Automatic rotary-tillage robot

Abstract

An automatic rotary-tillage robot, comprising side plates (1) arranged in pairs and an arc-shaped plate (2) connecting the side plates. A rotary tillage mechanism (100) is rotationally mounted on the side plates on two sides, and performs tillage when rotating; a sealed spacing adjustment mechanism (200) synchronously rotates along with the rotary tillage mechanism and adjusts a working spacing as needed; a tillage depth adjustment mechanism (300) is provided in a transverse roller (5) and is connected to insertion rods (6); and a vibration anti-pileup mechanism (400) is provided in a housing on the outer side of the side plates and strikes surfaces of the side plates during rotation along with a transverse rotating shaft (3). The rotary-tillage robot can not only automatically adjust the depth of tillage during working, but can also appropriately adjust the spacing between adjacent insertion rods during tillage to change the particle size of crushed soil, so as to adapt to the planting work of different plants and prevent crushed soil from entering the inside to affect the working process; moreover, the rotary-tillage robot can cyclically strike the soil as a whole during tillage, thereby effectively preventing the soil from piling up in one position during movement and affecting the tillage work.

Description

Automatic rotary tillage robot Technical Field

[0001] The present invention belongs to the technical field of agricultural robots, and in particular relates to an automatic rotary tillage robot. Background Art

[0002] Agricultural robots are machines that can be controlled by different software programs to adapt to various operations. They can sense and adapt to changes in crop types or environment. They are a new generation of unmanned automatic machinery with artificial intelligence such as detection and calculation, including farming robots. Technical issues

[0003] The tillage robots currently in use control the power output of the drive motor through a controller when working to prevent the power output of the drive motor from being too high and causing energy waste. The electric lifting and retracting rod is also used to push the sliding seat and the contact plate down. When the user needs to perform rotary tillage on the cultivated land, it can be used to limit the left-rotating tillage blade and the right-rotating tillage blade from increasing the power output of the drive motor sharply during the process of entering the soil, which may cause the left-rotating tillage blade and the right-rotating tillage blade to bend or break and increase the load on the drive motor. However, the depth and spacing of the cultivated land cannot be adjusted during tillage to meet the sowing needs of different plants, and the internal part is prone to blockage during tillage, affecting the smooth progress of the tillage work. Technical Solutions

[0004] The purpose of the embodiments of the present invention is to provide an automatic rotary tillage robot, aiming to solve the problems existing in the above-mentioned background technology.

[0005] The embodiment of the present invention is implemented as follows: an automatic rotary tillage robot includes side plates, an arc-shaped plate, a rotary tillage mechanism, a sealed spacing adjustment mechanism, a tillage depth adjustment mechanism, and a vibration anti-accumulation mechanism:

[0006] The side panels are arranged in pairs, and opposite ends of the side panels on both sides are connected by an arc-shaped plate;

[0007] The rotary tillage mechanism is rotatably mounted on the side plates on both sides, and is driven by an external rotary motor so as to till the land while rotating;

[0008] The sealed spacing adjustment mechanism is arranged in the middle of the rotary tillage mechanism, and the sealed spacing adjustment mechanism rotates synchronously with the rotary tillage mechanism, adjusts the spacing between the working ends of adjacent rotary tillage mechanisms as needed during the rotation process, and elastically seals both sides of the working ends;

[0009] The tillage depth adjustment mechanism is installed at one end of the side plate, and is arranged inside the transverse roller. The tillage depth adjustment mechanism is also connected to the insertion rods in the rotary tillage mechanism, and is used to adjust the extension amount of the multiple insertion rods on the transverse roller to change the rotary tillage depth;

[0010] A shell is fixedly installed on the outer side of the side plate, and a vibration anti-accumulation mechanism is arranged in the shell. The vibration anti-accumulation mechanism is fixedly connected to the transverse rotating shaft in the rotary tillage mechanism. The vibration anti-accumulation mechanism also abuts against the end of the side plate so that the surface of the side plate can be knocked during the rotation of the transverse rotating shaft, and the surface soil is accumulated in the space between the arc plate and the transverse roller.

