Multi-terrain multi-mechanism adaptive adjusting loose harrow combined land leveler

Abstract

The present application relates to a kind of multi-terrain multi-mechanism adaptive adjustment loose harrow compound land leveler, including frame, and single-point depth adjustment mechanism, deep ripping shovel depth adjustment mechanism, rake angle rake depth adjustment mechanism, compaction mechanism, walking mechanism and depth limiting mechanism installed on frame;Single-point depth adjustment mechanism includes traction head reversing plate, traction head, traction frame and single-point depth adjustment hydraulic cylinder;Deep ripping shovel depth adjustment mechanism includes deep ripping shovel frame, front shovel frame connecting plate, rear shovel frame connecting plate, deep ripping shovel depth adjustment hydraulic cylinder and deep ripping shovel;Rake angle rake depth adjustment mechanism includes rake frame, front rake frame connecting plate, rear rake frame connecting plate, rake group, rake group rotating shaft, rake group slider, rake depth adjustment hydraulic cylinder and rake angle adjustment hydraulic cylinder.The present application realizes real-time leveling, deep ripping depth control, rake depth control and rake angle control.The structure is simple, easy to disassemble and maintain.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, and specifically relates to a multi-terrain, multi-mechanism adaptive adjustment loosening and harrowing compound tillage machine. Background Technology

[0002] The quality of tillage has a significant impact on the growth environment of crops; deep roots are essential for lush foliage and high yields. However, during mechanized tillage, the continuous entry of machinery into the soil leads to soil compaction, resulting in soil clumps and a plow pan, which hinders the deep penetration of crop roots. The plow pan also impedes the effective infiltration of rainwater into the deeper soil layers, leading to surface runoff and soil erosion. Combined tillage machines are the main implements for tillage and can break up the plow pan. However, for gently rolling hills and slopes of 3° to 6°, existing machinery is not well-suited to the terrain to ensure a level surface. Current combined tillage machines use a combination of deep tillage, harrowing, and compaction, but the depth of deep tillage and harrowing is not adjustable, or may require manual adjustment, resulting in low operational efficiency. For example, the 1SBL-360 combined tillage machine published by Wang Chenping in the fourth issue of the journal "Agricultural Machinery Use and Maintenance" in 2022 on page 35 has adjustable deep tillage depth and harrowing depth, but it needs to be adjusted manually.

[0003] In summary, designing a multi-terrain, multi-mechanism adaptive loosening and harrowing combined tillage machine to address the significant topographical variations in corn stalk-covered areas, particularly in hilly and undulating regions of the Huang-Huai-Hai Plain, and to achieve machine leveling based on terrain, with real-time adjustment of deep loosening and harrowing depths to meet the tillage needs of different terrains, has become an urgent problem to be solved. Summary of the Invention

[0004] To address the aforementioned technical problems, the purpose of this invention is to provide a multi-terrain, multi-mechanism adaptive adjustment lodging and harrowing compound tillage machine that enables real-time leveling, deep loosening depth control, harrowing depth control, and harrowing angle control.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A multi-terrain, multi-mechanism adaptive adjustment loosening and harrowing compound tillage machine includes a frame 8, and a single-point depth adjustment mechanism 1, a deep loosening shovel depth adjustment mechanism 2, a harrow angle and harrow depth adjustment mechanism 3, a compaction mechanism 4, a walking mechanism 5, and a depth limiting mechanism 6 installed on the frame 8.

[0007] The frame 8 is a rectangular frame, including a front crossbeam 8-1, a first middle crossbeam 8-2, a second middle crossbeam 8-3, a third middle crossbeam 8-4, a rear crossbeam 8-5, a middle longitudinal beam 8-7, and two left and right longitudinal beams 8-6.

[0008] The single-point depth adjustment mechanism 1 includes a traction head reversing plate 1-1, a traction head 1-2, a traction frame 1-3, and a single-point depth adjustment hydraulic cylinder 1-4.

[0009] The rear end of the traction frame 1-3 is hinged to the lower part of a pair of lugs on the front crossbeam 8-1 of the frame 8; the traction head 1-2 is fixed to the front end of the traction frame 1-3, and the traction head reversing plate 1-1 for attaching to the tractor is hinged to the traction head 1-2; a pair of single-point depth adjustment hydraulic cylinders 1-4 are provided; the cylinder bodies of the two parallel single-point depth adjustment hydraulic cylinders 1-4 are hinged to the middle of the traction frame 1-3, and the piston rods are hinged to the upper part of the lugs on the front crossbeam 8-1 of the frame 8; the angle adjustment between the frame 8 and the horizontal plane is realized by the extension and retraction of the piston rods of the single-point depth adjustment hydraulic cylinders 1-4.

[0010] The deep loosening shovel depth adjustment mechanism 2 includes a deep loosening shovel frame 2-1, a front shovel frame connecting plate 2-2, a rear shovel frame connecting plate 2-3, a deep loosening shovel depth adjustment hydraulic cylinder 2-4, and a deep loosening shovel 2-5. The deep loosening shovel frame 2-1 includes a front shovel frame crossbeam 2-1-1 and a rear shovel frame crossbeam 2-1-2. The deep loosening shovel frame 2-1 is horizontally arranged. The front ends of multiple equally spaced front shovel frame connecting plates 2-2 are hinged to the front crossbeam 8-1 of the frame 8, and the rear ends are hinged to the front shovel frame crossbeam 2-1-1. The front ends of multiple equally spaced rear shovel frame connecting plates 2-3 are hinged to the first middle crossbeam 8-2, and the rear ends are hinged to the rear shovel frame crossbeam 2-1-2. The deep loosening shovel depth adjustment hydraulic cylinder 2-4 is provided in pairs, with the two deep loosening shovel depth adjustment hydraulic cylinders 2-4 arranged side by side. The cylinder body is hinged to the front shovel frame crossbeam 2-1-1, and the piston rod is hinged to the first middle crossbeam 8-2. Multiple deep loosening shovels 2-5 are fixed at equal intervals on the front shovel frame crossbeam 2-1-1 and the rear shovel frame crossbeam 2-1-2. The deep loosening shovels 2-5 on the front shovel frame crossbeam 2-1-1 and the deep loosening shovels 2-5 on the rear shovel frame crossbeam 2-1-2 are arranged alternately. The deep loosening depth is adjusted by extending and retracting the piston rod of the deep loosening shovel depth adjusting hydraulic cylinder 2-4.

[0011] The harrow angle and harrow depth adjustment mechanism 3 includes a harrow frame 3-1, a front harrow frame connecting plate 3-2, a rear harrow frame connecting plate 3-3, a harrow assembly 3-4, a harrow assembly rotating shaft 3-5, a harrow assembly slider 3-6, a harrow depth adjustment hydraulic cylinder 3-7, and a harrow angle adjustment hydraulic cylinder 3-8.

[0012] The harrow frame 3-1 is a rectangular frame composed of a front harrow frame crossbeam 3-1-1, a middle harrow frame crossbeam 3-1-2, a rear harrow frame crossbeam 3-1-3, a left harrow frame longitudinal beam 3-1-4, a right harrow frame longitudinal beam 3-1-5, a left harrow frame middle longitudinal beam 3-1-6, and a right harrow frame middle longitudinal beam 3-1-7. The front ends of multiple equally spaced front harrow frame connecting plates 3-2 are hinged to the second middle crossbeam 8-3 of the frame 8, and the rear ends are hinged to the front harrow frame crossbeam 3-1-1. The front ends of multiple equally spaced rear harrow frame connecting plates 3-3 are hinged to the rear crossbeam 8-5, and the rear ends are hinged to the rear harrow frame crossbeam 3-1-3. The harrow depth adjusting hydraulic cylinders 3-7 are provided in pairs, with the cylinder bodies of the two parallel harrow depth adjusting hydraulic cylinders 3-7 hinged to the middle harrow frame crossbeam 3-1-2, and the piston rod ends hinged to the third middle crossbeam 8-4.

