RU2222129C2 - Soil tillage method and machine - Google Patents

Abstract

FIELD: agriculture. SUBSTANCE: method involves providing soil tillage by means of movable reversing tillage tools. Machine has power unit, wheels, reversing working tools and drive for working tools. Working tools have self-rotating main and additional shafts and rotation angle restricting devices providing rotation in two planes. Working tools are made in the form rollers, clod crushers, hoe or roller-type moldboard made from parts of used tires. Additional working tools are made in the form of plow bodies, disks and/or bulldozer blade, dagger-shaped hoe, mellower, hiller or rake. Machine wheels are made from used tire or tire parts or equipped with strip of used tire provided with tenons. In case contaminated or infected soil is to be tilled, plowing depth may be increased and machine width may be reduced. EFFECT: wider operational capabilities and increased efficiency in imparting specific state to soil. 12 cl, 126 dwg

Description

 The invention relates to agriculture, the fields of tillage, soil and other materials and can be used as a multifunctional and multi-purpose machine in various industries and zones.

 A known method of tillage, including the movement of the working bodies relative to the tractor and with it (US Pat. 2073387 and 2086083). The movement of the reversible working bodies relative to the tractor with the possibility of converting the resistance of the working bodies into a driving force increases the efficiency of the use of energy and the use of land, moisture, agricultural terms, metal.

 A disadvantage of the known object is the difficulty in forming the target state of the earth with a small number of working bodies on heavy soils and in soil treatment (construction of canals, dams, roads, trenches, etc.). The repetition of passes and the use of additional working bodies reduces the efficiency of work.

 The aim of the invention is to increase the efficiency of the formation of the target state of the earth and expand the functionality of the technology.

 The basis of the invention is the expansion of: functions, the range of changes in forces and speeds, operating modes at low load, the dependence of performance on the traction capabilities of the wheels with the possibility of a comprehensive solution to the problems: improving dynamics, improving economy, handling, throughput, smoothness and stability; robotic processes without expensive means of driving and regulation of operating modes.

 Essence - changing the speed, regulate the repetition of the functions of the working bodies and form the target state of the earth.

 This goal is achieved in that the target state of the earth is formed by a change in speed in direct proportion to the number of non-brake working bodies (revolving type), the resistance of which can be converted into a driving force when plowing, peeling, cultivating, harrowing, rolling with the possibility of repeating functions without increasing the number of passes or number working bodies. A combination of changes in functions and their repetitions of non-braking working bodies reduces the functions of the chassis, the work is evaluated by the parameter "function • time". Cultural, technical, road-building and land reclamation works are performed by working bodies in a non-braking mode. The tractor forces and speeds are reduced, productivity is improved by combining the functions of the elements of technology, work is estimated by the coefficients of useful and harmful actions. In proportion to the resistance of the earth, the working bodies and their sections rotate, the width of the transverse grip and the speed of movement are reduced without changing the width of the grip of the entire machine. The section of the working bodies is rotated in proportion to the external resistance in the direction of reducing the working width and stabilize the load without changing the working depth and the working width of the machine. As the depth of cultivation of the earth increases, the working tool working width is reduced and the engine load is stabilized with a minimum wheel load.

 Contaminated, clogged and contaminated soil is smelled deeply, reducing the working width of the working body without overloading it.

 A worn tire is divided into parts and used without cameras. Parts of a worn tire are used for technological impact on the ground, conducting surface tillage. In remote operation, power is transmitted to the furrow wall by a roller. The right-turning working body is converted into a left-turning one by turning the plow-blade surface under the action of soil resistance between the limiters around two axes at the end of each stroke.

 The driving forces are distributed between the sides (axle wheels), taking into account the direction of motion and the reactions of the earth. In the braking mode of movement, braking forces are distributed between the wheels, taking into account the reactions of the earth and the direction of movement. The target trajectory is formed by summing the functions of the wheels and the working bodies. Lowering the casing to the ground (soil), the car is braked to a stop and held motionless after a stop. Speeds are switched by hydrosynchronization of speeds. The functions of the final drive, brake and hydraulic machine are combined. The energy flows of the drive wheels, brakes and a lift are connected. The target state of the land forms the sum of the functions of the working bodies and their repetition. The norm of the function is formed at low wheel load by changing the speed of the unit, reducing the speed to zero, switch the energy to the repetition of functions. The ratio of the speeds of movement of the working bodies and the movement of the unit forms the ratio of the target and the initial state of the earth. With a decrease in the traction functions of the wheels, the cybernetic and agrotechnical efficiency of the machine increases in proportion to the decrease in the traction functions and slipping of the wheels. The clutch signal about the moment load can be used for hydraulic synchronization and control of operating modes. The combination of working bodies revolutions in the braking and driving modes balances the unit.

 The multi-purpose machine contains revolving working bodies with two axes of self-rotation (under the influence of resistance) between the limiters in two planes during reverse movement near the tractor.

 The self-rotation axes are offset from the centers of resistance in two planes. The working bodies are connected to the drive with the ability to change the pitch. The working body for tillage has blades on four sides and attachment points on both sides. At least the car wheel contains parts of a worn tire. Spikes are inserted into the tire strip from the scrap and used as a replaceable tread with increased cordon. Parts of a worn tire are mounted on the surfaces of the leaf springs of clutches and brakes.

 The transmission of the multi-purpose machine contains a gear shifter without interrupting the power flow. The hydraulic brake of the trailer is connected to the hydraulic lift of the body. The hydraulic brake of the trailer is combined with the wheel drive with the possibility of turning on the brake and driving modes.

 The machine contains a system of revolving working bodies and a drive for moving them relative to the tractor with the possibility of converting resistance into a pushing force and removing productivity restrictions by gravity and traction, working width, speed, number of passes in the field, energy consumption, agro-terms, mail humidity, running gear, power etc.

 They improve performance and expand their functions by reducing the traction functions of the wheels - the dependencies of handling, stability, carrying capacity, maneuverability, ride, visibility and economy on the location of the machine (front, side, rear). Regardless of the location of the machine, forward feed is possible with a hydraulic cylinder in the line of the safety valve, or with a limit switch, or with the force of the final stop, if the working body is removed from the stone by turning or lifting.

 Reverse operation is facilitated by the installation of a roller on the blade, the installation of a reversing wing with the possibility of self-permutation under the influence of resistance. The working body in the form of a trapezoid with blades from four sides is rotated to turn the formation in one or the other side, can work in the driving and braking modes, can be turned in both directions by turning around one axis, rotated around the vertical axis between the limiters in proportion to the resistance and elastic force of these limiters. The rotation axis is offset from the centers of resistance, which gives self-stability, self-permutability. This property gives the working body the inclination of the axis in the longitudinal plane, since the projection of the axis is located in front of the resistance vector and a moment arises.

