A peristaltic crawling soil-turning device

Abstract

The application relates to a peristaltic crawling type soil turning device, belonging to the technical field of agricultural machinery, 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 a field, the soil turning mechanism is used for ploughing the soil in the field, and the water spraying mechanism is used for spraying water to moisten the ploughed soil. The application integrates the functions of stone picking, soil turning and watering, can complete multiple soil treatment works in one operation, reduces the soil compaction risk caused by the decrease of the equipment entering the field times.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to a creeping soil-turning device. Background Technology

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

[0003] Traditional wheeled or tracked tillage equipment tends to compact soil (especially the subsoil) when moving in the field due to concentrated loads, damaging the soil's pore structure and surface straw, thus affecting root growth and water penetration. Furthermore, it is prone to slipping and getting stuck in wet, soft, uneven, or stubble-covered fields, impacting operational efficiency.

[0004] When tilling soil, tilling equipment often encounters stones on the soil surface. When the stones are too large, they can cause the blades to grind or bend, reducing their lifespan and affecting the tilling effect. When the stones are small, they can easily be caught in the soil as the tilling equipment's blades cut into it, and then buried in the soil as the tilling action progresses. This causes the stones to occupy the effective space in the soil, reducing soil porosity and thus affecting soil aeration and permeability, which is detrimental to crop cultivation.

[0005] Many existing soil turning devices can only dig soil at a single depth. Some improved devices can dig soil layers at different depths by adjusting the swing angle of the digging head. However, because the soil layers are sticky and moist, the soil layers are not evenly mixed, which may lead to inconsistent soil thickness covering the seeds, affecting the germination rate and uniformity of seedling emergence. Summary of the Invention

[0006] In view of this, the purpose 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-mentioned technical problems is: a creeping soil turning device, including a creeping mechanism, a stone picking mechanism disposed at the front end of the creeping mechanism, a soil turning mechanism disposed on the creeping mechanism and located behind the stone picking mechanism, and a water spraying mechanism disposed on the creeping mechanism and located behind the soil turning mechanism. The creeping mechanism is used for creeping 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 turned soil.

[0008] Furthermore, the creeping mechanism includes two oppositely arranged creeping mechanisms, with at least two connecting plates between the two creeping mechanisms. The soil turning mechanism and the water spraying mechanism are respectively installed on two of the connecting plates. Each creeping mechanism includes multiple creeping components arranged along its own length direction. The connecting plates are located between two opposite creeping components, and adjacent creeping components are connected by connecting components. The connecting components include fixed connecting plates respectively arranged on two adjacent creeping components, and an elastic connecting member is provided between the two fixed connecting plates.

[0009] Furthermore, the peristaltic assembly includes a drive mechanism and peristaltic components disposed at both ends of the drive mechanism, wherein the drive mechanism is connected to the peristaltic components via a linkage assembly. The drive mechanism includes a motor mounting plate, a dual-output shaft geared motor mounted on the upper part of the motor mounting plate, and a fixed base plate mounted on the lower part of the motor mounting plate. Eccentric shafts are connected to the output shafts on both sides of the dual-output shaft geared motor through a plum blossom-type coupling. The linkage component includes two linkage components, which are respectively linked to the eccentric shaft and the creeping component.

[0010] Furthermore, the peristaltic component includes a module connecting frame and a module fixing plate connected to the motor mounting plate via an elastic connecting rod, and wheels are rotatably mounted on the module connecting frame; The linkage includes 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. The long connecting plate is provided with an oblong hole, and the module fixing plate is provided with a limiting bolt that passes through the oblong hole and slides with the oblong hole.

[0011] Furthermore, the stone-picking mechanism includes a stone-picking frame, on which a flipping mechanism, a conveyor belt, and a stone storage bin are arranged sequentially from front to back. The flipping mechanism is equipped with a horizontally moving linear module, which is used to drive the horizontally moving linear module to flip. The horizontally moving linear module is equipped with a gripping robot for grabbing stones, which is used to drive the gripping robot to move horizontally.

