Combined rotary tillage integrated machine and control method thereof

Abstract

The application provides a combined rotary tiller and a control method thereof, which comprises a suspension frame, a turnover plough, a rotary tiller mechanism and a control mechanism; the turnover plough and the rotary tiller mechanism are installed on the suspension frame, the turnover plough is rotationally connected with the suspension frame through a turnover mechanism, the rotary tiller mechanism comprises a plurality of vertical rotary tillers, the turnover plough and the vertical rotary tillers are arranged alternately, the control mechanism is connected with the turnover mechanism and the rotary tiller mechanism respectively, the control mechanism controls the turnover of the turnover plough through the turnover mechanism, and the control mechanism controls the rotation of the vertical rotary tiller of the rotary tiller mechanism. The combination of the turnover plough and the vertical rotary tiller improves the matching degree of the plough and the rotary tiller, improves the soil crushing rate, and improves the tillage quality. The application has simple structure and low maintenance and installation difficulty.

Description

Technical Field

[0001] This invention belongs to the field of agricultural engineering, and in particular relates to a combined rotary tiller and its control method. Background Technology

[0002] Soil tillage is a heavy-duty operation that consumes a significant amount of energy. Currently, the main methods of soil tillage are still plowing and rotary tillage. However, with the increasing development of modern agricultural technologies, the demand for efficient and precise soil tillage machinery is gradually increasing. In agricultural production activities, the tilling, rotary tillage, and harrowing processes consume a considerable amount of time. Furthermore, in traditional agricultural production, plows and rotary tillage machines typically operate independently, which is cumbersome, inefficient, and significantly slows down the pace of agricultural operations, making it unsuitable for seizing the opportune time for farming. In traditional agricultural tillage operations, tilling and rotary tillage are independent of each other, resulting in a substantial reduction in agricultural efficiency.

[0003] In existing technology, traditional rotary tillers combine a moldboard plow with a vertical rotary tiller. This design results in several issues, such as the tractor having to use internal, external, or overlapping methods for plowing. These methods significantly increase the tractor's travel distance, thus raising plowing costs. Furthermore, it leads to inconsistencies in the direction of soil clod turning after plowing and inconsistent soil compaction after rotary tilling. Additionally, the moldboard plow creates furrows, requiring post-plowing furrow integration. Currently, most traditional rotary tillers use a design where the vertical rotary tiller and moldboard plow are directly welded or bolted together. The method is complicated by the cumbersome subsequent maintenance and installation. Because the plow cannot be rotated, it creates wide furrows during reciprocating operation, greatly reducing the quality of tillage. At the same time, this integrated design structure also prevents the vertical rotary tiller from accurately cooperating with the moldboard plow, resulting in large clods of soil remaining in the tilled land, uneven soil bottom, and incomplete breaking up of the plow pan. All of these will adversely affect subsequent agricultural operations such as sowing, such as affecting seed germination, reducing crop yield, and impacting farmers' income. Furthermore, with existing rotary tillers, users cannot monitor the working status of the rotary tiller in real time and cannot determine whether the device is operating normally. Summary of the Invention

[0004] This invention aims to at least partially solve one of the aforementioned technical problems. To this end, this invention proposes a combined rotary tiller and its control method. By combining a reversible plow with a vertical rotary tiller, the compatibility between the plow and the rotary tiller is improved, the soil breaking rate is increased, and the tillage quality is enhanced. This invention has a simple structure and is easy to maintain and install.

[0005] This invention allows a vertical rotary tiller to perform rotary tillage simultaneously with a reversible plow. After each row of tillage is completed, as the tractor turns around at the edge of the field, the vertical rotary tiller and the reversible plow, under the control of the control mechanism and based on data from sensors, perform avoidance maneuvers sequentially. After the avoidance maneuvers are completed, the reversible plow flips over. Once the flipping motion is complete, the vertical rotary tiller and the reversible plow switch to the next working position. This invention reduces the tractor's travel distance, lowers the economic cost of tillage operations, and improves the efficiency of tillage operations.

[0006] Note that the description of these objectives does not preclude the existence of other objectives. One aspect of the invention does not require achieving all of the above objectives. Objectives other than those described above can be extracted from the description, drawings, and claims.

[0007] The technical solution of this invention is:

[0008] A combined rotary tiller includes a suspension frame, a reversible plow, a rotary tillage mechanism, and a control mechanism;

[0009] The reversible plow and rotary tillage mechanism are mounted on the suspension frame. The reversible plow is rotatably connected to the suspension frame through the reversible mechanism. The rotary tillage mechanism includes several vertical rotary tillers. The reversible plow and the vertical rotary tillers are arranged alternately. The control mechanism is connected to the reversible mechanism and the rotary tillage mechanism respectively. The control mechanism controls the reversible plow to flip through the reversible mechanism and controls the vertical rotary tillers of the rotary tillage mechanism to rotate.

[0010] In the above scheme, the flipping mechanism includes a flipper, a first hydraulic cylinder, a guide rail, and a flipping shaft;

[0011] The reversible plow is rotatably connected to the suspension frame via a reversing device. The guide rail is mounted on the suspension frame. One end of the first hydraulic cylinder is slidably connected to the guide rail, and the other end of the first hydraulic cylinder is connected to the reversible plow. The control mechanism is connected to the first hydraulic cylinder. The reversing device is sleeved on the reversing shaft, and the reversing shaft and the reversing device are connected via bearings.

[0012] In the above scheme, the rotary tillage mechanism also includes a rotary tiller frame, a sensor group, a telescopic device, and a transmission assembly;

[0013] The reversible plow, rotary tiller frame, and suspension frame are coaxially mounted on the reversible shaft in sequence, with one end of the reversible shaft rotatably connected to the rotary tiller frame and suspension frame, and the other end fixedly connected to the reversible plow.

[0014] One end of the telescopic device is connected to the rotary tiller frame, and the other end of the telescopic device is connected to the vertical rotary tiller. The vertical rotary tiller is connected to the power source through a transmission assembly. The sensor group is installed at one end of the telescopic device near the vertical rotary tiller. The sensor group includes a first distance sensor, which is used to detect the distance between itself and the corresponding position of the reversible plow body and transmit the data to the control mechanism.

[0015] In the above scheme, the control mechanism controls the vertical rotary tiller to retract, the first distance sensor detects the distance between itself and the corresponding position of the reversible plow body and transmits it to the control mechanism, and when the distance value reaches the preset retraction range, the control mechanism controls the vertical rotary tiller to stop retracting; the control mechanism controls the first hydraulic cylinder to extend and retract, thereby causing the reversible plow to flip, and the reversible plow stops flipping when it reaches the preset angle; the control mechanism controls the vertical rotary tiller to extend along a predetermined path, and when the first distance sensor detects that the distance between itself and the corresponding position of the reversible plow reaches the preset extension range, the vertical rotary tiller stops extending.

