CN102282922B - Inter-seedling weeding device and method - Google Patents
Inter-seedling weeding device and method Download PDFInfo
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- CN102282922B CN102282922B CN 201110153902 CN201110153902A CN102282922B CN 102282922 B CN102282922 B CN 102282922B CN 201110153902 CN201110153902 CN 201110153902 CN 201110153902 A CN201110153902 A CN 201110153902A CN 102282922 B CN102282922 B CN 102282922B
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Abstract
The invention discloses an inter-seedling weeding device and method, and relates to the technical field of agricultural machinery. The inter-seedling weeding device comprises a ground contour following device, a hoe blade lifting device, a tool setting device and a hoe blade device; and the ground contour following device comprises a contour wheel, a sliding plate, two sliding blocks, a spring and a cylindrical slide rail. The contour wheel and the hoe blade device are fixedly arranged on the sliding plate; and the sliding blocks are fixedly arranged on the sliding plate, and the sliding blocks and the spring are sleeved outside the cylindrical slide rail. The hoe blade lifting device comprises a second parallelogram mechanism and a second hydraulic cylinder, and the second hydraulic cylinder is arranged at the opposite sides or the adjacent sides of the second parallelogram mechanism. The tool setting device comprises a first parallelogram mechanism and a first hydraulic cylinder; and the first hydraulic cylinder is arranged on the opposite sides or the adjacent sides of the first parallelogram mechanism. According to the inter-seedling weeding device and method, disclosed by the invention, the hoe blade can be protected and the seedling injuring rate during weeding can be reduced.
Description
Technical field
The present invention relates to agricultural machinery technological field, relate in particular to weeding device and the method for hoeing up weeds thereof between a kind of seedling for removing weeds between the crops seedling.
Background technology
At present, the farmland weeding method is artificial weeding mostly or passes through the chemical method weeding.The workload of artificial weeding is large, efficient is low; Bring serious harmful effect usually can for ecotope, agricultural product edible safety and health etc. by the chemical method weeding.Therefore weeding by machine begins to be subject to increasing attention owing to can increase substantially operating efficiency again in many harm of abandoning chemical weed control.
Weeding by machine generally is applicable in the large farmland by going the crops of planting, such as corn, wild cabbage and romaine lettuce etc.The regional location of growing in the farmland according to weeds can be divided into it weeds between inter-row weed and seedling.Inter-row weed refers to be grown in two weeds between the crops row, between seedling weeds refer to be grown in the crops row, the weeds between two crops seedlings.Inter-row weed is easy to realize the mechanization removing.And weeds must be finished by the intelligentized equipment of hoeing up weeds between seedling.Existing weeder for large farmland operation, because tine is fragile, weeding rate is lower; Owing to lack the mechanism of local fine setting tine, tool setting is inconvenient again, and adjusting tine that can not be correct causes the seedling-damaging ratio of crops high to the distance of crops seedling.
Summary of the invention
The technical problem that (one) will solve
For the defects of prior art, the technical problem to be solved in the present invention is: weeding device and the method for hoeing up weeds thereof between a seedling are provided, and it can protect tine, reduces the seedling-damaging ratio in the process of hoeing up weeds.
(2) technical scheme
For addressing the above problem, the invention provides weeding device between a seedling, comprise ground-contour-following device, tine elevator, tool setting device and tine device;
Described ground-contour-following device comprises contour wheel, slide plate, two slide blocks, spring and cylindrical slide rails;
Described contour wheel and tine device are fixedly installed on the slide plate; Described slide block is fixedly installed on the slide plate, and slide block and spring all are placed in outside the cylindrical slide rail, and described spring is used for contour wheel and the stressed of tine device are cushioned; Described slide plate is used for driving contour wheel and tine device and moving up and down by moving up and down with slide block;
Described tine elevator comprises the second parallel-crank mechanism and the second hydraulic cylinder, and described the second hydraulic cylinder is installed on the opposite side or adjacent side of the second parallel-crank mechanism; Described the second hydraulic cylinder is used for driving ground-contour-following device and tine device and moving up and down by the second parallel-crank mechanism is swung up and down; Can reach the purpose of lifting tine;
Described tool setting device comprises the first parallel-crank mechanism and the first hydraulic cylinder; Described the first hydraulic cylinder is installed on the opposite side or adjacent side of the first parallel-crank mechanism; Described the first hydraulic cylinder is used for driving ground-contour-following device and tine device move left and right by the first parallel-crank mechanism is swung; Can reach and regulate tine to the purpose of the distance of crops seedling;
Cylindrical slide rail in the described ground-contour-following device is installed on an end of the second parallel-crank mechanism, and the other end of the second parallel-crank mechanism is installed on an end of the first parallel-crank mechanism, and the other end of the first parallel-crank mechanism is equipped with support wheel.
