A plough walking device based on intelligent agricultural power machinery

Abstract

This invention provides a walking device for a tiller based on intelligent agricultural power machinery, belonging to the field of intelligent agricultural machinery technology. It includes a frame, mounting base, automatic mud-blocking mechanism, walking wheels, transmission mechanism, and walking steering mechanism. The invention employs an independent dual-motor, multi-stage gear transmission structure, which can smoothly drive the walking device. Differential steering is achieved by utilizing the speed difference between the two motors, resulting in flexible, precise steering and smooth operation, adapting to complex farmland terrain. During tilling operations, the invention can automatically scrape and clean the mud adhering to the mudguards, eliminating the need for manual cleaning, significantly reducing labor intensity, and improving operational continuity and efficiency. The invention can also use high-pressure water jets to flush the meshing teeth of the rack and pinion, promptly removing accumulated mud between the teeth, preventing transmission jamming and ensuring stable and reliable long-term gear and rack meshing transmission, thus extending the overall machine's service life.

Description

Technical Field

[0001] This invention relates to the field of intelligent agricultural machinery technology, and in particular to a tiller walking device based on intelligent agricultural power machinery. Background Technology

[0002] With the rapid development of smart agriculture, the level of intelligence and automation of agricultural machinery is constantly improving. As a core piece of equipment in agricultural cultivation, the stability and reliability of the locomotive's walking mechanism directly affect the efficiency and quality of tilling operations. Currently, most existing tiller locomotives consist of a frame, wheels, and a simple transmission mechanism. While these can meet basic walking requirements, they have many shortcomings in actual operation. A large amount of soil generated during tilling easily adheres to the surface of the wheels and mudguards, and can easily enter the tooth gaps of transmission components. Long-term accumulation can lead to mudguard failure and transmission jamming, affecting the normal operation of the locomotive. Frequent manual cleaning is required, increasing the labor intensity of operators and reducing work efficiency. Simultaneously, existing walking and steering mechanisms mostly use a single drive method, resulting in low steering accuracy and poor flexibility, making it difficult to adapt to the steering needs of complex farmland terrain. Furthermore, the steering process is unstable, easily causing deviations in the tilling trajectory. In addition, some locomotives have complex structures, are inconvenient to install, and have high production costs, making it difficult to meet the needs of large-scale smart agricultural operations and hindering the further development and application of smart agricultural power machinery tillers. Summary of the Invention

[0003] The purpose of this invention is to provide a walking device for a tiller based on intelligent agricultural power machinery in order to solve the above-mentioned problems. It solves the problems of existing tiller walking devices, such as easy accumulation of mud on the mudguards and transmission teeth, the need for manual cleaning, low steering accuracy and poor flexibility, as well as complex structure, inconvenient installation, high production cost, and difficulty in adapting to complex farmland operation scenarios.

[0004] To address the aforementioned problems, this invention provides a technical solution: a tiller walking device based on intelligent agricultural power machinery, comprising a frame, a mounting base, an automatic mud-blocking mechanism, walking wheels, a transmission mechanism, and a walking steering mechanism; the mounting base is fixedly connected to the bottom of the frame, and the automatic mud-blocking mechanism is provided on the upper sides of both sides of the mounting base; the transmission mechanism is provided inside both sides of the mounting base, and walking wheels are fixedly connected to the lower outer shaft of each transmission mechanism; the walking steering mechanism is fixedly connected to the upper center of the mounting base, and the output ends on both sides of the walking steering mechanism are respectively connected to the upper input ends of the transmission mechanism.

[0005] Preferably, the automatic cleaning mud-blocking mechanism includes a flushing mechanism, a drive gear, a connecting shaft, an arc rack, a mudguard, a scraping mechanism, a guide groove, and a motor. The guide groove is located inside the upper outer side of the mounting base, and the mudguard is movably connected inside the guide groove. An arc rack is fixedly connected to the center of the upper outer side of the mudguard. The motor is fixedly connected inside the outer outer side of the mounting base, and a connecting shaft is fixedly connected to the output shaft of the motor. The drive gear is movably connected inside the center of the upper outer side of the guide groove, and the center of the drive gear is fixedly connected to the outside of the connecting shaft. The drive gear is connected to the arc rack. The flushing mechanism is located inside the upper outer side of the mounting base, and the lower outlet of the flushing mechanism faces the upper teeth of the arc rack. The scraping mechanism is fixedly connected inside the upper outer side of the edge of the mounting base, and the outer side of the scraping mechanism is connected to the inner side of the mudguard.