[0011] Preferably, the rotary tillage mechanism comprises a transverse rotating shaft, a transverse roller, an inserting rod and a curved groove;

[0012] The transverse rotating shaft and the transverse roller are both rotatably mounted on the side plates on both sides, and the transverse rotating shaft and the transverse roller are fixedly connected;

[0013] A plurality of the insertion rods are provided, and the insertion rods are inserted into the transverse roller at equal angles, and the free ends of the insertion rods are further provided with curved grooves.

[0014] Preferably, the sealed spacing adjustment mechanism comprises a telescopic member 1, a movable frame and a movable chamber;

[0015] The movable chamber is axially arranged inside the transverse roller, and a plurality of movable racks are radially arranged in the movable chamber, and the movable racks are slidably connected to the insertion rods;

[0016] Wherein, adjacent movable frames are connected via telescopic members 1, and the working position of the insertion rod can be changed by adjusting the extension of the plurality of telescopic members 1.

[0017] Preferably, the sealed spacing adjustment mechanism further comprises a guide groove 1, a baffle and an elastic support member 1;

[0018] The guide grooves are arranged on the transverse roller, the guide grooves are arranged in the same number as the insertion rods, and the guide grooves are slidably connected to the insertion rods;

[0019] The baffles are arranged in pairs on both sides of the guide groove, and the baffles are axially slidably installed on the outside of the transverse roller. A groove is opened in the transverse roller, and an elastic support member connected to the baffle is installed in the groove to facilitate sealing of both sides of the insertion rod.

[0020] Preferably, the tillage depth adjustment mechanism includes a second telescopic member, a guide column, a connecting rod and an oblique rod;

[0021] The second telescopic member is fixedly mounted on the outer side of the side panel, and the guide column is slidably mounted on a plurality of movable frames, and each guide column is connected to the movable end of the second telescopic member through an inclined rod;

[0022] The connecting rod is arranged in the movable frame, one end of the connecting rod is connected to the outer side of the guide column, and the other end of the connecting rod is connected to the insertion rod.

[0023] Preferably, the vibration anti-accumulation mechanism includes an oblique guide rod, a movable plate, a second guide groove, a plug-in column and a second elastic support member;

[0024] The plug-in column is slidably mounted on the housing, one end of the plug-in column located inside the housing is fixedly connected to a movable disk, and a second elastic support member is arranged on the plug-in column between the housing and the movable disk;

[0025] A second guide groove is formed on one side surface of the movable plate, and the depth of the second guide groove changes continuously;

[0026] The second guide groove is slidably connected to the oblique guide rod fixedly installed on the transverse rotating shaft, and the second guide groove cooperates with the second elastic support member to continuously push the movable disk and the plug-in column to axially vibrate and knock on the surface of the side plate.

[0027] Preferably, a controller is also installed on the outer surface of the side plate, and the rotating motor, telescopic member 1 and telescopic member 2 are all electrically connected to the controller to facilitate coordinated control of the rotary tillage process. Beneficial effects

[0028] The automatic rotary tillage robot provided by the embodiment of the present invention can not only automatically adjust the depth of tillage during work to meet different farming needs, but also appropriately adjust the spacing between adjacent insertion rods when tilling the land, change the particle size of the crushed soil, thereby adapting to the planting of different plants, and avoiding the crushed soil from entering the interior and affecting the working process. At the same time, it can perform cyclical striking on the whole when tilling the land, effectively preventing the soil from accumulating in one place during movement and affecting the tillage work. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] FIG1 is a three-dimensional structural diagram of an automatic rotary tillage robot provided by an embodiment of the present invention;

[0030] FIG2 is a cross-sectional view of an arc-shaped plate and a transverse roller in an automatic rotary tillage robot provided by an embodiment of the present invention;

[0031] FIG3 is a schematic diagram of a partial structure of a transverse roller in an automatic rotary tillage robot provided by an embodiment of the present invention;

[0032] FIG4 is a schematic diagram of a partial structure of a tillage depth adjustment mechanism of an automatic rotary tillage robot provided by an embodiment of the present invention;

[0033] FIG5 is a schematic structural diagram of a vibration anti-accumulation mechanism in an automatic rotary tillage robot according to an embodiment of the present invention;