Wherein, described device also comprises control device, is used for the first hydraulic cylinder, the second hydraulic cylinder and tine device are controlled.
Wherein, described device also comprises the power sensor that is installed on tine device or the contour wheel, is used for obtaining the force information that is subjected to of tine device or contour wheel, and described power sensor is connected with control device.
Wherein, described device also comprises the support that is installed on the first parallel-crank mechanism and is installed on camera on the support that described camera is used for obtaining the information of crops rice shoot.
Wherein, described device also comprises the connecting rod that is installed on the first parallel-crank mechanism, is used for this device is connected with tractor.
Wherein, described device also comprises the 3rd hydraulic cylinder that is installed on the first parallel-crank mechanism, is used for making weeding device lifting between seedling by hydraulic cylinder piston rod flexible.
A kind ofly utilize weeding device between aforementioned seedling to carry out the method for hoeing up weeds between seedling, may further comprise the steps:
S1: the second hydraulic cylinder works, drive the second parallel-crank mechanism to lower swing, make the landing of tine device and contour wheel, after the tine device buried and contour wheel touches ground, contour wheel changed with physical features and moves up and down, and drives the tine device and moves up and down;
S2: the first hydraulic cylinder works, drive the first parallel-crank mechanism move left and right, make the ground-contour-following device move left and right, thereby drive tine device move left and right, regulate the tine device to the distance of crops rice shoot.
Wherein, described step S1 also comprises, sends a signal to control device by the power sensor that is installed on tine device or the contour wheel, comes the step that the second hydraulic cylinder is controlled.
Wherein, described method also comprises: obtain the information of tine device and crops rice shoot and send to control device by camera, with the step of timely adjusting tine device to the distance of crops rice shoot.
Wherein, described method also comprises: with weeding device landing between seedling, make support wheel touch the step on ground by the 3rd hydraulic cylinder.
(3) beneficial effect
The present invention in the process of hoeing up weeds, can regulate tine to the distance of crops seedling by ground-contour-following device, tine elevator and tool setting device are set, and reduces seedling-damaging ratio; Ground-contour-following device can be protected tine effectively by cushioning effect simultaneously; The present invention can be used for removing the weeds between the crops seedling, and can adapt to the variation of crops line-spacing; Be applicable to simultaneously the land for growing field crops operation, and it is low to have energy consumption, the characteristics of longevity of service.
Description of drawings
Fig. 1 is the structural representation of weeding device between seedling of the present invention;
Fig. 2 is the flow chart of the method for hoeing up weeds between seedling of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples are used for explanation the present invention, but are not used for limiting the scope of the invention.
As shown in Figure 1, weeding device between seedling of the present invention comprises ground-contour-following device, tine elevator, tool setting device, tine device 1;
Described ground-contour-following device comprises contour wheel 3, slide plate 4, two slide blocks 5, spring 6 and cylindrical slide rails 7;
Described contour wheel 3 and tine device 1 are fixedly installed on the slide plate 4; Described slide block 5 is fixedly installed on the slide plate 4, and slide block 5 all is placed in outside the cylindrical slide rail 7 with spring 6, and described spring 6 is used for contour wheel 3 and the stressed of tine device 1 are cushioned; Described slide plate 4 is used for driving contour wheel 3 and tine device 1 and moving up and down by moving up and down with slide block 5; Installing force sensor on tine device 1 or the contour wheel 3, for the force information that is subjected to that obtains tine device 1 or contour wheel 3, described power sensor is connected with control device 16.
