A multifunctional micro-tillage machine

Abstract

The present invention relates to the technical field of agricultural machinery, and specifically to a multifunctional micro-tillage machine, comprising a rotary tillage cutter head and a switching mechanism. The rotary tillage cutter head is rotatably mounted on a machine body, the rotary tillage cutter head comprises a driving shaft and two groups of rotary tillage cutter groups, the driving shaft is transmission-connected to an engine, the rotary tillage cutter groups are symmetrically mounted at both ends of the driving shaft, the rotary tillage cutter group comprises a plurality of blades arranged circumferentially along the driving shaft, the handles of the blades are all provided with slots, the switching mechanism comprises a plurality of limiting parts arranged corresponding to the blades, when the limiting parts are inserted into the corresponding slots, the corresponding blades are locked to perform rotary tillage, when the limiting parts are disengaged from the slots, the corresponding blades are floated and adjusted to avoid obstacles, the present invention achieves the effect of flexibly adjusting the working state of the blades under different working conditions through the cooperation of the rotary tillage cutter head and the switching mechanism, effectively avoids obstacles, reduces the risk of damage to the equipment, reduces maintenance costs and downtime, and also ensures the safety of operators.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, and in particular to a multifunctional micro-tillage machine. Background Art

[0002] The emergence of micro-tillage machines is driven by the demand for agricultural production. In small farmlands, orchards and other areas with complex terrain and small plots, traditional farming methods are inefficient, and small, flexible and multifunctional equipment is urgently needed to meet the needs of intensive farming, improve labor productivity and reduce labor intensity. At the same time, the development of machinery manufacturing, engines, agricultural engineering and other technologies provides technical support for it. The application of small and efficient engines, advanced transmission systems, and high-performance metal materials and processing technologies enables it to have sufficient power, stable operation, and durability. In addition, micro-tillage machines also draw on relevant mechanical principles such as the walking mechanism of small tractors and the tool design of large rotary tillers, so that they can be born and continuously improved.

[0003] However, under the existing technology, most micro-tillage machines are suitable for use in farmland, but considering the growth habits and terrain of plants, the limitations of this single application scenario are gradually becoming apparent. Different plants have different requirements for the looseness of the soil, the depth of tillage, and the flatness of the surface, and conventional micro-tillage machines often find it difficult to accurately meet these specific needs. For example, in mountain orchards, the terrain is undulating and there are many obstacles. The stability and passability of traditional micro-tillage machines are poor, which not only greatly reduces the operating efficiency, but may also cause safety hazards due to inconvenient operation. This urgently requires further optimization and expansion of the design and functions of micro-tillage machines, so that they can play an efficient role in a wider range of agricultural production scenarios, better serve the planting and maintenance needs of various plants, and improve the comprehensive benefits of agricultural production.

[0004] Due to the undulating terrain and numerous obstacles in mountainous areas, traditional micro-tillage machines have poor stability and passability. They are often easily damaged or their operations are obstructed due to the inability to flexibly avoid obstacles. Therefore, there is an urgent need for a multifunctional micro-tillage machine to meet the diversified needs of mountain agricultural production, realize one-stop operation, and reduce equipment investment costs and operation time. Summary of the invention

[0005] In view of the existing technical problems, the present invention aims to provide a multifunctional micro-tillage machine, which achieves the effect of flexibly adjusting the working state of the blade under different operating conditions through the cooperation of the rotary tillage cutter head and the switching mechanism. During routine operation, the switching mechanism locks the blade, so that the rotary tillage cutter head can stably and efficiently perform rotary tillage operations, thereby ensuring the quality and depth of land tillage, contributing to the good growth of crops, and improving agricultural production efficiency; and when encountering field obstacles, the switching mechanism quickly acts to enable the blade to float and adjust, effectively avoiding the obstacles, avoiding the hard collision between the rotary tillage cutter head and the obstacles, reducing the risk of damage to the equipment, reducing maintenance costs and downtime, while also ensuring the safety of the operator, greatly improving the adaptability of the micro-tillage machine to complex working environments, and broadening its scope of application. Whether it is relatively flat farmland or a plot with many obstacles, the rotary tillage task can be successfully completed, providing a more reliable and convenient mechanized operation means for agricultural production.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A multifunctional micro-tillage machine comprises a walking machine body and also comprises:

[0008] Handrail, engine, rotary tillage blade and switching mechanism;

[0009] The armrest and the engine are both installed on the machine body, and an operator operates the machine body through the armrest, and the engine drives the machine body to move;

[0010] The rotary tiller head is rotatably mounted on the machine body, the rotary tiller head is driven to rotate by the engine, and the rotary tiller head comprises a driving shaft and two sets of rotary tiller blade groups, the driving shaft is drivingly connected to the engine, the rotary tiller blade groups are symmetrically mounted at both ends of the driving shaft, the rotary tiller blade groups comprise a plurality of blades arranged in an annular direction along the driving shaft, the blades are telescopically movable relative to the driving shaft, and the handles of the blades are all provided with slots;

[0011] The switching mechanism is installed on the machine body, and is arranged one by one with the rotary tiller blade group, and the switching mechanism includes a plurality of limiting parts arranged corresponding to the blades, and the limiting parts are all adjusted along the axial movement of the driving shaft. When the limiting part is inserted into the corresponding slot, the corresponding blade is locked to perform rotary tillage work, and when the limiting part is disengaged from the slot, the corresponding blade is floated and adjusted to avoid obstacles.

[0012] As an improvement, the rotary tiller blade group also includes a sleeve and a mounting portion mounted on the drive shaft, the sleeve being connected to the blade via the mounting portion, the mounting portion being arranged circumferentially along the sleeve, the mounting portion being provided with a clearance groove for accommodating the insertion of the limiting portion, and the side walls on both sides of the mounting portion being provided with limiting grooves for limiting the floating adjustment of the blade.

[0013] As an improvement, the handle portion of the blade is provided with an insert rod and a reset member, the insert rod is passed through the handle portion of the blade, the insert rod is slidably installed in the limit groove, and the reset member is arranged between the handle portion of the blade and the mounting portion, and the reset member drives the handle portion of the blade to retract into the mounting portion.

