Hydraulically-controlled crawler-type self-propelled rotary cultivator

Abstract

The invention discloses a hydraulic control crawler-type self-propelled rotary cultivator, and relates to the field of agricultural machinery, the hydraulic control crawler-type self-propelled rotary cultivator comprises a central shell, a rotary tillage cover, a moving through groove formed in the top and an internal cleaning mechanism, a transmission main shaft is arranged on the central shell in a penetrating manner, and the top end of the transmission main shaft is connected with a hydraulic rod through a gearbox; three rotary tillage shafts are evenly welded to the outer wall of the bottom end of the transmission main shaft, and the cleaning mechanism is arranged in the rotary tillage cover. The cleaning mechanism is composed of a covering assembly, a distance sensor, a cleaning assembly and a protective shell, the cleaning assembly is used for cleaning the inner wall of the rotary tillage cover and the rotary tillage shaft, the covering assembly is used for covering a moving through groove of the cleaning assembly, and the distance sensor is used for judging the upward moving degree of the covering assembly. According to the device, the re-requirement of manually using a high-pressure spray head is reduced, the manual cleaning time is shortened, the labor intensity of manual cleaning is reduced, the device is more centralized and controlled in the flushing process, and the problem that flushing spray carries soil and splashes everywhere is solved.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of agricultural machinery, and in particular to a hydraulically controlled crawler-type self-propelled rotary tiller. Background Art

[0002] Rotary tiller is a commonly used agricultural machinery, which has the characteristics of good soil cutting effect, strong soil crushing ability, flat land after tillage, etc. At the same time, it can cut the root stubble buried under the surface, which is convenient for seeding machine operation and has been widely used. Among them, crawler self-propelled rotary tiller adopts crawler walking mechanism, which can move in the field by itself, improving the flexibility and efficiency of operation.

[0003] A self-propelled crawler rotary tiller described in the prior art, the rotary tilling mechanism includes a gearbox, a transmission main shaft, a rotary tilling cover, a rotary tilling shaft, a knife roller, a pin roller, an end plate, and an end cover. The gearbox is connected to the transmission main shaft, and three rotary tilling shafts are provided at the lower part of the transmission main shaft. The angle between the three rotary tilling shafts is 120°, and two of the rotary tilling shafts are equipped with knife rollers with grass cutting and soil crushing functions that can rotate around the rotary tilling shafts, and the other rotary tilling shaft is equipped with a hydraulic pin roller with soil crushing and grass pressing functions.

[0004] Although the above technology adopts a three-axis linkage rotation and revolution structure to solve the problems of insufficient field flatness, insufficient soil refinement, and slurrying of traditional rotary tillers, and can also process weeds in the soil, after use, since a rotary tillage cover is provided on the outside of the drum, dirt and weeds accumulated during the operation need to be manually flushed using a high-pressure nozzle inside the raised cover, which increases the time and labor intensity of manual cleaning, and the flushing water will carry dirt and splash everywhere. Summary of the invention

[0005] Based on this, the purpose of the present invention is to provide a hydraulically controlled crawler-type self-propelled rotary tiller to solve the technical problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions: A hydraulically controlled crawler self-propelled rotary tiller, comprising a central shell, a rotary tillage cover, a movable through slot on the top and an internal cleaning mechanism, wherein a transmission main shaft is provided on the central shell, the top end of the transmission main shaft is connected to a hydraulic rod through a gearbox, three rotary tillage shafts are evenly welded on the outer wall of the bottom end of the transmission main shaft, a rotary tillage cover is provided above the three rotary tillage shafts, a fixed cover is welded on the outer wall of the central shell at the three rotary tillage covers, each rotary tillage cover is fixedly connected to the fixed cover by screws, and the cleaning mechanism is provided in the rotary tillage cover; The cleaning mechanism consists of a covering assembly, a distance sensor, a cleaning assembly and a protective shell. The cleaning assembly is used to clean the inner wall of the rotary tillage hood and the rotary tillage shaft. The covering assembly is used to block the moving through slot of the cleaning assembly. The distance sensor is used to determine the upward movement degree of the covering assembly.