[0013] The front harrow frame crossbeam 3-1-1, left harrow frame longitudinal beam 3-1-4, middle harrow frame crossbeam 3-1-2, and left harrow frame intermediate longitudinal beam 3-1-6 constitute the left front harrow assembly mounting frame; the front harrow frame crossbeam 3-1-1, right harrow frame longitudinal beam 3-1-5, middle harrow frame crossbeam 3-1-2, and right harrow frame intermediate longitudinal beam 3-1-7 constitute the right front harrow assembly mounting frame; the rear harrow frame crossbeam 3-1-3, left harrow frame longitudinal beam 3-1-4, middle harrow frame crossbeam 3-1-2, and left harrow frame intermediate longitudinal beam 3-1-6 constitute the left rear harrow assembly mounting frame; the rear harrow frame crossbeam 3-1-3, right harrow frame longitudinal beam 3-1-5, middle harrow frame crossbeam 3-1-2, and right harrow frame intermediate longitudinal beam 3-1-7 constitute the right rear harrow assembly mounting frame; the left front harrow... Each of the four mounting frames—the front right rake assembly mounting frame, the left rear rake assembly mounting frame, and the right rear rake assembly mounting frame—is equipped with an arc-shaped rake frame slide rail 3-1-8, and each rake assembly slide rail 3-1-8 is equipped with a rake assembly slider 3-6. Four rake assemblies 3-4 arranged in double rows are respectively positioned below the front left rake assembly mounting frame, the front right rake assembly mounting frame, the left rear rake assembly mounting frame, and the right rear rake assembly mounting frame. One end of each rake assembly 3-4 is rotatably mounted on the middle longitudinal beam 3-1-6 of the left rake frame or the middle longitudinal beam 3-1-7 of the right rake frame via a rake assembly rotation shaft 3-5, and the other end of the rake assembly 3-4 is fixedly connected to the rake assembly slider 3-6. The cylinder body of the rake angle adjusting hydraulic cylinder 3-8 is hinged to the rake frame 3-1, and the piston rod end is hinged to the rake assembly slider 3-6. The harrowing depth is adjusted by extending and retracting the piston rod of hydraulic cylinder 3-7; the harrowing angle is adjusted by extending and retracting the piston rod of hydraulic cylinder 3-8.

[0014] The rake assembly 3-4 includes a rake shaft 3-4-1, a rake blade bearing 3-4-5, a rake blade bearing seat 3-4-6, a rake assembly mounting rod 3-4-7, a scraper 3-4-8, and a scraper mounting rod 3-4-9.

[0015] Parallel rake mounting rods 3-4-7 and scraper mounting rods 3-4-9 are fixed together by two rake blade bearing seats 3-4-6. Two rake blade bearings 3-4-5 are mounted on the rake shaft 3-4-1, and these bearings are installed in the rake blade bearing seats 3-4-6. Multiple rake blades are fixedly connected to the rake shaft 3-4-1 at equal intervals. From the outer end to the inner end of the rake shaft 3-4-1, the multiple rake blades sequentially include a full-edged rake 3-4-2 and multiple notched rakes 3-4-3. Multiple scrapers 3-11, corresponding one-to-one with the rake blades on the rake shaft 3-4-1, are fixed to the scraper mounting rod 3-4-9 and used to scrape away soil adhering to the rake blades.

[0016] The compaction mechanism 4 is fixed to the rear harrow frame crossbeam 3-1-3 and is used to compact the soil after the harrowing operation.

[0017] The traveling mechanism 5 includes a support base 5-1, a traveling wheel adjusting hydraulic cylinder 5-2, a traveling wheel connecting pipe 5-4, a traveling wheel 5-5, a wheel axle 5-6, a pipe shaft 5-7, and a bushing 5-8. Two support bases 5-1 are respectively fixed to the outer end faces of the middle of the left and right longitudinal beams 8-6. The upper end of the traveling wheel connecting pipe 5-4 is provided with a bushing 5-8, and the lower end is provided with a wheel axle 5-6. The two traveling wheel connecting pipes 5-4 are respectively hinged to the rear of the left and right longitudinal beams 8-6 through the pipe shaft 5-7 and the bushing 5-8. The traveling wheel 5-5 is mounted on the wheel axle 5-6. The two ends of the traveling wheel adjusting hydraulic cylinder 5-2 are respectively hinged to the support base 5-1 and the lower part of the traveling wheel connecting pipe 5-4 through pins 5-3. The retraction and lowering of the traveling wheel 5-5 are achieved by extending and retracting the piston rod of the traveling wheel adjusting hydraulic cylinder 5-2.

[0018] The depth limiting mechanism 6 includes a depth limiting wheel 6-1, a depth limiting wheel axle 6-2, a depth limiting wheel connecting rod 6-3, and a depth limiting wheel fixing seat 6-4; the two depth limiting wheel fixing seats 6-4 are respectively fixed to the front of the left and right longitudinal beams 8-6; the depth limiting wheel connecting rod 6-3 is height-adjustably fixed to the depth limiting wheel fixing seat 6-4, the depth limiting wheel axle 6-2 is fixed to the lower end of the depth limiting wheel connecting rod 6-3, and the depth limiting wheel 6-1 is mounted on the depth limiting wheel axle 6-2.

[0019] The rake shaft 3-4-1 has one full-edge rake 3-4-2 and seven notched rakes 3-4-3, for a total of eight rake blades.

[0020] A rake blade connecting cylinder 3-4-4 is provided between the full-edge rake 3-4-2 and the notched rake 3-4-3, as well as between two adjacent notched rakes 3-4-3.

[0021] Two rake blade bearings 3-4-5 are respectively located between the second and third rake blades and between the fifth and sixth rake blades among the eight rake blades.

[0022] The pressing mechanism 4 includes a damper 4-1, a plate 4-2, a connecting arm 4-4, and a pressing roller 4-5. The two plates 4-2 are fixed to the left and right ends of the rear rake frame crossbeam 3-1-3 by set bolts 4-3 respectively; the top end of the damper 4-1 and the top end of the connecting arm 4-4 are hinged to the plate 4-2, and the bottom end of the damper 4-1 is hinged to the lower part of the connecting arm 4-4; the pressing roller 4-5 is mounted on the two connecting arms 4-4.

[0023] The pressing roller 4-5 includes a fixed plate 4-5-1, a bearing cover 4-5-2, a pressing tube 4-5-3, and a rotating shaft 4-5-4; multiple pressing tubes 4-5-3 are evenly distributed and twisted along the circumference, and are connected and fixed by multiple fixed plates 4-5-1 arranged at equal intervals. The rotating shaft 4-5-4 passes through the central hole of each fixed plate 4-5-1 and is connected to the bearing in the bearing cover 4-5-2. The bearing cover 4-5-2 is fixed to the connecting arm 4-4 by bolts.

[0024] The multi-terrain, multi-mechanism adaptive adjustment loosening and harrowing compound tillage machine further includes a hydraulic control system 7; the hydraulic control system 7 includes a first universal joint 7-1, a universal shaft 7-2, a second universal joint 7-3, a hydraulic pump 7-4, an electrical control box 7-5, an oil tank 7-6, a filter 7-7, an overflow valve 7-8, a solenoid directional valve 7-9, a two-way hydraulic lock 7-10, a first ultrasonic sensor mount 7-11, a first laser sensor mount 7-12, a second laser sensor mount 7-13, a third laser sensor mount 7-14, and a second ultrasonic sensor mount 7-15.