[0014] As an improvement, the limiting parts are all installed on a chassis, the chassis is sleeved on the driving shaft, the chassis rotates synchronously with the driving shaft, and the chassis is slidably arranged along the axial direction of the driving shaft;

[0015] The limiting portion extends from the chassis to the rotary tiller blade group, and the limiting portion includes a connecting section, a bending section and an insertion section in sequence along the extending direction. The limiting portion is connected to the chassis through the connecting section, the bending section is inclined toward the driving shaft, and the insertion section is arranged corresponding to the slot.

[0016] As an improvement, when the curved section cooperates with the slot, the extension and retraction amount of the corresponding blade is controlled by the inclination of the curved section.

[0017] As an improvement, the chassis is driven by a driving assembly to slide along the driving shaft. The driving assembly includes a motor, a driving wheel, a driven wheel and a screw shaft. The motor drives the driving wheel to rotate. The driving wheel is connected to the driven wheel through a synchronous belt. A screw nut is coaxially embedded in the driven wheel. The screw shaft and the screw nut are threadedly matched. The screw shaft is connected to the chassis. The chassis is rotatable relative to the screw shaft. The screw shaft is axially provided with a hexagonal hollow through groove, which accommodates the driving shaft to penetrate.

[0018] As an improvement, the switching mechanism also includes a chuck and a thrust bearing, the chuck and the thrust bearing are both sleeved on the drive shaft, the chuck rotates synchronously with the drive shaft, the chuck is arranged on the other side of the rotary blade group relative to the chassis, the chuck is provided with limiting holes corresponding to the limiting parts one by one, the limiting holes are engaged with the plug-in section, and the thrust bearing is arranged between the chuck and the machine body.

[0019] As an improvement, a multifunctional micro-tillage machine also includes a plow hinged to the machine body, the plow is located between the two groups of rotary tillage blade groups, and the rotational swing angle of the plow between the ground is regulated and set by the spacing between the thrust bearings.

[0020] As an improvement, the plow blade is rotationally and swingably adjusted by an adjusting mechanism, which includes a connecting rod, an adjusting block and a connecting rod. The rotating and swinging end of the plow blade is hinged to the connecting rod, and the other end of the connecting rod is hinged to the adjusting block. The adjusting block is slidably set on the sliding groove of the machine body, and the connecting rod is symmetrically set on both sides of the adjusting block. The two ends of the connecting rod are respectively hingedly mounted on the adjusting block and the thrust bearing.

[0021] As an improvement, a soil retaining plate is further arranged above the rotary tillage blade group, and a limiting column is arranged on the soil retaining plate and is correspondingly inserted and matched with the through groove.

[0022] As an improvement, a switch assembly is provided on the armrest, and the switch assembly controls the forward and reverse operation of the driving assembly and switches the locking and floating states of the blade.

[0023] The beneficial effects of the present invention are:

[0024] (1) The present invention cooperates with a rotary tillage cutter head and a switching mechanism. The blade of the rotary tillage cutter head adopts a telescopic movement relative to the drive shaft. The handle is provided with a slot, which cooperates with a limiter that can be axially moved and adjusted by the switching mechanism. When the limiter is inserted into the slot, the blade is locked for normal rotary tillage. When the limiter is out of the slot, the blade can be floated and adjusted to avoid obstacles. It can adapt to complex farmland environments, reduce machine failures and downtime caused by obstacles, improve operating efficiency, and also ensure the safety of operators. It greatly improves the adaptability of the micro-tillage machine to complex operating environments and broadens its scope of application. Whether it is a relatively flat farmland or a plot with many obstacles, it can successfully complete the rotary tillage task, providing a more reliable and convenient mechanized operation method for agricultural production;

[0025] (2) The blade of the rotary tiller in the present invention is movably connected to the mounting seat, which greatly improves the performance and stability of the micro-tiller. The clearance groove on the mounting seat provides precise space for the insertion of the limit part, ensuring the reliability of the blade state switching. The insertion rod slides smoothly along the limit groove to accurately limit the floating range of the blade. The reset member not only provides a buffer for the blade to retract into the mounting part when there is no external force, ensuring its smooth return to its original position, but also effectively absorbs the inertial impact of the blade during frequent switching operations and reduces component wear. This design comprehensively ensures the stable switching of the blade between the locked and floating states, significantly reduces the probability of damage to the machine caused by abnormal movement of the blade, reduces the frequency and cost of maintenance, enhances the reliability and stability of the operation, and thus extends the service life of the machine;

[0026] (3) The limiter of the switching mechanism of the present invention is installed on a chassis sleeved on the drive shaft. The chassis is driven by the driving assembly to slide along the axial direction of the drive shaft. The cooperation between the limiter and the blade can be accurately controlled by the movement of the chassis, so that the micro-tillage machine can flexibly adjust the blade state according to different operation requirements. It is suitable for land cultivation before planting a variety of crops, which enhances the practicality and versatility of the machine.

[0027] (4) In the present invention, the switch assembly on the armrest controls the forward and reverse rotation of the driving assembly, so that the chassis drives the limiter to move, thereby switching the blade state. The operation is simple and convenient, and the operator does not need to make complicated manual adjustments, which reduces labor intensity and improves work efficiency. At the same time, it also improves the controllability and intelligence level of the machine.

[0028] (5) In the present invention, the swing angle of the coulter is regulated by adjusting the distance between the mechanism and the thrust bearing and the machine body. On the basis of realizing the function of the rotary tillage cutter head, the control of the coulter is increased, so that the micro-tillage machine has multiple functions such as rotary tillage and plowing, which can meet the needs of various farmland operations, reduce the purchase cost of different agricultural tools for farmers, improve the cost performance and functional diversity of the machine, and enhance the economic benefits of agricultural production.

