Multi-degree-of-freedom programmable deep loosening mechanism and control method thereof

Abstract

The application discloses a kind of multi-degree-of-freedom programmable deep loosening mechanism and control method thereof, belong to agricultural machinery technical field, for the problems such as existing deep loosening machine movement trajectory solidification, single operation mode, lack of multidimensional space movement ability and lack of intelligent closed-loop control system, the mechanism includes initial pitch adjusting mechanism, lateral translation mechanism, operation depth adjusting mechanism, attitude fine adjustment mechanism, shovel body rotating mechanism and control system, each mechanism level connection forms collaborative operation system;Initial pitch adjusting mechanism is connected with lateral translation mechanism, operation depth adjusting mechanism is connected below lateral translation mechanism, and the position of adjustable mechanism and ploughing depth can be adjusted;Attitude fine adjustment mechanism adopts four hydraulic cylinder space parallel connection configuration, cooperates shovel body rotating mechanism, and deep loosening shovel can be driven to realize multidimensional attitude adjustment;The application realizes that deep loosening machine operation mode is programmable reconfiguration, can adapt to complex soil environment, reduce traction resistance, improve soil breaking quality and operation precision, provide support for precision agriculture.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to a multi-degree-of-freedom programmable deep tillage mechanism and its control method. Background Technology

[0002] Deep tillage is a crucial agronomic step in breaking up the plow pan and restoring the soil's ecological structure, which is of great significance for improving soil fertility and crop yield. Currently, existing deep tillage machinery in the agricultural machinery field is significantly outdated in design and operation modes, making it difficult to meet the needs of complex farmland environments and the development of precision agriculture.

[0003] Existing subsoil machinery generally adopts a rigid frame structure, with the subsoil shovel and frame mostly fixedly connected, and only a few have simple overload obstacle avoidance and tilting functions. This structure results in the subsoil shovel's movement trajectory during operation being strictly limited to a single linear trajectory following the tractor. It does not have the ability to actively complete pitching, rolling, swaying, or compound deflection in three-dimensional space, and cannot actively disrupt the isotropic nature of soil stress through multi-dimensional spatial movement. It is difficult to achieve low-resistance and high-efficiency soil breaking in complex hard soils.

[0004] Furthermore, the current deep tillage technology's operation mode is determined by the hardware structure. Once the machine leaves the factory, its operation is fixed by the physical structure, and it can only complete simple tasks such as simple ditching. At present, there is no deep tillage equipment that can define the operation actions through control algorithms. It cannot flexibly switch between different action sequences such as spiral drilling, lateral swing scanning, or high-frequency multi-dimensional shaking according to instructions like industrial equipment. The same machine is difficult to adapt to complex farmland environments with uneven soil hardness and varying obstacle distribution, and cannot realize the transformation from single function to multi-functional reuse.

[0005] Meanwhile, traditional deep tillage operations lack real-time perception and intelligent feedback on working depth, shovel posture, and soil resistance, resulting in blind operation. Existing control methods are mostly limited to simple hydraulic lifting, and there is no system that actively makes decisions and finely adjusts the posture of the actuator based on real-time sensor data. This open-loop operation method leads to poor consistency in tillage depth, and the quality of operation depends entirely on the experience of the operator, which cannot meet the requirements of modern precision agriculture for standardization and precision of the operation process.

[0006] To address the above problems, this invention proposes a multi-degree-of-freedom programmable deep relaxation mechanism and its control method. Summary of the Invention

[0007] The purpose of this invention is to address the shortcomings of existing technologies, such as fixed motion trajectories of deep tillage machinery, single operating modes, lack of multi-dimensional spatial motion capabilities, and lack of intelligent closed-loop control systems. Therefore, this invention proposes a multi-degree-of-freedom programmable deep tillage mechanism and its control method.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] A multi-degree-of-freedom programmable deep relaxation mechanism includes a frame to complete the installation and support of multiple mechanisms, including:

[0010] A deep loosening shovel, located at the bottom of the mechanism, is used to complete the corresponding deep loosening and land preparation;

[0011] It also includes a shovel rotation mechanism, which drives the submersible shovel to rotate around its own axis;

[0012] It also includes an initial pitch adjustment mechanism, which is used to set the foundation entry angle of the mechanism;

[0013] It also includes a lateral translation mechanism, which is used to drive the lower working component to complete the lateral translation;

[0014] It also includes a working depth adjustment mechanism, which is connected to the output end of the lateral translation mechanism and is used to adjust the soil penetration depth of the deep loosening shovel;

[0015] It also includes a posture fine-tuning mechanism, the upper end of which is connected to the working depth adjustment mechanism and the lower end of which is connected to the shovel body rotation mechanism. The posture fine-tuning mechanism adopts a spatial parallel configuration and is used to drive the shovel body rotation mechanism to perform multi-dimensional posture adjustment.

[0016] It also includes a control system, which is electrically connected to each of the above-mentioned mechanisms and is used to coordinate the movement of each mechanism.

[0017] In one possible design, the lateral translation mechanism includes a push rod shaft, a push rod motor, and a bushing; two motor mounts are fixedly installed on one side of the frame, one end of the push rod shaft slides through one of the motor mounts, the push rod motor is fixedly installed on the top of one of the motor mounts, and one end of the output shaft of the push rod motor is fixedly connected to one end of the push rod shaft to drive the push rod shaft to extend and retract; two support seats are fixedly installed on one side of the frame, both of which are slidably engaged with the push rod shaft to provide additional support for the push rod shaft; the bushing is fixedly connected to the push rod shaft and is connected to the working depth adjustment mechanism.

[0018] In one possible design, the initial pitch adjustment mechanism includes a pitch adjustment hydraulic cylinder; both ends of the pitch adjustment hydraulic cylinder are provided with hinge structures, one of which is located at the tail of its cylinder body and is hinged to one side of the frame by a pin, and the other is located at the end of its piston rod and is engaged with the working depth adjustment mechanism by a pin; the initial pitch adjustment mechanism also includes a reversing valve and a first hydraulic oil pipe and a second hydraulic oil pipe, one end of the first hydraulic oil pipe and the second hydraulic oil pipe are fixedly connected to the two oil circuit interfaces of the reversing valve, and the other end of the first hydraulic oil pipe and the second hydraulic oil pipe are fixedly connected to the corresponding oil port of the pitch adjustment hydraulic cylinder; the overall pitch angle of the mechanism can be adjusted by extending and retracting the pitch adjustment hydraulic cylinder.

