Active profiling adjustment supporting type paddy field accurate land leveler and land leveling method

Abstract

The invention discloses an active profiling adjustment supporting type paddy field precise land leveler and a land leveling method. The land leveler comprises a rack, an active profiling adjustment supporting mechanism, a land leveling mechanism, a land leveling shovel height and horizontal joint adjusting mechanism and a control system. The rack is connected with a tractor through a three-point suspension device; the active profiling adjusting and supporting mechanism is installed on the machine frame, and the land leveling mechanism is connected with the machine frame through the land leveling shovel height and horizontal joint adjusting mechanism. The active profiling adjusting and supporting mechanism comprises a hanging frame, a parallel four-bar linkage, a supporting foot stool, a telescopic driving mechanism and a force sensor, and the force sensor measures the loading force of the active profiling adjusting and supporting mechanism for supporting the land leveler on a hard bottom layer of a paddy field in real time; the control system controls the telescopic driving mechanism to stretch out and draw back according to load force changes, fluctuation of levelness and elevation of the land leveler due to terrains is reduced, and the dip angle and elevation change amplitude and frequency of a land leveling shovel of the land leveling mechanism are reduced. The paddy field leveling machine overcomes paddy field leveling operation in various complex hard bottom layer environments, guarantees the leveling effect and belongs to the technical field of paddy field leveling machines and tools.

Description

Technical Field

[0001] The invention relates to a paddy field leveling machine, in particular to an active profiling adjustment support type paddy field precision leveling machine, and also to an active profiling adjustment support type paddy field precision leveling method. Background Art

[0002] The main irrigation methods for rice production are flooding and submergence. Uneven farmland will lead to low water resource utilization. Improving the flatness of farmland can not only save water for rice production, improve irrigation efficiency and irrigation uniformity, but also improve land utilization, rice seed germination rate, weed control efficiency, crop maturity uniformity and crop yield, and reduce the amount of fertilizer and pesticide application. In summary, paddy field leveling is an indispensable part of rice production. Since dry land leveling machinery is easily restricted by soil quality, soil moisture content and rainfall season, paddy field leveling machinery is more conducive to competing for farming time in multi-season rice areas.

[0003] According to the difference in supporting power, paddy field levelers are divided into transplanter type and tractor type. At present, many countries have launched farmland transformation measures, and the area of ​​single farmland is increasing, which has prompted the leveling machinery with tractors as supporting power to become the mainstream. However, the horizontal adjustment of existing paddy field levelers is mainly based on mid-position rotation, which makes the deformation stress of the leveler concentrate on the rotation point, limiting the development of large-width paddy field levelers. At the same time, in the complex hard bottom environment with uneven potholes, the existing paddy field levelers are prone to the phenomenon of hysteresis in the perception and control of the height and horizontal information of the leveler when operating at high speed, which significantly affects the quality and efficiency of the leveling operation.

[0004] The existing technology has the problems of weak adaptability, low operating efficiency and poor quality. Therefore, the present invention provides an active contour adjustment support type paddy field precision leveler, optimizes the leveling blade height and level adjustment structure and leveling control strategy, improves operating efficiency and quality, and adapts to complex hard bottom operating environments. Summary of the invention

[0005] In view of the technical problems existing in the prior art, the purpose of the present invention is to provide an active profiling and adjustment support type paddy field precise leveling and leveling method, and optimize the leveling control strategy.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] An active profiling adjustment support type paddy field precision land leveler, comprising a frame, an active profiling adjustment support mechanism, a land leveling mechanism, a land leveling blade height and horizontal joint adjustment mechanism, and a control system; the frame is connected to the tractor through a three-point suspension device; the active profiling adjustment support mechanism is installed on the frame, and the land leveling mechanism is connected to the frame through the land leveling blade height and horizontal joint adjustment mechanism; the number of active profiling adjustment support mechanisms is more than two groups, which are arranged side by side in the transverse direction and are independently controlled by the control system; the active profiling adjustment support mechanism comprises a mounting frame, a parallel four-link, a support foot The invention relates to a motor grader comprising a frame, a telescopic driving mechanism, and a force sensor. The mounting frame is mounted in front of the frame. The supporting frame acting on the hard bottom layer is vertically lifted and lowered relative to the mounting frame through a parallel four-bar linkage. The telescopic driving mechanism is mounted between the mounting frame and the parallel four-bar linkage to drive the supporting frame to lift and lower. The force sensor measures in real time the load force of the active contour-adjusting supporting mechanism to support the motor grader on the hard bottom layer of the paddy field. The control system controls the extension and retraction of the telescopic driving mechanism according to the load force change, thereby reducing the fluctuation of the level and elevation of the motor grader due to the terrain, thereby reducing the amplitude and frequency of the change of the inclination angle and elevation of the leveling shovel of the leveling mechanism.

