CN108551775A - Weeder between the bilateral vertical automatic obstacle-avoiding strain of one kind - Google Patents
Weeder between the bilateral vertical automatic obstacle-avoiding strain of one kind Download PDFInfo
- Publication number
- CN108551775A CN108551775A CN201810066645.3A CN201810066645A CN108551775A CN 108551775 A CN108551775 A CN 108551775A CN 201810066645 A CN201810066645 A CN 201810066645A CN 108551775 A CN108551775 A CN 108551775A
- Authority
- CN
- China
- Prior art keywords
- weeding
- mounting base
- feeler lever
- feeler
- rack
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000002146 bilateral effect Effects 0.000 title claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 139
- 238000009333 weeding Methods 0.000 claims abstract description 124
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 230000008859 change Effects 0.000 claims abstract description 10
- 238000009434 installation Methods 0.000 claims abstract description 5
- 230000001105 regulatory effect Effects 0.000 claims description 22
- 239000010720 hydraulic oil Substances 0.000 claims description 14
- 239000000725 suspension Substances 0.000 claims description 13
- 238000013459 approach Methods 0.000 claims description 9
- 238000005096 rolling process Methods 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims description 3
- 238000013519 translation Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 241000196324 Embryophyta Species 0.000 abstract description 13
- 238000000034 method Methods 0.000 description 12
- 230000002363 herbicidal effect Effects 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 6
- 239000000126 substance Substances 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 239000004009 herbicide Substances 0.000 description 4
- 238000011160 research Methods 0.000 description 3
- 230000002452 interceptive effect Effects 0.000 description 2
- 206010059866 Drug resistance Diseases 0.000 description 1
- 229920000297 Rayon Polymers 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 239000000872 buffer Substances 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000916 dilatatory effect Effects 0.000 description 1
- 239000002828 fuel tank Substances 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000007670 refining Methods 0.000 description 1
- 239000000837 restrainer Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/12—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture
- A01B39/18—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture for weeding
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Soil Working Implements (AREA)
- Catching Or Destruction (AREA)
Abstract
The present invention relates to weeders between a kind of bilateral vertical automatic obstacle-avoiding strain, including rack unit, power transmission unit, line width to adjust unit, two automatic obstacle-avoiding units, doubled-side hydraulic control unit and two weeding units.Rack unit is the installation carrier of other each units, and power transmission unit realizes that power is transferred to weeder from tractor PTO；Line width, which adjusts unit, to change operation line width according to actual requirement；Automatic obstacle-avoiding unit can realize that weeding unit avoids crop stem automatically, and feeler lever mechanism is the important component of automatic obstacle-avoiding cell signal acquisition；Doubled-side hydraulic control unit provides power for hydraulic motor and hydraulic cylinder；Weeding unit is used for the shallow plowing weeding of crop inter-row weed, and feeler mechanism therein can guarantee that weeding depth is consistent on out-of-flatness ground.Bilateral operation, and energy automatic obstacle-avoiding weeding can be achieved in the present invention, improves operating efficiency, improves weeding operation effectiveness.
Description
Technical field
The present invention relates to agricultural machinery technological field, more particularly to weeder between a kind of bilateral vertical automatic obstacle-avoiding strain.
Background technology
Currently, the weeding technique used in agricultural production process is mainly chemical weed control and non-chemical weeding.Chemical weed control
Mainly herbicide is used to carry out weeding, herbicide is at low cost, it is easy to use, be easy to large-area applications, but herbicide excessively makes
It doing great damage with to ecological environment, same herbicide, which is used for a long time, can also promote certain weeds to generate " drug resistance ", and
And country vigorously advocates conservation culture, Green Development, chemical weed control can be subject to certain restrictions using future, therefore non-chemical be removed
The importance of careless technical research increasingly highlights.Common non-chemical weeding technique has weeding by machine, the anti-weeding of agricultural, biological skill
Art weeding, heating power weeding, electric power weeding etc., wherein mechanical weeding technology is broadly divided into machine between mechanical weeding technology and strain in the ranks
Tool weeding technique, inter-row weeder tool comparative maturity, but the weeding machine between Plants are ground because of its operating environment complexity, correlation
Study carefully very few.Foreign countries, Dutch Kouwenhoven and Kurstjens, the Melander of Denmark, Fogelberg et al. pairs of Sweden
Weeding technique is studied between purely mechanic strain, and herbicidal effect is unsatisfactory, and easily hinders seedling.The country, Northeast Agricultural University it is old
Shake admire, Yang Songmei, Korea Spro leopard et al. weeding technique between purely mechanic strain are studied, operation effectiveness is general, and efficiency is low, and Jiangsu is big
Zhang Pengju, it is old rear people, the refining of the Hu of Agricultural University Of South China, China Agricultural University Chen Ziwen et al. image recognition technology with
Some non-contact sensing technologies have been applied in automatic obstacle-avoiding control system, obtain better effects, but there are still of high cost, efficiency
Low problem, the present inventor have sent out Chinese patent ZL201310221132.2 " a kind of lateral strain between weeder ", are revolved using high speed
Turn rope, crop root weeds can be removed, but there is no barrier avoiding function.
In conclusion weeding machine has certain research between strain, but macro-progress is slow, especially solve operation effectiveness,
There is very big research space on operating efficiency and machine cost, therefore develops and removed between function admirable, efficient, strain of reasonable cost
Careless machinery is still that current weeding machine develops field technology personnel technical problem urgently to be resolved hurrily.
Invention content
In view of the deficiencies in the prior art, the purpose of the present invention is to provide between a kind of bilateral vertical automatic obstacle-avoiding strain
Weeder.The technical problem to be solved by the present invention is to：Weeds between Plants how are removed, ensure that weeds removing rate reaches agronomy
It is required that and minimum to the damage of crop；How to realize automatic obstacle-avoiding weeding, improves the working efficiency of weeder, and significantly leading
Artificial weeding efficiency；How to realize that line width is adjustable, can be used for the crop of different line width；How to select suitable scheme makes
Entire weeder cost is reasonable, ensures to obtain more high yield during peasant's use.