[0019] In one possible design, the initial pitch adjustment mechanism includes a pitch adjustment hydraulic cylinder and a sliding bearing; a horizontal shaft is provided on one side of the frame, and the sliding bearing is slidably mounted on the horizontal shaft to achieve lateral following movement; both ends of the pitch adjustment hydraulic cylinder are provided with hinge structures, one of which is located at the tail of its cylinder body and is hinged to the sliding bearing by a pin, and the other is located at the end of its piston rod and is engaged with the working depth adjustment mechanism by a pin; the initial pitch adjustment mechanism also includes a reversing valve and a first hydraulic oil pipe and a second hydraulic oil pipe, one end of the first hydraulic oil pipe and the second hydraulic oil pipe are fixedly connected to the two oil circuit interfaces of the reversing valve, and the other end of the first hydraulic oil pipe and the second hydraulic oil pipe are fixedly connected to the corresponding oil port of the pitch adjustment hydraulic cylinder; the overall pitch angle of the mechanism can be adjusted by the extension and retraction of the pitch adjustment hydraulic cylinder, and the mechanical interference during lateral translation can be eliminated by the cooperation of the sliding bearing.

[0020] In one possible design, the working depth adjustment mechanism includes a transfer frame, a posture adjustment base, and an electric push rod. A bearing is embedded in the upper part of the transfer frame. The outer wall of the bearing's outer ring is interference-fitted with and fixedly connected to the transfer frame. The inner wall of the bearing's inner ring is fixedly connected to the outer wall of the bushing of the lateral translation mechanism. The upper part of the transfer frame is hinged to a hinged structure at one end of the piston rod of the pitch adjustment hydraulic cylinder via a fixedly installed connecting part. The electric push rod is fixedly installed inside the transfer frame, and its output end is fixedly connected to the posture adjustment base. Driven by the extension and retraction of the electric push rod, the posture adjustment base can be raised and lowered vertically.

[0021] In one possible design, the attitude fine-tuning mechanism includes a forward hydraulic cylinder, a right hydraulic cylinder, a left hydraulic cylinder, and a rear hydraulic cylinder arranged in a spatially distributed manner. The upper ends of the forward, right, left, and rear hydraulic cylinders are all hinged to the attitude adjustment base. One end of the piston rod of each of the forward, right, left, and rear hydraulic cylinders is fixedly mounted with a forward ball joint, a right ball joint, a left ball joint, and a rear ball joint, respectively, and is hinged to the shovel body rotation mechanism through the corresponding ball joints. By controlling the corresponding extension and retraction of the four hydraulic cylinders, the pitch, roll, and combined deflection of the shovel body mounting platform relative to the working depth adjustment mechanism can be achieved.

[0022] In one possible design, the shovel rotation mechanism includes a shovel mounting platform and a rotary drive motor fixedly installed inside it; the top of the shovel mounting platform is hinged to multiple ball joints at the bottom of the attitude fine-tuning mechanism, and the output shaft of the rotary drive motor is fixedly connected to the top of the deep loosening shovel to drive the deep loosening shovel to rotate within a range of 0 to 360 degrees.

[0023] In one possible design, the control system includes a main controller, a depth sensor, and an attitude sensor; the depth sensor is fixedly installed at the bottom of one of the motor mounts and is used to detect the actual working depth of the submersible shovel; the attitude sensor is installed on the shovel body rotation mechanism and is used to detect the spatial attitude of the submersible shovel; the main controller is fixedly installed on one side of the frame and is used to receive sensor signals and send control commands to each mechanism.

[0024] A method for using a multi-degree-of-freedom programmable deep relaxation mechanism includes the following steps:

[0025] S1: System initialization, the main controller loads the task parameters including target depth, target attitude and task mode sequence;

[0026] S2: Real-time sensing, which collects the actual depth data and actual posture data of the subsoil shovel through depth sensor and attitude sensor respectively;

[0027] S3: Decision and instruction generation. The main controller calculates the deviation between the actual data and the target parameters, and generates control instructions based on the current operating mode.

[0028] S4: Coordinated execution, each actuator responds to the control command; wherein the working depth adjustment mechanism performs depth correction, the attitude fine adjustment mechanism performs attitude correction or dynamic action, and the shovel body rotation mechanism and the lateral translation mechanism perform rotation or translation.

[0029] S5: Iterate in a loop. The system returns to step S2 to perform the next cycle of sensing and control until the operation is completed.

[0030] In one possible design, a method of using a multi-degree-of-freedom programmable deep loosening mechanism, in steps S3 and S4, the operating modes include a lateral swing mode and a high-frequency vibration mode:

[0031] When the lateral swing mode is executed, the main controller generates a periodic, opposite-phase control signal to drive the left and right hydraulic cylinders to extend and retract alternately, causing the deep loosening shovel to swing laterally.

[0032] When the high-frequency vibration mode is executed, the main controller generates a high-frequency small-amplitude drive signal to drive one or more hydraulic cylinders of the attitude fine-tuning mechanism to reciprocate and extend, causing the deep loosening shovel to generate multi-dimensional vibration. Beneficial effects

[0033] In this invention, a multi-degree-of-freedom programmable deep tillage mechanism and its control method, through the coordinated scheduling of the attitude fine-tuning mechanism, the shovel rotation mechanism and the lateral translation mechanism by the control system, changes the status quo that traditional implements can only perform single linear traction operations, and realizes the programmable adjustment and flexible reconfiguration of the operation mode; the mechanism can flexibly call different action sequences such as auger drilling, lateral swing, and high-frequency vibration according to the differences in soil environment, so that the same implement can adapt to a variety of complex working conditions, and realize the upgrade from mechanical execution to flexible adaptation of operation;

[0034] In this invention, a multi-degree-of-freedom programmable deep tillage mechanism and its control method, by employing a spatial parallel attitude fine-tuning mechanism composed of four hydraulic cylinders, can endow the deep tillage shovel with pitch, roll, and compound yaw degrees of freedom in addition to conventional lifting and lowering. This mechanism can reduce traction resistance by executing high-frequency multi-dimensional vibration or expand the soil disturbance range by periodic compound oscillation. This multi-dimensional dynamic intervention breaks the isotropic stress of the plow pan, and compared with traditional rigid or unidirectional vibration deep tillage equipment, it can achieve a more thorough soil breaking effect with lower energy consumption, improving soil breaking quality and work efficiency.

[0035] In this invention, a multi-degree-of-freedom programmable deep loosening mechanism and its control method are disclosed. This mechanism realizes hierarchical control of macroscopic attitude preset and microscopic dynamic fine adjustment, and decouples the large-amplitude initial pitch adjustment and high-frequency micro-amplitude attitude fine adjustment in structure. Among them, the initial pitch adjustment mechanism is responsible for setting the foundation entry angle to adapt to macroscopic changes in terrain, while the parallel attitude mechanism focuses on the millisecond-level dynamic response during operation. This design ensures both the structural stability of the machine under heavy loads and the high precision and fast response capability when executing complex control algorithms, taking into account both system rigidity and adjustment flexibility.

[0036] In this invention, a multi-degree-of-freedom programmable deep tillage mechanism and its control method are described. This mechanism integrates depth and attitude sensors to construct a real-time closed-loop control loop of perception-decision-execution. Regardless of changes in surface undulation or soil resistance fluctuations, the control system can collect actual operation data in real time and correct the actuator's actions after comparing it with target parameters. This ensures consistency in tillage depth and accuracy of the operation trajectory, providing reliable hardware support for standardized and refined farmland management, and meeting the needs of precision agriculture development.

