Crawling type soil turning device

Abstract

The invention relates to a wriggling crawling type soil turning device, which belongs to the technical field of agricultural machinery and comprises a wriggling crawling mechanism, a stone picking mechanism arranged at the front end of the wriggling crawling mechanism, a soil turning mechanism arranged on the wriggling crawling mechanism and positioned behind the stone picking mechanism, and a water spraying mechanism arranged on the wriggling crawling mechanism and positioned behind the soil turning mechanism, the wriggling and crawling mechanism is used for moving in a wriggling mode in the field, the soil turning mechanism is used for turning over soil in the field, and the water spraying mechanism is used for spraying water to wet the turned-over soil. The device integrates stone picking, soil turning and watering, multiple soil treatment work can be completed through one-time operation, the frequency of equipment entering the land is reduced, and the soil compaction risk is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, in particular to a creeping soil turning device. Background Art

[0002] Before planting crops, it is often necessary to turn the soil over to make it looser, enhance soil aeration, remove weeds and pests, and benefit the growth of crops.

[0003] Traditional wheeled or tracked tillers can cause soil compaction (especially in the subsoil) due to concentrated loads when traveling in the field. This damages the soil's pore structure and the straw on the surface, hindering root growth and water penetration. Furthermore, they are prone to slipping and getting stuck in wet, uneven, or stubble-covered fields, impacting operational efficiency.

[0004] When tilling the soil, soil-turning equipment often encounters stones on the soil surface. When the stones are too large, they will cause grinding and bending of the blades, reducing the service life of the blades and affecting the tilling effect. When the stones are small, when the blades of the soil-turning equipment cut into the soil, these stones are easily drawn into them and buried in the soil as the tilling action deepens, causing the stones to occupy the effective space in the soil, reducing the porosity of the soil, thereby affecting the air permeability and water permeability of the soil, which is not conducive to crop planting.

[0005] Many existing soil turning devices can only dig soil to a single depth. Some improved equipment can adjust the swing angle of the digging head to dig soil layers of different depths. However, due to the high viscosity and humidity between the turned soil layers, the soil layers are unevenly turned, which may lead to inconsistent thickness of soil covering the seeds, affecting the germination rate of the seeds and the uniformity of the emergence of the seedlings. Summary of the Invention

[0006] In view of this, an object of the present invention is to provide a creeping soil turning device.

[0007] The technical solution adopted by the present invention to solve the above technical problems is: a peristaltic crawling type soil turning device, comprising a peristaltic crawling mechanism, a stone picking mechanism arranged at the front end of the peristaltic crawling mechanism, a soil turning mechanism arranged on the peristaltic crawling mechanism and located behind the stone picking mechanism, and a water spraying mechanism arranged on the peristaltic crawling mechanism and located behind the soil turning mechanism; The peristaltic crawling mechanism is used for peristaltic movement in the field, the soil turning mechanism is used for turning the soil in the field, and the water spraying mechanism is used for spraying water to moisten the soil after turning.

[0008] Furthermore, the peristaltic crawling mechanism includes two relatively arranged peristaltic mechanisms, at least two connecting plates are provided between the two peristaltic mechanisms, the soil turning mechanism and the water spraying mechanism are respectively installed on two of the connecting plates, and the peristaltic mechanism includes a plurality of peristaltic components arranged along its own length direction, the connecting plate is located between the two relatively arranged peristaltic components, and the two adjacent peristaltic components are connected by a connecting component; the connecting component includes a fixing plate respectively provided on the two adjacent peristaltic components, and an elastic connecting member is provided between the two fixing plates.

[0009] Furthermore, the peristaltic assembly includes a driving mechanism and peristaltic members arranged at the front and rear ends of the driving mechanism, and the driving mechanism is linked to the peristaltic members through linkage assemblies. The driving mechanism includes a motor mounting plate, a dual-output shaft reduction motor arranged at the upper end of the motor mounting plate, and a fixed base plate arranged at the lower end of the motor mounting plate. The output shafts on both sides of the dual-output shaft reduction motor are connected to eccentric shafts through plum blossom-type couplings respectively. The linkage assembly includes two linkage parts, which are respectively linked to the eccentric shaft and the peristaltic part.

[0010] Furthermore, the peristaltic member includes a module connecting frame and a module fixing plate connected to the motor mounting plate through an elastic connecting rod, and a wheel is rotatably provided on the module connecting frame; The linkage parts include a long connecting plate and a short connecting plate. The two ends of the long connecting plate are hinged to the module connecting frame and the eccentric shaft respectively. One end of the short connecting plate is fixedly connected to the module fixing plate, and the other end is hinged to the module connecting frame. A waist-shaped long hole is provided on the long connecting plate, and a limiting bolt is provided on the module fixing plate, which passes through the waist-shaped long hole and slides with the waist-shaped long hole.

