An intelligent soil preparation device for vegetable cultivation

Abstract

The application relates to the technical field of agricultural equipment, and discloses an intelligent land preparation device for vegetable cultivation, which comprises an unmanned tractor, a rotary tillage mechanism is installed at the tail of the unmanned tractor, side plates are fixedly connected to the two sides of the unmanned tractor, a first mounting plate is fixedly installed on one side of the side plate, a first hydraulic cylinder is fixedly installed at the top end of the first mounting plate, a lifting box is fixedly installed at the output end of the first hydraulic cylinder, a supporting sliding plate is fixedly installed at the bottom end of the lifting box, and a traction rod is slidingly installed in the lifting box; through the cooperative design of the lifting type supporting sliding plate and the plug rod traction mechanism, the wheels can be lifted off the ground when the soil humidity is too high, the plug rod is inserted into the soil to realize traction movement, the mechanism effectively avoids the problem of increased resistance caused by the adhesion of the wheels to the soil, the land preparation operation can be normally carried out in the high-humidity soil environment, the operation delay caused by the overcast and rainy weather is obviously reduced, and the seeding opportunity is ensured not to be affected.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural equipment, in particular to an intelligent land preparation device for vegetable cultivation. BACKGROUND

[0002] Vegetable cultivation is an important part of agricultural production, and land preparation is one of the key links in vegetable cultivation. Traditional land preparation methods mainly rely on human and animal power, which has the problems of high labor intensity, low efficiency, and unstable land preparation quality. With the development of agricultural mechanization, various types of land preparation machinery have appeared, such as rotary cultivators, subsoilers, and ridger, which have improved the efficiency and quality of land preparation to some extent.

[0003] Chinese patent CN113796177B discloses an intelligent fine land preparation device based on the Internet of Things, which includes an unmanned towing trolley, a land preparation device at the rear side of the unmanned towing trolley, the land preparation device includes a square tube, a horizontal shaft inside the square tube, rollers at the ends of the horizontal shaft, a wave-shaped sliding groove on the outer periphery of the horizontal shaft, a first sliding block inside the wave-shaped sliding groove, a land preparation iron block on the outer periphery of the square tube, a land preparation plow at the front side of the land preparation iron block, and a rotating guide device on the square tube. The rear side of the unmanned towing trolley has a connection control device, and the lower part of the rear side of the unmanned towing trolley has a humidity detection device. The invention uses the wave-shaped sliding groove and the first sliding groove to slide and cooperate with each other to pull the corresponding land preparation iron block to deflect left and right during forward movement, so that the front sides of the adjacent two land preparation iron blocks alternately approach and separate during forward movement, thereby improving the turning and crushing efficiency of the land preparation device for soil, and using an unmanned towing trolley as the power of the entire device can effectively improve the degree of mechanization.

[0004] As shown in the above patent, the existing land preparation device usually relies on a towing vehicle for driving, which moves on the ground by means of rollers to realize movement. However, in rainy areas, due to the influence of rain, the soil humidity is high, which causes the wheels of the towing vehicle to easily stick to the soil during driving, thereby increasing the driving resistance and making it difficult to smoothly carry out land preparation work. Therefore, land preparation work usually needs to be carried out under the condition of low soil humidity. In continuous rainy weather, the soil humidity is too high to carry out land preparation work, thereby delaying the sowing time and causing adverse effects on agricultural production. In addition, high-humidity soil is easy to stick to the rotary cultivator blade, which reduces the rotary cultivator efficiency and further affects the land preparation effect.

[0005] Therefore, it is necessary to provide an intelligent land preparation device for vegetable cultivation to solve the above technical problems. SUMMARY

[0006] The intelligent land preparation device for vegetable cultivation provided by the application effectively avoids the problem of increased resistance caused by wheel adhesion to soil, enables land preparation work to be normally carried out in a high-humidity soil environment, significantly reduces work delays caused by overcast and rainy weather, and ensures that the seeding opportunity is not affected.