To achieve the above objectives, the technical solution adopted by the present invention is that：
Weeder between the bilateral vertical automatic obstacle-avoiding strain of one kind, including：Rack unit, power transmission unit, line width adjust single
Member, two automatic obstacle-avoiding units, doubled-side hydraulic control unit and two weeding units；
The rack unit includes：Rack 24, trifilar suspension rack 4 and two gauge wheels 1, the trifilar suspension rack 4
Mounted on the top of rack 24, it is connected with the trifilar suspension of tractor, described two gauge wheels 1 are installed by U-bolt respectively
At the rear of rack 24, the bottom front of the rack 24 is set there are two pipe, and two pipes are located at the base longerons of rack 24
Top；
The power transmission unit includes：Power input shaft 7, big belt wheel mounting base 9, small pulley 13, is usherd to seat at big belt wheel 5
Bearing 6 and belt, the big belt wheel mounting base 9 are sleeved in the top cross-bar of rack 24, and spiral shell is moved through along top cross-bar
Bolt fixes its position；The power input shaft 7 is mounted on by two rolling bearing units 6 in big belt wheel mounting base 9, and wherein power is defeated
The one end for entering axis 7 is connected with tractor dynamic power output device (PTO, power take-off) by universal joint, the big belt wheel 5
On the other end of power input shaft 7, pin connection, the small pulley 13 is used to pacify by two rolling bearing units 6 between the two
It is connected with big belt wheel 5 in the base cross members of rack 24, and by belt；
The line width adjusts unit：Two line width adjust 15, two line width of mounting bracket and adjust hydraulic cylinder 12, hydraulic cylinder
Mounting base 11 and two-way hydraulic valve 10, each line width, which is adjusted, sets that there are two line width to adjust mounting base 14, institute on mounting bracket 15
It states the line width that each line width is adjusted on mounting bracket 15 and adjusts two pipes that mounting base 14 is sleeved on respectively from both sides in rack 24
Interior, clearance fit, can relatively move along the pipe in rack 24 between the two, and described two line width adjust one end of hydraulic cylinder 12
It is installed in hydraulic cylinder mounting base 11, and is connect with two-way hydraulic valve 10 by hydraulic oil pipe, the other end is installed in line width
It adjusts in mounting base 14, the hydraulic cylinder mounting base 11 is welded on the base longerons of rack 24；Two-way hydraulic valve 10 is mounted on
On the base longerons of rack 24；
Described two automatic obstacle-avoiding units are symmetrically arranged in the both sides of rack 24, the automatic obstacle-avoiding unit packet
It includes：The deep universal wheel 16 of feeler lever mechanism 54, feeler lever mechanism mounting bracket 31, limit, the deep universal wheel fixing bolt 44 of limit, automatic obstacle-avoiding hydraulic pressure
Cylinder 23, pivot pin 45 and weeding unit regulating mechanism 46, the feeler lever mechanism 54 are mounted on feeler lever mechanism mounting bracket by U-bolt
On 31, the square tube of the limit depth universal wheel 16 is socketed in inside the square tube of feeler lever mechanism mounting bracket 31, the two clearance fit, and is led to
Cross the position of both deep 44 fixations of universal wheel fixing bolt of limit；The weeding unit regulating mechanism 46 and feeler lever mechanism mounting bracket 31
It is fixedly connected, feeler lever mechanism mounting bracket 31 is mounted on line width by pivot pin 45 and adjusts on mounting bracket 15, the automatic obstacle-avoiding hydraulic pressure
One end of cylinder 23 is hinged on feeler lever mechanism mounting bracket 31, and the other end is hinged on line width and adjusts on mounting bracket 15, described to keep away automatically
Barrier the flexible of hydraulic cylinder 23 makes the into and out crop of automatic obstacle-avoiding unit in the ranks；
Described two weeding units are respectively arranged in the outside of two automatic obstacle-avoiding units, and the weeding unit includes：It is imitative
Shape mechanism 22, hydraulic motor mounting bracket 20, shaft coupling 19, hydraulic motor 21, conical bearing bearing block 52, weeding knife 8, weeding knife
One end of axis 53, weeding knife case 18 and weeding knife mounting bracket 51, the feeler mechanism 22 is adjusted by bolt and weeding unit
Mechanism 46 connects, and can move freely certain angle, and the hydraulic motor 21 is mounted on hydraulic motor mounting bracket 20, hydraulic pressure horse
The other end of feeler mechanism 22 is mounted on by bolt up to mounting bracket 20, is located at the top of weeding knife case 18, the cone axis
The other end that bearing block 52 is mounted on feeler mechanism 22 by bolt is held, the weeding cutter shaft 53 passes through conical bearing bearing block 52
It is connected with hydraulic motor 21 mounted on the inside of weeding knife case 18, and by shaft coupling 19, the weeding knife mounting bracket 51 is pacified
Mounted in the bottom end of weeding cutter shaft 53, the weeding knife 8 is fixed on by rivet on weeding knife mounting bracket 51；
The doubled-side hydraulic control unit includes：Hydraulic oil container 3, hydraulic pump 26, hydraulic pump mount 25 and two combinations
Solenoid valve 2, the hydraulic oil container 3 are mounted on the rear portion of rack 24, and the hydraulic pump 26 is mounted on hydraulic pump mount 25, liquid
Press pump mounting base 25 is welded on the rear portion of rack 24, and described two multifunctional electromagnetic valves 2 are separately mounted to the top cross-bar of rack 24
Both ends；Two multifunctional electromagnetic valves 2 are connect with hydraulic pump 26, each multifunctional electromagnetic valves 2 also with an automatic obstacle-avoiding hydraulic cylinder
23 and hydraulic motor 21 connect, hydraulic pump 26 is connect with hydraulic oil container 3, two-way hydraulic valve 10 and small pulley 13.
On the basis of said program, the gauge wheel 1 includes：Land wheel 27, adjusting screw 30, land wheel mounting base 29 and solid
Determine bolt 28；
Square tube on the land wheel 27 is sleeved in the square tube in land wheel mounting base 29, between the two clearance fit, can phase
To movement；
The adjusting screw 30 is fixed by the threaded hole on 29 top of land wheel mounting base and the square tube top on land wheel 27, is turned
Dynamic adjusting screw 30 can realize the relative movement of land wheel 27 and land wheel mounting base 29, and by fixing bolt 28 fix land wheel 27 and
Position between land wheel mounting base 29；The land wheel mounting base 29 is mounted on the rear of rack 24 by U-bolt.
On the basis of said program, the big belt wheel mounting base 9 includes：Active mount 43, threaded hole mounting base 41,
Adjusting screw rod 40 and fixing screws 42；
The active mount 43 is equipped with buried via hole, and adjusting screw rod 40 is mounted in threaded hole mounting base 41, adjusting screw rod
40 one end heads into buried via hole, and is connect with active mount 43 by fixing screws 42, and rotation adjusting screw rod 40 can realize work
The left and right translation of dynamic mounting base 43, to change the position of big belt wheel mounting base 9, to determine between big belt wheel 5 and small pulley 13
Distance.
