A variable configuration subsoiler mechanism and control method

Abstract

The application discloses a variable configuration subsoiling mechanism and a control method, and relates to the technical field of agricultural ploughing and soil preparation machinery. The mechanism comprises a rack, a subsoiling unit, a drive controller and a data processor. The subsoiling unit is provided with a segmented shovel body formed by connecting a plurality of shovel handle assemblies. Two groups of pull ropes extend along the shovel handles and are connected to the last-stage shovel handle. Two reduction motors drive corresponding driving wheel sets to retract and release the pull ropes through worm and gear transmission, so as to change the bending direction and the lateral offset degree of the segmented shovel body. A tension sensor detects the working resistance, a data processor determines the configuration adjustment direction, and a drive controller controls the differential retraction and release of the pull ropes by the left and right driving wheel sets, so that the configuration of the segmented shovel body is switched. The reverse self-locking action of the elastic pawl and the positioning tooth, the worm and gear, and the electromagnetic braking action of the reduction motor jointly maintain the adjusted configuration of the shovel body. The application can automatically adjust the lateral offset degree of the subsoiling unit according to the working resistance, and takes into account the traction load and the soil disturbance range.

Description

Technical Field

[0001] This invention relates to the field of agricultural tillage machinery technology, specifically to a variable-configuration deep tillage mechanism and its control method. Background Technology

[0002] Subtillage is a crucial tillage operation that breaks up the plow pan, improves soil permeability, and enhances water retention. As the working component that directly enters the soil layer and bears soil loads, the shape, curvature, and lateral offset of the subtillage shovel determine the soil cutting path and disturbance range, and directly affect the implement's traction resistance and the shovel's stress state. Therefore, the subtillage shovel configuration is a key factor in balancing subtillage quality, power consumption, and structural safety.

[0003] Most existing subsoil shovels adopt a fixed configuration, mainly including the upright subsoil shovel with small lateral offset and the off-center upright subsoil shovel with a laterally bent shovel. The upright subsoil shovel has a smaller facing area and relatively lower operating resistance, but its shearing and lifting effect on the soil on both sides of the shovel is limited, resulting in a narrower loosening range. The off-center subsoil shovel can expand the soil disturbance range by increasing the lateral offset of the shovel, but its facing area, lateral load, and traction resistance also increase accordingly. Therefore, reducing the shovel offset is beneficial for reducing the operating load, while increasing the shovel offset is beneficial for expanding the loosening range. It is difficult to achieve both simultaneously in the fixed configuration subsoil shovel.

[0004] In actual farmland, soil compaction, moisture content, and the development of the plow pan vary spatially, causing the resistance experienced by the deep tillage shovel during continuous operation to change constantly with the working position. When using a column-type deep tillage shovel to enter a low-resistance area, the existing configuration makes it difficult to fully utilize the power source to expand the loosening range; when using a slanted column-type deep tillage shovel to enter a high-resistance area, it easily leads to increased traction load and deterioration of the shovel body stress, which may even cause implement overload or shutdown of the power source. Current technology typically selects the type of deep tillage shovel based on experience before operation, or changes the shovel body configuration by stopping the machine to disassemble, replace, and reinstall it. These methods not only interrupt continuous operation, but the adjusted shovel body remains fixed after re-entering the soil and cannot be readjusted according to subsequent changes in soil resistance. Therefore, it cannot solve the problem of insufficient loosening range in low-resistance areas and excessive traction load in high-resistance areas within the same field.

[0005] Therefore, there is a need for a deep tillage mechanism that does not require replacement of the deep tillage shovel, can detect operating resistance, and automatically change the overall configuration of the shovel body according to the detection results, so that the shovel body can switch between different bending directions and lateral offsets, and maintain the corresponding configuration after adjustment, so as to adapt to the deep tillage operation requirements under different soil resistance conditions. Summary of the Invention

[0006] The purpose of this invention is to provide a variable-configuration deep tillage mechanism and control method to solve the problem that existing fixed-configuration deep tillage shovels cannot automatically adjust the bending direction and lateral offset of the shovel body according to changes in the resistance of the working area, resulting in insufficient loosening range in low-resistance areas and increased traction load in high-resistance areas. This mechanism uses tension and compression sensors to detect the working resistance of the deep tillage unit along the working direction. A data processor determines the configuration adjustment direction based on high and low resistance thresholds. A drive controller controls the differential retraction and release of the pull ropes on the left and right drive wheel sets, causing the sequentially rotating shovel handle assemblies to deflect in stages. This allows the segmented shovel body to automatically switch between a low-offset configuration and a bending configuration, and maintains the deflection angle between adjacent shovel handle assemblies after adjustment.

[0007] This invention discloses a variable-configuration deep loosening mechanism, comprising a frame, at least one deep loosening unit, a drive controller, and a data processor; The deep tillage unit includes a configuration adjustment section and a soil entry operation section. The soil entry operation section is formed by connecting shovel handle assemblies, including a top shovel handle assembly, a bottom shovel handle assembly, and at least one intermediate shovel handle assembly connected between the top shovel handle assembly and the bottom shovel handle assembly in sequence and rotated. Adjacent shovel handle assemblies are relatively deflected in the transverse plane of the frame. The configuration adjustment section includes two drive wheel groups, two driven wheel groups and two independent drive components set on the left and right. The soil entry operation section has a pull rope group on each of the left and right sides. The pull rope in each pull rope group is connected to the drive wheel group, and after being guided by the driven wheel group, it extends along each shovel handle assembly and connects to the bottom shovel handle assembly. Two independent drive components drive two drive wheel sets to wind up or release the pull ropes, thereby changing the effective length and length difference of the left and right pull rope sets, and thus changing the bending direction and lateral offset of the soil entry operation section. The deep tillage unit is also equipped with a tension and compression sensor. The data processor is connected to the tension and compression sensor and the drive controller. The drive controller is electrically connected to two independent drive components and is used to control the differential winding and unwinding of the pull rope by the two active wheel sets according to the working resistance, so as to increase or decrease the lateral offset of the soil entry operation part.

[0008] Preferably, two adjacent shovel handle assemblies are rotatably connected by two hinge studs. The two hinge studs at the same position are coaxially arranged along the front-rear direction of the machine, forming a rotating support shaft together.