[0025] Two first ultrasonic sensor mounts 7-11 are respectively fixed to the left and right sides of the lower end face of the front crossbeam 8-1, used to house the UM18-D1MV1-C78 ultrasonic sensor and detect the height of the frame 8 from the ground; the first laser sensor mount 7-12, the second laser sensor mount 7-13, and the third laser sensor mount 7-14 are sequentially fixed to the upper end face of the front crossbeam 8-1, the lower end face of the middle longitudinal beam 8-7 behind the first middle crossbeam 8-2, and the lower end face of the middle longitudinal beam 8-7 behind the first middle crossbeam 8-3, used to house the MS53L0M laser sensor, used to detect the relationship between the frame 8 and the traction frame 1-3, the deep loosening shovel frame 2- The distance between harrow frame 3-1 and harrow frame 3-1 is used to calculate the traction angle, deep loosening depth, and harrowing depth. Each of the two harrow groups 3-4 in the front row is equipped with a second ultrasonic sensor mount 7-15 for placing an HC-SR04 ultrasonic sensor to measure the harrow angle. The electrical control box 7-5 is installed on the upper surface of the front crossbeam 8-1, and contains an STM32F103ZET6 microcontroller, an LCD screen, and relays. The STM32F103ZET6 microcontroller connects to the LCD screen, relays, UM18-D1MV1-C78 ultrasonic sensor, MS53L0M laser sensor, and HC-SR04 ultrasonic sensor.

[0026] The oil outlet of the oil tank 7-6 is connected to the oil inlet of the filter 7-7 and the oil outlet of the overflow valve 7-8. The oil outlet of the filter 7-7 is connected to the oil inlet of the hydraulic pump 7-4, and the oil inlet of the overflow valve 7-8 is connected to the oil outlet of the hydraulic pump 7-4. The oil outlet of the hydraulic pump 7-4 is connected to the single-point depth adjustment hydraulic cylinder 1-4, the deep loosening shovel depth adjustment hydraulic cylinder 2-4, and the harrow depth adjustment hydraulic cylinder 3 via the electromagnetic proportional directional valve 7-9 and the two-way hydraulic lock 7-10, respectively. -7. The rake angle adjusting hydraulic cylinder 3-8 and the traveling wheel adjusting hydraulic cylinder 5-2; the oil inlet of the electromagnetic proportional directional valve 7-9 is connected to the oil outlet of the hydraulic pump 7-4, the oil outlet of the electromagnetic proportional directional valve 7-9 is connected to the oil tank 7-6, the first working oil port and the second working oil port of the electromagnetic proportional directional valve 7-9 are respectively connected to the two oil inlets of the bidirectional hydraulic lock 7-10, and the two oil outlets of the bidirectional hydraulic lock 7-10 are respectively connected to the rodless chamber and the rod chamber of each hydraulic cylinder.

[0027] The tractor's power take-off shaft is connected to the first universal joint 7-1. The two ends of the universal joint 7-2 are connected to the first universal joint 7-1 and the second universal joint 7-3. The rear end of the second universal joint 7-3 is connected to the hydraulic pump 7-4, which drives the hydraulic pump to rotate. The hydraulic oil is drawn into the hydraulic pump 7-4 from the oil tank 7-6 through the filter 7-7. The low-pressure oil is converted into high-pressure oil by continuously changing the volume of the oil chamber. The high-pressure oil enters the inlet of the electromagnetic proportional directional valve 7-9 from the outlet of the hydraulic pump 7-4. The electromagnetic proportional directional valve 7-9 enters the rod chamber of the hydraulic cylinder through the two-way hydraulic lock 7-10. The hydraulic oil in the rodless chamber of the hydraulic cylinder flows back to the oil tank 7-6.

[0028] The front shovel frame crossbeam 2-1-1 is equipped with four deep loosening shovels 2-5, and the rear shovel frame crossbeam 2-1-2 is equipped with five deep loosening shovels 2-5.

[0029] The angle between frame 8 and the horizontal plane is -30° to 15°.

[0030] The soil penetration depth of the deep loosening shovel 2-5 is 300-450mm; the harrow depth adjustment range is 120-160mm; and the harrow angle adjustment range is 10°-25°.

[0031] When the 5-5 wheels are folded up, the frame 8 is 860mm from the ground; when the 5-5 wheels are lowered, the frame 8 is 1295mm from the ground.

[0032] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0033] 1. The multi-terrain, multi-mechanism adaptive adjustment loosening and harrowing compound tillage machine of the present invention has a simple structure for the single-point depth adjustment mechanism, the deep loosening shovel depth adjustment mechanism, and the harrow angle and harrow depth adjustment mechanism, which are easy to disassemble, assemble, and maintain.

[0034] 2. The multi-terrain, multi-mechanism adaptive adjustment loosening and harrowing compound tillage machine of the present invention achieves real-time leveling, deep loosening depth control, harrowing depth control, and harrowing angle control through a single-point depth adjustment mechanism, a deep loosening shovel depth adjustment mechanism, a harrowing angle and harrowing depth adjustment mechanism, a press roller mechanism, a traveling wheel mechanism, a depth limiting wheel mechanism, and a hydraulic control system.

[0035] 3. The single-point depth adjustment mechanism, deep loosening shovel depth adjustment mechanism, and harrow angle and depth adjustment mechanism of the present invention can adjust the deep loosening depth (300-450mm), harrowing depth (120-160mm), and harrowing angle (10°-25°) in real time within a certain range according to the field operation environment.

[0036] 4. The mode adjustment mechanism of the present invention has a simple structure and is easy to install. It can adjust the working conditions according to the field land conditions and the crops being cultivated, thereby improving work efficiency.

[0037] 5. The multi-terrain, multi-mechanism adaptive adjustment tillage machine of this invention combines hydraulic and electronic control technologies to achieve intelligent and automated operation. Through programmable control of the electromagnetic proportional directional valve, it drives the hydraulic cylinder, enabling continuous adjustment of deep tillage depth, harrowing depth, and harrowing angle. Compared to mechanical deep tillage and harrowing depth adjustments, it is more convenient and precise; compared to electric drive, it is more suitable as a power source for agricultural machinery in harsh environments. Attached Figure Description

[0038] Figure 1 This is a side view of the multi-terrain, multi-mechanism adaptive adjustment loosening and harrowing compound tillage machine of the present invention. Figure 1 ;

[0039] Figure 2 This is a side view of the multi-terrain, multi-mechanism adaptive adjustment loosening and harrowing compound tillage machine of the present invention. Figure 2 ;

[0040] Figure 3 This is a top view of the multi-terrain, multi-mechanism adaptive adjustment loosening and harrowing compound tillage machine of the present invention;

[0041] Figure 4 This is a rear view schematic diagram of the rake angle and rake depth adjustment mechanism 3 of the present invention;

[0042] Figure 5 This is a top view of the rake angle and rake depth adjustment mechanism 3 of the present invention;

[0043] Figure 6 This is a side view of the pressing mechanism 4 of the present invention.

[0044] Figure 7 This is a rear view schematic diagram of the pressing mechanism 4 of the present invention;

[0045] Figure 8This is a schematic diagram of the control loop of the hydraulic control system 7 of the present invention.

[0046] The reference numerals in the attached figures are:

[0047] 1 Single-point depth adjustment mechanism

[0048] 1-1 Traction Head Reversing Plate 1-2 Traction Head

[0049] 1-3 Traction Frame 1-4 Single-Point Depth Adjustment Hydraulic Cylinder

[0050] 2. Deep loosening shovel depth adjustment mechanism

[0051] 2-1 Deep Loosening Shovel

[0052] 2-1-1 Front shovel frame crossbeam 2-1-2 Rear shovel frame crossbeam

[0053] 2-2 Front shovel frame connecting plate 2-3 Rear shovel frame connecting plate

[0054] 2-4 Deep loosening shovel depth adjustment hydraulic cylinder 2-5 Deep loosening shovel

[0055] 3. Rake angle and rake depth adjustment mechanism

[0056] 3-1 rake frame

[0057] 3-1-1 Front harrow frame crossbeam; 3-1-2 Middle harrow frame crossbeam

[0058] 3-1-3 Rear rake frame crossbeam; 3-1-4 Left rake frame longitudinal beam

[0059] 3-1-5 Right rake frame longitudinal beam; 3-1-6 Left rake frame middle longitudinal beam

[0060] 3-1-7 Right rake frame middle longitudinal beam; 3-1-8 Rake frame slide rail