[0007] The above technical purpose of the application is achieved by the following technical scheme: an intelligent land preparation device for vegetable cultivation, comprising an unmanned towing vehicle, a rotary tillage mechanism is installed at the tail of the unmanned towing vehicle, side plates are fixedly connected to both sides of the unmanned towing vehicle, a first mounting plate is fixedly installed on one side of the side plate, a first hydraulic cylinder is fixedly installed at the top end of the first mounting plate, a lifting box is fixedly installed at the output end of the first hydraulic cylinder, a supporting sliding plate is fixedly installed at the bottom end of the lifting box, a towing rod is slidingly installed in the lifting box, an installation box is fixedly installed at one end of the towing rod, a plug rod is slidingly installed in the installation box, a driving assembly for driving the plug rod to lift is arranged on the installation box, an axle is arranged at the tail of the unmanned towing vehicle, wheels are fixedly installed at both ends of the axle, a transmission assembly for driving the towing rod to move is arranged on the lifting box, and the axle is in transmission connection with the towing rod through the transmission assembly when the supporting sliding plate contacts the ground and lifts the unmanned towing vehicle upward.

[0008] Further, the driving assembly comprises a second hydraulic cylinder and a lifting plate, the second hydraulic cylinder is fixedly installed at the top end of the installation box, and the lifting plate is slidingly installed in the installation box.

[0009] Further, the transmission assembly comprises a sliding seat, a transmission screw, and a fourth bevel gear, the sliding seat is slidingly installed in the lifting box, one end of the towing rod is fixedly connected with the sliding seat, the transmission screw is rotatably installed in the lifting box, the transmission screw penetrates through the sliding seat and is in threaded connection with the sliding seat, and the fourth bevel gear is fixedly sleeved with one end of the transmission screw which protrudes out of the lifting box.

[0010] Further, the transmission assembly further comprises a connecting shaft, a first bevel gear, a second bevel gear, and a third bevel gear, the end of the axle penetrates through the side plate, the first bevel gear is fixedly installed at the end of the axle, the first mounting seat is fixedly installed at one side of the top end of the lifting box, the connecting shaft penetrates through the first mounting seat and is in rotational connection with the first mounting seat, the third bevel gear is fixedly installed at the bottom end of the connecting shaft, the third bevel gear is in engagement with the fourth bevel gear, the second bevel gear is fixedly installed at the top end of the connecting shaft, the second bevel gear is matched with the first bevel gear, and the second bevel gear is in engagement with the first bevel gear when the supporting sliding plate contacts the ground and lifts the unmanned towing vehicle upward.

[0011] Further, the unmanned towing vehicle is provided with a second mounting seat on both sides of the tail, a connecting frame is mounted on one side of the second mounting seat, a second mounting plate is fixedly mounted on the end of the connecting frame away from the second mounting seat, and the rotary tillage mechanism is arranged between the two second mounting plates.

[0012] Further, the rotary tillage mechanism comprises a driving roller and a driving motor, the driving roller is rotatably mounted between the two second mounting plates, the driving motor is fixedly mounted on one of the second mounting plates, the output end of the driving motor is fixedly connected with the end of the driving roller, and the surface of the driving roller is provided with a plurality of rotary tillage blades.

[0013] Further, one end of the rotary tillage blade is fixedly mounted with an adjusting shaft, the adjusting shaft is rotatably connected with the driving roller, one end of the adjusting shaft extends into the interior of the driving roller, the adjusting shaft is rotatably connected with the driving roller, a spur gear is fixedly sleeved on the end of the adjusting shaft extending into the interior of the driving roller, a plurality of racks are slidably mounted in the interior of the driving roller, the racks are engaged with the plurality of spur gears located on the same straight line, one end of the rack is elastically connected with the inner side wall of the driving roller through a spring, the other end of the rack extends out of the side wall of the driving roller and is embeddedly mounted with a ball, one of the second mounting plates is fixedly mounted with a positioning disc, and a positioning arc plate is fixedly mounted on the bottom of one side wall of the positioning disc.

[0014] Further, the upper portion of the driving roller is provided with a mounting frame, the two ends of the mounting frame are fixedly connected with the two second mounting plates, a plurality of scrapers are fixedly mounted on the bottom end of the mounting frame, gaps are arranged between the scrapers, and the rotary tillage blades pass through the gaps between the scrapers when the driving roller rotates.

[0015] Further, one side of the side plate is fixedly mounted with a limiting seat, the top end of the lifting box is fixedly mounted with a limiting rod, the limiting rod penetrates through the limiting seat and is slidably matched with the limiting seat.

[0016] Further, the telescopic rod is mounted on the front end of the unmanned towing vehicle, and the humidity detection element is mounted on the telescopic end of the telescopic rod.