[0009] Preferably, each of the connection points between adjacent shovel assemblies is provided with positioning teeth, elastic pawls, and pawl springs; Positioning teeth are located at the upper end of the next-level shovel handle and arranged along an arc centered on the axis of the corresponding hinge stud. A tooth groove is formed between adjacent positioning teeth. An elastic pawl is located at the lower end of the previous-level shovel handle. A pawl spring applies a spring force toward the positioning teeth to the elastic pawl. The positioning teeth are provided with transition slopes in both deflection directions of adjacent shovel handle assemblies, so that the elastic pawl can retract along the transition slope and pass over the positioning teeth under the deflection torque generated by the pull rope, and enter the adjacent tooth groove under the action of the pawl spring, so as to realize the step-by-step adjustment and step-by-step positioning of the deflection angle of adjacent shovel handle assemblies.

[0010] Preferably, each independent drive component includes a geared motor, a worm, and a worm wheel. The worm wheel is coaxially and fixedly connected to the corresponding drive wheel set. The worm meshes with the worm wheel, and the output shaft of the geared motor drives the worm to rotate. The lead angle of the worm wheel and the worm satisfies the reverse self-locking condition, and the geared motor is equipped with an electromagnetic brake.

[0011] Preferably, two tension / compression sensors are provided, which are installed vertically at intervals on the front fixed plate. The detection direction of each tension / compression sensor is parallel to the working forward direction of the subsoil mechanism. Two sensor fixing posts are provided on the rear side of the top shovel handle assembly, and the detection ends of the two tension / compression sensors are fixedly connected to the two sensor fixing posts respectively. The data processor converts and sums the detection signals of the two tension / compression sensors according to the same positive force direction to obtain the working resistance of the subsoil unit along the working forward direction.

[0012] Preferably, in the intermediate shovel handle assembly and the bottom shovel handle assembly, at least one shovel handle assembly has a flexible shovel blade on the soil-facing side. One end of the flexible shovel blade is fixed to the soil-facing side of the corresponding shovel handle, and the other end extends along the direction of the next shovel handle and covers the hinge connection position between the two adjacent shovel handles. The other end is not rigidly fixed to the next shovel handle, so that the flexible shovel blade can adapt to the angle change between adjacent shovel handle assemblies through bending deformation and relative sliding.

[0013] Preferably, the configuration adjustment part further includes a connecting plate and two U-shaped mounting brackets. The wheel frames of the two driven wheel sets are fixed to the left and right sides of the connecting plate, respectively. The two U-shaped mounting brackets are respectively set between the corresponding driving wheel set and the driven wheel set, and the opening of the U-shaped mounting bracket faces the lateral outer side of the deep loosening unit. The pull rope is led out from the corresponding driving wheel set, passes through the opening of the U-shaped mounting bracket, goes around the corresponding driven wheel set, and extends downward through the rope hole on the connecting plate. The top shovel handle assembly has a through hole running along its length, the middle shovel handle assembly has a through hole corresponding to the position of the through hole in the top shovel handle assembly, and the bottom shovel handle assembly has a non-through hole corresponding to the pull rope. Each pull rope extends along the corresponding through hole and through hole, and the end of each pull rope is inserted into the corresponding non-through hole in the bottom shovel handle assembly and fixed by a set screw.

[0014] Preferably, in the two hinge studs provided at the connection position of the same adjacent shovel handle assembly, each hinge stud is provided with a smooth rod support section and a threaded fixing section. The threaded fixing section is threadedly connected to the threaded mounting hole on the upper-level shovel handle, and the smooth rod support section extends into the rotating fitting hole on the lower-level shovel handle and is clearance-fitted with the rotating fitting hole. The hinge studs do not adjust the deflection angle between adjacent shovel handle assemblies by tightening or loosening.

[0015] Preferably, a shovel tip is detachably installed at the front end of the bottom shovel handle assembly.

[0016] The present invention also provides a control method for the above-mentioned variable configuration deep loosening mechanism, comprising the following steps: Each shovel handle assembly is rotated and connected in sequence to form a segmented shovel body. The lateral offset is the distance of the segmented shovel body from the center line, and is a non-negative value. When the filtering operation resistance continuously reaches or exceeds the high resistance threshold and the duration reaches the first preset duration, the left and right active wheel groups are controlled to differentially extend and retract the pull ropes to reduce the effective length difference between the left and right pull rope groups, so as to reduce the lateral offset of the segmented shovel body. When the filtering operation resistance is continuously lower than or equal to the low resistance threshold and the duration reaches the second preset duration, the active wheel group on one side is controlled to increase the amount of rope winding according to the preset bending direction, and the active wheel group on the other side is controlled to release the rope so as to increase the effective length difference between the left and right rope groups, thereby increasing the lateral offset of the segmented shovel body. When the filter operation resistance is within the configuration holding range, stop configuration adjustment and maintain the current configuration; Each configuration adjustment causes the drive wheel assembly to rotate through a preset angle to complete one small step of retraction and extension. After completing one small step of retraction and extension, the reduction motor currently involved in the action stops. After a preset waiting time, the filtering operation resistance is reassessed until the filtering operation resistance enters the configuration holding range, or the segmented shovel body reaches the preset maximum or minimum lateral offset configuration. When the segmented shovel body reaches the preset maximum or minimum lateral offset configuration, the configuration adjustment stops and the current configuration is maintained. Preferably, when multiple subsoilers are installed on the frame, the data processor controls the corresponding independent drive components according to the working resistance of each subsoiler, so that each subsoiler can independently adjust its own configuration.

[0017] Therefore, the present invention, employing the above-described modified deep loosening mechanism and control method, possesses the following beneficial effects: (1) Achieve one-machine switching between different configurations of deep loosening shovels. This invention enables the same deep loosening unit to switch between a low-offset upright configuration, a left-bending configuration, and a right-bending configuration by changing the bending direction and lateral offset of the segmented shovel body. It can also form working postures with different lateral offsets, thus combining the working characteristics of both upright and off-center deep loosening shovels. It can meet the working needs under different soil conditions without stopping the machine to disassemble or replace the shovel body.

[0018] (2) To achieve multi-level adjustment of the bending direction and degree of the shovel body. The shovel handle assemblies of each level rotate and connect in sequence. The left and right pull rope groups change the effective length difference through differential winding and unwinding, driving the shovel handles of each level to deflect to the left or right step by step. The elastic pawl passes over the positioning teeth in sequence and enters different tooth grooves, so that the shovel body can gradually increase or decrease the degree of bending according to the set gear, avoiding large deformation of the entire shovel body at one time and improving the stability of the configuration switching process.

[0019] (3) Realize the synchronous adjustment of working resistance sensing and shovel body configuration. The tension and compression sensors continuously detect the working resistance of the corresponding deep tillage unit during the deep tillage operation. The data processor determines the configuration adjustment direction based on the high resistance threshold and the low resistance threshold. The drive controller controls the left and right drive wheel sets to complete the corresponding rope retraction and extension, so that the shovel body can automatically increase or decrease the lateral offset as the working resistance changes without interrupting the operation.