[0007] The technical solution is specific, the covering assembly includes a baffle plate, the baffle plate is arranged above the movable through slot, three movable plates are evenly welded on the outer wall of one side of the baffle plate, threaded rods are passed through the three movable plates, limiting plates are welded on both ends of the outer wall of the other side of the baffle plate, the top wall of the rotary tillage cover is installed with a protective shell by screws, a telescopic rod is fixed to one side of the top end of the protective shell, and the telescopic ends of the two telescopic rods pass through the shell and the upper surface of the limiting plate and are fixed with screws.

[0008] Specifically, the bottom ends of the three threaded rods are rotatably connected to the top wall of the rotary tillage hood, a mounting shell is fixed by screws on the other side of the top of the protective shell, the top ends of the three threaded rods pass through the top of the protective shell and extend into the mounting shell, a driving motor is screwed to the center of the inner top wall of the mounting shell, the output end of the driving motor is fixedly connected to the top end of the middle threaded rod through a flange, rotating shafts are provided on both sides of the driving motor, the bottom ends of the two rotating shafts are fixedly connected to the top ends of the other two threaded rods through flanges, and the top ends of the two rotating shafts are rotatably connected to the inner top wall of the mounting shell.

[0009] Specifically, the output end of the driving motor is provided with a fixed sleeve with a driving sprocket, the outer walls of the two rotating shafts are provided with fixed sleeves with driven sprockets, the diameter of the driving sprocket is larger than the diameters of the two driven sprockets, and the driving sprocket and the two driven sprockets are connected by a transmission chain.

[0010] Specifically, the lower surface of the shielding plate is in contact with the top wall of the rotary tillage hood, the width of the shielding plate is greater than the width of the movable through slot, and a distance sensor is embedded in the center of the upper surface of the shielding plate.

[0011] Specifically, a protective shell is fixed to the outer wall of one end of the rotary tillage hood away from the central shell, an arc-shaped through groove is provided on the end face outer wall of the rotary tillage hood and the shell wall of the protective shell, and the shapes of the fixed hood and the protective shell are the same as that of the rotary tillage hood.

[0012] The technical solution is specific, the cleaning component includes an arc-shaped sealing plate, the arc-shaped sealing plate is arranged in an arc-shaped through groove, a cleaning arc plate is installed on one side of the arc-shaped sealing plate close to the protective shell by screws, the arc-shaped sealing plate is provided with an installation groove at the center of one side of the rotary tillage cover, a connecting plate is fixed in the installation groove by screws, a U-shaped water supply pipe is provided in the connecting plate, one end of the U-shaped water supply pipe passes through the arc-shaped sealing plate and is connected with the inner cavity of the cleaning arc plate.

[0013] Specifically, the upper and lower surfaces of the cleaning arc plate are provided with a plurality of nozzles, the outer walls of the arc sealing plates are in contact with the inner walls of the arc through grooves, the connecting plates extend through the movable through grooves to the outside, and the outer walls on both sides of the connecting plates are located above the rotary tillage cover and welded with overlapping blocks, an electric slide rail is installed on the inner wall of one side of the protective shell by screws, an electric slider is slidably installed on the electric slide rail, and one end of the electric slider is fixedly connected to the outer wall of the connecting plate by screws.

[0014] Specifically, the outer walls on both sides of the connecting plate are in contact with the groove walls of the movable through groove and are slidably connected, the lower surfaces of the two overlapping blocks are connected to the top wall of the rotary tillage hood and are slidably connected, and a support block is fixed to the lower surface of the electric slider, and the bottom end of the support block is connected to the top wall of the rotary tillage hood and is slidably connected.

[0015] Specifically, the three rotary tillage shafts are respectively equipped with a rotary tillage blade, a mowing blade and a pin roller.