Figure 1 shows the drive of the working bodies of two sides; figure 2 is a drive diagram of two levers of one hand on two sides; figure 3 is a diagram of a single lever drive on each side; figure 4 is a circuit diagram of two rods of a mechanical drive; figure 5 - diagram of the working bodies, top view; figure 6 is a diagram of the section of the working bodies, side view; 7 is a diagram of the blade on the axis of rotation; on Fig is a diagram of the rotation of the blade; figure 9 is a diagram of a ploughshare working body with a reversible blade-roller; figure 10 is a diagram of the sections, top view; 11 is a diagram of the operation of the plow with a roller and a self-rotating roller in the leading mode; in Fig.12 is a diagram of a plow-bulldozer working body with an indication of the modes and stroke l; on Fig - diagram of the formation of the embankment on the one hand; on Fig - diagram of the formation of the embankment from 2 sides with preliminary plowing; on Fig is a diagram of the formation of a trench, excavation; in Fig.16 is a diagram of a self-rotating in two planes sections of the working bodies with a fuse against overload; on Fig is a diagram of the box-shaped section of the working bodies; on Fig - connection diagram of the plow body with the box section; in Fig.19 is a diagram of the connection of the rods with the possibility of addition during transportation, Fig.20A and B are diagrams of self-aligning wheels-regulators of the depth of tillage; on Fig is a diagram of cutting a tire into parts during its disposal; on Fig is a diagram of the assembly of the wheel from the parts of the tire with cores; on Fig is a diagram of the assembly of the wheel from the sides of the tire; on Fig is a diagram of the Assembly of the wheels of a flat frame; on Fig is a diagram of a variant of the wheel with pinches; on Fig is a diagram of the Assembly of the wheel from the flat parts of the tire on a deep rim; Fig.27 is a diagram of the frill of the hem; in Fig.28 is a diagram of a half-wheel wheel with a groove in the middle part; in FIG. 29 is a diagram of an assembly variant of the half cushions; on Fig is a diagram of a roller blade; on Fig is a diagram of a wheel with blades; on Fig is a diagram of the roller; Fig.33 is a diagram of a half-tiller cultivator; on Fig is a diagram of rotor defense with teeth; on Fig - diagram of the linings of the brakes and pots for water supply; Fig.36 is a diagram of a light harrow - half-harrow; on Fig - section of the working bodies, top view; Fig.38 is a section, side view; in Fig.39 - trapezoidal working body; Fig - the same, with limiters; on Fig - provisions of the working body; in Fig.42 - a working body with a roller; on Fig - work; on Fig - scheme of work; on Fig - working body with a roller; on Fig - working body about two rollers; on Fig - operating position; on Fig - operating position; in FIG. 49 - working body without a wing; Fig. 50 is the same with the wing; in FIG. 51 is the same side view; in Fig.52 - a working body with a roller and a wing; in FIG. 53 - same, top view; on Fig - working body with an inclined axis; in FIG. 55 - working body with an indication of the inclination, forces P _s , speeds V _s , V _p ; in FIG. 56 - the same with the roller; on Fig - the same, with dumps, top view; in FIG. 58 - the same, with a roller, a top view; on Fig - section multi-purpose; in FIG. 60 - single-disc working body; on Fig - ripper; Fig.62 - hiller; in FIG. 63 - the same, with rods; Fig.64 is the same with the roller; Fig.65 is the same with a paw; on Fig - rake; on Fig - axis of rotation of the disks and rollers; on Fig - paw; on Fig - cultivator; on Fig - the same front; on Fig - the same side; on Fig - swivel foot; on Fig - swivel leg; on Fig - dagger-like paw; on Fig - the same with tines; on Fig - the same with the grid; on Fig - the same with the rods; Fig. 73 is the same with a rake; on Fig - working body; in Fig. 80, a disk of soil; on Fig - furrow cutter; on Fig is a top view of the disk; on Fig - top view of the soil; on Fig is a top view of the hiller; on Fig - disk; on Fig is the same side; on Fig - section of the disks; on Fig - disk with a wing; on Fig - drive mover; in FIG. 90 - unit with stability discs; on Fig - opener; on Fig - opener top; on Fig - disk anchor; on Fig - disk-paw; in FIG. 95 - disk paw; on Fig - paw with rods; on Fig - disc-cutter; Fig.98 shows a disco section; on Fig - work disco; in FIG. 100 - section of the anchor; on Fig - installation of disco section; on Fig - connection disco section; on Fig - bulldozer; on Fig - work bulldozer; in FIG. 105 - reversible plow-cultivator-harrow; on Fig is a diagram of a combined unit for performing several functions; on Fig - scheme of the unit for copying and laying a furrow on a flat surface when moving the working bodies with one rail; on Fig is a combination diagram of the brake and leading working bodies with disks of stability against capsizing; on Fig - reversible gun; on Fig is a diagram of a change in width; in Fig.11 - multimode section; in Fig.112 - changes in functions and pushing force R _T ; on Fig - a change in the modes of the blade-shovel; on Fig is a diagram of the drive of the tractor and trailer by combining energy flows; on Fig is a diagram of the drive power module and a multi-purpose machine; in Fig.116 is a diagram of a hydraulic machine; in FIG. 117 is a diagram of an eccentric shaft; in Fig.118 is a diagram of the operation of a multi-purpose hydraulic machine; on Fig - circuit contactor with a floating liner; on Fig is a diagram of a change in the frequency P of the output rotation, speed V, power, feed and flow Q, hydraulic flow power in the traction mode; in FIG. 121 is a diagram of the change of modes, speed and power when performing technological processes of land cultivation; on Fig is a diagram of changes in speed, hydraulic flow power and braking force, respectively V, N, P _T.

 On Fig shows the conversion of the functions of the wheels as the traction load decreases and the level of replacement of human functions by technical means of mechanization and robotization of agriculture and other fields of land cultivation; in FIG. 124 shows the transformation of the main performance indicators, operational qualities, environmental properties and mass-dynamic values during the transition from brake working bodies and tools to non-brake reversible, working working bodies and a multifunctional machine - a substitute for a machine system.

The drive from the hydraulic cylinder 1 or the chain of articulated levers 2, 3, 4, 5, 6, forming a reversible drive of the working bodies, has wheels 7 (Fig. 1). The mechanical arm (figure 2) of the levers and the chain transmission 8 on two sides is made in two planes with the possibility of rotation in both directions from the neutral position. Two levers (figure 3, 4) are connected by levers 9 for a rectilinear stroke of the working bodies. The drive from the chain 10 (figure 4) and the rods 11, 12 with the axles 13 and the guide rollers 14 has a small length. A uniaxial power tool with a drive (FIG. 5) of rods and a plow housing 15, a plow case 15 with a roller 16, a wheel 17, a disk battery 18, self-rotating by an angle α between the stops 19 can plow and peel the soil in one pass. The second embodiment of the machine has a disk section, the axis 21 of the section 22 of the working bodies for plowing on the axes 23 of the rotary dumps 24 for plowing to a depth of h (Fig.6) in combination with peeling or rolling on the axis 23. Blade 24 (Fig.7, 8 ) can be rotated relative to the stand 25 between the stops 26. The roller working body on the axis 23, the pivoting lever 27 of the roller 28 are self-interchangeable between the stops of the plow body 29 for plowing, peeling, or the roller 30 and the battery are rotated by α _p , α _k (Fig. .10, 11) under the influence of resistance and alternately rotate and translate in both directions. Plowed 22 and bulldozer 31 working bodies can move in the leading, neutral and braking modes (Fig. 12) and make a working stroke to the energy medium 32 during the formation of the embankment on one side or both sides (Fig. 14) with the possibility of balancing the resistances during channel formation , trenches and other structures. The working bodies on the rotary section 22 (Fig. 16) have a latch 33 of the rotary hinge 34 to protect against breakage by rotation. The latches 33 of the connection section of the working bodies with the rod allow the stop of the working bodies during the return stroke of the rod 12 (Fig. 17). Several rods 12 and sections of the working bodies can be connected by hinges and clamps and mounted on wheels (Fig. 20) - depth tillage adjusters with height adjusting screws for sections 35 and working bodies on racks 35, 36. Screws 37, balancer 39 and axle 40 self-aligning wheels can translate the working body in the transport position. For transportation, it is possible to rotate the sections after removing the latch 33 until it enters the hole in the turned position.

