Mini-tiller walking mechanism capable of self-adapting to terrain

Abstract

The invention provides a terrain-adaptive mini-tiller walking mechanism, and belongs to the technical field of mini-tiller walking mechanisms, the terrain-adaptive mini-tiller walking mechanism comprises a machine body and a walking mechanism arranged on the machine body, two transmission assemblies are installed in the machine body, a push handle is installed at one end of the machine body, and grips are installed on the outer walls of the two sides of the push handle. According to the device, the arranged walking mechanism can automatically adjust the height and angle of the wheels according to topographic relief, it is ensured that the wheels can make contact with the ground all the time in the moving process, the manual adjustment frequency and time of operators are reduced, the device can continuously and efficiently work, meanwhile, the device can rapidly adapt to various complex terrains, and the working efficiency is improved. The stability of the micro-tillage operation process is guaranteed, the risk of rollover of the device is reduced, the safety of operators and the device is guaranteed, the distance between wheels can be adjusted through the arranged wheel distance adjusting assembly according to the tillage scene, and the tillage efficiency and fineness are improved.

Description

Technical Field

[0001] This invention relates to the field of micro-tiller walking mechanism technology, and more specifically, to a micro-tiller walking mechanism that adapts to terrain. Background Technology

[0002] Against the backdrop of accelerated global agricultural modernization, my country's agricultural production is transforming towards precision, efficiency, and intelligence. Statistics show that hilly and mountainous areas account for over two-thirds of my country's land area. These regions feature small plots of farmland, orchards, terraced fields, and other complex terrains, making it difficult for traditional large agricultural machinery to operate effectively. Mini-tillers, with their small size and maneuverability, have become the mainstay of soil cultivation in these areas. However, existing mini-tiller locomotive mechanisms face numerous technical bottlenecks. In existing technologies, common micro-tiller walking mechanisms have many shortcomings when facing complex and varied terrain. On sloping and undulating terrain, traditional wheeled walking mechanisms are prone to slippage and tipping, posing safety hazards and struggling to maintain stable tillage depth and operational accuracy. Furthermore, existing micro-tiller walking mechanisms cannot automatically adjust their walking posture according to real-time terrain changes, requiring frequent manual intervention from the operator, increasing labor intensity and reducing work efficiency. How to invent a terrain-adaptive micro-tiller walking mechanism to solve these problems has become an urgent issue for those skilled in the art. Summary of the Invention

[0003] To overcome the above shortcomings, this invention provides a terrain-adaptive micro-tiller walking mechanism, which aims to solve the problem that existing micro-tiller walking mechanisms cannot automatically adjust their walking posture according to real-time changes in terrain, requiring frequent manual intervention by operators, which increases labor intensity and reduces work efficiency.

[0004] This invention is implemented as follows: The present invention provides a terrain-adaptive micro-tiller walking mechanism, including a body and a walking mechanism mounted on the body. Two transmission components are installed inside the body, a push handle is installed at one end of the body, and handles are installed on the outer walls of both sides of the push handle. The walking mechanism is installed on the outer walls of both sides of the machine body. The walking mechanism includes a main shaft, a universal joint, a connecting shaft, a fixing plate, a fixing sleeve, a fixing seat, a sleeve rod, an adjusting double-head motor, a first lead screw, a slide rod, a connecting plate, a sleeve plate, an adjusting rod, an adjusting sleeve, a micro-tiller wheel, and a walking wheel.

[0005] Preferably, one end of the main shaft is fixedly connected to the output end of the transmission assembly, the inner wall of the main shaft is rotatably connected to the side wall of the universal joint, one end of the connecting shaft is provided with a rotating groove, and the inner wall of the connecting shaft is rotatably connected to the outer walls of both ends of the universal joint.

