A loose soil robot with a fusion support rotary tillage mechanism

Abstract

The application relates to the technical field of planting and seeding equipment, in particular to a fusion type supporting rotary tillage mechanism for a soil loosening robot. The mechanism takes a supporting rotary tillage assembly box as a carrier, is internally provided with a rotary tillage motor, and is driven to link a knife shaft through a bevel gear, a gear shaft and a transmission chain in linkage with a transmission structure box. Lifting is controlled by a hydraulic lifting mechanism through a connecting rod and a swing shaft. Left and right swinging is realized by transmitting to a moving swing shaft through a gear disc, a T-shaped sliding block and an arc-shaped swing mechanism. A piano protective cover, a hydraulic damper and the like are assembled to improve sealing and posture stability. The mechanism can be coordinated with a main control box, a laser radar, an industrial camera and the like to realize tillage depth closed-loop control, dynamic obstacle avoidance and intelligent operation. The mechanism has the advantages of compact structure, enhanced bearing capacity, accurately constant tillage depth, flexible left and right adjustment without whole vehicle steering, reliable power transmission and durable protection.

Description

Technical Field

[0001] This invention relates to the field of planting and sowing equipment technology, specifically to an integrated support rotary tillage mechanism for a soil loosening robot. Background Technology

[0002] A soil-loosening robot is an agricultural automation device that integrates robotics, artificial intelligence, sensors, and precision machinery. Its core function is to autonomously or with human assistance loosen and break up soil in farmland, gardens, or greenhouses to improve soil structure and create optimal conditions for sowing, fertilizing, or irrigation.

[0003] For soil-tillage robots, the supporting connection between the rotary tillage mechanism and the main body typically employs a simple and primitive rigid connection. The rotary tillage roller assembly (including the cutter shaft, bearing housing, and transmission components) is directly and rigidly fixed to the robot's main chassis frame using bolts or flanges. Firstly, while this connection method is simple and inexpensive to manufacture, it results in uneven tillage depth when the robot travels on uneven ground. The rigid rotary tillage mechanism leads to variations in tillage depth, limiting its applicability and highlighting the problem of a single supporting structure. Secondly, the left and right turning of the rotary tillage mechanism can only be adjusted by rotating the main body. For tillage in specific soil locations, such as narrow areas where the main body cannot easily adjust its direction, the rotary tillage roller cannot effectively till and loosen the soil, thus limiting its adjustment flexibility.

[0004] In view of the above-mentioned problems, this technical solution designs an integrated support rotary tillage mechanism for a soil loosening robot. Summary of the Invention

[0005] The purpose of this invention is to provide an integrated support rotary tillage mechanism for a soil loosening robot, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A soil loosening robot includes a body, tracks, a main control box, a rotary tillage assembly, a lifting mechanism, etc.; a fusion-type support rotary tillage mechanism is used in the soil loosening robot, which is set between the rotary tillage assembly and the lifting mechanism. It includes a support rotary tillage assembly box, which is oscillatingly connected to the lifting mechanism on the side facing the lifting mechanism. The lifting mechanism is inclinedly set inside the body. The lower part of both sides of the support rotary tillage assembly box is symmetrically rotatably connected to the inner front of the body through a swing shaft and bearing. That is, under the extension and retraction movement of the lifting mechanism, the support rotary tillage assembly box is controlled to swing up and down on the front side of the body. A rotary tillage motor is installed inside the support rotary tillage assembly box along its length. A left and right swing assembly box is connected to the front end of the support rotary tillage assembly box. A left and right swing assembly is set inside the left and right swing assembly box. One end of the left and right swing assembly is connected to the output shaft of the rotary tillage motor, and the other end passes through the box wall of the left and right swing assembly box and is connected to the drive end of the rotary tillage assembly.

[0008] The rotary tillage assembly includes rotary tillage blades, a blade shaft, and a transmission structure box. The rotary tillage blades are evenly arranged on the outer wall of the blade shaft. The transmission structure box is installed in the middle of the blade shaft and extends towards the side supporting the rotary tillage assembly box. The transmission structure box contains a transmission structure, which is connected to one end of the left and right swinging assembly. While adjusting the left and right direction, the left and right swinging assembly drives the transmission structure to control the rotation of the blade shaft, thereby controlling the rotary tillage blades to rotate stably and continuously.