[0012] Furthermore, the flipping mechanism includes a receiving plate, with both ends of the receiving plate rotatably connected to the stone-picking frame via connecting shafts. A first driven gear is provided on one side of the connecting shaft, and a flipping motor is provided on the stone-picking frame. The output shaft end of the flipping motor is provided with a first driving gear that meshes with the first driven gear.

[0013] Furthermore, the gripping manipulator includes a bending fixed plate and a swing frame hinged to both sides of the bending fixed plate. The middle part of the swing 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 swing frame. The front end of the swing frame is provided with an inwardly bent part. A stone clamping plate is rotatably provided on the bent part. The stone clamping plate is rotatably connected to the bent part through a rotating shaft. A second driven gear is provided on the rotating shaft. An adjusting motor is provided on the bent part. A second driving gear meshes with the second driven gear at the end of the output shaft of the adjusting motor.

[0014] Furthermore, the tilling mechanism includes a support plate, which is set on the corresponding connecting plate at a certain angle, which is 60°-75°. The support plate is provided with a lifting mechanism, and the lifting mechanism is provided with a blade mounting plate. The lifting mechanism is used to drive the blade mounting plate to move up and down. Two tilling rods are symmetrically arranged on the blade mounting plate, and tilling motors are provided on the tilling rods. The output shaft end of the tilling motor is provided with a mounting cylinder, and multiple rotary tillage blades are evenly distributed along its circumference on the outer circumferential wall of the mounting cylinder.

[0015] Furthermore, the lifting mechanism includes a rack slidably mounted on a support plate, with sliding plates at the upper and lower ends of the rack, a positioning seat on the support plate, the sliding plates sliding through the positioning seat, linear guide rails on both sides of the rack on the support plate, a tool holder mounting plate mounted on the rack, a slider at the lower end of the tool holder mounting plate that slides with the linear guide rails, and a lifting motor on the support plate, with a drive gear meshing with the rack 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 delivery pipe are provided on the outer wall of the water storage tank, the input end and output end of the water pump are connected to the water storage tank and the water delivery pipe through a pipe, multiple nozzles are evenly distributed on the water delivery pipe, and an electromagnetic switch valve is also provided on the water delivery 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, adapt to complex terrains such as mountains and hills, and the movement process is stable with minimal impact on the surrounding environment. The peristaltic crawling mechanism is biomimetic to caterpillars and inchworms in nature. It achieves peristaltic crawling on the ground by controlling the movement of multiple linkages through a motor, and disperses the pressure of the machine body on the soil through flexible movement, simulating the gradual contact between organisms and soil, reducing local compaction, and maintaining soil looseness and aeration.

[0018] 2. Traditional planting machinery relies on wheels or tracks for movement, making it difficult to operate flexibly in irregular terrains such as terraces, slopes, orchards, or greenhouses. This invention, however, adapts to complex terrains, enabling continuous, stable, and controllable movement through a wave-like, creeping motion. In clay soil, traditional machinery is prone to efficiency degradation due to soil adhesion, while the wave-like "peel-and-push" mechanism reduces adhesion, significantly improving operational efficiency.

[0019] 3. The wave-like peristalsis generates multi-directional and multi-layered soil shear forces through segmented alternating pressure and release. This discontinuous dynamic disturbance effectively breaks up the soil compaction layer while reducing damage to the deep soil structure. The wave-like motion improves the uniformity of soil fragmentation through randomized stress distribution. In addition, the "arching-contraction" action of the peristaltic mechanism can simultaneously achieve surface loosening and subsurface soil fragmentation, avoiding the problem of "over-fragmentation of the surface and lack of loosening of the deep layer" caused by the fixed depth of traditional machinery.

