RU2265298C2 - Method and agricultural machine for soil tillage - Google Patents

Abstract

FIELD: agriculture.

SUBSTANCE: method involves tilling soil by working tools; providing additional soil tillage after plowing operation by disintegrating crumbs for moisture retention and producing of biomass with the help of agricultural machine wheels mounted behind working tools; adjusting plow depth and engine loading during tillage operation; tilling soil by disks, rhombic tools, teeth, skim colters, plows, tools arranged behind plows, and wings; during soil tillage, reducing compaction extent, pitch and angle of arrangement of working tools; moving wheels to working tool operating mode and/or moving working tools to supporting mode. Working tools may be made formed as self-rotating acute-angled reversing teeth. Machine engine power is distributed between wheels and working tools for providing change-over and alternating operation, changing the number and connection circuit of power consumers for adjustment of velocity. Machine may rotate at zero radius through motive force of one wheel. During tillage, furrow is formed for further utilization as terrace, path, channel on irrigation field, basic line for movement, with stones and process soil shear being used for construction thereof. Soil surface state is changed by adjusting advancement velocity. Reduction of said velocity is used for increasing tillage depth, and increase of said velocity is used for withdrawal of working tools and formation of furrows, channels, terrace or paths. Machine has engine for driving of running part and working tools, and hydraulic machine. Mechanical levers are mounted on drive wheel shaft and equipped with pivot joints for sections provided with wheels, working tools and retainers for retaining of adjusted movement and position of working tools and wheels. Hydraulic machine has rotor, stator with feeding lines, deepeners for pumps adapted for closing of working cavities to provide symmetric loading of rotor at both sides upon rotation and hydraulic pressing of surfaces without formation of dead areas. Drive wheel and section wheels are equipped with hydraulic motors adapted to be actuated, deactivated, connected in series or in parallel for adjustment of advancement velocity. Machine has turning plow having wings on its working surface or on reverse side or disk mounted on crank for right-hand or left-hand repositioning, working tools-wheel substitutes and wheels-working tool substitutes. Engine and wheels are made from aviation waste.

EFFECT: increased mechanization extent, reduced power consumption and resource saving.

20 cl, 15 dwg

Description

The invention relates to methods of land cultivation and environmentally friendly machines for excavation, treatment, roadwork, can be used in metallurgy during the rolling of steel, in mechanical engineering, agriculture as high technology and technology, a new principle of mechanization and robotization of all / and mining / zones without complex tractors, slopes and bridges.

A known method of treating the land with tractors, and revolving working bodies for even plowing, and reversible working bodies, and a drive for moving them relative to the energy module / pat. 2170497, A 01 B 9/00 dated 09/03/96.

The disadvantages of the known object are the complexity and high cost of the chassis, the danger, low performance and disadvantage for production / economy /, ecology and society in all / and mountain / agricultural areas.

The purpose of the invention is the elimination of disadvantages.

The main and new way is to replace the functions of tractors and slopes, the use of low-voltage technologies for the production of machinery and agricultural products - a new principle of energy, material, time, resource conservation - the concept of increasing the level of mechanization and robotization of all / and mountain / zones.

This goal is achieved by the fact that the earth is cultivated lightly to the desired state, maintaining the target position of the machine without complex tractors and inclines, more broadly combining the functions of the wheels and the working bodies, or transforming the wheel into a working body, and / or a means of turning with a zero radius, and transverse stroke, improve performance.

The soil compaction by the wheel before plowing is converted into post-cultivation after plowing, the wheel is used as a reversing roller for crumbling lumps, rolling, moisture conservation for biomass production, regulation of plowing depth and engine load. The earth is cultivated to the desired state by exposure in selective order to discs, rhombuses, teeth, skimmers, plows, coulters, wings in a light state.

The earth is cultivated to the desired state, reducing compaction and cutting, the pitch and angle of installation of the working bodies, increasing the bending and rupture of a thin layer, reduce stress and energy consumption.

The wheel is transferred to the working body mode or / and the working body is transferred to the support and vehicle mode in a given direction, or / and the means of controlling the load-depth of the soil till the working body is deepened when it encounters a stone, the resistance of the wheels and working bodies is converted into their assistance achieving the desired soil condition and the formation of the load and trajectory in the semi-robot mode in relation to external conditions. Combining and transforming support, power, control, regulating, driving and technological modes and functions of the wheel and related technological, traction and dynamic, protective and regulatory, supporting and controlling, environmental and economic modes and / or functions of working bodies, expand the range of functions in a low-energy mode. The functions of the undercarriage system and working bodies are expanded and combined with the ability to work on slopes, in the flood zone, to protect people, equipment and the environment. Plowing is combined with crumbling lumps, balance the forces of deepening and deepening and summarize the actions and their repetitions. The earth is cultivated with self-turning sharp-angled reversible teeth with low breaking and bending tension, combing stones and combing them, there are beds, roads, terraces and other structures.

Engine power is divided between the wheels and the working bodies with the ability to switch and alternate operation, changing the number and connection diagram of consumers to control the speed. The car is turned with a zero radius of the driving force of even one wheel without a differential, complex transmission rotation mechanisms. The furrow is used as a terrace or walkway, a canal in an irrigated field, a baseline for movement, while stones and a technological shift in the soil are used for their construction. The surface condition is changed by adjusting the speed of movement, with a decrease in speed, the processing is deepened, with increasing speed, grooves, canals, terraces, roads and other structures are deepened and formed. The soil is treated in the mode of self-regulation of the installation angle of the working body and engine load.

The agromachine contains sections of interacting cutting and rolling working bodies for low-stress tillage to the desired state in one pass or selective cutting and rolling working bodies at the end of the drive mechanical arm. The drive of the working bodies is made in the form of folding "arms" - levers - carriers of working equipment and wheels in the modes of self-installation, leading, driven neutral, longitudinal and transverse travel of the working bodies.

The plow contains selective working bodies in the form of rollers, disks, teeth, rake, shovels, rhombuses and wings for tillage with the possibility of balancing without field boards. The agromachine contains a working body in the form of a segment on the axis of self-rotation and working bodies on two axes of self-installation. The revolving working body contains wings on the working surface or on the back side, or a disk on the crank for rearrangement to the right and left. The agromachine contains working bodies - substitutes for the running gear and wheels - substitutes for working bodies, mode clamps. The agromachine contains units from aviation scrap for the use of after-flight resources on the ground in the form of an engine, wheels, hydraulic units. Wheel drives and working bodies are connected with the possibility of switching energy and changing the connection scheme and the number of consumers when controlling the speed of movement. The agromachine contains a wheel activity regulator — a wheel formula from 3 × 3 to 3 × 1 in traction mode up to 3k0 or 1K0 when cultivating the earth with the possibility of changing the connection scheme to expand the ranges of speeds and forces. The hydraulic machine for driving wheels and working bodies contains drownings of pistons-contactors of working cavities. The hydraulic machine contains working cavities of symmetrical loading of the rotor from two sides, in one embodiment, the rotor is mounted on eccentrics to control the flow without dead zones and distributors.

The agromachine contains working bodies and a drive from high-availability rolled products with the possibility of increasing the level of self-processing, resource and energy conservation. The working bodies have elastic stops.

The working bodies of cutting transmit gravity and deepening to the working bodies of rolling. Therefore, the working bodies are installed with the possibility of interaction, rearrangement in height - adaptation to depth. Pendulum and disc wings of the plow are installed with the possibility of self-permutation around the horizontal axis by soil resistance. The working bodies are assembled in a section with the ability to change the pitch / width of the formation / and / or height / depth / to adjust for low-energy, low-stress processing, changing the number and sequence of installation, taking into account the purpose of cultivating the land.