[0016] The above solution also includes a plow displacement device, which is connected to the plower.

[0017] The tilting plow displacement device includes a motor and a pulley. The motor is located at the connection between the tilting shaft and the tilter. The motor and the pulley are connected. The control mechanism is connected to the motor. The motor is used to output power to the pulley, and the pulley drives the tilter to move along the tilting shaft.

[0018] In the above scheme, the sensor group also includes a vibration sensor;

[0019] The vibration sensor is used to detect the vibration value of the vertical rotary tiller during operation and transmit it to the control mechanism. When the vibration value exceeds the preset value, the control mechanism controls the vertical rotary tiller to stop working.

[0020] In the above scheme, the sensor group further includes a second distance sensor;

[0021] The second distance sensor is installed on the rotary tiller frame and is connected to the control mechanism. It is used to detect the distance between itself and the corresponding position of the reversible plow. When the distance reaches a preset value, the control mechanism controls the reversible plow displacement device to stop moving.

[0022] The above solution also includes a first position sensor;

[0023] The first position sensor is installed on the reversible plow frame and is connected to the control mechanism to detect the position of the vertical rotary tiller. When the detected value is less than a preset value, the control mechanism controls the vertical rotary tiller to stop extending.

[0024] In the above scheme, the telescopic device includes a telescopic hydraulic cylinder, a telescopic rod, a telescopic rod sleeve, a tension gear, a tension gear support rod, a first folding rod, and a second folding rod;

[0025] One end of the telescopic rod sleeve is connected to the rotary tiller frame, the other end of the telescopic rod sleeve is sleeved to one end of the telescopic rod, the other end of the telescopic rod is connected to the vertical rotary tiller, one end of the telescopic hydraulic cylinder is connected to the telescopic rod sleeve, the other end of the telescopic hydraulic cylinder is connected to the telescopic rod, the second folding rod is rotatably connected to the telescopic rod sleeve, the first folding rod is rotatably connected to the telescopic rod, the first folding rod is rotatably connected to the second folding rod, the tensioning gear is mounted on the second folding rod through the tensioning gear support rod, and the telescopic hydraulic cylinder is connected to the control mechanism.

[0026] A control method for the above-mentioned combined rotary tiller includes the following steps:

[0027] When the combined rotary tiller starts working in one row, the control mechanism controls the vertical rotary tiller to till.

[0028] When the combined rotary tiller finishes one row of work and turns around to switch to the next row, specifically...

[0029] Includes the following steps:

[0030] Step S1, Vertical rotary tiller avoidance operation: The control mechanism controls the vertical rotary tiller to retract. The first distance sensor detects the distance between itself and the corresponding position of the reversible plow body and transmits it to the control mechanism. When the distance value reaches the predetermined range, the control mechanism controls the vertical rotary tiller to stop retracting.

[0031] Step S2, Overturning Plow Avoidance Operation: The control mechanism controls the overturning plow displacement device to move the overturning plow. The second distance sensor detects the distance between itself and the corresponding position of the overturning plow. When the distance reaches the preset value, the control mechanism controls the overturning plow displacement device to stop moving.

[0032] Step S3, Tilting movement of the plow: The control mechanism controls the extension and retraction of the first hydraulic cylinder, thereby causing the plow to tilt at a preset angle;

[0033] Step S4, Reset the overturning plow: The control mechanism controls the overturning plow displacement device to move the overturning plow. The second distance sensor detects the distance between itself and the corresponding position of the overturning plow. When the distance reaches the preset value, the control mechanism controls the overturning plow displacement device to stop moving.

[0034] Step S5, Vertical Rotary Tiller Reset: The control mechanism controls the vertical rotary tiller to extend along a predetermined path. When the distance between the vertical rotary tiller and the corresponding position of the reversible plow body detected by the first distance sensor reaches the predetermined range, the vertical rotary tiller stops extending.

[0035] Compared with the prior art, the beneficial effects of the present invention are:

[0036] 1. This invention combines a vertical rotary tiller with a reversible plow, which improves the compatibility between the plow and the rotary tiller, increases the soil breaking rate, and improves the quality of tillage. This invention has a simple structure and is easy to maintain and install.

[0037] 2. While the reversible plow is tilling, the vertical rotary tiller is simultaneously tilling. After one row of work is completed, as the tractor turns around at the edge of the field, the vertical rotary tiller and the reversible plow, under the control of the control mechanism and based on data fed back by sensors, perform avoidance operations one after the other. After the avoidance operation is completed, the reversible plow performs a flipping motion. After the flipping motion is completed, the vertical rotary tiller and the reversible plow switch to the next working position. This invention reduces the tractor's travel distance, lowers the economic cost of plowing operations, and improves the efficiency of plowing operations.

[0038] 3. The present invention uses the cooperation of the first distance sensor and the first position sensor to prevent the vertical rotary tiller from colliding with the reversible plow when it retracts and extends, thus ensuring the safety and continuity of the machine's operation. By setting up a reversible plow displacement device, the invention prevents the reversible plow from colliding with the vertical rotary tiller when it is reversing, further improving the safety of the machine's operation.

[0039] Note that the description of these effects does not preclude the existence of other effects. One aspect of the invention does not necessarily have all the aforementioned effects. Effects other than those described above can be readily observed and extracted from the description, drawings, claims, etc. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the overall assembly structure of a combined rotary tiller according to an embodiment of the present invention.

[0041] Figure 2 This is a schematic front view of the overall assembly structure of a combined rotary tiller according to an embodiment of the present invention before it is flipped.

[0042] Figure 3 This is a schematic front view of the overall assembly structure of a combined rotary tiller in the flipping process according to an embodiment of the present invention.

[0043] Figure 4 This is a schematic diagram of the front view of the overall assembly structure of a combined rotary tiller according to an embodiment of the present invention after being flipped over.

[0044] Figure 5 This is a structural schematic diagram of a vertical rotary tiller according to one embodiment of the present invention.

[0045] Figure 6 This is a cross-sectional structural schematic diagram of a vertical rotary tiller according to one embodiment of the present invention.

[0046] Figure 7This is a schematic diagram of the installation structure of a vertical rotary tiller according to one embodiment of the present invention.

[0047] Figure 8 This is a front view of the overall assembly structure of a reversible plow according to one embodiment of the present invention.

[0048] Figure 9 This is a schematic diagram of the connection between the hydraulic cylinder and the reversible plow in one embodiment of the present invention.

[0049] Figure 10 This is a schematic diagram of the overall assembly structure of the rotary tillage mechanism according to one embodiment of the present invention.

[0050] Figure 11 This is a schematic diagram of the overall assembly structure of the transmission system of a vertical rotary tiller according to one embodiment of the present invention.