[0020] 4. This application utilizes a stone-picking mechanism to remove stones, avoiding direct impact on the rotary tiller blades, extending their lifespan, and increasing soil porosity. After picking up the stones, the tiller blades are moved up and down during operation to till the soil at different depths, improving soil mixing uniformity and adapting to the needs of different crops. A watering mechanism is installed behind the rotary tiller blades to immediately moisten the soil with water mist during tilling, reducing soil scattering, suppressing dust generation, and moistening the surface soil. Traditional equipment requires three operations, but this device integrates stone picking, tilling, and watering, completing multiple soil treatment tasks in one operation. This reduces the number of times the equipment needs to enter the field, lowers the risk of soil compaction, reduces energy consumption, and improves operational efficiency, providing a one-stop solution for sustainable agriculture, from soil improvement to planting preparation.

[0021] 5. The stone-collecting mechanism, through the cooperation of a flipping mechanism, a horizontally moving linear module, and a gripping robot, can accurately grasp stones from the soil and transport them to the stone storage bin via a conveyor belt. This effectively removes stones from the soil, providing favorable conditions for subsequent tilling and planting operations. The special structural design of the gripping robot enhances its stone-grabbing ability and improves stone-collecting efficiency.

[0022] 6. The support plate and connecting plate of the soil turning mechanism are at a specific angle. Together with the lifting mechanism and rotary tillage blade, it can perform soil turning operations with adjustable depth, making the soil loose and uniform, improving soil structure, and benefiting crop root growth.

[0023] 7. The water spraying mechanism uses a combination of a water storage tank, a water pump, and high-pressure atomizing nozzles, which can evenly spray water onto the tilled soil, ensuring suitable soil moisture and providing good water conditions for crop seed germination and growth. The electromagnetic switch valve facilitates control of the water spraying start / stop and water volume. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of the present invention.

[0025] Figure 2 This is a schematic diagram of the structure of the connecting component of the present invention.

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

[0027] Figure 4 This is a schematic diagram of the gripping robot of the present invention.

[0028] Figure 5 This is a schematic diagram of the flipping mechanism of the present invention.

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

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

[0031] Figure 8 This is a schematic diagram of the dual-output-shaft geared motor of the present invention.

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

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

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

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

[0036] Figure 13 This is a schematic diagram of the water spray mechanism of the present invention.

[0037] Illustration markings: 1. Stone-collecting mechanism; 3. Connecting plate; 4. Soil-turning mechanism; 5. Water spraying mechanism; 6. Fixed plate; 7. Elastic connector; 101. Swing frame; 102. Bending fixing 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-collecting frame; 111. Stone storage bin; 112. Conveyor belt; 113. Tilting motor; 114. Receiving plate; 115. Horizontal linear module; 116. First driving gear; 117. First driven gear; 201. Module connecting frame; 202 1. Short connecting plate; 203. Long connecting plate; 204. Module fixing plate; 205. Dual output shaft geared motor; 206. Waist-shaped elongated hole; 207. Wheel; 208. Elastic connecting rod; 209. Fixed base plate; 210. Motor mounting plate; 211. Plum blossom type coupling; 212. Motor fixing plate; 401. Support plate; 402. Linear guide rail; 403. Positioning seat; 404. Rack; 405. Blade holder mounting plate; 406. Tilling rod; 407. Rotary tiller blade; 408. Mounting cylinder; 409. Drive gear; 410. Slider; 411. Lifting motor; 412. Tilling motor; 501. Water storage tank; 502. Nozzle. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that, in the description of this invention, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0039] Please see Figure 1-13 The present invention provides a creeping soil turning device, including a creeping mechanism 2, a stone picking mechanism 1 disposed at the front end of the creeping mechanism 2, a soil turning mechanism 4 disposed on the creeping mechanism 2 and located behind the stone picking mechanism 1, and a water spraying mechanism 5 disposed on the creeping mechanism 2 and located behind the soil turning mechanism 4. The creeping mechanism 2 is used to creep and move in the field, the soil turning mechanism 4 is used to turn the soil in the field, and the water spraying mechanism 5 is used to spray water to moisten the turned soil.