сил при реверсивном ходе остроклинового прямозубового рабочего органа, на фиг.12а - схема секции плуга с отвалом на груди, на фиг.12б - схема комбинированного рабочего органа из дисков, ромбиков и плуга для обработки трех ярусов, на фиг.12в - схема плуга с заплужником, на фиг.12г - схема секции из секций самоповоротных рабочих органов-подсекций, на фиг.12д - схема секции из секций самоповоротных рабочих органов, на фиг.12е - схема секции из секций рабочих органов с дисками, зубьями и плугами, на фиг.12ж - схема секции рабочих органов с вибратором-подъемником вид сбоку, на фиг.12з - схема секции рабочих органов с дисками и плугами, сечение отвала в виде фигурной скобки и смещение /С/ бруса привода от центра сопротивления, на фиг.12и - схема связи бруса с рабочими органами с защитой от камня фиксатором, на фиг.12к - схема фиксатора соединения бруса с рабочими органами для каменистого поля. На схемах указаны сечения крыльев, оси и зуб самоперестановки вокруг двух осей, на фиг.13а - схема проката высокой готовности отвалов, на фиг.13б - схема проката и рабочих органов с чередующим носком и крылом и треугольников-крошителей почвы, на фиг.13в - схема проката дисков, крошителей и секторов, на фиг.13г - схема проката лемехов реверсивного хода и поворотного типа, на фиг.13д - схема проката лап, плоскорезов и лемехов двухотвальных плугов, на фиг.13е - схема проката симметричных отвалов, на фиг.14а - схема - полос-лап, конусов-роликов, на фиг.14б - схема проката полос с двумя лезвиями лап, ножей, на фиг.14в - схема проката крыльев, отвалов и подвесных рабочих органов, на фиг.14г - схема проката реек, стенок бункеров, на фиг.14д - схема боковин рейки, на фиг.14е - схема стоек рабочих органов, на фиг.14ж - схема корпусов рабочих органов, на фиг.14з - схема проката шиберов, на фиг.14и - схема проката роликов или/и шестерен, на фиг.14к - схема проката шиберов, на фиг.14л - схема проката статорной трубы гидромашин, на фиг.14м - схема проката пазов ротора гидромашины, на фиг.15а - схема граблин проката, на фиг.15б - схема проката волновой и гребневой рейки, на фиг.15в - то же, вид сбоку, на фиг.15г - схема проката для роликов, на фиг.15д - то же в сечении, на фиг.15е - схема ролика из прокатной полоски, на фиг.15ж - схема проката роликов, шкивов, цилиндров, на фиг.15з - схема цилиндра из проката, на фиг.15и - схема проката ножа/пилы, ножовки с одной и двух сторон зубьями, на фиг.15л - схема проката для стрелы, руки, рычаги с выходом и ромбических отвалов, ножей.In Fig. 1, a diagram of an agromachine is shown, in Fig. 2 is a diagram of positions, in Fig. 3 is a graph of a change in a driving M _in turning M _p moments along a radius R and an angle α of rotation of the wheel, in Fig. 4a is a schematic diagram of a spindle drive pin, in FIG. 4b is a diagram of a drive of two rails, FIG. 4c is a diagram of a lever drive with support discs, FIG. 4g is a diagram of three width options I, II, III, FIG. 4d is a diagram of a wheel drive and power take-off, FIG. 4e - diagram of changing operating speeds with levers U _p , rail U _p , feed U, repetition U _p depending on stroke P, Fig. 4g - diagram of power flows of stroke and feed N, Fig. 5a - diagram of a swivel wheel, top view Fig.5b is a control diagram of a disk and a wheel; Fig.5c is a diagram of a wheel and a disk with a height adjuster; Fig.5d is a diagram of a wheel and a disk-sensor; Fig.5d is a diagram of a scaffolding from the waste tire, in Fig.5e is a diagram of a wheel - a working body, in Fig.6a is a diagram of a high-torque hydraulic motor, in Fig.6b is a diagram of a side cutout, in Fig.6b is a diagram of a gate, in Fig.6g is a diagram of a gate with a roller, FIG. 7a shows a variant of a hydraulic motor with rollers or gears — copy gate valves of a smooth or gear stator; FIG. 7b shows a sectional diagram along a roller; FIG. 7b shows a graph of indicators: moment M, pressure P, slide gate X in depending on the angle of rotation of the rotor α, on figa is a diagram of a plow with a hanging wing, on figb - the same with a cultivator, harrow, side view, on figv - diagram of a suspended diamond-shaped plow, cultivator, tiller, harrow, on fig.8g - the same with disks for post-processing, on fig.8d - a diagram of a plow with wings, on fig.8 - the same with the reverse stroke, on fig.8g - diagram a plow with two dumps of a reverse stroke, on figs - the same side view, on figi - a diagram of the self-installation of the paws of the cultivator and a plane cutter, on figa - diagram of the soil-breaking reversible cultivator, on figb - scheme of a reversible bulldozer shovel grader, planner, figv is a diagram of the forces in the brake T, neutral N and leading In modes, Fig.9g is a diagram of the plow and sectors of the disk, on fig.9 is a diagram of the same working body for performing various works with a diagram of the transfer of cutting forces to a rolling working body, on fig.9 is a diagram of a suspended rotary on two axes of a working body, on fig.9zh is its diagram during operation, on figs - scheme of the work and action of forces during the course of left and right, on figi - diagram of a knife of a harvester driven by a wheel or working bodies for cultivating the earth with a gear ratio of about 3 from the turning wheel, on fig.9k - schemes for setting modes and functions of disk working bodies, in FIG. 9l is a diagram of a knife and rake of a harvesting machine, Fig. 10a is a diagram of a plow with a rotary blade - a wing on the chest, Fig. 10b is the same side view, Fig. 10b is the same with a pendulum blade - a wing of three rollers , front view. In Fig.10g - the same with additional working bodies / discs / on both sides, side view, Fig.10d is a diagram of a plow with a disk blade, an auxiliary, rollers and a roller for post-processing, side view; on fig.10e - the same, front view with the image of the disk in two working positions for turning the reservoir to the right and left; fig.10g - diagram of a plow with a disk pendulum blade and disks for tillage before and after plowing, top view, on fig .10z is a diagram of a plow with skimmers and a servant with rhombus teeth, side view, Fig. 11 is a diagram of embodiments and actions of the forces of deepening a section and a deepening, Fig. 11a is a diagram of a section of a plow made of trapezoid and lozenges of cultivators in driving mode with excess driving forces F ₃ and trafficking formation at 11B - section diagram of am his plow and rhombs braking forces to balance and remote operation while maintaining the stubble / erosion control setting / 11B - balancing circuit section penetration forces P _W and P vyglubleniya _The diamonds and roller at fig.11g - rhomb-circuit pochvoklina on fig.1d is a diagram of the rhombus sock in the deepening mode, Fig.11e is a diagram of the sock in the deepening mode, Fig.11g is a section diagram of the balanced disk working bodies in the reversible collecting, extensible remote operation modes in combination I, IV, II, III , sharp-wedged and I, III - II, I V leading modes, Fig. 11h is a diagram of a plow with disks in the driving I and brake II balancing modes of lateral / driving / forces, Fig. 11i is a diagram of a change in the tooth self-alignment angle, Fig. 11k is a diagram of the action of self-deepening P ₃ and self-leveling

forces during the reverse course of the sharp-wedge spur working body, in Fig. 12a is a diagram of a section of a plow with a blade on the chest, in Fig. 12b is a diagram of a combined working body of disks, diamonds and a plow for processing three tiers, Fig. 12c is a diagram of a plow as an assistant, in Fig. 12g is a diagram of a section of sections of self-rotating working bodies-subsections, in Fig. 12d is a diagram of a section of sections of self-rotating working bodies, in Fig. 12e is a diagram of a section of sections of working bodies with disks, teeth and plows, in Fig. .12zh - section diagram of the working bodies with vibrator-lifts com side view, Fig. 12h shows a diagram of a section of working bodies with disks and plows, a section of a blade in the form of a brace and offset / C / of a drive beam from a resistance center, Fig. 12i shows a diagram of a connection of a beam with working bodies with stone protection clamp, on fig.12 is a diagram of the latch connecting the beam with the working bodies for a rocky field. The cross-sections of the wings, the axis and the tooth of self-permutation around two axes are shown in the diagrams; Fig. 13a is a diagram of a high-end rolling stock of dumps; Fig. 13b is a diagram of the rolling stock and working bodies with alternating toe and wing and soil crumbling triangles, Fig. 13c - scheme for renting disks, crushers and sectors, on fig.13d - scheme for renting plowshares of reversing stroke and rotary type, on fig.13d - scheme for renting paws, plane cutters and shares of plowshafts of plow dumps, on fig.13e - scheme for renting symmetrical dumps, on figs .14a - diagram - strips-paws, cones-rollers, on figb - diagram rolled strips with two blades of paws, knives, on figv - a diagram of the rental of wings, dumps and suspended working bodies, on fig.14g - a diagram of the rental of rails, walls of the bunkers, on fig.14d - a diagram of the sides of the rails, on fig.14e - a diagram of the racks of the working bodies, in Fig. 14g - a diagram of the bodies of the working bodies, in Fig. 14h - a diagram of the rental of gates, in Fig. 14i - a diagram of the rental of rollers and / or gears, in Fig. 14k - a diagram of the rental of gates, in Fig. 14l - diagram of the rental of the stator pipe of hydraulic machines, FIG. 14m - diagram of the rental of grooves of the rotor of the hydraulic machine, FIG. 15a - diagram of the rake rolling, FIG. 15b - diagram of the rental that wave and ridge rails, in FIG. 15c is a side view, in FIG. 15g is a rental diagram for rollers, in FIG. 15d is the same in section, in FIG. 15e is a diagram of a roller from a rolling strip, in FIG. .15g - diagram of the rental of rollers, pulleys, cylinders, Fig.15z - diagram of the cylinder from hire, Fig.15i - diagram of the rental of a knife / saw, hacksaws on one or both sides of the teeth, Fig.15l - diagram of the rental for the boom, hands, levers with exit and rhombic dumps, knives.