[0037] In this invention, the deep tillage mechanism, in conjunction with its control method, can achieve programmable reconfiguration of the operation mode through multi-mechanism collaborative scheduling, adapting to various complex working conditions; the four-hydraulic-cylinder parallel mechanism can give the deep tillage shovel multiple degrees of freedom, low energy consumption, and effectively improve soil crushing effect and efficiency; the hierarchical control takes into account both structural stability and response accuracy; the integrated sensor constructs a closed-loop control to ensure precise operation, providing support for refined farmland management and meeting the needs of precision agriculture development. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the overall structure of a multi-degree-of-freedom programmable deep relaxation mechanism proposed in this invention;

[0039] Figure 2 This is a partial exploded view of the initial pitch adjustment mechanism and the lateral translation mechanism of the multi-degree-of-freedom programmable deep relaxation mechanism proposed in this invention.

[0040] Figure 3 This is a schematic diagram of the sensor arrangement in the control system of a multi-degree-of-freedom programmable deep relaxation mechanism proposed in this invention;

[0041] Figure 4 This is a cross-sectional schematic diagram of the internal structure of the working depth adjustment mechanism of a multi-degree-of-freedom programmable deep loosening mechanism proposed in this invention;

[0042] Figure 5 This is a partial exploded view of the attitude fine-tuning mechanism of a multi-degree-of-freedom programmable deep relaxation mechanism proposed in this invention.

[0043] Figure 6 This is a cross-sectional schematic diagram of the internal structure of the shovel rotation mechanism of a multi-degree-of-freedom programmable deep loosening mechanism proposed in this invention.

[0044] Figure 7 This is a partial exploded view of the shovel rotation mechanism of a multi-degree-of-freedom programmable deep loosening mechanism proposed in this invention.

[0045] Figure 8 This is a schematic diagram of the initial pitch adjustment mechanism of a multi-degree-of-freedom programmable deep relaxation mechanism proposed in this invention;

[0046] Figure 9 This is a schematic diagram of the working depth adjustment mechanism of a multi-degree-of-freedom programmable deep loosening mechanism proposed in this invention;

[0047] Figure 10 This is a schematic diagram of the attitude fine-tuning mechanism of a multi-degree-of-freedom programmable deep relaxation mechanism proposed in this invention;

[0048] Figure 11 This is a schematic diagram of the shovel rotation mechanism of a multi-degree-of-freedom programmable deep loosening mechanism proposed in this invention.

[0049] Figure 12 This is a control logic flowchart of a control method for a multi-degree-of-freedom programmable deep relaxation mechanism proposed in this invention.

[0050] In the diagram: 1. Initial pitch adjustment mechanism; 2. Lateral translation mechanism; 3. Control system; 4. Working depth adjustment mechanism; 5. Attitude fine-tuning mechanism; 6. Shovel body rotation mechanism; 101. Sliding bearing; 102. Pitch adjustment hydraulic cylinder; 103. First hydraulic oil pipe; 104. Reversing valve; 105. Second hydraulic oil pipe; 201. Push rod shaft; 202. Push rod motor; 203. Motor base; 204. Support base; 205. Bearing; 206. Bushing; 301 1. Main controller; 302. Depth sensor; 303. Attitude sensor; 401. Adapter frame; 402. Attitude adjustment base; 403. Electric push rod; 501. Forward hydraulic cylinder; 502. Rightward hydraulic cylinder; 503. Leftward hydraulic cylinder; 504. Rearward hydraulic cylinder; 505. Forward ball joint; 506. Rightward ball joint; 507. Leftward ball joint; 508. Rearward ball joint; 601. Shovel mounting platform; 602. Rotary drive motor; 603. Deep loosening shovel. Detailed Implementation

[0051] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0052] In one embodiment: Refer to Figure 1-12 A deep tillage mechanism, constructed as a modular, multi-dimensional motion tillage actuator, achieves precise and programmable operations on the soil environment through the coordination of mechanical structure and control system, including:

[0053] The system includes an initial pitch adjustment mechanism 1 for setting the basic working posture; a lateral translation mechanism 2 for adjusting the lateral position; a control system 3 as the core control unit; a working depth adjustment mechanism 4 for precisely controlling the soil penetration depth; a posture fine-tuning mechanism 5 for achieving high-frequency, fine posture adjustment; and a shovel rotation mechanism 6 as the end effector to drive the deep tillage shovel to rotate. All components work together to complete the deep tillage operation through mechanical connections and control signal interaction.

[0054] From a structural layout perspective, the components are distributed in a hierarchical manner:

[0055] In this embodiment, the initial pitch adjustment mechanism 1 is located at the top of the mechanism. One end of the mechanism is connected to the tractor suspension device or the main frame of the implement, and the other end is connected to the motion mechanism below. It is used to set the initial macro pitch attitude of the entire actuator to preset the foundation entry angle.

[0056] In this embodiment, the lateral translation mechanism 2 and the initial pitch adjustment mechanism 1 are configured together and connected to the working components below, for driving all working components below them to move laterally ( Figure 1 Translation along the X-axis; this degree of freedom can be used to achieve wide-area cleaning or row-to-row operations, etc.

[0057] In this embodiment, the working depth adjustment mechanism 4 is connected below the horizontal translation mechanism 2. Its core function is to precisely adjust and maintain the working depth of the deep loosening shovel 603 in the soil by driving the overall lifting and lowering of the mechanism below it according to the instructions of the control system 3.

[0058] In this embodiment, the attitude fine adjustment mechanism 5 is located below the working depth adjustment mechanism 4 and is the core execution unit for realizing refined and multi-dynamic operation modes. The mechanism preferably adopts a parallel or hybrid configuration. By coordinating the control of multiple actuators (for example, four spatially distributed hydraulic cylinders 501, 502, 503, and 504), the shovel body below can achieve flexible attitude adjustments such as pitch, sway, and compound deflection, and can perform actions such as high-frequency shaking or large-range swinging.

[0059] In this embodiment, the shovel rotation mechanism 6 serves as the final working end point and is installed below the attitude fine adjustment mechanism 5. It is used to drive the deep loosening shovel 603 to rotate around its own vertical central axis to perform special working modes such as "auger drilling".

[0060] In this embodiment, the control system 3 coordinates and controls the actions of all actuators. It receives real-time signals from sensors (such as depth sensor 302 and attitude sensor 303), makes decisions based on preset algorithms, and sends control commands to each actuator to achieve coordinated operation of each degree of freedom.

[0061] In summary, this embodiment constructs a mechatronic system with multiple independent or coupled degrees of freedom through the hierarchical and modular combination of the aforementioned core components. This highly integrated multi-degree-of-freedom design enables the mechanism to achieve arbitrary combinations of various actions such as digging, swinging, rotating, lifting, and translating through the programming and scheduling of the control system 3, thereby executing complex and diverse farming strategies. This represents a fundamental leap from "fixed function" to "programmable function," providing strong technical equipment support for the implementation of precision agriculture.