[0040] Combination Figure 1 , Figure 2 , Figure 6 , Figure 7 and Figure 8 As shown, the creeping mechanism 2 includes two oppositely arranged creeping mechanisms, with at least two connecting plates 3 between them. A soil-turning mechanism 4 and a water-spraying mechanism 5 are respectively installed on two of the connecting plates 3. Specifically, there are two connecting plates 3: a front connecting plate and a rear connecting plate. The front connecting plate is located near the front end of the creeping mechanism 2, and the rear connecting plate is located near the rear end of the creeping mechanism 2. The front connecting plate is located behind the stone-picking mechanism 1. The soil-turning mechanism 4 is located 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 components arranged along its length. A connecting plate 3 is located between two opposing peristaltic components, and adjacent peristaltic components are connected by a connecting component. The connecting component includes fixed plates 6 respectively disposed on two adjacent peristaltic components, with the fixed plates 6 on the two adjacent peristaltic components arranged opposite to each other. An elastic connector 7 is provided between the two fixed plates 6. The elastic connector 7 is a spring, and its two ends are welded to the two opposing fixed plates 6 respectively. The fixed plate 6 is 7-shaped and includes a horizontal part and a vertical part.

[0042] The peristaltic assembly includes a drive mechanism and peristaltic components disposed at both ends of the drive mechanism. The drive mechanism is linked to the peristaltic components via a linkage assembly. The drive mechanism includes a motor mounting plate 210, a dual-output shaft geared motor 205 disposed on the upper end of the motor mounting plate 210, and a fixed base plate 209 disposed on the lower end of the motor mounting plate 210. The motor mounting plate 210 is U-shaped with the U-shaped opening facing upwards. Eccentric shafts are connected to the output shafts on both sides of the dual-output shaft geared motor 205 via a plum blossom-type coupling 211. The linkage assembly includes two linkage components, located on both sides of the dual-output shaft geared motor 205, and linked to the eccentric shaft and the peristaltic component on the same side, respectively. A connecting plate 3 is disposed between two opposing fixed base plates 209. The connecting plate 3 is U-shaped, and its two ends are bolted to the two opposing fixed base plates 209. The fixed base plates 209 are also U-shaped. It also includes an L-shaped motor mounting plate 212, one side of which is fixed to the dual output shaft geared motor 205 by bolts, and the other side is fixed to the motor mounting plate 210 by bolts.

[0043] The peristaltic component includes a module connecting frame 201 and a module fixing plate 204 connected to the 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 by bolts, and the other end is fixedly connected to the module fixing plate 204 by bolts. The module fixing plate 204 is U-shaped with the U-shape horizontally facing the motor mounting plate 210. A wheel 207 is rotatably mounted on the module connecting frame 201. The horizontal part of the fixing plate 6 is connected to the module connecting frame 201 by bolts. The module connecting frame 201 is U-shaped with the U-shaped opening facing downwards, and the wheel 207 is rotatably mounted within the U-shaped opening. The linkage includes a long connecting plate 203 and a short connecting plate 202. The two ends of the long connecting plate 203 are respectively hinged to the module connecting frame 201 and the eccentric shaft. 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 an oblong hole 206. The module fixing plate 204 is provided with a limiting bolt that passes through the oblong hole 206 and slides with the oblong hole 206.

[0044] The dual-output shaft geared motor 205 in the drive mechanism is mounted on the motor mounting plate 210. Its output shaft is connected to the eccentric shaft through the plum blossom type coupling 211. The eccentric shaft then drives the module connecting frame 201 of the creeping component to move through the linkage long connecting plate 203 and short connecting plate 202, so that the wheel 207 rotates and the creeping crawling is realized.