An agromachine can implement many methods of processing land and other materials with selective working bodies and sections of selective working bodies with a low-voltage and energy-saving method until the target state is reached in one pass with the possibility of changing modes. Further expansion of the functions of the undercarriage systems and working bodies creates the conditions for increasing the level of control when working in the field and the readiness of rolling parts.

The method is implemented by converting the functions of the wheels and selective working bodies of energy-saving, low-stress land cultivation, cutting and rolling plows / with disk working bodies /.

The agromachine / Fig. 1-5 / contains one leading steep rotary wheel 1 (or 5) on the axis 2, relative to which the arms / rails, rods / 3 with hinges 4 sections with wheels 5, locks 6 for adjusting the movement and position of the working bodies 7 of the reverse are moving the stroke to the width specified by the adjuster 8 of the stroke / Fig. 4/, the steering wheel 9 / Fig. 5/ for turning the suspension 10 of the wheel or disk. The hydraulic machine has a stator 11 with power lines 12, 14, a roller 13 or a gear, line closers for drowning in the rotor 15, interacting with the working material in the closed working cavities 16 gates-pistons 17 and side covers 18. Gates 19, their rollers 20 on the axes 21 make up options. The hydraulic motor (Fig. 7/) with gears 22, sealing rings 23 is installed with the possibility of self-clamping of the gates, reverse operation, continuous / without dead zones / rotation and obtaining a high moment for driving the wheel and the working body without gears and bridges. Hydraulic machines contain rollers, the rise of which by 2-3 mm can turn them off, control the speed and torque. In each embodiment, the stator and rotor perceive the pressure of the liquid and parts from both sides equally. The reactor rollers 13 can deepen the slide pistons 17, 19, 20, 21 in the rotor 15 to transfer from one working cavity 16 to another, in order to absorb pressure from the back and push it out from the front, continuously pressing the shutters against the stator 11, i.e. compensating for wear by hydropressure, grinding the friction surfaces and providing an increase in the resource of parts of low manufacturing accuracy during the break-in period.

The working bodies 24 have axes 25, working surfaces 26, wing-pendulum 27 / Fig. 8/, additional working bodies 28 in the form of disks, rollers, teeth on the axis 29 or rhombuses 30. Wings 32, 33 are installed on the rotary axis 31 for rotation layer to the right and to the left when plowing with one or two plowshares 34. These wings of the ploughshare leg 35 on the axle-posts 36 constitute the cultivator. On the axis 29 or 37 with stops 38, 2 sharp-wedge teeth of a reversible cultivator 39 or and a shovel 40 of a bulldozer, grader, planner, plow 41, part of the disc with the possibility of reverse operation in the leading mode are installed. Cleaning with a knife 42 is possible with a wheel drive 51. Knives, wheels 43 are mounted on a rotary axis to set the mode. Knives 44, rake 45 make up the harvesting section. The disc plow has many modes.

The wings 32, 33, figure 10, have bends 46, 47 of soil rotation in both directions and for folding 48, 49 or rollers 50 of small and large diameter. To perform additional operations, the section includes working bodies for peeling / plow-discs 51 on the axis 52 and disc-slaves 53 on the axis 54 / and discs with wings.

A variant of the plow section contains a crank 55 with a disc 56 / blade / Fig.10d/ and rhombuses for loosening the soil before and after plowing, i.e. in the lower and upper parts of the reservoir. Skimmers 57/12 /, retainer 58, vibrator-hoist 59, wheel bracket 60 are installed with the possibility of reducing the section of the reservoir, vibration and protection from stones by deepening from overload.

Hire of high availability / Fig. 13/ of dumps 32, 35 of rhombuses, 30, triangles 26, 27, 46, disks 28, wings 27, 41, plowshares 34, 35, wings of trapezoid 7, 32, 33 dumps of rake 6. Wave rails 47 , 62, sidewalls, 63, uprights 36 - of cases, gates 17, rollers 13 and gears, stator 11 and rotor 15, rake 45, 46 / Fig. 15/ rails 65, rollers 66 with teeth / Fig. 15//, cylinders 67 , knives 68, arrows 69.

Installing discs between the plow bodies with the possibility of transferring the deepening forces to the discs for their additional loading, performing the functions of a skimmer, a scoop of depth gauge - weed stacker.

Disk plow self-defense better, bypassing stones.

The functions of the plow field board are converted to tillage with disks 28 before and after plowing. In this case, friction and energy losses are replaced by rolling and useful technological work in all / braking, neutral and driving / modes.

The blade wing on the working surface or behind it turns with resistance, then wraps the soil. Here, sliding friction is replaced by rolling, splicing, bending and turning the formation by wing rollers 32, 33 (Fig. 20) on the rotary axes 55 or on the swinging axis / crank / 55 with the disk 56 by the blade wing with the possibility of self-permutation, reverse work / turning the soil back / when moving to the right and left relative to the power tool or in the regime of a reversible plow / with the formation turning in one direction / when the machine moves forward or backward / in the traction and braking mode /.

Disk-skating rink-blade-wing 56 supplements the plow cutting working body, reduces the friction working surface, replacing it with the surface of rotation by the resistance of the formation or the bottom of the furrow during forced lifting by the disk of the formation. On the disk-wing-skating rink-dump, irregularities / teeth, protrusions of the soil / activates crumbling and turnover, and a plow sole destroys circular cutouts.

On the crank 55, the disc 56 wing-blade friction of the reservoir rises, mass drops, acts on the soil part of the circle. This rotates with a speed proportional to the radius of the contact area: the formation closer has a slower speed, and to the periphery the speed increases, a difference is created between the speeds, friction, crumbling and the rotation with radius is enhanced. In the case of a hard landing of the disk on the crank / exclusion of rolling rotation and crumbling of the formation is replaced by friction and revolution of the formation. In each case, the wing disc serves as a subsoiler for the plow sole destroyer. When installing a disc with a notch, its rolling along the bottom of the furrow creates vibration and reduces the resistance of the plow.

The wing on the working surface or on the back side is installed with the possibility of turnover of a thin layer. Therefore, the distance between the plows / step / reduce. This replaces the wide working tools with narrow ones, and the thin layer crumbles and turns into a plow, and is also finished with discs, rhombus teeth, openers-rollers to the finish state without a heavy tractor and damage from its running system.

Pre-treatment with discs / peeling by a courier 57, a coulter 28, 28 ¹ (Fig. 10) on the back of the plow body leaves a furrow with the topsoil, weeds, fertilizers, snow, irrigation water and other materials and covers it with a clean soil layer during the reverse course . Plowing without a coulter is possible with a partial spare arm of the blade or wing of the blade, depending on production needs.

Replacing the skimmer and the skimmer with discs combines their functions with the functions of the wheel, i.e. discs usefully use the deepening power and mass of the plow for processing the top layer and laying in the furrow. Disks 28, 28 ¹ teeth, diamonds 30, opener rollers for additional tillage after a plow, sowing and partial compaction bring the soil to a final state in one pass / reduces the number of passes in proportion to the width of the grip and the number of operations /, crumble lumps, compact the soil and save moisture in the soil.

The latches 58, the vibrator-lift 59, the bracket 60 of the wheel 1.5 for protection against stones and heavy soils increase the resource and efficiency.

In dry farming, tillage with snow or the upper moist layer and working throughout the year increase the crop culture: it brings together periods of processing for high humidity sowing, it does not use the energy of the sun to drain the upper layer, but to heat a blacker layer and seeds without danger of going out the field before moisture loss without complex expensive and dangerous for the soil running systems of tractors, converting them into rollers for compaction of the soil after plowing and preservation of moisture.

In any zone, tillage is possible with a plow and without it, discs, paws, rollers, openers, depending on the requirements of the culture and the need to preserve productive moisture.

The 32, 33 pendulum wing automatically changes the installation angle: it lowers when the depth decreases, the soil rises with increasing depth and the lifting force of the formation is balanced by gravity when moving in any direction / to the right and to the left / in non-braking modes, as well as to the right and left-handed bodies when moving back and forth in reverse brake plow mode.

In each case, the sliding wing or rollers wrap the formation, are pressed against the body. The disk wing-dump on the back side is wrung out, rotates, bends, crumbles and wraps the formation.