[0016] In summary, the present invention mainly has the following beneficial effects: after the crawler-type self-propelled rotary tiller of the present application is used, the pipe mouth of the U-shaped water supply pipe is connected to the water supply source through the telescopic pipe, and then the driving motor in the covering assembly is started, and its output end controls the rotation of the three threaded rods under the action of the chain drive, and under the restriction of the telescopic rod, the shielding plate moves up with the rotation of the threaded rod to expose the moving through groove, and the distance sensor starts the electric slide rail of the cleaning assembly after sensing the shell wall of the protective shell; Then the electric slider drives the arc sealing plate to move horizontally through the connecting plate. The moving arc sealing plate will drive the cleaning arc plate to move from the protective shell to the rotary tillage hood. At this time, the water supply source is turned on to send water into the inner cavity of the cleaning arc plate, and spray it from several nozzles to the inner wall of the rotary tillage hood and the rotary tillage blade, mowing blade and pin roller. The arc sealing plate will first scrape off the mud attached to the inner wall of the hood, and then flush it through the nozzle, thereby reducing the need for manual use of high-pressure nozzles for re-cleaning, reducing the time and labor intensity of manual cleaning, and being more concentrated and controlled during the flushing process, reducing the problem of flushing water carrying mud splashing everywhere. At the same time, the setting of the baffle can avoid the problem of mud entering the protective shell and causing blockage during the use of the rotary tiller, thereby ensuring smooth use of the subsequent cleaning mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the device of the present invention; Figure 2 It is a side cross-sectional view of the rotary tillage hood of the present invention; Figure 3 It is a schematic diagram of the installation of the cleaning mechanism of the present invention; Figure 4 It is a schematic diagram of the rotary tillage hood of the present invention; Figure 5 It is a diagram of the cleaning mechanism of the present invention; Figure 6 It is an enlarged view of point A of the present invention; Figure 7 For the present invention Figure 5 Side view of the structure.

[0018] Description of the drawings: 1. Central shell; 101. Transmission main shaft; 102. Gearbox; 1021. Rotary tillage shaft; 103. Hydraulic rod; 1031. Fixed cover; 2. Rotary tillage cover; 201. Moving slot; 202. Arc slot; 203. Protective shell; 3. Cleaning mechanism; 4. Cover assembly; 401. Shielding plate; 402. Movable plate; 403. Threaded rod; 404. Rotating shaft; 4041. Driven sprocket; 405. Driving motor; 406. 051, driving sprocket; 406, transmission chain; 407, limiting plate; 408, telescopic rod; 5, distance sensor; 6, cleaning component; 601, electric slide rail; 602, connecting plate; 603, arc sealing plate; 6031, installation groove; 604, cleaning arc plate; 6041, nozzle; 605, U-shaped water supply pipe; 606, lap block; 607, electric slider; 6071, support block; 7, protective shell; 701, installation shell. DETAILED DESCRIPTION

[0019] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0020] The following describes an embodiment of the present invention based on its overall structure. Example

[0021] The rotary tiller, mowing blade and pin roller in this application all adopt the structural form of a self-propelled crawler rotary tiller with application number CN201410198892.0; In addition, the pipe mouth of the U-shaped water supply pipe 605 can be connected to a telescopic tube and a water supply source. At the same time, a control module is installed on the side wall of each protective shell 7. The control module is provided with a separate power supply and a controller, which respectively control the electrical components in the cleaning mechanism 3. The control module is also connected to the control device of the rotary tiller through a wire.

[0022] See also Figure 1-4 As shown, a hydraulically controlled crawler self-propelled rotary tiller comprises a central shell 1, a rotary tillage cover 2, a movable through slot 201 opened on the top and an internal cleaning mechanism 3. A transmission main shaft 101 is passed through the central shell 1. The top of the transmission main shaft 101 is connected to a hydraulic rod 103 through a gearbox 102. Three rotary tillage shafts 1021 are evenly welded to the outer wall of the bottom end of the transmission main shaft 101. A rotary tillage cover 2 is arranged above the three rotary tillage shafts 1021. Rotary tillage blades are respectively installed on the three rotary tillage shafts 1021. , mowing blades and pin rollers, the outer wall of the central shell 1 is welded with fixed covers 1031 at three rotary tillage covers 2, each rotary tillage cover 2 is fixedly connected to the fixed cover 1031 by screws, the cleaning mechanism 3 is arranged in the rotary tillage cover 2, a protective shell 203 is fixed to the outer wall of one end of the rotary tillage cover 2 away from the central shell 1, an arc-shaped through groove 202 is provided on the outer wall of the end face of the rotary tillage cover 2 and the shell wall of the protective shell 203, and the shapes of the fixed cover 1031 and the protective shell 203 are the same as those of the rotary tillage cover 2; The cleaning mechanism 3 is composed of a covering assembly 4, a distance sensor 5, a cleaning assembly 6 and a protective shell 7. The cleaning assembly 6 is used to clean the inner wall of the rotary tillage hood 2 and the rotary tillage shaft 1021. The covering assembly 4 is used to block the moving groove 201 of the cleaning assembly 6. The distance sensor 5 is used to determine the upward movement degree of the covering assembly 4.