[0029] In summary, the present invention has the advantages of strong obstacle avoidance and protection capability, flexible and precise farming adjustment, stability and safety, and convenient operation, and is particularly suitable for the field of agricultural machinery technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 The three-dimensional structure of the micro-tillage machine of the present invention is shown in FIG. Figure 1 ;

[0031] Figure 2 The three-dimensional structure of the micro-tillage machine of the present invention is shown in FIG. Figure 2 ;

[0032] Figure 3 It is a schematic diagram of the side structure of the micro-tillage machine of the present invention;

[0033] Figure 4 It is a structural schematic diagram of the rotary tillage cutter head and the switching mechanism of the present invention in the initial state;

[0034] Figure 5 It is a structural schematic diagram of the rotary tillage blade head and the switching mechanism of the present invention in the engaged state;

[0035] Figure 6 for Figure 5 Enlarged view of point A in the middle;

[0036] Figure 7 This is a schematic diagram of the structure of the rotary tillage blade group of the present invention;

[0037] Figure 8This is a schematic diagram of the connecting structure of the shaft sleeve and the mounting portion of the present invention;

[0038] Fig. 9 This is a schematic diagram of the three-dimensional structure of the blade of the present invention;

[0039] Fig.10 It is a schematic diagram of the connection structure between the limiting part and the chassis of the present invention;

[0040] Fig.11 It is a schematic diagram of the three-dimensional structure of the chuck of the present invention;

[0041] Fig.12 It is a schematic diagram of the three-dimensional structure of the plow blade of the present invention;

[0042] Fig.13 The three-dimensional structure of the micro-tillage machine of the present invention is shown in FIG. Figure 3 ;

[0043] Fig.14 for Fig.13 Enlarged view of point B in the middle;

[0044] Fig.15 It is a schematic diagram of the three-dimensional structure of the outer cover;

[0045] Fig.16 The three-dimensional structure of the micro-tillage machine of the present invention is shown in FIG. Figure 4 ;

[0046] Fig.17 for Fig.16 Enlarged view of point C in the middle;

[0047] Fig.18 for Fig.16 Enlarged view of point D in the middle;

[0048] Fig.19 is a schematic diagram of a switch component control circuit;

[0049] Fig. 20 It is a schematic diagram of the three-dimensional structure of the thrust bearing.

[0050] In the figure: body 1, sliding groove 11, tire 12, guide wheel 13, handrail 2, switch assembly 21, limiting mechanism 22, limiting pin 221, limiting plate 222, positioning hole 2220, fixing seat 223, engine 3, rotary tiller head 4, drive shaft 41, protrusion 410, rotary tiller group 42, blade 421, insertion rod 4211, reset member 4212, slot 422, inclined surface 4220, sleeve 423, limiting protrusion 4231, mounting portion 424, avoidance groove 4241, limiting groove 4242, switching mechanism 5, limiting portion 51, chassis 510, groove 5101, connecting section 511, bending section 512, plug section 513, drive assembly 52, controller 520 0, friction sensor 5201, battery 5202, motor 521, driving wheel 522, driven wheel 523, screw shaft 524, through slot 5241, synchronous belt 525, screw nut 526, chuck 53, limiting hole 530, limiting groove 5300, limiting block 531, limiting channel 5310, thrust bearing 54, shaft piece 541, rolling body 542, seat piece 543, elastic support member 544, plow 6, adjustment mechanism 60, connecting rod 61, adjustment block 62, connecting rod 63, retaining plate 7, limiting column 71, side plate 72, top plate 73, adjustment assembly 74, adjustment plate 741, slot 7410, limiting seat 742, locking screw 743, outer cover 75. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0053] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0054] Embodiment 1:

[0055] like Figure 1-Figure 11 As shown, a multifunctional micro-tillage machine includes a walking machine body 1. The machine body 1 is the basic bearing structure of the whole device, has good stability and mobility, and provides a solid guarantee for the stable operation of other components. The multifunctional micro-tillage machine also includes:

[0056] Handrail 2, engine 3, rotary tillage blade 4 and switching mechanism 5;

[0057] The armrest 2 and the engine 3 are both mounted on the machine body 1. The operator operates the machine body 1 through the armrest 2. The operator can easily and accurately operate the machine body 1 through it to achieve various actions such as forward, backward, and turning, which greatly improves the convenience and flexibility of operation. The engine 3 drives the machine body 1 to move;

[0058] The rotary tiller head 4 is rotatably mounted on the machine body 1. The rotary tiller head 4 is driven to rotate by the engine 3 through a composite transmission of a belt group and a sprocket group. The rotary tiller head 4 includes a driving shaft 41 and two groups of rotary tiller blade groups 42. The driving shaft 41 is in driving connection with the engine 3. The rotary tiller blade groups 42 are symmetrically mounted at both ends of the driving shaft 41. This symmetrical layout makes the force during rotary tillage more uniform, reduces the vibration and deflection of the machine body, and improves the operation quality. The rotary tiller blade group 42 includes a plurality of blades 421 arranged in an annular direction along the driving shaft 41. The blades 421 are arranged to move telescopically relative to the driving shaft 41, and the handles of the blades 421 are all provided with slots 422.

[0059] The switching mechanism 5 is installed on the body 1. The switching mechanism 5 is arranged in a one-to-one correspondence with the rotary tiller blade group 42, and the switching mechanism 5 includes a plurality of limit parts 51 arranged corresponding to the blade 421. The limit parts 51 are all adjusted along the axial movement of the drive shaft 41. The material of the limit part 51 is selected from high-strength wear-resistant material, which has high surface hardness and strong wear resistance. It can maintain good shape and dimensional accuracy during frequent insertion and extraction operations to ensure a close fit with the slot 422. When the limit part 51 is inserted into the corresponding slot 422, the corresponding blade 421 is locked for rotary tillage. When the limit part 51 is disengaged from the slot 422, the corresponding blade 421 is floated and adjusted to avoid obstacles.

[0060] Furthermore, the transmission connection between the drive shaft 41 and the engine 3 adopts belt drive and sprocket drive. A driving pulley is installed on the output shaft of the engine, and a driven pulley is installed on the rotating shaft. The belt connects the two. When the engine is started, the engine output shaft drives the driving pulley to rotate, and the friction force of the belt causes the driven pulley to rotate accordingly, so that the rotating shaft starts to rotate. The rotating shaft and the drive shaft 41 are connected by a sprocket drive group. This transmission method has the advantages of simple structure and buffering and vibration absorption.