[0020] (4) Taking into account both the traction load and soil disturbance range of deep tillage operations. When a single deep tillage unit enters a high resistance area, the segmented shovel body is adjusted to a low offset configuration to reduce the soil-facing range and lateral load of the shovel body; when a single deep tillage unit enters a low resistance area, the segmented shovel body is adjusted to a preset bending configuration to expand the shear and disturbance range of the shovel body on both sides of the soil, thereby avoiding the problem of excessive traction load or insufficient soil loosening range of a fixed configuration deep tillage shovel under different soil conditions.

[0021] (5) To achieve independent configuration adjustment of multiple subsoil units. When multiple subsoil units are set on the frame, each subsoil unit detects the resistance at its working position and the configuration is independently adjusted by the corresponding geared motor and drive wheel set, so that different subsoil units on the same frame can adopt the same or different bending direction and lateral offset, thereby adapting to the spatial difference of soil resistance in the field in the lateral direction of the machine. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the front and side views of the present invention, wherein (a) is the front view and (b) is the side view; Figure 3 This is a schematic diagram of the structure of the deep loosening shovel's single-unit configuration adjustment part of the present invention; Figure 4 This is a schematic diagram of the assembly of the single-unit configuration adjustment part of the deep loosening shovel of the present invention; Figure 5 This is a schematic diagram of the structure of the single-unit soil-entry operation part of the deep loosening shovel of the present invention; Figure 6 This is a schematic diagram of the first shovel handle assembly of the present invention; Figure 7 This is a schematic diagram of the wire hole of the first shovel handle assembly of the present invention; Figure 8 This is a schematic diagram of the second shovel handle assembly of the present invention; Figure 9 This is a schematic diagram of the third shovel handle assembly of the present invention; Figure 10 This is a schematic diagram of the fourth shovel handle assembly of the present invention; Figure 11 This is a schematic diagram of the fifth shovel handle assembly of the present invention; Figure 12 This is a schematic diagram of the attitude during the deep tillage shovel operation mode switching process of the present invention; In the diagram: 1. Deep tillage unit; 2. Drive controller; 3. Data processor; 4. Frame; 101. Driven wheel assembly; 102. Connecting plate; 103. U-shaped mounting bracket; 104. Drive wheel assembly; 105. Drive wheel frame; 106. Fixing bracket; 107. Worm gear; 108. Worm; 109. Coupling; 110. Gear motor; 111. Front fixing plate; 112. Tension / compression sensor; 113. Pull rope; 114. First shovel handle assembly; 115. Second shovel handle assembly; 116. Third shovel handle assembly; 117. Fourth shovel handle assembly; 118. Fifth shovel handle assembly; 119. Shovel tip; 120. Flexible shovel blade; 114-1, First shovel handle; 114-2, First hinge stud; 114-3, First pawl spring; 114-4, First elastic pawl; 114-5, Wire hole; 114-6, Sensor fixing post; 115-1, Second shovel handle positioning tooth; 115-2, Second shovel handle; 115-3, Second hinge stud; 115-4, Second pawl spring; 115-5, Second elastic pawl; 116-1, Third shovel handle positioning tooth; 116-2, Third shovel handle; 116-3, Third hinge stud; 116-4, Third pawl spring; 116-5, Third elastic pawl; 117-1, Fourth shovel handle positioning tooth; 117-2, Fourth shovel handle; 117-3, Fourth hinge stud; 117-4, Fourth pawl spring; 117-5, Fourth elastic pawl; 118-1, Fifth shovel handle positioning tooth; 118-2, Fifth shovel handle. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following description will be provided in conjunction with the accompanying drawings of the embodiments of the present invention. Figures 1 to 12 The technical solutions of the present invention have been clearly and completely described. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] In the description of this invention, it should be understood that the terms "center", "around", "lateral", "longitudinal", "length", "thickness", "angle", "up", "down", "left", "right", etc., which indicate the orientation or location, are limited to simplifying the description of this invention and are not specific locations or orientations. The above terms are not intended to limit this invention.

[0025] Please see Figure 1 and Figure 2 This embodiment provides a variable-configuration deep tillage mechanism, including multiple deep tillage units 1, a drive controller 2, a data processor 3, and a frame 4. The frame 4 is used to connect to a supporting power machine and move along a predetermined working direction under the traction of the supporting power machine. The multiple deep tillage units 1 are arranged laterally at intervals along the frame 4, with the upper part of each deep tillage unit 1 fixedly connected to the frame 4 and the lower part extending downward and into the soil layer. The multiple deep tillage units 1 can be set at different positions on the crossbeams at the front and rear of the frame 4 to reduce structural interference and soil congestion between adjacent deep tillage units 1 while maintaining the set working spacing. The drive controller 2 and the data processor 3 are fixedly installed on the frame 4. The data processor 3 is signal-connected to the resistance detection component in each deep tillage unit 1, and is used to receive the detection signals generated during the deep tillage operation and determine the configuration adjustment requirements of the corresponding deep tillage unit 1 based on the detection signals. The drive controller 2 is connected to the data processor 3 by signal and is electrically connected to the geared motor 110 in each deep tillage unit 1. It is used to control the corresponding drive wheel group 104 to wind up or release the pull rope 113 according to the control command output by the data processor 3, so as to adjust the effective length and length difference of the pull rope 113 on the left and right sides of the segmented shovel body.

[0026] like Figure 2As shown, each subsoiler unit 1 includes a configuration adjustment section located above the frame 4 and a downwardly extending soil-entry section. The soil-entry section is a segmented structure formed by the sequential rotational connection of a top shovel assembly, a bottom shovel assembly, and at least one intermediate shovel assembly, which can change the overall bending direction and the degree of lateral deflection. The lateral offset mentioned in this invention refers to the degree of offset of the lower part of the segmented shovel body relative to the reference center line of the top shovel assembly in the lateral direction of the frame. It can be characterized by the lateral projection distance of the characteristic position of the bottom shovel assembly or the shovel tip relative to the reference center line. The lateral offset is a non-negative value, indicating the degree to which the segmented shovel body deviates from the reference center line. The lateral offset changes with the deflection angle of each adjacent shovel assembly. Each subsoiler unit 1 can independently detect the soil resistance at its working position and adjust its own configuration accordingly, so that different subsoiler units 1 on the same frame 4 can adopt the same or different working configurations according to the working resistance at the corresponding position. During operation, the frame 4 drives multiple subsoilers 1 forward synchronously. The lower part of each subsoiler 1 enters the soil layer and cuts, compresses, and loosens the soil. The data processor 3 continuously receives resistance detection signals from each subsoiler 1. When the operating resistance of a certain subsoiler 1 reaches the preset adjustment condition, the data processor 3 outputs a configuration adjustment command corresponding to that subsoiler 1 to the drive controller 2 to change the overall bending degree or lateral deflection direction of that subsoiler 1.