[0023] After the hydraulically controlled crawler self-propelled rotary tiller is used, the user connects the telescopic tube to the cleaning component 6. At this time, the control device sends a start signal to the controller of the control module, and the controller first starts the cover component 4 to expose the moving through slot 201 of the rotary tillage cover 2, thereby removing the obstruction to the cleaning component 6. As the actuator (the baffle plate 401 in the text) in the cover component 4 moves upward, it will drive the distance sensor 5 to move until the distance sensor 5 senses the inner top wall of the protective shell 7, and then sends a signal to the controller, which starts the cleaning component 6 and the water supply source at the same time, thereby clearing the dirt from the water supply. The inner wall of the rotary tillage hood 2 and the outer walls of the rotary tillage blade, mowing blade and pin roller are cleaned by the actuator of the cleaning component 6 (the arc-shaped sealing plate 603 and the cleaning arc plate 604 in the text), and the attached soil and weeds are washed away. Therefore, the present application can reduce the need for manual use of high-pressure nozzles for re-cleaning, reduce the time and labor intensity of manual cleaning, and be more concentrated and controlled during the flushing process, thereby reducing the problem of splashing of soil carried by flushing water. At the same time, it can also avoid the problem of soil entering the protective shell 7 and causing blockage during the use of the rotary tiller, thereby ensuring the smooth use of the subsequent cleaning mechanism 3.

[0024] See also Figure 3 , Figure 5 and Figure 7 As shown, the covering assembly 4 includes a shielding plate 401, which is arranged above the movable through slot 201, and three movable plates 402 are evenly welded on the outer wall of one side of the shielding plate 401, and threaded rods 403 are inserted in the three movable plates 402, and limiting plates 407 are welded on both ends of the outer wall of the other side of the shielding plate 401, and a protective shell 7 is installed on the top wall of the rotary tillage cover 2 by screws, and a telescopic rod 408 is fixed to one side of the top of the protective shell 7, and the telescopic ends of the two telescopic rods 408 penetrate the shell and the upper surface of the limiting plate 407 and are fixed by screws; The bottom ends of the three threaded rods 403 are rotatably connected to the top wall of the rotary tillage cover 2, and a mounting shell 701 is fixed by screws on the other side of the top of the protective shell 7. The top ends of the three threaded rods 403 penetrate the top of the protective shell 7 and extend into the mounting shell 701. A drive motor 405 is screwed to the center of the inner top wall of the mounting shell 701, and the output end of the drive motor 405 is fixedly connected to the top of the middle threaded rod 403 through a flange. Rotating shafts 404 are provided on both sides of the drive motor 405, and the bottom ends of the two rotating shafts 404 are fixedly connected to the tops of the other two threaded rods 403 through flanges. The two ends are rotatably connected to the inner top wall of the mounting shell 701, a driving sprocket 4051 is fixedly mounted on the output end of the driving motor 405, and the outer walls of the two rotating shafts 404 are fixedly mounted with driven sprockets 4041. The diameter of the driving sprocket 4051 is larger than the diameter of the two driven sprockets 4041. The driving sprocket 4051 and the two driven sprockets 4041 are connected to each other through a transmission chain 406. The lower surface of the baffle plate 401 is in contact with the top wall of the rotary tillage hood 2. The width of the baffle plate 401 is larger than the width of the movable through slot 201. A distance sensor 5 is embedded in the center of the upper surface of the baffle plate 401.

[0025] The controller starts the driving motor 405, and the output end of the driving motor 405 drives the connected threaded rod 403 to rotate, and at the same time drives the fixed active sprocket 4051 to rotate, and the active sprocket 4051 drives the two driven sprockets 4041 to rotate through the transmission chain 406, and the two driven sprockets 4041 drive the penetrating shaft 404 to rotate, thereby controlling the rotation of the other two threaded rods 403, so that the three threaded rods 403 rotate synchronously in the same direction, at this time, the movable plate 402 will follow the rotation of the threaded rod 403 and move upward, the moving movable plate 402 will drive the shielding plate 401 to move to expose the movable through slot 201, and the shielding plate 401 will also drive the limiting plate 407 to move, and retract the telescopic end of the telescopic rod 408, at this time, the distance sensor 5 will follow the upward movement of the shielding plate 401 to approach the inner top wall of the protective shell 7 until the inner top wall of the sensor is reached and a signal is sent to the controller of the control module.