[0061] Among them, a plurality of protrusions 410 are arranged in a ring along the moving range of the chassis 510 on the driving shaft 41, and a plurality of grooves 5101 are provided on the chassis 510 corresponding to the protrusions. The grooves 5101 on the chassis 510 are precisely matched with the protrusions 410 on the driving shaft 41. When the chassis 510 slides axially along the driving shaft 41, the cooperation between the grooves 5101 and the protrusions 410 effectively guides the moving direction of the chassis, making the sliding more stable and accurate. At the same time, the driving shaft 41 drives the chassis 510 to rotate synchronously.

[0062] A limiting protrusion 4231 is provided at the end of the sleeve 423 that contacts the chuck 53, and a limiting groove 5300 is provided on the chuck 53 corresponding to the limiting protrusion 4231. The limiting protrusion 4231 cooperates with the limiting groove 5300 to realize the synchronous rotation of the rotary tiller blade group 42 and the chuck 53, and keep the relative positions of the chassis 510 and the rotary tiller blade group 42 stable. Through the close cooperation between the limiting protrusion 4231 and the limiting groove 5300, the chuck 53 can accurately follow the rotation rhythm of the drive shaft 41, and at the same time ensure that the chuck 53 will not shake or move when the limiting part 51 cooperates with the blade 421, thereby providing solid support and guarantee for the locking and floating state switching of the blade 421.

[0063] Furthermore, the rotary tiller blade assembly 42 further includes a sleeve 423 and a mounting portion 424 sleeved on the drive shaft 41, the sleeve 423 is connected to the blade 421 through the mounting portion 424, and the sleeve 423 and the mounting portion 424 are integrally formed, which greatly enhances the structural strength and stability of the sleeve 423 and the mounting portion 424;

[0064] The mounting portion 424 is arranged along the annular direction of the shaft sleeve 423. The mounting portion 424 not only provides a stable connection for the blade 421, but also its arrangement fully considers the force uniformity and balance during rotary tillage operation.

[0065] The mounting portion 424 is provided with a clearance groove 4241 for accommodating the limiting portion 51 to be inserted therein, the clearance groove 4241 is arranged along the telescopic movement direction of the blade 421, and the length of the clearance groove 4241 corresponds to the maximum telescopic length of the blade 421;

[0066] Limiting grooves 4242 for limiting the floating adjustment of the blade 421 are provided on the side walls on both sides of the mounting portion 424. Through the precise limitation of the limiting grooves 4242, the blade 421 can always be maintained within a safe, stable and reasonable range during floating adjustment, which can not only effectively avoid obstacles, but also will not affect the continuity and effect of the rotary tillage operation due to excessive floating, further improving the adaptability and operation reliability of the multifunctional micro-tillage machine to complex farmland environments.

[0067] Furthermore, the handle of the blade 421 is provided with an insertion rod 4211 and a reset member 4212, the insertion rod 4211 is inserted into the handle of the blade 421, the insertion rod 4211 is slidably installed in the limiting groove 4242, and the insertion rod 4211 is effectively laterally constrained by the side wall of the limiting groove 4242 to prevent the blade 421 from excessively deflecting or twisting when subjected to complex external forces, thereby ensuring the stability and accuracy of the blade 421 during the floating adjustment process, and the reset member 4212 is provided between the handle of the blade 421 and the mounting portion 424, and the reset member 4212 drives the handle of the blade 421 to retract the mounting portion 4 24, one end of the reset member 4212 is fixedly connected to the handle of the blade 421, and the other end of the reset member 4212 is arranged in contact with the sleeve 423, so that the reset member 4212 can evenly distribute pressure along the contact surface with the sleeve 423 when compressed, so as to avoid wear or deformation of components due to excessive local pressure. The reset member 4212 is preferably a spring. When the blade 421 is retracted into the mounting portion 424 by an external force, the reset member 4212 is compressed and stores elastic potential energy; once the external force disappears, the reset member 4212 will be quickly released by virtue of its stored elastic potential energy, generating a strong and stable return force to restore it to its initial ready state.

[0068] It should be further explained that the limiting parts 51 are all installed on the chassis 510, and the chassis 510 is sleeved on the driving shaft 41. The chassis 510 rotates synchronously with the driving shaft 41, and the chassis 510 is slidably arranged along the axial direction of the driving shaft 41;

[0069] The limiting portion 51 extends from the chassis 510 to the rotary blade group 42, and the limiting portion 51 includes a connecting section 511, a bending section 512 and a plug-in section 513 in sequence along the extending direction. The connecting section 511, the bending section 512 and the plug-in section 513 are integrally formed. The limiting portion 51 is connected to the chassis 510 through the connecting section 511, the bending section 512 is inclined toward the driving shaft 41, and the bending section 512 is arranged in the plug-in section 513 corresponding to the slot 422.

[0070] Among them, the slot 422 is set in a U shape, and a slope 4220 matched with the curved section 512 is set on the inner wall of the slot 422. On the one hand, the slope 4220 can play a good guiding role in the insertion of the limiting part 51, so that the plug-in section 513 can be more accurately and quickly aligned with the position of the slot 422, reducing the jamming and deviation during the insertion process, and improving the efficiency and accuracy of the cooperation between the limiting part 51 and the blade 421. On the other hand, when the blade 421 is in a floating adjustment state, the cooperation between the slope 4220 and the curved section 512 can effectively avoid interference and collision between the two due to angle mismatch, further optimizing the working performance of the multifunctional micro-tillage machine, ensuring that it can stably and efficiently complete the rotary tillage task in farmland operations, and providing more reliable mechanized support for agricultural production.

[0071] In addition, when the curved section 512 cooperates with the slot 422, the corresponding extension and retraction amount of the blade 421 is controlled by the inclination of the curved section 512. When encountering an obstacle, the blade 421 is acted upon by an external force, resulting in the moment when the rotary tiller blade group 42 is stuck. The chassis 510 drives the limiting portion 51 to withdraw. Since the curved section 512 cooperates with the inclined surface 4220 of the slot 422, the blade 421 will retract. Once the blade 421 has retracted, the rotary tiller blade group 42 can rotate smoothly, and the chassis 510 can drive the limiting portion 51 to extend again, so that the blade 421 can extend again, so that the blade 421 can produce corresponding extension and retraction movement along the inclination direction according to the size of the obstacle and the resistance. The minimum extension and retraction amount of 421 can ensure the continuity of operation while ensuring that the blade 421 will not affect the rotary tillage effect due to excessive extension and retraction. The design of accurately controlling the extension and retraction amount of the blade 421 by the inclination of the curved section 512 greatly improves the adaptability and intelligence of the micro-tillage machine to complex farmland environments. It can not only effectively protect the blade 421 and the entire rotary tillage cutter head 4 from damage by obstacles, but also ensure that under different working conditions, the blade 421 always remains in the best working position and state, thereby ensuring the quality and efficiency of the rotary tillage operation, providing more stable and reliable mechanized operation guarantees for agricultural production, reducing the risk of operation interruption caused by terrain and obstacles, and improving the overall benefits of agricultural production.