[0027] Please see Figure 3 and Figure 4 The configuration adjustment part of the deep-plowing unit 1 includes a driven wheel assembly 101, a connecting plate 102, a U-shaped mounting bracket 103, a driving wheel assembly 104, a driving wheel frame 105, a fixed frame 106, a worm gear 107, a worm 108, a coupling 109, a geared motor 110, a front fixed plate 111, a tension / compression sensor 112, and a pull rope 113. For ease of explanation in conjunction with the accompanying drawings, the left and right sides will be referred to as such in the following descriptions. Figure 3 and Figure 4 The observation direction shown is the reference; when the observer is in front of the deep loosening mechanism and facing the back of the machine, the side of the frame 4 that is on the left side of the observer is the left side, and the side that is on the right side of the observer is the right side.

[0028] The fixing frame 106 is fixedly installed on the frame 4, and the connecting plate 102 is arranged horizontally above the fixing frame 106 along the frame 4. The wheel frames of the two driven wheel sets 101 are fixedly installed on the left and right sides of the upper surface of the connecting plate 102, respectively. The guide wheels in each driven wheel set 101 are rotatably installed on the corresponding wheel frames to guide the two pull ropes 113 on the same side. The connecting plate 102 has rope holes in the middle that correspond one-to-one with the four pull ropes 113. These rope holes correspond to the wire holes 114-5 in the first shovel handle assembly 114 below, so that the pull ropes 113 can extend from the configuration adjustment part into the segmented shovel body.

[0029] Two U-shaped mounting brackets 103 are fixedly disposed between the connecting plate 102 and the fixing bracket 106, with the openings of the two U-shaped mounting brackets 103 facing laterally outwards from the deep-loosening unit 1. The U-shaped mounting bracket 103 on the left has its opening facing left, and the U-shaped mounting bracket 103 on the right has its opening facing right. The openings are located between the corresponding driving wheel assembly 104 and driven wheel assembly 101, providing a transmission space for the pull rope 113 to extend from the driving wheel assembly 104 to the driven wheel assembly 101. This allows the pull rope 113 to pass through the openings and wrap around the driven wheel assembly 101, avoiding interference between the transmission paths of the U-shaped mounting brackets 103 and the pull rope 113. Two drive wheel frames 105 are fixedly installed on the left and right sides of the upper part of the fixed frame 106, respectively. Each drive wheel frame 105 is provided with a fixed rotating shaft arranged along the front and rear direction of the machine. The center hole of the drive wheel set 104 is rotatably sleeved on the outer circumference of the corresponding fixed rotating shaft, so that the drive wheel set 104 can rotate around the central axis of the fixed rotating shaft, while the fixed rotating shaft itself remains stationary relative to the drive wheel frame 105.

[0030] Each drive pulley assembly 104 corresponds to two pull ropes 113. The starting end of each pull rope 113 is fixed in the rope groove on the outer periphery of the drive pulley assembly 104 and is wound along the rope groove. The left drive pulley assembly 104, the left driven pulley assembly 101, and the corresponding two pull ropes 113 constitute the left pull rope winding and unwinding path; the right drive pulley assembly 104, the right driven pulley assembly 101, and the corresponding two pull ropes 113 constitute the right pull rope winding and unwinding path. Two pull ropes 113 on the same side constitute a pull rope group. The two pull ropes 113 on the left constitute the left pull rope group, and the two pull ropes 113 on the right constitute the right pull rope group. The effective length difference between the left and right pull rope groups is the absolute value of the difference between the effective length of the left pull rope group and the effective length of the right pull rope group. After being led out from the drive wheel assembly 104, the pull rope 113 passes through the U-shaped notch of the U-shaped mounting bracket 103 and around the driven wheel assembly 101. After the driven wheel assembly 101 changes its extension direction, it passes through the rope hole on the connecting plate 102, and then enters the first shovel handle assembly 114 downwards, and extends sequentially to the second shovel handle assembly 115, the third shovel handle assembly 116, the fourth shovel handle assembly 117 and the fifth shovel handle assembly 118.

[0031] A worm gear transmission structure is installed on the left and right sides of the fixed frame 106, each including a meshing worm wheel 107 and a worm 108. The worm wheel 107 is coaxially and fixedly connected to the corresponding drive wheel set 104. The worm 108 is rotatably mounted on the fixed frame 106, and one end of the worm 108 is connected to the output shaft of the corresponding geared motor 110 via a coupling 109. The geared motor 110 is fixedly mounted on the lower part of the fixed frame 106, and its output torque is transmitted to the worm 108 via the coupling 109. The worm 108 drives the worm wheel 107 and the corresponding drive wheel set 104 to rotate synchronously around a fixed shaft. When the drive wheel set 104 rotates in the winding direction, the two pull ropes 113 on the same side are synchronously wound into the corresponding rope grooves; when the drive wheel set 104 rotates in the opposite direction, the two pull ropes 113 on the same side are synchronously released. The left and right drive wheel sets 104 are independently driven by their respective geared motors 110.

[0032] The effective length of the pull rope described in this invention refers to the length of the pull rope that participates in the adjustment of the segmented shovel body configuration between its lead-out position from the drive wheel assembly and its fixed position on the bottom shovel handle assembly; the absolute value of the difference between the effective lengths of the pull ropes on the left and right sides is the effective length difference. The drive wheel assembly can change the effective length of the pull rope on the corresponding side by winding or releasing the pull rope, thereby changing the effective length difference between the pull ropes on the left and right sides.