[0051] Figure 12 This is a schematic diagram of the telescopic device structure according to one embodiment of the present invention.

[0052] Figure 13 This is a schematic diagram of the gearbox structure according to one embodiment of the present invention.

[0053] Figure 14 This is a schematic front view of a gearbox according to one embodiment of the present invention.

[0054] Figure 15 This is a schematic diagram of the structure of a plow displacement device according to one embodiment of the present invention.

[0055] In the diagram: 1-Suspension frame; 2-Reversible plow; 3-Vertical rotary tiller; 4-Rotary tillage mechanism; 5-First hydraulic cylinder; 6-Guide rail; 7-Motor wire; 8-Reversible shaft; 9-Wire; 10-Control mechanism; 11-First position sensor; 12-Gearbox; 13-First bevel gear shaft; 14-Counterweight frame; 15-Vertical rotary tiller frame; 16-Sensor group; 17-Telescopic device; 18-Second hydraulic cylinder; 19-Third hydraulic cylinder; 20-First telescopic rod; 21-Second telescopic rod; 22-Telescopic rod sleeve; 23-Second distance sensor; 24-Shaft hole; 25-Drive shaft; 26-First sprocket ; 27-Second sprocket; 28-Third sprocket; 29-Second bevel gear shaft; 30-Vertical rotary tiller fixed bushing; 31-Spiral blade; 32-Blade shaft; 33-Coupling; 34-Rotary tiller blade shaft; 35-Shaft cover; 36-Tension gear; 37-Tension gear support rod; 38-First folding rod; 39-Second folding rod; 40-Chain; 41-Support column; 42-First bevel gear; 43-Gearbox housing; 44-Gearbox cover; 45-Hydraulic oil circuit; 46-Bearing; 47-Right angle blade; 48-Tilter; 49-Gearbox shaft cover; 50-Second bevel gear; 51-Motor; 52-Pulley. Detailed Implementation

[0056] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0057] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "front," "rear," "left," "right," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0058] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0059] Figure 1 , 2 Figures 3, 4, 8, and 9 show a preferred embodiment of the combined rotary tiller, which includes a suspension frame 1, a reversible plow 2, a rotary tillage mechanism 4, and a control mechanism 10.

[0060] The reversible plow 2 and the rotary tillage mechanism 4 are mounted on the suspension frame 1. The reversible plow 2 is rotatably connected to the suspension frame 1 through the reversible mechanism. The rotary tillage mechanism 4 includes several vertical rotary tillers 3. The reversible plow 2 and the vertical rotary tillers 3 are arranged alternately. The control mechanism 10 is connected to the reversible mechanism and the rotary tillage mechanism 4 respectively. The control mechanism 10 controls the reversible plow 2 to flip through the reversible mechanism and controls the vertical rotary tillers 3 of the rotary tillage mechanism 4 to rotate.

[0061] Preferably, the flipping mechanism includes a flipper 48, a first hydraulic cylinder 5, a guide rail 6, and a flipping shaft 8;

[0062] The reversible plow 2 is rotatably connected to the suspension frame 1 via the reversing device 48. The guide rail 6 is mounted on the suspension frame 1. One end of the first hydraulic cylinder 5 is slidably connected to the guide rail 6, and the other end of the first hydraulic cylinder 5 is connected to the reversible plow 2. The control mechanism 10 is connected to the first hydraulic cylinder 5. The reversing shaft 8 is connected to the reversing device 48 via a bearing. The bearing used must be able to roll axially and meet the requirements of circumferential movement. The reversing device 48 is sleeved on the reversing shaft 8.

[0063] According to one embodiment of the present invention, preferably, the bearing is a deep groove ball bearing, a tapered roller bearing, or a contact ball bearing.

[0064] Preferably, the rotary tillage mechanism 4 further includes a rotary tiller frame 15, a sensor group 16, a telescopic device 17, and a transmission assembly;

[0065] One end of the telescopic device 17 is connected to the rotary tiller frame 15, and the other end of the telescopic device 17 is connected to the vertical rotary tiller 3. The vertical rotary tiller 3 is connected to the power source through a transmission assembly. The sensor group 16 is installed at one end of the telescopic device 17 near the vertical rotary tiller 3. The sensor group 16 includes a first distance sensor, which is used to detect the distance between itself and the corresponding position of the plow body of the reversible plow 2 and transmit it to the control mechanism 10.

[0066] Preferably, the reversible plow 2, the rotary tiller frame 15, and the suspension frame 1 are coaxially mounted on the reversible shaft 8. The reversible plow 2, the rotary tiller frame 15, and the suspension frame 1 are independent of each other and do not interfere with each other during operation, which facilitates the adjustment and installation of the machine. Furthermore, based on the feedback from each sensor, the position of the reversible plow 2 can be automatically adjusted under the control of the control mechanism 10, reducing the time and cost of manual adjustment.

[0067] According to one embodiment of the present invention, preferably, the reversible plow 2 is installed at the end of the reversible shaft 8, the length of the end of the reversible shaft 8 is three times the width of the reversing device 48, which facilitates the forward and backward movement of the reversible plow 2 and the installation of the reversible plow displacement device, and the reversible shaft 8 and the reversing device 48 are connected by bearings.

[0068] According to one embodiment of the present invention, preferably, the sensor group 16 is installed at a position 2-4 cm from the connection between the first telescopic rod 21 and the vertical rotary tiller fixed bushing 30.

[0069] According to one embodiment of the present invention, preferably, there are two vertical rotary tillers 3, and there are also two corresponding telescopic devices 17.

[0070] like Figure 5 , 6As shown in Figures 7 and 8, preferably, the vertical rotary tiller 3 includes a blade shaft 32, a first sprocket 26, a vertical rotary tiller fixed bushing 30, a coupling 33, several right-angle blades 47, a rotary tiller blade shaft 34, a spiral blade 31, a bearing 46, and a shaft cover 35.

[0071] The first sprocket 26 is a single-chain tooth type. The first sprocket 26 and the coupling 33 are respectively connected to the cutter shaft 32 by a key. The cutter shaft 32 is connected to the rotary tiller blade shaft 34 by the coupling 33. The coupling 33 is connected to the rotary tiller blade shaft 34. The first sprocket 26 can drive the rotary tiller blade shaft 34 to rotate. The vertical rotary tiller fixed bushing 30 is located below the first sprocket 26. The vertical rotary tiller fixed bushing 30 is connected to the cutter shaft 32 by the bearing 46. The right-angle blade 47 and the spiral blade 31 are welded to the rotary tiller blade shaft 34, and the right-angle blade 47 is located above the spiral blade 31.

[0072] The plurality of right-angle blades 47 are divided into multiple groups, each group of right-angle blades 47 is arranged longitudinally along the rotary tillage blade axis 34, and adjacent groups of right-angle blades 47 are staggered.