[0072] Furthermore, the chassis 510 is driven by a driving assembly 52 to slide along the driving shaft 41. The driving assembly 52 includes a motor 521, a driving wheel 522, a driven wheel 523 and a screw shaft 524. The motor 521 drives the driving wheel 522 to rotate. The driving wheel 522 is connected to the driven wheel 523 through a synchronous belt 525. The synchronous belt 525 ensures the high efficiency and stability of power during transmission, effectively reduces energy loss and slippage during transmission, and ensures that the driven wheel 523 can accurately follow the rotation rhythm of the driving wheel 522. A screw nut 526 is coaxially embedded in the driven wheel 523. The screw shaft 524 is threadedly matched with the screw nut 526. The screw shaft 524 is connected to the chassis 510. The screw nut 526 drives the screw shaft 524 to make precise linear movements along the axial direction, so as to control the The chassis 510 slides along the axial direction of the drive shaft 41, thereby realizing the coordinated switching of the limiting portion 51 and the blade 421. The chassis 510 is rotatably arranged relative to the screw shaft 524. The chassis 510 rotates synchronously with the drive shaft 41. It cooperates with the rotary blade group 42 and other components to achieve effective tillage of the soil. The screw shaft 524 mainly undertakes the task of driving the chassis 510 to move axially along the drive shaft 41, and does not participate in the rotation action. If the screw shaft 524 rotates synchronously with the drive shaft 41, the screw shaft 524 will not be able to stably displace according to the established axial motion trajectory, which will cause the axial sliding of the chassis 510 to lose precise control, and the limiting portion 51 cannot be accurately inserted into or disengaged from the slot 422 of the handle of the blade 421, so that the blade 421 cannot smoothly switch between the locked and floating states.

[0073] The screw shaft 524 is axially provided with a hexagonal hollow through groove 5241, and the through groove 5241 accommodates the insertion of the drive shaft 41. This insertion design ensures that the screw shaft 524 and the drive shaft 41 can independently complete their corresponding movements. The drive shaft 41 is mainly responsible for transmitting the power of the engine to drive the rotary tiller head 4 to rotate stably, while the screw shaft 524 is precisely moved along its own axial direction under the action of the drive assembly 52, thereby driving the chassis 510 to slide to control the switching of the matching state between the limit portion 51 and the blade 421. The through groove 5241 allows the movement trajectories of the two to be parallel and consistent. Even when the drive shaft 41 is rotating, the screw shaft 524 can also accurately realize axial displacement according to the operation requirements, ensuring that the rotary tillage operation and blade state switching function of the entire micro-tillage machine can be carried out in an orderly manner, greatly improving the working efficiency and reliability of the equipment, and enhancing its adaptability to complex and changeable farmland environments.

[0074] Furthermore, the switching mechanism 5 further includes a chuck 53 and a thrust bearing 54, the chuck 53 and the thrust bearing 54 are both sleeved on the driving shaft 41, the chuck 53 rotates synchronously with the driving shaft 41, the chuck 53 is arranged on the other side of the rotary blade group 42 relative to the chassis 510, the chuck 53 cooperates with the chassis 510, so that the limiting portion 51 is stably limited in the axial direction to avoid unnecessary axial displacement, and the chuck 53 is provided with a limiting hole 530 corresponding to the limiting portion 51, and the limiting hole 530 is engaged with the plug-in section 513;

[0075] like Fig. 20 As shown, the thrust bearing 54 is arranged between the chuck 53 and the body 1, and the thrust bearing 54 plays a role of support and force balance. The thrust bearing 54 includes a shaft piece 541, a rolling body 542, a seat piece 543 and an elastic support member 544 in the axial direction of the drive shaft 41. The shaft piece 541 is arranged in contact with the chuck 53, and the shaft piece 541 rotates synchronously with the chuck 53. The shaft piece 541 drives the rolling body 542 to rotate through friction. The seat piece 543 provides a stable rolling track for the rolling body 542 and bears the axial force transmitted by the rolling body 542 to ensure the structural stability of the entire equipment. The elastic support member 544 is arranged between the seat piece 543 and the body 1. The elastic support member 544 mainly plays a role of buffering and compensation. When a small axial displacement or vibration occurs during the operation of the equipment, the elastic support member 544 can absorb these changes through its own elastic deformation.

[0076] Among them, a plurality of limit blocks 531 are fixedly arranged on the chuck 53, and the limit blocks 531 are arranged in a stepped manner. The limit blocks 531 are arranged corresponding to the mounting portion 424. The setting of the limit blocks 531 can block the axial movement of the mounting portion 424, ensuring that the rotary tiller blade group 42 will not produce unnecessary movement along the axial direction of the driving shaft 41. The limit block 531 is provided with a limit channel 5310 corresponding to the limit hole 530, and the plug-in section 513 is passed through the limit channel 5310.

[0077] In addition, the length of the limiting portion 51 is determined according to the distance between the chassis 510 and the corresponding mounting portion 424 and the limiting block 531, which can ensure that under various operating conditions of the micro-tiller, the limiting portion 51 can perfectly cooperate with the mounting portion 424 and the limiting block 531, so that the movement of each blade 421 is limited to a reasonable and stable range, effectively avoiding the instability of different blades 421 at the same time, and ensuring the smooth and efficient operation of the rotary tillage operation.