[0017] In summary, the present application has the following advantages:

[0018] 1. The invention can lift the wheels off the ground when the soil humidity is too high, and use the inserted rod to realize traction movement, which effectively avoids the problem of increased resistance caused by the adhesion of wheels to the soil, enables the soil preparation operation to be carried out normally in a high humidity soil environment, significantly reduces the delay of operation caused by rainy weather, and ensures that the seeding opportunity is not affected; the support slide can disperse the weight of the equipment when it is in contact with the ground, reduce the pressure on the soil, and avoid sinking; the inserted rod moves the equipment by periodic insertion-shrink action, and combines with the hydraulic drive to accurately control the depth and frequency of the inserted rod, forming a bionic walking mode, which can reduce the moving resistance in muddy soil compared with the traditional wheel rolling, and can reduce energy consumption while improving traction efficiency;

[0019] 2. The invention uses the angle adjustment mechanism of the rotary blade, the straight gear and the rack to automatically tilt the blade to the optimal working angle when it is inserted into the soil, and restore it to the parallel state when it is separated from the soil, which reduces the resistance of the blade cutting into the soil, and at the same time, the single working coverage area is improved, which significantly improves the soil preparation efficiency per unit time; the structure of the blade periodically passing through the gap between the scrapers during rotation automatically scrapes the wet soil adhered to the surface when the blade is separated from the soil, and combines the accurate matching of the blade return state and the gap between the scrapers to avoid the increase of the blade weight and power loss caused by the adhesion of soil in traditional rotary cultivators. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a three-dimensional structure schematic diagram of the invention when the wheels are in contact with the ground;

[0021] Figure 2 It is a three-dimensional structure schematic diagram of the invention when the support slide is in contact with the ground;

[0022] Figure 3 It is a structure schematic diagram of the side plate, lifting box and mounting box of the invention;

[0023] Figure 4 It is a sectional view structure schematic diagram of the lifting box and mounting box of the invention;

[0024] Figure 5 It is a structure schematic diagram of the transmission assembly of the invention;

[0025] Figure 6 It is a structure schematic diagram of the driving assembly and inserted rod of the invention;

[0026] Figure 7 It is a structure schematic diagram of the driving roller and rotary blade of the invention;

[0027] Figure 8 It is a structure schematic diagram of the rack, straight gear and rotary blade of the invention;

[0028] Figure 9 Structure diagram of the positioning disc, the positioning arc plate, the rack and the spur gear of the application.

[0029] In the figure: 1 unmanned towing vehicle; 2 side plate; 3 connecting plate; 4 lifting box; 5 supporting slide plate; 6 slide base; 7 towing rod; 8 transmission screw; 9 first mounting plate; 10 first hydraulic cylinder; 11 wheel; 12 axle; 13 first bevel gear; 14 first mounting seat; 15 connecting shaft; 16 second bevel gear; 17 third bevel gear; 18 fourth bevel gear; 19 mounting box; 20 second hydraulic cylinder; 21 lifting plate; 22 inserting rod; 23 limiting seat; 24 limiting rod; 25 second mounting seat; 26 connecting frame; 27 second mounting plate; 28 driving roller; 29 rotary tillage blade; 30 adjusting shaft; 31 spur gear; 32 rack; 33 ball; 34 positioning disc; 35 positioning arc plate; 36 spring; 37 mounting frame; 38 scraper; 39 camera; 40 telescopic rod; 41 humidity detection element; 42 wireless signal transceiving element; 43 driving motor. DETAILED DESCRIPTION

[0030] The application will be further described below with reference to the accompanying drawings of the embodiments of the application.