[0033] When the winding amount of the left pull rope 113 is greater than that of the right pull rope 113, the segmented shovel body bends to the left; when the winding amount of the right pull rope 113 is greater than that of the left pull rope 113, the segmented shovel body bends to the right; when the effective lengths of the left and right pull ropes 113 are the same or close, the segmented shovel body maintains or returns to a column-type configuration with a smaller lateral offset. The segmented shovel body has a maximum lateral offset configuration and a minimum lateral offset configuration within a preset allowable deflection range. The minimum lateral offset configuration refers to the configuration where each level of the shovel handle is in a zero-deflection state or close to a zero-deflection state, causing the overall lateral offset of the segmented shovel body to reach a preset minimum value; the maximum lateral offset configuration refers to the configuration where each level of the shovel handle reaches the allowable deflection boundary along a preset bending direction, causing the overall lateral offset of the segmented shovel body to reach a preset maximum value. The column-type configuration is one implementation of the minimum lateral offset configuration. By adjusting the rotation angle of the two drive wheel sets 104, the bending direction and degree of lateral deflection of the shovel body can be changed. After the configuration adjustment is completed, the reduction motor 110 stops rotating and its built-in electromagnetic brake restricts the output shaft from continuing to rotate. Simultaneously, the reverse self-locking action between the worm 108 and the worm wheel 107 restricts the rotation of the drive wheel assembly 104. This holding action, in conjunction with the elastic pawls and positioning teeth in each shovel assemblies, ensures that the segmented shovel body maintains its adjusted configuration when subjected to soil loads. In this embodiment, the lead angle and contact friction parameters of the worm wheel 107 and the worm 108 are set according to the reverse self-locking condition, so that when the drive wheel assembly 104 is subjected to reverse traction by the pull rope 113, the worm wheel 107 cannot drive the worm 108 to rotate in the reverse direction.

[0034] The front fixing plate 111 is bolted to the fixing frame 106. Two tension / compression sensors 112 are vertically spaced on the front fixing plate 111 to form two vertically spaced detection points between the top shovel handle assembly (i.e., the first shovel handle assembly 114) and the front fixing plate 111. Each tension / compression sensor 112 includes a fixed end fixedly connected to the front fixing plate 111 and a detection end facing the first shovel handle assembly 114. The detection ends of the two tension / compression sensors 112 are respectively fixedly connected to two corresponding sensor fixing posts 114-6 on the rear side of the first shovel handle 114-1. The detection directions of the two tension / compression sensors 112 are parallel to the working forward direction of the subsoil mechanism.

[0035] During deep tillage, the shovel tip 119, the flexible shovel blade 120, and each shovel handle assemblies bear the reaction force applied by the soil at their respective locations. These reaction forces, through the segmented shovel body and the hinged connections between adjacent shovel handles, act collectively on the first shovel handle assembly 114, forming a resultant force and corresponding bending moment along the working direction between the first shovel handle assembly 114 and the front fixed plate 111. This resultant force along the working direction is transmitted to two tension / compression sensors 112 via two sensor fixing posts 114-6, and then to the frame 4 via the front fixed plate 111 and the fixing frame 106. The two tension / compression sensors 112 output detection signals. The data processor 3 performs zero-point correction on the two detection signals and calculates and sums them according to a unified positive force direction to obtain the working resistance of the corresponding deep tillage unit 1 along the working direction. Two tension and compression sensors 112 are arranged at intervals along the vertical direction, which can distribute the resultant force and bending moment borne by the first shovel shank assembly 114 to two detection positions and reduce the influence of single-point off-center load on the resistance detection results.

[0036] Please see Figures 6 to 11 The soil-penetrating section of the deep tillage unit 1 includes a first shovel handle assembly 114, a second shovel handle assembly 115, a third shovel handle assembly 116, a fourth shovel handle assembly 117, and a fifth shovel handle assembly 118 connected sequentially from top to bottom. In this embodiment, the first shovel handle assembly 114 serves as the top shovel handle assembly, the second to fourth shovel handle assemblies 115, 116, and 117 serve as intermediate shovel handle assemblies, and the fifth shovel handle assembly 118 serves as the bottom shovel handle assembly. The three-stage intermediate shovel handle assembly in this embodiment is only used to illustrate one specific structural form of the invention. In other embodiments, the intermediate shovel handle assemblies can be configured as one, two, three, or more stages, the number of which can be determined according to the target tillage depth, the preset lateral offset range, and the dimensions of each shovel handle stage. The aforementioned rotating connection and segmented positioning structure can be used between adjacent shovel handle assemblies. The first shovel handle assembly 114 includes a first shovel handle 114-1, two first hinge studs 114-2, a first pawl spring 114-3, a first elastic pawl 114-4, four wire holes 114-5, and two sensor fixing posts 114-6. The second shovel handle assembly 115 includes a second shovel handle positioning tooth 115-1, a second shovel handle 115-2, two second hinge studs 115-3, a second pawl spring 115-4, and a second elastic pawl 115-5. The third shovel handle assembly 116 includes a third shovel handle positioning tooth 116-1, a third shovel handle 116-2, two third hinge studs 116-3, a third pawl spring 116-4, and a third elastic pawl 116-5. The fourth shovel handle assembly 117 includes a fourth shovel handle positioning tooth 117-1, a fourth shovel handle 117-2, two fourth hinge studs 117-3, a fourth pawl spring 117-4, and a fourth elastic pawl 117-5. The fifth shovel handle assembly 118 includes a fifth shovel handle positioning tooth 118-1 and a fifth shovel handle 118-2.

[0037] The lower end of the first shovel handle 114-1 is rotatably connected to the upper end of the second shovel handle 115-2 via two first hinge studs 114-2. The lower end of the second shovel handle 115-2 is rotatably connected to the upper end of the third shovel handle 116-2 via two second hinge studs 115-3. The lower end of the third shovel handle 116-2 is rotatably connected to the upper end of the fourth shovel handle 117-2 via two third hinge studs 116-3. The lower end of the fourth shovel handle 117-2 is rotatably connected to the upper end of the fifth shovel handle 118-2 via two fourth hinge studs 117-3. The two hinge studs at each connection point are installed opposite each other on the front and rear sides of the implement, and are coaxially arranged along the front-rear direction of the implement.

[0038] The first hinge stud 114-2, the second hinge stud 115-3, the third hinge stud 116-3, and the fourth hinge stud 117-3 are all provided with a smooth rod support section and a threaded fixing section. The threaded fixing section of each hinge stud is threadedly connected to the threaded mounting hole on the corresponding upper-level shovel handle to fix the hinge stud to the upper-level shovel handle and restrict its axial retraction. The smooth rod support section of each hinge stud extends into the rotational fitting hole on the corresponding lower-level shovel handle and is clearance-fitted with the rotational fitting hole. The two smooth rod support sections at the same connection position are coaxially arranged to form a rotational support axis extending along the front-rear direction of the machine, allowing the lower-level shovel handle to deflect relative to the upper-level shovel handle in the transverse plane of the frame 4 around the rotational support axis. After installation, each hinge stud remains fixed relative to the corresponding upper-level shovel handle. Its smooth rod support section acts as a pin-type rotational support, and the threaded fixing section is used to fix the hinge stud itself and prevent the hinge stud from axially disengaging. Each hinge stud does not adjust or fix the deflection angle between adjacent shovel handles by tightening or loosening.