[0078] It needs to be explained in detail that Fig.19 As shown, the motor 521 is a servo motor, and the motor 521 is connected to the controller 5200 through electrical signals, and the controller 5200 is electrically connected to the friction sensor 5201 arranged on the drive shaft 41, wherein the motor 521, the controller 5200, and the friction sensor 5201 are all powered by the battery 5202. Specifically, when the friction sensor 5201 detects that the friction force on the drive shaft 41 gradually decreases or the instantaneous friction force changes significantly (that is, when the rotary tiller head 4 is blocked by an obstacle, the rotation of the drive shaft 41 slows down or is instantly stuck), the friction sensor 5201 transmits a signal to the controller 5200. After receiving the signal, the controller 5200 sends a signal to the motor 521, and the motor 521 responds quickly. By reversing the motor 521, the limit portion 51 The plug-in section 513 is continuously withdrawn from the slot 422 of the blade 421, so that the blade 421 obtains the ability of floating adjustment, and the arc-shaped bending setting of the blade 421 allows the blade 421 to rely on the rotational force of the drive shaft 41 to achieve the effect of crossing obstacles, especially for mountain rotary tillage, there are a large number of mountain rocks in the mountains, which can easily cause the rotary tiller head 4 to get stuck, and after the rotary tiller head 4 passes over the obstacle, the friction sensor 5201 detects that the friction on the drive shaft 41 returns to normal, and the controller 5200 can control the motor 521 to rotate forward again, and lock the blade 421 again through the interlacing cooperation of the limit part 51 and the slot 422, and at the same time, it can also adjust the extended length of the blade 421, and then adjust the rotary tillage depth of the blade 421, so as to achieve the purpose of intelligent control.

[0079] Specifically, the friction sensor 5201 in the present application is preferably a USL06-H5 series ultra-small 2-axis torque sensor, which has a compact structure, is small and convenient, can be installed near the drive shaft 41, and has little impact on the measurement environment. The controller 5200 is preferably an STM32F103 series MCU controller, which has rich peripherals and high performance, and integrates CPU, memory, and I / O interface, so as to realize the control of the friction sensor 5201 and the motor 521.

[0080] Furthermore, a switch assembly 21 is provided on the handrail 2, and a control line of the switch assembly 21 is connected to an electrical signal of the controller 5200. The operator can manually control the forward and reverse operation of the drive assembly 52 through the switch assembly 21, and switch the locked and floating states of the blade 421. When the drive assembly 52 drives the chassis 510 to move in the forward direction so that the plug-in section 513 of the limiting portion 51 is inserted into the slot 422, the blade 421 is restricted from moving in the mounting portion 424 and is in a locked state. At this time, the rotary tillage blade group 42 can stably perform rotary tillage operations. Conversely, when the drive assembly 52 is controlled to reverse through the switch assembly 21, The chassis 510 moves in the direction away from the blade 421, and the plug-in section 513 of the limiting portion 51 disengages from the slot 422 of the blade 421, and the blade 421 is freed from the restriction in the axial direction and can float freely within a certain range. This switching of the floating state can allow the operator to operate the blade 421 based on his or her own work experience. When encountering obstacles such as stones and lumps in the soil, the blade 421 can automatically avoid them, thereby reducing the risk of damage to the blade 421 and improving the adaptability of the micro-tillage machine to complex soil conditions. At the same time, the operator can also adjust the rotary tillage depth of the blade 421 based on his or her own work experience and according to different terrains.

[0081] Embodiment 2:

[0082] The difference between Example 2 of the present invention and Example 1 described with reference to Example 1 is that:

[0083] like Fig.12 As shown, a multifunctional micro-tillage machine also includes a plow 6 hingedly connected to the body 1, and the plow 6 is located between the two groups of the rotary tillage blade groups 42. The rotary tillage blade groups 42 are mainly responsible for crushing and tilling the soil, while the plow 6 is located in the middle position between them. On the basis of the operation of the rotary tillage blade groups 42, the soil can be further turned more deeply or ridged, and other specific tillage treatments can be performed. The rotational swing angle of the plow 6 between the ground is set by the spacing between the thrust bearings 54.

[0084] Furthermore, the plow blade 6 is arranged to be rotated and swung by an adjusting mechanism 60, and the adjusting mechanism 60 includes a connecting rod 61, an adjusting block 62 and a connecting rod 63. The rotating and swinging end of the plow blade 6 is hingedly arranged with the connecting rod 61. This hinged arrangement gives the plow blade 6 the characteristic of being able to rotate flexibly relative to the connecting rod 61, so that the plow blade 6 can freely change its angle around the hinge point when adjusting, so as to meet the requirements for its swinging posture under different working conditions. The other end of the connecting rod 61 is hingedly arranged with the adjusting block 62, and a transmission link from the plow blade 6 to the adjusting block 62 is established, which can transmit the movement and force change of the adjusting block 62 to the plow blade 6, thereby affecting the rotating and swinging state of the plow blade 6. The adjusting block 62 is slidably arranged on the sliding groove 11 of the body 1, and the sliding groove 11 limits the moving direction of the adjusting block 62. The connecting rod 63 is symmetrically arranged at The symmetrical layout of the two sides of the adjustment block 62 helps to ensure the uniform transmission of force and the stability of the swing of the plow 6 during the adjustment process. The two ends of the connecting rod 63 are respectively hingedly installed on the adjustment block 62 and the thrust bearing 54. This connection method enables an effective mechanical linkage relationship to be established between the adjustment block 62 and the thrust bearing 54 through the connecting rod 63. The position change or force condition of the thrust bearing 54 can be transmitted to the adjustment block 62 through the connecting rod 63. The adjustment block 62 is slidably arranged on the sliding groove 11 of the body 1. After receiving the force transmitted by the connecting rod 63, the adjustment block 62 will perform corresponding sliding movement along the sliding groove 11, and the sliding of the adjustment block 62 will affect the connecting rod 61 hinged thereto, driving the plow 6 to rotate and swing around the hinge point between it and the connecting rod 61, thereby changing the angle between the plow 6 and the ground;

[0085] If the distance between the thrust bearings 54 on both sides decreases, the force transmitted to the adjusting block 62 through the connecting rod 63 will cause the adjusting block 62 to slide on the sliding groove 11, and then pull the plow 6 through the connecting rod 61 to increase its angle, so that the plow 6 can cut deeper into the soil or change the angle of ridge formation. Conversely, when the distance between the thrust bearings 54 increases, the adjusting block 62 slides in the opposite direction, pushing the plow 6 to reduce its angle.