[0034] In the accompanying drawings: 1-side plate; 2-arc plate; 3-lateral rotating shaft; 4-rotating motor; 5-lateral roller; 6-insertion rod; 7-curved groove; 8-telescopic part 1; 9-movable frame; 10-movable chamber; 11-guide groove 1; 12-baffle; 13-elastic support part 1; 14-telescopic part 2; 15-guide column; 16-connecting rod; 17-housing; 18-oblique guide rod; 19-movable disk; 20-guide groove 2; 21-insertion column; 22-elastic support part 2; 23-controller; 24-oblique rod; 100-rotating tillage mechanism; 200-sealed spacing adjustment mechanism; 300-tillage depth adjustment mechanism; 400-vibration anti-accumulation mechanism. Modes for Carrying Out the Invention

[0035] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0036] The specific implementation of the present invention is described in detail below with reference to specific embodiments.

[0037] As shown in Figures 1 to 5, a structural diagram of an automatic rotary tillage robot provided by an embodiment of the present invention includes side panels 1, curved panels 2, a rotary tillage mechanism 100, a sealed spacing adjustment mechanism 200, a tillage depth adjustment mechanism 300, and a vibration anti-accumulation mechanism 400: the side panels 1 are arranged in pairs, and the opposite ends of the side panels 1 on both sides are connected by curved panels 2; the rotary tillage mechanism 100 is rotatably mounted on the side panels 1 on both sides, and the rotary tillage mechanism 100 is driven by an external rotary motor 4 so as to cultivate the land while rotating; the sealed spacing adjustment mechanism 200 is arranged in the middle of the rotary tillage mechanism 100, and the sealed spacing adjustment mechanism 200 rotates synchronously with the rotary tillage mechanism 100, and adjusts the working distance of adjacent rotary tillage mechanisms 100 as needed during the rotation process. The spacing between the working ends and the elastic sealing of both sides of the working ends; the plowing depth adjustment mechanism 300 is installed at one end of the side plate 1, and the plowing depth adjustment mechanism 300 is arranged inside the transverse roller 5. The plowing depth adjustment mechanism 300 is also connected to the insertion rod 6 in the rotary tillage mechanism 100, and is used to adjust the extension amount of multiple insertion rods 6 on the transverse roller 5 to change the rotary tillage depth; a shell 17 is fixedly installed on the outer side of the side plate 1, and a vibration anti-accumulation mechanism 400 is arranged in the shell 17. The vibration anti-accumulation mechanism 400 is fixedly connected to the transverse rotating shaft 3 in the rotary tillage mechanism 100, and the vibration anti-accumulation mechanism 400 is also abutted against the end of the side plate 1, so as to knock the surface of the side plate 1 during the rotation with the transverse rotating shaft 3, and the surface soil accumulates in the space between the arc plate 2 and the transverse roller 5.

[0038] The automatic rotary tillage robot provided in the present application can not only automatically adjust the depth of tillage during work to meet different tillage needs, but also appropriately adjust the spacing between adjacent insertion rods 6 when tilling the land, change the particle size of the crushed soil, thereby adapting to the planting of different plants, and avoiding the crushed soil from entering the interior and affecting the working process. At the same time, it can perform cyclical striking on the whole when tilling the land, effectively preventing the soil from accumulating in one place during movement and affecting the tillage work.

[0039] In one example of the present invention, a controller 23 is also installed on the outer surface of the side panel 1, and the rotating motor 4, telescopic member 1 8 and telescopic member 2 14 are all electrically connected to the controller 23 to facilitate the coordinated control of the rotary tillage process; in addition, the side panel 1 and the arc-shaped plate 2 are installed on an external walking mechanism when in use, and the walking mechanism includes wheels, motors, drive systems, etc., so as to drive the rotary tillage robot to automatically cultivate the land while walking.

[0040] As shown in FIG1 and FIG2 , as a preferred embodiment of the present invention, the rotary tillage mechanism 100 includes a transverse shaft 3, a transverse roller 5, an inserting rod 6 and a curved groove 7;

[0041] The transverse rotating shaft 3 and the transverse roller 5 are both rotatably mounted on the side plates 1 on both sides, and the transverse rotating shaft 3 and the transverse roller 5 are fixedly connected;

[0042] There are multiple insertion rods 6 , which are inserted into the transverse roller 5 at equal angles. The free ends of the insertion rods 6 are further provided with curved grooves 7 .