[0006] Preferably, the motor is a motor with a brake.

[0007] Preferably, the rinsing mechanism includes an input water pipe, a delivery pump, a connecting pipe, a nozzle, and a rinsing tank; there are two rinsing tanks, which are respectively opened on both sides of the guide groove, and nozzles are fixedly connected to the upper side of each of the two rinsing tanks, with the nozzle outlets facing the upper teeth of the arc rack; the delivery pump is fixedly connected to the upper inner side of the mounting base, the upper inlet of the delivery pump is connected to the input water pipe, and the outlet of the delivery pump is connected to the nozzle inlet through the connecting pipe.

[0008] Preferably, the scraping mechanism includes a fixed housing, a sliding groove, a scraper, a spring, a connecting block, and a connecting groove; the fixed housing has an inclined sliding groove inside, and a connecting groove is formed in the center of the upper side of the sliding groove; the scraper is movably connected inside the sliding groove, the outer tip of the scraper is connected to the inner side of the mudguard, and a connecting block is fixedly connected to the upper side of the scraper; the connecting block is movably connected inside the connecting groove, and a spring is provided between the left side of the connecting block and the left side of the connecting groove.

[0009] Preferably, the transmission mechanism includes a first transmission shaft, a first transmission gear, a second transmission gear, a third transmission gear, a fourth transmission gear, and a second transmission shaft. The first transmission shaft is movably connected to the inner side of the upper side of the mounting base, and the first transmission gear is fixedly connected to the outer side of the first transmission shaft. The inner side of the first transmission shaft is connected to the output end of the walking and steering mechanism. The second and third transmission gears are movably connected to the inner side of the outer side of the mounting base, and the second transmission gear is connected to the third transmission gear. The upper side of the second transmission gear is connected to the first transmission gear. The second transmission shaft is movably connected to the inner side of the lower side of the mounting base, and the fourth transmission gear is fixedly connected to the outer side of the second transmission shaft. The fourth transmission gear is connected to the third transmission gear. A walking wheel is fixedly connected to the outer side of the second transmission shaft.

[0010] Preferably, the walking and steering mechanism includes a third drive shaft, a mounting housing, a second motor, a third motor, and a fourth drive shaft; the mounting housing is externally fixedly connected to the center of the upper side of the mounting base, and the second motor and the third motor are respectively fixedly connected to the interior of the left and right sides of the mounting housing; the third drive shaft is fixedly connected to the outer output shaft of the second motor; and the fourth drive shaft is fixedly connected to the outer output shaft of the third motor.

[0011] Preferably, both motor 2 and motor 3 are servo motors or stepper motors.

[0012] The beneficial effects of the present invention are: (1) The present invention has a reasonable and simple structure, low manufacturing cost, convenient overall assembly and complete functions. It adopts an independent dual motor combined with a gear multi-stage transmission structure, which can drive the walking device to move smoothly. It uses the speed difference between the two motors to achieve differential steering, which is flexible and precise and runs smoothly. It can adapt to the complex terrain of farmland operation conditions.

[0013] (2) The present invention can automatically scrape and clean the mud attached to the mudguard during the tilling operation, without the need for manual cleaning, which greatly reduces the intensity of manual labor and improves the continuity of operation and work efficiency.

[0014] (3) The present invention can use high-pressure water to flush the meshing teeth of the rack and pinion, remove the silt and mud between the teeth in time, avoid transmission jamming and stuttering failure, ensure stable and reliable long-term meshing transmission of the gear and rack, and extend the service life of the whole machine.

[0015] (4) The present invention can achieve precise start-stop and position locking of the mudguard by means of a brake motor. The scraper always adheres to the inner wall of the mudguard by means of spring force, which has good mud scraping fit and thorough cleaning. After the machine stops, each mechanism can remain in a stable standby state. The whole machine has strong safety and practicality. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention.

[0017] Figure 2 for Figure 1 A sectional view.

[0018] Figure 3 This is a side sectional view of the present invention.

[0019] Figure 4 This is a schematic diagram of the automatic mud-blocking mechanism.

[0020] Figure 5 A partial sectional view of the automatic cleaning mudguard mechanism.

[0021] Figure 6 This is a schematic diagram of the rinsing mechanism.

[0022] Figure 7This is a schematic diagram of the scraping mechanism.