[0045] Combination Figure 3 As shown, the stone-collecting mechanism 1 includes a stone-collecting frame 110. From front to back, the stone-collecting frame 110 is equipped with a tilting mechanism, a conveyor belt 112, and a stone storage bin 111. The conveyor belt 112 can adopt an existing conveyor belt structure, such as the conveyor belt structure in prior art patent CN220077498U. The stone-collecting frame 110 has two side plates, and the tilting mechanism, conveyor belt 112, and stone storage bin 111 are all located within the two side plates. The tilting mechanism is equipped with a horizontally moving linear module 115, which is used to tilt the horizontally moving linear module 115. The horizontally moving linear module 115 is equipped with a gripping manipulator for grabbing stones, and the horizontally moving linear module 115 is used to drive the gripping manipulator to move horizontally. The horizontally moving linear module 115 can adopt an existing synchronous belt module, such as the synchronous belt module in prior art patent CN217761919U. Synchronous belt modules are prior art and will not be described in detail here. The flipping mechanism includes a receiving plate 114, with both ends of the receiving plate 114 rotatably connected to two side plates of the stone-picking frame 110 via connecting shafts. A first driven gear 117 is mounted on one of the connecting shafts, and a flipping motor 113 is mounted on the stone-picking frame 110. The output shaft of the flipping motor 113 has a first driving gear 116 that meshes with the first driven gear 117. The flipping motor 113 drives the receiving plate 114 to flip via the first driving gear 116 and the first driven gear 117, which in turn drives the horizontal linear module 115 to flip, causing the gripping robot to flip accordingly.

[0046] Combination Figure 4 As shown, the gripping robot includes a bending fixed plate 102 and a swing frame 101 hinged to both sides of the bending fixed plate 102. The middle part of the swing frame 101 is hinged to the bending fixed plate 102. The bending fixed plate 102 has a trapezoidal structure and includes a horizontal plate and inclined portions located at both ends of the horizontal plate and tilting inward. The angle between the inclined portions and the horizontal plate is 145 degrees. The swing frame 101 is hinged to the end of the inclined portion. The swing frame 101 includes two swing rods arranged vertically opposite each other, and a connecting rod is provided between the two swing rods. A cylinder 103 is provided on the bending fixed plate 102 and is located at the rear end of the horizontal plate. The piston rod end of the cylinder 103 is hinged to the rear end of the swing frame 101. The front end of the swing frame 101 has an inwardly bent portion 104. The swing frame 101 and the bent portion 104 are integrally formed. A stone clamping plate 105 is rotatably mounted on the bending section 104, and the stone clamping plate 105 is rotatably connected to the bending section 104 via a rotating shaft. A second driven gear 106 is mounted on the rotating shaft, and an adjusting motor 107 is mounted on the bending section 104. The output shaft end of the adjusting motor 107 has a second driving gear 108 that meshes with the second driven gear 106. The stone clamping plates 105 are U-shaped with the U-shaped opening facing the rotating shaft, and the opposing surfaces of the two stone clamping plates 105 are the clamping surfaces. The swing frame 101 of the gripping robot is controlled to open and close by a cylinder 103, and the angle of the stone clamping plates 105 is controlled by the adjusting motor 107. The adjusting motor 107 controls the angle of the stone clamping plates 105 through gear transmission.

[0047] Combination Figure 9-12 As shown, the tilling mechanism 4 includes a support plate 401, which is mounted on the front connecting plate at a certain angle (60°-75°). A lifting mechanism is mounted on the support plate 401, and a blade mounting plate 405 is mounted on the lifting mechanism. The lifting mechanism drives the blade mounting plate 405 to move up and down. Two tilling rods 406 are symmetrically arranged on the blade mounting plate 405, and a tilling motor 412 is mounted on each tilling rod 406. A groove is provided at the end of the tilling rod 406 away from the blade mounting plate 405, and the tilling motor 412 is disposed within the groove. A mounting cylinder 408 is provided at the end of the output shaft of the tilling motor 412, and multiple rotary tillage blades 407 are evenly distributed along the circumference of the outer circumferential wall of the mounting cylinder 408. The included angle between the blade mounting plate 405 and the tilling rod 406 is 45°-50°, and the included angle between the support plate 401 and the front connecting plate is 60°-75°. These two angles work together to reduce the soil penetration resistance of the rotary tiller blade 407, improve soil breaking ability, and ensure the working effect of the tilling mechanism. Specifically, the included angle between the blade mounting plate 405 and the tilling rod 406 is 45°, and the included angle between the support plate 401 and the front connecting plate is 60°.