 For the manufacture of rubber and rubberized working bodies and high-capacity wheels from used tires, an unusable tire is cut onto the sidewall with or without a core 41, 42, frame tape 43, put them on the rim 44, fixed with a ring or other known methods. In Fig.23, 24 heavy-duty wheels or rollers are assembled from parts of the tire 42, 43 on the rim 44, in Fig.25 - is equipped with spikes. The flat tape of the carcass 43 on the deep rim 44 (Fig. 26), the elastic tire from the sidewalls 42 on the rim 44 (Fig. 27, 28, 29) makes up the high-capacity wheels. Parts of the tire 47 on axis 48 comprise a roller blade for turning the formation (FIG. 30). By means of 49 couplings and a tire tape, the chamber tire can be made highly passable. From the sidewalls 41, 42 on the rim 50 and the parts 51, 52 of the tires on the rim 44, it is possible to collect working bodies for peeling, openers for sowing (Fig.32, 33) and harrowing with teeth 53 (Fig.34). Parts of the tire are attached to the brake band 54 or shoe, and comprise a scoop 55 and gaskets 56 for installation between the leaf springs, turbine blades or concrete aggregates, supports, stops, boom limiters and working bodies. The sidewall of the tire 42 (Fig. 36) with or without teeth 57 can work as a light harrow.

 When mounting wheels and working bodies from unusable tires, parts of the tires are put on the rim, pressed and fixed by known methods. Several cup-shaped rings form a multilayer tubeless tire for operation in harsh conditions. They are not afraid of punctures, cuts, even join with nails. Their withdrawal below chamber tires.

The system of working bodies, their sections and elements (Figs. 37-104) includes a plow-blade working body 58, 59 on the axes 33, 34 of rotation between the stops 60, places 62 for mounting with a roller 63, a blade 64 for cutting (cutting) transverse furrows 65 (Figs. 43, 44) with a roller or rollers 66. A trapezoidal working surface 29 with an axis 67 and a wing 68 (Figs. 50, 51). Around the vertical axis 22, the rotation of the wing 68 between the stops is carried out by soil resistance. The vertical axis 22, 69 can be tilted at an angle β for self-rotation of dumps 70 with a force of P _s at shoulder C (Figs. 54-56), between the stops 71, 72 at an angle α _k when moving and feeding forward with a speed V. Disk section 73 on the rotation axis 74 in the cultivator mode and the rotation axis 75 when operating in the hiller mode. The spherical disk 76 of rotation in the mode of a furrow-furrow cutter, a hinge 77 of a cultivator 78, a furrower 79 without rods and with rods 80, 81, with a roller 82, a plane cutter 83, a paw 84 can self-rotate between the stops. Grablin 85 on the axes 86, 87 of the rotation of the disks or rollers 88, stand 89 with a leg 90, hinges 91, stops 92 of cultivators 93 without and with a leg 94, a plane cutter 95 or a stand 96 of a dagger-like shape with a leg 97, rake 98 of a knife 29 (net, twigs), rake 100 on the axis 101 for harvesting root crops can self-install along the way and perform their functions and repeat them many times.

 The working body 102 with the disk 103 (Fig.79-83) can be rotated by the resistance and the steering wheel 104, the disk 105 and 106 can control the course. Spherodisks 106 - hillers - can cut grooves and hills. Disks 107 (Figs. 85-89) can be with and without a wing 108, and the disk 109 can cultivate land and work as a propulsion device depending on the ratio of speeds of movement and movement. A balancer 110 with disks (Fig. 90) 111 prevents tipping. Disk working bodies - coulters 112, 113, disk 114 of soil and soil brake can work in braking and non-braking modes.

 Diggers 115, 116 on a common or autonomous axis 117, disks 118 of the working body with twigs 119 (Figs. 94-96) can be rotated between the stops. The disks 120 for cutting the ground, moving can work in the leading mode and replace the shovel of the bulldozer and grader (Fig.97-99) or the running anchor (Fig.100) - section 121 during the formation of the trajectory.

Battery 122 (Fig. 101, 102) has hinges 123 and limiters 124 rotation under the influence of resistance P _with when moving at an angle α _N. The limiters 126 of the rotation of the shovel 127 with the working V _p and idle V _x moves and the forward V (Fig. 103, 104) with the drive 128 and the limiter 129 determine the position and form the target state of the earth when performing functions and repeating them.

 Section brake working bodies 59 (Fig.105) has a hydraulic actuator 130 for rotation around the axis 131 and work as a reversible implement for smooth tillage.

 A combination of working bodies 15, 19, 18, 19 summarizes the functions and increases the speed in proportion to the number of working bodies. This is possible by moving the working bodies 132 with a rail and driving along a furrow 134, balancing with a disk 135 and a track layer 136 for a track 134 for subsequent driving (Fig. 107). By combining non-brake and brake working bodies (Fig. 108), driving by copying the track is also possible. Here, the disk working bodies 59, 73 balance the lateral force, help the discs 111 and the wheels to hold the unit when moving the working bodies and remote work.

The functions of the working bodies can be changed by turning. When this changes the width of the capture Sh _p , resistance and impact on the soil. The change in functions, width (Figs. 109-113), operation mode (lead, non-brake and brake with the transition through the neutral) is determined by the angle α, as shown, for various types of working bodies.

 The hydraulic machine 137 (Fig. 114) of the power supply of the power steering 138 with distributors 139 and hydraulic machines 140 of the wheel drive and control valves 141 of the hydraulic machines 142 of the drive wheels of the trailer with the hydraulic lift 143 make up the transport unit, and with the distributor 144 in lines 145, the switches 146 of the spool 147 in the hydraulic drive line 148 sprockets and rails 149 with end stops 150 constitute the technological unit.

 The hydraulic machine 137, 140, 148 is reversible and contains a shaft 151 (Figs. 116-119), on the crank of which a gear 152, a contactor 153, a spring 154 are installed, in the housing 155 there are power channels 156. The gap 157 and the cavity 158 provide hydraulic gear-piston, in the working cavities near which the processes of the pump, brake, motor, clutch, energy flow divider, speed controller, hydraulic synchronizer with the possibility of changing the mode. The liner 159 is mounted with the possibility of rotation and movement to separate the lines of entry and exit of the working fluid.