[0073] According to one embodiment of the present invention, preferably, the right-angle blades 47 are arranged in three staggered groups on the rotary tiller blade shaft 34, with the installation directions of the right-angle blades 47 in each group being opposite, and each group of right-angle blades 47 including two right-angle blades 47 installed at the same horizontal position on the rotary tiller blade shaft 34.

[0074] like Figure 10 , 11 As shown in Figure 12, preferably, the transmission assembly includes a gearbox 12, a first bevel gear shaft 13, a transmission shaft 25, a second sprocket 27, a third sprocket 28, a second bevel gear shaft 29, and a chain 40. The rotary tillage mechanism 4 also includes a wire 9, a counterweight frame 14, a shaft hole 24, a support column 41, and a hydraulic oil pipe 45.

[0075] According to one embodiment of the present invention, preferably, the second sprocket 27 has a three-tooth type, the third sprocket 28 has a double-tooth type, the gearbox 12 is connected to the vertical rotary tiller frame 15 by bolts, the vertical rotary tiller frame 15 is provided with a shaft hole 24, the gearbox 12 is located below the shaft hole 24, the telescopic sleeve 22 is welded to the bottom of the support column 41, the top of the support column 41 is connected to the vertical rotary tiller frame 15, the chain 40 is sleeved on the first sprocket 26, the second sprocket 27, and the third sprocket 28, and the counterweight frame 14 is welded to the rotary tiller frame 15 for placing heavy objects. The heavy objects can be fixed to the counterweight frame 14 with ropes to ensure that the weight of the rotary tiller mechanism 4 is similar on both sides, and to prevent the phenomenon of one side of the machine being too heavy.

[0076] Combination Figure 11In one specific embodiment of the present invention, during operation, the first bevel gear shaft 13 transmits the power from the power source to the vertical rotary tiller 3 through the transmission assembly, thereby driving the vertical rotary tiller 3 to rotate. The specific transmission is as follows:

[0077] The first bevel gear shaft 13 transmits the power from the gearbox 12 to the drive shaft 25 via the chain 40. The drive shaft 25 then transmits the power to the first sprocket 26 connected by a key above, and then transmits the power to the second sprocket 27 via the chain 40. The second sprocket 27 divides the power into two directions. The power in the first direction is transmitted through the chain 40, the second sprocket 27, the first tension gear 36, and the first sprocket 26 on the first vertical rotary tiller 3, and then to the first vertical rotary tiller 3, causing it to rotate. The power in the second direction is transmitted through the chain 40 to the third sprocket 28, and then through the chain 40, the second tension gear 36, and the first sprocket 26 on the second vertical rotary tiller 3, and then to the second vertical rotary tiller 3, causing it to rotate.

[0078] like Figure 13 , 14 As shown, preferably, the gearbox 12 includes a first bevel gear shaft 13, a second bevel gear shaft 29, a first bevel gear 42, a gearbox housing 43, a gearbox cover 44, a gearbox shaft cover 49, a second bevel gear 50, and the gearbox 12 also includes a first sprocket 26;

[0079] One end of the first bevel gear shaft 13 is connected to the power output shaft of the power source via a universal joint, and the other end of the first bevel gear shaft 13 is connected to the first bevel gear 42. The second bevel gear 50 is provided with a second bevel gear shaft 29. The first bevel gear shaft 13 transmits the power from the power source to the first bevel gear 42. The first bevel gear 42 and the second bevel gear 50 mesh with each other and transmit the power backward to the vertical rotary tiller 3. The gearbox body 43 and the gearbox cover 44 are connected by bolts. The first bevel gear shaft 13 and the second bevel gear shaft 29 are installed on the gearbox body 43 through the gearbox cover 49. The gearbox cover 49 is connected to the gearbox body 43 by bolts.

[0080] The first bevel gear shaft 13 and the second bevel gear shaft 29 have the same structure but different lengths. Because the first bevel gear shaft 13 needs to be fitted with a universal joint, its length is 5-10cm longer than that of the second bevel gear shaft 29.

[0081] The first bevel gear shaft 13 and the second bevel gear shaft 29 are welded to the first bevel gear 42 and the second bevel gear 50 respectively to form an integral structure. The axes of the two shafts intersect. The transmission ratio formula between the first bevel gear 42 welded to the first bevel gear shaft 13 and the second bevel gear 50 welded to the second bevel gear shaft 29 is as follows:

[0082]

[0083] Among them, the number of teeth of the first bevel gear 42 is z1, the rotational speed of the first bevel gear 42 is n1, the number of teeth of the second bevel gear 50 is z2, the rotational speed of the second bevel gear 50 is n2, and the transmission ratio between the two is i=4; reducing the output power of the power output shaft of the power source can increase the torque of the vertical rotary tiller 3 and improve its soil breaking rate.

[0084] Preferably, the control mechanism 10 controls the vertical rotary tiller 3 to retract in a predetermined direction. The first distance sensor detects the distance between itself and the corresponding position of the reversible plow 2 and transmits it to the control mechanism 10. When the distance value reaches the preset retraction range, the control mechanism 10 controls the vertical rotary tiller 3 to stop retracting. The control mechanism 10 controls the first hydraulic cylinder 5 to extend and retract, thereby causing the reversible plow 2 to flip. The reversible plow 2 stops flipping when it flips to a preset angle. The control mechanism 10 controls the vertical rotary tiller 3 to extend along a predetermined path. When the first distance sensor detects that the distance between itself and the corresponding position of the reversible plow 2 reaches the preset extension range, the vertical rotary tiller 3 stops extending.

[0085] Preferably, the sensor group 16 further includes a vibration sensor, which is connected to the control mechanism 10. The vibration sensor is used to detect the working status of the vertical rotary tiller 3. Specifically, the vibration sensor collects the vibration generated in real time when the vertical rotary tiller 3 is working and compares it with the preset vibration value of the rotary tiller working normally. If it deviates from the preset value range, it indicates that the vertical rotary tiller 3 is working abnormally, and the machine is stopped for inspection.

[0086] Preferably, the vibration sensor is a mechanical vibration sensor; the vibration sensor is used to detect the vibration signal when the vertical rotary tiller 3 is in operation and transmit it to the control mechanism 10.

[0087] Preferably, the rotary tillage mechanism 4 further includes a second distance sensor 23;

[0088] The second distance sensor 23 is installed on the rotary tiller frame 15 and is connected to the control mechanism 10. It is used to detect the distance between the reversible plow 2 and the corresponding position of the vertical rotary tiller 3. When the distance reaches the preset value, the control mechanism 10 controls the reversible plow displacement device to stop moving.