[0008] As a preferred embodiment, when the hard bottom layer becomes higher, the load force becomes larger, and the control system adjusts the support height of the active contour adjustment support mechanism by controlling the telescopic drive mechanism, thereby reducing the increase in the grader height due to the higher terrain; when the hard bottom layer becomes lower, the load force becomes smaller, and the control system adjusts the support height of the active contour adjustment support mechanism by controlling the telescopic drive mechanism, thereby reducing the decrease in the grader height due to the lower terrain.

[0009] As a preferred embodiment, the active contour adjustment support mechanism actively contours with the hard bottom layer, rationalizes the force on the whole machine, reduces the level and elevation changes of the grader, and the height and horizontal joint adjustment mechanism of the grader blade further accurately adjusts the elevation and level of the grader blade, so that the grader blade returns to the reference plane.

[0010] As a preferred embodiment, the height and horizontal adjustment mechanism of the leveling shovel includes a ball joint, a pull rod and an adjusting cylinder; there are three pull rods, one upper pull rod and two lower pull rods are arranged in an isosceles triangle, and the upper pull rod is located in the left and right center of the grader; the front end of the pull rod is connected to the leveling shovel through a ball joint, and the rear end of the pull rod is rotatably connected to the frame; there are two adjusting cylinders, and one adjusting cylinder is connected between a lower pull rod and the frame.

[0011] As a preferred embodiment, when the two adjusting cylinders have the same extension amount and extend and retract at the same speed, the upper pull rod and the lower pull rod remain parallel, and the shovel surface of the leveling shovel only rises and falls vertically to achieve elevation adjustment; when the two adjusting cylinders extend and retract differentially, the displacement difference at the driving end is adaptively compensated for the angle deviation through the ball joint freedom of the bull's eye pull rod, and the horizontal inclination angle of the shovel surface is synchronously changed to achieve inclination adjustment.

[0012] As a preferred embodiment, the height and horizontal joint adjustment mechanism of the leveling blade is applied to leveling blades of various widths. By setting the installation spacing between the two lower pull rods, the bulldozing resistance of the leveling blade is reasonably distributed, the deformation of the leveling blade is reduced, and the deformation stress of the leveling blade is reduced and concentrated on the rotation point.

[0013] As a preferred embodiment, the leveling mechanism includes a leveling shovel, a folding cylinder, and a folding support assembly. The leveling shovel includes a main shovel located in the middle and two auxiliary shovels located on both sides. The rear ends of the two auxiliary shovels are connected to one side of the leveling shovel through the folding support assembly. A folding cylinder drives an auxiliary shovel to rotate relative to the main shovel.

[0014] As a preferred embodiment, when the folding cylinder is actuated to fold the auxiliary shovel vertically with the main shovel, the width of the leveling shovel is 4 meters, which can improve the convenience of transportation of the whole machine; when the folding cylinder is actuated to unfold the auxiliary shovel and the main shovel in the same plane, the width is 7 meters, which can improve the earthwork handling efficiency of leveling operations. The folding support assembly can increase the thrust of the leveling auxiliary shovel on the earthwork in the working state and reduce the deformation of the auxiliary shovel due to obstruction.

[0015] As a preferred embodiment, the control system controls the leveling blade height and horizontal joint adjustment mechanism to achieve integrated and synchronous adjustment of the leveling blade height and horizontal inclination angle.