The method of land cultivation and control is implemented by expanding the combination of the conversion of the function of wheels — sources of forces and working bodies of sources of resistance into a low-voltage and energy-saving effect on the earth.

Low-stress land cultivation by a machine includes reducing harmful stresses, deformations, compaction, mashing, cutting, hardening from drainage, compression, lifting, shear, friction, forces, masses, the work of cutting and rolling organs and increasing bending, crumbling, and wedging loosening, balancing forces at low wheel load with the ability to convert the functions of the wheels and working bodies.

Agromachine works as follows. Wheel 1 rotates from an engine of any type, rotates by a steering wheel 9, is replaced by disks - working bodies, and itself becomes a working body 5 / Fig. 1-5/. Hands 3 are moved or rotated with working bodies 7, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, etc. when performing various jobs. The work of the working bodies includes self-rotation around the axes 24, 25, 27 between the stops 38 under the influence of soil or other material resistance, cutting, lifting, crumbling and turning the soil, transferring the reaction to the drive depending on the setting mode, determining the position similar to a double pendulum with different forces and resistances depending on width and depth. The working bodies of cutting, kink, crumbling 27, 30, 34, 35, 39 transfer the vertical reaction of the soil to the working bodies of rolling 5, 43, 28, as shown in Fig. 9d, and depending on the mode they slow down T, push P _t when moving with a speed V of the stroke and feed / Fig.4e, 4zh, 9v, 9z / when performing the corresponding work.

Steel of high availability of blade 35 / Fig. 13-15/, diamonds with blades on 4 sides 7, 30, trapezoidal three-blade shares 34, dumps 32, paws, wings, knives 35, 41, 61, strips 62, 63, racks 36, gates 17, stator 11 and rotor 15 of the hydraulic motor, rake 49, strips 65 for rollers 66, 67, knives 68, strips 69 for a mechanical arm and other parts of high availability rolled or stamped without additional heating bring many structural elements to a level suitable for assembly with very little processing.

Working and transport position are fixed by clamps. The working bodies are self-mounted on the axes 24, 25, 29, 31, 36, 38 near the stops 42, the position of which can be adjusted and the operating mode can be determined: loads, working widths, travel depths according to the principle of force self-regulation.

Wheels 1,5 are supports and vehicles in the right direction at a speed corresponding to the load on the transport and the frequency of repetition of work during cultivation. The wheels replace the working bodies of the rolling elements / wheels, rollers / with the possibility of self-balancing the forces of deepening and deepening without additional working bodies. At the same time, power regulation stabilizes the load of the engine without wheels, the wheels plow self-defense.

A mechanical drive of a wheel or working bodies transfers the main engine power to a consumer without double conversion. The power take-off from the pump coupling for the hydraulic drive of the wheel 1 / Fig.4d/ or another consumer provides control of the driving speed in the traction mode by changing the number of driving wheels: the speed decreases with the number of driving wheels and vice versa the speed increases by turning off the hydraulic drive of wheels 5. The speed of movement is controlled by changing the number driving wheels and their connection diagrams. The serial connection of the wheel drive motors 1 and 5 increases the speed, and the parallel connection reduces the speed. The combination of numbers and connection schemes expands the range of regulation of speeds and traction forces in transport. The hydraulic drive of the wheels in combination with the mechanical drive of one consumer facilitates the switching of the speeds of the mechanical transmission during the period of power transmission by the hydraulic drive, i.e. provides hydraulic speed control of the mechanical drive. Combining the functions of a hydraulic actuator, a hydraulic synchronizer of a mechanical gearbox, a hydraulic speed corrector and without gear shifting is beneficial for the transmission of the main power / up to 90% / by the working body / Fig.4d/ and the wheel drive for flexible speed control and repetition of work. Such a need arises during the construction and repair of dams, roads, canals, river beds without many passes of a heavy tractor, as well as with the remote operation of working bodies at the end of a mechanical arm on inconveniences.

Self-aligning hand wheels allow rotation around the drive wheel.

The excess or lack of torque / control / is changed by locking the hinge / restricting self-rotation / wheels, braking them, installing the front and rear drive wheels, as well as turning the hands.

Installing the drive steering wheel on the pivot arm gives rotation without rotation / Fig. 1-4/.

One multi-mode / master brake self-adjusting, self-correcting errors, self-regulating depth and sensing the earth and trajectory error guiding, loading or unloading to lift off the ground in the field when installing support-working bodies - wheel replacements with a scrap tire and spring between the rotation and rotation axes, the wheel fixed on transport from self-installation replaces working bodies / rollers and disks / in the mode of crumbling lumps and tillage of the soil to achieve the desired final state, repeat the reduction m feed forward and extends the function.

The application of a driving force in front of the center of resistance increases stability by shifting it back / in the pushing mode /, and reduces directional stability.

The installation of a wheel, a pusher and leading working bodies in front of the brake working bodies increases directional stability. Shifting the arm rests to the side and forward increases the stability against tipping over. In any case, a single guide sprocket provides high steering.

The steering wheel and the disc are rotated by the control with or without the amplifier 150 ° to the right and left. This is sufficient for turning with a zero radius and controlling longitudinal and transverse movement without complicated axles / adjusting the installation angles of wheels and pivots, side brakes, differentials of different designs, their locking and control mechanisms, ballast weights, wheel loaders and control mechanisms that make it difficult to drive.

Substitution wheels of working bodies or working bodies replacing a complex running gear with a single drive wheel turning mechanism reduce the turning area, weight and cost of cars, energy loss, soil stress, excess and lack of controllability, understeer, changes in turning radius, driving and driving errors.

These issues are effectively addressed by various multifunctional, multi-mode working bodies of the reverse stroke with the possibility of setting the mode of movement forward and across the axis or sideways / left and right /, turning over a small area, protecting the environment, implementing energy-, moisture-, and time-saving processes, minimize the amount of movement / mass of speed /, as well as the number of wheels and axles, the cost of production of machinery and agricultural products and human loads.

Depending on the setting, the multi-purpose working body operates in the propulsion modes - partial reactor, brake, pusher, depth self-regulator, heading sensor, directional guide in a given direction, wheel unloader and wheel loader, bearings, anchors, engine and wheel load regulator under various conditions, converter and operation repeater - technological processes with the possibility of self-cleaning, self-rotation, forward self-feeding, self-lifting from overload, self-protection from stones, self-balancing, unit self-braking, self-locking ulirovaniya driving force for technology, business, auxiliary movement.

The hydraulic machine in the stator 11 between the rollers 13 near the rotor 15 has working cavities 16 in which the piston blades 17 perform the motor work processes, press against rubbing surfaces / compensate for wear /, preventing oil leakage, increase efficiency.

If the line 12 and 14 of the power supply of the working cavities 16 is connected to the pressure lines P and the C discharge of the hydraulic system using the "OR" type switch-distributors / two positions /, the speed, torque and load regulation range is regulated by switching the lines 12 and 14, as well as the volumes 16 from serial power / at one speed / to another / low / with parallel connection. The rule of connecting lines at two speeds is as follows: H-14-12-C at low speed, H-14-12-14-12-C at high speed.

A similar switching of the wheel motors from series to parallel, as well as turning the motors on and off, i.e. a change in the number of drive wheels creates the conditions for an overconsuming range of machine speed control without complex low-resource hydraulic units.

Latitude of torque control of a high-resource, high-torque hydraulic motor, reversibility, reversibility, large unit power, compactness, self-lifting of rubbing parts, self-healing resource of grinding parts, very low need for accuracy, the possibility of combining rolling, machining of high-availability parts after rough machining or without rolling after rolling many times increases the level of production and operation technology. The property of self-adhesion and self-elimination of gaps around the entire perimeter of the contact of the working surfaces eliminates the need for high quality materials / metals and oil /, fine cleaning is small, affinity and the removal of high corrosion protection / it is removed in the first minutes of start-up /.

The interchangeability of the contactors of the working cavities: rollers 13 and gates 17, their installation with the possibility of hydropressing by connecting to the pressure line provides self-sealing of the rubbing surfaces.

The speed of movement is controlled by changing the number of hydraulic motors / the number of driving wheels /, switching the hydraulic motors from sequential to parallel and vice versa, as well as switching the working cavities of the hydraulic motors. Disconnecting one or two hydraulic motors from the pump, respectively, increases the flow / feed / into the hydraulic motor of the remaining drive wheel. Speed decreases with an increase in the number of drive wheels and an increase in speed with a decrease in the number of hydraulic motors - energy consumers. Disabling the working bodies increases the speed of traffic. In each case, the speed is determined by dividing the power flow between consumers. Switching of consumers and working cavities of hydraulic motors - changing the power scheme expands the possibilities of speed regulation.