[0062] In this embodiment, Figure 2 A partial structure of the initial pitch adjustment mechanism 1 is shown. In this embodiment, the initial pitch adjustment mechanism 1 mainly consists of a linear actuator and its control circuit; preferably, the linear actuator is a pitch adjustment hydraulic cylinder 102, which can provide sufficient pushing / pulling force to drive the lower working assembly to adjust its attitude; to solve the motion interference problem during lateral translation, a sliding bearing 101 is also introduced into the mechanism. Specifically, a horizontal axis is provided on one side of the frame, and the sliding bearing 101 is mounted on the horizontal axis, which can slide freely in the lateral direction (X-axis direction). One end of the pitch adjustment hydraulic cylinder 102 is provided with a hinge structure, which is inlaid with a joint bearing and pivotally connected to the sliding bearing 101 by a pin, so that the tail fulcrum of the hydraulic cylinder is no longer fixed, but can move laterally with the lower working component; the other end is also pivotally connected to the adapter frame 401 of the working depth adjustment mechanism 4 by a pin (see attached figure). Figure 4 ).

[0063] Furthermore, the extension and retraction of the pitch-adjusting hydraulic cylinder 102 is precisely controlled by a hydraulic control circuit. This circuit is controlled by the main controller 301 and includes at least: a directional valve 104 (e.g., a solenoid directional valve or an electro-hydraulic proportional valve) electrically connected to the main controller 301, and a first hydraulic oil pipe 103 and a second hydraulic oil pipe 105 connecting the directional valve 104 to the oil port of the pitch-adjusting hydraulic cylinder 102. When the main controller 301 issues a command, the directional valve 104 switches the oil circuit, controlling the hydraulic oil to enter and exit the hydraulic cylinder chamber via the first hydraulic oil pipe 103 and the second hydraulic oil pipe 105, thereby driving the piston rod to extend or retract. By controlling the directional valve 104, the extension length of the pitch-adjusting hydraulic cylinder 102 can be precisely adjusted.

[0064] The initial pitch adjustment mechanism 1 differs in function from the attitude fine-tuning mechanism 5. It primarily performs basic, quasi-static attitude settings. For example, before operations begin, a smaller entry angle can be preset based on soil hardness and other conditions to reduce impact; or, before entering hard terrain, the entire mechanism can be adjusted to a larger entry angle. This macroscopic adjustment provides the basic attitude for the operation, upon which the attitude fine-tuning mechanism 5 performs high-frequency, dynamic fine adjustments. This two-tiered adjustment mode, combining "basic adjustment" and "fine-tuning," helps achieve a balance between energy consumption and performance.

[0065] Figure 2 A partial assembly view of the lateral translation mechanism 2 is also shown. In this embodiment, the lateral translation mechanism 2 functions to provide a degree of freedom for the entire deep tillage operation component, including the working depth adjustment mechanism 4, the attitude fine adjustment mechanism 5, and the shovel rotation mechanism 6, to perform precise and programmable reciprocating motion in the lateral direction (i.e., the horizontal direction perpendicular to the tractor's forward direction, such as the X-axis direction).

[0066] In this embodiment, the lateral translation mechanism 2 is preferably a lead screw transmission system, which includes a push rod shaft 201 arranged laterally, a push rod motor 202, two motor seats 203 for supporting the two ends of the push rod shaft 201 respectively, and a bushing 206 fixedly engaged with the push rod shaft 201.

[0067] Furthermore, in terms of structural layout, the push rod shaft 201 is located between two oppositely arranged motor seats 203, which are fixed to the main frame of the machine, thereby providing a stable reference for the horizontal movement of the push rod shaft 201. The motor seat 203 is provided with a through hole coaxial with the push rod shaft 201, and the push rod shaft 201 is slidably engaged with the corresponding motor seat 203. The push rod motor 202 is mounted on one of the motor seats 203 and is fixedly connected to the shaft end of the push rod shaft 201. To enhance the rigidity and stability of the push rod shaft 201, an additional intermediate support seat 204 may be provided between its spans.

[0068] Furthermore, the bushing 206 is interference-fitted with the push rod shaft 201, allowing the bushing 206 to move axially along with the push rod shaft when the push rod shaft extends or retracts in the axial direction. Simultaneously, a bearing 205 is fixedly fitted onto the outer wall of the bushing 206, and the outer ring of the bearing 205 is interference-fitted with the upper end of the adapter frame 401. This connection method allows the adapter frame 401 to move axially along the push rod shaft 201 with the bushing 206 without interfering with the rotation of the adapter frame 401.

[0069] In this embodiment, when the main controller 301 sends a control signal to the push rod motor 202, the push rod motor 202 drives the push rod shaft 201 to extend and retract, thereby causing the entire deep tillage working component assembly to move laterally. By precisely controlling the cumulative rotation angle and speed of the push rod motor 202, the precise positioning of the working component's lateral position can be achieved.

[0070] By setting up the lateral translation mechanism 2, this embodiment gives the subsoiler the ability to actively adjust laterally during forward movement. This ability can not only be used to execute complex work trajectories such as "curved tillage" or "S-shaped forward movement" to expand the effective loosening width of a single stroke, but also, when combined with a positioning system (such as GPS), it can correct the work position error caused by the deviation of the tractor's driving route in real time, ensuring that the subsoiler shovel always acts accurately on the predetermined work path, thereby significantly improving work efficiency and work quality.

[0071] In this embodiment, Figure 4 This is a cross-sectional view of the internal structure of the working depth adjustment mechanism 4; the function of the working depth adjustment mechanism 4 is to control the soil penetration depth of the deep loosening shovel 603, which is achieved by driving the working component assembly below to perform controllable lifting and lowering movements in the vertical direction (e.g., the Z-axis direction).

[0072] Specifically, in this embodiment, the working depth adjustment mechanism 4 includes a transfer frame 401, an attitude adjustment base 402, and an electric push rod 403. The transfer frame 401 serves as a connecting and supporting frame, and its upper structure is connected to the bushing 206 of the lateral translation mechanism 2 to achieve lateral translation. Simultaneously, a connecting part is fixedly mounted on it and hinged to the pitch adjustment hydraulic cylinder 102 of the initial pitch adjustment mechanism 1. The lower part of the transfer frame 401 forms a receiving cavity. The electric push rod 403 serves as a power source, with its fixed end installed in the receiving cavity of the transfer frame 401. Its extendable output rod extends vertically downward and is fixedly connected to the attitude adjustment base 402.

[0073] In this embodiment, the main controller 301 sends a control command to the electric push rod 403. When it is necessary to increase the tillage depth, the output rod of the electric push rod 403 extends and pushes the attitude adjustment base 402 downward, thereby driving the attitude fine adjustment mechanism 5 and the shovel body rotation mechanism 6 connected below to descend as a whole. Conversely, when it is necessary to reduce the tillage depth or lift the shovel body out of the ground, the output rod of the electric push rod 403 retracts and pulls the attitude adjustment base 402 upward, thereby lifting the entire working component.