[0009] By placing the rotary tiller motor inside the supporting rotary tiller assembly box, and connecting the left-right swing assembly box to the end of the supporting rotary tiller assembly box, the rotary tiller assembly can be swung up and down and left and right, and the rotary tiller assembly can be driven to rotate synchronously. By integrating the supporting structure for the rotary tiller assembly with the rotating structure for driving the rotary tiller assembly, the strength of the support and the compactness of the structure are increased. At the same time, the left-right swing assembly box increases the left-right adjustment function of the rotary tiller assembly, further expanding the application range of this soil loosening robot.

[0010] Compared with the prior art, the beneficial effects of the present invention are: by integrating support and drive, the structure is compact and the load-bearing capacity is enhanced; the integrated design of the support rotary tillage component box and the transmission box reduces the volume and connecting parts, and improves the overall rigidity and reliability.

[0011] The left and right angles can be adjusted by swing servo drive and arc swing mechanism, which is suitable for narrow areas or inter-row operations. It can be flexibly adjusted laterally without the need for the whole machine to turn, making it more maneuverable.

[0012] By employing helical gears, gear shafts, and cascaded transmission chains, the system exhibits strong resistance to impact and interference, reliable and stable power transmission, and ensures stable output from the cutter shaft under various working conditions. Attached Figure Description

[0013] Figure 1This is a schematic diagram of a soil-loosening robot.

[0014] Figure 2 This is a top-view partial structural diagram of a soil-loosening robot.

[0015] Figure 3 This is a three-dimensional structural diagram of a fusion-support rotary tillage mechanism for a soil loosening robot.

[0016] Figure 4 This is a front view schematic diagram of a fusion-support rotary tillage mechanism for a soil loosening robot.

[0017] Figure 5 This is a schematic diagram of the internal three-dimensional structure of the swing component box in a fusion-support rotary tillage mechanism for a soil loosening robot.

[0018] Figure 6 This is a front view schematic diagram of the swing component box in a fusion-support rotary tillage mechanism for a soil loosening robot.

[0019] Figure 7 for Figure 6 A magnified structural diagram of A in the middle.

[0020] Figure 8 for Figure 5 A magnified structural diagram of B in the diagram.

[0021] Figure 9 for Figure 2 A magnified structural diagram of C.

[0022] Figure 10 This is a schematic diagram of the transmission structure in a fusion-support rotary tillage mechanism for a soil loosening robot.

[0023] The components include: body 10, track 11, main control box 12, rotary tiller blade 13, blade shaft 14, transmission structure box 15, rotary tiller support component box 16, lifting mechanism 17, shaft frame 18, connecting rod 19, left and right swing component box 20, rotary tiller protective shell 21, swing shaft 22, bearing 23, lidar 24, industrial camera 25, hydraulic damper 26, swing rod frame 27, swing fixed plate 28, driven gear plate 29, driving gear 30, swing servo drive motor 31, fixed base 32, T-shaped slide 33, T-shaped slider 34, fixed connecting rod 35, arc-shaped fixed block 36, arc-shaped swing block 37, fixed swing shaft 38, U-shaped swing frame I 39, U-shaped swing frame II 40, cross connecting rod 41, moving swing shaft 42, arc-shaped slide 43, bellows protective cover 44, helical gear I 46, helical gear II 47, gear shaft 48, chain shaft 49, and transmission chain 50. Detailed Implementation

[0024] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0025] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, 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," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0026] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0027] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0028] Please see Figures 1-4 , Figure 9 A soil loosening robot includes a body 10, tracks 11, a main control box 12, a rotary tillage component, a lifting mechanism 17, etc., wherein a fusion support rotary tillage mechanism for soil loosening robot is provided between the rotary tillage component and the lifting mechanism 17. This mechanism is used to fusion connect the rotary tillage component and the lifting mechanism 17 in the body 10, ensuring that the rotary tillage component is stably supported and lifted while driving the rotary tillage component to rotate.