[0043] In one example of the present invention, when the soil needs to be cultivated, the rotating motor 4 drives the transverse rotating shaft 3 to rotate, and the transverse rotating shaft 3 also drives multiple insertion rods 6 to rotate synchronously through the transverse roller 5, and the soil is turned and crushed by the provided insertion rods 6 and curved grooves 7.

[0044] As shown in FIG1 and FIG2, as another preferred embodiment of the present invention, the sealed spacing adjustment mechanism 200 includes a telescopic member 8, a movable frame 9 and a movable chamber 10;

[0045] The movable chamber 10 is axially arranged inside the transverse roller 5, and a plurality of movable frames 9 are radially arranged in the movable chamber 10, and the movable frames 9 are slidably connected to the insertion rod 6;

[0046] Among them, adjacent movable frames 9 are connected by telescopic members 8, and the working position of the insertion rod 6 is changed by adjusting the extension of multiple telescopic members 8.

[0047] In one embodiment of the present invention, when the spacing between adjacent insertion rods 6 needs to be adjusted, the telescopic member 8 works to push the movable frame 9 to slide in the movable chamber 10, and the movable frame 9 also pushes the insertion rods 6 at the corresponding positions to move synchronously, and the insertion rods 6 move axially along the transverse roller 5.

[0048] As shown in FIG1 and FIG3, as another preferred embodiment of the present invention, the sealed spacing adjustment mechanism 200 further includes a guide groove 11, a baffle 12 and an elastic support member 13;

[0049] The guide groove 11 is provided on the transverse roller 5, and the guide groove 11 is arranged in the same number as the insertion rod 6, and the guide groove 11 is slidably connected to the insertion rod 6;

[0050] The baffles 12 are arranged in pairs on both sides of the guide groove 11. The baffles 12 are axially slidably installed on the outside of the transverse roller 5. A groove is provided in the transverse roller 5, and an elastic support member 13 connected to the baffles 12 is installed in the groove to facilitate sealing of both sides of the insertion rod 6.

[0051] In one embodiment of the present invention, when the insertion rod 6 moves axially along the guide groove 11 provided on the transverse roller 5, the insertion rod 6 pushes the baffle 12 on one side to slide along the transverse roller 5, and the elastic support member 13 on this side is compressed by force, while the baffle 12 on the other side is always in contact with the insertion rod 6 under the action of the elastic support member 13, thereby performing sealing when the spacing adjustment of adjacent insertion rods 6 is completed, thereby effectively preventing soil from entering the interior of the transverse roller 5 along the guide groove 11 and hindering the normal operation of the components.

[0052] As shown in FIG1 and FIG4 , as another preferred embodiment of the present invention, the tillage depth adjustment mechanism 300 includes a telescopic member 2 14 , a guide column 15 , a connecting rod 16 and an inclined rod 24 ;

[0053] The telescopic member 2 14 is fixedly mounted on the outer side of the side panel 1, and the guide column 15 is slidably mounted on the plurality of movable frames 9, and each guide column 15 is connected to the movable end of the telescopic member 2 14 through an inclined rod 24;

[0054] The connecting rod 16 is arranged in the movable frame 9, one end of the connecting rod 16 is connected to the outer side of the guide column 15, and the other end of the connecting rod 16 is connected to the insertion rod 6.

[0055] In one example of the present invention, the telescopic member 1 8 and the telescopic member 2 14 described in this application can be used in actual use by linear drive devices such as air cylinders, hydraulic cylinders, electric cylinders and electric telescopic rods. When the telescopic member 2 14 is working, the inclined rod 24 is set to make the guide column 15 slide along the movable frame 9. When sliding, the guide column 15 also pulls multiple insertion rods 6 to move synchronously along the movable frame 9 at the corresponding position through the connecting rod 16 arranged on the outside, and adjusts the elongation of the insertion rod 6 on the transverse roller 5, so as to adjust the tillage depth when the transverse roller 5 and the insertion rod 6 rotate.