[0086] Among them, one end of the connecting rod 63 is hinged to the seat plate 543, and the seat plate 543 is stationary and does not rotate with the driving shaft 41. It mainly bears and transmits force in the axial direction. After the connecting rod 63 is hinged to the seat plate 543, during the process of transmitting force, the force transmission direction is clear, and the force generated by the position change of the thrust bearing 54 can be more accurately transmitted to the adjustment block 62.

[0087] Embodiment 3:

[0088] The differences between Example 3 of the present invention described with reference to Example 1 and Example 2 are as follows:

[0089] like Figure 13-Figure 15 As shown, a retaining plate 7 is also provided above the rotary tiller group 42. The retaining plate 7 can effectively cover the range where soil may splash when the rotary tiller group 42 is working. A limiting column 71 corresponding to and interlocking with the through groove 5241 is provided on the retaining plate 7. The limiting column 71 is arranged in a hexagonal shape. The limiting column 71 is fixedly connected to the retaining plate 7. The limiting column 71 is interlocked with the axial through groove 5241 of the screw shaft 524. The limiting column 71 limits the rotation of the screw shaft 524 to ensure the normal sliding of the chassis 510.

[0090] Further, the retaining plate 7 includes a side plate 72, a top plate 73, an adjustment assembly 74 and an outer cover 75, the side plate 72 and the top plate 73 are hingedly arranged, the driving assembly 52 is installed on the side plate 72, the top plate 73 and the body 1 are hingedly arranged, the top plate 73 and the adjustment assembly 74 are hingedly arranged, the outer cover 75 is installed on the side plate 72, the limit column 71 is fixedly arranged on the outer cover 75, and the outer cover 75 A heat dissipation slot is opened on it, and the adjustment component 74 includes two groups of adjustment plates 741, a limit seat 742 and a locking screw 743. The adjustment plate 741 is hinged to the top plates 73 on both sides, and the two groups of adjustment plates 741 are arranged in an overlapping manner. A plurality of slots 7410 are arranged on the adjustment plate 741. The slots 7410, the limit seat 742 and the locking screw 743 cooperate to limit the top plate 73, and together play a limiting role on the top plate 73. When the position of the top plate 73 needs to be adjusted, first loosen the locking screw 743, and then change the crossing angle of the two sets of adjustment plates 741 to make the top plate 73 reach the desired angular position. At this time, pass the locking screw 743 through the limit seat 742 and insert it into the corresponding slot 7410 on the adjustment plate 741 to stably fix the adjustment plate 741 and the top plate 73 in this position, thereby achieving precise limiting of the top plate 73 and ensuring that the retaining plate can play the best retaining effect.

[0091] Embodiment 4:

[0092] The differences between Example 4 of the present invention described with reference to Example 1, Example 2 and Example 3 are as follows:

[0093] like Figure 16-18As shown, a limiting mechanism 22 is provided at the connection between the armrest 2 and the body 1, and the limiting mechanism 22 includes a limiting pin 221, a limiting plate 222 and a fixing seat 223. The armrest 2 is installed on the body 1 through the fixing seat 223. The armrest 2 and the fixing seat 223 are hingedly arranged, and the limiting pin 221 is fixedly installed on the fixing seat 223. A plurality of groups of positioning holes 2220 are opened on the limiting plate 222, and the positioning holes 2220 cooperate with the limiting pin 221 to limit the height of the armrest 2.

[0094] In addition, a tire 12 and a guide wheel 13 are also provided on the body 1. The tire 12 is provided below the body 1 and is connected to the body 1 through an axle. The engine 3 drives the tire 12 to rotate. The guide wheel 13 is provided in front of the body 1 and is connected to the body 1 through a bracket.

[0095] It should be noted that the change in the moving speed of the body 1 and the change in the rotation speed of the rotary tiller head 4 are both achieved through a gear transmission, and the gear shifting is achieved through a manually operated shift lever, which is connected to a gear shift mechanism in the transmission. There are gear sets with different tooth ratios inside the transmission, and the meshing state of the gears is changed by the shift mechanism, thereby achieving different transmission ratios and achieving the purpose of speed shifting. Speed ​​shifting is a well-known prior art, so it will not be described in detail here.

[0096] Working process: Before starting, the operator will first adjust the height of the armrest 2 through the limit mechanism 22 at the connection between the armrest 2 and the machine body 1 according to his own operating habits. Then, check the status of the blade 421 of the rotary tiller group 42 to see whether it is in a suitable locked or floating state. If necessary, adjust it through the switch component 21 on the armrest 2. At the same time, check the position and posture of the soil retaining plate 7. If it does not meet the requirements, adjust it using the adjustment component 74 of the soil retaining plate 7 to put the soil retaining plate 7 in the best soil retaining position.

[0097] After starting the micro-tillage machine, the operator holds the handrail 2 and controls the machine to enter the working area. At this time, by operating the switch assembly 21 on the handrail 2, the driving assembly 52 is controlled to make the motor 521 in the driving assembly 52 start to rotate in the forward direction. The motor 521 drives the driving wheel 522 to rotate, and the driving wheel 522 drives the driven wheel 523 to rotate through the synchronous belt 525. Since a screw nut 526 is installed inside the driven wheel 523, and the screw nut 526 and the screw shaft 524 are in a threaded matching relationship, the screw shaft 524 starts to move axially under the drive of the screw nut 526, prompting the chassis 510 to slide along the drive shaft 41 in the direction close to the rotary tiller blade group 42.

[0098] The limiting part 51 on the chassis 510 moves with the chassis 510. When the plug-in section 513 of the limiting part 51 is inserted into the slot 422 of the blade 421 in the rotary tiller group 42, the blade 421 is limited to displacement in the axial direction, enters a locked state, and starts a stable rotary tillage operation. At this time, the plow 6 performs a deeper turning or ridge formation and other specific tillage treatments as the micro-tillage machine moves forward. During the rotary tillage process, if the soil texture is uneven, such as the presence of obstacles such as stones and lumps, the operator can control the motor 521 in the drive assembly 52 to reverse through the switch assembly 21 on the handrail 2, or can perform intelligent control through the controller. After the motor 521 runs in the reverse direction, the screw shaft 524 will move in the opposite axial direction, driving the chassis 510 to slide in the direction away from the blade 421, so that the plug-in section 513 of the limiting part 51 is disengaged from the slot 422 of the blade 421, and the blade 421 is released from the axial restriction and becomes a floating state.