On the basis of said program, the feeler lever mechanism 54 includes：Feeler lever 17, stretches feeler lever angle adjusting mechanism 32
Spring 34, feeler lever mounting base 33, feeler lever bearing 35, feeler lever mechanism mounting base 36, bump rubber 39, position-limit mechanism 38 and close
Formula switch sensor 37, the feeler lever 17 are mounted on feeler lever regulating mechanism 32, and feeler lever regulating mechanism 32 is installed mounted on feeler lever
On seat 33, feeler lever mounting base 33 is mounted on by feeler lever bearing 35 in feeler lever mechanism mounting base 36, and extension spring 34, which is mounted on, to be touched
Between linkage mounting base 36 and feeler lever mounting base 33, bump rubber 39 is mounted on by bolt on position-limit mechanism 38, is located at
The lower section of feeler lever mounting base 33, approach switch sensor 37 are mounted on position-limit mechanism 38, feeler lever mechanism mounting base 36
It is connected with the square tube for connecting feeler lever mechanism mounting bracket 31 by U-bolt.
On the basis of said program, the feeler lever angle adjusting mechanism 32 includes arc plate, and arc plate is equipped with circular arc
Hole and mounting hole,
The feeler lever 17 is made of straight line pole and circular arc bar, and the straight line pole is mounted on feeler lever regulating mechanism 32 by bolt
On circular hole in, straight line pole rotates the angle that feeler lever 17 is adjusted along circular hole.
On the basis of said program, the weeding unit regulating mechanism 46 includes arc plate, and arc plate, which is equipped with, to be fixed
Hole and circular hole；The limit 360 degree of rotations of deep 16 energy of universal wheel, can change weeding depth.
On the basis of said program, the feeler mechanism 22 includes：Feeler mechanism mounting bracket 47, adjusts bullet at screw rod 50
Spring 49, stop nut 48 and feeler mechanism mounting base 55；
One end of the feeler mechanism mounting bracket 47 is connected by bolt with the circular hole of weeding unit regulating mechanism 46, institute
The other end for stating feeler mechanism mounting bracket 47 is connect by axis pin with feeler mechanism mounting base 55, and the two is free to rotate, described
Hydraulic motor mounting bracket 20 is mounted on by bolt in feeler mechanism mounting base 55, and the conical bearing bearing block 52 passes through bolt
In feeler mechanism mounting base 55；
One end of the screw rod 50 is mounted on by stop nut 48 on feeler mechanism mounting bracket 47, and the other end is mounted on imitative
In shape mechanism mounting base 55, adjustment spring 49 is mounted on screw rod 50, and feeler mechanism mounting bracket is withstood in one end of adjustment spring 49
47, the other end is locked by stop nut 48, and the angle between weeding knife 8 and horizontal plane can be changed by adjusting stop nut 48.
The present invention has the following advantages：
(1) present invention uses bilateral operating type, each one weeding unit of installation in complete machine both sides, in operation process, according to
The position of crop stem, both sides weeding unit distinguish automatic work, can significantly improve operating efficiency, designed doubled-side hydraulic control
Unit processed is system independently, and hydraulic pump, hydraulic motor, hydraulic cylinder and combination valve form two non-interfering hydraulic pressure and return
Road, and the two shares the same fuel tank, can significantly reduce costs；
(2) present invention is passed when weeder feeler lever encounters crop by approach switch using automatic obstacle-avoiding operating type
Sensor detects and passes to controller, and controller controls corresponding hydraulic circuit work, weeding unit is made to avoid crop automatically, real
Existing automatic obstacle-avoiding weeding, automatic obstacle avoidance functions improve the intelligence of weeding operation；
(3) feeler mechanism that designs of the present invention can automatically adjust weeding depth according to the concave-convex situation in soil, when ground not
Usually, by the weeding depth of the flexible change weeding unit of spring on feeler mechanism, weeding depth is made to be consistent；
(4) present invention uses the operating type of shallow plowing weeding, in operation process, since weeding knife buries effect, can break
Bad weeds root, reaches better herbicidal effect；
(5) line width that the present invention designs, which adjusts unit, can change the width of both sides weeding unit, adapt under different agronomy
Line width enhances the adaptability of weeder, and by the telescopic adjustment width of hydraulic cylinder, improves convenience.
Description of the drawings
The present invention has following attached drawing：
Oblique view before Fig. 1 complete machines；
Fig. 2 complete machine rear oblique views；
Fig. 3 automatic obstacle-avoidings unit and weeding unit portion dress figure；
Fig. 4 feeler lever mechanism parts dress figure；
Fig. 5 big belt wheel mounting base partial enlarged views；
Fig. 6 gauge wheels portion dress figure；
Fig. 7 feeler mechanism partial enlarged views.
In figure：1- gauge wheels；2- multifunctional electromagnetic valves；3- hydraulic oil containers；4- trifilar suspension racks；5- big belt wheels；6- ushers to seat
Bearing；7- power input shafts；8- weeding knifes；9- big belt wheel mounting bases；10- two-way hydraulic valves；11- hydraulic cylinder mounting bases；12- rows
Width adjusts hydraulic cylinder；13- small pulleys；14- line width adjusts mounting base；15- line width adjusts mounting bracket；The deep universal wheel of 16- limits；17-
Feeler lever；18- weeding knife cases；19- shaft couplings；20- hydraulic motor mounting brackets；21- hydraulic motors；22- feeler mechanisms；23- is certainly
Dynamic avoidance hydraulic cylinder；24- racks；25- hydraulic pump mounts；26- hydraulic pumps；27- land wheels；28- fixing bolts；29- land wheels are pacified
Fill seat；30- adjusting screws；31- feeler levers mechanism mounting bracket；32- feeler lever angle adjusting mechanisms；33- feeler lever mounting bases；34- is stretched
Spring；35- feeler lever bearings；36- feeler levers mechanism mounting base；37- approach switch sensors；38- position-limit mechanisms；39- buffers rubber
Blob of viscose；40- adjusting screw rods；41- threaded hole mounting bases；42- fixing screws；43- active mounts；The deep universal wheel of 44- limits is fixed
Bolt；45- pivot pins；46- weeding unit regulating mechanisms；47- feeler mechanism mounting brackets；48- stop nuts；49- adjustment springs；
50- screw rods；51- weeding knife mounting brackets；52- conical bearing bearing blocks；53- weeding cutter shafts；54- feeler levers mechanism；55- feeler mechanisms
Mounting base.
Specific implementation mode
Below in conjunction with attached drawing, invention is further described in detail.
The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention..