[0048] Specifically, the lifting mechanism includes a rack 404 slidably mounted on a support plate 401, with sliding plates at both ends of the rack 404, the sliding plates and the rack 404 being integrally formed. A positioning seat 403 is provided on the support plate 401, through which the sliding plate slidably passes and reciprocates along its length. Linear guide rails 402 are provided on both sides of the rack 404 on the support plate 401. A tool holder mounting plate 405 is mounted on the rack 404, with a boss on the end face of the tool holder mounting plate 405 opposite to the support plate 401, the boss being fixed to the upper end face of the rack 404. A slider 410, which slidably engages with the linear guide rails 402, is provided at the lower end of the tool holder mounting plate 405. A lifting motor 411 is also provided on the support plate 401, with a drive gear 409 meshing with the rack 404 at the end of the output shaft of the lifting motor 411.

[0049] The lifting motor 411 drives the rack 404 to move up and down via the drive gear 409, which in turn drives the blade mounting plate 405 to rise and fall. The turning rod 406 on the blade mounting plate 405 drives the mounting cylinder 408 and the rotary tiller 407 to rotate via the turning motor 412, thereby realizing the turning operation.

[0050] Furthermore, the water spraying mechanism 5 includes a water storage tank 501. A water pump and a water delivery pipe are mounted on the outer wall of the water storage tank 501. The input and output ends of the water pump are connected to the water storage tank 501 and the water delivery pipe via pipes. Multiple nozzles 502, which are high-pressure atomizing nozzles, are evenly distributed on the water delivery pipe. An electromagnetic switch valve is also installed on the water delivery pipe. The water pump delivers water from the water storage tank to the multiple high-pressure atomizing nozzles through the water delivery pipe, and the electromagnetic switch valve controls the start / stop of the water spray and the water volume.

[0051] In addition, a control unit is included, comprising a PLC controller, which is electrically connected to the stone-picking mechanism 1, the soil-turning mechanism 4, and the water-spraying mechanism 5. Specifically, the PLC controller is electrically connected to the dual-output shaft geared motor 205, the horizontal linear module 115, the tilting motor 113, the conveyor belt 112, the adjusting motor 107, the cylinder 103, the soil-turning motor 412, the lifting motor 411, the water pump, the electromagnetic switch valve, the miniature LiDAR sensor, and the vacuum pump 109. The stone-picking mechanism 1 is also equipped with a miniature LiDAR sensor electrically connected to the control unit. The control unit receives data from the miniature LiDAR sensor and controls the operation of each mechanism according to the actual working conditions to achieve intelligent operation. The miniature LiDAR sensor is located at the front end of the bending and fixing plate 102. By emitting laser pulses and receiving reflected signals, it generates three-dimensional point cloud data to sense the path in front of the device and the stones in the soil. It can accurately identify the position, size, and shape of the stones, thereby achieving precise forward movement and stone picking.

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

[0053] For example, in other embodiments, unlike the embodiments described above, an air suction box is provided on the inner side of the stone clamping plate 105. The air suction box has multiple air extraction holes facing the stone clamping plate 105, and adsorption holes are provided on the stone clamping plate 105 opposite to the air extraction holes. 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 work together to enhance the gripping effect.

