CN218337056U - Unmanned remote control crawler micro-cultivator - Google Patents

Abstract

The utility model discloses the technical field of farming machinery, and discloses an unmanned remote control crawler micro-farming machine, which comprises a support frame, a power system, an unmanned remote control system and a reversing control system which are positioned above the support frame, a crawler-type walking mechanism positioned below the support frame, a speed change system connected with the power output end of the power system, and a micro-farming mechanism connected with the power output end of the speed change system; and the power output end of the speed change system is connected with the power input end of the crawler-type walking mechanism. The utility model discloses because simple structure improves the walking stationarity and has reduced the later maintenance cost. The utility model discloses because simple structure easily controls, has reduced manufacturing cost.

Description

Unmanned remote control crawler mini-tiller

Technical Field

The utility model belongs to the technical field of farming machinery, specifically provide a simple structure, easily control and reduce manufacturing cost's unmanned remote control track machine of ploughing a little.

Background

The micro-tillage machine has the characteristics of strong soil breaking capacity, flat ground surface after tillage and the like, so that the micro-tillage machine is widely applied; meanwhile, the stubble buried below the ground surface can be cut up, the operation of the seeder is convenient, and a good seedbed is provided for later-stage seeding.

The mini-tiller is taken as one of the agricultural tillers, and is popular with farmers in hilly and mountainous areas in China. The existing mini-tiller market still mainly comprises the traditional manual mini-tiller, so that manpower cannot be liberated, and the efficiency cannot be improved. Basically, fuel power is adopted, the structure is complex, the operation and control are complex, and the later maintenance cost is high.

According to the data of the national data statistics bureau, the population of national agricultural labor is about 79563 ten thousand people in 2000, and the population shrinks to about 28584 ten thousand people in 2020 and decreases to about 35 percent. Although the rate of decline has slowed somewhat in recent years, it is undoubtedly declining every year. In addition, the average age of agricultural practitioners is also gradually increasing, reaching 65 years in 2019. From these analysis results, it can be seen that the foundation supporting chinese agriculture is declining and aging. Therefore, the market demand for unmanned remote control farming machines is very urgent.

The Chinese patent 2019103740246 discloses a mini-tiller based on an artificial intelligence platform, the Chinese patent 202010356429X discloses a farming robot walking control system and method based on Beidou positioning, and the Chinese patent 2017214949444 discloses a control system for a greenhouse type unmanned mini-tiller. The unmanned remote control operation of the mini-tiller is realized to a great extent.

The unmanned remote control crawler micro-tillage machine in the prior art generally comprises a support frame, a power system, an unmanned remote control system and a reversing control system which are positioned above the support frame, a crawler-type walking mechanism positioned below the support frame, a speed change system connected with a power output end of the power system, and a micro-tillage mechanism connected with a power output end of the speed change system. The power system basically adopts fuel oil power, so that the mini-tiller has the objective technical problems of complex structure, large quality, difficult control, high later maintenance and manufacturing cost and the like. The difficulty in operation is mainly reflected in that an independent power control system is needed for rotary tillage and walking, and the layout of each part of a gearbox and a power source is unreasonable, so that the whole structure is huge.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing an unmanned remote control track machine of ploughing a little, aim at solving the current remote control machine of ploughing a little structure that exists complicated, be difficult to control and reduce manufacturing cost's problem.

In order to achieve the above purpose, the utility model provides a following technical scheme:

the utility model provides an unmanned remote control track micro-cultivator, which comprises a support frame, a power system, an unmanned remote control system and a reversing control system which are arranged above the support frame, a track type walking mechanism arranged below the support frame, a speed change system connected with the power output end of the power system, and a micro-cultivator connected with the power output end of the speed change system; wherein:

the power system also comprises a motor and storage battery packs electrically connected with the electric control board, the storage battery packs are at least two groups, the two groups of storage battery packs are symmetrically arranged on two sides of the motor, a power output shaft of the motor is connected with a power input shaft of the speed change system, and the storage battery is electrically connected with the unmanned remote control system at the same time; the support frame also comprises a support bottom plate and a motor mounting plate which is positioned in the middle of the support bottom plate and protrudes upwards, the motor is fixed on the motor mounting plate, and the storage battery pack is fixed on the support bottom plate;