[0074] In this embodiment, Figure 5This is a partial exploded view of the attitude fine-tuning mechanism 5 in this embodiment. As the core execution unit for achieving refined, multi-degree-of-freedom attitude control of the deep loosening shovel 603, the attitude fine-tuning mechanism 5 supports the working depth adjustment mechanism 4 above and activates the shovel body rotation mechanism 6 below. This configuration endows the deep loosening shovel 603 with pitch, roll, and compound motion capabilities in addition to lifting, translation, and rotation. It is the technical foundation for achieving a leap from two-dimensional planar operation to three-dimensional spatial attitude-controllable operation, and further achieving "programmable operation" and "active strategy switching".

[0075] Structurally, the attitude fine-tuning mechanism 5 adopts a parallel motion platform configuration, with four independent linear actuators as its core working components. In this embodiment, the linear actuators are preferably a forward hydraulic cylinder 501, a right hydraulic cylinder 502, a left hydraulic cylinder 503, and a rear hydraulic cylinder 504. The upper end of each hydraulic cylinder is hinged at a specific spatial angle to the circumferential distribution points of the attitude adjustment base 402, and the end of its piston rod is hinged to the upper surface of the shovel mounting platform 601 through multi-degree-of-freedom hinges (specifically, in this embodiment, a forward ball joint 505, a right ball joint 506, a left ball joint 507, and a rear ball joint 508). The lower part of the shovel mounting platform 601 is used to install the shovel rotation mechanism 6. The use of ball joints ensures that each connection point can rotate freely when the platform undergoes complex attitude changes, thereby ensuring smooth and interference-free movement of the mechanism.

[0076] In this embodiment, the control system 3 independently or collaboratively controls the extension and retraction strokes of the four hydraulic cylinders (501, 502, 503, 504) to change the spatial posture of the shovel mounting platform 601 relative to the posture adjustment base 402, thereby achieving various basic and composite motion modes:

[0077] (1) Pitch attitude adjustment: By coordinating the differential extension and retraction of the forward and backward hydraulic cylinders (501, 504), the pitch (i.e., "nodding" or "raising" action) of the shovel mounting platform 601 around the transverse axis can be realized. Figure 10 As shown), it is used to finely adjust the soil entry angle or execute procedures such as "intelligent soil entry".

[0078] (2) Rolling posture adjustment: By coordinating the differential extension and retraction of the left and right hydraulic cylinders (503, 502), the shovel mounting platform 601 can roll (i.e. tilt left / right) around the longitudinal axis to adapt to slope operations or execute special soil breaking strategies.

[0079] (3) Composite posture and high-frequency vibration: By performing asymmetric coordinated control of all four hydraulic cylinders, the shovel mounting platform 601 can achieve composite deflection in any direction in space. In addition, by driving one or more hydraulic cylinders to perform short-stroke, high-frequency reciprocating extension and retraction, the deep loosening shovel 603 can generate multi-dimensional high-frequency vibration, achieving a dynamic impact crushing effect on hard soil layers.

[0080] (4) Periodic oscillation: By driving the left and right hydraulic cylinders (503, 502) to perform low-frequency, large-amplitude periodic alternating extension and retraction, the deep loosening shovel 603 can achieve lateral reciprocating oscillation while moving forward, forming a loosening zone that far exceeds the physical width of the shovel body, thereby executing the "wide sweeping" or "curved tillage" mode, significantly improving work efficiency.

[0081] In summary, the attitude fine-tuning mechanism 5 in this embodiment, with its multi-point driven parallel configuration, transforms the deep tillage shovel from a traditional rigid tool into an intelligent end effector with multiple active control degrees of freedom. This mechanism can not only achieve precise setting of static attitude, but also execute dynamic and programmed complex motion trajectories. Therefore, it provides strong hardware support for realizing various advanced tillage strategies such as active soil breaking, dynamic resistance adaptation, and wide-span sweeping. It is one of the core innovations of this technical solution that distinguishes it from existing technologies and enables programmable operation modes.

[0082] In this embodiment, Figure 6 , Figure 7 The diagram shows the structure of the shovel rotation mechanism 6, which enables the controlled rotation of the subsoil shovel 603 around its longitudinal axis. This mechanism mainly consists of a shovel mounting platform 601, a rotary drive motor 602, and the subsoil shovel 603. The shovel mounting platform 601 serves as a connecting base, with its upper part connected to the attitude fine-tuning mechanism 5. Its internal housing houses and fixes the rotary drive motor 602. The output shaft of this motor (preferably a high-torque servo motor) is reliably connected to the upper end of the subsoil shovel 603 via a coupling or spline. Under the command of the control system 3, the motor can drive the subsoil shovel to perform precise angular rotation within a range of 0-360 degrees, thereby actively changing its working posture. For example, rotating the shovel by 90 degrees can achieve a "biased column subsoil" working mode, greatly improving the loosening width and working efficiency of a single stroke.

[0083] In this embodiment, see Figure 1 and Figure 3 , Figure 1 The overall position of the control system 3 in this embodiment of the invention is shown. Figure 3 The layout of its main sensors is shown; the control system 3 is the core of realizing the intelligent operation of the entire multi-degree-of-freedom programmable deep loosening mechanism, responsible for sensing the operation status, making calculation decisions and issuing control commands to each actuator.

[0084] Specifically, the control system 3 includes at least: a main controller 301, a depth sensor 302, and an attitude sensor 303. The main controller 301 is the core computing and decision-making unit of the system, and can be implemented using an industrial-grade controller, a programmable logic controller (PLC), or a dedicated embedded system. It has a built-in microprocessor, memory, and input / output interfaces for data exchange, and establishes data communication with the driving components of each sensor and actuator via wired or wireless means. The main controller 301 functions to: receive real-time signals from each sensor, run control algorithms or operating program libraries preset in the memory, and output control commands, such as PWM signals or CAN bus messages, to the driving components of each actuator (e.g., directional valve 104, push rod motor 202, electric push rod 403, hydraulic cylinders 501-504, rotary drive motor 602, etc.) based on the calculation results. To facilitate installation and maintenance and ensure good heat dissipation, the main controller 301 is encapsulated in a housing with an appropriate protection level and mounted on the upper part of the frame. Its power can be supplied by the tractor's onboard power supply or an independent power module.

[0085] Furthermore, the depth sensor 302 is used to monitor the vertical distance of the subsoil shovel 603 relative to the ground surface in real time to obtain the actual working depth value. For example... Figure 3 As shown, it can be installed below the motor base 203 of the transverse translation mechanism 2, and can be an ultrasonic sensor, a laser rangefinder, or a millimeter-wave radar, etc. The depth value measured by the sensor is fed back to the main controller 301 in real time, which serves as the basis for the closed-loop control of the working depth adjustment mechanism 4.

[0086] Furthermore, the attitude sensor 303 is used to acquire in real time the spatial attitude information of the subsoil shovel 603 during operation, including its pitch angle, roll angle, and rotation angle around its central vertical axis. For example... Figure 3 As shown, it is preferably installed below the shovel mounting platform 601 and can be implemented using an inertial measurement unit (IMU) with an integrated three-axis gyroscope. The attitude data collected by this sensor is fed back to the main controller 301 in real time, providing the necessary state parameters for the precise feedback control of the attitude fine-tuning mechanism 5 and the shovel rotation mechanism 6.