[0056] As shown in FIG1 and FIG5 , as another preferred embodiment of the present invention, the vibration anti-accumulation mechanism 400 includes an inclined guide rod 18 , a movable plate 19 , a second guide groove 20 , a plug-in column 21 and a second elastic support member 22 ;

[0057] The plug post 21 is slidably mounted on the housing 17. One end of the plug post 21 located inside the housing 17 is fixedly connected to the movable disk 19. A second elastic support member 22 is also arranged on the plug post 21 between the housing 17 and the movable disk 19.

[0058] A second guide groove 20 is formed on one side surface of the movable plate 19, and the depth of the second guide groove 20 varies continuously;

[0059] The second guide groove 20 is slidably connected to the oblique guide rod 18 fixedly installed on the transverse rotating shaft 3, and the second guide groove 20 cooperates with the second elastic support member 22 to continuously push the movable disk 19 and the plug-in column 21 to axially vibrate and knock on the surface of the side plate 1.

[0060] In one embodiment of the present invention, the transverse rotating shaft 3 also drives the inclined guide rod 18 to rotate synchronously when rotating. During the process of the inclined guide rod 18 moving along the guide groove 20 opened on the movable disk 19, due to the different depths of the guide groove 20, the movable disk 19 can be pushed to slide axially along the transverse rotating shaft 3. At the same time, the movable disk 19 also pulls the plug-in column 21 to slide along the shell 17. The elastic support member 22 is elastically deformed under the force. When the plug-in column 21 moves in the axial direction along the transverse rotating shaft 3, it can continuously push the plug-in column 21 to collide with the side plate 1. The side plate 1 and the curved plate 2 are subjected to force transmission, so that the curved plate 2 and the transverse roller 5 vibrate, and also cooperate with the rotating plug-in rod 6 to efficiently crush the soil remaining between the curved plate 2 and the transverse roller 5, which can effectively prevent the soil from accumulating in one place, thereby ensuring that the rotary tillage process can proceed smoothly.

[0061] To sum up, when it is necessary to cultivate the soil, the rotating motor 4 drives the transverse rotating shaft 3 to rotate, and the transverse rotating shaft 3 also drives multiple insertion rods 6 to rotate synchronously through the transverse roller 5, and the soil is turned and crushed by the provided insertion rods 6 and curved grooves 7. The telescopic part 18 works to push the movable frame 9 to slide in the movable chamber 10, and the movable frame 9 also pushes the insertion rods 6 at the corresponding position to move synchronously, and the insertion rods 6 move axially along the transverse roller 5. When the insertion rods 6 move axially along the guide groove 11 opened on the transverse roller 5, the insertion rods 6 push the baffle 12 to slide along the transverse roller 5, and the elastic support member 13 on this side is compressed by the force, and when the telescopic part 2 14 works, the guide column 15 slides along the movable frame 9 through the provided oblique rod 24. When sliding, the guide column 15 also pulls multiple insertion rods 6 along the opposite side through the connecting rod 16 arranged on the outside. The movable frame 9 at the corresponding position moves synchronously to facilitate the adjustment of the tillage depth. The horizontal rotating shaft 3 also drives the inclined guide rod 18 to rotate synchronously when rotating. During the process of the inclined guide rod 18 moving along the guide groove 20 opened on the movable disk 19, the elastic support member 22 is elastically deformed by the force, pushing the connecting column 21 to hit the side plate 1, and efficiently crushing the soil remaining between the arc plate 2 and the horizontal roller 5 to avoid the soil piling up. This robot can not only automatically adjust the depth of the tillage during work to meet different farming needs, but also appropriately adjust the spacing between adjacent insertion rods 6 when tilling the land, change the particle size of the crushed soil, thereby adapting to the planting of different plants, and avoiding the crushed soil from entering the interior and affecting the working process. At the same time, it can perform cyclic striking on the whole during tillage, effectively preventing the soil from piling up in one place during movement and affecting the tillage work.

[0062] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations that come within the meaning and range of equivalents of the claims be embraced therein.