the speed change system also comprises a speed change upper box, a speed change lower box and a rear box which are respectively connected with two power output shafts of the speed change upper box, the shaft axis of the power input shaft of the rear box is parallel to the shaft axis of the power input shaft of the speed change upper box or is positioned on the same straight line, the shaft axis of the power input shaft of the speed change lower box is vertical to the shaft axis of the power input shaft of the speed change upper box, and the power output shaft of the speed change lower box is connected with the power input end of the crawler type traveling mechanism; the power output end of the rear box is provided with a cutter power output shaft, an included angle is formed between the axis of the cutter power output shaft and the axis of the power input shaft of the rear box, the cutter power output shaft is connected with a universal shaft, and the lower end of the universal shaft is connected with a rotary tillage power input shaft in a cutter small box of the micro-tillage mechanism.

In order to guarantee the continuity of the operation of the mini-tiller, even if one battery is in power shortage or damaged, the overall power supply is not influenced, and further, in the scheme: the storage battery pack is composed of at least three storage batteries, the at least three storage batteries are arranged in the same battery box, and each storage battery is independently and electrically connected with the electric control board.

For make plough the mechanism a little and easily load and unload and go up and down convenient, furtherly, in the above-mentioned scheme: the micro-tillage mechanism also comprises a rotary blade arranged on a rotary tillage rotating shaft, the rotary tillage rotating shaft penetrates through the lower part of the small cutter box, a rotary tillage driven bevel gear and a rotary tillage driving bevel gear meshed with the rotary tillage driven bevel gear are arranged on the shaft section of the rotary tillage rotating shaft, and the rotary tillage driving bevel gear is fixed at the lower end of a rotary tillage power input shaft.

For the earth of preventing the rotary tillage splashes, furtherly, in the above-mentioned scheme: the mini-tiller also comprises a mudguard which is fixed on a bearing sleeve positioned on the rotary tillage rotating shaft, and the bearing sleeve is fixed on the lower part of the small cutter box.

In order to make the whole structure compact, further, in the above scheme: a reversing control system supporting plate is fixed on the shell of the upper gearbox and/or the shell of the rear box, and the reversing control system is fixed on the reversing control system supporting plate; the reversing control system also comprises an air pressure or hydraulic tank and three groups of electromagnetic valves which are fixed on a supporting plate of the reversing control system, the three groups of electromagnetic valves respectively control the opening and closing of three cylinders or hydraulic cylinders, one cylinder or the cylinder body of the hydraulic cylinder in the three cylinders or the hydraulic cylinders is fixed on the shell of the upper gearbox and/or the shell of the rear box, and the piston rod of the cylinder or the hydraulic cylinder fixed on the shell of the upper gearbox and/or the shell of the rear box is fixed on the shell of the universal shaft; the movable clamping jaws of the other two of the three cylinders or hydraulic cylinders are respectively positioned on the walking driving shafts of the two sets of crawler-type walking mechanisms; the air cylinder or the hydraulic cylinder is connected in series with a pneumatic pump or a hydraulic pump, an electromagnetic valve and a pneumatic or hydraulic tank through pipelines; and the power input shaft of the pneumatic pump or the hydraulic pump is connected with the power input shaft of the pneumatic pump or the hydraulic pump on the rear box.

In order to realize the multiple purposes of the same power source, further, in the scheme: and a water pump connecting seat is arranged on the rear box, and a power output shaft of the water pump positioned in the rear box extends into the water pump connecting seat.

In order to guarantee the steadiness of being connected of case in rear box and the variable speed, further, in the above-mentioned scheme: the rear box and the upper gear box are fixed into a whole through a box body connecting frame, and a cylinder body of a cylinder or a hydraulic cylinder with a piston rod fixed at the position of the universal shaft is fixed on the box body connecting frame.

In order to reduce the overall height of the mini-tiller, further, in the scheme: the axial lead of the power output shaft of the water pump positioned in the rear box is parallel to the axial lead of the power input shaft of the pneumatic pump or the hydraulic pump, and the power output ends of the power output shaft of the water pump and the power input shaft of the pneumatic pump or the hydraulic pump are positioned at the same side of the rear box.

In order to ensure the bearing capacity of the mini-tiller, further, in the scheme: the crawler type walking mechanism is characterized in that a support beam is arranged on a crawler support frame of the crawler type walking mechanism, and the support beam and the bottom of the support frame are fixed into a whole.