[0029] A fusion-type support rotary tillage mechanism for a soil loosening robot includes a support rotary tillage component box 16. The support rotary tillage component box 16 is oscillatingly connected to the lifting mechanism 17 on the side facing the lifting mechanism 17. The lifting mechanism 17 is inclinedly arranged inside the body 10. The lower part of both sides of the support rotary tillage component box 16 is symmetrically rotatably connected to the front inner side of the body 10 through the swing shaft 22 and bearing 23. That is, under the extension and retraction movement of the lifting mechanism 17, the support rotary tillage component box 16 is controlled to swing up and down on the front side of the body 10. A rotary tillage motor is installed inside the support rotary tillage component box 16 along its length direction. A left and right swing component box 20 is connected to the front end of the support rotary tillage component box 16. A left and right swing component is installed inside the left and right swing component box 20. One end of the left and right swing component is connected to the output shaft of the rotary tillage motor, and the other end passes through the box wall of the left and right swing component box 20 and is connected to the drive end of the rotary tillage component.

[0030] The rotary tillage assembly includes rotary tillage blades 13, a blade shaft 14, and a transmission structure box 15. The rotary tillage blades 13 are evenly arranged on the outer wall of the blade shaft 14. The transmission structure box 15 is installed in the middle of the blade shaft 14 and extends toward the side supporting the rotary tillage assembly box 16. The transmission structure box 15 is provided with a transmission structure. The transmission structure is connected to one end of the left and right swinging component. While adjusting the left and right direction, the left and right swinging component drives the transmission structure to control the rotation of the blade shaft 14, thereby controlling the rotary tillage blades 13 to rotate stably and continuously.

[0031] That is, by placing the rotary tiller motor inside the supporting rotary tiller component box 16, and connecting the left and right swing component box 20 to the end of the supporting rotary tiller component box 16, the rotary tiller component can be swung up and down and left and right, and the rotary tiller component can be driven to rotate synchronously. By integrating the support structure supporting the rotary tiller component with the rotation structure driving the rotary tiller component, the strength of the support is increased and the compactness of the structure is improved. At the same time, the left and right swing component box 20 is used to increase the left and right adjustment function of the rotary tiller component, further expanding the application range of this soil loosening robot.

[0032] In this embodiment of the invention, a rotary tillage protective shell 21 is installed on the outside of the rotary tillage blade 13. The bottom and front of the rotary tillage protective shell 21 are provided with openings to prevent soil from splashing out when the rotary tillage blade 13 is loosening the soil.

[0033] Specifically, the lifting mechanism 17 includes a hydraulic cylinder and a hydraulic rod; the hydraulic rod is located at the output end of the hydraulic cylinder, and a connecting rod 19 is installed at the top of the hydraulic rod. The end of the connecting rod 19 is rotatably connected to a shaft frame 18 fixed on the side wall of the supporting rotary tillage component box 16 through a swing shaft. That is, by means of the extension and retraction of the hydraulic rod, the outside of the supporting rotary tillage component box 16 is controlled to swing up and down around the swing shaft 22, thereby realizing the lifting control of the rotary tillage blade 13 and the blade shaft 14.

[0034] It should be noted that the rotary tillage component box 16 is rotatably connected to the machine body 10 via the swing shaft 22. A swing slot is provided at the machine body 10, that is, the rotary tillage component box 16 is placed in the swing slot, and then it is rotatably set in the swing slot by the swing shaft 22 and the bearing 23.

[0035] In one embodiment of the present invention, the supporting rotary tillage component box 16 is configured with an open structure on the outer periphery, which is connected by a bellows cover 44. This is used to ensure that when the left and right swinging component controls the left and right adjustment angle of the transmission structure box 15, the supporting rotary tillage component box 16 is in a stationary state. At the same time, the bellows cover 44 expands and contracts synchronously to maintain the sealing of the inside of the supporting rotary tillage component box 16 at all times, preventing external soil and dust from entering the inside of the supporting rotary tillage component box 16.