[0006] Preferably, a guide block is fixedly connected to one end of the connecting shaft, a fixed shaft is fixedly connected to one end of the fixed plate, a bearing is installed between the inner wall of the fixed sleeve and the outer wall of the fixed shaft, one end of the fixed sleeve is fixedly connected to one end of the fixed seat, an ear plate is fixedly connected to one end of the fixed seat, the two ends of the axle of the micro-tiller and the walking wheel are respectively installed between the connecting shaft and the fixed plate, the inner wall of one end of the axle of the micro-tiller and the walking wheel is slidably connected to the outer wall of the guide block, and the inner wall of the other end of the axle of the micro-tiller and the walking wheel is fixedly connected to the inner wall of the fixed block.

[0007] Preferably, the two sleeve rods are fixedly connected to the upper end of the machine body, and symmetrical sliding grooves are provided on one side of the outer wall of the sleeve rod. The adjusting double-head motor is fixed to one side of the outer wall of the sleeve rod, and one end of each of the two first lead screws is fixedly connected to the output end of the adjusting double-head motor.

[0008] Preferably, the outer wall of the slide rod and the inner wall of the sleeve rod are slidably connected, a slide plate that is slidably connected to the inner wall of the slide groove is fixedly connected to one side of the outer wall of the slide rod, the inner wall of the slide plate is threadedly connected to the outer wall of the first lead screw, one end of the slide rod is fixedly connected to the outer wall of the connecting plate, one side of the outer wall of the connecting plate is fixedly connected to one side of the outer wall of the sleeve plate, and the inner wall of the sleeve plate is slidably connected to the outer wall of the adjusting rod.

[0009] Preferably, the lower end sidewall of the adjusting rod is provided with an annular groove, the outer wall of the annular groove is rotatably connected to the inner wall of the adjusting sleeve, and the outer wall of the adjusting sleeve is fixedly connected to an adjusting shaft that is rotatably connected to the inner wall of the ear plate.

[0010] By adopting the above technical solution, the walking mechanism can automatically adjust the height and angle of the wheels according to the terrain undulations, ensuring that the wheels can always be in contact with the ground during movement. This reduces the number of times and time that operators need to manually adjust the wheels, enabling the device to operate continuously and efficiently. At the same time, it can quickly adapt to various complex terrains, ensuring the stability of the micro-tillage operation, reducing the risk of the device tipping over, and ensuring the safety of operators and the device.

[0011] Preferably, a first support rod and a second support rod are fixedly connected to the outer walls of the two sides of the machine body near one of the sleeve rods, and symmetrical hoppers are fixedly connected to the upper ends of the first support rod and the second support rod.

[0012] Preferably, a side plate is fixedly connected to the inner wall of the upper end of the hopper, a discharge roller is rotatably connected to the inner wall of the hopper near the side plate, a discharge motor is fixedly connected to one side of the outer wall of the hopper, and one end of the discharge motor is fixedly connected to one end of the discharge roller.

[0013] Preferably, the lower inner wall of the hopper is provided with symmetrical limiting grooves, one of the limiting grooves is rotatably connected to a second lead screw, the side wall of the second lead screw is fixedly connected to symmetrical driven gears, one end of the first lead screw is fixedly connected to a driving gear that meshes with the driven gear, and a fixing frame is fixedly connected to the inner wall of the hopper near the driving gear and the driven gear.

[0014] Preferably, a limiting plate is slidably connected to the inner wall of the limiting groove, the inner wall of the limiting plate is threadedly connected to the outer wall of the second lead screw, and an elastic baffle is fixedly connected to the inner wall of the limiting plate and the side of the hopper near the lower side plate.

[0015] By adopting the above technical solution, the fertilizer application component can adjust the opening width below the hopper according to the size of the wheel spacing. This increases the amount of fertilizer applied during large-area cultivation, preventing insufficient fertilizer from affecting crop growth. At the same time, it reduces the amount of fertilizer applied in narrow areas or small-area precision operations, preventing excessive fertilizer from causing waste and environmental pollution. The fertilizer application amount is adjusted through mechanical linkage while adjusting the wheel spacing, eliminating the need for operators to frequently adjust the fertilizer application equipment manually in different operating scenarios. This reduces preparation time and improves overall operating efficiency.