[0061] 3-2 Front rake frame connecting plate 3-3 Rear rake frame connecting plate

[0062] 3-4 harrowing groups

[0063] 3-4-1 Harrow Shaft 3-4-2 Full-Flange Harrow

[0064] 3-4-3 Notched rake, 3-4-4 rake blade connecting cylinder

[0065] 3-4-5 Rake blade bearing; 3-4-6 Rake blade bearing housing

[0066] 3-4-7 Rake assembly mounting rod; 3-4-8 Scraper

[0067] 3-4-9 Scraper Mounting Rod

[0068] 3-5 Harrow assembly rotating shaft; 3-6 Harrow assembly slider

[0069] 3-7 Harrow depth adjustment hydraulic cylinder; 3-8 Harrow angle adjustment hydraulic cylinder

[0070] 4. Suppression agencies

[0071] 4-1 Damper 4-2 Insert Plate

[0072] 4-3 Set bolt 4-4 Connecting arm

[0073] 4-5 press rollers

[0074] 4-5-1 Fixed plate 4-5-2 Bearing cover

[0075] 4-5-3 Pressing pipe 4-5-4 Rotary shaft

[0076] 5. Walking mechanism

[0077] 5-1 Support base; 5-2 Traveling wheel adjusting hydraulic cylinder

[0078] 5-3 Pin Shaft 5-4 Wheel Connecting Pipe

[0079] 5-5 traveling wheels, 5-6 axles

[0080] 5-7 tube shaft 5-8 bushing

[0081] 6 institutions with depth restrictions

[0082] 6-1 Depth-limiting wheel; 6-2 Depth-limiting wheel axle

[0083] 6-3 Depth limiting wheel connecting rod; 6-4 Depth limiting wheel fixing seat

[0084] 7 Hydraulic Control System

[0085] 7-1 First universal joint; 7-2 Universal shaft

[0086] 7-3 Second universal joint; 7-4 Hydraulic pump

[0087] 7-5 Electrical control box; 7-6 Oil tank

[0088] 7-7 Filter 7-8 Overflow Valve

[0089] 7-9 Electromagnetic directional valve; 7-10 Two-way hydraulic lock

[0090] 7-11 First ultrasonic sensor mount; 7-12 First laser sensor mount

[0091] 7-13 Second laser sensor mount; 7-14 Third laser sensor mount

[0092] 7-15 Second Ultrasonic Sensor Mount

[0093] 8 racks

[0094] 8-1 Front crossbeam; 8-2 First middle crossbeam

[0095] 8-3 Second middle crossbeam; 8-4 Third middle crossbeam

[0096] 8-5 rear crossbeam, 8-6 longitudinal beam

[0097] 8-7 Intermediate Longitudinal Beam Detailed Implementation

[0098] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0099] like Figure 1 and Figure 2 As shown, the present invention provides a multi-terrain, multi-mechanism adaptive adjustment loosening and harrowing compound tillage machine, including a frame 8, and a single-point depth adjustment mechanism 1, a deep loosening shovel depth adjustment mechanism 2, a harrow angle and harrow depth adjustment mechanism 3, a compaction mechanism 4, a walking mechanism 5, a depth limiting mechanism 6, and a hydraulic control system 7 installed on the frame 8.

[0100] like Figure 3 As shown, the frame 8 is a rectangular frame, including a front crossbeam 8-1, a first middle crossbeam 8-2, a second middle crossbeam 8-3, a third middle crossbeam 8-4, a rear crossbeam 8-5, a middle longitudinal beam 8-7, and two left and right longitudinal beams 8-6.

[0101] like Figure 1 , Figure 2 and Figure 3 As shown, the single-point depth adjustment mechanism 1 includes a traction head reversing plate 1-1, a traction head 1-2, a traction frame 1-3, and a single-point depth adjustment hydraulic cylinder 1-4;

[0102] The rear end of the traction frame 1-3 is hinged to the lower part of a pair of lugs on the front crossbeam 8-1 of the frame 8; the traction head 1-2 is fixed to the front end of the traction frame 1-3, and the traction head reversing plate 1-1 for attaching to the tractor is hinged to the traction head 1-2; a pair of single-point depth adjustment hydraulic cylinders 1-4 are provided; the cylinder bodies of the two parallel single-point depth adjustment hydraulic cylinders 1-4 are hinged to the middle of the traction frame 1-3, and the piston rods are hinged to the upper part of the lugs on the front crossbeam 8-1 of the frame 8. By extending and retracting the piston rods of the single-point depth adjustment hydraulic cylinders 1-4, the angle between the frame 8 and the horizontal plane can be adjusted, with the adjustment angle ranging from -30° to 15°.

[0103] Preferably, the working length of the single-point depth adjusting hydraulic cylinder 1-4 is 610-960mm.

[0104] like Figure 2 and Figure 3As shown, the deep loosening shovel depth adjustment mechanism 2 includes a deep loosening shovel frame 2-1, a front shovel frame connecting plate 2-2, a rear shovel frame connecting plate 2-3, a deep loosening shovel depth adjustment hydraulic cylinder 2-4, and a deep loosening shovel 2-5; the deep loosening shovel frame 2-1 includes a front shovel frame crossbeam 2-1-1 and a rear shovel frame crossbeam 2-1-2. The subsoiler frame 2-1 is horizontally arranged. The front ends of multiple equally spaced front shovel frame connecting plates 2-2 are hinged to the front crossbeam 8-1 of the frame 8, and the rear ends are hinged to the front shovel frame crossbeam 2-1-1. The front ends of multiple equally spaced rear shovel frame connecting plates 2-3 are hinged to the first middle crossbeam 8-2, and the rear ends are hinged to the rear shovel frame crossbeam 2-1-2. A pair of subsoiler depth adjusting hydraulic cylinders 2-4 are provided. The cylinder bodies of the two parallel subsoiler depth adjusting hydraulic cylinders 2-4 are hinged to the front shovel frame crossbeam 2-1-1, and the piston rods are hinged to the first middle crossbeam 8-2. Multiple subsoilers 2-5 are fixed at equal intervals on the front shovel frame crossbeam 2-1-1 and the rear shovel frame crossbeam 2-1-2. The subsoilers 2-5 on the front shovel frame crossbeam 2-1-1 and the subsoilers 2-5 on the rear shovel frame crossbeam 2-1-2 are arranged alternately. The depth of subsoiling can be adjusted by extending and retracting the piston rod of hydraulic cylinder 2-4, which is used to adjust the depth of the subsoiling shovel.

[0105] Preferably, the front shovel frame crossbeam 2-1-1 is provided with four deep loosening shovels 2-5, and the rear shovel frame crossbeam 2-1-2 is provided with five deep loosening shovels 2-5.

[0106] Preferably, the soil penetration depth of the deep loosening shovel 2-5 is 300-450mm.

[0107] Preferably, the working length of the hydraulic cylinder 2-4 for adjusting the depth of the deep loosening shovel is 460-660 mm.

[0108] like Figure 2 , Figure 4 , Figure 5 As shown, the harrow angle and harrow depth adjustment mechanism 3 includes a harrow frame 3-1, a front harrow frame connecting plate 3-2, a rear harrow frame connecting plate 3-3, a harrow assembly 3-4, a harrow assembly rotating shaft 3-5, a harrow assembly slider 3-6, a harrow depth adjustment hydraulic cylinder 3-7, and a harrow angle adjustment hydraulic cylinder 3-8.