 Self-clamping of parts - self-sealing around the entire perimeter of the working volume increases volumetric efficiency with low precision manufacturing of parts and increases the efficiency of conversion and energy transfer in both directions with the possibility of compensating for wear when controlling speed, braking and converting pressure to torque and vice versa, depending on the specified mode. In the hydrostarter mode, the pump coupling is converted into a hydraulic motor in the suspension power line (not shown in the diagram).

 The volumetric coupling can smoothly control the output speed and synchronize the speeds of the gearbox parts to be connected, provide a hydraulic drive effect - smoothly reduce the speed of the drive link and increase the speed of the driven link by transferring energy by the hydraulic line, switch the mechanical flow to hydraulic and switch the speed without breaking the power flow, after which water flow is interrupted and energy loss is reduced.

 The blade of the working body of the plow has an angle of working rotation between the limiters at normal load and moving in both directions. Outside of such a turn, the working body or section is rotated during overload until deepening. Such an emergency turn is due to the release of the latch or deformation of the limiter or the cut of the pin. After changing the sign of resistance, i.e., reverse, the working bodies return to the zone of the working turn and take effect, leaving some flaw near a stone, stump or other obstacle. This facilitates the search for a dangerous area and protects the machine from overload and breakdown. You can use the spring and gravity to enter the working body into action and the entrance of the latch into the hole to hold in a reversible working position. The working and emergency zones of rotation of the blade, working bodies and their sections can have a common zone and axis (working, then emergency turning) or emergency turning is possible around another axis. In each case, reversibility during operation, emergency turning and returning, stopping when overloaded with a safety clutch or hydraulic protection valve protect the machine from damage. In the transport position, the working bodies or sections are fixed with a pin or hoist. On the bar or beam, the working bodies are installed with the possibility of stopping and changing the stroke, rearranging the stops, adjusting the working width within the stroke length of the working bodies.

 Changing the stroke length, distance and width are possible on one or two sides. The blade, ploughshare, paw, knife and other working bodies have blades on both sides and are mounted with the ability to move in three modes (drive, brake and neutral) from the point of view of the drive of resistance to the wheels of the energy facility. In each mode, self-locking, self-loading and self-unloading, self-balancing in antiphase, self-cleaning at the end of each turn, self-feeding forward, self-rotation, self-defense during overload, self-reversal in reverse mode are possible. When encountering an obstacle in the field, the contour of the danger zone (rope) acts on the stopping unit of the unit.

 When moving multi-mode working bodies, plow and bulldozer dumps and their sections relative to the energy source, the functions of working bodies (plowing, peeling, compaction, loosening, cultural-technical and other works) are performed one way to the end of the stroke, after which they turn, self-rearrange and self-install according to move, move forward and move in the opposite direction and repeat the work. The layer is wrapped with a blade, a roller or a disk battery finish the turn. The skating rink crumbles lumps, compacts and levels the soil. All operations in the leading mode are performed so that part of the resistance of the working body is converted into a driving force. When moving the working bodies in both directions in antiphase, the transverse components of the resistances are balanced, and the longitudinal ones create a pushing force and unload the wheels of the energy facility.

 Support wheels, disk and roller batteries limit the depth of tillage, convert (perceive) the gravity of the plow or other machine into technological force and eliminate the need for ballast. Rollers, wheels, disk batteries, plows, bulldozers and other working bodies or their sections move in proportion to the working width, turn in both directions under the action of earth resistance, create a driving force in the driving mode, braking force in the braking mode and zero longitudinal force in the neutral mode, deepen during overload, self-cleaning during the reverse period. In each extreme position, the lateral movement force can be converted to the forward feed force, for example, by braking or braking continuously during the lateral stroke during single-track operation or using the pushing force to move the unit forward slowly at a speed determined by the repetition rate: at low speed and overlap the progress of work is repeated without additional working bodies and passes of the unit across the field. The excess driving force is reduced to zero by installing a roller-copier of the furrow wall on the back of the plow body or section.

 Wheels and rollers, discs, coulters and harrows for tillage and transfer of weight to the soil when doing useful work can be support-regulators of the depth of tillage. To change the depth of tillage rearrange the height, for example, by a lever or rods with holes (not shown). The working bodies are transferred to the transport position by known methods.

 Combining the operations of plowing and moving the land with a plow and a shovel of a bulldozer facilitates cutting and moving the land when forming roadbed, dams, channels, trenches and other structures. Filling and removing materials from the silo pit, transport or moving other materials requires alternating working and idling and adjusting the distance limiters and turning the working bodies.

 The plow-bulldozer section increases productivity and efficiency, allows working in the leading, neutral and braking modes of moving the material in one or two directions with the possibility of endless repetition of operations with a small feed forward or from top to bottom without multiple passes and slipping of the tractor. When cutting material from top to bottom, the shovel has a hinge and rotation limiters for working and idling. When feeding forward and cutting the material with the end part, the rotation of the shovel around the vertical hinge facilitates the movement of material in the desired direction during reverse movement relative to the tractor. Such work is typical for the construction and cleaning of roads and other structures. Perhaps a combination of feed forward and down.

 The shovel of the bulldozer has an axis of rotation between the limiters under the action of soil resistance. In a resisting environment, the load is automatically adjusted by converting the resistance into lifting force, force regulation and deepening during overload. For this, the hoist and the drive or hydraulic lines are connected (communicated).

 The bulldozer shovel or its wing rotates between the limiters under the influence of earth resistance and when moving converts the resistance into a driving force, and with automatic power regulation and with a lift with the possibility of deepening during overload. A bulldozer shovel cuts the earth much worse than a plow. Therefore, cutting and crumbling the soil and soil with a plow during idling of a bulldozer forms a new way of combining work and combining operations when forming the target state of the earth. This replaces the high-speed running of the bulldozer with the working stroke of the plow or other cultivator, doubles productivity and stabilizes the load. A similar combination of processes and the formation of the target state when cleaning the construction of terraces, roads, dams, as well as the cleaning of tubers, feed. Reducing the speed of movement and increasing the multiplicity of the repetition of the operation reduces productivity by area, increases the volume of land moved. Efficiency is enhanced by a combination of area and multiplicity. Strips of various processing ratios (from zero to maximum) are obtained by changing the installation step of the sections of the working bodies.

 When forming a flat surface, it is advantageous to sweep the rollers, wheels, harrows, tillers from the plow back to the width of the transverse grip. In this case, the direction before the turn of the formation successfully coincides with the direction of work of the plow, and each operation gives a driving force, the plow wheel can be replaced by rollers and tillers, and gravity is transferred to the soil for further processing without ballast, as is customary in the braking mode.

 Two knives in the form of daggers with a common axis of rotation on the rack create an arrow for reverse operation. The blades on both sides and the rotation of the rack also forms a reversible paw. Two of these paws form an arrow-shaped paw of a reversible type. In this case, the self-rotation between the limiters and the possibility of changing the width limiter are useful.