The present invention is based on a kind of following designs：Complete machine is suspended on using trifilar suspension unit behind tractor, using dilatory
Machine PTO is independent hydraulic system and provides power, and each hydraulic cylinder and each hydraulic motor is driven to carry out operation；It is nested using pipe
Mode realize that complete machine line width is adjustable, hydraulic cylinder as line width adjust cell operation power；Weeding unit splits both sides, real
The bilateral operation of existing weeding process, both sides respectively use a set of non-interfering hydraulic circuit, can timesharing work independently, improve whole
The working efficiency of machine；Using automatic obstacle-avoiding unit, when automatic obstacle-avoiding unit encounters crop, approach switch sensor detects
Corresponding signal is simultaneously flexible by controller control cylinder, realizes that the function of avoiding crop, whole process are complete certainly by machine itself
It is dynamic to complete；Using feeler mechanism, it can ensure the consistency of weeding depth by feeler mechanism when encountering the situation of ground injustice,
Promote operation effectiveness；Weeding depth is controlled using the deep universal wheel of limit, realizes that shallow plowing weeding, shallow plowing weeding can destroy weeds root,
Reach better herbicidal effect.
As shown in Figure 1 and Figure 2, the present invention discloses weeder between the bilateral vertical automatic obstacle-avoiding strain of one kind, including：Rack unit,
Power transmission unit, line width adjust unit, two automatic obstacle-avoiding units, doubled-side hydraulic control unit and two weeding units；
Rack unit is power transmission unit, line width adjusting unit, doubled-side hydraulic control unit, automatic obstacle-avoiding unit and removes
The installation carrier of careless unit, and be connected with tractor by trifilar suspension rack, power transmission unit is exported by tractor PTO
End is whole weeder passing power, and line width, which adjusts unit, makes weeding line width change according to actual needs, and doubled-side hydraulic control is single
Member realizes that flexible and hydraulic motor the normal operation of hydraulic cylinder, automatic obstacle-avoiding unit induction crop location simultaneously control weeding list
First to avoid crop automatically, weeding unit realizes the removing to weeds in field；
The rack unit includes：Rack 24, trifilar suspension rack 4 and two gauge wheels 1, the trifilar suspension rack 4
Mounted on the top of rack 24, it is connected with the trifilar suspension of tractor, described two gauge wheels 1 are installed by U-bolt respectively
At the rear of rack 24, for adjusting weeding depth in operation process and supporting entire rack 24, before the bottom of the rack 24
End is set there are two pipe, and two pipes are located above the base longerons of rack 24；
The power transmission unit includes：Power input shaft 7, big belt wheel mounting base 9, small pulley 13, is usherd to seat at big belt wheel 5
Bearing 6 and belt, the big belt wheel mounting base 9 are sleeved in the top cross-bar of rack 24, and spiral shell is moved through along top cross-bar
Bolt fixes its position；The power input shaft 7 is mounted on by two rolling bearing units 6 in big belt wheel mounting base 9, and wherein power is defeated
The one end for entering axis 7 is connected with tractor PTO by universal joint, and the big belt wheel 5 is mounted on the other end of power input shaft 7,
Between the two with pin connection to prevent from relatively rotating, the small pulley 13 is mounted on the bottom of rack 24 by two rolling bearing units 6
On portion's crossbeam, and it is connected with big belt wheel 5 by belt, tractor dynamic power is transferred to small pulley 13 by power transmission unit；
The line width adjusts unit：Two line width adjust mounting bracket 15, line width adjusts hydraulic cylinder 12, hydraulic cylinder installation
Seat 11 and two-way hydraulic valve 10, each row degree, which is adjusted, to be set on mounting bracket 15 there are two line width adjusting mounting base 14, described every
A line width adjusts the line width on mounting bracket 15 and adjusts in two pipes that mounting base 14 is sleeved on from both sides in rack 24 respectively, and two
Clearance fit between person can be relatively moved along the pipe in rack 24, and line width adjusts mounting base 14 and plays guiding role, and described two
A line width adjusts 12 one end of hydraulic cylinder and is installed in hydraulic cylinder mounting base 11, and is connected by hydraulic oil pipe and two-way hydraulic valve 10
It connects, the other end is installed in line width and adjusts mounting base 14, and the hydraulic cylinder mounting base 11 is welded on the base longerons of rack 24；
Two-way hydraulic valve 10 is mounted on the base longerons of rack 24, and control line width adjusting hydraulic cylinder 12 is flexible to can reach width adjusting
Purpose；
As shown in figure 3, described two automatic obstacle-avoiding units are symmetrically arranged in the both sides of rack 24, it is described to keep away automatically
Hindering unit includes：The deep universal wheel 16 of feeler lever mechanism 54, feeler lever mechanism mounting bracket 31, limit limits deep universal wheel fixing bolt 44, is automatic
Avoidance hydraulic cylinder 23, pivot pin 45 and weeding unit regulating mechanism 46, the feeler lever mechanism 54 are mounted on feeler lever machine by U-bolt
It is automatic obstacle-avoiding cell signal receiving portion on structure mounting bracket 31, the square tube of the limit depth universal wheel 16 is socketed in feeler lever mechanism
Inside the square tube of mounting bracket 31, the two clearance fit, and the position by limiting both deep 44 fixations of universal wheel fixing bolt；It is described
Weeding unit regulating mechanism 46 is fixedly connected with feeler lever mechanism mounting bracket 31, and feeler lever mechanism mounting bracket 31 is mounted on by pivot pin 45
Line width is adjusted on mounting bracket 15, and one end of the automatic obstacle-avoiding hydraulic cylinder 23 is hinged on feeler lever mechanism mounting bracket 31, the other end
It is hinged on line width to adjust on mounting bracket 15, the flexible of the automatic obstacle-avoiding hydraulic cylinder 23 makes the into and out work of automatic obstacle-avoiding unit
Object is in the ranks；
As shown in figure 3, described two weeding units are respectively arranged in the outside of two automatic obstacle-avoiding units, the weeding list
Member includes：Feeler mechanism 22, hydraulic motor mounting bracket 20, shaft coupling 19, hydraulic motor 21, conical bearing bearing block 52, weeding
Knife 8, weeding cutter shaft 53, weeding knife case 18 and weeding knife mounting bracket 51, one end of the feeler mechanism 22 by bolt with remove
Careless unit regulating mechanism 46 connects, and can move freely certain angle, and the hydraulic motor 21 is mounted on hydraulic motor mounting bracket
On 20, hydraulic motor mounting bracket 20 is mounted on the other end of feeler mechanism 22 by bolt, is located at the top of weeding knife case 18,
The conical bearing bearing block 52 is mounted on the other end of feeler mechanism 22 by bolt, and the weeding cutter shaft 53 passes through cone axis
It holds bearing block 52 and is mounted on the inside of weeding knife case 18, and be connected with hydraulic motor 21 by shaft coupling 19, the weeding knife
Mounting bracket 51 is mounted on the bottom end of weeding cutter shaft 53, and the weeding knife 8 is fixed on by rivet on weeding knife mounting bracket 51, can be real
Existing profiling of the weeding knife 8 to ground realizes that weeding depth is consistent；
The doubled-side hydraulic control unit includes：Hydraulic oil container 3, hydraulic pump 26, hydraulic pump mount 25 and two combinations
Solenoid valve 2, the hydraulic oil container 3 are mounted on the rear portion of rack 24, and the hydraulic pump 26 is mounted on hydraulic pump mount 25, liquid
Press pump mounting base 25 is welded on the rear portion of rack 24, and described two multifunctional electromagnetic valves 2 are separately mounted to the top cross-bar of rack 24
Both ends；Two multifunctional electromagnetic valves 2 are connect with hydraulic pump 26, each multifunctional electromagnetic valves 2 also with an automatic obstacle-avoiding hydraulic cylinder
23 and hydraulic motor 21 connect, hydraulic pump 26 is connect with hydraulic oil container 3, two-way hydraulic valve 10 and small pulley 13.