[0087] In this embodiment, the main controller 301 receives target instructions from an upper-level system (such as an on-board terminal or a preset program). These instructions include the target tillage depth, the target operation mode, and their corresponding parameters. Simultaneously, the main controller 301 continuously collects the actual depth data from the depth sensor 302 and the actual attitude data from the attitude sensor 303. Its internal control algorithm compares the actual feedback values ​​of the sensors with the target values ​​to calculate the deviation, and generates corresponding adjustment instructions based on the deviation, which are then output to the corresponding actuators. This process constitutes a complete "perception-decision-execution" closed-loop control link, thereby driving the entire deep tillage mechanism to accurately and stably complete the operation task according to the predetermined strategy.

[0088] This application can be used in the field of agricultural machinery technology, or in other fields applicable to this application.

[0089] In another embodiment: Reference Figure 8-11 A multi-degree-of-freedom programmable deep-loosening mechanism is described, which is applied to the field of agricultural machinery technology. It should be emphasized that the following description aims to demonstrate the independent control capabilities of each degree of freedom and their potential for synergistic combination to achieve complex operating modes. The structure of this embodiment is basically the same as the aforementioned embodiments, with the difference being:

[0090] The core advantage of this invention is that by arbitrarily programming and combining these basic movements, an infinite variety of operational strategies adapted to specific needs can be generated, rather than being limited to a limited number of fixed movements.

[0091] 1. Macro-level settings for basic operating postures (refer to...) Figure 8 )

[0092] This adjustment capability is provided by the initial pitch adjustment mechanism 1, used for basic, macroscopic pitch attitude setting of the entire subsoil assembly. For example... Figure 8 As shown, in the initial position (left figure), the working assembly can be in a reference posture; when it is necessary to preset the entry angle or make a large-scale posture adjustment, the main controller 301 can control the extension and retraction of the pitch adjustment hydraulic cylinder 102 to make the entire working assembly (including mechanisms 4, 5, and 6) pitch and rotate around the push rod shaft 201 of the lateral translation mechanism 2 as the rotation axis, forming a position as shown in the figure. Figure 8 The deflection state is shown on the right.

[0093] Applications of this degree of freedom include, but are not limited to:

[0094] (1) Initial entry angle optimization: Before the operation begins, an optimal entry angle is preset according to the soil type, hardness and agronomic requirements to reduce the impact load and traction energy consumption at the moment of entry.

[0095] (2) Macro-terrain adaptation: When entering or leaving the slope, make compensatory adjustments to the overall posture of the equipment.

[0096] (3) Preparation for switching working modes: In order to perform specific digging or lifting actions, the mechanism is adjusted to a favorable initial posture in advance.

[0097] This macro-level adjustment provides a basic attitude reference for all subsequent refined and dynamic operations, and is the first layer of the multi-level adjustment strategy.

[0098] 2. Precise closed-loop control of working depth (refer to...) Figure 9 )

[0099] This control capability is achieved by the working depth adjustment mechanism 4 in conjunction with the depth sensor 302. Its core objective is to precisely and dynamically control the soil penetration depth of the subsoil shovel 603. Figure 9 As shown, in the non-operational state, the electric push rod 403 retracts, raising the deep loosening shovel 603 to its highest position (left figure).

[0100] During operation, the main controller 301 forms a high-frequency closed-loop control system: it continuously reads the actual depth value fed back by the depth sensor 302 and compares it with the target depth value. This target value can be a constant value or a variable from the farmland prescription map. Once a deviation is detected, the main controller 301 instructs the electric push rod 403 to extend or retract, driving the entire lower working assembly (mechanisms 5 and 6) to rise and fall vertically until the actual depth matches the target depth (right figure).

[0101] This closed-loop control ensures that the present invention can:

[0102] (1) Achieve constant depth operation: overcome the influence of uneven surface and ensure the consistency of deep loosening depth.

[0103] (2) Perform variable depth operation: According to the prescription map instructions, achieve differentiated deep tillage depth in different areas of the field to meet the refined management needs of precision agriculture.

[0104] 3. Construction of Multi-dimensional Attitude Fine-tuning and Dynamic Operation Mode (Refer to...) Figure 10 )

[0105] This is the core of realizing the "programmable" feature of the present invention, provided by the attitude fine-tuning mechanism 5. This mechanism, through independent, millisecond-level coordinated control of four spatially distributed hydraulic cylinders (501-504), endows the deep loosening shovel 603 with the ability to perform pitch, roll, yaw, and compound movements in its basic posture. During conventional straight deep loosening, each hydraulic cylinder can maintain its intermediate stroke, keeping the deep loosening shovel in a neutral posture. Figure 10 (Left image).

[0106] By programming and calling different hydraulic cylinder control sequences, a wide variety of dynamic operating modes can be generated, such as:

[0107] (1) Lateral swing and wide loosening: By applying periodic, opposite-phase control signals to the left and right hydraulic cylinders (503, 502), the deep loosening shovel 603 can achieve "wide lateral swing" in the forward movement, forming a loosening band that far exceeds the physical width of the shovel body, greatly improving the work efficiency of a single stroke. Figure 10 The "leftward deviation state of the deep loosening shovel" shown on the right is an instantaneous posture during this swing process.

[0108] (2) Pitching and digging and clod breaking: By coordinating the control of the front and rear hydraulic cylinders (501, 504), the pitching action of "nodding" can be realized to actively break up large soil blocks or compacted layers in front; or to realize high-frequency "clod breaking and shaking" to enhance the soil breaking effect.

[0109] (3) High-frequency multidimensional vibration drag reduction: By applying high-frequency, small-amplitude drive signals to one or more hydraulic cylinders, the deep loosening shovel can generate multidimensional composite vibrations, which can break hard soil by utilizing dynamic impact effects, thereby significantly reducing the average traction resistance.

[0110] (4) Complex trajectory execution: By performing more complex asymmetric timing control on the four hydraulic cylinders, the end of the deep loosening shovel can execute any preset complex spatial trajectory such as spiraling or drawing circles to deal with local obstacles or execute special soil improvement strategies.

[0111] 4. Enhancement and switching of shovel body rotation and operating modes (refer to...) Figure 11 )

[0112] This degree of freedom is provided by the shovel rotation mechanism 6, which further enhances or switches the operating mode by actively controlling the rotation angle of the subsoil shovel 603 around its own vertical central axis. During normal low-resistance operation, the narrow cutting edge of the subsoil shovel 603 can be positioned forward to move with minimal resistance. Figure 11 (Left image).

[0113] Based on the operational requirements, the main controller 301 can send commands to the rotary drive motor 602 to achieve the following:

[0114] (1) Off-center column type soil breaking mode: such as Figure 11 As shown on the right, rotate the deep loosening shovel 603 90 degrees so that its wide side faces the direction of travel. In this posture, although the forward resistance increases, the area of ​​soil agitation and breaking up will increase dramatically, achieving a powerful soil breaking effect similar to that of a lateral column deep loosening.