[0036] like Figures 3-8 As shown, the left-right swing assembly includes a circular swing fixing plate 28 disposed in the center of the left-right swing assembly box 20. The side of the swing fixing plate 28 facing the supporting rotary tiller assembly box 16 is fixed to the inner wall of the left-right swing assembly box 20 by a fixing base 32. An arc-shaped fixing block 36 and an arc-shaped swing block 37 are respectively fixedly installed on the bottom of the swing fixing plate 28 facing the supporting rotary tiller assembly box 16 and the transmission structure box 15. The arc-shaped swing block 37 swings left and right relative to the arc-shaped fixing block 36. The middle parts of the arc-shaped fixing block 36 and the arc-shaped swing block 37 are respectively horizontally... The movement passes through a fixed swing shaft 38 and a movable swing shaft 42. The end of the fixed swing shaft 38 away from the center of the swing fixed plate 28 is connected to the output end of the rotary tillage motor inside the support rotary tillage component box 16. The end of the movable swing shaft 42 away from the center of the swing fixed plate 28 passes through the support rotary tillage component box 16 and is connected to the drive end of the transmission structure. The ends of the fixed swing shaft 38 and the movable swing shaft 42 that are close to each other are connected by a rotating swing structure. The rotating swing structure is used to transmit the rotational kinetic energy of the fixed swing shaft 38 toward the movable swing shaft 42, while not affecting the left and right angle swing of the movable swing shaft 42 relative to the fixed swing shaft 38.

[0037] Specifically, the rotating swing structure includes a U-shaped swing frame I 39 and a U-shaped swing frame II 40 respectively connected to the ends of the fixed swing shaft 38 and the movable swing shaft 42. The U-shaped swing frame I 39 and the U-shaped swing frame II 40 are vertically staggered at their openings and are rotatably connected in the middle by a cross connecting rod 41. That is, by utilizing the structure of the cross connecting rod 41 and the rotatable connection, the movable swing shaft 42 is synchronously driven to rotate when the fixed swing shaft 38 rotates, and the rotation of the movable swing shaft 42 relative to the fixed swing shaft 38 is coordinated.

[0038] The bottom wall of the swing fixing plate 28 corresponding to the top of the arc-shaped swing block 37 is provided with an arc-shaped groove 43 with symmetrical left and right lengths. The top of the arc-shaped swing block 37 is slidably connected to the arc-shaped groove 43. The top of the arc-shaped swing block 37 passes through the arc-shaped groove 43 and is connected to a T-shaped slider 34 through a fixed connecting rod 35. The upper inner wall of the swing fixing plate 28 corresponding to the T-shaped slider 34 is provided with a ring of T-shaped groove 33. The T-shaped slider 34 rotates along the inside of the T-shaped groove 33, thereby synchronously driving the arc-shaped swing block 37 to move arc-shaped along the inside of the arc-shaped groove 43 under the connection of the fixed connecting rod 35. At the same time, a set of rotating parts are connected to the top of the T-shaped slider 34. A driven gear 29 is set on the top wall of the swing fixed plate 28. The driven gear 29 is meshed with a drive gear 30 on the side facing the left and right swing component box 20. The bottom of the drive gear 30 is connected to a swing servo drive motor 31 fixed on the fixed base 32. That is, by starting the swing servo drive motor 31, the drive gear 30 is driven to rotate, and then the driven gear 29 is controlled to rotate synchronously. The rotation of the driven gear 29 drives the T-shaped slider 34 to move inside the T-shaped slide groove 33, and finally controls the arc swing block 37 to move inside the arc slide groove 43, thereby driving the transmission structure box 15 at the end of the movable swing shaft 42 to swing left and right.

[0039] Among them, the side wall of the supporting rotary tillage component box 16 facing the transmission structure box 15 is fixed to the end of the transmission structure box 15, and the side wall facing the left and right swing component box 20 is fixed to the end of the left and right swing component box 20, so as to realize that under the connection control of the left and right swing component inside the supporting rotary tillage component box 16, the transmission structure box 15 swings left and right relative to the supporting rotary tillage component box 16.

[0040] The driven gear 29 is rotatably connected to the top center of the swing fixed plate 28 to keep the driven gear 29 rotating stably. At the same time, a shaft plate is provided at the movable penetrating connection between the movable swing shaft 42 and the support rotary tillage component box 16 wall to keep the movable swing shaft 42 in safe contact with the support rotary tillage component box 16 wall and the transmission structure box 15 wall. That is, by means of the swing force of the movable swing shaft 42, the rotary tillage component is synchronously controlled to swing stably left and right.

[0041] It should be noted that the arc length of the arc groove 43 needs to be determined with reference to the left and right swing range of the rotary tiller 13 during the design. That is, while swinging within the maximum distance travel range, it will not interfere with the adjacent structure. At the same time, the swing servo drive motor 31 is set as an asynchronous bidirectional motor to ensure that the active gear 30 can be started to rotate in both directions.