[0039] The second shovel handle positioning tooth 115-1 is located at the upper end of the second shovel handle 115-2 and corresponds to the first elastic pawl 114-4 located at the lower end of the first shovel handle 114-1; the third shovel handle positioning tooth 116-1 is located at the upper end of the third shovel handle 116-2 and corresponds to the second elastic pawl 115-5 located at the lower end of the second shovel handle 115-2; the fourth shovel handle positioning tooth 117-1 is located at the upper end of the fourth shovel handle 117-2 and corresponds to the third elastic pawl 116-5 located at the lower end of the third shovel handle 116-2; the fifth shovel handle positioning tooth 118-1 is located at the upper end of the fifth shovel handle 118-2 and corresponds to the fourth elastic pawl 117-5 located at the lower end of the fourth shovel handle 117-2. Each set of positioning teeth is arranged along an arc centered on the central axis of the smooth rod support section corresponding to the hinge stud. Adjacent positioning teeth form grooves, with each groove corresponding to a discrete deflection angle between adjacent shovel handles. The number of positioning teeth shown in the attached diagram is for illustrative purposes only; the actual number of positioning teeth and the angular interval between adjacent positioning teeth can be set according to the deflection range and adjustment accuracy of the segmented shovel body.

[0040] The first pawl spring 114-3 abuts against the first shovel handle 114-1 and the first elastic pawl 114-4; the second pawl spring 115-4 abuts against the second shovel handle 115-2 and the second elastic pawl 115-5; the third pawl spring 116-4 abuts against the third shovel handle 116-2 and the third elastic pawl 116-5; and the fourth pawl spring 117-4 abuts against the fourth shovel handle 117-2 and the fourth elastic pawl 117-5. Each pawl spring applies a spring force toward the positioning tooth to the corresponding elastic pawl, causing the end of the elastic pawl to extend into the corresponding tooth groove, thereby positioning the current deflection angle between adjacent shovel handles. Each positioning tooth is provided with a transition slope along the two deflection directions of adjacent shovel handles. When the pull rope 113 pulls the next-level shovel handle to rotate around the smooth rod support section of the corresponding hinge stud, the positioning tooth moves with the next-level shovel handle relative to the corresponding elastic pawl. The transition slope of the positioning tooth pushes against the elastic pawl, causing the elastic pawl to overcome the elastic force of the corresponding pawl spring and retract away from the positioning tooth. After the elastic pawl passes the tooth tip of the current positioning tooth, the corresponding pawl spring pushes the elastic pawl to extend again and enter the adjacent tooth groove, changing the deflection angle between adjacent shovel handles by one gear. As the pull rope 113 continues to pull, the elastic pawl sequentially performs the actions of retracting, passing teeth, and entering the adjacent tooth groove, thereby realizing the step-by-step adjustment of the deflection angle of each level of shovel handle.

[0041] Once each shovel handle reaches the target deflection angle, the corresponding elastic pawl remains within its corresponding tooth groove under the action of the pawl spring. The side of the tooth groove acts as a resistance force against the elastic pawl, preventing adjacent shovel handles from deviating from their current deflection angle under soil load. The elastic pawl and the positioning teeth form a counter-rotating positioning structure. When the deflection torque generated by the pull rope 113 on the adjacent shovel handle is greater than the resistance torque required for the elastic pawl to pass the positioning teeth, the elastic pawl can retract along the transition slope of the positioning teeth, allowing the adjacent shovel handle to continue deflecting towards the adjacent gear. By setting the preload of the pawl spring, the tooth height of the positioning teeth, and the inclination angle of the transition slope, the holding torque generated by the elastic pawl is made greater than the shovel handle deflection torque caused by normal soil load, but less than the driving torque generated when the pull rope 113 adjusts its configuration.

[0042] The first shovel handle 114-1 has four through holes 114-5 extending along its length. The second shovel handle 115-2, the third shovel handle 116-2, and the fourth shovel handle 117-2 each have through holes corresponding to the positions of the four through holes 114-5. These through holes and through holes form a cable routing channel for the pull rope to extend from the top shovel handle assembly, through each intermediate shovel handle assembly, to the bottom shovel handle assembly. The four pull ropes 113 extend downwards along their corresponding through holes 114-5 and through holes. The diameter of each through hole and through hole is larger than the outer diameter of the pull rope 113, allowing the pull rope 113 to move along its length within the hole and limiting excessive lateral displacement of the pull rope 113. The fifth shovel handle 118-2 has four non-through-holes that mate with the corresponding pull ropes 113. These non-through-holes are the pull rope end fixing holes in the bottom shovel handle assembly. The ends of the four pull ropes 113 are inserted into the corresponding non-through-holes. The side of the fifth shovel handle 118-2 has threaded holes that communicate with each non-through-hole. Set screws are screwed into the corresponding threaded holes to press the pull ropes 113 against the hole wall of the non-through-hole, thus fixing the ends of the pull ropes 113. After loosening the set screws, the corresponding pull ropes 113 can be pulled out from the non-through-holes for replacement of worn pull ropes 113.

[0043] A flexible blade 120 is fixedly provided on the soil-facing side of the second shovel handle 115-2, the third shovel handle 116-2, and the fourth shovel handle 117-2, respectively. The soil-facing side is the side of each shovel handle facing the working direction of the deep tillage mechanism. That is, in this embodiment, each level of intermediate shovel handle assembly is provided with a flexible blade 120. In other embodiments, it may only be provided on some intermediate shovel handle assemblies or bottom shovel handle assemblies. One end of each flexible blade 120 is fixed to the soil-facing side of the corresponding shovel handle, and the other end extends along the direction of the next level shovel handle and covers the hinge connection position between the shovel handle and the next level shovel handle; the other end is not rigidly fixed to the next level shovel handle. When adjacent shovel handles deflect, the flexible blade 120 can adapt to the angle change through bending deformation and relative sliding with adjacent shovel handles, thereby maintaining the continuity of the soil-facing edge of the soil-entry operation part and reducing the entry of soil particles into the hinge connection area.

[0044] Two sensor mounting posts 114-6 are spaced apart along the length of the first shovel handle 114-1 at the rear side of the first shovel handle 114-1, and are respectively fixedly connected to the detection ends of two tension / compression sensors 112. These posts transmit the resultant force of the segmented shovel body acting on the first shovel handle assembly 114 in the working direction to the corresponding tension / compression sensor 112. A shovel tip 119 is mounted on the front end of the fifth shovel handle 118-2, and is detachably fixed to the fifth shovel handle 118-2 by bolts. The shovel tip 119 is used to first cut into the soil layer and break up the soil in front of the fifth shovel handle 118-2. When the shovel tip 119 becomes worn, the bolt connection can be released and it can be disassembled and replaced individually.