[0031] Please refer to Figures 1-6The embodiment of the present application is a kind of intelligent land preparation equipment for vegetable cultivation, including unmanned tractor 1, the tail of the unmanned tractor 1 is installed with rotary tillage mechanism, both sides of the unmanned tractor 1 are fixedly connected with side plate 2, side plate 2 is fixedly connected with both sides of the unmanned tractor 1 through connecting plate 3, one side of the side plate 2 is fixedly installed with first mounting plate 9, the top end of the first mounting plate 9 is fixedly installed with first hydraulic cylinder 10, the output end of the first hydraulic cylinder 10 is fixedly installed with lifting box 4, the bottom end of the lifting box 4 is fixedly installed with supporting slide plate 5, the inside of the lifting box 4 is slidably installed with traction rod 7, one end of the traction rod 7 is fixedly installed with mounting box 19, the mounting box 19 is slidably installed with inserting rod 22, the mounting box 19 is provided with driving assembly for driving inserting rod 22 to lift, the tail of the unmanned tractor 1 is provided with axle 12, both ends of the axle 12 are fixedly installed with wheels 11, axle 12 is connected with power component of the unmanned tractor 1, so that axle 12 can drive wheels 11 to rotate, the lifting box 4 is provided with transmission assembly for driving traction rod 7 to move, when supporting slide plate 5 contacts with ground to lift the unmanned tractor 1 upward, axle 12 is drivingly connected with traction rod 7 through transmission assembly;When in use, the unmanned tractor 1 drives wheels 11 to rotate through axle 12 to realize driving, so as to drive rotary tillage mechanism to move on soil to realize land preparation, when soil humidity is higher, lifting box 4 is driven to move downward by first hydraulic cylinder 10, so as to drive supporting slide plate 5 to move downward, when supporting slide plate 5 contacts with soil, the output end of the first hydraulic cylinder 10 continues to extend, the unmanned tractor 1 is lifted upward, wheels 11 are separated from ground soil, and when supporting slide plate 5 contacts with ground to lift the unmanned tractor 1 upward, axle 12 is drivingly connected with traction rod 7 through transmission assembly, so that axle 12 can drive traction rod 7 to move when rotating, traction rod 7 drives mounting box 19 to reciprocatingly move, when mounting box 19 moves to the farthest distance from lifting box 4, driving assembly drives inserting rod 22 to insert into soil, then traction rod 7 is retracted into lifting box 4, so that lifting box 4 moves toward the direction close to mounting box 19, thereby pulling the unmanned tractor 1 to move forward, when mounting box 19 is closest to lifting box 4, driving assembly drives inserting rod 22 to retract into mounting box 19, so as to complete once movement of the unmanned tractor 1, so as to realize movement of the unmanned tractor 1;

[0032] The application can lift the wheels 11 off the ground when the soil humidity is too high, and then realize traction movement by inserting the inserting rod 22 into the soil, which effectively avoids the problem of increased resistance caused by the adhesion of the wheels 11 to the mud, enables the soil preparation operation to be normally carried out in a high humidity soil environment, significantly reduces the operation delay caused by rainy weather, and ensures that the seeding opportunity is not affected; the support slide plate 5 can disperse the weight of the equipment when it is in contact with the ground, reduce the pressure on the soil, and avoid sinking; the inserting rod 22 moves the equipment by periodic insertion-shrinkage action, and the depth and frequency of the inserting rod 22 are precisely controlled in combination with hydraulic drive to form a bionic walking mode, which can reduce the moving resistance by more than 30% in muddy soil compared with the traditional wheel 11 rolling, and can reduce energy consumption while improving traction efficiency; the support slide plate 5 triggers the transmission assembly synchronously during the lifting process, realizes automatic transmission of the power of the axle 12 to the traction rod 7, simplifies the operation process, reduces the use of the driving structure, and the equipment can intelligently switch the moving mode according to the soil humidity without manual intervention, which significantly improves the automation level; when the rotary tillage mechanism and the traction movement work cooperatively, the periodic traction action of the inserting rod 22 can loosen the deep soil synchronously, cooperate with the surface crushing of the rotary tillage blade 29, form an upper and lower linkage soil improvement effect, make the tillage layer more uniform and fine, create better seedbed conditions for vegetable cultivation, extend the operation time window (rainy day operation ability is improved by more than 60%) and reduce the traction energy consumption (about 25% energy saving compared with traditional equipment), and the annual operation area of a single equipment can be increased by 40%-50%, while reducing fuel or power consumption, which meets the green and low-carbon development demand of modern agriculture.

[0033] In the embodiment, preferably, the driving assembly comprises a second hydraulic cylinder 20 and a lifting plate 21, the second hydraulic cylinder 20 is fixedly installed at the top end of the mounting box 19, the lifting plate 21 is slidingly installed in the interior of the mounting box 19, the inserting rod 22 is provided in plurality, and the top ends of the plurality of inserting rods 22 are fixedly connected with the lifting plate 21, the bottom wall of the mounting box 19 is provided with a through groove for the inserting rod 22 to extend out, and the inner wall of the through groove is matched with the outer wall of the inserting rod 22, so that the mud attached to the inserting rod 22 can be scraped off by the inner wall of the through groove; the second hydraulic cylinder 20 can drive the lifting plate 21 to move up and down, thereby driving the inserting rod 22 to move up and down, so that the inserting rod 22 can be inserted into the soil.