[0054] For example, in other embodiments, unlike the embodiments described above, the angle between the stone-collecting mechanism 1 and the ground is set between 25° and 35°. Specifically, the angle between the stone-collecting 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 activates the miniature lidar sensor to scan and locate the distribution of stones in the soil. The creeping 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 horizontal moving linear module 115 reaches the appropriate position. Then, the control unit controls the horizontal moving linear module 115 to drive the gripping manipulator to move horizontally to the location of the stone. The motor 107 is adjusted to finely adjust the angle of the stone clamping plate 105, and the cylinder 103 pushes the swing frame 101 to close, so that the stone clamping plate 105 clamps the stone. At the same time, the air pump 109 works to enhance the gripping stability through the air suction box and suction hole. Then the flipping motor 113 starts, and 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, thereby driving the gripping robot to flip so that the gripping robot is above the conveyor belt 112. Then the cylinder 103 pushes the swing frame 101 to open, and the two stone clamping plates 105 release the stone. The stone falls onto the conveyor belt 112, and the conveyor belt 112 transports the stone into the stone storage bin 111, completing the stone picking operation.

[0056] After the stone removal operation is completed, the control unit controls the lifting motor 411 according to the soil conditions to adjust the height of the blade mounting plate 405 so that the rotary tiller 407 reaches the appropriate tillage depth. The tillage motor 412 starts, driving the rotary tiller 407 to rotate and till the soil. The creeping mechanism 2 moves slowly to keep the tillage operation going.

[0057] When the soil turning 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 delivery pipe to spray water and moisten the soil after turning, prevent soil dust, and complete the entire operation process.

[0058] In addition, the stone-picking mechanism 1, the soil-turning mechanism 4, and the water-spraying mechanism 5 of this 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 alterations made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A creeping, soil-turning device, characterized in that, It includes a creeping mechanism (2), a stone-picking mechanism (1) located at the front end of the creeping mechanism (2), a soil-turning mechanism (4) located on the creeping mechanism (2) and behind the stone-picking mechanism (1), and a water-spraying mechanism (5) located on the creeping mechanism (2) and behind the soil-turning mechanism (4). The creeping mechanism (2) is used to move creeping in the field, the soil turning mechanism (4) is used to turn the soil in the field, and the water spraying mechanism (5) is used to spray water to moisten the soil after turning. The creeping mechanism (2) includes two creeping mechanisms arranged opposite each other, with at least two connecting plates (3) between the two creeping mechanisms. The soil turning mechanism (4) and the water spraying mechanism (5) are respectively installed on two of the connecting plates (3). The peristaltic mechanism includes multiple peristaltic components arranged along its own length direction, and the connecting plate (3) is located between two opposite peristaltic components. The two adjacent peristaltic components are connected by the connecting components. The connecting assembly includes fixed plates (6) respectively disposed on two adjacent peristaltic components, and an elastic connector (7) is provided between the two fixed plates (6). The elastic connector (7) is a spring, and the two ends of the spring are welded to the two opposite fixed plates (6) respectively. The peristaltic assembly includes a drive mechanism and peristaltic components disposed at both ends of the drive mechanism. The drive mechanism is connected to the peristaltic components via linkage components. The drive mechanism includes a motor mounting plate (210), a dual-output shaft geared motor (205) set on the upper end of the motor mounting plate (210), and a fixed base plate (209) set on the lower end of the motor mounting plate (210). The output shafts on both sides of the dual-output shaft geared motor (205) are respectively connected to eccentric shafts by plum blossom type couplings (211). The linkage component includes two linkage components, which are respectively linked to the eccentric shaft and the creeping component. The connecting plate (3) is set between two opposite fixed base plates (209). The connecting plate (3) is U-shaped. 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. It also includes an L-shaped motor fixing piece (212). One side of the motor fixing piece (212) is fixed to the dual-output shaft geared motor (205) by bolts, and the other side is fixed to the motor mounting plate (210) by bolts. The peristaltic component includes a module connecting frame (201) and a module fixing plate (204) connected to the motor mounting plate (210) via an elastic connecting rod (208). The module connecting frame (201) is rotatably provided with wheels (207). The linkage includes a long connecting plate (203) and a short connecting plate (202). The two ends of the long connecting plate (203) are respectively hinged to the module connecting frame (201) and the eccentric shaft. 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 an oblong hole (206), and the module fixing plate (204) is provided with a limiting bolt that passes through the oblong hole (206) and slides with the oblong hole (206). The stone picking mechanism (1) includes a stone picking frame (110), and the stone picking frame (110) is provided with a flipping mechanism, a conveyor belt (112) and a stone storage bin (111) from front to back. The flipping mechanism is provided with a horizontal moving linear module (115). The flipping mechanism is used to drive the horizontal moving linear module (115) to flip. The horizontal moving linear module (115) is provided with a gripping manipulator for grabbing stones. The horizontal moving linear module (115) is used to drive the gripping manipulator to move horizontally. The gripping manipulator includes a bending fixed plate (102) and a swing frame (101) hinged on both sides of the bending fixed plate (102). The middle part of the swing frame (101) is hinged 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 hinged to the rear end of the swing frame (101). The front end of the swing frame (101) is provided with an inwardly bent part (104). A stone clamping plate (105) is rotatably provided on the bent part (104). The stone clamping plate (105) is rotatably connected to the bent part (104) through a rotating shaft. A second driven gear (106) is provided on the rotating shaft. An adjusting motor (107) is provided on the bent part (104). The output shaft end of the adjusting motor (107) is provided with a second driving gear (108) that meshes with the second driven gear (106). The inner side of the clamping stone slab (105) is provided with an air suction box. The air suction box is provided with multiple air extraction holes facing the clamping stone slab (105). The clamping stone slab (105) is provided with adsorption holes opposite to the air extraction holes. The air suction box is connected to an air extraction pump (109) through an air extraction pipe. The air suction box and the air extraction pump (109) work together to enhance the gripping effect.