[0016] The beneficial effects of this invention are: The walking mechanism can automatically adjust the height and angle of the wheels according to the terrain undulations, ensuring that the wheels can always be in contact with the ground during movement. This reduces the number of times and time that operators need to manually adjust the wheels, enabling the device to operate continuously and efficiently. At the same time, it can quickly adapt to various complex terrains, ensuring the stability of the micro-tillage operation, reducing the risk of the device tipping over, and ensuring the safety of operators and the device. The adjustable wheel spacing component can adjust the wheel spacing according to the farming scenario, improving farming efficiency and precision. At the same time, in rugged terrain, the adjustable wheel spacing can automatically distribute support force according to the terrain, making the wheels on both sides wear more evenly, avoiding uneven force distribution on the wheels and increasing the wear of individual wheels, thereby extending the overall service life of the wheels. The fertilization components can adjust the opening width below the hopper to adapt to the wheel spacing. This increases the amount of fertilizer applied during large-area cultivation, preventing insufficient fertilization from affecting crop growth. At the same time, it reduces the amount of fertilizer applied in narrow areas or small-area precision operations, preventing excessive fertilizer from causing waste and environmental pollution. The fertilizer application is adjusted through mechanical linkage while adjusting the wheel spacing, eliminating the need for operators to frequently adjust the fertilization equipment manually in different operating scenarios. This reduces preparation time and improves overall operating efficiency. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the walking mechanism of a micro-tiller that adapts to terrain, provided by an embodiment of the present invention; Figure 2 This invention provides a terrain-adaptive micro-tiller. Figure 1 Enlarged view of the structure of region A in the middle; Figure 3 This is a partial half-sectional view of the walking mechanism of a micro-tiller that adapts to terrain, provided by an embodiment of the present invention. Figure 4 This invention provides a terrain-adaptive micro-tiller walking mechanism. Figure 3 Enlarged view of the structure of region B in the middle; Figure 5 This invention provides a terrain-adaptive micro-tiller walking mechanism. Figure 3 Enlarged view of the structure of region C in the middle; Figure 6 This invention provides a terrain-adaptive micro-tiller walking mechanism. Figure 3 Enlarged view of the structure of region D in the middle; Figure 7 This is a top half-sectional view of a partial structure of a terrain-adaptive micro-tiller's walking mechanism provided in an embodiment of the present invention; Figure 8 This invention provides a terrain-adaptive micro-tiller walking mechanism. Figure 7 Enlarged view of the structure of region E in the middle; Figure 9 This invention provides a terrain-adaptive micro-tiller walking mechanism. Figure 7 Enlarged view of the structure of the middle F region; Figure 10 This is a side sectional view of a terrain-adaptive micro-tiller walking mechanism provided by an embodiment of the present invention; Figure 11 This invention provides a terrain-adaptive micro-tiller walking mechanism. Figure 10 Enlarged view of the structure of the G region; Figure 12 This invention provides a terrain-adaptive micro-tiller walking mechanism. Figure 10 Enlarged view of the structure of region H in the middle; Figure 13 This is a partial rear view of a terrain-adaptive micro-tiller walking mechanism provided by an embodiment of the present invention. Figure 14 This invention provides a terrain-adaptive micro-tiller walking mechanism. Figure 13 Enlarged view of the structure of region I in the middle.