[0016] A method for accurately leveling paddy fields using an active profiling and adjusting support type paddy field accurate land leveler, comprising the following steps:

[0017] (1) The leveling shovel is unfolded by the control system, and the main shovel and the auxiliary shovel are in the same plane;

[0018] (2) Adjust the three-point suspension device of the tractor to the floating mode, read the information of each force sensor, adjust the active contour adjustment support mechanism to support the hard bottom layer and the overall level of the grader, and record the initial load force of each active contour adjustment support mechanism, which is recorded as F;

[0019] (3) When the tractor is moving, the grader automatically adjusts the level and elevation through the active profiling adjustment support mechanism; when the real-time load force F i When the initial load force is less than the initial load force, it means that the hard bottom layer under the active profiling adjustment support mechanism becomes lower, and the control system controls the active profiling adjustment support mechanism to extend, thereby increasing the real-time load force. i = F, the active profiling adjustment support mechanism extension is stopped;

[0020] When the real-time load force F of any active profiling support mechanism i > initial load force, which means that the hard bottom layer under the active profiling adjustment support mechanism becomes higher, and the control system controls the active profiling adjustment support mechanism to shorten, thereby reducing the real-time load force. i= F stops active profiling adjustment and the support mechanism shortens;

[0021] (4) adjusting the leveling blade to be in a horizontal state, and setting the height position of the leveling blade in (2) as the leveling reference height;

[0022] (5) obtaining the real-time height of the leveling shovel at the two sets of lower tie rod ball joint position points according to the sensing device, and calculating the difference between the real-time height and the reference height set in the above step (4);

[0023] (6) Based on the height difference information between the left and right ends of the leveling shovel, the control system independently controls the two groups of adjusting cylinders so that the height of the leveling shovel at the ball joint position points of the two groups of lower pull rods moves to the reference height, thereby ensuring the integrated and synchronous control of the leveling shovel height and the horizontal inclination angle.

[0024] The principle of the present invention is:

[0025] The active contour adjustment support mechanism is installed on the front beam of the frame, and there are more than two of them. By monitoring the load of each active contour adjustment support mechanism, the control system adaptively adjusts the extension and retraction of each active contour adjustment support mechanism, so that each active contour adjustment support mechanism can travel along the hard bottom contour, reducing the fluctuation of the level and elevation of the whole grader due to the terrain, thereby reducing the amplitude and frequency of the change of the leveling blade inclination angle and elevation of the leveling mechanism. The leveling mechanism is connected to the frame through the leveling blade height and horizontal joint adjustment mechanism. The control system controls the leveling blade height and horizontal joint adjustment mechanism to achieve integrated synchronous adjustment of the leveling blade height and horizontal inclination angle, and further adjusts the level and elevation of the leveling blade to achieve precise leveling operations.

[0026] The present invention has the following advantages:

[0027] (1) The present invention can overcome paddy field leveling operations in various complex hard bottom environments, ensure the leveling effect, and optimize the leveling control strategy.

[0028] (2) The active contour adjustment support mechanism can be adjusted individually along the frame. When the active contour adjustment support mechanism is set corresponding to the rear wheel of the tractor, it is also ensured that it travels along the hard bottom layer compacted by the rear wheel of the tractor.

[0029] (3) Through the force sensor, the load force of each active contour adjustment support mechanism can be monitored, and the control system adaptively adjusts the extension and retraction of each telescopic drive mechanism according to the load force change, so that the grader can contour along the hard bottom layer while maintaining the level and elevation.

[0030] (4) The control system independently regulates two groups of adjustment cylinders, which can jointly control the height and horizontal inclination of the leveling blade, optimize the height and horizontal adjustment structure of the leveling blade, reduce the deformation of the leveling blade and the stress concentration caused by the deformation, and overcome the disadvantage that the deformation stress of the traditional leveling blade is concentrated at the rotation point and is not suitable for large-width levelers.

[0031] (5) The folding support assembly can improve the convenience of transporting the entire machine; during operation, it can improve the efficiency of earthwork handling and reduce the deformation of the auxiliary shovel. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a three-dimensional view of the motor grader of the present invention.

[0033] Figure 2 It is a side view of the motor grader of the present invention.