The utility model has the advantages that:

1. the utility model discloses with the variable speed nowel and the back box of two power take off hub connections of case on the variable speed, the rationality of the position overall arrangement of case on variable speed nowel and back box and the variable speed promptly for plough quick-witted overall arrangement structure ratio simply a little, compare with current structure, effectively got rid of unnecessary bearing structure spare, reduced holistic weight, make unmanned remote control system easily control more plough the machine a little.

2. The reversing control system of the utility model realizes the lifting control of the micro-tillage mechanism by opening and closing one cylinder or hydraulic cylinder through the corresponding electromagnetic valve; the other two corresponding electromagnetic valves are used for operating the other two cylinders or hydraulic cylinders, so that the two sets of crawler-type traveling mechanisms can run on one side or two sides according to actual needs. So that the walking, namely the rotary tillage, is easy to control.

3. The utility model discloses an unmanned remote control system's application for peasant intensity of labour reduces, and unmanned remote control system adopts the same control technique with the remote control car that current child played, and peasant study accessible promotes the no degree of difficulty.

4. The reasonability of the layout of the power system and the speed change system reduces the whole weight and the manufacturing cost.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and/or combinations particularly pointed out in the appended claims.

Drawings

For the purposes of promoting a better understanding of the objects, features and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic view of the three-dimensional structure of the explosive device of the present invention;

FIG. 3 is a schematic view of the three-dimensional structure of the present invention when the protective cover is uncovered;

FIG. 4 is a schematic three-dimensional structure of the rear box of the present invention;

FIG. 5 is a schematic three-dimensional structure of a gear train in a rear box according to the present invention;

FIG. 6 is a schematic three-dimensional structure of a gear train in the cutter box of the present invention;

fig. 7 is a control block diagram of the present invention;

reference numerals: 1. a support frame; 2. a power system; 3. an unmanned remote control system; 4. a commutation control system; 5. a crawler-type running mechanism; 6. a speed change system; 7. a micro-tillage mechanism; 8. a reversing control system support plate; 9. a protective cover; 10. a receiver; 11. a remote controller; 12. a pipeline; 13. a water pump connecting seat; 14. a box body connecting frame; 15. a support beam;

101. a support base plate; 102. a motor mounting plate;

201. a battery; 202. an electric control board; 203. a motor; 204. a battery case;

301. a LINUX system control panel; 302. an environment sensing module; 303. a decision planning module; 304. a WIFI module; 305. A security module; 306. a singlechip control chip; 307. a touch display screen; 308. an RTK positioning module;

3021. a camera; 3022. a laser radar; 3023. a millimeter wave radar;

401. a pneumatic or hydraulic tank; 402. an electromagnetic valve; 403. a pneumatic or hydraulic cylinder; 404. a piston rod; 405. a movable clamping jaw;

501. a running drive shaft; 512. a track support frame;

601. the gear shifting is carried out on the upper box; 602. a variable speed lower box; 603. a rear box; 604. a tool power output shaft; 605. a pneumatic or hydraulic pump power input shaft; 606. a water pump power output shaft;

701. a cutter small box; 702. a rotary tillage power input shaft; 703. a cardan shaft; 704. a rotary tillage rotating shaft; 705. a rotary blade; 706. A rotary tillage driven bevel gear; 707. a rotary tillage driving bevel gear.

Detailed Description

The following embodiments of the present invention are provided by way of specific examples, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The present invention can be implemented or applied by other different specific embodiments, and various details in the present specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the features in the following embodiments and examples may be combined with each other without conflict.

Wherein the showings are for the purpose of illustration only and not for the purpose of limiting the same, the same is shown by way of illustration only and not in the form of limitation; for a better explanation of the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. In addition, the present disclosure may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed.