[0109] like Figure 5As shown, the harrow frame 3-1 is a rectangular frame composed of a front harrow frame crossbeam 3-1-1, a middle harrow frame crossbeam 3-1-2, a rear harrow frame crossbeam 3-1-3, a left harrow frame longitudinal beam 3-1-4, a right harrow frame longitudinal beam 3-1-5, a left harrow frame middle longitudinal beam 3-1-6, and a right harrow frame middle longitudinal beam 3-1-7. The front ends of multiple equally spaced front harrow frame connecting plates 3-2 are hinged to the second middle crossbeam 8-3 of the frame 8, and the rear ends are hinged to the front harrow frame crossbeam 3-1-1. The front ends of multiple equally spaced rear harrow frame connecting plates 3-3 are hinged to the rear crossbeam 8-5, and the rear ends are hinged to the rear harrow frame crossbeam 3-1-3. A pair of harrow depth adjusting hydraulic cylinders 3-7 are provided, with the cylinder bodies of the two parallel harrow depth adjusting hydraulic cylinders 3-7 hinged to the middle harrow frame crossbeam 3-1-2, and the piston rod ends hinged to the third middle crossbeam 8-4.

[0110] The front harrow frame crossbeam 3-1-1, left harrow frame longitudinal beam 3-1-4, middle harrow frame crossbeam 3-1-2, and left harrow frame intermediate longitudinal beam 3-1-6 constitute the left front harrow assembly mounting frame; the front harrow frame crossbeam 3-1-1, right harrow frame longitudinal beam 3-1-5, middle harrow frame crossbeam 3-1-2, and right harrow frame intermediate longitudinal beam 3-1-7 constitute the right front harrow assembly mounting frame; the rear harrow frame crossbeam 3-1-3, left harrow frame longitudinal beam 3-1-4, middle harrow frame crossbeam 3-1-2, and left harrow frame intermediate longitudinal beam 3-1-6 constitute the left rear harrow assembly mounting frame; the rear harrow frame crossbeam 3-1-3, right harrow frame longitudinal beam 3-1-5, middle harrow frame crossbeam 3-1-2, and right harrow frame intermediate longitudinal beam 3-1-7 constitute the right rear harrow assembly mounting frame; the left front harrow... Each of the four mounting frames—the front right rake assembly mounting frame, the left rear rake assembly mounting frame, and the right rear rake assembly mounting frame—is equipped with an arc-shaped rake frame slide rail 3-1-8, and each rake assembly slide rail 3-1-8 is equipped with a rake assembly slider 3-6. Four rake assemblies 3-4 arranged in double rows are respectively positioned below the front left rake assembly mounting frame, the front right rake assembly mounting frame, the left rear rake assembly mounting frame, and the right rear rake assembly mounting frame. One end of each rake assembly 3-4 is rotatably mounted on the middle longitudinal beam 3-1-6 of the left rake frame or the middle longitudinal beam 3-1-7 of the right rake frame via a rake assembly rotation shaft 3-5, and the other end of the rake assembly 3-4 is fixedly connected to the rake assembly slider 3-6. The cylinder body of the rake angle adjusting hydraulic cylinder 3-8 is hinged to the rake frame 3-1, and the piston rod end is hinged to the rake assembly slider 3-6. The harrow depth is adjusted by extending and retracting the piston rod of the hydraulic cylinder 3-7, with an adjustment range of 120–160 mm. The harrow angle is adjusted by extending and retracting the piston rod of the hydraulic cylinder 3-8, with an adjustment range of 10°–25°.

[0111] like Figure 4 As shown, the rake assembly 3-4 includes a rake shaft 3-4-1, a rake blade bearing 3-4-5, a rake blade bearing seat 3-4-6, a rake assembly mounting rod 3-4-7, a scraper 3-4-8, and a scraper mounting rod 3-4-9.

[0112] Parallel rake mounting rods 3-4-7 and scraper mounting rods 3-4-9 are fixed together by two rake blade bearing seats 3-4-6. Two rake blade bearings 3-4-5 are mounted on the rake shaft 3-4-1, and these bearings are installed in the rake blade bearing seats 3-4-6. Multiple rake blades are fixedly connected to the rake shaft 3-4-1 at equal intervals. From the outer end to the inner end of the rake shaft 3-4-1, the multiple rake blades sequentially include a full-edged rake 3-4-2 and multiple notched rakes 3-4-3. Multiple scrapers 3-11, corresponding one-to-one with the rake blades on the rake shaft 3-4-1, are fixed to the scraper mounting rod 3-4-9 and used to scrape away soil adhering to the rake blades.

[0113] Preferably, the rake shaft 3-4-1 has one full-edge rake 3-4-2 and seven notched rakes 3-4-3, for a total of eight rake blades.

[0114] Preferably, a rake blade connecting cylinder 3-4-4 is provided between the full-edge rake 3-4-2 and the notched rake 3-4-3, as well as between two adjacent notched rakes 3-4-3.

[0115] Preferably, the two rake blade bearings 3-4-5 are respectively disposed between the second and third rake blades and between the fifth and sixth rake blades among the eight rake blades.

[0116] like Figure 3 As shown, the compaction mechanism 4 is fixed to the rear harrow frame crossbeam 3-1-3 and is used to compact the soil after the harrowing operation.

[0117] like Figure 6 and Figure 7 As shown, the pressing mechanism 4 includes a damper 4-1, a plate 4-2, a connecting arm 4-4, and a pressing roller 4-5. The two plates 4-2 are fixed to the left and right ends of the rear rake frame crossbeam 3-1-3 respectively by set bolts 4-3; the top end of the damper 4-1 and the top end of the connecting arm 4-4 are hinged to the plate 4-2, and the bottom end of the damper 4-1 is hinged to the lower part of the connecting arm 4-4; the pressing roller 4-5 is mounted on the two connecting arms 4-4.

[0118] like Figure 7 As shown, the pressing roller 4-5 includes a fixed plate 4-5-1, a bearing cover 4-5-2, a pressing tube 4-5-3, and a rotating shaft 4-5-4; multiple pressing tubes 4-5-3 are evenly distributed and twisted along the circumference and are connected and fixed by multiple fixed plates 4-5-1 arranged at equal intervals; the rotating shaft 4-5-4 passes through the central hole of each fixed plate 4-5-1 and is connected to the bearing in the bearing cover 4-5-2; the bearing cover 4-5-2 is fixed to the connecting arm 4-4 by bolts.

[0119] like Figure 2 and Figure 3As shown, the traveling mechanism 5 includes a support base 5-1, a traveling wheel adjusting hydraulic cylinder 5-2, a traveling wheel connecting pipe 5-4, a traveling wheel 5-5, a wheel axle 5-6, a pipe shaft 5-7, and a bushing 5-8. The two support bases 5-1 are respectively fixed to the outer end faces of the middle of the left and right longitudinal beams 8-6. The upper end of the traveling wheel connecting pipe 5-4 is provided with a bushing 5-8, and the lower end is provided with a wheel axle 5-6. The two traveling wheel connecting pipes 5-4 are respectively hinged to the rear of the left and right longitudinal beams 8-6 through the pipe shaft 5-7 and the bushing 5-8. The traveling wheel 5-5 is mounted on the wheel axle 5-6. The two ends of the traveling wheel adjusting hydraulic cylinder 5-2 are respectively hinged to the support base 5-1 and the lower part of the traveling wheel connecting pipe 5-4 through pins 5-3. The extension and retraction of the piston rod of the hydraulic cylinder 5-2, which adjusts the walking wheels, enables the walking wheels 5-5 to be raised and lowered. When the walking wheels 5-5 are raised, the frame 8 is 860mm from the ground, and when the walking wheels 5-5 are lowered, the frame 8 is 1295mm from the ground.

[0120] Preferably, the working length of the walking wheel adjusting hydraulic cylinder 5-2 is 610-960mm.

[0121] like Figure 2 and Figure 3 As shown, the depth limiting mechanism 6 includes a depth limiting wheel 6-1, a depth limiting wheel axle 6-2, a depth limiting wheel connecting rod 6-3, and a depth limiting wheel fixing seat 6-4; the two depth limiting wheel fixing seats 6-4 are respectively fixed to the front of the left and right longitudinal beams 8-6; the depth limiting wheel connecting rod 6-3 is height-adjustably fixed to the depth limiting wheel fixing seat 6-4, the depth limiting wheel axle 6-2 is fixed to the lower end of the depth limiting wheel connecting rod 6-3, and the depth limiting wheel 6-1 is mounted on the depth limiting wheel axle 6-2.