[0023] Figure 8 This is a schematic diagram of the transmission mechanism.

[0024] Figure 9 This is a schematic diagram of the walking and steering mechanism.

[0025] 1-Frame; 2-Mounting base; 3-Automatic cleaning and mud-blocking mechanism; 4-Walking wheel; 5-Transmission mechanism; 6-Walking and steering mechanism; 31-Flushing mechanism; 32-Drive gear; 33-Connecting shaft; 34-Circular arc rack; 35-Mudguard; 36-Scraping mechanism; 37-Guide groove; 38-Motor one; 311-Input water pipe; 312-Transfer pump; 313-Connecting pipe; 314-Sprayer head; 315-Flushing tank; 361-Fixed housing; 362-Slide groove; 363-Scraper; 364-Spring; 365-Connecting block; 366-Connecting groove; 51-Drive shaft one; 52-Drive gear one; 53-Drive gear two; 54-Drive gear three; 55-Drive gear four; 56-Drive shaft two. Detailed Implementation

[0026] like Figures 1 to 3 As shown, this specific embodiment adopts the following technical solution: a tiller walking device based on intelligent agricultural power machinery, including a frame 1, a mounting base 2, an automatic mud-blocking mechanism 3, walking wheels 4, a transmission mechanism 5, and a walking steering mechanism 6; the mounting base 2 is fixedly connected to the bottom of the frame 1, the automatic mud-blocking mechanism 3 is provided on both sides of the mounting base 2, the transmission mechanism 5 is provided inside both sides of the mounting base 2, and the walking wheels 4 are fixedly connected to the lower outer shaft of the transmission mechanism 5; the walking steering mechanism 6 is fixedly connected to the upper center of the mounting base 2, and the output ends on both sides of the walking steering mechanism 6 are respectively connected to the upper input ends of the transmission mechanism 5.

[0027] like Figure 4 and Figure 5As shown, the automatic cleaning mud-blocking mechanism 3 includes a flushing mechanism 31, a drive gear 32, a connecting shaft 33, an arc rack 34, a mudguard 35, a scraping mechanism 36, a guide groove 37, and a motor 38. The guide groove 37 is located inside the upper outer side of the mounting base 2, and the mudguard 35 is movably connected inside the guide groove 37. The arc rack 34 is fixedly connected to the center of the upper side of the mudguard 35. The motor 38 is fixedly connected to the inner outer side of the mounting base 2, and a drive gear 32 is fixedly connected to the output shaft of the motor 38. Connecting shaft 33; the driving gear 32 is movably connected to the inner center of the upper side of the guide groove 37, and the inner center of the driving gear 32 is fixedly connected to the outside of the connecting shaft 33. The driving gear 32 is connected to the arc rack 34; the flushing mechanism 31 is located inside the upper side of the mounting base 2, and the lower outlet of the flushing mechanism 31 faces the upper tooth of the arc rack 34; the scraping mechanism 36 is fixedly connected to the inner side of the upper edge of the mounting base 2, and the outer side of the scraping mechanism 36 is connected to the inner side of the mudguard 35.

[0028] Among them, motor 38 is a motor with a brake.

[0029] like Figure 6 As shown, the rinsing mechanism 31 includes an input water pipe 311, a delivery pump 312, a connecting pipe 313, a nozzle 314, and a rinsing tank 315. There are two rinsing tanks 315, which are respectively opened on both sides of the guide groove 37. The nozzles 314 are fixedly connected to the upper side of each of the two rinsing tanks 315, and the outlets of the nozzles 314 face the upper teeth of the arc rack 34. The delivery pump 312 is fixedly connected to the upper side of the mounting base 2. The upper inlet of the delivery pump 312 is connected to the input water pipe 311, and the outlet of the delivery pump 312 is connected to the inlet of the nozzle 314 through the connecting pipe 313.

[0030] like Figure 7 As shown, the scraping mechanism 36 includes a fixed housing 361, a sliding groove 362, a scraper 363, a spring 364, a connecting block 365, and a connecting groove 366. The fixed housing 361 has an inclined sliding groove 362 inside, and a connecting groove 366 is formed in the center of the upper side of the sliding groove 362. The scraper 363 is movably connected inside the sliding groove 362, and the outer tip of the scraper 363 is connected to the inner side of the mudguard 35. The connecting block 365 is fixedly connected to the upper side of the scraper 363. The connecting block 365 is movably connected inside the connecting groove 366, and a spring 364 is provided between the left side of the connecting block 365 and the left side of the connecting groove 366.