As shown in fig. 1-7, the unmanned remote control crawler mini-tiller of the present invention comprises a support frame 1, a power system 2, an unmanned remote control system 3 and a reversing control system 4 which are arranged above the support frame 1, a crawler type traveling mechanism 5 arranged below the support frame 1, a speed change system 6 connected with a power output end of the power system 2, and a mini-tiller 7 connected with a power output end of the speed change system 6; wherein:

the power system 2 also comprises a motor 203 and storage batteries 201 which are electrically connected with the electric control board 202, the storage batteries 201 are at least two groups, the two groups of storage batteries 201 are symmetrically arranged at two sides of the motor 203, a power output shaft of the motor 203 is connected with a power input shaft of the speed change system 6, and the storage batteries 201 are simultaneously electrically connected with the unmanned remote control system 3;

the speed change system 6 further comprises an upper speed change box 601, a lower speed change box 602 and a rear box 603 which are respectively connected with two power output shafts of the upper speed change box 601, the shaft axis of the power input shaft of the rear box 603 is parallel to the shaft axis of the power input shaft of the upper speed change box 601 or is positioned on the same straight line, the shaft axis of the power input shaft of the lower speed change box 602 is perpendicular to the shaft axis of the power input shaft of the upper speed change box 601, and the power output shaft of the lower speed change box 602 is connected with the power input end of the crawler-type traveling mechanism 5; the power output end of the rear box 603 is provided with a cutter power output shaft 604, an included angle is formed between the axis of the cutter power output shaft 604 and the axis of the power input shaft of the rear box 603, the cutter power output shaft 604 is connected with a universal shaft 703, and the lower end of the universal shaft 703 is connected with a rotary tillage power input shaft 702 in a small cutter box 701 of the mini-tiller mechanism 7.

In order to ensure the continuity of the operation of the mini-tiller, even if one battery is in power shortage or damaged, the whole power supply is not influenced, and further, in the embodiment: the battery pack 201 is composed of at least three batteries, the at least three batteries are arranged in the same battery box 204, and each battery is independently and electrically connected with the electric control board 202.

In order to make the micro-tillage mechanism 7 easy to assemble, disassemble and convenient to lift, further, in the above embodiment: the micro-tillage mechanism 7 also comprises a rotary tillage blade 705 arranged on a rotary tillage rotating shaft 704, the rotary tillage rotating shaft 704 penetrates through the lower part of the small cutter box 701, a rotary tillage driven bevel gear 706 and a rotary tillage driving bevel gear 707 meshed with the rotary tillage driven bevel gear 706 are arranged on the shaft section of the rotary tillage rotating shaft 704 positioned on the small cutter box 701, and the rotary tillage driving bevel gear 707 is fixed at the lower end of the rotary tillage power input shaft 702.

In order to prevent the rotary tillage soil from splashing, further, in the above embodiment: the micro-tillage mechanism 7 further comprises a mudguard 708, wherein the mudguard 708 is fixed on a bearing sleeve positioned on the rotary tillage rotating shaft 704, and the bearing sleeve is fixed at the lower part of the small cutter box 701.

In order to make the overall structure compact, further, in the above embodiment: a reversing control system support plate 8 is fixed on the shell of the upper gearbox 601 and/or the shell of the rear gearbox 603, and the reversing control system 4 is fixed on the reversing control system support plate 8; the reversing control system 4 further comprises an air pressure or hydraulic tank 401 and three groups of electromagnetic valves 402 which are fixed on a reversing control system support plate 8, the three groups of electromagnetic valves 402 respectively control the opening and closing of three air cylinders or hydraulic cylinders 403, the cylinder body of one air cylinder or hydraulic cylinder 403 of the three air cylinders or hydraulic cylinders 403 is fixed on the shell of the upper gearbox 601 and/or the shell of the rear box 603, and the piston rod 404 of the air cylinder or hydraulic cylinder 403 which is fixed on the shell of the upper gearbox 601 and/or the shell of the rear box 603 is fixed on the shell of the universal shaft 703; the movable clamping jaws 405 of the other two cylinders or hydraulic cylinders 403 of the three cylinders or hydraulic cylinders 403 are respectively positioned on the walking driving shafts 501 of the two sets of crawler-type walking mechanisms 5; the air cylinder or hydraulic cylinder 403 is connected with an air pressure pump or hydraulic pump 405, an electromagnetic valve 402 and an air pressure or hydraulic tank 401 in series through a pipeline 12; the power input shaft of the pneumatic pump or hydraulic pump 403 is connected with the power input shaft 605 of the pneumatic pump or hydraulic pump on the rear box 603.

In order to realize multiple purposes of the same power source, further, in the above embodiment: the rear box 603 is provided with a water pump connecting seat 13, and a water pump power output shaft in the rear box 603 extends into the water pump connecting seat 13.