[0115] (2) Angle fine-tuning to optimize soil erosion performance: Under different soil conditions, fine-tuning the rotation angle of the deep loosening shovel (e.g. ±10 degrees) can change the soil flow field around the shovel body to optimize the soil breaking effect or reduce power consumption.

[0116] In summary, the working process of this invention is a multi-layered, programmable, dynamic process achieved through the coordination and combination of various mechanisms. It does not provide a few fixed operating modes, but rather a working platform with four core control dimensions: macroscopic pitch setting, precise depth control, multi-dimensional attitude fine-tuning, and enhanced end-effector rotation.

[0117] Under the unified scheduling of the main controller 301, these independent degrees of freedom can be arbitrarily combined and programmed. For example, it can be achieved to "maintain a constant depth while performing a wide-range lateral swing, and rotate the shovel body 45 degrees to enhance soil breaking when it swings to a specific position." This ability to freely arrange and combine basic actions under different control dimensions in terms of time and space constitutes the "programmable" essence of this invention. It transforms deep tillage operations from "fixed-function" mechanical operations into robotic task execution that can intelligently and seamlessly call and switch between multiple operation modes based on real-time sensor information and a preset strategy library, thereby achieving unprecedentedly refined, efficient, and intelligent management of complex and ever-changing soil environments.

[0118] Combination Figure 12 The present invention provides a detailed description of a programmable control method based on a job sequence. Figure 12 What is shown is not a fixed single program, but the core logic framework and technical roadmap of the control system 3 of this invention. It reveals how this invention realizes a real-time, closed-loop operation process from "perception" to "decision" to "execution", ensuring that each execution mechanism can accurately implement the preset farming strategy.

[0119] A control method for a multi-degree-of-freedom programmable deep relaxation mechanism is proposed. The core idea of ​​this method is to construct a continuously iterative closed-loop control system. The specific steps are as follows:

[0120] Step 1: Task Loading and System Initialization (S1)

[0121] At the start of the operation, the main controller 301 first loads the target parameters and mode for this operation from the upper-level system (such as a user-defined or pre-stored operation plan). These parameters strictly correspond to the control dimensions of each mechanism in this invention, for example:

[0122] (1) Target depth: Set the reference depth (e.g., 30cm) that the working depth adjustment mechanism 4 needs to maintain.

[0123] (2) Target attitude: Set the basic angle that the attitude fine-tuning mechanism 5 needs to maintain (e.g., pitch angle of 0 degrees).

[0124] (3) Operation mode sequence: Set the type of dynamic action to be performed (e.g., "high frequency vibration mode" or "lateral swing mode") and its corresponding parameters (e.g., vibration frequency, swing amplitude).

[0125] Upon receiving the task, the system initializes all actuators to ensure that the hydraulic system and motor are in standby mode.

[0126] Step 2: Multidimensional Real-Time State Awareness (S2)

[0127] After entering the main loop, the control system continuously collects real-time feedback data from various sensors at a high frequency to obtain the current actual operating status. Based on the hardware configuration described above, the core data includes:

[0128] (1) The actual working depth of the deep loosening shovel 603 relative to the ground surface, provided by the depth sensor 302.

[0129] (2) The actual attitude angles (including pitch, roll and rotation angles) of the deep loosening shovel 603 in space provided by the attitude sensor 303.

[0130] This step ensures that the system can "sense" in real time whether the actuator has deviated from the predetermined trajectory.

[0131] Step 3: Deviation Calculation and Strategy Generation (S3)

[0132] This step is the core of the control logic. The main controller 301 compares the "actual state" sensed in step two with the "target parameters" loaded in step one, and generates control commands based on the currently selected operating mode:

[0133] (1) Depth closed-loop correction: Calculate the difference between the actual depth and the target depth. If there is a deviation, the system generates a correction command for the working depth adjustment mechanism 4 (for example, if the actual depth is insufficient, the electric push rod 403 is instructed to extend).

[0134] (2) Attitude closed-loop correction: Calculate the difference between the actual attitude and the target attitude. If an unexpected tilt is detected, the system generates a hydraulic cylinder compensation command for the attitude fine-tuning mechanism 5 to maintain the stability of the shovel.

[0135] (3) Dynamic mode generation: According to the preset working mode (such as "lateral swing"), the system generates periodic control waveforms based on timing logic. For example, if the current mode is "lateral swing", the controller will calculate the extension and retraction positions that the left and right hydraulic cylinders (503, 502) should reach at the current moment, so as to drive the shovel to move back and forth at a predetermined frequency; if the current mode is "auger drilling", the target speed command of the shovel rotating mechanism 6 will be calculated.

[0136] Step 4: Multi-degree-of-freedom collaborative execution (S4)

[0137] The main controller synchronously sends the various instructions generated in step three to the corresponding underlying driver units.

[0138] The working depth adjustment mechanism 4 responds to the depth correction command and moves vertically up and down.

[0139] The attitude fine adjustment mechanism 5 responds to attitude correction and dynamic action commands, driving four hydraulic cylinders (501-504) to extend and retract in coordination, so as to achieve attitude maintenance or compound movement of the shovel body.

[0140] The shovel body rotation mechanism 6 and the lateral translation mechanism 2 perform rotation or translation operations according to the mode requirements.

[0141] Each mechanism responds in parallel on the same timeline, thus physically synthesizing a complex space operation trajectory.

[0142] Step 5: Loop Iteration and Task Termination Judgment (S5)

[0143] After completing one execution cycle, the system immediately returns to step two to begin the next "perception-decision-execution" iteration. This high-frequency, millisecond-level loop ensures that even with uneven terrain or changing soil conditions, the equipment can always closely follow the preset operational objectives (such as constant depth and stable oscillation). Simultaneously, the system checks for a stop command; if no stop command is received, it continues looping until the operation is complete.

[0144] However, as is well known to those skilled in the art, the working principles and wiring methods of the pitch adjustment hydraulic cylinder 102, the reversing valve 104, the push rod motor 202, the electric push rod 403, the four hydraulic cylinders (501-504) and the rotary drive motor 602 are all conventional means or common knowledge, and will not be described in detail here. Those skilled in the art can make any selections according to their needs or convenience.

[0145] The accompanying drawings in this application are for illustrative purposes only. The dimensions and shapes of the components shown are not actual limitations but are merely schematic representations. In actual implementation, the components can be reasonably configured and adjusted according to specific needs and actual conditions.