 Tires or their parts are used as skating rinks, rollers, lump compressors, harrows, and a bandage of high-capacity wheels. Rubber and rubberized elastic surfaces have a lot of friction, make cutting and sliding difficult, reduce spraying, facilitate crumbling, bending, kink, compaction and structure formation with low material consumption and cost of machines. The use of rollers and bowl-shaped working bodies without ballast solves the problem of tire disposal. Rubber and rubberized rings compact and harrow the soil. Rollers, wheels, rollers, harrows and wheels that are not afraid of punctures and cuts, road hazards are collected from unusable tires or parts thereof, and have low tire uncontrollability. This increases the stability of the course and position on the slopes when working in robot mode. The high load capacity of a tubeless tire from scrap repeatedly reduces the number and size of wheels, as well as the cost of wheels.

 On icy conditions, a tire strip with spikes improves maneuverability and controllability, and reduces sidetracking. Waste tires are not afraid of cuts and punctures, facilitate the operation and maintenance of the machine.

 Parts of unusable tires are attached to brake pads and tapes and used in clutches as friction linings. A high coefficient of friction of rubber on metal and earth is useful for couplings, brakes with damping qualities, gaskets between spring sheets. Springs with sheets of metal and rubber have a high resistance to friction, better soften impacts and smooth out vibrations, dampen them, combine the functions of springs, shock absorbers, increase smoothness and independence from load.

 Pieces of tires - an excellent scraper for the conveyor, blade rollers, a turbine blade, a scoop for cattle drinkers.

 Decreasing tire deformation from scrap is useful for increasing the efficiency and resource of the wheels, reducing the parasitic power circulation between the wheels when driving on bumps and uneven loading of the wheels.

A working body with a disk or a section with disks when moving performs dynamic and technological functions in various modes: mover-mover, movable anchor, tiller, working body for plowing, peeling, harrowing, bulldozer-grader cutting, course stabilizer and stability against capsizing, soil braking , an okuchnik, a known opener and a knife depending on the setting, the position near the power tool and the method of movement. Disc bodies balance the resistance of the working bodies and unload the wheels, move the axis of the roll of the tractor and increase stability. The stops on both sides prevent tipping over and allow forward movement. In the transport position, the discs rise. A disk with a radius of 30 cm with a lateral pressure of 5 kg / cm ² gives a holding force of 70 kN, which is equal to the resistance of 10-15 plow bodies. This allows for: the hard work of one side during land cultivation, the construction of dams, the release of a very light energy source in the field in early spring, and the wheel load is reduced to zero.

 Reducing the load and traction functions of the wheels, the dependence of handling, stability, load capacity, mobility, ride, visibility and economy on the location of the machine facilitates operation and increases safety. Regardless of the location of the machine, forward feed is possible with hydraulic cylinders in the safety valve line or with a limit switch in the hydraulic drive line, to divert the working bodies from the stone during overload or by the force of the final stop, if the working body is removed from the stone by turning the section due to the elasticity of the limiter. Other protection methods are possible.

 Increasing the frequency of cultivating the land in one pass reduces the area and number of working bodies. The increase in the number of working bodies and passages in the field is achieved by increasing speed. The combination of tools, an increase in the number of working bodies and speed reduces repetitions.

 The amount of movement (the product of mass and speed) of the sum of the products of operations (works) and the area above the sum of the products of the repetitions of work and the area by the amount of movement of the energy means, therefore, it is beneficial to repeat the work without repeating passes of the unit through the field or working bodies. You can repeat the work without repeating the working bodies, since one working body, acting twice, replaces two working bodies during surface treatment. Such an increase in intensity is possible at any multiplicity and favorably reduces the number of passes of the energy module.

где Ш - ширина захвата, Ф - функция, S - путь, П - число функций, m - масса, V - скорость, t - время.If the mass per one function is used for evaluation, we obtain quantitative and qualitative characteristics of the functions, productivity, working width, energy consumption, economy, energy saturation, and other properties. Work and momentum

where - is the width of the capture, - is the function, S is the path, - is the number of functions, m is mass, V is speed, t is time.

 The law of reducing the amount of movement is implemented by applying new methods to increase the working width in proportion to the progress of the working bodies, repeating 2-4 times, converting the braking mode to non-braking.

 Even plowing or other treatment with a wide strip without furrows or other baselines requires driving along the lugs and the sight. The irrigation line or furrow can be leveled and re-laid, or remain when you change the step of installing the sections or adjusting the drive. Untreated baseline strip can be cleaned. Installing a copier in front and a track layer in the rear gives you auto-driving. In these cases, the lateral resistance of the disk and the track-laying or reversible plow balances the side resistance, reduces the lateral load on the wheels of the power tool and the path formation error. Reducing the load of the wheels, masses, traction and braking forces of the wheels to zero with a large width reduces the functions of the wheels to the supports.

 The volumetric coupling allows you to smoothly control the output speed to zero, which facilitates the inclusion and switching of speeds, and to abandon the hydraulic flow and energy losses after that. With increasing speed, the engine speed reserve is used. Otherwise, such a transition is not needed. Speed control gives equalization of speeds of the next and previous stages. This ratio of speeds gives a margin of torque and speed. Switching speeds without breaking the power flow by aligning the speeds of the input shaft with the clutch, the output shaft with a hydraulic gear motor is achieved by alternating mechanical and hydraulic flows, switching to hydraulic transmission during the period of switching speeds of a mechanical transmission, combining the advantages of hydraulic and mechanical transmission without increasing the number of transmission elements, i.e. combining and combining the functions of a coupling and a pump, a hydrostarter, a brake and a hydraulic synchronizer, as well as a hydraulic motor, a final drive, an actuating element of a turning mechanism, a hydraulic transmission for driving trailer wheels, side clutches, brakes and speed controllers. The installation of such volumetric clutch brakes-hydraulic machines and the ability to switch (sequential, parallel), combining and combining modes and functions replace the rotation mechanisms, speed controller and brakes. The hydraulic drive of the trailer wheels in traction mode is converted into a hydraulic drive of brakes and a hydraulic lift, for example, by switching the control valves of the operating modes. The functions of the transmission elements are combined without disturbing the functions with a clean hydraulic drive at lower speeds and a mechanical drive at high speeds, but the new combination opens up new possibilities for controlling and creating driving and heading modes in traction and braking modes by adjusting forces taking into account soil reactions and speeds, taking into account the course in traction mode. Regulation of braking forces according to the reactions of the road and speeds along the course safely forms the braking mode and the trajectory of movement (course).

On fig.120-122 showing patterns of change in energy flow (speed parameters P, V the velocity, flow capacity Q of mechanical and hydraulic flow streams pto wheels and N, N _g, N _{in the} different modes, the braking force and power P _in ) At a very low speed, the repetition rate increases and at zero speed it reaches infinite work on site. In this situation, a bulldozer works in the formation of various structures (dams, roads). The transfer of almost all power through a mechanical power take-off shaft to the drive of the working bodies unloads the transmission of the chassis. Such unloading of the transmission and wheels and reservation of traction and braking forces, balancing of useful resistance, combining functions and simplifying gear changes without breaking the power flow facilitates control and robotization of processes, reduces human participation and dependence on the human factor. The independence of such functions is replaced by new human functions: it regulates the repetition rate of work (speed) not according to the load, but according to the situational need for repetition of work, targeted cultivation of the earth in one pass across the field. This eliminates heavy, uniform, continuous operation of the control and facilitates the control and adjustment of the setting to the repetition rate of the work. When processing heavy soils, the supply, the width of the reservoir, the speed of movement change without changing the depth, the phenomenon of self-regulation of force (power regulation) occurs without special tracking systems. This is easily combined with the well-known force regulation of the depth of tillage (lifting of working bodies) in proportion to the pressure of the liquid and full rise during braking, for example, by a hydraulic lift cylinder when working in the field, when working bodies move instead of the body and trailer. The hydraulic drive elements operate in various modes according to a well-known principle.