To ensure the stability of the connection between the rear case 603 and the upper transmission case 601, further, in the above embodiment: the rear box 603 and the upper gear box 601 are fixed together by a box connecting frame 14, and the cylinder body of the cylinder or the cylinder 403 of which the piston rod 404 is fixed on the cardan shaft 703 is fixed on the box connecting frame 14.

In order to reduce the overall height of the mini-tiller, further, in the above embodiment: the axial lead of the water pump power output shaft 606 in the rear box 603 is parallel to the axial lead of the pneumatic pump or hydraulic pump power input shaft 605 of the pneumatic pump or hydraulic pump 403, and the power output ends of the water pump power output shaft and the pneumatic pump or hydraulic pump power input shaft 605 of the pneumatic pump or hydraulic pump 403 are positioned on the same side of the rear box 603.

In order to ensure the bearing capacity of the mini-tiller, further, in the above embodiment: the track support frame 512 of the track-type running gear 5 is provided with a support beam 15, and the support beam 15 is fixed integrally with the bottom of the support frame 1.

In order to ensure that unmanned remote control is realized and control is simple, further, in the above embodiment: the unmanned remote control system 3 further comprises a LINUX system control board 301, an environment sensing module 302, an RTK positioning module 308, a decision planning module 303, a WIFI module 304, a safety module 305, a single chip microcomputer control chip 306 and a touch display screen 307, wherein the environment sensing module 302, the RTK positioning module 308, the decision planning module 303, the WIFI module 304, the safety module 305, the single chip microcomputer control chip 306 and the touch display screen 307 are electrically connected with the LINUX system control board 301;

the environment sensing module 302 further includes a camera 3021, a lidar 3022, and a millimeter-wave radar 3023, where the camera 3021, the lidar 3022, the millimeter-wave radar 3023, and the touch display screen 307 are all fixed on the top of a shield 9, and the shield 9 is fixed on the support frame 1 and/or the reversing control system support plate 8;

the RTK positioning module 308 further includes a base station, an antenna, a dual-frequency positioning module, and a wireless data transmission module;

the single chip microcomputer control chip 306 further comprises a receiver 10 and a remote controller 11, and the receiver 10 is electrically connected with the electric control board 202 and the electromagnetic valve 402. The LINUX system control board 301, the RTK positioning module 308, the single-chip microcomputer control chip 306 and the receiver 10 are all fixed on the top plate surface of the support frame 1.

In the above-described unmanned remote control system 3, the environmental perception includes a camera, a laser radar, and a millimeter wave radar. The laser radar scans the periphery to obtain point cloud data and transmits the point cloud data to the processor, and feature extraction and classification are carried out on different point cloud data, so that identification of dynamic and static obstacles such as people, animals, numbers and the like is realized. The millimeter-wave radar transmits millimeter waves outwards, receives target reflection signals and detects obstacles around the machine. The camera simultaneously confirms the obstacles detected by the millimeter wave radar and obtains more accurate obstacle distance information after being processed by the processor. And finally, transmitting the type and distance information of the obstacle to a decision planning module, and transmitting the obstacle distance information to a safety module. The RTK positioning module comprises a reference station, an antenna, a double-frequency positioning module and a wireless data transmission module. The method comprises the steps that a reference station continuously observes a satellite, observation data and station measurement information of the satellite are wirelessly transmitted through an antenna and are sent to a mini-tiller positioning module in real time, the mini-tiller positioning module receives satellite signals and data transmitted by the reference station through wireless receiving equipment, three-dimensional coordinates and precision of the mini-tiller are calculated in real time according to the principle of relative positioning, and the data are sent to an LINUX system through a serial port to obtain high-precision positioning of the mini-tiller in real time. The decision planning module comprises a behavior decision algorithm and a path planning algorithm. The decision control receives the real-time position from the RTK positioning module, the type and distance information of the obstacle from the environment sensing module, the action intervention instruction and attitude data from the single-chip microcomputer system, the data instruction from the WiFi module, and the path information drawn by the path planning calculation rule, and then calculates the action to be made by the farming machine, and controls the specific action of the farming machine through CAN bus communication and a digital or analog output port. The path planning module is used for firstly enabling an operator to drive the farming machine to surround the edge of the land to be worked for one circle, determining the boundary and the position information of the land to be worked, and then selecting a path planning mode: in the horizontal mode or the annular mode, the path planning algorithm automatically plans the path. The safety module includes an anti-collision and scram module. The automatic gearbox is a control unit for controlling the direction and power gear of the micro-cultivator, and mainly receives a decision control instruction through CAN bus communication in the working process of the unmanned micro-cultivator, but also directly receives barrier distance information from an environment sensing module through the CAN bus communication. When the distance between the obstacle and the mini-tiller is less than 3 m, but the decision control module still does not make a braking or bypassing action command for some unknown reasons, the automatic gearbox control unit directly enters a protection mode, immediately switches the power of the mini-tiller into a neutral gear, turns off the power output device and the hydraulic output device, brakes the mini-tiller, and sends a distress warning to monitoring personnel through the WiFi module. If the decision control module and the anti-collision module fail due to some unknown reasons at the same time, monitoring personnel can still press an emergency stop button on the remote control transmitter, and after a receiver on the single chip receives an emergency stop signal, the single chip system sends an emergency stop instruction to drive the electromagnetic relay to disconnect the power supply of the engine control unit, so that reliable and quick emergency stop is realized. And a WiFi module. Information such as camera images and radars is transmitted to a mobile phone APP or PC end in a wireless mode, and the mobile phone end and the PC end can also send some instructions to the LINUX system through remote connection. The single chip microcomputer system comprises a receiver, a remote controller and an inertia attitude module. The inertial attitude module acquires data such as the speed and the angle of the machine and feeds the data back to the system, and then the system makes an adjustment command. The singlechip system receives the instruction from the LINUX system, and then controls the electromagnetic valve, the relay, the motor drive and the like through the IO port, so that each action of the machine is realized. The remote controller sends signals, the signals are transmitted to the receiver through radio frequency communication, the single chip microcomputer processes the signals and then sends instruction information to control the on and off of the relay and the electromagnetic valve, and corresponding actions are completed.