As shown in fig. 6, on the basis of said program, the gauge wheel 1 includes：Land wheel 27, adjusting screw 30, land wheel peace
Fill seat 29 and fixing bolt 28, the square tube on the land wheel 27 is sleeved in the square tube in land wheel mounting base 29, between the two between
Gap coordinates, and can relatively move, threaded hole of the adjusting screw 30 by 29 top of land wheel mounting base and the square tube on land wheel 27
Top is fixed, and rotation adjusting screw 30 can realize the relative movement of land wheel 27 and land wheel mounting base 29, and pass through fixing bolt 28
The adjusting of weeding depth is realized in both fixed position；After the land wheel mounting base 29 is mounted on rack 24 by U-bolt
Side.
As shown in figure 5, on the basis of said program, the big belt wheel mounting base 9 includes：Active mount 43, screw thread
Hole mounting base 41, adjusting screw rod 40 and fixing screws 42, the active mount 43 are equipped with buried via hole, and adjusting screw rod 40 is mounted on
In threaded hole mounting base 41,40 one end of adjusting screw rod heads into buried via hole, and is connect with active mount 43 by fixing screws 42,
Rotation adjusting screw rod 40 can realize the left and right translation of active mount 43, to change the position of big belt wheel mounting base 9, change big
The centre-to-centre spacing of belt wheel 5 and small pulley 13；
As shown in figure 4, on the basis of said program, the feeler lever mechanism 54 includes：Feeler lever 17, feeler lever angular adjustment machine
Structure 32, extension spring 34, feeler lever mounting base 33, feeler lever bearing 35, feeler lever mechanism mounting base 36, bump rubber 39, position restrainer
Structure 38 and approach switch sensor 37, the feeler lever 17 are mounted on feeler lever regulating mechanism 32, and feeler lever regulating mechanism 32 is installed
In feeler lever mounting base 33, for contacting crop stem, feeler lever mounting base 33 is pacified by feeler lever bearing 35 mounted on feeler lever mechanism
It fills on seat 36, extension spring 34 is mounted between feeler lever mechanism mounting base 36 and feeler lever mounting base 33, for making feeler lever 17 encounter
Initial position is returned to after crop stem rotation, bump rubber 39 is mounted on by bolt on position-limit mechanism 38, is located at feeler lever and is pacified
33 lower section of seat is filled, cushioning effect is played during feeler lever 17 rotates, approach switch sensor 37 is mounted on position-limit mechanism
On 38, the rotational angle of feeler lever 17, the input signal for work of stretching as automatic obstacle-avoiding hydraulic cylinder 23 are detected；The feeler lever mechanism
Mounting base 36 is connected by U-bolt with the square tube for connecting feeler lever mechanism mounting bracket 31.It is described to touch on the basis of said program
Bar angle adjusting mechanism 32 includes arc plate, and arc plate is equipped with circular hole and mounting hole,
The feeler lever 17 is made of straight line pole and circular arc bar, and the straight line pole is mounted on feeler lever regulating mechanism 32 by bolt
On circular hole in, straight line pole rotates the angle that feeler lever 17 is adjusted along circular hole.
On the basis of said program, the weeding unit regulating mechanism 46 includes arc plate, and arc plate, which is equipped with, to be fixed
Hole and circular hole；The limit 360 degree of rotations of deep 16 energy of universal wheel, can change weeding depth.
As shown in fig. 7, on the basis of said program, the feeler mechanism 22 includes：Feeler mechanism mounting bracket 47, screw rod
50, adjustment spring 49, stop nut 48 and feeler mechanism mounting base 55,
One end of the feeler mechanism mounting bracket 47 is connected by bolt with the circular hole of weeding unit regulating mechanism 46, institute
The other end for stating feeler mechanism mounting bracket 47 is connect by axis pin with feeler mechanism mounting base 55, and the two is free to rotate, described
Hydraulic motor mounting bracket 20 is mounted on by bolt in feeler mechanism mounting base 55, and the conical bearing bearing block 52 passes through bolt
In feeler mechanism mounting base 55；
One end of the screw rod 50 is mounted on by stop nut 48 on feeler mechanism mounting bracket 47, and the other end is mounted on imitative
In shape mechanism mounting base 55, adjustment spring 49 is mounted on screw rod 50, and feeler mechanism mounting bracket is withstood in one end of adjustment spring 49
47, the other end is locked by stop nut 48, adjusts stop nut 48 and the angle between weeding knife 8 and horizontal plane can be changed, meeting
When to out-of-flatness ground, profiling that can be by the flexible realization weeding knife 8 of adjustment spring 49 on screw rod 50 to ground reaches stable
Weeding depth.
The substantially course of work of the present invention is as follows：According to the specific requirement of crop agronomy, unit is adjusted by adjusting line width
With the deep universal wheel of limit, overall operation effect is made to meet the requirement of line width and weeding depth；During field work, complete machine utilizes three
Point suspension rack is suspended on behind tractor, and being independent hydraulic system using tractor PTO provides power, drives each hydraulic oil
Cylinder and hydraulic motor carry out operation；Tractor drives the process that weeder advances, when feeler lever mechanism 54 touches crop, feeler lever
17 rotations, when reaching certain angle, detection signal is simultaneously sent to controller, controller control by the work of approach switch sensor 37
Assembled hydraulic valve 2 processed works, and to make automatic obstacle-avoiding hydraulic cylinder 23 work, makes the into and out crop row of automatic obstacle-avoiding unit
Between, realize the effect for avoiding crop automatically；When encountering ground out-of-flatness, feeler mechanism 22 can automatically adjust weeding unit, protect
It is constant to demonstrate,prove weeding depth, the herbicidal effect being optimal.