[0089] like Figure 10 As shown, according to one embodiment of the present invention, preferably, the second distance sensor 23 is installed inside the frame 15 of the vertical rotary tiller, at a horizontal distance of 2-4 cm from the corresponding telescopic sleeve 22.

[0090] Preferably, it also includes a first position sensor 11;

[0091] Preferably, the first position sensor 11 is a laser sensor;

[0092] The first position sensor 11 is installed on the frame of the reversible plow 2 and is connected to the control mechanism 10. It is used to detect the position of the vertical rotary tiller 3. When the detected value is less than the preset value, the control mechanism 10 controls the vertical rotary tiller 3 to stop extending.

[0093] Preferably, when the vertical rotary tiller 3 extends along a predetermined path, the first distance sensor and the first position sensor 11 jointly detect the distance between the reversible plow 2 and the vertical rotary tiller 3. When the value detected by either the first distance sensor or the first position sensor 11 is less than a preset value, the control mechanism 10 controls the vertical rotary tiller 3 to stop extending, thereby improving safety.

[0094] like Figure 15 Preferably, it also includes a plow displacement device, which is connected to the plower 48;

[0095] The reversible plow displacement device includes a motor 51 and a pulley 52. ​​The motor 51 is located at the connection between the reversing shaft 8 and the reversing device 48. The motor 51 is connected to the reversing device 48 and the control mechanism 10 through a motor wire 7. The motor 51 is connected to the pulley 52. ​​The motor 51 is used to output power to the pulley 52. ​​The pulley 52 drives the reversing device 48 to move along the reversing shaft 8. The motor 51 drives the pulley 52 to roll in order to control the forward and backward movement of the reversing device 48, thereby controlling the forward and backward movement of the reversible plow 2.

[0096] like Figure 12 As shown, preferably, the telescopic device 17 includes a telescopic hydraulic cylinder, a telescopic rod, a telescopic rod sleeve 22, a tension gear 36, a tension gear support rod 37, a first folding rod 38, and a second folding rod 39;

[0097] One end of the telescopic rod sleeve 22 is connected to the rotary tiller frame 15, and the other end of the telescopic rod sleeve 22 is sleeved to one end of the telescopic rod. The other end of the telescopic rod is connected to the vertical rotary tiller 3. One end of the telescopic hydraulic cylinder is connected to the telescopic rod sleeve 22, and the other end of the telescopic hydraulic cylinder is connected to the telescopic rod. The second folding rod 39 is rotatably connected to the telescopic rod sleeve 22, the first folding rod 38 is rotatably connected to the telescopic rod, and the first folding rod 38 is rotatably connected to the second folding rod 39. The tensioning gear 36 is mounted on the second folding rod 39 through the tensioning gear support rod 37. The telescopic hydraulic cylinder is connected to the control mechanism 10. The telescopic hydraulic cylinder is connected to the power source hydraulic oil tank through the hydraulic oil pipe 45. The control mechanism 10 controls the extension and retraction of the telescopic hydraulic cylinder by controlling the oil inlet of the telescopic hydraulic cylinder.

[0098] The telescopic hydraulic cylinders include a second hydraulic cylinder 18 and a third hydraulic cylinder 19, and the telescopic rods include a first telescopic rod 20 and a second telescopic rod 21. The third hydraulic cylinder 19 and the first telescopic rod 20 are located at the first vertical rotary tiller 3; the second hydraulic cylinder 18 and the second telescopic rod 21 are located at the second vertical rotary tiller 3. The wire 9 and the hydraulic oil pipe 45 are arranged along the vertical rotary tiller frame 15, the telescopic rod sleeve 22, the first telescopic rod 20 and the second telescopic rod 21. The wire 9 transmits the sensor signal to the control mechanism 10, and the hydraulic oil pipe 45 transmits the hydraulic oil to the second hydraulic cylinder 18 and the third hydraulic cylinder 19. The wire 9 transmits the electrical signal controlling the operation of the two hydraulic cylinders from the control mechanism 10 to the electromagnetic control valve located on the hydraulic cylinder.

[0099] Preferably, the first hydraulic cylinder 5, the second hydraulic cylinder 18, and the third hydraulic cylinder 19 all use electromagnetic control valves to control the supply of hydraulic oil.

[0100] According to one embodiment of the present invention, preferably, the first telescopic rod 20 and the second telescopic rod 21 have different lengths, with the second telescopic rod 21 being 20-30cm longer than the first telescopic rod 20. This design is beneficial for the two vertical rotary tillers 3 to perform staggered rotary tillage of the land, thereby improving work efficiency.

[0101] Preferably, the cylinder body of the third hydraulic cylinder 19 is fixed to the telescopic rod sleeve 22 by means of screw connection, and an electromagnetic control valve is installed on the cylinder body to control the entry and exit of hydraulic oil, thereby controlling the extension and retraction of the hydraulic rod of the hydraulic cylinder.

[0102] The hydraulic cylinder rod of the third hydraulic cylinder 19 is fixed to the first telescopic rod 20 by bolt connection, and is used to control the extension and retraction of the first telescopic rod 20, thereby controlling the position of the vertical rotary tiller 3;

[0103] The first folding rod 38 is fixed to the first telescopic rod 20 by bolt connection, and the second folding rod 39 is fixed to the telescopic rod sleeve 22 by bolt connection. The first folding rod 38 and the second folding rod 39 are connected together by bolt. When the third hydraulic cylinder 19 controls the first telescopic rod 20 to extend or shorten, the folding rod will perform folding and extension movements.

[0104] The tension gear support rod 37 is vertically welded to a position about 4-5cm from the connection between the second folding rod 39 and the first folding rod 38. The tension gear 36 is integrated with the tension gear support rod 37 through a bearing. After the position of the tension gear 36 is determined according to the position of the chain 40, the position of the tension gear 36 is fixed with bolts. The tension gear support rod 37 can be processed and installed according to specific circumstances.

[0105] The tensioning gear 36, driven by the folding and extending motion of the folding rod, controls the tension of the chain 40, preventing excessive changes in the tension of the chain 40 when the telescopic rod extends or shortens. This prevents the chain 40 from falling off due to being too loose or breaking due to being too tight, ensuring the stability of the vertical rotary tiller 3. The chain drive improves upon the problem of unstable transmission power caused by gear wear in traditional gear drives. The chain drive structure is simple, consisting of the chain 40 and two sprockets, making installation and maintenance convenient. Furthermore, the chain drive effectively mitigates impacts and vibrations, resulting in smoother transmission. It can transmit large torques. Because the chain 40 has a certain degree of elasticity, it can wrap around the two sprockets, enabling transmission over long distances. Chain drive maintenance is relatively simple; if the chain wears or loosens, it can be easily adjusted or replaced at a low cost. Due to its low noise and lack of splashing oil or powder, the chain drive is less prone to malfunctions in harsh agricultural working environments, making it suitable for various working conditions. The position of the tension gear 36 can be manually replaced to achieve the best matching effect between the chain 40 and the tension gear 36. This ensures that each folding rod folds or extends during the forward and backward extension process, so as to ensure that the chain 40, which transmits power to the vertical rotary tiller, always maintains the normal tension and prevents the chain 40 from falling off due to being too loose or breaking due to being too tight.