All the parts are commercially available products.

The utility model discloses a working process is: the unmanned remote control system 3 controls the micro-tillage mechanism 7 to carry out rotary tillage or not and controls the walking track of the crawler-type walking mechanism 5 according to a program input in advance and the actual rotary tillage environment and the rotary tillage depth.

The above unmanned remote control system 3 adopts conventional prior art, and the description about program control is for those skilled in the art to understand the present invention, which is not the point of the present invention to be protected. The utility model discloses in, relevant gear and reverse gear isotructure adopt conventional prior art, do not describe here.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present invention can be modified or substituted by equivalents without departing from the spirit and scope of the technical solutions, which should be covered by the scope of the claims of the present invention.

Claims (9)

1. An unmanned remote control crawler mini-tiller comprises a support frame (1), a power system (2), an unmanned remote control system (3) and a reversing control system (4) which are positioned above the support frame (1), a crawler type traveling mechanism (5) which is positioned below the support frame (1), a speed change system (6) which is connected with a power output end of the power system (2), and a mini-tiller mechanism (7) which is connected with a power output end of the speed change system (6); the method is characterized in that:

the power system (2) further comprises motors (203) and storage batteries (201) which are electrically connected with the electric control board (202), the number of the storage batteries (201) is at least two, the two groups of the storage batteries (201) are symmetrically arranged on two sides of the motors (203), power output shafts of the motors (203) are connected with power input shafts of the speed changing system (6), and the storage batteries (201) are simultaneously electrically connected with the unmanned remote control system (3); the supporting frame (1) further comprises a supporting bottom plate (101) and a motor mounting plate (102) which is positioned in the middle of the supporting bottom plate (101) and protrudes upwards, the motor (203) is fixed on the motor mounting plate (102), and the storage battery (201) is fixed on the supporting bottom plate (101);

the speed change system (6) also comprises an upper speed change box (601), a lower speed change box (602) and a rear box (603) which are respectively connected with two power output shafts of the upper speed change box (601), wherein the shaft axis of the power input shaft of the rear box (603) is parallel to the shaft axis of the power input shaft of the upper speed change box (601) or is positioned on the same straight line, the shaft axis of the power input shaft of the lower speed change box (602) is vertical to the shaft axis of the power input shaft of the upper speed change box (601), and the power output shaft of the lower speed change box (602) is connected with the power input end of the crawler-type traveling mechanism (5); the power output end of the rear box (603) is provided with a cutter power output shaft (604), an included angle is formed between the axis of the cutter power output shaft (604) and the axis of the power input shaft of the rear box (603), the cutter power output shaft (604) is connected with a universal shaft (703), and the lower end of the universal shaft (703) is connected with a rotary tillage power input shaft (702) in a cutter small box (701) of the micro-tillage mechanism (7).