Embodiment of above is merely to illustrate the present invention, and not limitation of the present invention, in relation to the common of technical field
Technical staff can also make a variety of changes and modification without departing from the spirit and scope of the present invention, therefore all
Equivalent technical solution also belongs to scope of the invention, and scope of patent protection of the invention should be defined by the claims.
The content not being described in detail in this specification belongs to the prior art well known to professional and technical personnel in the field.
Claims (7)
1. weeder between a kind of bilateral vertical automatic obstacle-avoiding strain, which is characterized in that including：Rack unit, power transmission unit, row
Wide adjusting unit, two automatic obstacle-avoiding units, doubled-side hydraulic control unit and two weeding units；
The rack unit includes：Rack (24), trifilar suspension rack (4) and two gauge wheels (1), the trifilar suspension rack
(4) it is mounted on the top of rack (24), is connected with the trifilar suspension of tractor, described two gauge wheels (1) pass through U-shaped spiral shell respectively
Bolt is mounted on the rear of rack (24), and the bottom front of the rack (24) is set there are two pipe, and two pipes are located at rack
(24) above base longerons；
The power transmission unit includes：Power input shaft (7), big belt wheel (5), big belt wheel mounting base (9), small pulley (13),
Rolling bearing units (6) and belt, the big belt wheel mounting base (9) are sleeved in the top cross-bar of rack (24), are moved along top cross-bar
It moves and is bolted its position；The power input shaft (7) is mounted on big belt wheel mounting base by two rolling bearing units (6)
(9) on, wherein one end of power input shaft (7) is connected with tractor dynamic power output device by universal joint, the big belt wheel (5)
On the other end of power input shaft (7), pin connection, the small pulley (13) is used to pass through two rolling bearing units between the two
(6) it is mounted in the base cross members of rack (24), and is connected with big belt wheel (5) by belt；
The line width adjusts unit：Two line width adjust mounting bracket (15), two line width adjust hydraulic cylinder (12), hydraulic cylinder
Mounting base (11) and two-way hydraulic valve (10), each line width, which is adjusted, sets that there are two line width to adjust mounting base on mounting bracket (15)
(14), each line width adjusts the line width adjusting mounting base (14) on mounting bracket (15) and is sleeved on rack (24) from both sides respectively
On two pipes in, clearance fit, can relatively move along the pipe in rack (24) between the two, and described two line width are adjusted
One end of hydraulic cylinder (12) is installed in hydraulic cylinder mounting base (11), and even by hydraulic oil pipe and two-way hydraulic valve (10)
It connects, the other end is installed in line width and adjusts in mounting base (14), and the hydraulic cylinder mounting base (11) is welded on the bottom of rack (24)
On portion's longeron；Two-way hydraulic valve (10) is mounted on the base longerons of rack (24)；
Described two automatic obstacle-avoiding units are symmetrically arranged in the both sides of rack (24), and the automatic obstacle-avoiding unit includes：
Feeler lever mechanism (54), feeler lever mechanism mounting bracket (31), limit deep universal wheel (16), are kept away at the deep universal wheel fixing bolt (44) of limit automatically
Barrier hydraulic cylinder (23), pivot pin (45) and weeding unit regulating mechanism (46), the feeler lever mechanism (54) are mounted on by U-bolt
On feeler lever mechanism mounting bracket (31), the square tube of the deep universal wheel (16) of limit is socketed in the square tube of feeler lever mechanism mounting bracket (31)
Portion, the two clearance fit, and the position by limiting the fixed the two of deep universal wheel fixing bolt (44)；The weeding unit adjusts machine
Structure (46) is fixedly connected with feeler lever mechanism mounting bracket (31), and feeler lever mechanism mounting bracket (31) is mounted on line width tune by pivot pin (45)
It saves on mounting bracket (15), one end of the automatic obstacle-avoiding hydraulic cylinder (23) is hinged on feeler lever mechanism mounting bracket (31), the other end
It is hinged on line width to adjust on mounting bracket (15), the flexible of the automatic obstacle-avoiding hydraulic cylinder (23) makes automatic obstacle-avoiding unit enter and move
Go out crop in the ranks；
Described two weeding units are respectively arranged in the outside of two automatic obstacle-avoiding units, and the weeding unit includes：Profiling machine
Structure (22), hydraulic motor mounting bracket (20), shaft coupling (19), hydraulic motor (21), conical bearing bearing block (52), weeding knife
(8), one end of weeding cutter shaft (53), weeding knife case (18) and weeding knife mounting bracket (51), the feeler mechanism (22) passes through
Bolt is connect with weeding unit regulating mechanism (46), can move freely certain angle, and the hydraulic motor (21) is mounted on liquid
On pressure motor mounting bracket (20), hydraulic motor mounting bracket (20) is mounted on the other end of feeler mechanism (22) by bolt, is located at
The top of weeding knife case (18), the conical bearing bearing block (52) are mounted on the another of feeler mechanism (22) by bolt
End, the weeding cutter shaft (53) are mounted on the inside of weeding knife case (18) by conical bearing bearing block (52), and pass through connection
Axis device (19) is connected with hydraulic motor (21), and the weeding knife mounting bracket (51) is mounted on the bottom end of weeding cutter shaft (53), described
Weeding knife (8) is fixed on by rivet on weeding knife mounting bracket (51)；
The doubled-side hydraulic control unit includes：Hydraulic oil container (3), hydraulic pump (26), hydraulic pump mount (25) and two groups
Solenoid valve (2) is closed, the hydraulic oil container (3) is mounted on the rear portion of rack (24), and the hydraulic pump (26) is pacified mounted on hydraulic pump
It fills on seat (25), hydraulic pump mount (25) is welded on the rear portion of rack (24), and described two multifunctional electromagnetic valves (2) are installed respectively
At the top cross-bar both ends of rack (24)；Two multifunctional electromagnetic valves (2) connect with hydraulic pump (26), each multifunctional electromagnetic valves
(2) it is also connect with an automatic obstacle-avoiding hydraulic cylinder (23) and a hydraulic motor (21), hydraulic pump (26) and hydraulic oil container
(3), two-way hydraulic valve (10) and small pulley (13) connection.