[0034] Figure 3 This is the assembly drawing of the ball joint and the lower tie rod.

[0035] Figure 4 This is the assembly drawing of the ball joint and the upper tie rod.

[0036] Figure 5 It is a stereoscopic diagram of the active contour adjustment support mechanism.

[0037] Figure 6 It is a schematic diagram of the elevation adjustment principle of the active contour adjustment support mechanism.

[0038] Figure 7 It is the operating principle diagram of the height and horizontal joint adjustment mechanism of the leveling blade.

[0039] Among them, 1 is a frame, 2 is a leveling mechanism, 3 is a sensing device, 4 is a hydraulic control system, 5 is a fuel tank, 6 is a gear pump, 7 is a pull rod, 8 is an active contour adjustment support mechanism, 9 is a leveling shovel, 10 is a mud-smoothing drag plate, 11 is a force sensor, 12 is a mounting frame, 13 is a parallelogram linkage, 14 is a supporting tripod, 15 is a telescopic driving mechanism, 16 is a ball joint, 17 is an adjusting cylinder, 18 is an adjusting cylinder connector, 19 is an elastic limiting mechanism, 20 is a sensing device mounting rod, 21 is a folding cylinder, and 22 is a folding support assembly. DETAILED DESCRIPTION

[0040] The present invention will be further described in detail below in conjunction with specific implementation methods.

[0041] Figure 1 and Figure 2As shown, an active profiling adjustment support type paddy field precision leveler includes a frame 1, an active profiling adjustment support mechanism 8, a leveling mechanism 2, a leveling blade height and horizontal joint adjustment mechanism, and a control system; the frame 1 is connected to the tractor through a three-point suspension device, the tractor is connected to the gear pump 6 through a transmission shaft and provides power, the gear pump 6 uses the hydraulic oil in the oil tank 5 as a medium to realize the conversion of mechanical energy into hydraulic energy and provide the hydraulic energy to the hydraulic control system 4; the active profiling adjustment support mechanism 8 is installed on the frame 1, and the mud-smoothing trolley 10 is limited by the elastic limiting mechanism 19, and the spring in the elastic limiting mechanism 19 can make the mud-smoothing trolley 10 have a certain degree of freedom, so that the mud-smoothing trolley 10 can further dynamically smooth the paddy field surface after the leveling blade 9 is scraped; the leveling mechanism 2 is connected to the frame 1 through the leveling blade height and horizontal joint adjustment mechanism; the number of active profiling adjustment support mechanisms 8 is more than two groups, which are arranged side by side in the transverse direction and are individually controlled by the control system; Figure 5 As shown, the active contour adjustment support mechanism 8 includes a mounting frame 12, a parallelogram 13, a support leg 14, a telescopic drive mechanism 15, and a force sensor 11. The mounting frame 12 is installed in front of the frame 1. The support leg 14 acting on the hard bottom layer is vertically lifted and lowered relative to the mounting frame 12 through the parallelogram 13. The telescopic drive mechanism 15 is installed between the mounting frame 12 and the parallelogram 13 to drive the support leg 14 to lift and lower. The force sensor 11 measures in real time the load force of the active contour adjustment support mechanism 8 supporting the grader on the hard bottom layer of the paddy field; the sensor device mounting rod 20 is installed on both sides of the grader 9, and the sensor device 3 is installed above the sensor device mounting rod 20. The sensor devices 3 on the left and right sides can measure the height and inclination of the grader 9 in real time; the main shovel and the auxiliary shovel are connected by a folding support assembly 22; the control system controls the telescopic drive mechanism 15 to extend and retract according to the load force change, so as to reduce the fluctuation of the level and elevation of the grader due to the terrain, thereby reducing the amplitude and frequency of the inclination and elevation changes of the grader 9 of the grader mechanism 2. In this embodiment, there are two active contour adjustment support mechanisms 8, which are arranged at lateral positions corresponding to the two rear wheels of the tractor, so that they can directly act on the hard bottom layer compacted by the rear wheels of the tractor.