[0026] See also Figure 5-7As shown, the cleaning component 6 includes an arc-shaped sealing plate 603, which is arranged in the arc-shaped groove 202. A cleaning arc plate 604 is installed on one side of the arc-shaped sealing plate 603 close to the protective shell 203 by screws. The arc-shaped sealing plate 603 is provided with a mounting groove 6031 at the center of one side of the rotary tillage cover 2. A connecting plate 602 is fixed in the mounting groove 6031 by screws. A U-shaped water supply pipe 605 is provided in the connecting plate 602. One end of the U-shaped water supply pipe 605 passes through the arc-shaped sealing plate 603 and is connected to the inner cavity of the cleaning arc plate 604. A plurality of nozzles 6041 are provided on the upper and lower surfaces of the cleaning arc plate 604. The outer wall of the arc-shaped sealing plate 603 is in contact with the inner wall of the arc-shaped groove 202. The plate 602 passes through the movable through slot 201 and extends to the outside, and the outer walls on both sides of the connecting plate 602 are located above the rotary tillage hood 2 and are welded with overlapping blocks 606. An electric slide rail 601 is installed on the inner wall of one side of the protective shell 7 by screws, and an electric slider 607 is slidably installed on the electric slide rail 601. One end of the electric slider 607 is fixedly connected to the outer wall of the connecting plate 602 by screws. The outer walls on both sides of the connecting plate 602 are in contact with the groove wall of the movable through slot 201 and are slidably connected. The lower surfaces of the two overlapping blocks 606 are connected to the top wall of the rotary tillage hood 2 and are slidably connected. A support block 6071 is fixed to the lower surface of the electric slider 607, and the bottom end of the support block 6071 is connected to the top wall of the rotary tillage hood 2 and is slidably connected.

[0027] When cleaning, the user connects the telescopic tube to the pipe mouth of the U-shaped water supply pipe 605, and then after the controller receives the signal from the distance sensor 5, it will start the electric slide rail 601, and the electric slide rail 601 controls the electric slider 607 to move horizontally. The moving electric slider 607 will move the connecting plate 602 along the moving groove 201, wherein the support block 6071 and the lap block 606 can play a supporting role to ensure the stability of the movement. When the connecting plate 602 moves, it will move with the arc-shaped sealing plate 603, so that the arc-shaped sealing plate 603 moves out of the arc-shaped groove 202, and at the same time, the arc-shaped sealing plate 603 will move with the cleaning arc plate 604, so that the cleaning arc plate 604 moves from the protective shell 203 into the rotary tillage cover 2; At this time, the water supply source is turned on, and water will enter the inner cavity of the cleaning arc plate 604 through the telescopic tube and the U-shaped water supply pipe 605, and be sprayed out from a plurality of nozzles 6041. The movable arc sealing plate 603 will first scrape off the dirt and weeds attached to the inner wall of the rotary tillage hood 2, and then use the sprayed water to flush the inner wall of the rotary tillage hood 2 and the passing rotary tillage blade, mowing blade and outer wall of the pin roller. The flushed water, dirt and weeds will fall to the ground along the rotary tillage hood 2.