[0042] In a preferred embodiment of the present invention, four sets of hydraulic dampers 26 are arranged in a rectangular pattern between the walls of the left and right swing component boxes 20 on both sides of the swing fixing plate 28. The two ends of the hydraulic dampers 26 are respectively connected to rotating hole pins. Swing rods 27 are installed on the side walls of the left and right swing component boxes 20 corresponding to the rotating hole pins. The swing rods 27 and the rotating hole pins are horizontally swinging connected by a swing shaft, and are in a limited state in the vertical swing direction. That is, when the lifting mechanism 17 controls the vertical swing of the supporting rotary tillage component box 16, the left and right swing component box 20, which is located at the end of the supporting rotary tillage component box 16, swings up and down with the supporting rotary tillage component box 16. At the same time, the vertical swing limit between the two ends of the swing rods 27 and the supporting rotary tillage component box 16, as well as the limit between the fixed swing shaft 38, the movable swing shaft 42 and the arc-shaped fixed block 36 and the arc-shaped swing block 37, maintain the stable vertical lifting of the control transmission structure box 15.

[0043] As a preferred embodiment of the present invention, such as Figure 10 As shown, the transmission structure includes a transmission shaft disposed inside the transmission structure box 15. One end of the transmission shaft facing the inside of the rotary tillage component box 16 is connected to the movable swing shaft 42, and the other end is equipped with a helical gear I 46. A helical gear II 47 is vertically meshed on one side of the helical gear I 46. A gear shaft 48 is installed at the center of the helical gear II 47. At the same time, a chain shaft 49 is disposed at the center of the cutter shaft 14. The chain shaft 49 and the gear shaft 48 are rotatably connected by a transmission chain 50. In this way, the rotational kinetic energy of the movable swing shaft 42 is transferred to the cutter shaft 14 through the transmission of the helical gear I 46, the helical gear II 47, the transmission chain 50, and the chain shaft 49, thereby driving the rotary tillage blade 13 to rotate and loosen the soil.

[0044] Among them, the two ends of the gear shaft 48 are rotatably connected and positioned on the inner wall of the transmission structure box 15, the transmission chain 50 moves through the transmission structure box 15 and extends to the outside of the transmission structure box 15 and is rotatably connected to the chain shaft 49 on the cutter shaft 14, and a support sleeve rod is fitted on the transmission shaft and positioned inside the transmission structure box 15 for positioning the transmission shaft.

[0045] When subjected to stretching or contraction thrust during left-right swinging, the swing arm 27 can control the transmission structure box 15 to swing slowly relative to the supporting rotary tillage component box 16, thereby maintaining stable left-right angle adjustment of the rotary tillage blades 13 and the blade shaft 14.

[0046] In a preferred embodiment of the present invention, the body 10 is also equipped with a main control box 12, a lidar 24, an industrial camera 25, and sensors; the lidar 24 and the industrial camera 25 are connected to the control module in the main control box 12, and the control module is also connected to electrical components such as the swing servo drive motor 31 and the hydraulic cylinder; the control module serves as the control center of the entire soil loosening robot, which receives data from all sensors such as lidar, vision camera, GPS, and tilt sensor, and then runs the core control algorithm, including path planning, tillage depth control, obstacle avoidance algorithm, etc., that is, according to the program settings and real-time sensor information, it calculates the precise instructions that need to be issued to the swing servo drive motor 31 and the hydraulic cylinder;

[0047] The above operation process is briefly described and illustrated in the following example:

[0048] The task to be performed is to autonomously traverse the farmland and perform rotary tillage operations according to the tillage depth of 20 centimeters for the left and right swing component box.

[0049] (1) Start-up and initial positioning: The main control box 12 plans the first working path according to the preset working map and GPS signal. It sends a command to the walking system: "Start, move forward in a straight line at speed S1", driving the track 11, and the robot begins to move.

[0050] (2) Rotary tillage blade 13 soil entry and tillage depth control: At the same time, the main control box 12 needs to control the operation of the rotary tillage blade 13. First, it sends a "start" command to the servo motor that drives the rotary tillage blade roller to rotate, and the blade shaft 14 starts to rotate at high speed. Then, the main control box 12 sends a signal to the solenoid valve of the hydraulic system to control the hydraulic cylinder to contract and press the entire rotary tillage mechanism down until the preset tillage depth of 20 cm for the left and right swing component box is reached.