2. weeder between bilateral vertical automatic obstacle-avoiding strain as described in claim 1, which is characterized in that gauge wheel (1) packet
It includes：Land wheel (27), adjusting screw (30), land wheel mounting base (29) and fixing bolt (28)；
Square tube on the land wheel (27) is sleeved in the square tube in land wheel mounting base (29), between the two clearance fit, can phase
To movement；
The adjusting screw (30) is fixed by the threaded hole on land wheel mounting base (29) top with the square tube top on land wheel (27),
The relative movement that land wheel (27) and land wheel mounting base (29) can be achieved in adjusting screw (30) is rotated, and solid by fixing bolt (28)
Determine the position between land wheel (27) and land wheel mounting base (29)；The land wheel mounting base (29) is mounted on rack by U-bolt
(24) rear.
3. weeder between bilateral vertical automatic obstacle-avoiding strain as described in claim 1, which is characterized in that the big belt wheel mounting base
(9) include：Active mount (43), threaded hole mounting base (41), adjusting screw rod (40) and fixing screws (42)；
The active mount (43) is equipped with buried via hole, and adjusting screw rod (40) is mounted in threaded hole mounting base (41), adjusts spiral shell
One end of bar (40) heads into buried via hole, and is connect with active mount (43) by fixing screws (42), rotates adjusting screw rod
(40) the left and right translation that active mount (43) can be achieved, to change the position of big belt wheel mounting base (9), to determine big belt wheel
(5) the distance between with small pulley (13).
4. weeder between bilateral vertical automatic obstacle-avoiding strain as described in claim 1, which is characterized in that the feeler lever mechanism (54)
Including：Feeler lever (17), feeler lever angle adjusting mechanism (32), extension spring (34), feeler lever mounting base (33), feeler lever bearing (35),
Feeler lever mechanism mounting base (36), bump rubber (39), position-limit mechanism (38) and approach switch sensor (37), the feeler lever
(17) it is mounted on feeler lever regulating mechanism (32), feeler lever regulating mechanism (32) is mounted in feeler lever mounting base (33), feeler lever installation
Seat (33) is mounted on by feeler lever bearing (35) in feeler lever mechanism mounting base (36), and extension spring (34) is pacified mounted on feeler lever mechanism
It fills between seat (36) and feeler lever mounting base (33), bump rubber (39) is mounted on by bolt on position-limit mechanism (38), is located at
The lower section of feeler lever mounting base (33), approach switch sensor (37) are mounted on position-limit mechanism (38), the feeler lever mechanism peace
Dress seat (36) is connected by U-bolt with the square tube for connecting feeler lever mechanism mounting bracket (31).
5. weeder between bilateral vertical automatic obstacle-avoiding strain as claimed in claim 4, which is characterized in that the feeler lever angular adjustment
Mechanism (32) includes arc plate, and arc plate is equipped with circular hole and mounting hole,
The feeler lever (17) is made of straight line pole and circular arc bar, and the straight line pole is mounted on feeler lever regulating mechanism (32) by bolt
On circular hole in, straight line pole along circular hole rotate be adjusted feeler lever (17) angle.
6. weeder between bilateral vertical automatic obstacle-avoiding strain as described in claim 1, which is characterized in that the weeding unit is adjusted
Mechanism (46) includes arc plate, and arc plate is equipped with mounting hole and circular hole；The deep 360 degree of rotations of universal wheel (16) energy of the limit,
Weeding depth can be changed.
7. weeder between bilateral vertical automatic obstacle-avoiding strain as claimed in claim 6, which is characterized in that the feeler mechanism (22)
Including：Feeler mechanism mounting bracket (47), screw rod (50), adjustment spring (49), stop nut (48) and feeler mechanism mounting base
(55)；
One end of the feeler mechanism mounting bracket (47) is connected by bolt with the circular hole of weeding unit regulating mechanism (46), institute
The other end for stating feeler mechanism mounting bracket (47) is connect by axis pin with feeler mechanism mounting base (55), and the two is free to rotate,
The hydraulic motor mounting bracket (20) is mounted on by bolt in feeler mechanism mounting base (55), the conical bearing bearing block
(52) it is mounted in feeler mechanism mounting base (55) by bolt；
One end of the screw rod (50) is mounted on by stop nut (48) on feeler mechanism mounting bracket (47), and the other end is mounted on
In feeler mechanism mounting base (55), adjustment spring (49) is mounted on screw rod (50), and profiling is withstood in one end of adjustment spring (49)
Mechanism mounting bracket (47), the other end are locked by stop nut (48), and weeding knife (8) and water can be changed by adjusting stop nut (48)
The angle of interplanar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810066645.3A CN108551775B (en) | 2018-01-24 | 2018-01-24 | Double-sided vertical automatic obstacle avoidance inter-plant weeding machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810066645.3A CN108551775B (en) | 2018-01-24 | 2018-01-24 | Double-sided vertical automatic obstacle avoidance inter-plant weeding machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108551775A true CN108551775A (en) | 2018-09-21 |
| CN108551775B CN108551775B (en) | 2023-11-10 |
Family
ID=63529907
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810066645.3A Active CN108551775B (en) | 2018-01-24 | 2018-01-24 | Double-sided vertical automatic obstacle avoidance inter-plant weeding machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108551775B (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109168343A (en) * | 2018-11-02 | 2019-01-11 | 山东农业大学 | Weed and loose soil machine between the universal strain in mulberry field and orchard |