Described tine elevator comprises the second parallel-crank mechanism 11 and the second hydraulic cylinder 12, and described the second hydraulic cylinder 12 is installed on the opposite side or adjacent side of the second parallel-crank mechanism 11; Described the second hydraulic cylinder 12 is used for driving ground-contour-following device and tine device 1 and moving up and down by the second parallel-crank mechanism 11 is swung up and down; Can reach the purpose of lifting tine;
Described tool setting device comprises the first parallel-crank mechanism 8 and the first hydraulic cylinder 9; Described the first hydraulic cylinder 9 is installed on the opposite side or adjacent side of the first parallel-crank mechanism 8; Described the first hydraulic cylinder 9 is used for driving ground-contour-following device and tine device 1 move left and right by the first parallel-crank mechanism 8 is swung; Can reach and regulate tine to the purpose of the distance of crops seedling;
Preferably, described device also comprises control device 16, is used for the first hydraulic cylinder 9, the second hydraulic cylinder 12 and tine device 1 are controlled.
Preferably, described device also comprises the support 15 that is installed on the first parallel-crank mechanism 8 and is installed on camera 2 on the support 15 that described camera 2 is used for obtaining the information of crops rice shoot.
Preferably, described device also comprises the connecting rod 13 that is installed on the first parallel-crank mechanism 8, is used for this device is connected with tractor.
Preferably, described device also comprises the 3rd hydraulic cylinder 14 that is installed on the first parallel-crank mechanism 8, is used for making weeding device lifting between seedling by hydraulic cylinder piston rod flexible.
A kind ofly utilize weeding device between aforementioned seedling to carry out the method for hoeing up weeds between seedling, may further comprise the steps:
S1: the second hydraulic cylinder 12 work, drive the second parallel-crank mechanism 11 to lower swing, make 3 landing of tine device 1 and contour wheel, after tine device 1 buries and contour wheel 3 touches ground, contour wheel 3 moves up and down with the physical features variation, drives tine device 1 and moves up and down;
In this step, when the tine in the tine device 1 buries when arriving predetermined depth and contour wheel 3 and touching ground, ground-contour-following device begins by cushioning effect work, can make the relative ground of tine motionless, reaches the effect of protection tine.
This step is by being installed on tine device 1 or contour wheel 3, and for example the power sensor on the tine device 1 sends a signal to control device 16, comes the second hydraulic cylinder 12 is controlled.When tine device 1 be subjected to force information to surpass predetermined value the time, control device 16 quits work the second hydraulic cylinder 12, this moment, the tine elevator was fixed to a certain position.
S2: 9 work of the first hydraulic cylinder, drive the first parallel-crank mechanism 8 move left and right, make the ground-contour-following device move left and right, thereby drive tine device 1 move left and right, regulate tine device 1 distance to the crops rice shoot.
When tractor did not arrive the edge of a field, farmland, the piston rod of the 3rd hydraulic cylinder 14 is in contraction state made weeding device disengaging ground between seedling, is convenient to transportation.When tractor arrives the edge of a field, farmland also roughly with the crops row alignment, with weeding device landing between seedling, make support wheel 10 touch ground by the 3rd hydraulic cylinder 14.
Tractor promotes move ahead tine device 1 in the process of weeding device between seedling and roots out the weeds in zone between the crops seedling.Meanwhile obtain the information of tine device 1 and crops rice shoot and send to control device 16 by camera 2, to the distance of crops rice shoot, make tine can in time hide the crops rice shoot with tine in the timely adjusting tine device 1.
Above embodiment only is used for explanation the present invention; and be not limitation of the present invention; the those of ordinary skill in relevant technologies field; in the situation that does not break away from the spirit and scope of the present invention; can also make a variety of changes and modification; therefore all technical schemes that are equal to also belong to category of the present invention, and scope of patent protection of the present invention should be defined by the claims.