[0106] Preferably, the control mechanism 10 includes a microcontroller. The microcontroller controls all the aforementioned sensors, hydraulic cylinders, and motors. After analyzing and judging the signals monitored by the sensors, it controls the electromagnetic control valves or motors on the corresponding hydraulic cylinders to achieve automated and intelligent operation. The microcontroller can store the corresponding data for engineers to analyze and adjust later.

[0107] Preferably, all the above gears are bevel gears. Compared with the traditional cylindrical gear transmission, bevel gear transmission has the advantages of high transmission efficiency, smooth transmission, ability to transmit larger power and speed, convenient adjustment of the position and clearance between gears, compact structure, effective reduction of the overall size and weight of the machine, and high reliability and durability.

[0108] A control method for a combined rotary tiller includes the following steps:

[0109] When the combined rotary tiller starts working in one row, the control mechanism 10 controls the vertical rotary tiller 3 to perform rotary tillage.

[0110] When the combined rotary tiller finishes one row of work and turns to switch to the next row, the vertical rotary tiller 3 and the reversible plow 2, under the control of the control mechanism 10, perform avoidance operations sequentially based on the distance signals fed back by the sensor group 16. After the avoidance operation is completed, the reversible plow 2 performs a flipping motion. After the flipping motion is completed, the vertical rotary tiller 3 and the reversible plow 2 reset and continue to perform the next row of work. The specific steps include:

[0111] Step S1, Vertical rotary tiller 3 avoidance operation: The control mechanism 10 controls the vertical rotary tiller 3 to retract. The first distance sensor detects the distance between itself and the corresponding position of the reversible plow 2 and transmits it to the control mechanism 10. When the distance value reaches the preset retraction range, the control mechanism 10 controls the vertical rotary tiller 3 to stop retracting.

[0112] Step S2, Overturning plow 2 avoidance operation: The control mechanism 10 controls the overturning plow displacement device to move the overturning plow 2. The second distance sensor 23 detects the distance between itself and the corresponding position of the overturning plow 2. When the distance reaches the preset value, the control mechanism 10 controls the overturning plow displacement device to stop moving.

[0113] Step S3, the turning plow 2 turns over: the control mechanism 10 controls the extension and retraction of the first hydraulic cylinder 5 so that the turning plow 2 turns over at a preset angle;

[0114] Step S4, Reset the overturning plow 2: The control mechanism 10 controls the overturning plow displacement device to move the overturning plow 2. The second distance sensor 23 detects the distance between itself and the corresponding position of the overturning plow 2. When the distance reaches the preset value, the control mechanism 10 controls the overturning plow displacement device to stop moving.

[0115] Step S5, Vertical rotary tiller 3 reset: The control mechanism 10 controls the vertical rotary tiller 3 to extend along a predetermined path. When the distance between the vertical rotary tiller 3 and the corresponding position of the reversible plow 2 reaches the predetermined range, the vertical rotary tiller 3 stops extending.

[0116] A tractor includes the aforementioned combined rotary tiller, wherein the combined rotary tiller is controlled according to the aforementioned control method for the combined rotary tiller.

[0117] In one specific embodiment of the present invention, preferably, the power source is a tractor, and the specific working process is as follows:

[0118] Preparation: Before starting work, the driver connects the suspension frame 1 to the tractor suspension system, and the tractor's power take-off shaft is connected to the first bevel gear shaft 13 via a universal joint. The tractor suspension system then lifts the combined rotary tiller off the ground. Once the combined rotary tiller is off the ground and stable, the driver activates the control mechanism 10. The microcontroller in the control mechanism 10 performs a self-check based on data from various sensors and adjusts the positions of the reversible plow 2 and the vertical rotary tiller 3 to preset positions to facilitate subsequent work. When the reversible plow 2 and the rotary tiller 4 cooperate, and under the control of the control mechanism 10, the first hydraulic cylinder 5, the second hydraulic cylinder 18, and the third hydraulic cylinder 19 extend and retract respectively, so that the vertical rotary tiller 3 is positioned behind the reversible plow 2, as... Figure 2 As shown, after arriving at the working position, the driver operates the tractor's suspension system to place the combined rotary tiller on the ground.

[0119] Start of work: During operation, as the tractor moves forward, the driver activates the tractor's power take-off shaft to provide a small power output. The power take-off shaft rotates, driving the first bevel gear shaft 13 to rotate via a universal joint. Then, through the meshing of the first bevel gear 42 and the second bevel gear 50, the reduced power is transmitted to the second bevel gear shaft 29. The first sprocket 26 on the second bevel gear shaft 29 rotates accordingly, driving the chain 40 on it to move. The chain 40 transmits power to the first sprocket 26, which is fixed above and below the drive shaft 25. The first sprocket 26 then drives the drive shaft 25 to rotate within the support column 41. The rotating drive shaft 25 drives the first sprocket 26 located above it to rotate, and... The chain 40, which works in conjunction with the chain 40, moves and transmits power backward to the second sprocket 27 located in the middle. The second sprocket 27 is a sprocket with three teeth, and it is connected to the support column 41 by a bearing. The chain 40 drives the second sprocket 27 to rotate, and the rotating sprocket transmits power to the first vertical rotary tiller 3 and continues to transmit power backward. The first vertical rotary tiller 3 starts to rotate after receiving the power transmitted through the chain 40. The power transmitted backward through the second sprocket 27 is transmitted through the chain 40 to the third sprocket 28, which is connected to the support column 41 by a bearing. The third sprocket 28 is a sprocket with two teeth, and it continues to transmit the power to the second vertical rotary tiller 3.

[0120] The working process of the vertical rotary tiller 3 is as follows:

[0121] Power is transmitted to the first sprocket 26 on the vertical rotary tiller 3. The first sprocket 26 drives the cutter shaft 32 to rotate. At the same time, the rotation of the cutter shaft 32 drives the coupling 33 to rotate. Since the coupling 33 is connected to the rotary tiller shaft by bolts, the rotation of the coupling 33 will drive the rotary tiller shaft 34 to rotate, thereby driving the right-angle blade 47 and the spiral blade 31 on the rotary tiller shaft 34 to rotate.