[0122] like Figure 2 , Figure 3 , Figure 5 , Figure 8 As shown, the hydraulic control system 7 includes a first universal joint 7-1, a universal shaft 7-2, a second universal joint 7-3, a hydraulic pump 7-4, an electrical control box 7-5, an oil tank 7-6, a filter 7-7, an overflow valve 7-8, a solenoid directional valve 7-9, a two-way hydraulic lock 7-10, a first ultrasonic sensor mount 7-11, a first laser sensor mount 7-12, a second laser sensor mount 7-13, a third laser sensor mount 7-14, and a second ultrasonic sensor mount 7-15.

[0123] Two first ultrasonic sensor mounts 7-11 are respectively fixed to the left and right sides of the lower end face of the front crossbeam 8-1, used to house the UM18-D1MV1-C78 ultrasonic sensor and detect the height of the frame 8 from the ground; the first laser sensor mount 7-12, the second laser sensor mount 7-13, and the third laser sensor mount 7-14 are sequentially fixed to the upper end face of the front crossbeam 8-1, the lower end face of the middle longitudinal beam 8-7 behind the first middle crossbeam 8-2, and the lower end face of the middle longitudinal beam 8-7 behind the first middle crossbeam 8-3, used to house the MS53L0M laser sensor, used to detect the relationship between the frame 8 and the traction frame 1-3, the deep loosening shovel frame 2- The distance between harrow frame 3-1 and harrow frame 3-1 is used to calculate the traction angle, deep loosening depth, and harrowing depth. Each of the two harrow groups 3-4 in the front row is equipped with a second ultrasonic sensor mount 7-15 for placing an HC-SR04 ultrasonic sensor to measure the harrow angle. The electrical control box 7-5 is installed on the upper surface of the front crossbeam 8-1, and contains an STM32F103ZET6 microcontroller, an LCD screen, and relays. The STM32F103ZET6 microcontroller connects to the LCD screen, relays, UM18-D1MV1-C78 ultrasonic sensor, MS53L0M laser sensor, and HC-SR04 ultrasonic sensor.

[0124] like Figure 8 As shown, the oil outlet of the oil tank 7-6 is connected to the oil inlet of the filter 7-7 and the oil outlet of the overflow valve 7-8. The oil outlet of the filter 7-7 is connected to the oil inlet of the hydraulic pump 7-4, and the oil inlet of the overflow valve 7-8 is connected to the oil outlet of the hydraulic pump 7-4. The oil outlet of the hydraulic pump 7-4 is connected to the single-point depth adjustment hydraulic cylinder 1-4, the deep loosening shovel depth adjustment hydraulic cylinder 2-4, and the harrow depth adjustment hydraulic cylinder 7-4 respectively through the electromagnetic proportional directional valve 7-9 and the two-way hydraulic lock 7-10. The system includes cylinder 3-7, rake angle adjusting hydraulic cylinder 3-8, and traveling wheel adjusting hydraulic cylinder 5-2; the oil inlet of the electromagnetic proportional directional valve 7-9 is connected to the oil outlet of the hydraulic pump 7-4, the oil outlet of the electromagnetic proportional directional valve 7-9 is connected to the oil tank 7-6, the first working oil port and the second working oil port of the electromagnetic proportional directional valve 7-9 are respectively connected to the two oil inlets of the bidirectional hydraulic lock 7-10, and the two oil outlets of the bidirectional hydraulic lock 7-10 are respectively connected to the rodless chamber and the rod chamber of each hydraulic cylinder.

[0125] The tractor's power take-off shaft is connected to the first universal joint 7-1. The two ends of the universal joint 7-2 are connected to the first universal joint 7-1 and the second universal joint 7-3. The rear end of the second universal joint 7-3 is connected to the hydraulic pump 7-4, which drives the hydraulic pump to rotate. The hydraulic oil is drawn into the hydraulic pump 7-4 from the oil tank 7-6 through the filter 7-7. The low-pressure oil is converted into high-pressure oil by continuously changing the volume of the oil chamber. The high-pressure oil enters the inlet of the electromagnetic proportional directional valve 7-9 from the outlet of the hydraulic pump 7-4. The electromagnetic proportional directional valve 7-9 enters the rod chamber of the hydraulic cylinder through the two-way hydraulic lock 7-10. The hydraulic oil in the rodless chamber of the hydraulic cylinder flows back to the oil tank 7-6.

[0126] The working process of this invention is as follows:

[0127] After connecting the multi-terrain, multi-mechanism adaptive adjusting loosening and harrowing combined tillage machine to the tractor, the tractor transmits power to the machine. First, turn on the power button in the control box 7-5. The control system starts and begins initialization. Press the mode switching button in the control box 7-5 to switch the machine to walking mode. The sensors start working. The controller uses the received signals to determine whether the deep loosening depth, harrowing depth, harrowing angle, traction angle, and walking wheels are in their initial state. The controller sends a signal to control the solenoid valve directional valve 7-9 to restore each mechanism to its initial state and extend the walking wheels.

[0128] Once the machine enters the field, press the mode switching button inside the control box 7-5 to switch to field operation mode. Input the desired operation requirements through the touch screen inside the control box 7-5. The control system compares the input parameters with the data received by each sensor. If the operation requirements are not met, the control system sends a signal to the solenoid directional valve 7-9 of the corresponding mechanism to control the corresponding hydraulic cylinder to extend or retract until the parameters returned by the sensor meet the operation requirements. All sensor detection parameters will be displayed on the LCD screen inside the control box 7-5.