[0028] The working principle of the present invention is: After the hydraulically controlled crawler self-propelled rotary tiller is used, the user connects the telescopic tube to the outlet of the U-shaped water supply pipe 605. At this time, a start signal is sent to the controller of the control module through the control device, and the controller first starts the drive motor 405. The output end of the drive motor 405 drives the connected threaded rod 403 to rotate, and at the same time drives the fixed active sprocket 4051 to rotate. The active sprocket 4051 drives the two driven sprockets 4041 to rotate through the transmission chain 406. The two driven sprockets 4041 drive the rotating shaft 404 to rotate, and the rotation of the rotating shaft 404 is performed. The other two threaded rods 403 are controlled to rotate, so that the three threaded rods 403 rotate synchronously in the same direction. At this time, the movable plate 402 will move upward following the rotation of the threaded rods 403. The moving movable plate 402 will drive the shielding plate 401 to move to expose the movable through slot 201, and the shielding plate 401 will also drive the limiting plate 407 to move and retract the telescopic end of the telescopic rod 408. At this time, the distance sensor 5 will follow the upward movement of the shielding plate 401 to approach the inner top wall of the protective shell 7 until the sensor reaches the inner top wall and then sends a signal to the controller of the control module; After receiving the signal from the distance sensor 5, the controller starts the electric slide rail 601, and the electric slide rail 601 controls the electric slider 607 to move horizontally. The moving electric slider 607 moves along the moving groove 201 with the connecting plate 602, wherein the supporting block 6071 and the lap block 606 can play a supporting role to ensure the stability of the movement. When the connecting plate 602 moves, it moves with the arc-shaped sealing plate 603, so that the arc-shaped sealing plate 603 moves out of the arc-shaped groove 202. At the same time, the arc-shaped sealing plate 603 moves with the cleaning arc plate 604, so that the cleaning arc plate 604 moves from the protective shell 203 into the rotary tillage cover 2; At this time, the water supply source is turned on, and water will enter the inner cavity of the cleaning arc plate 604 through the telescopic tube and the U-shaped water supply pipe 605, and be sprayed out from a plurality of nozzles 6041. The movable arc sealing plate 603 will first scrape off the dirt and weeds attached to the inner wall of the rotary tillage hood 2, and then use the sprayed water to flush the inner wall of the rotary tillage hood 2 and the passing rotary tillage blade, mowing blade and outer wall of the pin roller. The flushed water, dirt and weeds will fall to the ground along the rotary tillage hood 2.

[0029] Although an embodiment of the present invention has been shown and described, this specific embodiment is merely an explanation of the present invention and is not a limitation of the invention. The specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions and variations to the embodiments without creative contributions as needed without departing from the principles and purpose of the present invention. However, as long as they are within the scope of the claims of the present invention, they are protected by patent law.

Claims

1. A hydraulically controlled crawler self-propelled rotary tiller, comprising a central housing (1), a rotary tiller cover (2), a movable through slot (201) provided on the top, and an internal cleaning mechanism (3), characterized in that The central shell (1) is provided with a transmission main shaft (101), the top end of the transmission main shaft (101) is connected to a hydraulic rod (103) via a gearbox (102), three rotary tillage shafts (1021) are uniformly welded to the outer wall of the bottom end of the transmission main shaft (101), and a rotary tillage cover (2) is provided above each of the three rotary tillage shafts (1021), and a fixed cover (1031) is welded to the outer wall of the central shell (1) at each of the three rotary tillage covers (2), and each of the rotary tillage covers (2) is fixedly connected to the fixed cover (1031) via a screw, and the cleaning mechanism (3) is arranged in the rotary tillage cover (2); The cleaning mechanism (3) is composed of a covering component (4), a distance sensor (5), a cleaning component (6) and a protective shell (7); the cleaning component (6) is used to clean the inner wall of the rotary tillage cover (2) and the rotary tillage shaft (1021); the covering component (4) is used to cover the moving through slot (201) of the cleaning component (6); and the distance sensor (5) is used to determine the upward movement degree of the covering component (4).

2. A hydraulically controlled crawler self-propelled rotary tiller according to claim 1, characterized in that: The covering assembly (4) comprises a shielding plate (401), the shielding plate (401) being arranged above the movable through slot (201), three movable plates (402) being uniformly welded to an outer wall on one side of the shielding plate (401), threaded rods (403) being inserted through each of the three movable plates (402), limiting plates (407) being welded to both ends of an outer wall on the other side of the shielding plate (401), a protective shell (7) being mounted on the top wall of the rotary tillage cover (2) by means of screws, a telescopic rod (408) being fixed to one side of the top end of the protective shell (7), and the telescopic ends of the two telescopic rods (408) being screwed through the upper surface of the shell and the limiting plate (407) for fixing.