[0051] The tilt sensor or height sensor installed on the rotary tillage mechanism will feed back the actual tillage depth to the main control box 12 in real time. If the ground is uneven, causing the tillage depth to become 19 cm on the connecting rod or 22 cm on the swing shaft, the main control box 12 will immediately fine-tune the extension and retraction of the hydraulic cylinder to compensate and ensure that the tillage depth is constant at 20 cm on the left and right swing component box.

[0052] (3) Dynamic adjustment during movement: Path tracking: The main control box 12 continuously receives GPS and gyroscope data to determine whether the robot deviates from the preset path. If a slight deviation occurs, it will send a pulse command to the walking system to fine-tune the speed difference between the left and right wheels, correct the heading, and bring the robot back to the correct path.

[0053] Obstacle handling:

[0054] Scenario 1 (Small obstacle that can be overcome): The lidar 24 detects a small mound of soil ahead. The main control box 12 commands the hydraulic cylinder to retract slightly, causing the rotary tiller 13 to rise briefly and overcome the mound more smoothly. Afterward, it immediately descends and resumes the left-right swinging component box with a tillage depth of 20 cm.

[0055] Scenario 2 (Large Obstacle to Avoid): Industrial camera 25 detects a large rock ahead. The main control box 12 immediately sends a "full extension" command to the hydraulic cylinder, completely lifting the rotary tiller blades 13 off the ground and switching to "transport mode." Simultaneously, a complex set of steering and movement commands is sent to the walking system, driving the robot to avoid the large rock. After avoiding it, the rotary tiller blades 13 are lowered again to continue operation.

[0056] (4) Turning around

[0057] When the robot reaches the end of the plot, the main control box 12 executes the end-of-plot turning procedure.

[0058] Steps: Send a command to the hydraulic cylinder to raise the rotary tiller blade 13, send a command to the walking system to make it perform a "swing" action (such as one side of the wheel turning forward and the other side turning backward) to achieve zero-radius or small-radius turning of the robot. After turning and aligning with the next row, lower the rotary tiller blade 13 again and command the walking system to continue moving forward.

[0059] It should be noted that the above is only a simple description of the robot's walking system in conjunction with the LiDAR 24, industrial camera 25, sensors, and other structures. Since the focus of this technical solution is on the structural optimization and improvement at the connection between the left and right swing component box 20 and the transmission structure box 15, the above technical points can be directly understood and implemented through existing related technologies, so they are not described in detail. However, this will not affect the completeness of this technical solution or the sufficiency of the disclosure.

[0060] The working principle of this invention is as follows: During idle periods in this device, all the aforementioned driving components (representing power elements, electrical devices, and compatible power supplies) are connected via wires. The electrical connections are completed in sequence between the working components. The detailed connection methods are well-known in the art. The following mainly describes the working principle and process, without further explanation of the electrical control.

[0061] The main control box 12 receives information from the work map, GPS, LiDAR 24, industrial camera 25, and tilt sensor to complete path planning and initial positioning.

[0062] Rotary tillage motor and cutter shaft start-up: The main control box 12 issues a command to start the rotary tillage motor in the supporting rotary tillage component box 16. The motor output is transmitted to the transmission shaft in the transmission structure box 15 through the fixed swing shaft 38, the rotating swing structure, and the moving swing shaft 42. The cutter shaft 14 is driven through the helical gear I 46 and helical gear II 47, the gear shaft 48, the transmission chain 50 and the chain shaft 49, which drives the rotary tillage blade 13 to rotate. Then, the hydraulic cylinder / hydraulic rod of the lifting mechanism 17 is controlled to move. The top of the hydraulic rod drives the supporting rotary tillage component box 16 to swing up and down around the swing shaft 22 through the connecting rod 19 and the shaft frame 18, so as to realize the soil entry and tillage depth adjustment of the rotary tillage blade 13.

[0063] At the same time, the tilt sensor or height sensor will feed back the real-time tillage depth / attitude to the main control box 12. The main control box 12 will fine-tune the lifting mechanism 17 according to the feedback to ensure a constant tillage depth.