[0042] When the hard bottom layer becomes higher, the load force becomes larger, and the control system adjusts the support height of the active contour adjustment support mechanism by controlling the telescopic drive mechanism, thereby reducing the increase in the height of the grader due to the higher terrain; when the hard bottom layer becomes lower, the load force becomes smaller, and the control system adjusts the support height of the active contour adjustment support mechanism by controlling the telescopic drive mechanism, thereby reducing the decrease in the height of the grader due to the lower terrain. Figure 6 As shown, the active contour-adjusting support mechanism moves from a flat road section to a sunken area, and then moves from the sunken area to a raised area to perform contour movement, while maintaining the height of the entire machine.

[0043] The active contour adjustment support mechanism actively contours with the hard bottom layer, rationalizes the force on the whole machine, reduces the level and elevation changes of the grader, and the height and horizontal joint adjustment mechanism of the grader blade further accurately adjusts the elevation and level of the grader blade, allowing the grader blade to return to the reference plane.

[0044] The height and horizontal adjustment mechanism of the leveling blade includes a ball joint, a tie rod and an adjustment cylinder; there are three tie rods, one upper tie rod ( Figure 4 shown) and two lower tie rods ( Figure 3 The upper pull rod is located in the center of the grader; the front end of the pull rod is connected to the grader blade through a ball joint, and the rear end of the pull rod is rotatably connected to the frame; there are two adjusting cylinders, and one adjusting cylinder is connected between a lower pull rod and the frame.

[0045] When the two adjustment cylinders extend to the same length and at the same speed, the upper and lower rods remain parallel, and the shovel face of the leveling shovel only rises and falls vertically to achieve elevation adjustment; when the two adjustment cylinders extend and retract at differential speeds, the displacement difference at the drive end is adaptively compensated for the angle deviation through the ball joint freedom of the bull's eye tie rod, and the horizontal inclination of the shovel face is changed synchronously to achieve inclination adjustment. Figure 7 As shown, in state 1, the lower surface of the leveling shovel is below the reference plane. At this time, the height and horizontal joint adjustment mechanism of the leveling shovel needs to be adjusted. The adjusting cylinder of the height and horizontal joint adjustment mechanism at the left end retracts the leveling shovel to point A, and the adjusting cylinder of the height and horizontal joint adjustment mechanism at the right end retracts the leveling shovel to point B, as shown in state 2, completing the height and horizontal joint adjustment.

[0046] The height and horizontal joint adjustment mechanism of the leveling blade is applied to leveling blades of various widths. By setting the installation distance between the two lower pull rods, the bulldozing resistance of the leveling blade is reasonably distributed, the deformation of the leveling blade is reduced, and the deformation stress of the leveling blade is reduced and concentrated on the rotation point.

[0047] The leveling mechanism includes a leveling shovel, a folding cylinder, and a folding support assembly. The leveling shovel includes a main shovel located in the middle and two auxiliary shovels located on both sides. The rear ends of the two auxiliary shovels are connected to one side of the leveling shovel through the folding support assembly. A folding cylinder drives an auxiliary shovel to rotate relative to the main shovel.

[0048] When the folding cylinder is activated to fold the auxiliary shovel vertically with the main shovel, the width of the leveling shovel is 4 meters, which can improve the convenience of the whole machine transportation; when the folding cylinder is activated to unfold the auxiliary shovel and the main shovel in the same plane, the width is 7 meters, which can improve the earthwork handling efficiency of leveling operations. The folding support assembly can increase the thrust of the leveling auxiliary shovel on the earthwork during operation and reduce the deformation of the auxiliary shovel due to obstruction.

[0049] The control system controls the leveling blade height and horizontal joint adjustment mechanism to achieve integrated and synchronous adjustment of the leveling blade height and horizontal inclination angle.