[0011] Furthermore, the stone picking mechanism includes a stone picking frame, which is provided with a flipping mechanism, a conveyor belt and a stone storage bin from front to back. The flipping mechanism is provided with a horizontally moving linear module, and the flipping mechanism is used to drive the horizontally moving linear module to flip. The horizontally moving linear module is provided with a grabbing manipulator for grabbing stones, and the horizontally moving linear module is used to drive the grabbing manipulator to move horizontally.

[0012] Furthermore, the flipping mechanism includes a receiving plate, both ends of which are rotatably connected to the stone picking frame through connecting shafts, a first driven gear is provided on the connecting shaft on one side, a flipping motor is provided on the stone picking frame, and a first driving gear is provided at the end of the output shaft of the flipping motor which engages with the first driven gear.

[0013] Furthermore, the grabbing robot includes a bending fixed plate and a swinging frame hingedly arranged on both sides of the bending fixed plate, the middle part of the swinging frame is hinged to the bending fixed plate, a cylinder is provided on the bending fixed plate, the piston rod end of the cylinder is hinged to the rear end of the swinging frame, the front end of the swinging frame is provided with a bending portion that bends inward, a stone clamping plate is rotatably provided on the bending portion, the stone clamping plate is rotatably connected to the bending portion through a rotating shaft, a second driven gear is provided on the rotating shaft, an adjustment motor is provided on the bending portion, and the output shaft end of the adjustment motor is provided with a second driving gear that meshes with the second driven gear.

[0014] Furthermore, the tilling mechanism includes a support plate, which is arranged on the corresponding connecting plate and forms a certain angle with it, which is 60°-75°. A lifting mechanism is provided on the support plate, and a knife bar mounting plate is provided on the lifting mechanism. The lifting mechanism is used to drive the knife bar mounting plate to move up and down. Two tilling rods are symmetrically provided on the knife bar mounting plate, and a tilling motor is provided on the tilling rod. The output shaft end of the tilling motor is provided with a mounting cylinder, and a plurality of rotary blades are evenly distributed on the outer circumferential wall of the mounting cylinder along its circumferential direction.

[0015] Furthermore, the lifting mechanism includes a rack slidably arranged on a support plate, a slide plate is respectively provided at the upper and lower ends of the rack, a positioning seat is provided on the support plate, the slide plate slides through the positioning seat, linear guide rails are respectively provided on both sides of the rack on the support plate, a tool rod mounting plate is arranged on the rack, a slider is provided at the lower end of the tool rod mounting plate that slides with the linear guide rail, a lifting motor is also provided on the support plate, and a driving gear meshing with the rack is provided at the end of the output shaft of the lifting motor.

[0016] Furthermore, the water spraying mechanism includes a water storage tank, a water pump and a water supply pipe are provided on the outer wall of the water storage tank, the input and output ends of the water pump are connected to the water storage tank and the water supply pipe through pipes, multiple nozzles are evenly distributed on the water supply pipe, and an electromagnetic switch valve is also provided on the water supply pipe.

[0017] The beneficial effects of this application are as follows: 1. The peristaltic crawling mechanism of this application adopts a unique peristaltic component and connection method, which can move flexibly in fields with different terrains, reduce soil compaction, and adapt to complex terrains such as mountains and hills. The movement process is smooth and has little impact on the surrounding environment. The peristaltic crawling mechanism is inspired by caterpillars and loopers in nature. It controls the movement of multiple links through a motor to achieve peristaltic crawling on the ground, and disperses the pressure of the body on the soil through flexible movement, simulating the progressive contact between the organism and the soil, reducing local compaction, and maintaining the looseness and air permeability of the soil.

[0018] 2. Traditional planting machinery relies on wheels or tracks, making it difficult to maneuver in irregular terrain such as terraces, slopes, orchards, or greenhouses. However, this new machine adapts to complex terrain, using wave-like peristalsis to achieve continuous, stable, and controllable movement in various complex terrains. In clay soils, traditional machinery is prone to soil adhesion, resulting in reduced efficiency. However, the wave-like "peel-and-propel" mechanism reduces adhesion and significantly improves operating efficiency.