[0064] During operation, in order to adjust the left and right direction, the main control box 12 drives the swing servo drive motor 31 to rotate, drives the active gear 30 to mesh with the driven gear plate 29, so that the T-shaped slider 34 moves in the T-shaped slide groove 33, drives the fixed connecting rod 35 and the arc swing block 37 to move along the arc slide groove 43 in an arc shape, and then drives the moving swing shaft 42 to swing left and right relative to the fixed swing shaft 38. The angle change of the moving swing shaft 42 is transmitted through the transmission structure box 15.

[0065] The hydraulic dampers 26 and the swing rod frame 27 arranged on both sides of the swing fixed plate 28 provide damping and limiting when swinging up and down and left and right.

[0066] If the lidar 24 or industrial camera 25 detects a small obstacle during operation, the main control box 12 instructs the lifting mechanism 17 to briefly raise the rotary tiller blade 13 and reset it after passing the obstacle; if a large obstacle that needs to be avoided is detected, the main control box 12 instructs the lifting mechanism 17 to fully extend, switch the transport mode and drive the walking system to detour, and lower the rotary tiller blade 13 to continue operation after detour. When reaching the end of the field, the main control box 12, together with the lifting mechanism 17 and the walking system, executes the end-of-field turning procedure, completes a small-radius / zero-radius turn and aligns with the next row before continuing operation.

[0067] It should be understood that in this application, all rotating, sliding, meshing, belt-driven and other moving parts are well lubricated and not prone to slippage or wear, and each part is provided with a corresponding protective shell. However, in the accompanying drawings of this application, the connection state of each moving part is not shown. It should also be understood that all parts in this application are made of metal or plastic materials with suitable strength in the relevant field to ensure that their structural rigidity meets the actual requirements.

[0068] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A fusion-type support rotary tillage mechanism for a soil loosening robot, characterized in that, It includes a support rotary tillage component box (16), a lifting mechanism (17), and a left and right swing component box (20). The supporting rotary tillage component box (16) is swayed and connected to the lifting mechanism (17) on the side facing the lifting mechanism (17). The lifting mechanism (17) is inclined and set inside the machine body (10). The lower parts of both sides of the supporting rotary tillage component box (16) are rotatably connected to the inner front of the machine body (10) through the swing swing shaft (22) and bearing (23), so that the extension and retraction movement of the lifting mechanism (17) controls the supporting rotary tillage component box (16) to swing up and down on the front side of the machine body (10). The rotary tillage component box (16) is equipped with a rotary tillage motor along its length. The front end of the rotary tillage component box (16) is connected to a left and right swing component box (20). The left and right swing component box (20) is equipped with a left and right swing component. One end of the left and right swinging component is connected to the output shaft of the rotary tiller motor, and the other end passes through the wall of the left and right swinging component box (20) and is connected to the drive end of the rotary tiller component. The rotary tillage assembly includes rotary tillage blades (13), a blade shaft (14), and a transmission structure box (15). The rotary tillage blades (13) are evenly arranged on the outer wall of the blade shaft (14). The transmission structure box (15) is installed in the middle of the blade shaft (14) and extends toward the side supporting the rotary tillage assembly box (16). The transmission structure box (15) is provided with a transmission structure inside, and the transmission structure is connected to one end of the left and right swinging assembly. The lifting mechanism (17) controls the vertical swing of the rotary tillage assembly box (16), and at the same time, the left and right swing assembly drives the transmission structure to control the rotation and left and right swing of the cutter shaft (14), thereby realizing the integrated drive of supporting, lifting, rotating and adjusting the rotary tillage assembly. The left and right swing assembly includes a swing fixing plate (28), an arc-shaped fixing block (36), an arc-shaped swing block (37), a fixed swing shaft (38), and a movable swing shaft (42); the swing fixing plate (28) is fixed to the inner wall of the left and right swing assembly box (20) by a fixed base (32), the arc-shaped fixing block (36) and the arc-shaped swing block (37) are respectively set on the bottom sides of the swing fixing plate (28), and the arc-shaped swing block (37) swings left and right relative to the arc-shaped fixing block (36); The fixed pendulum shaft (38) and the movable pendulum shaft (42) move laterally through the arc-shaped fixed block (36) and the arc-shaped swing block (37), respectively. One end of the fixed pendulum shaft (38) is connected to the output end of the rotary tillage motor, and one end of the movable pendulum shaft (42) is connected to the drive end of the transmission structure. The ends of the fixed pendulum shaft (38) and the movable pendulum shaft (42) that are close to each other are connected by a rotation swing structure to realize the transmission of rotational kinetic energy and angular swing. The rotating swing structure includes a U-shaped swing frame I (39) and a U-shaped swing frame II (40). The U-shaped swing frame I (39) and the U-shaped swing frame II (40) are vertically staggered at the opening and are rotatably connected in the middle by a cross connecting rod (41), so that when the fixed swing shaft (38) rotates, it synchronously drives the movable swing shaft (42) to rotate, and allows the movable swing shaft (42) to swing left and right relative to the fixed swing shaft (38). The top of the arc-shaped swing block (37) is slidably connected to the arc-shaped groove (43) on the bottom wall of the swing fixing plate (28). The top of the arc-shaped swing block (37) passes through the arc-shaped groove (43) and is connected to a T-shaped slider (34) via a fixed connecting rod (35). The T-shaped slider (34) rotates along the T-shaped groove (33) on the upper inner wall of the swing fixing plate (28). The top of the T-shaped slider (34) is connected to a driven gear (29). The driven gear (29) meshes with a drive gear (30). The drive gear (30) is connected to a swing servo drive motor (31). The drive gear (30) and the driven gear (29) are driven to rotate by the swing servo drive motor (31), thereby controlling the arc-shaped swing block (37) to move within the arc-shaped groove (43), and thus driving the movable swing shaft (42) and the transmission structure box (15) to swing left and right.