[0129] The above description is merely a preferred embodiment of the present invention, but the scope of patent protection is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A multi-terrain multi-mechanism self-adapting adjustable loose harrow compound land leveler, characterized in that, The multi-terrain multi-mechanism adaptive adjusting loose harrow compound land preparation machine comprises a rack (8) and a single-point depth adjusting mechanism (1), a deep loosening shovel depth adjusting mechanism (2), a harrow angle depth adjusting mechanism (3), a tamping mechanism (4), a walking mechanism (5) and a depth limiting mechanism (6) which are mounted on the rack (8); The rack (8) is a rectangular frame comprising a front cross beam (8-1), a first middle cross beam (8-2), a second middle cross beam (8-3), a third middle cross beam (8-4), a rear cross beam (8-5), a middle longitudinal beam (8-7) and two left and right longitudinal beams (8-6); The single-point depth adjusting mechanism (1) comprises a traction head reversing plate (1-1), a traction head (1-2), a traction frame (1-3) and a single-point depth adjusting hydraulic cylinder (1-4); The rear end of the traction frame (1-3) is hingedly connected to the lower part of a pair of hanging ears of the front cross beam (8-1) of the rack (8); the traction head (1-2) is fixedly connected to the front end of the traction frame (1-3); the traction head reversing plate (1-1) for hitching with a tractor is hingedly connected to the traction head (1-2); the cylinder body end of two single-point depth adjusting hydraulic cylinders (1-4) arranged side by side is hingedly connected to the middle part of the traction frame (1-3), and the piston rod end is hingedly connected to the upper part of the hanging ears of the front cross beam (8-1) of the rack (8); the angle adjustment of the included angle between the rack (8) and the horizontal plane is realized by the extension and retraction of the piston rod of the single-point depth adjusting hydraulic cylinder (1-4); The deep loosening shovel depth adjusting mechanism (2) comprises a deep loosening shovel frame (2-1), a front shovel frame connecting plate (2-2), a rear shovel frame connecting plate (2-3), a deep loosening shovel depth adjusting hydraulic cylinder (2-4) and a deep loosening shovel (2-5); the deep loosening shovel frame (2-1) comprises a front shovel frame cross beam (2-1-1) and a rear shovel frame cross beam (2-1-2); the deep loosening shovel frame (2-1) is horizontally arranged; the front end of a plurality of equally spaced front shovel frame connecting plates (2-2) is hingedly connected to the front cross beam (8-1) of the rack (8), and the rear end is hingedly connected to the front shovel frame cross beam (2-1-1); the front end of a plurality of equally spaced rear shovel frame connecting plates (2-3) is hingedly connected to the first middle cross beam (8-2), and the rear end is hingedly connected to the rear shovel frame cross beam (2-1-2); the cylinder body end of two deep loosening shovel depth adjusting hydraulic cylinders (2-4) arranged side by side is hingedly connected to the front shovel frame cross beam (2-1-1), and the piston rod end is hingedly connected to the first middle cross beam (8-2); a plurality of deep loosening shovels (2-5) are fixedly connected to the front shovel frame cross beam (2-1-1) and the rear shovel frame cross beam (2-1-2) at equal intervals; the deep loosening shovels (2-5) on the front shovel frame cross beam (2-1-1) and the deep loosening shovels (2-5) on the rear shovel frame cross beam (2-1-2) are arranged alternately; the adjustment of the deep loosening depth is realized by the extension and retraction of the piston rod of the deep loosening shovel depth adjusting hydraulic cylinder (2-4). The harrow angle and depth adjusting mechanism (3) comprises a harrow frame (3-1), front harrow frame connecting plates (3-2), rear harrow frame connecting plates (3-3), harrow groups (3-4), harrow group rotating shafts (3-5), harrow group sliding blocks (3-6), harrow depth adjusting hydraulic cylinders (3-7) and harrow angle adjusting hydraulic cylinders (3-8); The harrow frame (3-1) is a rectangular frame composed of a front harrow frame cross beam (3-1-1), a middle harrow frame cross beam (3-1-2), a rear harrow frame cross beam (3-1-3), a left harrow frame longitudinal beam (3-1-4), a right harrow frame longitudinal beam (3-1-5), a left harrow frame middle longitudinal beam (3-1-6) and a right harrow frame middle longitudinal beam (3-1-7); the front ends of a plurality of equally spaced front harrow frame connecting plates (3-2) are hinged to the second middle cross beam (8-3) of the frame (8), and the rear ends are hinged to the front harrow frame cross beam (3-1-1); the front ends of a plurality of equally spaced rear harrow frame connecting plates (3-3) are hinged to the rear cross beam (8-5), and the rear ends are hinged to the rear harrow frame cross beam (3-1-3); the cylinder body ends of two parallel arranged harrow depth adjusting hydraulic cylinders (3-7) are hinged to the middle harrow frame cross beam (3-1-2), and the piston rod ends are hinged to the third middle cross beam (8-4); The front harrow frame cross beam (3-1-1), the left harrow frame longitudinal beam (3-1-4), the middle harrow frame cross beam (3-1-2) and the left harrow frame middle longitudinal beam (3-1-6) constitute a left front harrow group mounting frame; the front harrow frame cross beam (3-1-1), the right harrow frame longitudinal beam (3-1-5), the middle harrow frame cross beam (3-1-2) and the right harrow frame middle longitudinal beam (3-1-7) constitute a right front harrow group mounting frame; the rear harrow frame cross beam (3-1-3), the left harrow frame longitudinal beam (3-1-4), the middle harrow frame cross beam (3-1-2) and the left harrow frame middle longitudinal beam (3-1-6) constitute a left rear harrow group mounting frame; the rear harrow frame cross beam (3-1-3), the right harrow frame longitudinal beam (3-1-5), the middle harrow frame cross beam (3-1-2) and the right harrow frame middle longitudinal beam (3-1-7) constitute a right rear harrow group mounting frame; each of the left front harrow group mounting frame, the right front harrow group mounting frame, the left rear harrow group mounting frame and the right rear harrow group mounting frame is provided with an arc-shaped harrow frame sliding rail (3-1-8), and each harrow frame sliding rail (3-1-8) is provided with a harrow group sliding block (3-6); four groups of harrow groups (3-4) arranged in double rows and opposite to each other are arranged below the left front harrow group mounting frame, the right front harrow group mounting frame, the left rear harrow group mounting frame and the right rear harrow group mounting frame; one end of the harrow group (3-4) is rotatably mounted on the left harrow frame middle longitudinal beam (3-1-6) or the right harrow frame middle longitudinal beam (3-1-7) through the harrow group rotating shaft (3-5), and the other end of the harrow group (3-4) is fixedly connected with the harrow group sliding block (3-6); the cylinder body end of the harrow angle adjusting hydraulic cylinder (3-8) is hinged to the harrow frame (3-1), and the piston rod end is hinged to the harrow group sliding block (3-6); the adjustment of the harrow depth is realized through the extension and retraction of the piston rod of the harrow depth adjusting hydraulic cylinder (3-7); the adjustment of the harrow angle is realized through the extension and retraction of the piston rod of the harrow angle adjusting hydraulic cylinder (3-8); The harrow assembly (3-4) includes a harrow shaft (3-4-1), a harrow blade bearing (3-4-5), a harrow blade bearing seat (3-4-6), a harrow assembly mounting rod (3-4-7), a scraper (3-4-8), and a scraper mounting rod (3-4-9); Parallel rake mounting rods (3-4-7) and scraper mounting rods (3-4-9) are fixed to each other by two rake blade bearing seats (3-4-6); two rake blade bearings (3-4-5) are provided on the rake shaft (3-4-1), and the rake blade bearings (3-4-5) are installed in the rake blade bearing seats (3-4-6); multiple rake blades are fixedly connected to the rake shaft (3-4-1) at equal intervals, and the multiple rake blades include a full-edged rake (3-4-2) and multiple notched rakes (3-4-3) from the outer end to the inner end of the rake shaft (3-4-1); multiple scrapers (3-4-8) corresponding one-to-one with the rake blades on the rake shaft (3-4-1) are fixedly connected to the scraper mounting rod (3-4-9) for scraping off the soil adhering to the rake blades; The compaction mechanism (4) is fixed to the rear harrow frame crossbeam (3-1-3) and is used to compact the soil after the harrowing operation. The traveling mechanism (5) includes a support base (5-1), a traveling wheel adjusting hydraulic cylinder (5-2), a traveling wheel connecting pipe (5-4), a traveling wheel (5-5), a wheel axle (5-6), a pipe shaft (5-7), and a bushing (5-8); two support bases (5-1) are respectively fixed to the outer end faces of the middle part of the left and right longitudinal beams (8-6); the upper end of the traveling wheel connecting pipe (5-4) is provided with a bushing (5-8), and the lower end is provided with a wheel axle (5-6); the two traveling wheel connecting pipe ... left and right longitudinal beams (8-6), and the lower end of the traveling wheel connecting pipe (5-2) is fixed to the outer end faces of the left and right longitudinal beams (8-6), and the lower end of the traveling wheel connecting pipe (5-4) is provided with a wheel axle (5-6); the upper end of the traveling wheel connecting pipe (5-1) is provided with a wheel axle (5-6), and the lower end of the traveling wheel connecting pipe (5-2) is fixed to the outer end faces of the left and right longitudinal beams (8-6), and the lower end of the traveling wheel connecting pipe (5-4) is provided with a wheel axle (5-6), and the lower end of the traveling wheel connecting pipe (5-2) is fixed to the outer 5-4) The shaft (5-7) and bushing (5-8) are respectively hinged to the rear of the left and right longitudinal beams (8-6); the traveling wheel (5-5) is mounted on the wheel axle (5-6); the two ends of the traveling wheel adjusting hydraulic cylinder (5-2) are respectively hinged to the support base (5-1) and the lower part of the traveling wheel connecting pipe (5-4) through the pin (5-3); the traveling wheel (5-5) is raised and lowered by extending and retracting the piston rod of the traveling wheel adjusting hydraulic cylinder (5-2); The depth limiting mechanism (6) includes a depth limiting wheel (6-1), a depth limiting wheel axle (6-2), a depth limiting wheel connecting rod (6-3), and a depth limiting wheel fixing seat (6-4); the two depth limiting wheel fixing seats (6-4) are respectively fixed to the front of the left and right longitudinal beams (8-6); the depth limiting wheel connecting rod (6-3) is height-adjustably fixed to the depth limiting wheel fixing seat (6-4), the depth limiting wheel axle (6-2) is fixed to the lower end of the depth limiting wheel connecting rod (6-3), and the depth limiting wheel (6-1) is mounted on the depth limiting wheel axle (6-2).