[0031] like Figure 8As shown, the transmission mechanism 5 includes a first transmission shaft 51, a first transmission gear 52, a second transmission gear 53, a third transmission gear 54, a fourth transmission gear 55, and a second transmission shaft 56. The first transmission shaft 51 is movably connected to the inner side of the upper side of the mounting base 2, and the first transmission gear 52 is fixedly connected to the outer side of the first transmission shaft 51. The inner side of the first transmission shaft 51 is connected to the output end of the walking and steering mechanism 6. The second transmission gear 53 and the third transmission gear 54 are movably connected to the inner side of the outer side of the mounting base 2. The second transmission gear 53 is connected to the third transmission gear 54, and the upper side of the second transmission gear 53 is connected to the first transmission gear 52. The second transmission shaft 56 is movably connected to the inner side of the lower outer side of the mounting base 2. The fourth transmission gear 55 is fixedly connected to the outer side of the second transmission shaft 56, and the fourth transmission gear 55 is connected to the third transmission gear 54. A walking wheel 4 is fixedly connected to the outer side of the second transmission shaft 56.

[0032] like Figure 9 As shown, the walking and steering mechanism 6 includes a third drive shaft 61, a mounting housing 62, a second motor 63, a third motor 64, and a fourth drive shaft 65. The mounting housing 62 is externally fixedly connected to the upper center of the mounting base 2. The second motor 63 and the third motor 64 are respectively fixedly connected to the interior of the left and right sides of the mounting housing 62. The third drive shaft 61 is fixedly connected to the outer output shaft of the second motor 63. The fourth drive shaft 65 is fixedly connected to the outer output shaft of the third motor 64.

[0033] Among them, motor 2 63 and motor 3 64 are both servo motors or stepper motors.

[0034] The invention is used in the following way: It has a reasonable and simple structure, low production cost, convenient installation, and complete functions. In use, firstly, motors 63 (both servo motors or stepper motors) in the walking and steering mechanism 6 are started. The outer output shaft of motor 63 drives transmission shaft 61 to rotate, and the outer output shaft of motor 64 drives transmission shaft 65 to rotate synchronously. Transmission shafts 61 and 65 are respectively connected to the inner side of transmission shaft 51 of the corresponding side transmission mechanism 5, thereby driving the transmission shafts 51 on both sides to rotate synchronously. When the transmission mechanism 5 is working, the rotation of transmission shaft 51 drives the rotation of transmission gear 52 fixedly connected to its outer side. Transmission gear 52 meshes with transmission gear 53, driving transmission gear 53 to rotate and mesh with transmission gear 53. The transmission gear 3 54 rotates accordingly, and the transmission gear 3 54 meshes with the transmission gear 4 55 fixed outside the transmission shaft 2 56, thereby driving the transmission shaft 2 56 to rotate, and finally driving the walking wheel 4 fixed outside the transmission shaft 2 56 to rotate synchronously, so as to realize the smooth forward movement of the walking device and provide walking power for the tiller. When the tiller needs to turn during operation, the turning action is achieved by controlling the motor 2 63 or motor 3 64 in the walking and turning mechanism 6 separately: if it is necessary to turn to the left, the motor 2 63 on the left is stopped (or the speed is adjusted), while the motor 3 64 on the right remains normal, so that the right transmission mechanism 5 drives the right walking wheel 4 to continue to rotate, while the left walking wheel 4 stops rotating (or decelerates). Under the action of the speed difference of the two walking wheels 4, the walking device drives the tiller to complete the left turn.If a right turn is required, the right-side motor 3 64 is stopped (or its speed is adjusted), while the left-side motor 2 63 continues to operate normally. The same principle applies to right-side turning. The turning process is smooth and precise, adapting to the complex site requirements of agricultural tillage operations. During the operation of the tillage machine driven by the walking device, the soil generated during tillage easily adheres to the surface of the walking wheels 4 and splashes onto the mudguard 35. Long-term adhesion can affect the normal operation of the mudguard 35 and the transmission reliability of the arc rack 34. At this time, the automatic mudguard cleaning mechanism 3 is activated to achieve automatic cleaning: the motor 1 38 (with a brake motor, enabling precise start and stop and avoiding malfunctions) is started. The output shaft of the motor 1 38 drives the connecting shaft 33 to rotate, and the connecting shaft 33 drives the externally fixed active gear. Wheel 32 rotates inside the center of the upper side of guide groove 37. The drive gear 32 meshes with the arc rack 34 fixed in the center of the upper side of mudguard 35, thereby driving mudguard 35 to reciprocate inside guide groove 37, causing mud attached to the bottom of mudguard 35 to loosen. At the same time, scraping mechanism 36 works synchronously. The fixed housing 361 of scraping mechanism 36 is fixed inside the upper side of the edge of mounting base 2. Scraper 363 is movably connected in inclined slide groove 362 inside fixed housing 361. Under the elastic action of spring 364 (spring 364 is set between the left side of connecting block 365 and the left side of connecting groove 366, connecting block 365 is fixed on the upper side of scraper 363 and movably connected inside connecting groove 366), the outer tip of scraper 363... Always in close contact with the inner side of the mudguard 35, when the mudguard 35 swings back and forth, the scraper 363 scrapes off the mud adhering to the inner side of the mudguard 35, completing the cleaning of the mudguard 35. Since mud easily enters the tooth gaps of the arc rack 34 during operation, affecting the meshing transmission between the drive gear 32 and the arc rack 34, the flushing mechanism 31 is activated to flush and clean the teeth of the arc rack 34. The conveying pump 312 is activated, connected to the inlet water pipe 311 through the upper inlet, drawing in external water. After being pressurized by the conveying pump 312, the water is conveyed through the connecting pipe 313 to the nozzles 314 fixed on the upper side of the two flushing tanks 315. The two flushing tanks 315 are respectively opened on both sides of the guide groove 37, and the nozzles 314... With the nozzle facing the upper teeth of the arc-shaped rack 34, high-pressure water is sprayed through the nozzle 314 onto the teeth of the arc-shaped rack 34, washing away the mud in the gaps between the teeth. This ensures the reliability of the transmission between the drive gear 32 and the arc-shaped rack 34, thereby guaranteeing the stable operation of the automatic cleaning mud-blocking mechanism 3. After the tilling operation is completed, the power supply to the device is turned off, and the motors 63 and 64 of the walking and steering mechanism 6 stop working. The transmission mechanism 5 stops transmission, and the walking wheels 4 stop rotating. The motor 38 and the conveying pump 312 of the automatic cleaning mud-blocking mechanism 3 stop working. The mudguard 35 remains stationary under the braking action of the motor 38, and the scraper 363 remains in contact with the inner side of the mudguard 35 under the action of the spring 364, completing the operation of the entire process.

