeds and straws from winding around the rotary tillage blade.

[0064] Obviously, the above embodiments are only examples given for clear illustration, and are not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation manners here. And the obvious changes or modifications derived therefrom are still within the protection scope of the present invention.

Claims

1. A rotary tiller, characterized in that: including an agricultural machine (1) having a frame (16) and an output shaft (24); a rotary tillage mechanism hingedly connected to the frame (16) and connected to the output shaft (24) through a universal coupling (5); a lifting drive member (4) having one end hingedly connected to the agricultural machine (1) and the other end hingedly connected to the rotary tillage mechanism; a first detection radar member (13) mounted at the front end of the rotary tillage mechanism in the forward direction of rotary tillage; a second detection radar member (8) mounted at the rear end of the rotary tillage mechanism in the forward direction of rotary tillage; a moving drive member (17) mounted at the rear end of the rotary tillage mechanism in the forward direction of rotary tillage; a marking mechanism having a positioning sensor (18) and mounted on the moving drive member (17); and a controller (2) communicatively connected to the lifting drive member (4), the first detection radar member (13), the second detection radar member (8), the moving drive member (17), and the marking mechanism; the marking mechanism includes a vertical pole marking member (23); the vertical pole marking member (23) includes a first bracket (236) on which a drive motor (235) is mounted, and a drive wheel (234) is mounted on the rotating shaft of the drive motor (235); a second bracket (2312) spaced parallel to the first bracket (236) and rotatably mounting a driven wheel (2313) thereon; a transmission member (237) on which a plurality of short cylinders (233) are spacedly mounted, one end thereof is connected to the drive wheel (234), and the other end is connected to the driven wheel (2313); a marking pole (231), and each short cylinder (233) penetrates and mounts a marking pole; and a photoelectric sensor, a falling hole (239) is formed on the moving drive member, the photoelectric sensor is mounted at the top of the falling hole (239), and the transmission member (237) drives the marking pole (231) to move to the falling hole (239); the moving drive member (17) includes a sliding support frame (172); a lead screw (176) rotatably mounted at both ends on the sliding support frame (172), and one end thereof penetrates the sliding support frame (172) and is in transmission connection with a drive member (171), and the drive member (171) is mounted on the sliding support frame (172); a guide rod (175) spaced parallel to the lead screw (176) and mounted on the sliding support frame (172); a sliding block (173) having one end in transmission connection with the lead screw (176) and the other end slidably connected to the guide rod (175); and an extension plate (174) having one end connected to the sliding block (173) and the other end extending out of the sliding support frame (172).

2. A rotary tiller according to claim 1, characterized in that: also includes a guide cylinder (238); the guide cylinder (238) is mounted at the bottom of the falling hole (239).

3. A rotary tiller according to claim 1, characterized in that: A color layer (232) is provided at the top of the identification rod (231).

4. A rotary tiller according to claim 1, characterized in that: The first detection radar component (13) includes a plurality of first detection radars (131).

5. A rotary tiller according to claim 1, characterized in that: The second detection radar component (8) includes a plurality of second detection radars (81).

6. A rotary tiller according to claim 1, characterized in that: The rotary tilling mechanism includes a tool carrier (7), a transmission gearbox (6), and the transmission gearbox (6) is installed on the tool carrier (7); a rotating cylinder (9), a plurality of rotary tilling blades (10) are installed at intervals along the axial direction on the circumferential surface of the rotating cylinder (9), and both ends are rotatably connected to the tool carrier (7) through support shafts and are in transmission connection with the transmission gearbox (6); a baffle (12), and the baffle (12) is installed on one side of the tool carrier (7); and a support frame (15), and the support frame (15) is installed on the baffle (12).

7. A rotary tiller according to claim 6, characterized in that: It further includes a triangular part and a bolt; The triangular part includes two side surfaces, the two side surfaces are connected at an angle, and the area corresponding to the angle is an open space; The triangular part is sleeved on one side of the rotary tilling blade (10) in the rotation direction; The triangular part is fixedly connected to the rotary tilling blade (10) through a bolt.

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