The stroke, the number and width of the working bodies, the feed advance, the overlap of passages and other indicators are determined taking into account the conditions and rules: 1 / large stroke increases the mass of the drive and the working width of the unit regardless of engine power, 2 / increase the working width of working sections organs, repetitive processing and compatibility of operations increases energy efficiency, minimizes excess or lack of power, mass, soil compaction and slippage, 3 / the drive wheel rotates for lateral travel Control over 135 ° in one direction, 4 / compact for transport composition facilitates movement along and across the axis on a flat field and the slopes, 5 / periodic supply of working bodies forward by a single treatment in the late and early stroke tractor, pusher power switch robotic. The rotary pendulum wing adjusts itself to depth and the plow combines the functions of a tiller, heavy and light harrow. If the rotation on 2 axes by gravity and soil resistance is insufficient, then the springs or the inclination of the surfaces of the wings are adjusted. Rippers in front of the plow comb the ground, collect a roll of stones, protect the plow from breakage. After cleaning the rocky field, the teeth are installed behind the plow and replace the functions of the harrows, tillers with the possibility of changing the slope and depth of travel.

The depth of travel and the load on the disk working bodies near the plow can be adjusted by moving them up and down on the plow by rearranging the holes (Fig. 12b, 11c) or crank. This depth setting stabilizes the balance and processes of self-deepening and self-deepening, axle blocking, force self-balancing, self-rotation around two axes; thin and thick plastic processing, depending on the step of installation of the working bodies; breaking and bending of the formation, cutting and rolling in driving, neutril and braking modes. Self-rotation / self-incline / allows adaptive operation as a plow, tiller, heavy and light harrow with the ability to correct gravity with a load or spring.

Self-balancing sections of interchangeable working bodies allows you to work in the modes of remote and relay action wide-range unit; transformation of the functions of supports and working bodies; balancing forces and masses: a combination of working bodies of the gap and cutting of the soil, rolling; combining technological protective, cybernetic and ergonomic functions; rolling of working bodies on the soil or layer on rollers, rollers and lump crumbling agents - tuber separators; self-deepening and self-deepening to stabilize the engine load; self-rotation and changes in reservoir width and load without changing depth.

The self-deepening of one working body is combined with the self-deepening of another, i.e. self-balance of forces, regardless of mass during plowing, planning, cutting ridges, loosening and other operations, it is possible with great technological and economic efficiency. At the same time, protection and power regulation are facilitated, and switching the energy flow of the drive and control accelerates the lifting action without changing the depth and width of the stroke, you can stabilize the engine load by turning the working body / changing the width and feed /. Regardless of the engine load and the working width, the speed and repetition of the tillage are regulated.

Without a wing, the plow leaves a strip of stubble, reduces erosion. Wings with rollers crumble lumps well. Long wings allow deep plowing. Automatic balancing of wing gravity and soil reactions at different depths of soil cultivation gives an adaptive property / identity / operations. Sections of plows, disks, skimmers, rollers, and other working bodies make up a linear section / module of sections / sections of rotary / self-aligning / without wide transitional strips or overlapping passages, without loss of stroke. This makes it easier to feed sections forward along the furrow or to alternate their moves and the unit / forward feed /, switching the energy flows of a powerful unit. The sharp-wedge (deepening) teeth 39 on the disk battery 25 behind the plow and the disk 25 in front of the plows balance the section and finalize the soil to the desired state.

The offset axis of the connection section with the beam reduces the bending moment of the drive bar. The sign of this bending moment changes. Alternation requires a reduction in bending moment to a value sufficient for self-rotation of the section of the working bodies.

Offset “from” the connection point of the section with the beam reduces to a minimum the bending of the beam with the alternating drive force. Minimizing the displacement of the axis from the center of resistance and bending alternating moment, moment of resistance, mass and inertia forces is useful and sprengels need to be compensated to the desired margin of safety. One rotary driving wheel-copier of the furrow and supports near the working bodies during the delivery of the driving force meets the requirements of mining agriculture. Microterrace furrow is the simplest and cheapest base line for the movement of the machine. Terraces, roads and canals for irrigation can be formed by the accumulation of furrows, rollers, stones and soil, i.e. using the technological shift of soil and stones, combining tillage with construction. On a stony field, such a combination of tillage with the construction of terraces, roads and canals provides a cultivator of 2 sharp-edged teeth and rhombuses in front of a plow or plow of rhombuses for digging stones at a small angle of rotation and plowing with rotation to the desired width. By changing the angle of installation and the width of the grip, adjust the load.

The mechanical arm is movable in space near all sides and above the energy module. The fixation of positions, action planes, travel limits, distance, symmetry, balance of forces and moments of feeding, deepening and deepening, moving and holding, accelerating and braking in any plane is customizable.

In the vertical plane, the forces are easily balanced by the installation of the working bodies of rolling and cutting, deepening and deepening, tilting the blades back and forth to combine sliding, crumbling, sliding under and above the layer of earth, water and other materials. The construction and cleaning of roads, dams, terraces, river banks and other structures is easily robotized in any / and mountain / zone.

The technological displacement of the soil on the slopes depends on the ratio of forces G _p V _p / 2g + G _p sinβ <φ _p G _p cosβ = φ _p -tgβ = V ² / g;

where G _{p / g} , V _p - mass and speed of formation rotation;

φ is the coefficient of adhesion of the reservoir;

β is the slope angle;

α is the angle of installation of the share;

V _p , V - work and feed speeds.

When φ _p <tgβ, the soil shifts itself, when φ _p = tgβ · V _p = 0.

When φ _p = 0.5; β = 18 °; V _p = 1.9 m / s.

With a turnover of the reservoir up V _p = 4 m / s.

With the technological displacement of the soil with one hand down, you can put soil on top of the finished terrace and build a terrace on a bare place, on which you can put soil on top, etc. The soil is leveled with one hand. This raises the level of terracing technology also to robot technology.

The resistance of the working body of the plow during the rotation of the formation down the slope decreases in proportion to the angle of steepness. Cutting the formation and resistance to movement of the working body remain unchanged, and the rise, crumbling and turnover of the formation is reduced.

In this case, the energy consumption per formation revolution decreases to zero when φ _p ≤tgβ.

The movement of the working bodies across the slope / movement of the unit along the slope / stabilizes the load and functions. The movement of the machine across the slope / horizontal / destabilizes. When converting the resistance of the working body to the power of the plow, the adhesion coefficient of the running systems and working bodies differs by 10-15 times and exceeds the resistance to lifting Gsinα many times over.

Technological soil erosion / formation displacement during plowing / when alternately changing the direction of movement in fields with steepness up to 10 ° is close to zero. The alternation of plowing methods and field alignment is difficult, there is a need for additional treatments. This disadvantage is eliminated by reversing the formation / changing / direction of movement of the wide-grip aggregate with rectilinear-reciprocating movement of the working bodies and smooth processing without disfiguring the fields with headlands.

Two hands with skis and longitudinal runners or working bodies - anchors create a pushing force and complement the well-known wheeled chassis where high traffic is required. At the same time, the technological process is not performed and the “hands” work in the propulsion mode. Mechanical hands - ski carriers move the machines together or alternately. One steering wheel and two “arms” with skis / wheel substitutes / wheel formula 1 to 1 and 1 to + 2 arms can lift a part of the machine forward, lower it to the ground and repeat this movement, alternating with stops or alternately, pushing with your hands for continuous movement.

When narrow-plowed plowing with working bodies of low tension, the earth shift per hour is reduced by 3 times. Headland processing is reduced by 30 times, almost to zero. A small installation step and self-cleaning of the working bodies eliminates many rows / tracks /, energy costs for rolling and towing, ballasting; loss of time, moisture, terms of "ripeness" of soil, energy, resource, metal; many types of tractors, agricultural machines, running systems, controls / robots /; dependence on external conditions.

Low-stress cultivation of the earth differs in the size of the formation, stresses, the way to achieve the target state and the result. Thin-layer treatment with sharp-wedge and narrow-grasping cutting and rolling working bodies, the conversion of mass and deepening forces into the technological force of bending, crumbling of lumps and soil compaction to preserve moisture; reduction of friction, compression, shear, crushing, shear, cohesion of cohesion and drainage, transformation of the traction and braking functions of wheels and working bodies into technological control supporting-dynamic and protective - form a mode of low-stress, low-energy processing. The combination of functions and modes of wheels and working bodies minimize dangerous stresses with great efficiency.

The wheel performs supporting-running, traction-dynamic, control-controlling, technological, drive functions.

Supporting and running functions include wheel operation in driving, driven, neutral, free, brake, self-aligning guide modes in chamber and tubeless versions of different load capacities and traction with a full surface.