[0019] 3. Wave-like peristalsis creates multi-directional, multi-layered soil shear forces through alternating pressure and release in segments. This discontinuous dynamic disturbance effectively breaks up soil compaction while minimizing damage to deeper soil structures. Wave-like motion improves soil crushing uniformity through randomized stress distribution. Furthermore, the peristaltic mechanism's "arching-contraction" action simultaneously loosens the surface layer and crushes the subsurface, avoiding the problem of "over-crushing the surface while not loosening the deeper layers" often associated with conventional machinery due to fixed depth.

[0020] 4. This application realizes the picking up of stones through the stone picking mechanism, avoids direct impact on the rotary tiller, prolongs the life of the rotary tiller, and improves the soil porosity; after picking up, the soil is tilled, and the rotary tiller moves up and down during operation to realize tillage of soil at different depths, improves the uniformity of soil mixing after tillage, and adapts to the needs of different crops; a watering mechanism is set behind the rotary tiller, and the soil is immediately moistened by water mist during the tillage operation, which reduces soil scattering, suppresses dust generation, and moistens the surface soil. Traditional equipment requires three operations. This device integrates stone picking, tillage, and watering. It can complete multiple soil treatment tasks in one operation, reduce the number of times the equipment enters the ground, reduce the risk of soil compaction, reduce energy consumption, and improve operation efficiency, providing a one-stop solution from soil improvement to planting preparation for sustainable agriculture.

[0021] 5. The stone-picking mechanism, through the coordination of a turning mechanism, a horizontal linear module, and a gripping manipulator, can accurately grab stones from the soil and transport them to the stone storage bin via a conveyor belt, effectively removing the stones from the soil and providing good conditions for subsequent tilling and planting operations. The special structural design of the gripping manipulator enhances its stone-picking ability and improves stone-picking efficiency.

[0022] 6. The support plate and connecting plate of the tillage mechanism are at a specific angle. Combined with the lifting mechanism and the rotary tiller, the soil can be tilled with adjustable depth, making the soil loose and uniform, improving the soil structure, and being conducive to the growth of crop roots.

[0023] 7. The water spray mechanism uses a combination of a water storage tank, a water pump, and a high-pressure atomizing nozzle to evenly spray water on the plowed soil, ensuring the appropriate soil moisture and providing good moisture conditions for crop seed germination and growth. The electromagnetic switch valve is set to facilitate the control of the water spray start and stop and the water volume. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the present invention.

[0025] Figure 2 It is a structural schematic diagram of the connection component of the present invention.

[0026] Figure 3 It is a structural schematic diagram of the stone picking mechanism of the present invention.

[0027] Figure 4 It is a structural diagram of the grasping manipulator of the present invention.

[0028] Figure 5 It is a structural schematic diagram of the turnover mechanism of the present invention.

[0029] Figure 6 This is a first axial schematic diagram of the peristaltic assembly of the present invention.

[0030] Figure 7 This is a second axial schematic diagram of the peristaltic assembly of the present invention.

[0031] Figure 8 It is a structural schematic diagram of the dual-output shaft reduction motor of the present invention.

[0032] Figure 9 It is a structural schematic diagram of the soil turning mechanism of the present invention.

[0033] Figure 10 It is a structural schematic diagram of the slider of the present invention.

[0034] Figure 11 It is a structural schematic diagram of the support plate of the present invention.

[0035] Figure 12 It is a structural schematic diagram of the soil turning motor of the present invention.

[0036] Figure 13 It is a structural schematic diagram of the water spraying mechanism of the present invention.

[0037] Markings in the diagram: 1. Stone picking mechanism; 3. Connecting plate; 4. Soil turning mechanism; 5. Water spraying mechanism; 6. Connecting plate; 7. Elastic connecting piece; 101. Swinging frame; 102. Bending fixed plate; 103. Cylinder; 104. Bending part; 105. Stone clamping plate; 106. Second driven gear; 107. Adjusting motor; 108. Second driving gear; 109. Air pump; 110. Stone picking frame; 111. Stone storage bin; 112. Conveyor belt; 113. Turning motor; 114. Attaching plate; 115. Horizontal moving linear module; 116. First driving gear; 117. First driven gear; 201. Module connecting frame; 202 , short connecting plate; 203, long connecting plate; 204, module fixing plate; 205, dual output shaft reduction motor; 206, waist-shaped long hole; 207, wheel; 208, elastic connecting rod; 209, fixed base plate; 210, motor mounting plate; 211, plum blossom coupling; 212, motor fixing plate; 401, support plate; 402, linear guide; 403, positioning seat; 404, rack; 405, knife bar mounting plate; 406, tillage rod; 407, rotary tillage blade; 408, mounting cylinder; 409, driving gear; 410, slider; 411, lifting motor; 412, tillage motor; 501, water storage tank; 502, sprinkler head. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that in the description of the present invention, unless otherwise specified, the meaning of "multiple" is two or more; the orientation or position relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0039] See also Figure 1-13 The present invention provides a peristaltic crawling type soil turning device, comprising a peristaltic crawling mechanism 2, a stone picking mechanism 1 arranged at the front end of the peristaltic crawling mechanism 2, a soil turning mechanism 4 arranged on the peristaltic crawling mechanism 2 and located behind the stone picking mechanism 1, and a water spraying mechanism 5 arranged on the peristaltic crawling mechanism 2 and located behind the soil turning mechanism 4. The peristaltic crawling mechanism 2 is used for peristaltic movement in the field, the soil turning mechanism 4 is used for plowing the soil in the field, and the water spraying mechanism 5 is used for spraying water to moisten the plowed soil.