[0045] Please see Figure 12 During deep tillage, two tension / compression sensors 112 output detection signals to the data processor 3. The data processor 3 converts the two detection signals into force values ​​and sums them to obtain the instantaneous operating resistance of the corresponding deep tillage unit 1. In this embodiment, the data processor 3 collects the detection signals at a sampling frequency of 50 Hz and performs a moving average of the instantaneous operating resistance over the most recent 25 sampling periods to obtain the filtered operating resistance. That is, the filtering method in this embodiment is moving average filtering, and other filtering methods can also be used in other embodiments. The high resistance threshold mentioned in this invention refers to a preset operating resistance criterion value used to trigger the segmented shovel body to adjust its configuration in the direction of reducing lateral offset; the low resistance threshold refers to a preset operating resistance criterion value used to trigger the segmented shovel body to adjust its configuration in the direction of increasing lateral offset. The low resistance threshold is lower than the high resistance threshold, and the high and low resistance thresholds can be pre-calibrated according to the traction capacity of the matching power machinery, the allowable operating load of the deep tillage unit, the target tillage depth, and soil conditions.

[0046] Based on the rated permissible working resistance of 5.0 kN for a single deep tillage unit 1, the high resistance threshold is set to 4.5 kN and the low resistance threshold is set to 3.5 kN, forming a configuration maintenance range. That is, when the filtering working resistance is greater than 3.5 kN and less than 4.5 kN, it is within the configuration maintenance range. The bending direction of the segmented shovel body when increasing the lateral offset is preset by the operator before operation, and the working resistance is used to determine whether the lateral offset increases or decreases. When the filtering working resistance continuously reaches or exceeds 4.5 kN for 0.5 s, the data processor 3 sends a control command to the drive controller 2 to reduce the lateral offset. The drive controller 2 controls the left and right reduction motors 110 to drive the corresponding drive wheel group 104 to wind up or release the pull rope 113, realizing the differential winding and unwinding of the left and right pull rope groups, reducing the effective length difference of the pull ropes 113 on the left and right sides, and adjusting the segmented shovel body to a column-type configuration or a low offset configuration. When the filtering resistance remains below or equal to 3.5 kN for 1.0 s, the data processor 3 sends a control command to the drive controller 2 to increase the lateral offset. The drive controller 2 controls the drive wheel set 104 on one side of the preset bending direction to increase the winding amount of the pull rope 113, and controls the drive wheel set 104 on the other side to release the pull rope 113, thereby increasing the effective length difference between the pull ropes 113 on the left and right sides, and causing the segmented shovel body to bend towards the preset side.

[0047] Each time the configuration is adjusted, the drive wheel assembly 104 rotates through a preset angle, causing the corresponding pull rope 113 to complete one small step of retraction and extension. After completing one small step adjustment, the reduction motor 110 currently involved in this retraction and extension action is stopped; in this embodiment, the left and right reduction motors 110 are stopped, and the data processor 3 waits for 1.0 s and re-determines the filtering working resistance; if the corresponding adjustment conditions are still met, the next small step adjustment is continued until the working resistance enters the configuration holding range, or the segmented shovel body reaches the preset maximum or minimum lateral offset configuration. The current configuration of the segmented shovel body can be determined based on the cumulative rotation angle of the drive wheel assembly, the cumulative retraction and extension length of the pull rope, or the number of unit adjustments already performed; in other embodiments, the configuration position information can also be obtained through a position detection element set at the connection position of the drive wheel assembly, drive shaft, or shovel handle. When the detected or calculated configuration position reaches the preset maximum or minimum lateral offset boundary, the data processor stops outputting configuration adjustment commands in the corresponding direction. At this point, configuration adjustment is stopped, and the current configuration is maintained through the reverse self-locking action of the elastic pawl and positioning teeth, the worm gear 107 and worm 108, and the electromagnetic braking action of the reduction motor 110. When the filtering working resistance is greater than 3.5 kN and less than 4.5 kN, the data processor 3 does not output a new configuration adjustment command, and the segmented shovel body maintains its current configuration. During configuration adjustment, each elastic pawl can retract along the transition slope of the corresponding positioning tooth and enter the adjacent tooth groove to achieve a step-by-step change in the deflection angle of each shovel handle. After the adjustment stops, the reverse self-locking action of the elastic pawl and positioning teeth, the worm gear 107 and worm 108, and the electromagnetic braking action of the reduction motor 110 jointly maintain the current configuration of the segmented shovel body. The first preset duration and the second preset duration are used to determine whether the filtering working resistance continuously meets the corresponding threshold condition to reduce erroneous adjustments caused by instantaneous impact or short-term resistance fluctuations. The two can be the same or different. The preset waiting time refers to the time interval between completing one unit configuration adjustment and the next working resistance judgment. The preset angle refers to the angle that the drive wheel assembly rotates to complete one unit configuration adjustment. Its size can be determined based on the effective winding radius of the drive wheel assembly, the deflection angle corresponding to adjacent positioning teeth, and the expected configuration adjustment speed. The aforementioned threshold, sampling frequency, continuous judgment time (i.e., the first preset duration and the second preset duration), and adjustment waiting time (i.e., the preset waiting time) can be calibrated and adjusted according to the traction capacity of the matching power machinery, the target tillage depth, and soil conditions.

Claims

1. A variable configuration deep loosening mechanism, characterized in that, Includes a rack, at least one deep-loosening unit, a drive controller, and a data processor; The deep tillage unit includes a configuration adjustment section and a soil entry operation section. The soil entry operation section is formed by connecting shovel handle assemblies, including a top shovel handle assembly, a bottom shovel handle assembly, and at least one intermediate shovel handle assembly connected between the top shovel handle assembly and the bottom shovel handle assembly in sequence and rotated. Adjacent shovel handle assemblies are relatively deflected in the transverse plane of the frame. The configuration adjustment section includes two drive wheel groups, two driven wheel groups and two independent drive components set on the left and right. The soil entry operation section has a pull rope group on each of the left and right sides. The pull rope in each pull rope group is connected to the drive wheel group, and after being guided by the driven wheel group, it extends along each shovel handle assembly and connects to the bottom shovel handle assembly. Two independent drive components drive two drive wheel sets to wind up or release the pull ropes, thereby changing the effective length and length difference of the left and right pull rope sets, and thus changing the bending direction and lateral offset of the soil entry operation section. The deep tillage unit is also equipped with a tension and compression sensor. The data processor is connected to the tension and compression sensor and the drive controller. The drive controller is electrically connected to two independent drive components and is used to control the differential winding and unwinding of the pull rope by the two active wheel sets according to the working resistance, so as to increase or decrease the lateral offset of the soil entry operation part.