Traction and dynamic functions are performed in traction braking modes: movement along and across the axis, rotation with a zero radius.

The control and control functions of the undercarriage system include operation as a sensor of forces and grip coefficients, rolling resistance of road resistance, dynamic factor, turning radius, traction and braking forces, driving torque, engine and drives load, power regulator, force fluctuation transducer and frame, energy utilizer, oscillations of forces and frame, source of driving and braking forces, soft support, retention, elevator of working bodies, course stabilizer, turning means and stabilizer support x reactions on the slopes.

Technological functions of the wheel include operation as a substitute for a field board, a furrow tracing machine, lump crushing harrow, a roller for rolling soil and retaining moisture, a regulator of the depth of tillage, and a vibrator.

The drive functions of the wheel include the ski lift modes of the walking propulsion and the drive of the working bodies of the longitudinal and transverse travel / after lifting from the ground /, by converting the frame from folding arms with wheels to the carrier of the working bodies and their power drive. The flexibility of the function of multi-mode working bodies and agricultural technologies is enhanced by combining technological, traction and dynamic, protective and regulatory, support and control, environmental and economic functions.

The technological functions of the working bodies include plowing with a wide and narrow layer, crumbling, turning to the desired surface condition, peeling, harrowing, cultivating, planning, combing, rolling, digging, sowing, mowing, raking, cultural and technical, road excavation. Terracing of slopes as well as roads, but also by applying soil and distributing it, plowing by self-regulation of width / angle / and load in accordance with conditions, compatibility, surface compatibility, one-pass operation, joint connectivity, working width, distance of action and load stability.

The protective and regulatory functions of the working bodies include self-cleaning, self-rotation, self-defense, self-guiding, self-deepening, forward self-locking, self-locking at idle, self-deepening, self-balancing of the resistances and deepening and rolling forces, self-braking at the end of the stroke, self-locking of the longitudinal stroke taking into account the specified repetition rate permissible impact force on the energy means, abundance and excess forces of the wheels in the longitudinal and transverse planes, distance of work and adjustable load, speed and performance.

Support and control functions of the working bodies - work as a support, linkage, drive support the stability of the position and trajectory. The combination of plowing without a running gear, a field board with loosening / replacing the function of a field board with loosening / harmful work useful / without disturbing the balance increases technological utility.

Environmental and economic functions include the reduction of harmful stresses and deformations, compaction, friction, cutting, removal, shear, crushing, shear / adhesion, cohesion without drainage, waterlogging, etc. /, as well as useful stresses and deformation of crumbling, loosening, bending and turning without damage to people, equipment and soil, translation of the working bodies of the braking system of the chassis in the pushing and harmonization of speed, working width and repetition without additional working bodies or unit passes through the field, energy, resource, water o-, soil and improve vremyasberezheniya and light- and heat efficiency.

The machine is a substitute for the tractor and the system of agricultural machines. The drive and sensitive working bodies will reorient agriculture towards using the machine for a year and protecting equipment and soil in all countries. This is due to the fact that during soil cultivation, working support bodies, unloaders, and chassis substitutes create a new connection between energy and technological modules with the soil. This connection converts the mass into a vertical technological force and solves the problems of softening the soil, the effectiveness of its processing, reducing the dependence of technology on the topography, humidity, season.

Therefore, the functions and modes are considered in relation to the requirements of various zones in terms of compatibility and compatibility of functions.

The dynamics of the function of the working bodies is supplemented.

Converting the resistance of the working bodies into force reduces the function of the undercarriage to zero. The combination of support functions of the undercarriage system and working bodies converts the mass into technological force without limiting the relationship of force to mass - the coefficient of adhesion of the wheels to the soil.

Putting the wheel in the roller mode for tillage after plowing converts the soil compaction before cultivation into tillage after plowing.

The combination of the leading, neutral and inhibitory modes of performing technological processes of one working body eliminates the lack and excess of forces, the dependence on mass, terrain conditions and the type of running system.

The conversion of the resistance of the working bodies into lifting force brings force regulation into operation, protects against overload and breakage when meeting with a stone. Repetition of work in one pass by one working body increases all performance indicators, reducing speed.

Self-balancing working bodies move in self-deepening modes when meeting with a stone and self-deepening at a high level of balancing opposing forces and masses;

- self-feed forward or reversal near the stone, depending on the setting, the possible combination of these modes and self-balancing of the machine in the mode of quick rise during overload.

The modes of self-deepening and self-deepening of working bodies - substitutes for the running gear from rolled products of a high level of readiness of parts reduce the number of types and the complexity of production and use. The balancing of masses and forces in the vertical supporting planes will reorient plants and agriculture to a new principle:

to reduce the number of types and labor intensity of production, as well as losses of energy, moisture, resource, metal and yield.

The combination of cutting and rolling modes / disks, rollers, rollers / is useful for balancing forces and masses in the vertical and supporting planes, combining fracture bending, crumbling and cutting of the soil with low compression of the formation during the rotation period.

Conversion of wheels into working bodies for additional processing of the earth - substitutes for disks, harrows, rollers, i.e. the installation of wheels behind the working bodies, elimination of soil compaction, wheels prior to cultivation, eliminates drainage and compaction of the soil / loss of productive moisture and agricultural life / and the need for ballasting, increases cross-country ability, balance and controllability, replaces peeling, harrowing and compaction.

Replacing the wheels with disks, turning the disks with a turning mechanism greatly increases controllability: disks, plows, and other tillage tools are superior in number and traction.

Wheels can be converted into technological working bodies, working bodies - wheel substitutes into supports and steering controls, without sacrificing performance when processing land in various / and mountain / zones.

Disks have high lateral grip and replace wheels, use vertical force / mass-ballast / for additional processing of the earth. If the resistance of the working bodies are equal and opposite in sign, then the need for working bodies-supports does not arise.

Self-aligning teeth at an acute angle, self-rotation, self-deepening without ballast minimizes compression, shear, crushing, adhesion and compaction: increases bending, crumbling, tearing, loosening in various modes, regardless of weight. Decrease in mass and number of rows of teeth, their self-cleaning from biomass, working capacity on a clogged field, unloading of the undercarriage; the ability to configure the deepening and deepening modes; moving biomass, lumps, stones or crops in one direction expands functionality.

Moving a tooth for breaking the bed and loosening with lifting force / interaction with the soil with the upper plane / and sliding above the ground combines two works. The installation of these teeth on the same axis of self-rotation / self-cutting in the soil / until it stops in the limiter ensures the continuity of two work / loosening and compaction or sowing /. Each tooth in turn repeats the work.

Rhombic - a working body without a wing or with a wing on the back side operates in the mode of self-deepening, self-deepening, self-balancing, loosening of a bulldozer shovel or shovels in a row or in the row of a stone erector, lump crusher, ground cutting knife and other materials / when blocking the vertical axis / , plow, planner, furrow cutter, grader, skimmer, subsoiler.

The installation of rhombuses on the axis for operation in the mode of multi-toothed rolling elements / heavy harrow / or self-adjustment of rhombuses, the ability to change the pitch / working width /, section of the reservoir, slight bending, breaking up and to the side reduces energy consumption. Integral energy-saving treatment is possible with low-voltage energy-intensive impact, soil-breaking plowing, breaking, crumbling, loosening, turning, bending and moving the earth during the formation of roads, rivers, canals, as well as remote work in water, under water, in fire, without many passages and working bodies braking the undercarriage of the tractor.

Loosening without vertical teeth, crumbling, breaking and bending to the side of lower resistance when moving the chassis without loading, on the contrary, by unloading it, a combination of breaking, crushing, sliding, rolling working elements by setting operation modes with little or no wheel involvement, as well as their unloading in the loading mode of the working bodies it replaces the harrowing with a more effective integrated soil-protective treatment.

The working bodies of the rolling elements / wheels, rollers / bypass obstacles, are pressed to the ground by the mass and deepening force of the working bodies of cutting, they till the soil to the desired state by repeating work in one pass.

Vertical teeth, knives, racks of working bodies compress the earth, require a burial force / ballast; masses/. Compression can be replaced by a fracture and a brittle formation in a small section, and a reduction in the width of the working body or breaking the formation up. The "ripeness" of the soil contributes to this, reduces energy consumption and the frequency of processing and increases work efficiency.

Therefore, the inclination of the teeth in the direction of movement, the translation of the vertical teeth in a reversibly self-deepening position increases the efficiency of the leading neutral or braking modes.

The translation of the vertical clutch teeth to the positions of breaking, cutting, loosening and sliding the earth along the working body with a sharp-wedged or blunt-clipped (for sliding on the ground) expands the functions by tilting: when tilted forward, the working body self-deepens, but with a reverse stroke it self-deepens. Here, the work of the diamond-shaped working body in modes is possible.