[0019] In the diagram: 1. Body; 11. Push handle; 12. Grip; 13. Transmission assembly; 2. Walking mechanism; 21. Main shaft; 211. Universal joint; 22. Connecting shaft; 221. Rotary groove; 222. Guide block; 23. Fixing plate; 231. Fixing shaft; 232. Fixing block; 24. Fixing sleeve; 25. Bearing; 26. Fixing seat; 261. Ear plate; 3. Sleeve rod; 31. Slide groove; 32. Adjusting dual-head motor; 33. First lead screw; 331. Active... 4. Gear; 5. Slide rod; 6. Slide plate; 7. Connecting plate; 8. Sleeve plate; 9. Adjusting rod; 10. Annular groove; 11. Adjusting sleeve; 2. Adjusting shaft; 3. First support rod; 42. Second support rod; 5. Hopper; 63. Limiting groove; 7. Second lead screw; 8. Driven gear; 9. Side plate; 10. Fixed frame; 11. Limiting plate; 12. Elastic baffle; 13. Feeding motor; 14. Unloading roller; 15. Tiller wheel; 16. Walking wheel. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Example, refer to Figures 1-14 An adaptive terrain micro-tiller walking mechanism includes a body 1 and a walking mechanism 2 mounted on the body 1. Two transmission components 13 are installed inside the body 1. A push handle 11 is installed at one end of the body 1, and handles 12 are installed on the outer walls of both sides of the push handle 11. The walking mechanism 2 is installed on the outer walls of both sides of the machine body 1. The walking mechanism 2 includes a main shaft 21, a universal joint 211, a connecting shaft 22, a fixing plate 23, a fixing sleeve 24, a fixing seat 26, a sleeve rod 3, an adjusting double-head motor 32, a first lead screw 33, a slide rod 4, a connecting plate 42, a sleeve plate 43, an adjusting rod 44, an adjusting sleeve 45, a micro-tiller wheel 7, and a walking wheel 8.

[0022] Furthermore; one end of the main shaft 21 is fixedly connected to the output end of the transmission assembly 13, the inner wall of the main shaft 21 is rotatably connected to the side wall of the universal joint 211, one end of the connecting shaft 22 is provided with a rotating groove 221, the inner wall of the connecting shaft 22 is rotatably connected to the outer walls of both ends of the universal joint 211, one end of the connecting shaft 22 is fixedly connected to a guide block 222, one end of the fixing plate 23 is fixedly connected to a fixing shaft 231, a bearing 25 is installed between the inner wall of the fixing sleeve 24 and the outer wall of the fixing shaft 231, one end of the fixing sleeve 24 is fixedly connected to one end of the fixing seat 26, one end of the fixing seat 26 is fixedly connected to an ear plate 261, the two ends of the shafts of the micro-tiller wheel 7 and the walking wheel 8 are respectively installed between the connecting shaft 22 and the fixing plate 23, the inner wall of one end of the shaft of the micro-tiller wheel 7 and the walking wheel 8 is slidably connected to the outer wall of the guide block 222, and the inner wall of the other end of the shaft of the micro-tiller wheel 7 and the walking wheel 8 is fixedly connected to the inner wall of the fixing block 232. Two sleeve rods 3 are fixedly connected to the upper end of the body 1. A symmetrical sliding groove 31 is provided on one side of the outer wall of the sleeve rod 3. The adjusting double-head motor 32 is fixedly connected to one side of the outer wall of the sleeve rod 3. One end of each of the two first lead screws 33 is fixedly connected to the output end of the adjusting double-head motor 32. The outer wall of the slide rod 4 is slidably connected to the inner wall of the sleeve rod 3. A sliding plate 41 that is slidably connected to the inner wall of the sliding groove 31 is fixedly connected to one side of the outer wall of the slide rod 4. The inner wall of the sliding plate 41 is threadedly connected to the outer wall of the first lead screw 33. One end of the slide rod 4 is fixedly connected to the outer wall of the connecting plate 42. One side of the outer wall of the connecting plate 42 is fixedly connected to one side of the outer wall of the sleeve plate 43. The inner wall of the sleeve plate 43 is slidably connected to the outer wall of the adjusting rod 44. An annular groove 441 is provided on the lower side wall of the adjusting rod 44. The outer wall of the annular groove 441 is rotatably connected to the inner wall of the adjusting sleeve 45. An adjusting shaft 451 that is rotatably connected to the inner wall of the ear plate 261 is fixedly connected to the outer side wall of the adjusting sleeve 45.