3. A hydraulically controlled crawler self-propelled rotary tiller according to claim 2, characterized in that: The bottom ends of the three threaded rods (403) are rotatably connected to the top wall of the rotary tillage cover (2); a mounting shell (701) is fixed to the other side of the top of the protective shell (7) by screws; the top ends of the three threaded rods (403) pass through the top of the protective shell (7) and extend into the mounting shell (701); a driving motor (405) is screwed to the center of the inner top wall of the mounting shell (701); an output end of the driving motor (405) is fixedly connected to the top of the middle threaded rod (403) by a flange; rotating shafts (404) are provided on both sides of the driving motor (405); the bottom ends of the two rotating shafts (404) are fixedly connected to the tops of the other two threaded rods (403) by flanges; and the top ends of the two rotating shafts (404) are rotatably connected to the inner top wall of the mounting shell (701).

4. A hydraulically controlled crawler self-propelled rotary tiller according to claim 3, characterized in that: A driving sprocket (4051) is fixedly sleeved on the output end of the driving motor (405), and driven sprockets (4041) are fixedly sleeved on the outer walls of the two rotating shafts (404). The diameter of the driving sprocket (4051) is greater than the diameters of the two driven sprockets (4041), and the driving sprocket (4051) and the two driven sprockets (4041) are connected in transmission via a transmission chain (406).

5. The hydraulically controlled crawler self-propelled rotary tiller according to claim 2, characterized in that: The lower surface of the shielding plate (401) contacts the top wall of the rotary tillage cover (2); the width of the shielding plate (401) is greater than the width of the movable through slot (201); and a distance sensor (5) is embedded in the center of the upper surface of the shielding plate (401).

6. The hydraulically controlled crawler self-propelled rotary tiller according to claim 1, characterized in that: A protective shell (203) is fixed to the outer wall of one end of the rotary tillage cover (2) away from the central shell (1); an arc-shaped through groove (202) is provided on the outer wall of the end face of the rotary tillage cover (2) and the shell wall of the protective shell (203); and the shapes of the fixed cover (1031) and the protective shell (203) are the same as those of the rotary tillage cover (2).

7. A hydraulically controlled crawler self-propelled rotary tiller according to claim 6, characterized in that: The cleaning assembly (6) comprises an arc-shaped sealing plate (603), the arc-shaped sealing plate (603) being arranged in an arc-shaped through groove (202), a cleaning arc plate (604) being mounted on one side of the arc-shaped sealing plate (603) close to the protective shell (203) by means of screws, a mounting groove (6031) being provided on the arc-shaped sealing plate (603) at the centre of one side of the rotary tillage cover (2), a connecting plate (602) being fixed in the mounting groove (6031) by means of screws, a U-shaped water supply pipe (605) being arranged in the connecting plate (602), one end of the U-shaped water supply pipe (605) passing through the arc-shaped sealing plate (603) and being in communication with the inner cavity of the cleaning arc plate (604).

8. The hydraulically controlled crawler self-propelled rotary tiller according to claim 7, characterized in that: The upper and lower surfaces of the cleaning arc plate (604) are both provided with a plurality of nozzles (6041); the outer walls of the arc-shaped sealing plate (603) are in contact with the inner walls of the arc-shaped through groove (202); the connecting plate (602) penetrates the movable through groove (201) and extends to the outside; and the outer walls on both sides of the connecting plate (602) are located above the rotary tillage cover (2) and are welded with lap blocks (606); an electric slide rail (601) is installed on the inner wall of one side of the protective shell (7) by means of screws; an electric slider (607) is slidably installed on the electric slide rail (601); and one end of the electric slider (607) is fixedly connected to the outer wall of the connecting plate (602) by means of screws.

9. The hydraulically controlled crawler self-propelled rotary tiller according to claim 8, characterized in that: The outer walls on both sides of the connecting plate (602) are in contact with the groove walls of the movable through groove (201) and are slidably connected, the lower surfaces of the two overlapping blocks (606) are in contact with the top wall of the rotary tillage cover (2) and are slidably connected, and a support block (6071) is fixed to the lower surface of the electric slider (607), and the bottom end of the support block (6071) is in contact with the top wall of the rotary tillage cover (2) and is slidably connected.

10. The hydraulically controlled crawler self-propelled rotary tiller according to claim 1, characterized in that: A rotary tiller blade, a mowing blade and a pin roller are respectively mounted on the three rotary tillage shafts (1021).

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