[0050] A method for accurately leveling paddy fields using an active profiling and adjusting support type paddy field accurate land leveler, comprising the following steps:

[0051] (1) The leveling shovel is unfolded by the control system, and the main shovel and the auxiliary shovel are in the same plane;

[0052] (2) Adjust the three-point suspension device of the tractor to the floating mode, read the information of each force sensor, adjust the active contour adjustment support mechanism to support the hard bottom layer and the overall level of the grader, and record the initial load force of each active contour adjustment support mechanism, which is recorded as F;

[0053] (3) When the tractor is moving, the grader automatically adjusts the level and elevation through the active profiling adjustment support mechanism; when the real-time load force F i When the initial load force is less than the initial load force, it means that the hard bottom layer under the active profiling adjustment support mechanism becomes lower, and the control system controls the active profiling adjustment support mechanism to extend, thereby increasing the real-time load force. i = F, the active profiling adjustment support mechanism extension is stopped;

[0054] When the real-time load force F of any active profiling support mechanism i > initial load force, which means that the hard bottom layer under the active profiling adjustment support mechanism becomes higher, and the control system controls the active profiling adjustment support mechanism to shorten, thereby reducing the real-time load force. i = F stops active profiling adjustment and the support mechanism shortens;

[0055] (4) adjusting the leveling blade to be in a horizontal state, and setting the height position of the leveling blade in (2) as the leveling reference height;

[0056] (5) obtaining the real-time height of the leveling shovel at the two sets of lower tie rod ball joint position points according to the sensing device, and calculating the difference between the real-time height and the reference height set in the above step (4);

[0057] (6) Based on the height difference information between the left and right ends of the leveling shovel, the control system independently controls the two groups of adjusting cylinders so that the height of the leveling shovel at the ball joint position points of the two groups of lower pull rods moves to the reference height, thereby ensuring the integrated and synchronous control of the leveling shovel height and the horizontal inclination angle.

[0058] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. An active contour adjustment support type paddy field precision leveler, characterized in that: It includes a frame, an active profiling adjustment support mechanism, a leveling mechanism, a leveling blade height and horizontal joint adjustment mechanism, and a control system; the frame is connected to the tractor through a three-point suspension device; the active profiling adjustment support mechanism is installed on the frame, and the leveling mechanism is connected to the frame through the leveling blade height and horizontal joint adjustment mechanism; the number of active profiling adjustment support mechanisms is more than two groups, which are arranged side by side in the transverse direction and are individually controlled by the control system; The active contour adjustment support mechanism includes a mounting frame, a parallelogram linkage, a support foot frame, a telescopic driving mechanism, and a force sensor. The mounting frame is installed in front of the frame. The support foot frame acting on the hard bottom layer is vertically lifted and lowered relative to the mounting frame through the parallelogram linkage. The telescopic driving mechanism is installed between the mounting frame and the parallelogram linkage to drive the support foot frame to lift and lower. The force sensor measures in real time the load force of the active contour adjustment support mechanism to support the grader on the hard bottom layer of the paddy field. The control system controls the extension and retraction of the telescopic drive mechanism according to the change in load force, thereby reducing the fluctuation of the level and elevation of the grader due to the terrain, thereby reducing the amplitude and frequency of the change of the inclination angle and elevation of the grader blade of the grader mechanism.

2. The active contour adjustment support type paddy field precision leveler according to claim 1, characterized in that: When the hard bottom layer becomes higher, the load force becomes larger, and the control system adjusts the support height of the active contour adjustment support mechanism by controlling the telescopic drive mechanism, thereby reducing the increase in the height of the grader due to the higher terrain; when the hard bottom layer becomes lower, the load force becomes smaller, and the control system adjusts the support height of the active contour adjustment support mechanism by controlling the telescopic drive mechanism, thereby reducing the decrease in the height of the grader due to the lower terrain.

3. The active contour adjustment support type paddy field precision leveler according to claim 1, characterized in that: The active contour adjustment support mechanism actively contours with the hard bottom layer, rationalizes the force on the whole machine, reduces the level and elevation changes of the grader, and the height and horizontal joint adjustment mechanism of the grader blade further accurately adjusts the elevation and level of the grader blade, allowing the grader blade to return to the reference plane.

4. The active contour adjustment support type paddy field precision leveler according to claim 1, characterized in that: The height and horizontal adjustment mechanism of the leveling shovel includes a ball joint, a tie rod and an adjusting cylinder; there are three tie rods, one upper tie rod and two lower tie rods are arranged in an isosceles triangle, and the upper tie rod is located in the left and right center of the grader; the front end of the tie rod is connected to the leveling shovel through a ball joint, and the rear end of the tie rod is rotatably connected to the frame; there are two adjusting cylinders, and one adjusting cylinder is connected between a lower tie rod and the frame.