 A multi-purpose machine implements a method of cultivating the earth by moving multi-mode revolving self-interchangeable working elements between the limiters to perform various operations (functions) at a speed that provides targeted processing - changing and repeating functions with a low traction load of the chassis and moving the working bodies and their sections in a non-braking mode relative to tractor.

 The target (desired) state of the land is the desired granulometric composition of the soil, the shape of dams, canals, roadways, the degree of turnover of the reservoir and crumbling of lumps, the quality of harvesting and weeds, the shape of beds, ridges and other requirements for technological processes, their combination and compatibility. The target state is formed by the working bodies, depending on the type, quantity and frequency of exposure to the earth.

 The turnover of sections, working bodies, their rollers, wings, rods, nets, etc. increase functionality. The use of elastic rotation limiters of the working bodies, sections and wings provides self-regulation of position and resistance. This stabilizes the load - gives the effect of a power regulator.

 A change in the speed of movement is directly proportional to the number of non-brake working bodies and an increase in the frequency of repetition of functions (effects) by a decrease in speed is possible without additional working bodies and unit passes in the field.

 The rotation of the working bodies around two axes and the inclination of the axis create a turning moment from the resistance forces. Under the influence of the earth’s resistance, the working bodies turn fully into the limiters, while the elastic limiters allow rotation in the direction of decreasing resistance. The well-known principle of increasing traction and speed (traction efficiency) in a non-braking mode of operation is converted to the principle of reducing forces and speeds with high efficiency.

 The use of scrap tires by cutting into parts and installation without a camera increases the bearing capacity, load capacity, tire support, safety and other qualities.

 Hydrosynchronization expands the functionality: it facilitates switching speeds, regulating the driving and braking forces of the machine and the sides, taking into account reactions and course when forming the driving mode and trajectory.

The body with working bodies (elements) for turning the formation to the right and left turns under the influence of resistance and self-installs between the limiters. The angle of longitudinal inclination β projects the axis in front of the center of resistance, a shoulder appears with a resistance force P _c , and rotates all the way to one of the stops, depending on the direction of movement. When changing the direction of movement and the action of the resistance (sign of the moment), the working body and section turn fully into another limiter and are held firmly when moving to the next end, where this process is repeated. The combination of revolving implements in traction (braking) and non-braking modes during plowing, peeling or cultivating and performing other work facilitates balancing the unit in the supporting plane. This reserves the power of the wheels, improves the accuracy of copying the baseline. The combination of modes, functions and their repetitions forms the target state of the machine and the earth.

The working body for plowing has an angle α _{to the} working rotation between the stops at normal load. When overloaded, the latch 33 or the elasticity of the limiter allows further (emergency) rotation until deepening and protection. When you change the sign of resistance (reverse), the working body is included in the work, leaves a flaw, facilitates the search and return of the working body with a known spring, gravity until the latch enters the socket. The working and emergency turns (dehulling) or stops, the safety coupling or the valve protecting the hydraulic drive from high pressure protect the working bodies from overload, and the kinetic energy of the working bodies is lower than the known units. Therefore, when meeting an obstacle, the risk of breakage is also reduced. The rotation of the working bodies around two axes between the limiters under the action of soil resistance provides self-regulation of the engine load, i.e. working bodies deepen during overload and protection is combined with power regulation.

 Self-regulation of functions and load increases the number of modes, gives a mode of self-stabilization and self-defense, regulation of depth and width separately and together, situational regulation of speed and frequency of repetition of functions. Rotation around the vertical axis changes the working width and load without changing the depth of processing, and rotation around the horizontal axis of the section gives reverse and reverse operation when moving in different directions. Changing the angular position, grip width and speed increases the functions, improves the processing performance. Non-braking modes (driving, pushing, neutral), self-rotating, self-cleaning at the reverse point, self-reversing in direction, self-balancing when working in antiphase, self-rotating for smooth processing, self-repeating work when speed decreases. Fracture of the heavy layer, deep loosening, shearing of the layer with a bulldozer and other energy-intensive operations in non-braking modes are minimized by replacing compression by bending by weak connection, the elasticity of the elastic effect of the rubber and rubberized roller working body, which increases surface friction during soil tillage.

 A multi-mode plow, depending on the installation step, section rotation angle, carries out peeling, cultivation, cutting furrows, plowing, removing the formation for subsequent movement with a shovel.

 The working body for digging tubers cuts the soil from the bottom, partially raises, crumbles, and turning twigs sift the soil, bring the crop up, and the rakes comb and move the crop and form the target state of the harvesting operation with the possibility of feeding the conveyor to the hopper or transport body.

 The functions of the hydraulic synchronizer, hydrostatic drive, speed controller and speed difference between the sides and the brakes are combined with the possibility of energy distribution between the wheels, taking into account reactions and course when driving in traction and braking modes. Trailer brakes are combined with the drive of its wheels and a hydraulic lift line for unloading, depending on the setting.

 Working bodies in the braking mode move forward at a speed independent of the technological need and the frequency of repetition of work, and in non-braking mode at a speed independent of the load. The forward feed is regulated taking into account the necessary frequency of repeating the work of the hydraulic lift by switching to the pulling forward, switching communication (rearranging the finger), pushing forward with an emphasis, a disk, a working body, a wheel, an anchor, a clutch, a gearbox and other ways, using force or a signal about the end move or encounter an obstacle.

 The drive mover-anchor on the axis of rotation between the rotation limiters can work in the modes of the mover of high cross-country ability, low grip mass and equality of the longitudinal stroke speeds.

 In the conditions of the road, it is advantageous to use wheels without chambers and reduce the number of wheels or use the load as the grip weight when working with trailers on the principle of wheel loader operation. When working on slopes, wheels without chambers increase tire handling by reducing drag.

 Car accidents due to puncture and cut of tires when working on slopes and other hazardous areas are also reduced by installing parts of tires without chambers on the wheel rim.

 Increases in the number of wheels and driving axles, grip and traction forces, metal consumption and cost, working width or speed, frequency of passage across the field and soil compaction do not lead to qualitative improvements in the mechanization of agriculture in all zones.

 A useful and highly efficient direction has been found for optimizing the speed of work, increasing the working width and productivity of equipment in agriculture.