[0035] In the description of this invention, it should be understood that the terms "coaxial," "bottom," "one end," "top," "middle," "other end," "upper," "side," "top," "inner," "front," "center," "both ends," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this 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. Therefore, they should not be construed as limiting this invention.

[0036] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "setting," "connection," "fixing," "screw connection," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal connection of two components or the interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0037] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the present invention. Various changes and modifications can be made to the present invention without departing from its spirit and scope. All such changes and modifications fall within the scope of the present invention as claimed, which is defined by the appended claims and their equivalents.

[0038] The control method of this invention is to control the device by manually starting and stopping the switch. The wiring diagram of the power element and the supply of power are common knowledge in the field. Since this invention is mainly used to protect mechanical devices, the control method and wiring layout will not be explained in detail.

Claims

1. A walking device of a plough based on intelligent agricultural power machinery, comprising a frame (1), characterized in that: It also includes a mounting base (2), an automatic mud-blocking mechanism (3), a walking wheel (4), a transmission mechanism (5), and a walking steering mechanism (6); The mounting base (2) is fixedly connected to the bottom of the frame (1). Automatic cleaning mud-blocking mechanism (3) is provided on both sides of the mounting base (2). Transmission mechanism (5) is provided inside both sides of the mounting base (2), and a walking wheel (4) is fixedly connected to the lower outer shaft of the transmission mechanism (5). The walking and steering mechanism (6) is fixedly connected to the upper center of the mounting base (2), and the output ends on both sides of the walking and steering mechanism (6) are respectively connected to the upper input ends of the transmission mechanism (5).