[0034] In the embodiment, preferably, the transmission assembly comprises the sliding seat 6, the transmission screw 8 and the fourth bevel gear 18, the sliding seat 6 is slidingly installed in the inside of the lifting box 4, one end of the traction rod 7 is fixedly connected with the sliding seat 6, the transmission screw 8 is rotatably installed in the inside of the lifting box 4, the transmission screw 8 penetrates through the sliding seat 6 and is threadedly connected with the sliding seat 6, one end of the transmission screw 8 extends out of the lifting box 4 and is fixedly sleeved with the fourth bevel gear 18; the transmission assembly further comprises the connecting shaft 15, the first bevel gear 13, the second bevel gear 16 and the third bevel gear 17, the end of the axle 12 penetrates through the side plate 2 and is fixedly installed with the first bevel gear 13, one side of the top end of the lifting box 4 is fixedly installed with the first mounting seat 14, the connecting shaft 15 penetrates through the first mounting seat 14 and is rotatably connected with the first mounting seat 14, the bottom end of the connecting shaft 15 is fixedly installed with the third bevel gear 17, the third bevel gear 17 is engaged with the fourth bevel gear 18, the top end of the connecting shaft 15 is fixedly installed with the second bevel gear 16, the second bevel gear 16 is matched with the first bevel gear 13, when the supporting slide plate 5 is in contact with the ground to lift the unmanned towing vehicle 1 upward, the second bevel gear 16 is engaged with the first bevel gear 13, at this time, the wheel 11 is suspended, the rotation of the axle 12 drives the rotation of the first bevel gear 13, the rotation of the first bevel gear 13 drives the rotation of the connecting shaft 15 through the second bevel gear 16, the rotation of the connecting shaft 15 drives the rotation of the fourth bevel gear 18 through the third bevel gear 17, thereby driving the rotation of the transmission screw 8, the rotation of the transmission screw 8 drives the movement of the sliding seat 6, thereby driving the movement of the traction rod 7, when the unmanned towing vehicle 1 is driven to move by the supporting slide plate 5, the axle 12 reciprocatingly rotates, thereby making the sliding seat 6 reciprocatingly move, thereby driving the mounting box 19 to reciprocatingly move, when the mounting box 19 moves to the farthest distance from the lifting box 4, the output end of the second hydraulic cylinder 20 extends out, thereby making the inserting rod 22 insert into the soil, then the traction rod 7 is retracted into the lifting box 4, making the lifting box 4 move toward the direction of approaching the mounting box 19, thereby pulling the unmanned towing vehicle 1 to move forward, when the mounting box 19 is closest to the lifting box 4, the output end of the second hydraulic cylinder 20 is controlled to retract, making the inserting rod 22 retract into the mounting box 19, thereby completing the movement of the unmanned towing vehicle 1, so as to realize the movement of the unmanned towing vehicle 1 through the reciprocation.

[0035] In the embodiment, preferably, the unmanned towing vehicle 1 is provided with the telescopic rod 40 on the front, the telescopic rod 40 is realized to be telescopic through electricity, gas or other ways, the telescopic end of the telescopic rod 40 is installed with the humidity detecting element 41, the humidity detecting element 41 can extend into the soil to detect the humidity, in the use process, the humidity detecting element 41 can monitor the soil humidity in real time, making it possible to quickly switch the supporting slide plate 5 to support and move when part of the low-lying ground has higher soil humidity, so as to avoid the wheel 11 from sinking into the soil.

[0036] In this embodiment, preferably, one side of the side plate 2 is fixedly installed with a limiting seat 23, the top end of the lifting box 4 is fixedly installed with a limiting rod 24, the limiting rod 24 penetrates through the limiting seat 23, and the limiting rod 24 and the limiting seat 23 are in sliding fit, so as to limit the up-down movement of the lifting box 4, thereby ensuring the stability of the up-down movement of the lifting box 4.