2. The multi-terrain multi-mechanism self-adjusting loose harrow compound land- leveler according to claim 1, characterized in that, The rake shaft (3-4-1) has one full-edge rake (3-4-2) and seven notched rakes (3-4-3), for a total of eight rake blades.

3. The multi-terrain multi-mechanism self-adjusting loose harrow compound land- conditioner according to claim 1, characterized in that, A rake blade connecting cylinder (3-4-4) is provided between the full-edge rake (3-4-2) and the notched rake (3-4-3) and between two adjacent notched rakes (3-4-3).

4. The multi-terrain multi-mechanism self-adjusting loose harrow compound land- conditioner according to claim 2, characterized in that, Two harrow blade bearings (3-4-5) are respectively arranged between the second and third harrow blades and between the fifth and sixth harrow blades.

5. The multi-terrain multi-mechanism self-adjusting loose harrow compound land- conditioner according to claim 1, characterized in that, The rolling mechanism (4) comprises a damper (4-1), an insertion plate (4-2), a connecting arm (4-4) and a rolling roller (4-5); two insertion plates (4-2) are respectively fixed to the left and right ends of the rear harrow frame cross beam (3-1-3) by a set screw (4-3); the top end of the damper (4-1) and the top end of the connecting arm (4-4) are hinged to the insertion plate (4-2), and the bottom end of the damper (4-1) is hinged to the lower part of the connecting arm (4-4); the rolling roller (4-5) is installed on the two connecting arms (4-4); The rolling roller (4-5) comprises a fixed disc (4-5-1), a bearing cover (4-5-2), a rolling pipe (4-5-3) and a rotating shaft (4-5-4); a plurality of rolling pipes (4-5-3) uniformly distributed and twisted are connected and fixed by a plurality of fixed discs (4-5-1) arranged at equal intervals, the rotating shaft (4-5-4) passes through the center hole of each fixed disc (4-5-1) and is connected with the bearing in the bearing cover (4-5-2), and the bearing cover (4-5-2) is fixed to the connecting arm (4-4) by a bolt.

6. The multi-terrain multi-mechanism self-adjusting loose harrow compound land- conditioner of claim 1, wherein, The multi-terrain multi-mechanism self-adaptive adjusting loose harrow compound land preparation machine further comprises a hydraulic control system (7); the hydraulic control system (7) comprises a first universal joint (7-1), a universal shaft (7-2), a second universal joint (7-3), a hydraulic pump (7-4), an electric control box (7-5), an oil tank (7-6), a filter (7-7), an overflow valve (7-8), an electromagnetic proportional reversing valve (7-9), a bidirectional hydraulic lock (7-10), a first ultrasonic sensor seat (7-11), a first laser sensor seat (7-12), a second laser sensor seat (7-13), a third laser sensor seat (7-14) and a second ultrasonic sensor seat (7-15); Two first ultrasonic sensor seats (7-11) are respectively fixed on the left and right sides of the lower end surface of the front cross beam (8-1) and are used for placing UM18-D1MV1-C78 ultrasonic sensors to detect the height of the rack (8) from the ground; the first laser sensor seat (7-12), the second laser sensor seat (7-13) and the third laser sensor seat (7-14) are sequentially fixed on the upper end surface of the front cross beam (8-1), the lower end surface of the middle longitudinal beam (8-7) behind the first middle cross beam (8-2) and the lower end surface of the middle longitudinal beam (8-7) behind the second middle cross beam (8-3) and are used for placing MS53L0M laser sensors to respectively detect the distances between the rack (8) and the traction frame (1-3), the deep scarifier frame (2-1) and the harrow frame (3-1) and then calculate the traction angle, the deep scarification depth and the harrow depth; each of the two front harrow groups (3-4) is provided with a second ultrasonic sensor seat (7-15) for placing an HC-SR04 ultrasonic sensor to measure the harrow angle; the electric control box (7-5) is installed on the upper end surface of the front cross beam (8-1) and is provided with an STM32F103ZET6 single-chip microcomputer, a liquid crystal display and a relay in the electric control box (7-5), and the STM32F103ZET6 single-chip microcomputer is connected with the liquid crystal display, the relay, the UM18-D1MV1-C78 ultrasonic sensor, the MS53L0M laser sensor and the HC-SR04 ultrasonic sensor; The oil outlet of the oil tank (7-6) is connected with the oil inlet of the filter (7-7) and the oil outlet of the overflow valve (7-8), the oil outlet of the filter (7-7) is connected with the oil inlet of the hydraulic pump (7-4), the oil inlet of the overflow valve (7-8) is connected with the oil outlet of the hydraulic pump (7-4), the oil outlet of the hydraulic pump (7-4) is connected with the single-point depth adjusting hydraulic cylinder (1-4), the deep scarifier depth adjusting hydraulic cylinder (2-4), the harrow depth adjusting hydraulic cylinder (3-7), the harrow angle adjusting hydraulic cylinder (3-8) and the walking wheel adjusting hydraulic cylinder (5-2) through the electromagnetic proportional directional valve (7-9) and the bidirectional hydraulic lock (7-10); the oil inlet of the electromagnetic proportional directional valve (7-9) is connected with the oil outlet of the hydraulic pump (7-4), the oil outlet of the electromagnetic proportional directional valve (7-9) is connected with the oil tank (7-6), the first working oil port and the second working oil port of the electromagnetic proportional directional valve (7-9) are respectively connected with the two oil inlets of the bidirectional hydraulic lock (7-10), and the two oil outlets of the bidirectional hydraulic lock (7-10) are respectively connected with the rodless cavity and the rod cavity of each hydraulic cylinder; The power output shaft of the tractor is connected with the first universal joint (7-1), the universal shaft (7-2) is connected with the first universal joint (7-1) and the second universal joint (7-3) at two ends, the rear end of the second universal joint (7-3) is connected with the hydraulic pump (7-4) to drive the hydraulic pump to rotate, the hydraulic oil is sucked into the hydraulic pump (7-4) from the oil tank (7-6) through the filter (7-7), the low-pressure oil is converted into high-pressure oil through the continuous change of the oil cavity volume, the high-pressure oil enters the oil inlet of the electromagnetic proportional reversing valve (7-9) from the oil outlet of the hydraulic pump (7-4), the electromagnetic proportional reversing valve (7-9) enters the rod cavity of the hydraulic cylinder through the bidirectional hydraulic lock (7-10), and the hydraulic oil in the rodless cavity of the hydraulic cylinder flows back to the oil tank (7-6).

7. The multi-terrain multi-mechanism self-adjusting loose harrow compound land- conditioner of claim 1, wherein, Four deep scarification shovels (2-5) are arranged on the front shovel frame cross beam (2-1-1), and five deep scarification shovels (2-5) are arranged on the rear shovel frame cross beam (2-1-2).

8. The multi-terrain multi-mechanism self-adjusting loose harrow compound land- conditioner of claim 1, wherein, The included angle between the frame (8) and the horizontal plane is -30°-15°.

9. The multi-terrain multi-mechanism self-adjusting loose harrow compound land- conditioner according to claim 1, characterized in that, The soil penetration depth of the deep scarification shovel (2-5) is 300-450 mm, the harrow depth adjustment range is 120-160 mm, and the harrow angle adjustment range is 10°-25°.

10. The multi-terrain multi-mechanism self-adjusting loose harrow compound land- conditioner of claim 1, wherein, When the traveling wheel (5-5) is retracted, the frame (8) is 860 mm away from the ground, and when the traveling wheel (5-5) is lowered, the frame (8) is 1295 mm away from the ground.

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