[0023] It should be noted that: the transmission assembly 13, located inside the machine body 1, houses a drive source that works with the gearbox to drive the two-end walking mechanisms 2. The speed of the machine body 1 is adjusted via a gear lever near the push handle 11. When the device is in operation, the transmission assembly 13 drives the main shaft 21 to rotate, which in turn drives the connected shaft 22 to rotate. Simultaneously, the guide block 222, the micro-tiller wheel 7, and the walking wheels 8 are connected and positioned to rotate, thus enabling the overall movement of the device. During this movement, the micro-tiller wheel 7 at the front penetrates into the soft soil to plow. When the terrain near the micro-tiller wheels 7 is uneven, to prevent the machine body 1 from shaking and to avoid the unevenness affecting the device's movement, the end of the connected shaft 22 near the rotating groove 221 automatically bends. Meanwhile, the fixed seat 26, acting on the ear plate 261 and the adjusting sleeve 45... Simultaneously, the device adaptively bends, and during this process, the adjusting rod 44 slides up and down on the inner wall of the sleeve plate 43, and the guide block 222 slides inside the shaft of the micro-tiller wheel 7 and the walking wheel 8. In this way, the height of both ends of the walking mechanism 2 is adaptively adjusted up and down during the walking process. At the same time, the machine body 1 maintains a parallel state under the action of gravity, avoiding tilting of the machine body 1 and affecting the user's operation. It also avoids the machine body 1 from tipping over due to excessive tilt angle. The entire machine body 1 can automatically adjust the height and angle of the walking mechanism 2 according to the terrain undulations, ensuring that the walking mechanism 2 can always be in contact with the ground during the movement. This reduces the number of times and time that the operator needs to manually adjust, enabling the device to work continuously and efficiently. At the same time, the adaptive function allows the device to quickly adapt to various complex terrains, ensuring the stability of the micro-tiller operation process and ensuring the safety of the operator and the device. Near the top of the walking wheel 8, the sleeve rod 3 is equipped with a drive mechanism that adjusts the distance between the two walking wheels 8. This drive mechanism is the same as the mechanism that controls the distance adjustment of the tiller wheel 7. The two mechanisms exist independently and control the distance between the tiller wheel 7 and the walking wheel 8 respectively. At the same time, in order to select the appropriate tillage method according to different requirements, the first lead screw 33 is rotated by driving the dual-head motor 32. During the rotation, it engages the outer sliding plate 41, causing the sliding rod 4 to slide inside the sleeve rod 3. While the sleeve rod 3 is sliding, the sleeve plate 43 at one end drives the adjusting rod 44 on the inner wall and the tiller wheel 7 and walking wheel 8 connected to the lower fixed plate 23 on the outer wall of the guide block 222. The sliding mechanism allows for adjustment of the spacing between the walking mechanisms 2. When large-area cultivation is required, increasing the wheel track increases the lateral coverage width of the micro-tiller 7, allowing for the cultivation of a wider area in a single pass, reducing the number of round trips and improving cultivation efficiency. In orchards and vegetable gardens where cultivation along crop rows is necessary, reducing the wheel track precisely matches the width between ridges, preventing damage to crop roots and missed areas, thus improving the precision of the cultivation process. Furthermore, in rugged terrain, the adjustable wheel track automatically distributes support force according to the terrain, making the wear of the wheels on both sides more even, preventing uneven force distribution from increasing the wear of individual wheels, and thus extending the overall service life of the moving wheels.