[0037] In this embodiment, preferably, the front position of the unmanned towing vehicle 1 is installed with a camera 39 for collecting real-time image information of the front working environment, the camera 39 adopts a high-resolution wide-angle lens, supports night vision function, can clearly capture environmental details under low light conditions, and the camera 39 is connected with a control system to transmit image data to the control system for real-time processing, for path recognition, obstacle detection and working quality monitoring; a wireless signal transceiving element 42 is arranged on the roof of the unmanned towing vehicle 1, supports 4G / 5G, Wi-Fi and Bluetooth multiple communication protocols, is used for data interaction with a remote control terminal (such as a mobile phone, a tablet computer or a computer) and a cloud server, the wireless signal transceiving element 42 has high anti-interference ability, ensures stable communication in a complex farmland environment, and realizes real-time transmission of equipment state, working data and fault information; a navigation system is arranged in the unmanned towing vehicle 1, including but not limited to a GPS module, a Beidou positioning module and an inertial navigation unit, the navigation system can obtain geographical position information of the equipment in real time, realizes high-precision autonomous navigation by combining a preset working path planning algorithm, the navigation system supports offline map import and online map update, and is suitable for different farmland environments; a control system is arranged in the unmanned towing vehicle 1, including a main control chip, a storage unit and an input / output interface, the main control chip adopts a high-performance embedded processor, is responsible for processing sensor data, executing a path planning algorithm and controlling actions of an execution mechanism, the control system supports multi-task parallel processing, can adjust equipment running state in real time, and ensures working precision and efficiency; a power supply system is arranged in the unmanned towing vehicle 1, including a lithium battery pack, a power management module and a charging interface, the lithium battery pack supports fast charging, and the endurance time can reach 8-12 hours, the power management module monitors the battery state in real time, provides overcharge, overdischarge and short-circuit protection, and ensures equipment running safety.

[0038] A software system is arranged in the unmanned towing vehicle 1, including but not limited to:

[0039] A path planning algorithm: generating an optimal working path based on navigation system data;

[0040] An image recognition algorithm: processing images collected by the camera 39, and recognizing obstacles and soil states;

[0041] A fault diagnosis module: monitoring equipment state in real time, providing fault early warning and solutions;

[0042] User interface: Provide device state display, parameter setting and operation monitoring function through remote control terminal.

[0043] The systems of the unmanned towing vehicle 1 work cooperatively, and the specific process is as follows:

[0044] 1. The navigation system obtains device position information, and generates a driving route in combination with a preset path planning algorithm;

[0045] 2. The camera 39 and the sensor system collect environmental data in real time, and transmit the environmental data to the control system for analysis and processing;

[0046] 3. The control system sends control instructions to the actuator according to the environmental data and the path planning result, and drives the device to move and work;

[0047] 4. The wireless signal transceiver element 42 transmits device state and operation data to the remote control terminal to realize remote monitoring and operation.

[0048] Please refer to Figure 1 and 7 ~9, in the embodiment of the application, the second mounting seat 25 is fixedly installed on both sides of the tail of the unmanned towing vehicle 1, the connecting frame 26 is installed on one side of the second mounting seat 25, the angle of the connecting frame 26 can be driven to rotate by the driving mechanism arranged on the second mounting seat 25, so as to adjust the height of the rotary tillage mechanism, the second mounting plate 27 is fixedly installed on the end of the connecting frame 26 away from the second mounting seat 25, and the rotary tillage mechanism is arranged between the two second mounting plates 27.

[0049] In the embodiment, preferably, the rotary tillage mechanism comprises a driving roller 28 and a driving motor 43, the driving roller 28 is rotatably installed between the two second mounting plates 27, the driving motor 43 is fixedly installed on one of the second mounting plates 27, the output end of the driving motor 43 is fixedly connected with the end of the driving roller 28, and the surface of the driving roller 28 is provided with a plurality of rotary tillage blades 29; the driving motor 43 can drive the driving roller 28 to rotate, and the driving roller 28 drives the plurality of rotary tillage blades 29 to rotate when rotating, so as to rotary till the soil.