2. The variable configuration deep loosening mechanism according to claim 1, characterized in that, Two adjacent shovel handle assemblies are rotatably connected by two hinge studs. The two hinge studs at the same position are coaxially arranged along the front-back direction of the machine, forming a rotating support shaft together.

3. The variable configuration deep loosening mechanism according to claim 2, characterized in that, The connection points of adjacent shovel assemblies are equipped with positioning teeth, elastic pawls, and pawl springs; Positioning teeth are located at the upper end of the next-level shovel handle and arranged along an arc centered on the axis of the corresponding hinge stud. A tooth groove is formed between adjacent positioning teeth. An elastic pawl is located at the lower end of the previous-level shovel handle. A pawl spring applies a spring force toward the positioning teeth to the elastic pawl. The positioning teeth are provided with transition slopes in both deflection directions of adjacent shovel handle assemblies, so that the elastic pawl can retract along the transition slope and pass over the positioning teeth under the deflection torque generated by the pull rope, and enter the adjacent tooth groove under the action of the pawl spring, so as to realize the step-by-step adjustment and step-by-step positioning of the deflection angle of adjacent shovel handle assemblies.

4. The variable configuration deep loosening mechanism according to claim 1, characterized in that, Each independent drive assembly includes a geared motor, a worm gear, and a worm wheel. The worm wheel is coaxially and fixedly connected to the corresponding drive wheel set. The worm gear meshes with the worm wheel, and the output shaft of the geared motor drives the worm gear to rotate. The lead angle of the worm wheel and the worm gear meets the reverse self-locking condition, and the geared motor is equipped with an electromagnetic brake.

5. A variable-configuration deep loosening mechanism according to claim 1, characterized in that, Two tension / compression sensors are provided, which are installed vertically at intervals on the front fixed plate. The detection direction of the tension / compression sensors is parallel to the working forward direction of the subsoil mechanism. Two sensor fixing posts are provided on the rear side of the top shovel handle assembly, and the detection ends of the two tension / compression sensors are fixedly connected to the two sensor fixing posts respectively. The data processor converts and sums the detection signals of the two tension / compression sensors according to the same positive force direction to obtain the working resistance of the subsoil unit along the working forward direction.

6. A variable-configuration deep loosening mechanism according to claim 1, characterized in that, In the intermediate shovel shovel assembly and the bottom shovel shovel assembly, at least one shovel shovel assembly has a flexible shovel blade on the soil-facing side. One end of the flexible shovel blade is fixed to the soil-facing side of the corresponding shovel shovel, and the other end extends along the direction of the next shovel shovel and covers the hinge connection position between the two adjacent shovel shovel assemblies. The other end is not rigidly fixed to the next shovel shovel, so that the flexible shovel blade can adapt to the angle change between adjacent shovel assemblies through bending deformation and relative sliding.

7. A variable-configuration deep loosening mechanism according to claim 1, characterized in that, The configuration adjustment section also includes a connecting plate and two U-shaped mounting brackets. The wheel frames of the two driven wheel sets are fixed to the left and right sides of the connecting plate, respectively. The two U-shaped mounting brackets are respectively set between the corresponding driving wheel set and the driven wheel set, and the opening of the U-shaped mounting bracket faces the lateral outer side of the deep loosening unit. The pull rope is led out from the corresponding driving wheel set, passes through the opening of the U-shaped mounting bracket, goes around the corresponding driven wheel set, and extends downward through the rope hole on the connecting plate. The top shovel handle assembly has a through hole running along its length, the middle shovel handle assembly has a through hole corresponding to the position of the through hole in the top shovel handle assembly, and the bottom shovel handle assembly has a non-through hole corresponding to the pull rope. Each pull rope extends along the corresponding through hole and through hole, and the end of each pull rope is inserted into the corresponding non-through hole in the bottom shovel handle assembly and fixed by a set screw.

8. A variable-configuration deep loosening mechanism according to claim 2, characterized in that, In the two hinge studs located at the connection position of adjacent shovel assemblies, each hinge stud is provided with a smooth rod support section and a threaded fixing section. The threaded fixing section is threadedly connected to the threaded mounting hole on the upper-level shovel assemblies, and the smooth rod support section extends into the rotating fitting hole on the lower-level shovel assemblies and is clearance-fitted with the rotating fitting hole. The hinge studs do not adjust the deflection angle between adjacent shovel assemblies by tightening or loosening.

9. A variable-configuration deep loosening mechanism according to claim 1, characterized in that, The bottom shovel handle assembly has a detachable shovel tip installed at the front end.

10. A control method for a variable-configuration deep loosening mechanism as described in any one of claims 1-9, characterized in that, Includes the following steps: The instantaneous working resistance is obtained by collecting the detection signal from the tension and compression sensors and filtering the continuously obtained instantaneous working resistance to obtain the filtered working resistance. Set a high resistance threshold and a low resistance threshold, with the high resistance threshold being greater than the low resistance threshold, and a configuration preservation range is formed between the high resistance threshold and the low resistance threshold; Each shovel handle assembly is rotated and connected in sequence to form a segmented shovel body. The lateral offset is the distance of the segmented shovel body from the center line, and is a non-negative value. When the filtering operation resistance continuously reaches or exceeds the high resistance threshold and the duration reaches the first preset duration, the left and right active wheel groups are controlled to differentially extend and retract the pull ropes to reduce the effective length difference between the left and right pull rope groups, so as to reduce the lateral offset of the segmented shovel body. When the filtering operation resistance is continuously lower than or equal to the low resistance threshold and the duration reaches the second preset duration, the active wheel group on one side is controlled to increase the amount of rope winding according to the preset bending direction, and the active wheel group on the other side is controlled to release the rope so as to increase the effective length difference between the left and right rope groups, thereby increasing the lateral offset of the segmented shovel body. When the filter operation resistance is within the configuration holding range, stop configuration adjustment and maintain the current configuration; Each configuration adjustment causes the drive wheel assembly to rotate through a preset angle to complete one small step of retraction and extension. After completing one small step of retraction and extension, the reduction motor currently involved in the action stops. After a preset waiting time, the filtering operation resistance is reassessed until the filtering operation resistance enters the configuration holding range, or the segmented shovel body reaches the preset maximum or minimum lateral offset configuration. When the segmented shovel body reaches the preset maximum or minimum lateral offset configuration, the configuration adjustment stops and the current configuration is maintained.

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