Low-energy land is cultivated at low voltages / low-stress / low-energy working bodies 26, 27, 28, 7, 39, 40, 41, 57 in the form of trapezoids, segments, rhombuses, triangles, disks, rollers, teeth, interchangeable adaptive wings in propulsion modes, a reactor, a brake, a pusher, a self-regulator of formation and depth rotation, a heading and load sensor, a wheel unloader or a wheel loader, a converter and a repeater of operations with the possibility of self-cleaning, self-rotation, a self-elevator against overload, self-protection from stones, self-deepened I self-propulsion.

Low-energy, low-stress processing includes energy-saving production of parts from high-availability rolled products, processing of “ripe” land, a combination of cutting and rolling working elements, a fracture of a small section, elimination of soil compaction by wheels before plowing, reducing the number of working bodies and passages on the field, processing to the desired conditions, properties of the wheel 5 matching forces and the transition of the protrusions above the diameter, replacing the disk and work on the post-processing of the plow / 1, 2, 5 /, the convertibility of the mass and the forces of penetration into crumbling lumps. The selectivity and sequence of installation of the working bodies of cutting and rolling, processing, taking into account the compatibility of operations and the compatibility of the working bodies, the required repetition of impact on the ground.

The desired state is set by the person and the technology sufficiency sensor.

The 1.5-turn steering wheel turns the machine with a zero radius and moves across without complex steering, transmission and axle systems.

The target position is set by the driver and the car driver, copying the baseline, alignment to a milestone, a self-guiding wheel or a heading indicator wheel. The lack of forces, adhesion to the soil and the angle facilitates the rotation according to the law R = BV / ΔV; V = RΔV / B; R → 0, V → 0, where V, ΔV is the speed and speed difference of the sides, B is the gauge, reduces the dependence on the steepness of the slope, humidity, mass and people.

Steel rolling, stamping, pressing, forging and other hot processing are combined without additional heating and cooling, bring the drive parts and working bodies to high availability. 40% of energy losses, 90% of power, 60-80% of mass and cost, 100% of stray power and disturbances of its distribution taking into account reactions and course, dependence on moisture, slope / "ripeness" of the soil / are removed from the wheels.

The new principle of combining the functions of energy and technological means and combining operations is implemented without complex transmissions of running systems and turning mechanisms. Interacting working bodies, the operating mode of which is configured, facilitate movement along and across the corral with very low idle speed without adjusting the differences in speeds and wheel forces of the right and left sides. In this case, errors in the execution of control commands, the danger of turns on slopes, the dependence of the turning radius on the track and base are reduced, the need to adjust the tilt angles of the axles and wheels is eliminated. The coordination of the forces and resistances of the working bodies of the linear stroke minimizes the load of the wheels and turning mechanisms, allows lateral movement and rotation with a zero radius. These properties affect the performance of the units.

The absence of a large diameter wheel / limitation of the steering angle /, steering trapezoid, front and rear axles, complex transmissions, control mechanisms / steering / and running systems provides freedom of choice of turning radius, horizontal cross-country ability and lateral travel.

When you install one driving steep steering wheel and self-supporting bearings that support the tuning position, the flexibility of the kinematics increases.

One of the wheels works without a lot of lateral drag and cornering, and there is no differential friction / it is not /. Manageability is maintained with low grip, on a wet field and on slopes through the use of resistance forces of the working bodies.

Greater freedom of rotation of the wheels, the possibility of changes in gauge, base and installation patterns open up new possibilities: turning around a fixed center - a sensor of curvature of the trajectory or around - a sensor, a driving steering wheel and a working body, as well as starting off in the desired direction. In this case, the velocity vector rotates more than 180 ° and changes the sign of / when reversing /, this gives the effect of "circular rotation". The connection of the working body with the rotation mechanism increases adhesion to the ground, reduces withdrawal and creep under the influence of lateral force, increases controllability and stability.

The shortage or excess of the driving force of the working bodies is reduced by tuning and balancing the working bodies - partly replacing the functions of the wheels. In this case, the forward pushing force of the working bodies, the interruption of braking and the pushers with the drive from the end stop of the reverse stroke are fed forward.

Modes / driving, neutral, braking, guiding, self-adjusting, self-balancing forces: cutting, rolling, resistance and traction, pushing, feeding and braking, working bodies / are configured with the ability to replace wheels or transfer wheels to the operating mode of disks, rollers, harrows, cultivators .

The agromachine contains technological wheels or technological mode / the setting is set to neutral, braking, transport modes /. The working bodies, Fig. 8, are installed in the master, driven, neutral, brake, transport, support / discs, rollers / steering / steering wheel / stabilizing, holding, mutually balancing, deepening, deepening, cutting / disk tool /, transforming the gravitational the deepening force in the technological force of the working bodies of the disk type.

Combining, balancing, balancing, balancing, balancing, gravity, deepening, pressure on disks and soil-leveling reactions without additional ballast can be plowed, with very small mass of energy and ultra-high adhesion of the chassis to the ground, replacement of the wheel with working parts and working body with a wheel, replacement of traction - the braking mode of operation of the tractor and the tillage machine with the regime of environmentally safe land cultivation, self-balancing of the forces of deepening and deepening in the vertical plane of the traction forces and resistance in the horizontal plane. The new principle of interaction between energy and technological modules is implemented by coordinating the forces and resistances of propulsors in all directions / along and across the field / of non-braking working bodies without complex transmissions, running systems and turning mechanisms. Technological modules with linear linear actuators perform various operations with almost no headlands and idle. This is achieved by moving across the field without adjusting the difference of speeds and forces, along the corral without false turns on a slope, complicated settings of pivots and wheels, as well as difficulties in changing the track and direction / reverse /. Technical and economic indicators are significantly improved by eliminating the negative impact of the tractor’s chassis on the soil, further improving the level of technology and equipment, energy saving, greening, replacing the type of tractors and the brake machine system with a multifunctional machine - semi-agrobot in relation to external conditions. The disc plow is better self-protected from stumps and stones, replaces the wheels of harrows and cultivators.

The agromachine implements the method, creates conditions for plant growth, increase soil fertility and yield without the negative impact of the running gear / wheels and tracks / on the soil in different areas of agriculture and in different modes:

- effective use of the season, metal, resource, energy, irrigation and productive water in the soil by performing various operations of cultivating the land to the desired state with one or two mechanical hands; on any / and crossed / surface;

- transport and cargo transportation in a wide range of speeds without complex transmissions and running systems;

- a slope walker of variable structure and geometry for movement on roads, a furrow, a slope, an irrigation canal, a river, a terrace,

- performing energy-intensive work without heavy tractors to the desired state,

- carrier and drive reversing working bodies,

- cars of variable vector and variable structure, cars of high longitudinal and transverse cross-country ability;

- a converter of a car into a power tool for driving the working bodies and a tractor substitute or other mobile power tool, or engine power take-off;

- power regulator and lift;

- walking mover with the possibility of continuous supply and receipt of technological driving force and utilization of excess power by applying to the input of the drive:

- a wide change in the base, gauge, implement width, turning radius;

- transformation of functions in accordance with production needs, changes in the location of working bodies and speeds;

- changes in the frequency of repetition of work in one pass and without additional working bodies or a combination of functions and working bodies;

- stabilization of engine power and load without complex transmissions with the desired working width with high technological efficiency.

The transformation of the support and traction functions of the undercarriage into technologically useful tillage changes the basis of mechanization and robotization of agriculture and the machine-terrain-plant system, as it eliminates the principle of assessing the physical and mechanical properties of soil (density, hardness, water permeability, compressive and shear resistances, compaction, pinchability, permissible tension) in terms of wheel dynamics, obstruction of the actions of the working bodies and plant life in proportion to the strength, speed, number of passes in the field, ma sse, slipping, humidity, etc. This creates a technological, biological and environmental effect.

The conversion of wheels - sources of forces and working bodies - sources of resistance / counteraction to wheels / as a means of promoting plant life / increase fertility / eliminates the need for density, hardness, resistance and stress without sacrificing cross-country ability, without the risk of slipping, i.e. converts energy-intensive high-stress processing into a low-stress energy-resource-moisture-soil-time-saving fertile concept / processing method / at the desired working width and any power and productivity. Elimination of field planks, unbalanced forces of deepening and deepening, as well as side reactions - impaired stability are also useful.

Elimination of the dependence of power on the forces of adhesion of the wheels to the ground, differential, its blockability on a slope and on a wet field, load regulation by working bodies / their number, depth and installation angle / without changing their speed, gear ratio of the drive and power take-off shaft makes it easy to control the difference of forces and board speeds - turn-fulfillment of control / steering / functions without differential and steering wheels - resistance regulators.