[0050] In this embodiment, preferably, one end of the rotary tillage blade 29 is fixedly installed with an adjusting shaft 30, the adjusting shaft 30 is rotationally connected with the driving roller 28, one end of the adjusting shaft 30 extends into the interior of the driving roller 28, the adjusting shaft 30 is rotationally connected with the driving roller 28, a spur gear 31 is fixedly sleeved on the end of the adjusting shaft 30 extending into the interior of the driving roller 28, a plurality of racks 32 are slidingly installed in the interior of the driving roller 28, the racks 32 are engaged with the plurality of spur gears 31 located on the same straight line, one end of the rack 32 is elastically connected with the inner side wall of the driving roller 28 through a spring 36, the other end of the rack 32 extends out of the side wall of the driving roller 28, and the end is embeddedly installed with a ball 33, one of the second mounting plates 27 is fixedly installed with a positioning disc 34, the bottom of one side wall of the positioning disc 34 is fixedly installed with a positioning arc plate 35, both ends of the positioning arc plate 35 are provided with inclined surfaces, so that the ball 33 moves to the positioning arc plate 35 through the inclined surfaces; an installation frame 37 is arranged above the driving roller 28, both ends of the installation frame 37 are fixedly connected with the two second mounting plates 27 respectively, a plurality of scrapers 38 are fixedly installed at the bottom end of the installation frame 37, gaps are arranged between the scrapers 38, when the driving roller 28 rotates, the rotary tillage blade 29 passes through the gaps between the scrapers 38 to scrape off the soil attached to the rotary tillage blade 29, after the ball 33 at one end of the rack 32 moves out of the positioning arc plate 35, under the action of the spring 36, the rack 32 can be reset to the state that the ball 33 at the end contacts the positioning disc 34; the rotary tillage blade 29 is divided into four groups, the rotary tillage blades 29 in each group are arranged in parallel, when one group of rotary tillage blades 29 extends into the soil, the ball 33 at one end of the rack 32 connected with the group of rotary tillage blades 29 contacts the positioning arc plate 35, thereby making the rack 32 drive the spur gear 31 to rotate, making the spur gear 31 drive the rotary tillage blade 29 to rotate through the adjusting shaft 30, making the rotary tillage blade 29 inserted into the soil be in an inclined state, making the rotary tillage blade 29 increase the rotary tillage area of the soil to improve the rotary tillage effect, and the rotary tillage blade 29 not extending into the soil is parallel to the cross section of the driving roller 28, making the rotary tillage blade 29 not extending into the soil just pass through the gaps between the scrapers 38, thereby better scraping off the soil attached to the rotary tillage blade 29.

[0051] The embodiment adjusts the angle of the rotating blade 29 and the spur gear 31 and the rack 32 linkage mechanism, the blade is automatically tilted to the optimal working angle (increasing the rotating area) when inserted into the soil, and returns to the parallel state when separated from the soil. This dynamic adjustment function reduces the resistance of the blade cutting into the soil by 15-20%, while the single cultivation coverage area is increased by more than 30%, significantly improving the efficiency of land preparation per unit time. The structure of the blade periodically passing through the gap between the scraper 38 during rotation automatically scrapes the wet soil adhered to the surface when the blade is separated from the soil, and the mud removal rate can reach more than 90%. Combined with the precise matching of the blade return state and the gap between the scraper 38, the weight increase and power loss caused by adhering soil in traditional rotary cultivators are avoided, reducing the rotating torque demand by about 25%. Through the contact control of the positioning arc plate 35 and the ball 33, the blade only maintains an inclined angle during the actual soil entering stage, and automatically resets to a low wind resistance state during air return. Combined with the load feedback of the driving motor 43, the overall energy consumption is reduced by 18-22% compared with traditional fixed-angle rotary cultivators, realizing the unity of high efficiency and low power consumption.

[0052] The above is only the preferred embodiment of the present application, so any equivalent changes or modifications made in accordance with the structure, features and principles described in the scope of the present application are included in the scope of the present application.

Claims

1. An intelligent soil preparation device for vegetable cultivation, comprising an unmanned tractor (1), a rotary tiller is mounted at the tail of the unmanned tractor (1), characterized in that: The both sides of the unmanned towing vehicle (1) are fixedly connected with side plates (2), one side of the side plate (2) is fixedly installed with a first mounting plate (9), the top end of the first mounting plate (9) is fixedly installed with a first hydraulic cylinder (10), the output end of the first hydraulic cylinder (10) is fixedly installed with a lifting box (4), the bottom end of the lifting box (4) is fixedly installed with a supporting sliding plate (5), the inside of the lifting box (4) is slidably installed with a towing rod (7), one end of the towing rod (7) is fixedly installed with a mounting box (19), the mounting box (19) is slidably installed with a plug rod (22), the mounting box (19) is provided with a driving assembly for driving the plug rod (22) to lift, the tail of the unmanned towing vehicle (1) is provided with an axle (12), the both ends of the axle (12) are fixedly installed with wheels (11), the lifting box (4) is provided with a transmission assembly for driving the towing rod (7) to move, when the supporting sliding plate (5) contacts the ground to lift the unmanned towing vehicle (1) upward, the axle (12) is in transmission connection with the towing rod (7) through the transmission assembly; The driving assembly comprises a second hydraulic cylinder (20) and a lifting plate (21), the second hydraulic cylinder (20) is fixedly installed at the top end of the mounting box (19), the lifting plate (21) is slidably installed in the inside of the mounting box (19), the plug rod (22) is provided with a plurality of plug rods (22), and the top ends of the plurality of plug rods (22) are fixedly connected with the lifting plate (21); The transmission assembly comprises a sliding seat (6), a transmission screw rod (8) and a fourth bevel gear (18), the sliding seat (6) is slidably installed in the inside of the lifting box (4), one end of the towing rod (7) is fixedly connected with the sliding seat (6), the transmission screw rod (8) is rotatably installed in the inside of the lifting box (4), the transmission screw rod (8) penetrates the sliding seat (6), and the transmission screw rod (8) is in threaded connection with the sliding seat (6), one end of the transmission screw rod (8) extends out of the lifting box (4) and is fixedly sleeved with the fourth bevel gear (18); The transmission assembly further comprises a connecting shaft (15), a first bevel gear (13), a second bevel gear (16) and a third bevel gear (17), the end of the axle (12) penetrates the side plate (2), and the end of the axle (12) is fixedly installed with the first bevel gear (13), one side of the top end of the lifting box (4) is fixedly installed with a first mounting seat (14), the connecting shaft (15) penetrates the first mounting seat (14), and the connecting shaft (15) is in rotary connection with the first mounting seat (14), the bottom end of the connecting shaft (15) is fixedly installed with the third bevel gear (17), the third bevel gear (17) is in meshing connection with the fourth bevel gear (18), the top end of the connecting shaft (15) is fixedly installed with the second bevel gear (16), the second bevel gear (16) is matched with the first bevel gear (13), when the supporting sliding plate (5) contacts the ground to lift the unmanned towing vehicle (1) upward, the second bevel gear (16) is in meshing connection with the first bevel gear (13).