[0040] Combine Figure 1 、 Figure 2 、 Figure 6 、 Figure 7 and Figure 8 As shown, the peristaltic crawling mechanism 2 includes two opposed peristaltic mechanisms, with at least two connecting plates 3 disposed between them. The soil turning mechanism 4 and the water spraying mechanism 5 are mounted on two of the connecting plates 3, respectively. There are two connecting plates 3, one front and one rear. The front connecting plate is positioned near the front end of the peristaltic crawling mechanism 2, while the other is positioned near the rear end. The front connecting plate is located behind the stone picking mechanism 1. The soil turning mechanism 4 is mounted on the front connecting plate, and the water spraying mechanism 5 is located on the rear connecting plate.

[0041] The peristaltic mechanism includes multiple peristaltic assemblies arranged along its length. A connecting plate 3 is located between two opposing peristaltic assemblies, connecting the two adjacent peristaltic assemblies via the connecting assembly. The connecting assembly includes a fixing plate 6, which is respectively provided on the two adjacent peristaltic assemblies. The fixing plates 6 on the two adjacent peristaltic assemblies are arranged opposite each other. An elastic connector 7 is provided between the two fixing plates 6. The elastic connector 7 is a spring, with its ends welded to the two opposing fixing plates 6. The fixing plates 6 are 7-shaped and include a horizontal portion and a vertical portion.

[0042] The peristaltic assembly includes a driving mechanism and a peristaltic member arranged at the front and rear ends of the driving mechanism, and the driving mechanism is respectively linked to the peristaltic member through a linkage assembly. The driving mechanism includes a motor mounting plate 210, a dual output shaft reduction motor 205 arranged at the upper end of the motor mounting plate 210, and a fixed base plate 209 arranged at the lower end of the motor mounting plate 210. The motor mounting plate 210 is U-shaped and the U-shaped opening is arranged upward. The output shafts on both sides of the dual output shaft reduction motor 205 are respectively connected to an eccentric shaft by a plum blossom-shaped coupling 211. The linkage assembly includes two linkage members, which are respectively located on both sides of the dual output shaft reduction motor 205. The linkage members are respectively linked to the eccentric shaft and the peristaltic member on the same side. The connecting plate 3 is arranged between the two opposite fixed base plates 209. The connecting plate 3 is U-shaped, and the two ends of the connecting plate 3 are respectively connected to the two opposite fixed base plates 209 by bolts. The fixed base plate 209 is also U-shaped. The motor fixing piece 212 is L-shaped, one side of which is fixedly connected to the dual-output shaft reduction motor 205 by bolts, and the other side of which is fixedly connected to the motor mounting plate 210 by bolts.

[0043] The peristaltic element comprises a module connecting frame 201 and a module fixing plate 204 connected to a motor mounting plate 210 via an elastic connecting rod 208. One end of the elastic connecting rod 208 is fixedly connected to the motor mounting plate 210 via bolts, while the other end is fixedly connected to the module fixing plate 204 via bolts. The module fixing plate 204 is U-shaped and positioned horizontally toward the motor mounting plate 210. Wheels 207 are rotatably mounted on the module connecting frame 201. The horizontal portion of the fixing plate 6 is bolted to the module connecting frame 201. The module connecting frame 201 is U-shaped, with the U-shaped opening facing downward, and the wheels 207 are rotatably mounted within the U-shaped opening. The linkage parts include a long connecting plate 203 and a short connecting plate 202. The two ends of the long connecting plate 203 are hinged to the module connecting frame 201 and the eccentric shaft respectively. One end of the short connecting plate 202 is fixedly connected to the module fixing plate 204, and the other end is hinged to the module connecting frame 201. A waist-shaped long hole 206 is provided on the long connecting plate 203, and a limiting bolt is provided on the module fixing plate 204, which passes through the waist-shaped long hole 206 and slides with the waist-shaped long hole 206.