2. The creeping soil-turning device according to claim 1, characterized in that, The flipping mechanism includes a receiving plate (114), and the two ends of the receiving plate (114) are rotatably connected to the stone picking frame (110) through connecting shafts. A first driven gear (117) is provided on one side of the connecting shaft, and a flipping motor (113) is provided on the stone picking frame (110). The output shaft end of the flipping motor (113) is provided with a first driving gear (116) that meshes with the first driven gear (117).

3. The creeping soil-turning device according to claim 2, characterized in that, The soil turning mechanism (4) includes a support plate (401), which is set on the corresponding connecting plate (3) and forms a certain angle with it, which is 60°-75°. The support plate (401) is provided with a lifting mechanism, and the lifting mechanism is provided with a blade mounting plate (405). The lifting mechanism is used to drive the blade mounting plate (405) to move up and down. Two soil turning rods (406) are symmetrically arranged on the blade mounting plate (405). The soil turning rods (406) are provided with a soil turning motor (412). The output shaft end of the soil turning motor (412) is provided with a mounting cylinder (408). Multiple rotary tillage blades (407) are evenly distributed along the circumferential direction on the outer circumferential wall of the mounting cylinder (408).

4. The creeping soil-turning device according to claim 3, characterized in that, The lifting mechanism includes a rack (404) slidably mounted on a support plate (401), with sliding plates at the upper and lower ends of the rack (404), a positioning seat (403) on the support plate (401), the sliding plate sliding through the positioning seat (403), linear guide rails (402) on both sides of the rack (404) on the support plate (401), a tool holder mounting plate (405) mounted on the rack (404), a slider (410) at the lower end of the tool holder mounting plate (405) that slides with the linear guide rails (402), and a lifting motor (411) 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).

5. The creeping soil-turning device according to claim 1, characterized in that, The water spraying mechanism (5) includes a water storage tank (501), a water pump and a water delivery pipe are provided on the outer wall of the water storage tank (501), the input end and output end of the water pump are connected to the water storage tank (501) and the water delivery pipe through a pipe, a plurality of nozzles (502) are evenly distributed on the water delivery pipe, and an electromagnetic switch valve is also provided on the water delivery pipe.

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