Claims (10)
1. weeding device between a seedling is characterized in that, comprises ground-contour-following device, tine elevator, tool setting device and tine device (1);
Described ground-contour-following device comprises contour wheel (3), slide plate (4), two slide blocks (5), spring (6) and cylindrical slide rail (7);
Described contour wheel (3) and tine device (1) are fixedly installed on the slide plate (4); Described slide block (5) is fixedly installed on the slide plate (4), and slide block (5) all is placed in outside the cylindrical slide rail (7) with spring (6), and described spring (6) is used for stressed buffering the to contour wheel (3) and tine device (1); Described slide plate (4) is used for driving contour wheel (3) and tine device (1) and moving up and down by moving up and down with slide block (5);
Described tine elevator comprises the second parallel-crank mechanism (11) and the second hydraulic cylinder (12), and described the second hydraulic cylinder (12) is installed on the opposite side or adjacent side of the second parallel-crank mechanism (11); Described the second hydraulic cylinder (12) is used for driving ground-contour-following device and tine device (1) and moving up and down by the second parallel-crank mechanism (11) is swung up and down;
Described tool setting device comprises the first parallel-crank mechanism (8) and the first hydraulic cylinder (9); Described the first hydraulic cylinder (9) is installed on the opposite side or adjacent side of the first parallel-crank mechanism (8); Described the first hydraulic cylinder (9) is used for driving ground-contour-following device and tine device (1) move left and right by the first parallel-crank mechanism (8) is swung;
Cylindrical slide rail (7) in the described ground-contour-following device is installed on an end of the second parallel-crank mechanism (11), the other end of the second parallel-crank mechanism (11) is installed on an end of the first parallel-crank mechanism (8), and the other end of the first parallel-crank mechanism (8) is equipped with support wheel (10).
2. weeding device between seedling as claimed in claim 1 is characterized in that: also comprise control device (16), be used for the first hydraulic cylinder (9), the second hydraulic cylinder (12) and tine device (1) are controlled.
3. weeding device between seedling as claimed in claim 2, it is characterized in that: also comprise the power sensor that is installed on tine device (1) or the contour wheel (3), be used for obtaining the force information that is subjected to of tine device (1) or contour wheel (3), described power sensor is connected with control device (16).
4. weeding device between seedling as claimed in claim 1, it is characterized in that: also comprise the support (15) that is installed on the first parallel-crank mechanism (8) and be installed on camera (2) on the support (15), described camera (2) is used for obtaining the information of crops rice shoot.
5. weeding device between seedling as claimed in claim 1 is characterized in that: also comprise the connecting rod (13) that is installed on the first parallel-crank mechanism (8), be used for this device is connected with tractor.
6. weeding device between seedling as claimed in claim 1 is characterized in that: also comprise the 3rd hydraulic cylinder (14) that is installed on the first parallel-crank mechanism (8), be used for making weeding device lifting between seedling by hydraulic cylinder piston rod flexible.
7. one kind is utilized the method that weeding device carries out hoeing up weeds between seedling between each described seedling among the claim 1-6, it is characterized in that, may further comprise the steps:
S1: the second hydraulic cylinder (12) work, drive the second parallel-crank mechanism (11) to lower swing, make the landing of tine device (1) and contour wheel (3), after tine device (1) buries and contour wheel (3) touches ground, contour wheel (3) moves up and down with the physical features variation, drives tine device (1) and moves up and down;
S2: the first hydraulic cylinder (9) work, drive the first parallel-crank mechanism (8) move left and right, make the ground-contour-following device move left and right, thereby drive tine device (1) move left and right, regulate tine device (1) to the distance of crops rice shoot.
8. the method for hoeing up weeds between seedling as claimed in claim 7, it is characterized in that, weeding device between described seedling, also comprise the power sensor that is installed on tine device (1) or the contour wheel (3), and for the control device (16) that the first hydraulic cylinder (9), the second hydraulic cylinder (12) and tine device (1) are controlled;
Described step S1 also comprises, sends a signal to control device (16) by the power sensor that is installed on tine device (1) or the contour wheel (3), comes the step that the second hydraulic cylinder (6) is controlled.