[0044] The dual-output shaft reduction motor 205 in the driving mechanism is installed on the motor mounting plate 210, and its output shaft is connected to the eccentric shaft through the plum blossom coupling 211. The eccentric shaft then drives the module connecting frame 201 of the peristaltic part through the linkage parts long connecting plate 203 and short connecting plate 202 to move, so that the wheel 207 rotates to realize peristaltic crawling.

[0045] Combine Figure 3 As shown, the stone picking mechanism 1 includes a stone picking frame 110. The stone picking frame 110 is sequentially provided with a turning mechanism, a conveyor belt 112, and a stone storage bin 111 from front to back. The conveyor belt 112 can employ an existing conveyor belt structure. For example, the conveyor belt structure disclosed in prior art CN220077498U is disclosed. The stone picking frame 110 has two side panels, within which the turning mechanism, conveyor belt 112, and stone storage bin 111 are located. A horizontally movable linear module 115 is provided on the turning mechanism, which is used to drive the turning of the horizontally movable linear module 115. The horizontally movable linear module 115 is provided with a grabbing manipulator for grabbing stones, which is used to drive the grabbing manipulator to move horizontally. The horizontally movable linear module 115 can employ an existing synchronous belt module, such as the synchronous belt module disclosed in prior art CN217761919U. Synchronous belt modules are prior art and will not be described in detail herein. The flipping mechanism includes a receiving plate 114, the two ends of which are rotatably connected to the two side plates of the stone picking frame 110 via connecting shafts. A first driven gear 117 is provided on one of the connecting shafts. The stone picking frame 110 is equipped with a flipping motor 113, and the output shaft end of the flipping motor 113 is equipped with a first driving gear 116 that meshes with the first driven gear 117. The flipping motor 113 drives the receiving plate 114 to flip through the first driving gear 116 and the first driven gear 117, which in turn drives the horizontal moving linear module 115 to flip, and the grabbing robot flips accordingly.

[0046] Combine Figure 4 As shown, the gripping robot includes a bending fixed plate 102 and a swing frame 101 hingedly mounted on either side of the bending fixed plate 102. The swing frame 101 is hingedly mounted to the bending fixed plate 102 at its middle portion. The bending fixed plate 102 has a trapezoidal structure and includes a horizontal plate and inwardly tilted portions at both ends of the horizontal plate. The angle between the tilted portions and the horizontal plate is 145 degrees. The swing frame 101 is hinged at the end of the tilted portion. The swing frame 101 includes two swing rods disposed opposite each other vertically, with a connecting rod disposed between the two swing rods. A cylinder 103 is mounted on the bending fixed plate 102 and is disposed at the rear end of the horizontal plate. The piston rod end of the cylinder 103 is hingedly mounted to the rear end of the swing frame 101. The front end of the swing frame 101 is provided with an inwardly bent portion 104. The swing frame 101 and the bent portion 104 are integrally formed. A rotatable clamping plate 105 is mounted on the bending portion 104 and is rotatably connected to the bending portion 104 via a rotating shaft. A second driven gear 106 is mounted on the rotating shaft. An adjustment motor 107 is mounted on the bending portion 104. The output shaft of the adjustment motor 107 is terminated by a second driving gear 108 that meshes with the second driven gear 106. The clamping plates 105 are U-shaped, with the opening of the U facing the rotating shaft. The opposing surfaces of the two clamping plates 105 serve as the clamping surfaces. The gripping manipulator's swing frame 101 is opened and closed by a pneumatic cylinder 103, while the angle of the clamping plates 105 is controlled by the adjustment motor 107. The adjustment motor 107 controls the angle of the clamping plates 105 via a gear transmission.