The latch 58 fixes the working bodies in two / working and transport / positions. The working bodies are lifted by hand, hook, drive and hydraulic lift. The hinges of the spreaders and rail sections maintain strength and facilitate compact folding.

The swinging of the levers / arms / along the arc includes operation in the transverse stroke and feed per step at the beginning of the longitudinal stroke. This change of work by stepping feeds makes it easier for workers to walk without additional pushers or tractors. At the end of each working body, the longitudinal feed transforms the mode and functions: from the leading or neutral mode, the working bodies themselves pass into the pushing / pulling /.

Automatic change of mode without stops, sensors, amplifiers simplifies operation, turning the machine with one hand, moving hands together or alternately to increase cross-country ability in off-road transport mode.

The tractor levers and hydraulic lift comprise a jib crane or traction loader of a body, container, etc.

Volumetric multi-mode machines replace a complex transmission, axles, lubrication systems, speed controllers, power take-off shaft, hoists, power controllers, swing mechanisms, differentials with locking mechanisms, control systems, loads, speeds, hydraulic couplings, hydrostarter, gimbal weight increase, pneumatic or hydraulic brakes and braking systems themselves, suspensions, waste energy utilizers.

Wide unification of wheel drives and working bodies facilitates the production of a unified range of machines of various capacities and their use, increases the resource, balance, safety and the ability to robotize control of tractors, slopes, combines, road, military, construction, emergency and rescue equipment based on the same type of unit. The low energy cost of the working bodies of thin-plate processing is supplemented by the replacement of a number of redundant continuous energy extraction lines - combining energy flows and the functions of energy consumers, taking into account short-term current adjustment and situational management. Functional-temporal switching and distribution of energy between consumers, taking into account the functions, course, reactions of the bearing surface, driving and braking modes, as well as the repetition rate, the degree of conversion of resistance to force and mass due to braking or technological impact of propulsors, working bodies, controls or braking replaces the technological damage of energy and mass to technological benefit / eliminating damage and turning it into benefit doubles utility /, eliminates compaction before plowing and improves the quality of processing after plowing.

The simplification of machines and power transmission lines to consumers without complex couplings, gearboxes, energy flow dividers - differentials, a control system, mechanical and hydraulic power take-offs, working, auxiliary and electrical equipment and means of controlling them also contributes to low energy costs. Replacing the functions of the components of equipment without fouling with mass, replacing narrowly functional elements and energy flows more effectively solves the fundamental problems of metal-energy-soil-moisture-saving time, for example, this is confirmed by the environmental friendliness, manufacturability and efficiency of the wheels / 10% /, legs and tracks / 40% /, reversible working bodies / 95% / according to the criteria of the efficiency of using mass, area, time and energy, respectively, guarantees a rise in the level of production technologies and the use of a new The principle of low-energy satisfaction of agricultural production needs.

Low-energy, low-energy consumption of cultivating the land to the desired state, maintaining the target position without heavy tractors, slopes and bridges and other tasks of mechanization and robotization of agriculture are solved by such methods, methods and properties as converting tractor multi-machine environmentally hazardous expensive units to multi-function reversible selective, quick-change self-propelled drives working bodies, conversion of wheel and machine requirements to density, hardness, dryness of the soil in condition ovia for the life of plants and bioorganisms; transforming the dependence of forces and the number of working bodies on the grip weight / class / tractor; the combination and conversion of technological and dynamic indicators when cultivating the land to the desired state by self-propelled working bodies without a lot of wheels and tracks, which increase the throughput and cost of hook power by half; distribution of forces according to reactions and regulation of forces without changing the speed and complex gearboxes in proportion to the resistances; self-balancing of the forces of deepening and deepening of the working bodies of cutting and rolling; self-cleaning of reversible working bodies; increasing the stability of the position and course on the slopes without complex stabilizers and running systems; repetition of the cultivation of the land without many passes along the field and a large working width; conversion of the dependence of health on soil properties and moisture without compromising plant life with greater technological, biological, economic and environmental efficiency: conversion of disk functions with a benefit of up to 6.7 times; transformation of tractors and axles into single-wheel or uniaxial drive modules for working bodies and 20-30-fold improvement in traction with the ground; transformation of a tractor and other energy means into a semi-agro-robot in relation to external conditions.

Low-stress treatment with low-energy, sensitive working bodies increases the level of technology for the production of equipment and agricultural products: reduces the cost of the chassis by 3-4 times, eliminates the 6-7-fold loss of time and the area of action of wheels and mills, improves grip and strength by 30 times, reduces tension soil, because the tension of the metal of the thrust of the working bodies is 10 thousand times higher, the known limitations of the width, power, productivity, stability, controllability reduce. Replacing the power of the wheel with the power of the drive of the working bodies 2-3 times reduces power loss / power cost.

The low tension of breaking and bending the formation without compaction of the soil with the wheels of a heavy tractor protects a person, equipment and the earth well, creates a harmony of technology, technology and nature in any zone.

Claims (20)

1. A method of cultivating the land, including cultivating the land with working bodies, characterized in that the tillage of the soil after plowing is carried out by crumbling lumps to preserve moisture and producing biomass by the wheels of the agricultural machine installed behind the working bodies, adjusting the plowing depth and engine load. 2. The method according to claim 1, characterized in that the land is cultivated by selective sequence of installation of disks, rhombuses, teeth, skimmers, plows, coulters, wings. 3. The method according to claim 1, characterized in that the earth is cultivated, reducing compaction, cutting, pitch and installation angle of the working bodies. 4. The method according to claim 1, characterized in that the wheel is transferred to the working body mode and / or the working body is transferred to the support and vehicle mode in a given direction and / or the load control means - the depth of the soil till the working body is deepened when meeting with stone, and the opposition of wheels and working bodies is converted into their assistance. 5. The method according to claim 1, characterized in that the earth is cultivated with self-turning acute-angled reversible teeth with low breaking and bending tension, while combing the soil, stones are removed, beds, roads and terraces are built. 6. The method according to claim 1, characterized in that the engine power of the agromachine is divided between the wheels and the working bodies with the possibility of switching and alternating operation, changing the number and connection diagram of the power consumers to control the speed of movement. 7. The method according to claim 1, characterized in that the agromachine is turned by a zero radius by the driving force of one wheel. 8. The method according to claim 1, characterized in that the furrow is used as a terrace or walkway, a canal in an irrigated field, a baseline for movement, and stones and a technological shift of the soil are used for their construction. 9. The method according to claim 1, characterized in that the state of the earth’s surface is changed by controlling the speed of movement, moreover, with a decrease in speed, the processing is deepened, and with an increase in speed, the working bodies are deepened and grooves, canals, terraces, roads are formed. 10. The method according to claim 1, characterized in that the soil is treated in the mode of self-regulation of the installation angle of the working body and engine load. 11. An agromachine containing an engine for driving the running gear and working bodies, characterized in that it is equipped with a hydraulic machine, while mechanical levers with hinges of sections having wheels, working bodies and clamps for adjusting movement and working position are mounted on the axis of the driving wheel bodies and wheels, moreover, the hydraulic machine has a rotor, a stator with power lines, quench pistons-closures of working cavities of symmetrical loading of the rotor from two sides during rotation and hydraulic pressing of surfaces without measures O areas. 12. The agromachine according to claim 1, characterized in that the drive wheel and the wheels of the sections have hydraulic motors made with the possibility of their inclusion, shutdown, serial or parallel connection to control the speed of movement. 13. The agromachine according to claim 1, characterized in that the working bodies are made in the form of rollers, disks, teeth, rakes, shovels, rhombuses, and wings. 14. The agromachine according to claim 1, characterized in that it contains a working body in the form of a segment mounted on the axis of self-rotation, and / or working bodies on two axes of self-installation or a plow reversible. 15. The agromachine according to claim 1, characterized in that it has a revolving working body with wings on the working surface or on the back side or a disk on the crank for rearrangement to the right and left. 16. The agromachine according to claim 1, characterized in that it contains working bodies-substitutes for wheels and wheels-substitutes for working bodies. 17. The agromachine according to claim 1, characterized in that the engine and wheels are made of aircraft scrap. 18. The agromachine according to claim 1, characterized in that it contains a wheel activity regulator to expand the ranges of speeds and forces. 19. The agromachine according to claim 1, characterized in that the working bodies are installed with the possibility of interaction, rearrangement, self-installation, changing the installation step and processing depth, changing the number and sequence of their installation. 20. The agromachine according to claim 1, characterized in that the rotor is mounted on eccentrics to control the flow of fluid without dead zones and distributors.

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