9. the method for hoeing up weeds between seedling as claimed in claim 7, it is characterized in that, weeding device between described seedling, also comprise the support (15) that is installed on the first parallel-crank mechanism (8) and be installed on camera (2) on the support (15), and be used for control device (16) that the first hydraulic cylinder (9), the second hydraulic cylinder (12) and tine device (1) are controlled;
The method of hoeing up weeds also comprises between described seedling: obtain the information of tine device (1) and crops rice shoot and send to control device (16) by camera (2), with the step of timely adjusting tine device (1) to the distance of crops rice shoot.
10. the method for hoeing up weeds between seedling as claimed in claim 7 is characterized in that weeding device between described seedling also comprises the 3rd hydraulic cylinder (14) that is installed on the first parallel-crank mechanism (8);
The method of hoeing up weeds also comprises between described seedling: with weeding device landing between seedling, make support wheel (10) touch the step on ground by the 3rd hydraulic cylinder (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110153902 CN102282922B (en) | 2011-06-09 | 2011-06-09 | Inter-seedling weeding device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110153902 CN102282922B (en) | 2011-06-09 | 2011-06-09 | Inter-seedling weeding device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102282922A CN102282922A (en) | 2011-12-21 |
| CN102282922B true CN102282922B (en) | 2013-02-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201110153902 Expired - Fee Related CN102282922B (en) | 2011-06-09 | 2011-06-09 | Inter-seedling weeding device and method |
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| CN (1) | CN102282922B (en) |
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| CN102645911B (en) * | 2012-04-18 | 2013-10-30 | 中国农业大学 | Intermittent rotation type intelligent inter-seedling hoe control method and system |
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| CN102972111B (en) * | 2012-12-04 | 2015-04-08 | 汤烈 | Weeding device capable of weeding among seedlings |
| CN103081597B (en) * | 2013-02-28 | 2015-04-01 | 中国农业大学 | Swinging type intelligent inter-seedling hoeing machine and tool unit |
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| CN103999582B (en) * | 2014-06-10 | 2016-01-20 | 中国农业大学 | Mechanical weeding hand between a kind of swing type seedling |
| CN104798760A (en) * | 2015-04-21 | 2015-07-29 | 浙江海洋学院 | Mechanical weeding device of intelligent weeding machine |
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| CN106304861B (en) * | 2016-10-19 | 2019-02-19 | 宁夏智源农业装备有限公司 | Grape intelligence weeder |
| CN106664843A (en) * | 2017-01-05 | 2017-05-17 | 东北农业大学 | Seedling fixed-point weeding operation control mechanism |
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| CN108156853A (en) * | 2018-01-29 | 2018-06-15 | 西班牙爱迪有限责任公司 | Farm-oriented motor-driven hydraulic device |
| CN109005693B (en) * | 2018-08-16 | 2021-09-24 | 中国农业大学 | Open-close type intelligent weeding device based on binocular vision for obtaining seedling and grass information |
| CN109618572B (en) * | 2019-02-26 | 2021-04-27 | 东北农业大学 | Inter-plant weeding mechanism with self-adaptive adjustment function |
| CN110712362B (en) * | 2019-09-24 | 2022-02-18 | 神通科技集团股份有限公司 | Automatic film pasting equipment and film pasting method thereof |
| CN111096107B (en) * | 2019-12-26 | 2021-03-19 | 中国农业机械化科学研究院 | Orchard weeding machine, and double-mode weeding method and weeding device below tree crown of orchard weeding machine |
| CN111085982A (en) * | 2019-12-30 | 2020-05-01 | 中国农业大学 | Orchard robot active vision detection system and detection method |
| CN113396650B (en) * | 2021-04-30 | 2022-08-23 | 中国农业大学 | Intelligent vegetable inter-plant weeding device and control method |
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| JP2002034425A (en) * | 2000-07-25 | 2002-02-05 | Iseki & Co Ltd | Paddy weeder |
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| JP2006271310A (en) * | 2005-03-30 | 2006-10-12 | Iseki & Co Ltd | Weeder |
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