 The basis of the new direction is to reduce the number of wheels and axles, metal consumption, load and running gear costs by moving removable reversible working bodies or their sections relative to the tractor with the possibility of repeatedly increasing the working width and productivity, as well as weakening the dependence on the type of running gear, slope steepness, soil moisture , weather, tractor class and other factors. Such a decrease in the dependence of the performance of the equipment on the traction qualities of the chassis and the entire tractor allows the expansion, combination and combination of functions of the wheels, reversible replaceable working bodies to perform various tasks, heading sensors and operating modes, supports, vibration energy utilizers, stabilizing support reactions, anti-slip means and increase smoothness and elasticity of the drive. Replacing the heavy traction functions of the tractor wheels during energy-intensive processes by working bodies and reducing the speed of the unit makes the wheels a soft support and a reliable means of moving in the right direction and receiving proactive information about changing external conditions for evaluating and controlling work, heading and trajectory (Fig. 124) .

 The efficiency of replacing the functions of the wheels with the working bodies is high on plowing, peeling, harrowing, cultivation; harvesting root crops, feed from hazardous areas; cultural-technical and road-building works, as well as on inconveniences and sections inaccessible to the tractor.

 The essence of the profound change in the functions of the undercarriage of a half-robot energy vehicle is its connection with various elements with the ability to control power according to the coupling capabilities, strength, speed, support reactions when working on slopes, course, traction force, gun resistance, wheel braking, utilizing vibrational energy and etc.

 A multifunctional running system - a sensor of forces and reactions of the terrain, - a means of tracking the coefficients of interaction with the supporting surface, - a heading and radius sensor, - a center of Fixed rotation, - a sensor for moving working bodies, repetition of work and regulation of modes provides information for control. With slow motion and repetition of work, the load of the wheels can be reduced to zero and the accuracy of information, forward feed and repetition of work can be reduced. Such a feeling of the undercarriage and a decrease in its load and the dependence of traction and productivity on mass and towing qualities are combined with a very big benefit for the manufacturer and user of the equipment.

Comparison of tractor performance with a conventional machine and with reversible working bodies confirms the possibility of eliminating the dependence on metal consumption, traction and coupling capabilities, slipping, the number of axles and wheels, traction class and other indicators that adversely affect the economy, nature and people:
W = G (φ-ψ) vt;
P _φ = φG,
δ ≠ 0,
W = v _p PΔSt;
ΔS = Ш _p / K,
δ → 0, P _cr → 0,
where G is the grip weight, φ, ψ, δ are the adhesion, drag and slipping coefficients, v, T are the speed and time, P _φ is the tangential traction on the clutch, v _p , P is the speed and number of sections of the working bodies, ΔS is the feed and the width of the working bodies, K is the repetition rate for one pass of the unit, P _cr - hook force.

 The decrease in mass, cost, period of inactivity, idle speed, the speed of movement of working bodies of a reversible type and the cost of operations and products is proportional to the increase in the possibility of robotic farming, compliance with more than 70 rules and laws.

 The efficiency of the use of a wheeled machine can be increased in proportion to an increase in the driving force of the working body, the permissible load of the drive axle (in strength) and the capacity of operations, i.e. the product of the number of combined operations and operating time.

 Traction, speed and functional properties of the working body-mover are sufficient to abandon heavy tractors and methods to improve the traction and coupling qualities when processing the soil.

 The specific power of the tractor can be easily increased, and the traction class and metal consumption can be reduced by 4-5 times by simply converting the resistance into machine power and balancing the working bodies working in antiphase.

 The dynamic factor of the tractor and the car and the width of the implement during soil cultivation can be increased infinitely and used to integrate operations and reduce the number of passes in the field. The dynamic factor and traction force vary in proportion to the resistance and open the way to increasing the efficiency of mechanization and robotization of agriculture in all zones.

 The dependence of average speed on technological utility reduces the need for speed control inversely with the load.

 The value and effectiveness of the driving force of the working body increase in proportion to the depth of tillage and 2-20 times higher than that of the principle of increasing the number of driving axles of the tractor.

 The efficiency of movement and the execution of technological processes are naturally interconnected and with the need to minimize the amount of movement.

 The driving force and efficiency of the working body are proportional to the difference in pressure on the working and back surfaces. This force increases with depth and thickness.

 The internal resistance of the interaction of the working bodies can be strengthened by the circulation of the energy of the pushing forces of these working bodies, i.e. partial transformation of resistance into force by means of energy circulation.

 The internal resistance of the aggregate elements decreases much more easily than the forces of interaction with the soil.

 Power, fuel consumption and engine load are determined by the position, size and number of working bodies, taking into account the non-linear dependence on the depth of tillage.

 The number of operations is determined by the state of the soil and the purpose of its processing, strength - by resistance, productivity - by power, working width - by working conditions, speed - by quality of work and technological necessity.

 Adjusting the engine power taking into account the coupling capabilities of the wheels reduces the energy loss on slipping by several times and favorably affects the operation of the machine.

 The limitation of power by the permissible load of the consumer protects the equipment.

 Traction resistance adaptively loads the chassis with traction before and after the front axle comes off the ground, therefore, it increases adaptability to load changes.

 The power of the engines in traction and drive mode must correspond to the permissible loads of the working bodies of the leading and driven types.

 With a constant engine load, the power in contact of the wheels with the soil, depending on the type and mode of movement, can be negative and close to zero.

 The speeds of the tractor and the working bodies must be inversely proportional to their masses when strictly determining the speed of the working bodies, taking into account the quality of work. This reduces the amount of movement and energy costs for soil compaction.

 The speed of movement of the working bodies relative to the tractor and with it depend on their trajectories. With longitudinal movement, the speed of movement of the working bodies depends on the direction (forward, backward), the working width decreases, the speed of the unit moves, and the influence of the working length of the working bodies on the working width of the machine is excluded. The transverse movement of the working bodies increases the working width to the product of the number of sections of the working bodies and their stroke. In intermediate positions, the angle of deviation of the paths of movement of the working bodies and the tractor affects the working width. The difference in the speeds of moving the working bodies forward and backward negatively affects a number of processes, and idling reduces efficiency.

 The speeds of movement of the working bodies are optimally stabilized during their transverse course. In this case, the speed of the unit is minimized. The speed of movement of the working bodies is affected by the shape of their working surfaces. Replacing the compression deformation of the soil with tensile and bending of the reservoir reduces the energy consumption for crumbling. The speeds of movement of the working bodies and the tractor are geometrically summed. An increase in the width of the machine’s grip by turning the line of movement of the working bodies reduces the difference in their speeds to zero, and a decrease in the width of the machine’s grip to the width of the working bodies of the longitudinal stroke increases the speed difference to the speed of the tractor.

 Changing the ratio of the speeds of movement of the working bodies and the movement of the tractor adjusts the functions of the machine, the frequency of exposure to the soil (repetition of processing) in one pass of the tractor. Acceleration and braking of units and their elements, regulation of the driving and braking moments of the wheels by their drive, impact on the engine, transmission and propulsion systems to use the coefficients of their adhesion, slipping and sliding have a common scientific and methodological basis. In science and in practice, the processes of acceleration and deceleration, the problems of developing the means of implementing these processes are divided. As the masses and speeds of machines and aggregates increase, the processes of acceleration and braking become more complicated and problems become more acute. Their autonomous solution increases the cost of their manufacture and use. Therefore, there was a need to find a common solution.