2. The integrated support rotary tillage mechanism for the soil loosening robot according to claim 1, characterized in that, The lifting mechanism (17) includes a hydraulic cylinder and a hydraulic rod. The hydraulic rod is located at the output end of the hydraulic cylinder. A connecting rod (19) is installed at the top of the hydraulic rod. The end of the connecting rod (19) is rotatably connected to a shaft frame (18) fixed on the side wall of the supporting rotary tillage assembly box (16) through a swing shaft. The extension and retraction of the hydraulic rod controls the supporting rotary tillage assembly box (16) to swing up and down around the swing shaft (22).

3. The integrated support rotary tillage mechanism for the soil loosening robot according to claim 2, characterized in that, The transmission structure includes a transmission shaft, helical gear I (46), helical gear II (47), gear shaft (48), chain shaft (49), and transmission chain (50). The transmission shaft is located inside the transmission structure box (15), with one end connected to the movable swing shaft (42) and the other end equipped with a helical gear I (46). The helical gear I (46) is vertically meshed with a helical gear II (47). A gear shaft (48) is installed at the center of the helical gear II (47), and a chain shaft (49) is located at the center of the cutter shaft (14). The chain shaft (49) and the gear shaft (48) are rotatably connected through a transmission chain (50) to transmit the rotational kinetic energy of the movable swing shaft (42) to the cutter shaft (14).

4. The integrated support rotary tillage mechanism for the soil loosening robot according to claim 3, characterized in that, The rotary tiller (13) is fitted with a rotary tillage protective shell (21) on its outer side, and the rotary tillage protective shell (21) has openings at its bottom and front.

5. The integrated support rotary tillage mechanism for the soil loosening robot according to claim 4, characterized in that, The outer periphery of the supporting rotary tillage component box (16) is sealed by a bellows cover (44). The bellows cover (44) extends and retracts synchronously when the left and right swing component controls the transmission structure box (15) to adjust the angle, thus maintaining the internal sealing of the supporting rotary tillage component box (16).

6. The integrated support rotary tillage mechanism for the soil loosening robot according to claim 5, characterized in that, Multiple sets of hydraulic dampers (26) are arranged in a rectangular pattern between the walls of the left and right swing component box (20). The two ends of the hydraulic dampers (26) are horizontally swing-connected to the side wall of the left and right swing component box (20) through rotating hole pins and swing rod frames (27), and are in a limited state in the vertical swing direction, which is used to stabilize the vertical lifting of the transmission structure box (15).

7. A soil-loosening robot, characterized in that, It includes a body (10), tracks (11), a main control box (12), a rotary tillage assembly and a lifting mechanism (17), wherein the rotary tillage assembly and the lifting mechanism (17) are provided with an integrated support rotary tillage mechanism as described in any one of claims 1-6.

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