[0024] Furthermore, a first support rod 5 and a second support rod 51 are fixedly connected to the outer walls of the machine body 1 near one of the sleeve rods 3, respectively. Symmetrical hoppers 6 are fixedly connected above the two ends of the first support rod 5 and the second support rod 51. A side plate 63 is fixedly connected to the inner wall of the upper end of the hopper 6. A discharge roller 68 is rotatably connected to the inner wall of the hopper 6 near the side plate 63. A feeding motor 67 is fixedly connected to one side of the outer wall of the hopper 6. One end of the feeding motor 67 is fixedly connected to one end of the discharge roller 68. Symmetrical limiting grooves 61 are opened on the inner wall of the lower end of the hopper 6. One of the limiting grooves... A second lead screw 62 is rotatably connected to the inner wall of 61. A symmetrical driven gear 621 is fixedly connected to the side wall of the second lead screw 62. A driving gear 331 that meshes with the driven gear 621 is fixedly connected to one end of the first lead screw 33. A fixed frame 64 is fixedly connected to the inner wall of the hopper 6 near the driving gear 331 and the driven gear 621. A limiting plate 65 is slidably connected to the inner wall of the limiting groove 61. The inner wall of the limiting plate 65 is threadedly connected to the outer wall of the second lead screw 62. An elastic baffle 66 is fixedly connected to the limiting plate 65 and the inner wall of the hopper 6 near the side plate 63.

[0025] It should be noted that: hoppers 6 are installed on both sides of the upper end of the machine body 1. The hoppers 6 are filled with fertilizer, and the unloading rollers 68 are driven by the unloading motor 67 to rotate, thus discharging the fertilizer. This allows for fertilization of the cultivated land while tilling, reducing the need for manual fertilization and lowering the labor intensity of workers. Simultaneously, during the adjustment of the wheel spacing, the first lead screw 33 rotates, and its driving gear 331 meshes with the driven gear 621 on the outer side of the second lead screw 62, causing the entire second lead screw 62 to rotate. During the rotation of the second lead screw 62, the outer limiting plate 65 slides against the inner wall of the limiting groove 61. The movement of the limiting plate 65 causes the upper elastic baffle 66 to move, thereby changing the size of the lower opening of the hopper 6. This allows the width of the discharge port to be automatically adjusted according to the wheel spacing, ensuring a precise match between the amount of fertilizer applied and the cultivated area. This increases the amount of fertilizer applied during large-area cultivation to prevent insufficient fertilizer from affecting crop growth, while reducing the amount of fertilizer applied during narrow areas or small-area precision operations to prevent excessive fertilizer use, waste, and environmental pollution. The fertilizer application is adjusted through mechanical linkage while adjusting the wheel spacing, eliminating the need for operators to frequently adjust the fertilization equipment manually in different operating scenarios, reducing preparation time, and improving overall operating efficiency. It should be noted that the specific model and specifications of the motor need to be selected and determined based on the actual specifications of the device. The specific selection and calculation method adopts the existing technology in this field, so it will not be described in detail here.

[0026] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the invention should be included within the scope of protection of the invention.

Claims

1. A terrain-adaptive micro-tiller walking mechanism, comprising a body (1) and a walking mechanism (2) mounted on the body (1), characterized in that, The body (1) has two transmission components (13) installed inside. A push handle (11) is installed at one end of the body (1), and handles (12) are installed on the outer walls of both sides of the push handle (11). The walking mechanism (2) is installed on the outer walls of both sides of the machine body (1). The walking mechanism (2) includes a main shaft (21), a universal joint (211), a connecting shaft (22), a fixing plate (23), a fixing sleeve (24), a fixing seat (26), a sleeve rod (3), an adjusting double-head motor (32), a first lead screw (33), a slide rod (4), a connecting plate (42), a sleeve plate (43), an adjusting rod (44), an adjusting sleeve (45), a micro-tiller wheel (7), and a walking wheel (8).

2. The adaptive terrain walking mechanism for a micro-tiller according to claim 1, characterized in that, One end of the main shaft (21) is fixedly connected to the output end of the transmission assembly (13), the inner wall of the main shaft (21) is rotatably connected to the side wall of the universal joint (211), one end of the connecting shaft (22) is provided with a rotating groove (221), and the inner wall of the connecting shaft (22) is rotatably connected to the outer walls of both ends of the universal joint (211).