[0122] After starting work, the tractor drives the combined rotary tiller forward. The reversible plow 2 first enters the soil, turning over the clods through its curved surface. After the reversible plow 2 enters the soil, the operator increases the speed of the power take-off shaft to meet the operating requirements of the vertical rotary tiller 3. The vertical rotary tiller 3, while working, enters the soil behind the plow body, rotating and breaking up the clods behind it. It also breaks up any unbroken layers of soil, making the tilled land softer and achieving the preset tillage depth to meet the needs of subsequent agricultural operations. Then, pulled by the tractor, the machine continues to move forward, tilling and rotary tilling the work area.

[0123] When the tractor travels to the end of a row of work areas, the driver reduces the output power of the tractor's power take-off shaft through the control mechanism 10, then operates the tractor's suspension to lift the combined rotary tiller. After lifting, the driver stops the tractor's power take-off shaft from moving.

[0124] This operation effectively reduces the risk of soil being thrown out during the tillage process of the vertical rotary tiller 3 when lifting the machine without slowing down the power take-off shaft. It reduces the risk of debris being thrown from the soil, causing injury to people or objects around the machine and unnecessary economic losses. It improves the machine's safety.

[0125] The reason for not directly stopping the power output of the power take-off shaft before lifting the machine is to avoid the vertical rotary tiller 3 being squeezed by the surrounding stagnant soil during the lifting process, which would cause the blades of the vertical rotary tiller 3 to wear or even be damaged.

[0126] Furthermore, during the lifting process, the machine moves forward slowly along with the tractor. Therefore, reducing the power output of the power take-off shaft can avoid the aforementioned problems. At the same time, it can also perform some rotary tillage on the soil turned over by the reversible plow at the edge of the field, preventing large clods of soil from forming in the field.

[0127] After the tractor finishes its work, the driver will operate the tractor to turn around on the spot. Before turning around, the driver will issue an instruction to the control mechanism 10 to adjust the intermediate state of the combined rotary tiller.

[0128] After receiving the instruction, the control mechanism 10 will issue commands to the solenoid control valves of the second hydraulic cylinder 18 and the third hydraulic cylinder 19 to control them to retract. When the hydraulic cylinders retract, the chain tensioning mechanism 17 will simultaneously tension the chain 40 to prevent it from falling off due to excessive tension of the chain 40 during the retraction of the hydraulic cylinders. When the second hydraulic cylinder 18 and the third hydraulic cylinder 19 retract, the sensor group 16 will continuously monitor the position and feed back the monitoring signal to the microcontroller in the control mechanism 10. When the microcontroller detects that the position of the vertical rotary tiller 3 has reached the preset position, it will issue commands to the solenoid control valves of the second hydraulic cylinder 18 and the third hydraulic cylinder 19 to cut off the oil circuit and stop the retraction movement.

[0129] Then, the microcontroller in the control mechanism 10 activates the second distance sensor 23 located on the frame of the vertical rotary tiller and sends a command to the motor 51 located in the tilter 48, causing the motor to drive the pulley 52 to move, which in turn moves the tilter 48. The tilter 48 then moves the tilting plow 2, which is welded to it, along a predetermined direction. Once it reaches the designated position, the microcontroller stops the motor 51. This operation is to prevent the tilting plow 2 from colliding with the vertical rotary tiller 3 during tilting.

[0130] Once the driver observes that the reversible plow 2 and the vertical rotary tiller 3 have been adjusted to the appropriate positions according to the feedback from the microcontroller of the control mechanism 10, the driver issues a command to the microcontroller of the control mechanism 10 to extend and retract the first hydraulic cylinder 5, causing the reversible plow 2 to reverse. The reversing process of the reversible plow 2 is divided into two stages, each stage reversing approximately 90° with a reversing interval of approximately 2-5 seconds. After the first 90° reversal is completed, the overall structure of the device during the reversing process is as follows: Figure 3 As shown. After the reversible plow 2 completes its second 90° rotation, the microcontroller of the control mechanism 10 sends a running command to the motor 51, which drives the pulley 52 to move. When the feedback information from the second distance sensor 23 determines that the reversible plow 2 has entered the predetermined position, the microcontroller sends a stop command to the motor 51, and then the reversible plow 2 enters the designated position and is fixed.

[0131] After the reversible plow 2 has finished reversing and is fixed, the driver turns the machine around and aligns it with the next field plot.

[0132] The microcontroller sends commands to the solenoid control valves of the second hydraulic cylinder 18 and the third hydraulic cylinder 19, causing them to extend and control the position of the vertical rotary tiller 3 to coordinate with the reversible plow 2. When the hydraulic cylinders retract, the chain tensioning mechanism 17 simultaneously tensions the chain 40 to prevent it from slipping due to insufficient tension. The microcontroller monitors the position of the vertical rotary tiller 3 using the sensor group 16 and the first position sensor 11. When the vertical rotary tiller 3 reaches the rear side of the corresponding plow body, the microcontroller disconnects the solenoid control valves of the second hydraulic cylinder 18 and the third hydraulic cylinder 19, fixing the position of the vertical rotary tiller. The structural diagram after reversal and position adjustment of the vertical rotary tiller 3 is shown below. Figure 4 As shown.

[0133] After the reversible plow 2 flips, the driver controls the tractor's power take-off shaft to output power at a low speed, driving the vertical rotary tiller 3 to work. Then, the driver lowers the suspension device, allowing the combined rotary tiller to touch the ground, and then starts the tractor to pull the combined rotary tiller forward. Once the plowshare of the reversible plow 2 enters the soil, the driver increases the power output of the power take-off shaft, causing the vertical rotary tiller 3 to enter full speed and complete this stroke of tillage. Furthermore, the direction of soil clods flipping before and after the reversible plow 2 flips is consistent and adjacent.

[0134] An example of the lateral force balancing device used in this invention is as follows:

[0135] A counterweight frame 14 is installed on the vertical rotary tiller frame 15. Counterweights can be added to the frame according to actual operational needs and secured with ropes. This ensures that the weight is even on both sides of the machine, preventing lateral forces and displacement caused by uneven weight distribution, which would increase the workload on the tractor.