[0047] Combine Figure 9-12 As shown, the tilling mechanism 4 includes a support plate 401, which is arranged on the front connecting plate and forms a certain angle with the front connecting plate, the angle being 60°-75°. The support plate 401 is provided with a lifting mechanism, which is provided with a cutter bar mounting plate 405. The lifting mechanism is used to drive the cutter bar mounting plate 405 to move up and down. Two tilling rods 406 are symmetrically and oppositely arranged on the cutter bar mounting plate 405. The tilling rods 406 are provided with a tilling motor 412. The ends of the tilling rods 406 away from the cutter bar mounting plate 405 are provided with a groove, and the tilling motor 412 is disposed in the groove. The output shaft end of the tilling motor 412 is provided with a mounting barrel 408, and a plurality of rotary blades 407 are evenly distributed along the circumference of the outer circumferential wall of the mounting barrel 408. The included angle between the blade mounting plate 405 and the tiller bar 406 is 45°-50°, while the included angle between the support plate 401 and the front connecting plate is 60°-75°. These two angles work together to reduce the resistance of the rotary tiller blade 407 to soil penetration, improve soil-breaking ability, and ensure the effective operation of the tiller mechanism. Specifically, the included angle between the blade mounting plate 405 and the tiller bar 406 is 45°, while the included angle between the support plate 401 and the front connecting plate is 60°.

[0048] Specifically, the lifting mechanism includes a rack 404 that is slidably mounted on a support plate 401. Slide plates are provided at the upper and lower ends of the rack 404, and the slide plates and rack 404 are integrally formed. A positioning seat 403 is provided on the support plate 401. The slide plate slides through the positioning seat 403 and can reciprocate along its length. Linear guide rails 402 are provided on either side of the rack 404 on the support plate 401. A tool bar mounting plate 405 is mounted on the rack 404. A boss is provided on the end face of the tool bar mounting plate 405 relative to the support plate 401, and the boss is fixed to the upper end face of the rack 404. A slider 410 is provided at the lower end of the tool bar mounting plate 405, which slidably engages with the linear guide rails 402. A lifting motor 411 is also provided on the support plate 401. The output shaft end of the lifting motor 411 is provided with a drive gear 409 that meshes with the rack 404.

[0049] The lifting motor 411 drives the rack 404 to move up and down by driving the gear 409, thereby driving the cutter bar mounting plate 405 to move up and down. The tilling bar 406 on the cutter bar mounting plate 405 drives the mounting cylinder 408 and the rotary tiller 407 to rotate by the tilling motor 412, thereby realizing the tilling operation.

[0050] Furthermore, the water spray mechanism 5 includes a water reservoir 501. A water pump and a water supply pipe are installed on the outer wall of the water reservoir 501. The water pump's input and output are connected to the water reservoir 501 and the water supply pipe via pipes. The water supply pipe is evenly distributed with multiple nozzles 502, which are high-pressure atomizing nozzles. The water supply pipe is also equipped with a solenoid valve. The water pump delivers water from the water reservoir through the water supply pipe to the multiple high-pressure atomizing nozzles. The solenoid valve controls the start and stop of the water spray and the amount of water.

[0051] The device also includes a control unit, comprising a programmable logic controller (PLC), which is electrically connected to the rock-picking mechanism 1, the soil-turning mechanism 4, and the water-spraying mechanism 5. Specifically, the PLC is electrically connected to the dual-output shaft reduction motor 205, the horizontal linear module 115, the tilting motor 113, the conveyor belt 112, the adjustment motor 107, the cylinder 103, the soil-turning motor 412, the lifting motor 411, the water pump, the electromagnetic switch valve, the micro-laser radar sensor, and the air pump 109. The rock-picking mechanism 1 is also equipped with a micro-laser radar sensor, which is electrically connected to the control unit. The control unit receives data from the micro-laser radar sensor and controls the operation of each mechanism based on the actual operating conditions, achieving intelligent operation. The micro-laser radar sensor is located at the front end of the bending and fixing plate 102. It emits laser pulses and receives reflected signals to generate three-dimensional point cloud data, sensing the path ahead of the device and rocks in the soil. It can accurately identify the location, size, and shape of rocks, enabling precise movement and grabbing.

[0052] Of course, the present invention is not limited to the above-described embodiments. Several other embodiments based on the design concept of the present invention are provided below.

[0053] For example, in other embodiments, unlike the above-described embodiments, an air suction box is provided inside the stone clamping plate 105, the air suction box is provided with a plurality of air extraction holes facing the stone clamping plate 105, the stone clamping plate 105 is provided with adsorption holes opposite the air extraction holes, and the air suction box is connected to an air extraction pump 109 via an air extraction pipe. The air suction box and the air extraction pump 109 cooperate to enhance the gripping effect.

[0054] For example, in other embodiments, different from the above-described embodiments, the angle between the stone picking mechanism 1 and the ground is set between 25° and 35°. Specifically, the angle between the stone picking mechanism 1 and the ground is 25 degrees.