3. The adaptive terrain walking mechanism for a micro-tiller according to claim 2, characterized in that, One end of the connecting shaft (22) is fixedly connected to a guide block (222), one end of the fixing plate (23) is fixedly connected to a fixing shaft (231), a bearing (25) is installed between the inner wall of the fixing sleeve (24) and the outer wall of the fixing shaft (231), one end of the fixing sleeve (24) is fixedly connected to one end of the fixing seat (26), one end of the fixing seat (26) is fixedly connected to an ear plate (261), the two ends of the shaft of the micro-tiller (7) and the walking wheel (8) are respectively installed between the connecting shaft (22) and the fixing plate (23), the inner wall of one end of the shaft of the micro-tiller (7) and the walking wheel (8) is slidably connected to the outer wall of the guide block (222), and the inner wall of the other end of the shaft of the micro-tiller (7) and the walking wheel (8) is fixedly connected to the inner wall of the fixing block (232).

4. The adaptive terrain walking mechanism for a micro-tiller according to claim 3, characterized in that, The two sleeve rods (3) are fixedly connected to the upper end of the machine body (1). A symmetrical sliding groove (31) is provided on one side of the outer wall of the sleeve rod (3). The adjusting double-head motor (32) is fixed on one side of the outer wall of the sleeve rod (3). One end of the two first lead screws (33) is fixedly connected to the output end of the adjusting double-head motor (32).

5. The adaptive terrain walking mechanism for a micro-tiller according to claim 4, characterized in that, The outer wall of the slide rod (4) is slidably connected to the inner wall of the sleeve rod (3). A slide plate (41) that is slidably connected to the inner wall of the slide groove (31) is fixedly connected to one side of the outer wall of the slide rod (4). The inner wall of the slide plate (41) is threadedly connected to the outer wall of the first lead screw (33). One end of the slide rod (4) is fixedly connected to the outer wall of the connecting plate (42). One side of the outer wall of the connecting plate (42) is fixedly connected to one side of the outer wall of the sleeve plate (43). The inner wall of the sleeve plate (43) is slidably connected to the outer wall of the adjusting rod (44).

6. The adaptive terrain walking mechanism for a micro-tiller according to claim 5, characterized in that, The lower end side wall of the adjusting rod (44) is provided with an annular groove (441), the outer wall of the annular groove (441) is rotatably connected to the inner wall of the adjusting sleeve (45), and the outer side wall of the adjusting sleeve (45) is fixedly connected to an adjusting shaft (451) that is rotatably connected to the inner wall of the ear plate (261).

7. The adaptive terrain walking mechanism for a micro-tiller according to claim 1, characterized in that, The machine body (1) has a first support rod (5) and a second support rod (51) fixedly connected to the outer walls of both sides near one of the sleeve rods (3), and symmetrical hoppers (6) are fixedly connected above the two ends of the first support rod (5) and the second support rod (51).

8. The adaptive terrain walking mechanism for a micro-tiller according to claim 7, characterized in that, A side plate (63) is fixedly connected to the inner wall of the upper end of the hopper (6). A discharge roller (68) is rotatably connected to the inner wall of the hopper (6) near the side plate (63). A feeding motor (67) is fixedly connected to the outer wall of one side of the hopper (6). One end of the feeding motor (67) is fixedly connected to one end of the discharge roller (68).

9. The adaptive terrain walking mechanism for a micro-tiller according to claim 8, characterized in that, The lower inner wall of the hopper (6) is provided with symmetrical limiting grooves (61), and a second lead screw (62) is rotatably connected to the inner wall of one of the limiting grooves (61). A symmetrical driven gear (621) is fixedly connected to the side wall of the second lead screw (62). One end of the first lead screw (33) is fixedly connected to a driving gear (331) that meshes with the driven gear (621). A fixing frame (64) is fixedly connected between the driving gear (331) and the driven gear (621) on the inner wall of the hopper (6).

10. The adaptive terrain walking mechanism for a micro-tiller according to claim 9, characterized in that, The inner wall of the limiting groove (61) is slidably connected to the limiting plate (65), the inner wall of the limiting plate (65) is threadedly connected to the outer wall of the second lead screw (62), and the inner wall of the limiting plate (65) and the hopper (6) near the side plate (63) is fixedly connected to an elastic baffle (66).

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