[0136] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0137] The detailed descriptions listed above are merely specific illustrations of feasible embodiments of the present invention and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. A combined rotary tiller, characterized in that, It includes a suspension frame (1), a reversible plow (2), a rotary tillage mechanism (4), and a control mechanism (10). The reversible plow (2) and rotary tillage mechanism (4) are mounted on the suspension frame (1). The reversible plow (2) is rotatably connected to the suspension frame (1) through the reversible mechanism. The rotary tillage mechanism (4) includes several vertical rotary tillers (3). The reversible plow (2) and the vertical rotary tillers (3) are arranged alternately. The control mechanism (10) is connected to the reversible mechanism and the rotary tillage mechanism (4) respectively. The control mechanism (10) controls the reversible plow (2) to flip through the reversible mechanism. The control mechanism (10) controls the vertical rotary tillers (3) of the rotary tillage mechanism (4) to rotate. The flipping mechanism includes a flipper (48), a first hydraulic cylinder (5), a guide rail (6), and a flipping shaft (8). The reversible plow (2) is rotatably connected to the suspension frame (1) via the reversing device (48). The guide rail (6) is installed on the suspension frame (1). One end of the first hydraulic cylinder (5) is slidably connected to the guide rail (6), and the other end of the first hydraulic cylinder (5) is connected to the reversible plow (2). The control mechanism (10) is connected to the first hydraulic cylinder (5). The reversing device (48) is sleeved on the reversing shaft (8), and the reversing shaft (8) and the reversing device (48) are connected by bearings. The rotary tillage mechanism (4) also includes a rotary tiller frame (15), a sensor group (16), a telescopic device (17), and a transmission assembly; The reversible plow (2), rotary tiller frame (15), and suspension frame (1) are installed on the reversible shaft (8) in a coaxial manner. One end of the reversible shaft (8) is rotatably connected to the rotary tiller frame (15) and suspension frame (1), and the other end is fixedly connected to the reversible plow (2). One end of the telescopic device (17) is connected to the rotary tiller frame (15), and the other end of the telescopic device (17) is connected to the vertical rotary tiller (3). The vertical rotary tiller (3) is connected to the power source through the transmission assembly. The sensor group (16) is installed at one end of the telescopic device (17) near the vertical rotary tiller (3). The sensor group (16) includes a first distance sensor, which is used to detect the distance between itself and the corresponding position of the plow body of the reversible plow (2) and transmit it to the control mechanism (10). The sensor group (16) also includes a second distance sensor (23); The second distance sensor (23) is installed on the rotary tiller frame (15). The second distance sensor (23) is connected to the control mechanism (10) and is used to detect the distance between the reversible plow (2) and its corresponding position. When the distance reaches the preset value, the control mechanism (10) controls the reversible plow displacement device to stop moving.

2. The combined rotary tiller according to claim 1, characterized in that, The control mechanism (10) controls the vertical rotary tiller (3) to retract. The first distance sensor detects the distance between itself and the corresponding position of the reversible plow (2) and transmits it to the control mechanism (10). When the distance value reaches the preset retraction range, the control mechanism (10) controls the vertical rotary tiller (3) to stop retracting. The control mechanism (10) controls the first hydraulic cylinder (5) to extend and retract, thereby causing the reversible plow (2) to flip. When the reversible plow (2) flips to a preset angle, it stops flipping. The control mechanism (10) controls the vertical rotary tiller (3) to extend along a predetermined path. When the first distance sensor detects that the distance between itself and the corresponding position of the reversible plow (2) reaches the preset extension range, the vertical rotary tiller (3) stops extending.

3. The combined rotary tiller according to claim 1, characterized in that, It also includes a plow displacement device, which is connected to the plower (48); The reversing plow displacement device includes a motor (51) and a pulley (52). The motor (51) is provided at the connection between the reversing shaft (8) and the reversing device (48). The motor (51) and the pulley (52) are connected. The control mechanism (10) is connected to the motor (51). The motor (51) is used to output power to the pulley (52). The pulley (52) drives the reversing device (48) to move along the reversing shaft (8).

4. The combined rotary tiller according to claim 1, characterized in that, The sensor group (16) also includes a vibration sensor; The vibration sensor is used to detect the vibration value of the vertical rotary tiller (3) when it is working and transmit it to the control mechanism (10). When the vibration value exceeds the preset value, the control mechanism (10) controls the vertical rotary tiller (3) to stop working.

5. The combined rotary tiller according to claim 2, characterized in that, It also includes a first position sensor (11); The first position sensor (11) is installed on the frame of the reversible plow (2). The first position sensor (11) is connected to the control mechanism (10) and is used to detect the position of the vertical rotary tiller (3). When the detected value is less than the preset value, the control mechanism (10) controls the vertical rotary tiller (3) to stop extending.

6. The combined rotary tiller according to claim 1, characterized in that, The telescopic device (17) includes a telescopic hydraulic cylinder, a telescopic rod, a telescopic rod sleeve (22), a tension gear (36), a tension gear support rod (37), a first folding rod (38), and a second folding rod (39). One end of the telescopic sleeve (22) is connected to the rotary tiller frame (15), the other end of the telescopic sleeve (22) is sleeved to one end of the telescopic rod, the other end of the telescopic rod is connected to the vertical rotary tiller (3), one end of the telescopic hydraulic cylinder is connected to the telescopic sleeve (22), the other end of the telescopic hydraulic cylinder is connected to the telescopic rod, the second folding rod (39) is rotatably connected to the telescopic sleeve (22), the first folding rod (38) is rotatably connected to the telescopic rod, the first folding rod (38) is rotatably connected to the second folding rod (39), the tensioning gear (36) is installed on the second folding rod (39) through the tensioning gear support rod (37), and the telescopic hydraulic cylinder is connected to the control mechanism (10).

7. A control method for a combined rotary tiller according to any one of claims 1-6, characterized in that, Includes the following steps: When the combined rotary tiller starts working in one row, the control mechanism (10) controls the vertical rotary tiller (3) to perform rotary tillage. When the combined rotary tiller finishes one row of work and turns around to switch to the next row, the specific steps are as follows: Step S1, Vertical rotary tiller (3) avoidance operation: The control mechanism (10) controls the vertical rotary tiller (3) to retract. The first distance sensor detects the distance between itself and the corresponding position of the plow body of the reversible plow (2) and transmits it to the control mechanism (10). When the distance value reaches the predetermined range, the control mechanism (10) controls the vertical rotary tiller (3) to stop retracting. Step S2, Overturning plow (2) avoidance operation: The control mechanism (10) controls the overturning plow displacement device to move the overturning plow (2), and the second distance sensor (23) detects the distance between it and the corresponding position of the overturning plow (2). When the distance reaches the preset value, the control mechanism (10) controls the overturning plow displacement device to stop moving. Step S3, the overturning plow (2) overturning motion: the control mechanism (10) controls the extension and retraction of the first hydraulic cylinder (5) so that the overturning plow (2) overturns at a preset angle; Step S4, Reset the overturning plow (2): The control mechanism (10) controls the overturning plow displacement device to move the overturning plow (2), and the second distance sensor (23) detects the distance between itself and the corresponding position of the overturning plow (2). When the distance reaches the preset value, the control mechanism (10) controls the overturning plow displacement device to stop moving. Step S5, Vertical rotary tiller (3) reset: The control mechanism (10) controls the vertical rotary tiller (3) to extend along the predetermined path. When the distance between the vertical rotary tiller (3) and the corresponding position of the reversible plow (2) reaches the predetermined range, the vertical rotary tiller (3) stops extending.

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