5. The active contour adjustment support type paddy field precision leveler according to claim 4, characterized in that: When the two adjusting cylinders extend and retract at the same speed, the upper pull rod remains parallel to the lower pull rod, and the shovel surface of the leveling shovel only rises and falls vertically to achieve elevation adjustment; when the two adjusting cylinders extend and retract differentially, the displacement difference at the drive end is adaptively compensated for the angle deviation through the ball joint freedom of the bull's eye pull rod, and the horizontal inclination angle of the shovel surface is synchronously changed to achieve inclination adjustment.

6. The active contour adjustment support type paddy field precision leveler according to claim 4, characterized in that: The height and horizontal joint adjustment mechanism of the leveling blade is applied to leveling blades of various widths. By setting the installation distance between the two lower pull rods, the bulldozing resistance of the leveling blade is reasonably distributed, the deformation of the leveling blade is reduced, and the deformation stress of the leveling blade is reduced and concentrated on the rotation point.

7. The active contour adjustment support type paddy field precision leveler according to claim 1, characterized in that: The leveling mechanism includes a leveling shovel, a folding cylinder, and a folding support assembly. The leveling shovel includes a main shovel located in the middle and two auxiliary shovels located on both sides. The rear ends of the two auxiliary shovels are connected to one side of the leveling shovel through the folding support assembly. A folding cylinder drives an auxiliary shovel to rotate relative to the main shovel.

8. The active contour adjustment support type paddy field precision leveler according to claim 7, characterized in that: When the folding cylinder is actuated to fold the auxiliary shovel and the main shovel vertically, the width of the leveling shovel is 4 meters, which can improve the convenience of transportation of the whole machine; when the folding cylinder is actuated to unfold the auxiliary shovel and the main shovel in the same plane, the width is 7 meters, which can improve the earthwork handling efficiency of leveling operations.

9. The active contour adjustment support type paddy field precision leveler according to claim 1, characterized in that: The control system controls the leveling blade height and horizontal joint adjustment mechanism to achieve integrated and synchronous adjustment of the leveling blade height and horizontal inclination angle.

10. An active profiling and adjusting support type paddy field precision leveling method, using an active profiling and adjusting support type paddy field precision leveling machine according to any one of claims 1 to 9, characterized in that: The steps include: (1) The leveling shovel is unfolded by the control system, and the main shovel and the auxiliary shovel are in the same plane; (2) Adjust the three-point suspension device of the tractor to the floating mode, read the information of each force sensor, adjust the active contour adjustment support mechanism to support the hard bottom layer and the overall level of the grader, and record the initial load force of each active contour adjustment support mechanism, which is recorded as F; (3) When the tractor is moving, the grader automatically adjusts the level and elevation through the active profiling adjustment support mechanism; when the real-time load force F i When the initial load force is less than the initial load force, it means that the hard bottom layer under the active profiling adjustment support mechanism becomes lower, and the control system controls the active profiling adjustment support mechanism to extend, thereby increasing the real-time load force. i = F, the active profiling adjustment support mechanism extension is stopped; When the real-time load force F of any active profiling support mechanism i > initial load force, which means that the hard bottom layer under the active profiling adjustment support mechanism becomes higher, and the control system controls the active profiling adjustment support mechanism to shorten, thereby reducing the real-time load force. i = F stops active profiling adjustment and the support mechanism shortens; (4) adjusting the leveling blade to be in a horizontal state, and setting the height position of the leveling blade in (2) as the leveling reference height; (5) obtaining the real-time height of the leveling shovel at the two sets of lower tie rod ball joint position points according to the sensing device, and calculating the difference between the real-time height and the reference height set in the above step (4); (6) Based on the height difference information between the left and right ends of the leveling shovel, the control system independently controls the two groups of adjusting cylinders so that the height of the leveling shovel at the ball joint position points of the two groups of lower pull rods moves to the reference height, thereby ensuring the integrated and synchronous control of the leveling shovel height and the horizontal inclination angle.

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