[0055] The working principle of this application is as follows: the device is moved to the farmland to be treated, and the water storage tank 501 is filled with water. The control unit starts the micro laser radar sensor to scan and locate the distribution of stones in the soil. The peristaltic crawling mechanism 2 drives the device to move slowly in the field. When a stone is detected, the control unit controls the flipping mechanism to rotate so that the horizontally moving linear module 115 reaches the appropriate position, and then controls the horizontally moving linear module 115 to drive the grasping manipulator to move horizontally to the stone position. The motor 107 is adjusted to fine-tune the angle of the stone clamping plate 105, and the cylinder 103 pushes the swing frame 101 to close. The stone clamping plate 105 clamps the stone, and the vacuum pump 109 works at the same time to enhance the grasping stability through the suction box and the adsorption hole. Then the flip motor 113 is started, and the flip motor 113 drives the receiving plate 114 to flip through the first driving gear 116 and the first driven gear 117, and then drives the horizontal moving linear module 115 to flip, thereby driving the grabbing manipulator to flip, so that the grabbing manipulator flips until the stone is above the conveyor belt 112, and then the cylinder 103 pushes the swing frame 101 to open, the two stone clamping plates 105 release the stone, and the stone falls to the conveyor belt 112, and the conveyor belt 112 transports the stone to the stone storage bin 111, completing the stone picking operation.

[0056] After the stone removal operation is complete, the control unit controls the lifting motor 411 based on soil conditions, adjusting the height of the blade mounting plate 405 to ensure that the rotary tiller 407 reaches the appropriate tilling depth. The tilling motor 412 is activated, rotating the rotary tiller 407 and tilling the soil. The creeping mechanism 2 slowly moves to ensure continuous tilling.

[0057] When the tillage mechanism 4 is turning the soil, the control unit opens the electromagnetic switch valve, and the water pump sends the water in the water storage tank 501 to the high-pressure atomizing nozzle through the water supply pipe to spray water on the plowed soil to moisten it and prevent soil dust, thus completing the entire operation process.

[0058] In addition, the stone picking mechanism 1, soil turning mechanism 4 and water spraying mechanism 5 of the present application can operate simultaneously or independently.

[0059] It should be noted that the above embodiments are only used to illustrate the present invention, but the present invention is not limited to the above embodiments. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention fall within the scope of protection of the present invention.

Claims

1. A creeping soil turning device, characterized in that: It comprises a peristaltic crawling mechanism (2), a stone picking mechanism (1) arranged at the front end of the peristaltic crawling mechanism (2), a soil turning mechanism (4) arranged on the peristaltic crawling mechanism (2) and located behind the stone picking mechanism (1), and a water spraying mechanism (5) arranged on the peristaltic crawling mechanism (2) and located behind the soil turning mechanism (4); The creeping mechanism (2) is used for creeping movement in the field, the tilling mechanism (4) is used for tilling the soil in the field, and the water spraying mechanism (5) is used for spraying water to moisten the tilled soil.

2. A creeping soil turning device according to claim 1, characterized in that: The peristaltic crawling mechanism (2) comprises two peristaltic mechanisms arranged opposite to each other, at least two connecting plates (3) are provided between the two peristaltic mechanisms, and the soil turning mechanism (4) and the water spraying mechanism (5) are respectively installed on two of the connecting plates (3); The peristaltic mechanism comprises a plurality of peristaltic components arranged along its length direction, a connecting plate (3) is located between two opposing peristaltic components, and two adjacent peristaltic components are connected via a connecting component; The connecting assembly comprises connecting plates (6) respectively arranged on two adjacent peristaltic assemblies, and an elastic connecting member (7) is provided between the two connecting plates (6).

3. A creeping soil turning device according to claim 2, characterized in that: The peristaltic assembly includes a driving mechanism and peristaltic members arranged at the front and rear ends of the driving mechanism, and the driving mechanism is linked to the peristaltic members through linkage assemblies. The driving mechanism comprises a motor mounting plate (210), a dual-output shaft reduction motor (205) arranged at the upper end of the motor mounting plate (210), and a fixed base plate (209) arranged at the lower end of the motor mounting plate (210). The output shafts on both sides of the dual-output shaft reduction motor (205) are respectively connected to eccentric shafts via plum blossom-shaped couplings (211). The linkage assembly comprises two linkage parts, which are respectively linked to the eccentric shaft and the peristaltic part.