[0063] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. Automatic rotary tillage robot, characterized in that: It includes side plates, curved plates, rotary tillage mechanism, sealed spacing adjustment mechanism, tillage depth adjustment mechanism and vibration anti-accumulation mechanism: The side panels are arranged in pairs, and opposite ends of the side panels on both sides are connected by an arc-shaped plate; The rotary tillage mechanism is rotatably mounted on the side plates on both sides, and is driven by an external rotary motor so as to till the land while rotating; The sealed spacing adjustment mechanism is arranged in the middle of the rotary tillage mechanism, and the sealed spacing adjustment mechanism rotates synchronously with the rotary tillage mechanism, adjusts the spacing between the working ends of adjacent rotary tillage mechanisms as needed during the rotation process, and elastically seals both sides of the working ends; The tillage depth adjustment mechanism is installed at one end of the side plate, and is arranged inside the transverse roller. The tillage depth adjustment mechanism is also connected to the insertion rods in the rotary tillage mechanism, and is used to adjust the extension amount of the multiple insertion rods on the transverse roller to change the rotary tillage depth; A shell is fixedly installed on the outer side of the side plate, and a vibration anti-accumulation mechanism is arranged in the shell. The vibration anti-accumulation mechanism is fixedly connected to the transverse rotating shaft in the rotary tillage mechanism. The vibration anti-accumulation mechanism also abuts against the end of the side plate so that the surface of the side plate can be knocked during the rotation of the transverse rotating shaft, and the surface soil is accumulated in the space between the arc plate and the transverse roller.

2. The automatic rotary tillage robot according to claim 1, characterized in that: The rotary tillage mechanism comprises a transverse rotating shaft, a transverse roller, an inserting rod and a curved groove; The transverse rotating shaft and the transverse roller are both rotatably mounted on the side plates on both sides, and the transverse rotating shaft and the transverse roller are fixedly connected; A plurality of the insertion rods are provided, and the insertion rods are inserted into the transverse roller at equal angles, and the free ends of the insertion rods are further provided with curved grooves.

3. The automatic rotary tillage robot according to claim 2, characterized in that: The sealed spacing adjustment mechanism includes a telescopic member 1, a movable frame and a movable chamber; The movable chamber is axially arranged inside the transverse roller, and a plurality of movable racks are radially arranged in the movable chamber, and the movable racks are slidably connected to the insertion rods; Wherein, adjacent movable frames are connected via telescopic members 1, and the working position of the insertion rod can be changed by adjusting the extension of the plurality of telescopic members 1.

4. The automatic rotary tillage robot according to claim 3, characterized in that: The sealed spacing adjustment mechanism further includes a guide groove, a baffle and an elastic support member; The guide grooves are arranged on the transverse roller, the guide grooves are arranged in the same number as the insertion rods, and the guide grooves are slidably connected to the insertion rods; The baffles are arranged in pairs on both sides of the guide groove, and the baffles are axially slidably installed on the outside of the transverse roller. A groove is opened in the transverse roller, and an elastic support member connected to the baffle is installed in the groove to facilitate sealing of both sides of the insertion rod.

5. The automatic rotary tillage robot according to claim 3, characterized in that: The tillage depth adjustment mechanism includes a second telescopic member, a guide column, a connecting rod and an inclined rod; The second telescopic member is fixedly mounted on the outer side of the side panel, and the guide column is slidably mounted on a plurality of movable frames, and each guide column is connected to the movable end of the second telescopic member through an inclined rod; The connecting rod is arranged in the movable frame, one end of the connecting rod is connected to the outer side of the guide column, and the other end of the connecting rod is connected to the insertion rod.

6. The automatic rotary tillage robot according to claim 1, characterized in that: The vibration anti-accumulation mechanism includes an oblique guide rod, a movable plate, a second guide groove, a plug-in column and a second elastic support member; The plug-in column is slidably mounted on the housing, one end of the plug-in column located inside the housing is fixedly connected to a movable disk, and a second elastic support member is arranged on the plug-in column between the housing and the movable disk; A second guide groove is formed on one side surface of the movable plate, and the depth of the second guide groove changes continuously; The second guide groove is slidably connected to the oblique guide rod fixedly installed on the transverse rotating shaft, and the second guide groove cooperates with the second elastic support member to continuously push the movable disk and the plug-in column to axially vibrate and knock on the surface of the side plate.

7. The automatic rotary tillage robot according to claim 5, characterized in that: A controller is also installed on the outer surface of the side plate, and the rotating motor, telescopic member 1 and telescopic member 2 are all electrically connected to the controller to facilitate coordinated control of the rotary tillage process.

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