2. The intelligent soil preparation device for vegetable cultivation as claimed in claim 1, wherein: The unmanned towing vehicle (1) is provided with a second mounting seat (25) on both sides of the tail, a connecting frame (26) is arranged on one side of the second mounting seat (25), a second mounting plate (27) is arranged on the end of the connecting frame (26) away from the second mounting seat (25), and the rotary tillage mechanism is arranged between the two second mounting plates (27).

3. The intelligent soil preparation device for vegetable cultivation as claimed in claim 2, wherein: The rotary tillage mechanism comprises a driving roller (28) and a driving motor (43), the driving roller (28) is rotatably arranged between the two second mounting plates (27), the driving motor (43) is fixedly arranged on one of the second mounting plates (27), the output end of the driving motor (43) is fixedly connected with the end of the driving roller (28), and the surface of the driving roller (28) is provided with a plurality of rotary tillage blades (29).

4. The intelligent soil preparation device for vegetable cultivation as claimed in claim 3, wherein: One end of the rotary tillage blade (29) is fixedly provided with an adjusting shaft (30), the adjusting shaft (30) is rotatably connected with the driving roller (28), one end of the adjusting shaft (30) extends into the inside of the driving roller (28), the adjusting shaft (30) is rotatably connected with the driving roller (28), the end of the adjusting shaft (30) extending into the inside of the driving roller (28) is fixedly provided with a spur gear (31), a plurality of racks (32) are slidably arranged in the inside of the driving roller (28), the racks (32) are engaged with the plurality of spur gears (31) on the same straight line, one end of the rack (32) is elastically connected with the inner side wall of the driving roller (28) through a spring (36), the other end of the rack (32) extends out of the side wall of the driving roller (28) and is embeddedly provided with a ball (33), one of the second mounting plates (27) is fixedly provided with a positioning disc (34), and the bottom of one side wall of the positioning disc (34) is fixedly provided with a positioning arc plate (35).

5. The intelligent soil preparation device for vegetable cultivation as claimed in claim 4, wherein: An installation frame (37) is arranged above the driving roller (28), the two ends of the installation frame (37) are fixedly connected with the two second mounting plates (27), a plurality of scrapers (38) are fixedly arranged at the bottom end of the installation frame (37), and gaps are arranged between the scrapers (38), when the driving roller (28) rotates, the rotary tillage blades (29) pass through the gaps between the scrapers (38).

6. The intelligent soil preparation device for vegetable cultivation as claimed in claim 1 wherein: One side of the side plate (2) is fixedly provided with a limiting seat (23), the top end of the lifting box (4) is fixedly provided with a limiting rod (24), the limiting rod (24) penetrates through the limiting seat (23) and is in sliding fit with the limiting seat (23).

7. The intelligent soil preparation device for vegetable cultivation as claimed in claim 1 wherein: The front end of the unmanned towing vehicle (1) is provided with a telescopic rod (40), and the telescopic end of the telescopic rod (40) is provided with a humidity detection element (41).

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