4. A creeping soil turning device according to claim 3, characterized in that: The peristaltic member comprises a module connecting frame (201) and a module fixing plate (204) connected to a motor mounting plate (210) via an elastic connecting rod (208); a wheel (207) is rotatably provided on the module connecting frame (201); The linkage member comprises a long connecting plate (203) and a short connecting plate (202), the two ends of the long connecting plate (203) are hinged to the module connecting frame (201) and the eccentric shaft respectively, one end of the short connecting plate (202) is fixedly connected to the module fixing plate (204), and the other end is hinged to the module connecting frame (201), the long connecting plate (203) is provided with a waist-shaped long hole (206), and the module fixing plate (204) is provided with a limiting bolt that passes through the waist-shaped long hole (206) and is slidably matched with the waist-shaped long hole (206).

5. The creeping soil turning device according to claim 1, characterized in that: The stone picking mechanism (1) comprises a stone picking frame (110), wherein the stone picking frame (110) is provided with a turning mechanism, a conveyor belt (112) and a stone storage bin (111) in sequence from front to back, wherein the turning mechanism is provided with a horizontally movable linear module (115), wherein the turning mechanism is used to drive the horizontally movable linear module (115) to turn over, wherein a grabbing manipulator for grabbing stones is provided on the horizontally movable linear module (115), and wherein the horizontally movable linear module (115) is used to drive the grabbing manipulator to move horizontally.

6. The creeping soil turning device according to claim 5, characterized in that: The flip mechanism comprises a receiving plate (114), both ends of the receiving plate (114) being rotatably connected to the stone picking frame (110) via connecting shafts, a first driven gear (117) being provided on the connecting shaft on one side, a flip motor (113) being provided on the stone picking frame (110), and a first driving gear (116) being meshed with the first driven gear (117) being provided at the end of the output shaft of the flip motor (113).

7. The creeping soil turning device according to claim 5, characterized in that: The grabbing manipulator comprises a bending fixed plate (102) and a swing frame (101) hingedly arranged on both sides of the bending fixed plate (102); the middle portion of the swing frame (101) is hingedly connected to the bending fixed plate (102); a cylinder (103) is provided on the bending fixed plate (102); the piston rod end of the cylinder (103) is hingedly connected to the rear end of the swing frame (101); the front end of the swing frame (101) is provided with a bending portion (104) bent inwardly; a stone clamping plate (105) is rotatably provided on the bending portion (104); the stone clamping plate (105) is rotatably connected to the bending portion (104) via a rotating shaft; a second driven gear (106) is provided on the rotating shaft; an adjustment motor (107) is provided on the bending portion (104); and a second driving gear (108) meshing with the second driven gear (106) is provided at the output shaft end of the adjustment motor (107).

8. The creeping soil turning device according to claim 2, characterized in that: The tilling mechanism (4) comprises a support plate (401), the support plate (401) being arranged on the corresponding connecting plate (3) and forming a certain angle therewith, the angle being 60°-75°, a lifting mechanism being provided on the support plate (401), a knife bar mounting plate (405) being provided on the lifting mechanism, the lifting mechanism being used to drive the knife bar mounting plate (405) to move up and down, two tilling rods (406) being symmetrically provided on the knife bar mounting plate (405), a tilling motor (412) being provided on the tilling rods (406), a mounting cylinder (408) being provided at the end of the output shaft of the tilling motor (412), and a plurality of rotary tilling blades (407) being evenly distributed on the outer circumferential wall of the mounting cylinder (408) along its circumferential direction.

9. The creeping soil turning device according to claim 8, characterized in that: The lifting mechanism comprises a rack (404) slidably arranged on a support plate (401), a slide plate is provided at the upper and lower ends of the rack (404), a positioning seat (403) is provided on the support plate (401), the slide plate slides through the positioning seat (403), linear guide rails (402) are provided on both sides of the rack (404) on the support plate (401), a tool bar mounting plate (405) is arranged on the rack (404), a slider (410) is provided at the lower end of the tool bar mounting plate (405) and is slidably matched with the linear guide rail (402), and a lifting motor (411) is also provided on the support plate (401), and a driving gear (409) meshing with the rack (404) is provided at the end of the output shaft of the lifting motor (411).

10. The creeping soil turning device according to claim 1, characterized in that: The water spray mechanism (5) comprises a water storage tank (501), a water pump and a water supply pipe are provided on the outer wall of the water storage tank (501), the input end and the output end of the water pump are connected to the water storage tank (501) and the water supply pipe via a pipe, a plurality of spray heads (502) are evenly distributed on the water supply pipe, and an electromagnetic switch valve is also provided on the water supply pipe.

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