 Acceleration and braking are distinguished by a sign of impact on processes and the machine. Accumulation of energy during acceleration and destruction during braking are possible without duplication of elements, i.e. combination of their functions. At a low speed (turning on the creeper), problems of acceleration and braking do not arise. With an increase in the frequency of stops, the importance of acceleration, stops and reversal of working bodies increases and affects the issues of energy and resource conservation. Most effectively, this problem is solved by eliminating inhibition by artificial resistance. The energy of the working bodies without destruction by brakes is spent on the implementation of technological processes: soil resistance many times exceeds the resistance of the wheels and effectively stops the working bodies. Therefore, the acceleration energy is fully used for useful work.

 Tractor braking to keep the machine stationary does not require energy.

 Acceleration and braking of wheels and tracks to control the difference in speeds and forces during the formation of the trajectory makes it difficult to efficiently use energy and clearly affects energy and resource conservation. A decrease in speed by an order of magnitude accordingly affects the efficiency.

 Negative power in contact of the wheels with the soil, minus losses, can be returned to the working bodies. But the circulation of power in the drives of the wheels and the working bodies of the movers overloads them and is possible if necessary, the integration of tractor power in continuous operation. Stopping the tractor eliminates this phenomenon and allows optimal movement of the working bodies relative to the tractor.

 The amount of movement of the unit, technological machine and working bodies can be equalized by the choice of speeds by mass. The speed of movement of the working body during plowing is an order of magnitude lower than the speed of movement of the working body.

 The speed of the unit is proportional to the speed of movement and the width of the working body.

 The width of the grip varies regardless of speed by the number of sections of the working bodies.

 The speed of the unit, the resistance and the width of the grip are independent of each other and of the grip force, if part of the resistance is converted into force. The independence of traction and gravity opens up new possibilities for development.

 With the mutual balancing of the forces of the working bodies, the dependence of the forces on the mass approaches zero.

 The rate of rotation of the soil formation depends strictly on the angle of slope steepness: when the formation is turned down, it decreases, and when it is turned up, it increases. On a slope, an excess of driving forces requires the use of working bodies - brakes (driven type).

 The functions of the working body for cultivating the soil are performed by moving, feeding and transmitting some of the resistance pame - combining technological functions, power sources and motion converters. All movements and functions are adjustable.

 An analysis of the functions of the elements of technology in agriculture, the development of physical models, methods for combining and correcting them, the study and evaluation of work by the parameter of the product “force • time” (P • T) or “function • time” (Ф • Т) have opened new ways to increase the efficiency of regulation traction forces, gravity, load and functions of elements of equipment; reducing the delay of actions, the number of control errors, speed and mass (amount of movement); approximation of transfer functions to gear ratios; transfer of energy and information flows in both directions (from the pump to the hydraulic cylinder and vice versa) with minimal physical work of the unit control.

 On the principle of wheel loading, the development of transport processes is based and their unloading is based on increasing the efficiency of work in agriculture. The combination of functions of the elements of technology is an effective way to increase productivity without increasing the speed and load of the wheels. Converting the resistance of reversing working bodies into machine power doubles the efficiency of the technology, for example, the cost of kW of power when transmitted through the chassis to the technological machine doubles (half is lost).

 At the same time, the dependence of the usefulness and harmfulness of the effect on the soil, productivity, working capacity and effectiveness on the terrain, weather, soil moisture, headland, speed, mass, time, slipping, human factor exacerbates the production and use of technology. Non-braking mode and repetition of work give a breakthrough path.

 The basic indicators of increasing productivity (speed and traction) in the 20th century increased tenfold and reached critical values, exacerbated the problems of mechanization and robotization of agriculture, ergonomics, ecology, etc. to such a level that they created a deadlock state, the way out of which is a new direction of increasing forces by tens of times in various jobs with a small load of wheels.

 The use of the method and the machine provides reversibility and turnover, multi-mode and self-regulation of position and load, convertibility of resistance to force, repetitive functioning, compatibility of changes and repetitions of functions by reducing speed, the ability to reduce the number of passes, gravity and traction when performing basic work without slipping, reducing soil compaction up to 30 times, fuel consumption twice, the number and cost of wheels up to 4 times, types of machines and metal consumption more than 10 times, repetition of work without complementary lnyh passageways and working organs, teleworking more than 10 times, the global level superiority in all parameters between 2 and 34 times.

 The breadth of coverage of functions at a low wheel load allows unifying energy resources (light cars, heavy tractors with the ability to perform the functions of marsh and super marsh and heavy industrial tractors) with the ability to provide good dynamics, economy, controllability, safety and productivity, maneuverability and smoothness.

 Utilization of tires by cutting into parts and use without chambers increases the availability and tire support, reduces the danger and dependence on weather and terrain conditions.

 Changing the driving and braking forces taking into account the reactions of the terrain and course (target trajectory), converting energy flows and operating modes by combining the functions of transmission components, converting the principle of increasing traction and gravity and speed (traction efficiency) into the principle of reducing traction and gravity and speeds - A revolution in technology and technology opens up inexhaustible possibilities for replacing human functions with technical means.

Claims (12)

1. A method of cultivating the land, including cultivating the land with moving reversible working bodies, mounted to rotate under the influence of soil resistance, changing the speed of their movement and repeating the functions they perform, characterized in that the working of the earth is carried out by working bodies in the form of rollers, or crushers, or harrows or roller blades made from used tire parts, and additionally by working bodies in the form of plow bodies with blades, or discs, and / or a bulldozer shovel, silt and a dagger-like paw, or a cultivator, or a hiller, or a rake. 2. The method according to claim 1, characterized in that as the depth of cultivation of the earth increases, the working width of the working body decreases and stabilizes the load with a low traction force of the wheels. 3. The method according to claim 1, characterized in that when processing infected, clogged or contaminated land, the depth of plowing is increased while the working width is reduced. 4. A machine for cultivating the earth, containing an energy tool, wheels, passive working bodies having a self-rotation axis between the limiters, and their drive, characterized in that the working bodies are made in the form of rollers, or a crusher, or legs, or a roller blade made of parts of recycled tires, and has additional working bodies in the form of plow bodies with dumps, or disks, and / or a bulldozer shovel, or a dagger-like paw, or a cultivator, or a hiller, or a rake, while all working bodies have additional s self-turn and stops for rotation in two planes under the action of resistance. 5. The machine according to claim 4, characterized in that the wheels are made of recycled tires or parts thereof. 6. The machine according to claim 4, characterized in that the wheels have a strip of recycled tires with tires for mounting on the wheel. 7. The machine according to claim 4, characterized in that the working bodies are connected to the drive with the ability to change the pitch. 8. The machine according to claim 4, characterized in that the working bodies are installed on the section, which has an axis of self-rotation between the limiters. 9. The machine according to claim 4, characterized in that the ploughshare of the plow body has blades on four sides and places for fastening on both sides. 10. The machine according to claim 4, characterized in that it contains a gear shifter of a mechanical transmission without interrupting the power flow. 11. The machine according to claim 4, characterized in that the hydraulic element of the transmission is connected with the drive of the working bodies with the possibility of feeding the machine forward at the end of the stroke of the working bodies. 12. The machine according to claim 4, characterized in that the working body in the form of a disk is connected to an energy facility with the ability to perform dynamic and technological functions in various modes.

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