2. The unmanned remote-control crawler micro-cultivator of claim 1, wherein: the storage battery (201) is composed of at least three storage batteries, the at least three storage batteries are arranged in the same battery box (204), and each storage battery is independently and electrically connected with the electric control board (202).

3. The unmanned remote-control crawler micro-cultivator of claim 1, wherein: the micro-tillage mechanism (7) also comprises a rotary tillage cutter (705) arranged on a rotary tillage rotating shaft (704), the rotary tillage rotating shaft (704) penetrates through the lower part of a small cutter box (701), a rotary tillage driven bevel gear (706) and a rotary tillage driving bevel gear (707) meshed with the rotary tillage driven bevel gear (706) are arranged on a shaft section of the rotary tillage rotating shaft (704) positioned in the small cutter box (701), and the rotary tillage driving bevel gear (707) is fixed at the lower end of a rotary tillage power input shaft (702).

4. The unmanned remote-controlled crawler micro-cultivator of claim 1 or 3, wherein: the mini-tiller mechanism (7) further comprises a mudguard (708), the mudguard (708) is fixed on a bearing sleeve positioned on the rotary tillage rotating shaft (704), and the bearing sleeve is fixed on the lower portion of the small cutter box (701).

5. The unmanned remote-control crawler micro-cultivator of claim 1, wherein: a reversing control system supporting plate (8) is fixed on a shell of the upper speed changing box (601) and/or a shell of the rear box (603), and the reversing control system (4) is fixed on the reversing control system supporting plate (8); the reversing control system (4) further comprises an air pressure or hydraulic tank (401) and three groups of electromagnetic valves (402), wherein the air pressure or hydraulic tank (401) and the three groups of electromagnetic valves (402) are fixed on a reversing control system supporting plate (8), the three groups of electromagnetic valves (402) respectively control the opening and closing of three air cylinders or hydraulic cylinders (403), the cylinder body of one air cylinder or hydraulic cylinder (403) of the three air cylinders or hydraulic cylinders (403) is fixed on a shell of the upper speed change tank (601) and/or a shell of the rear tank (603), and a piston rod (404) of the air cylinder or hydraulic cylinder (403) fixed on the shell of the upper speed change tank (601) and/or the shell of the rear tank (603) is fixed on a shell of the universal shaft (703); the movable clamping jaws (405) of the other two cylinders or hydraulic cylinders (403) of the three cylinders or hydraulic cylinders (403) are respectively positioned on the walking driving shafts (501) of the two sets of crawler-type walking mechanisms (5); the air cylinder or the hydraulic cylinder (403) is connected with the air cylinder or the hydraulic cylinder (403), the electromagnetic valve (402) and the air pressure or hydraulic tank (401) in series through a pipeline (12); and the power input shaft of the air cylinder or the hydraulic cylinder (403) is connected with the power input shaft (605) of the pneumatic pump or the hydraulic pump on the rear box (603).

6. The unmanned remote-control crawler micro-cultivator of claim 1, wherein: and a water pump connecting seat (13) is arranged on the rear box (603), and a power output shaft of the water pump positioned in the rear box (603) extends into the water pump connecting seat (13).

7. The unmanned remote-control crawler micro-cultivator of claim 1 or 6, wherein: the rear box (603) and the upper gear box (601) are fixed into a whole through a box body connecting frame (14), and a cylinder body of a cylinder or a hydraulic cylinder (403) with a piston rod (404) fixed at the position of the universal shaft (703) is fixed on the box body connecting frame (14).

8. The unmanned remote-controlled crawler micro-cultivator of claim 7, wherein: the axial lead of the water pump power output shaft (606) in the rear box (603) is parallel to the axial lead of the pneumatic pump or hydraulic pump power input shaft (605) of the cylinder or hydraulic cylinder (403), and the power output ends of the water pump power output shaft and the pneumatic pump or hydraulic pump power input shaft (605) of the cylinder or hydraulic cylinder (403) are positioned on the same side of the rear box (603).

9. The unmanned remote-control crawler micro-cultivator of claim 1, wherein: a support beam (15) is arranged on a track support frame (512) of the track type walking mechanism (5), and the support beam (15) and the bottom of the support frame (1) are fixed into a whole.

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