[0099] In the floating state, the blade 421 can move freely within a certain range, and can automatically avoid obstacles when encountering them, reducing the risk of damage to the blade 421 due to collision. After passing through the obstacle area, the operator operates the switch assembly 21 again to rotate the drive assembly 52 forward, so that the blade 421 returns to the locked state, and the stable rotary tillage operation is continued to ensure effective cultivation of the entire farmland.

[0100] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multifunctional micro-tillage machine, comprising a walking machine body (1), characterized in that: Also includes: Handrail (2), engine (3), rotary tillage blade (4), switching mechanism (5) and plow (6); The rotary tiller blade (4) is rotatably mounted on the machine body (1). The rotary tiller blade (4) is driven to rotate by the engine (3). The rotary tiller blade (4) comprises a drive shaft (41) and two sets of rotary tiller blade groups (42). The drive shaft (41) is in driving connection with the engine (3). The rotary tiller blade groups (42) are symmetrically mounted at both ends of the drive shaft (41). The rotary tiller blade groups (42) comprise a plurality of blades (421) arranged in an annular direction along the drive shaft (41). The blades (421) are arranged to be telescopically movable relative to the drive shaft (41), and the handles of the blades (421) are each provided with a slot (422). The switching mechanism (5) is mounted on the machine body (1). The switching mechanism (5) and the rotary tiller blade group (42) are arranged one by one. The switching mechanism (5) comprises a plurality of limiting parts (51) arranged corresponding to the blades (421). The limiting parts (51) are all movable and adjusted along the axial direction of the driving shaft (41). When the limiting parts (51) are inserted into the corresponding slots (422), the corresponding blades (421) are locked to perform rotary tillage. When the limiting parts (51) are separated from the slots (422), the corresponding blades (421) are floated and adjusted to avoid obstacles. The limiting parts (51) include a connecting section (511), a bending section (512) and a plug-in section (513) in sequence along the extending direction. The bending section (512) is arranged obliquely. The switching mechanism (5) further comprises a chuck (53) and a thrust bearing (54); the chuck (53) and the thrust bearing (54) are both sleeved on the drive shaft (41); the chuck (53) rotates synchronously with the drive shaft (41); the chuck (53) is arranged on a side of the rotary tiller blade group (42) close to the machine body; a limiting hole (530) corresponding to the limiting portion (51) is arranged on the chuck (53); and the thrust bearing (54) is arranged between the chuck (53) and the machine body (1); The plow blade (6) is located between the two groups of rotary tiller blade groups (42), and the rotational swing angle between the plow blade (6) and the ground is set and regulated by the spacing between the thrust bearings (54).

2. A multifunctional micro-tillage machine according to claim 1, characterized in that: The rotary tiller blade assembly (42) further comprises a shaft sleeve (423) and a mounting portion (424) sleeved on the drive shaft (41); the shaft sleeve (423) is connected to the blade (421) via the mounting portion (424); the mounting portion (424) is arranged along the annular direction of the shaft sleeve (423); a clearance groove (4241) for accommodating the insertion of the limiting portion (51) is provided on the mounting portion (424); and limiting grooves (4242) for limiting floating adjustment of the blade (421) are provided on the side walls on both sides of the mounting portion (424).

3. A multifunctional micro-tillage machine according to claim 2, characterized in that: The handle of the blade (421) is provided with an insertion rod (4211) and a reset member (4212); the insertion rod (4211) is inserted through the handle of the blade (421); the insertion rod (4211) is slidably mounted in the limiting groove (4242); the reset member (4212) is arranged between the handle of the blade (421) and the mounting portion (424); the reset member (4212) drives the handle of the blade (421) to retract into the mounting portion (424).

4. The multifunctional micro-tillage machine according to claim 2, characterized in that: The limiting parts (51) are all mounted on a chassis (510), the chassis (510) is sleeved on the drive shaft (41), the chassis (510) rotates synchronously with the drive shaft (41), and the chassis (510) is slidably arranged along the axial direction of the drive shaft (41); The limiting portion (51) extends from the chassis (510) toward the rotary tiller blade assembly (42); the limiting portion (51) is connected to the chassis (510) via a connecting section (511); and the plug-in section (513) is arranged corresponding to the slot (422).

5. The multifunctional micro-tillage machine according to claim 4, characterized in that: When the curved section (512) cooperates with the slot (422), the extension and retraction amount of the corresponding blade (421) is controlled by the inclination of the curved section (512).

6. The multifunctional micro-tillage machine according to claim 4, characterized in that: The chassis (510) is driven by a driving assembly (52) to slide along the driving shaft (41); the driving assembly (52) comprises a motor (521), a driving wheel (522), a driven wheel (523) and a screw shaft (524); the motor (521) drives the driving wheel (522) to rotate; the driving wheel (522) is connected to the driven wheel (523) via a synchronous belt (525); and the driven wheel (523) is internally A screw nut (526) is coaxially embedded therein, the screw shaft (524) and the screw nut (526) are threadedly matched, the screw shaft (524) is connected to the chassis (510), the chassis (510) is rotatably arranged relative to the screw shaft (524), and the screw shaft (524) is axially provided with a hexagonal hollow through groove (5241), the through groove (5241 accommodating the drive shaft (41) to penetrate therein.

7. The multifunctional micro-tillage machine according to claim 6, characterized in that: A soil retaining plate (7) is also provided above the rotary tillage blade group (42), and a limiting column (71) correspondingly inserted and matched with the through groove (5241) is provided on the soil retaining plate (7).

8. The multifunctional micro-tillage machine according to claim 6, characterized in that: The armrest (2) and the engine (3) are both mounted on the machine body (1); an operator operates the machine body (1) via the armrest (2); the engine (3) drives the machine body (1) to move; a switch assembly (21) is provided on the armrest (2); the switch assembly (21) controls the forward and reverse rotation of the drive assembly (52) and switches the locked state and the floating state of the blade (421).

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