2. The walking device of the intelligent agriculture power machinery based plough according to claim 1, characterized in that: The automatic cleaning mud-blocking mechanism (3) includes a flushing mechanism (31), a drive gear (32), a connecting shaft (33), an arc rack (34), a mud-blocking plate (35), a scraping mechanism (36), a guide groove (37), and a motor (38). The guide groove (37) is located inside the upper side of the mounting base (2). A mudguard (35) is movably connected inside the guide groove (37), and an arc rack (34) is fixedly connected to the center of the upper side of the mudguard (35). The motor (38) is fixedly connected to the inside of the outside of the mounting base (2), and a connecting shaft (33) is fixedly connected to the output shaft of the motor (38). The drive gear (32) is movably connected to the center of the upper side of the guide groove (37), and the center of the drive gear (32) is fixedly connected to the outside of the connecting shaft (33). The drive gear (32) is connected to the arc rack (34). The flushing mechanism (31) is located inside the upper side of the mounting base (2), and the lower outlet of the flushing mechanism (31) faces the upper tooth of the arc rack (34); The scraping mechanism (36) is fixedly connected to the upper inner side of the edge of the mounting base (2), and the outer side of the scraping mechanism (36) is connected to the inner side of the mudguard (35).

3. The tiller walking device based on intelligent agricultural power machinery according to claim 2, characterized in that: The motor 1 (38) is a motor with a brake.

4. The tiller walking device based on intelligent agricultural power machinery according to claim 2, characterized in that: The rinsing mechanism (31) includes an inlet water pipe (311), a delivery pump (312), a connecting pipe (313), a nozzle (314), and a rinsing tank (315). There are two flushing tanks (315), and the two flushing tanks (315) are respectively opened on both sides of the guide groove (37). The upper side of the two flushing tanks (315) is fixedly connected with a nozzle (314), and the outlet of the nozzle (314) is facing the upper tooth of the arc rack (34). The delivery pump (312) is fixedly connected to the upper side of the mounting base (2). The upper inlet of the delivery pump (312) is connected to the water inlet pipe (311). The outlet of the delivery pump (312) is connected to the inlet of the nozzle (314) through the connecting pipe (313).

5. The tiller walking device based on intelligent agricultural power machinery according to claim 2, characterized in that: The scraping mechanism (36) includes a fixed housing (361), a slide (362), a scraper (363), a spring (364), a connecting block (365), and a connecting groove (366). The fixed housing (361) has an inclined sliding groove (362) inside, and a connecting groove (366) is provided in the center of the upper side of the sliding groove (362). The scraper (363) is movably connected inside the groove (362), the outer tip of the scraper (363) is connected to the inner side of the mudguard (35), and a connecting block (365) is fixedly connected to the upper side of the scraper (363). The connecting block (365) is movably connected inside the connecting groove (366), and a spring (364) is provided between the left side of the connecting block (365) and the left side of the connecting groove (366).

6. The tiller walking device based on intelligent agricultural power machinery according to claim 1, characterized in that: The transmission mechanism (5) includes a first transmission shaft (51), a first transmission gear (52), a second transmission gear (53), a third transmission gear (54), a fourth transmission gear (55), and a second transmission shaft (56). The drive shaft (51) is movably connected to the inside of the upper side of the mounting base (2), and the drive gear (52) is fixedly connected to the outside of the drive shaft (51). The inside of the drive shaft (51) is connected to the output end of the walking steering mechanism (6). The second transmission gear (53) and the third transmission gear (54) are movably connected to the inside of the outer side of the mounting base (2). The second transmission gear (53) is connected to the third transmission gear (54), and the upper side of the second transmission gear (53) is connected to the first transmission gear (52). The second drive shaft (56) is movably connected to the lower outer side of the mounting base (2). The fourth drive gear (55) is fixedly connected to the outside of the second drive shaft (56), and the fourth drive gear (55) is connected to the third drive gear (54). The outer side of the second drive shaft (56) is fixedly connected to the traveling wheel (4).

7. The tiller walking device based on intelligent agricultural power machinery according to claim 1, characterized in that: The walking and steering mechanism (6) includes a third drive shaft (61), a mounting housing (62), a second motor (63), a third motor (64), and a fourth drive shaft (65). The mounting housing (62) is fixedly connected to the interior of the upper center of the mounting base (2), and motor 2 (63) and motor 3 (64) are fixedly connected to the interior of the left and right sides of the mounting housing (62). A transmission shaft three (61) is fixedly connected to the outer output shaft of the motor two (63). A transmission shaft four (65) is fixedly connected to the outer output shaft of the motor three (64).

8. The tiller walking device based on intelligent agricultural power machinery according to claim 7, characterized in that: Both motor 2 (63) and motor 3 (64) are servo motors or stepper motors.

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