[0146] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A multi-degree of freedom programmable subsoiler mechanism comprising a set of frames to accomplish the mounting and support of a plurality of mechanisms, characterized in that, Comprise: Deep scarifying shovel (603), which is arranged at the bottom end of the mechanism, for completing the corresponding deep scarifying; Also including shovel body rotation mechanism (6), which is used to drive the deep scarifying shovel (603) to rotate around its own axis; Also including initial pitch adjustment mechanism (1), which is used to set the basic soil entering angle of the mechanism; Also including lateral translation mechanism (2), which is used to drive the underlying working components to complete translation in the lateral direction; Also including working depth adjustment mechanism (4), which is connected to the output end of the lateral translation mechanism (2), for adjusting the soil entering depth of the deep scarifying shovel (603); Also including posture fine adjustment mechanism (5), the upper end of which is connected to the working depth adjustment mechanism (4), and the lower end is connected to the shovel body rotation mechanism (6), which adopts a spatial parallel configuration, for driving the shovel body rotation mechanism (6) to make multi-dimensional posture adjustment; Also including control system (3), which is electrically connected with each of the above mechanisms, for coordinated control of the movement of each mechanism; The lateral translation mechanism (2) comprises a push rod shaft (201), a push rod motor (202) and a shaft sleeve (206); one side of the rack is fixedly provided with two motor seats (203), one end of the push rod shaft (201) is slidably penetrated through one of the motor seats (203), the push rod motor (202) is fixedly installed on the top of one of the motor seats (203), and one end of the output shaft of the push rod motor (202) is fixedly connected with one end of the push rod shaft (201) to drive the push rod shaft (201) to stretch out and retract; one side of the rack is fixedly provided with two support seats (204), both of which are in sliding fit with the push rod shaft (201) to provide additional support for the push rod shaft (201); the shaft sleeve (206) is fixedly connected with the push rod shaft (201), and the shaft sleeve (206) is connected with the working depth adjustment mechanism (4); The initial inclination adjusting mechanism (1) comprises an inclination adjusting hydraulic cylinder (102) and a sliding bearing (101), one side of the frame is provided with a horizontal shaft, the sliding bearing (101) is slidingly installed on the horizontal shaft of one side of the frame, and the sliding direction of the sliding bearing (101) is consistent with the movement direction of the horizontal translation mechanism (2); both ends of the inclination adjusting hydraulic cylinder (102) are provided with hinged structures, one of the hinged structures is located at the tail of the cylinder body, and is hinged to the sliding bearing (101) through a pin shaft; the other hinged structure is located at the end of the piston rod, and is matched with the working depth adjusting mechanism (4) through a pin shaft; the initial inclination adjusting mechanism (1) further comprises a reversing valve (104), a first hydraulic oil pipe (103) and a second hydraulic oil pipe (105), one end of the first hydraulic oil pipe (103) and the second hydraulic oil pipe (105) is fixedly connected with the oil path interface of the reversing valve (104), and the other end of the first hydraulic oil pipe (103) and the second hydraulic oil pipe (105) is fixedly connected with the corresponding oil port of the inclination adjusting hydraulic cylinder (102); the overall inclination angle of the mechanism can be adjusted through the extension and retraction of the inclination adjusting hydraulic cylinder (102), and the horizontal translation of the mechanism can be adapted through the sliding of the sliding bearing (101); The working depth adjusting mechanism (4) comprises an adapter frame (401), a posture adjusting base (402) and an electric push rod (403); the upper part of the adapter frame (401) is embedded with a bearing (205), the outer wall of the outer ring of the bearing (205) is in interference fit with the adapter frame (401) and is fixedly connected, and the inner wall of the inner ring of the bearing (205) is fixedly connected with the outer wall of the shaft sleeve (206) of the horizontal translation mechanism (2); the upper part of the adapter frame (401) is hingedly matched with the hinged structure at one end of the piston rod of the inclination adjusting hydraulic cylinder (102) through the fixedly installed connecting part; the electric push rod (403) is fixedly installed in the adapter frame (401), and the output end of the electric push rod (403) is fixedly connected with the posture adjusting base (402); the posture adjusting base (402) can be lifted along the vertical direction through the extension and retraction drive of the electric push rod (403); The posture fine adjusting mechanism (5) comprises forward hydraulic cylinders (501), right hydraulic cylinders (502), left hydraulic cylinders (503) and rear hydraulic cylinders (504) which are spatially distributed; the upper ends of the forward hydraulic cylinders (501), the right hydraulic cylinders (502), the left hydraulic cylinders (503) and the rear hydraulic cylinders (504) are hingedly matched with the posture adjusting base (402), and one end of the piston rod of each of the forward hydraulic cylinders (501), the right hydraulic cylinders (502), the left hydraulic cylinders (503) and the rear hydraulic cylinders (504) is fixedly installed with a forward spherical hinge (505), a right spherical hinge (506), a left spherical hinge (507) and a rear spherical hinge (508) respectively, and is hingedly matched with the shovel body rotating mechanism (6) through the corresponding spherical hinge. The shovel body rotating mechanism (6) comprises a shovel body mounting platform (601) and a rotating drive motor (602) fixedly arranged inside the platform; the top of the mounting platform (601) is hingedly connected with a plurality of ball hinges at the bottom end of the posture fine adjustment mechanism (5), and the output shaft of the rotating drive motor (602) is fixedly connected with the top end of the subsoiler (603) for driving the subsoiler (603) to rotate within a range of 0-360 degrees; The control system (3) comprises a main controller (301), a depth sensor (302) and a posture sensor (303); the depth sensor (302) is fixedly arranged at the bottom of one of the motor seats (203) and is used for detecting the actual working depth of the subsoiler (603); the posture sensor (303) is arranged on the shovel body rotating mechanism (6) and is used for detecting the spatial posture of the subsoiler (603); and the main controller (301) is fixedly arranged on one side of the frame and is used for receiving sensor signals and sending control instructions to each mechanism.

2. The method of using a multi-degree of freedom programmable ripper mechanism of claim 1, wherein, The method comprises the following steps: S1: system initialization, the main controller (301) loads the working task parameters including target depth, target posture and working mode sequence; S2: real-time sensing, the actual depth data and actual posture data of the subsoiler (603) are collected by the depth sensor (302) and the posture sensor (303) respectively; S3: decision-making and instruction generation, the main controller (301) calculates the deviation between the actual data and the target parameters, and generates control instructions according to the current working mode; S4: collaborative execution, each execution mechanism responds to the control instructions; wherein the working depth adjustment mechanism (4) executes depth correction, the posture fine adjustment mechanism (5) executes posture correction or dynamic action, and the shovel body rotating mechanism (6) and the transverse translation mechanism (2) execute rotation or translation; S5: loop iteration, the system returns to step S2 for sensing and control in the next cycle until the work is completed.

3. A method of using a multi-degree of freedom programmable ripper mechanism according to claim 2, wherein, In steps S3 and S4, the working mode comprises a transverse swing mode and a high-frequency vibration mode: When the transverse swing mode is executed, the main controller (301) generates periodic and opposite phase control signals to drive the left hydraulic cylinder (503) and the right hydraulic cylinder (502) to alternately stretch and contract, so that the subsoiler (603) swings transversely and reciprocally; When the high-frequency vibration mode is executed, the main controller (301) generates a high-frequency small-amplitude drive signal to drive one or more hydraulic cylinders of the posture fine adjustment mechanism (5) to reciprocally stretch and contract, so that the subsoiler (603) vibrates in multiple dimensions.

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