| CN109479400A (en) * | 2018-12-29 | 2019-03-19 | 佳木斯大学 | A kind of tilting rotary tillage and weeding device |
| CN109601118A (en) * | 2019-01-25 | 2019-04-12 | 河北农业大学 | A kind of suspension type orchard avoidance grass trimmer |
| CN110268817A (en) * | 2019-08-01 | 2019-09-24 | 吉林大学 | A kind of orchard ring-weeding is mechanical |
| CN110622637A (en) * | 2019-10-14 | 2019-12-31 | 塔里木大学 | Orchard green manure turning-fruit tree ditching and fertilizing combined machine |
| CN111713245A (en) * | 2020-05-11 | 2020-09-29 | 江苏大学 | Mountain orchard profiling autonomous obstacle avoidance mower and control method thereof |
| CN112075195A (en) * | 2020-09-21 | 2020-12-15 | 塔里木大学 | Green fertile barrier rubbing crusher that keeps away in orchard |
| CN112425332A (en) * | 2020-11-30 | 2021-03-02 | 张晓朦 | Flowers and plants transplanting seedling device |
| CN113115598A (en) * | 2021-04-17 | 2021-07-16 | 浙江工业大学 | Automatic obstacle-avoiding weeding machine for orchard |
| CN113721452A (en) * | 2021-08-31 | 2021-11-30 | 农业农村部南京农业机械化研究所 | Mechanical weeding part ground inclined three-dimensional profiling device and method |
| CN113711708A (en) * | 2021-08-20 | 2021-11-30 | 中国农业大学 | Double-feeler-lever positioning type three-degree-of-freedom corn inter-plant weeding machine |
| CN114258738A (en) * | 2022-03-01 | 2022-04-01 | 烟台市蓬莱区蓬莱阁街道农业综合服务中心(挂烟台市蓬莱区蓬莱阁街道农产品质量安全监督管理站、烟台市蓬莱区蓬莱阁街道水利站牌子) | Soil loosening depth adjusting device of agricultural subsoiler |
| CN115039527A (en) * | 2022-06-22 | 2022-09-13 | 四川农业大学 | Soybean weeder |
| CN115119546A (en) * | 2022-07-19 | 2022-09-30 | 华南农业大学 | Rice field self-adaptive flexible mechanical weeding machine based on visual-tactile fusion perception |
| CN109601118B (en) * | 2019-01-25 | 2024-07-05 | 河北农业大学 | Suspension type orchard obstacle avoidance mower |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040193348A1 (en) * | 2003-03-31 | 2004-09-30 | Gray Sarah Ann | Method and system for efficiently traversing an area with a work vehicle |
| KR200396448Y1 (en) * | 2005-05-18 | 2005-09-22 | 주식회사 죽암기계 | A weeder with riding and Walking of interrow and hill spacing |
| KR200396449Y1 (en) * | 2005-05-18 | 2005-09-22 | 주식회사 죽암기계 | A weeder of Walking interrow and hill spacing |
| KR100721008B1 (en) * | 2006-06-30 | 2007-08-10 | 경북대학교 산학협력단 | Disc type weeding machine |
| KR100837683B1 (en) * | 2007-04-05 | 2008-06-13 | 주식회사 디엠씨 | Tractor weeding device |
| CN103270828A (en) * | 2013-06-05 | 2013-09-04 | 中国农业大学 | Lateral-moving interplant weeding machine |
| CN103488991A (en) * | 2013-09-30 | 2014-01-01 | 中国农业大学 | Method for extracting leading line of farmland weeding machine |
| KR20140106954A (en) * | 2013-02-27 | 2014-09-04 | 주식회사 아세아텍 | Weeding machine |
| CN105122987A (en) * | 2015-08-25 | 2015-12-09 | 山西省农业科学院旱地农业研究中心 | Miniature full-automatic intertillage weeding machine suitable for densely-planted high-stem crops |
| KR20160000385A (en) * | 2014-06-24 | 2016-01-04 | 이덕재 | Remote control Weeder |
| CN105659950A (en) * | 2016-03-25 | 2016-06-15 | 孙吴县农发农业机械有限公司 | Pressure spring and tension spring combined type weeder assembly fluctuation profiling mechanism |
| CN106376251A (en) * | 2016-11-08 | 2017-02-08 | 宁夏智源农业装备有限公司 | Intelligent weeding machine for Chinese wolfberry |
| CN206274719U (en) * | 2016-11-08 | 2017-06-27 | 宁夏智源农业装备有限公司 | Matrimony vine intelligence weeder |
| CN107318283A (en) * | 2017-08-25 | 2017-11-07 | 橙色云设计有限公司 | Weeding apparatus under a kind of tree with barrier avoiding function |
| CN206698609U (en) * | 2017-04-01 | 2017-12-05 | 宁夏智源农业装备有限公司 | Woods fruit intelligence strain inter-row weeder |
| CN207754007U (en) * | 2018-01-24 | 2018-08-24 | 中国农业大学 | Weeder between the bilateral vertical automatic obstacle-avoiding strain of one kind |
-
2018
- 2018-01-24 CN CN201810066645.3A patent/CN108551775B/en active Active
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040193348A1 (en) * | 2003-03-31 | 2004-09-30 | Gray Sarah Ann | Method and system for efficiently traversing an area with a work vehicle |
| KR200396448Y1 (en) * | 2005-05-18 | 2005-09-22 | 주식회사 죽암기계 | A weeder with riding and Walking of interrow and hill spacing |
| KR200396449Y1 (en) * | 2005-05-18 | 2005-09-22 | 주식회사 죽암기계 | A weeder of Walking interrow and hill spacing |
| KR100721008B1 (en) * | 2006-06-30 | 2007-08-10 | 경북대학교 산학협력단 | Disc type weeding machine |
| KR100837683B1 (en) * | 2007-04-05 | 2008-06-13 | 주식회사 디엠씨 | Tractor weeding device |
| KR20140106954A (en) * | 2013-02-27 | 2014-09-04 | 주식회사 아세아텍 | Weeding machine |
| CN103270828A (en) * | 2013-06-05 | 2013-09-04 | 中国农业大学 | Lateral-moving interplant weeding machine |
| CN103488991A (en) * | 2013-09-30 | 2014-01-01 | 中国农业大学 | Method for extracting leading line of farmland weeding machine |
| KR20160000385A (en) * | 2014-06-24 | 2016-01-04 | 이덕재 | Remote control Weeder |
| CN105122987A (en) * | 2015-08-25 | 2015-12-09 | 山西省农业科学院旱地农业研究中心 | Miniature full-automatic intertillage weeding machine suitable for densely-planted high-stem crops |
| CN105659950A (en) * | 2016-03-25 | 2016-06-15 | 孙吴县农发农业机械有限公司 | Pressure spring and tension spring combined type weeder assembly fluctuation profiling mechanism |
| CN106376251A (en) * | 2016-11-08 | 2017-02-08 | 宁夏智源农业装备有限公司 | Intelligent weeding machine for Chinese wolfberry |
| CN206274719U (en) * | 2016-11-08 | 2017-06-27 | 宁夏智源农业装备有限公司 | Matrimony vine intelligence weeder |
| CN206698609U (en) * | 2017-04-01 | 2017-12-05 | 宁夏智源农业装备有限公司 | Woods fruit intelligence strain inter-row weeder |
| CN107318283A (en) * | 2017-08-25 | 2017-11-07 | 橙色云设计有限公司 | Weeding apparatus under a kind of tree with barrier avoiding function |
| CN207754007U (en) * | 2018-01-24 | 2018-08-24 | 中国农业大学 | Weeder between the bilateral vertical automatic obstacle-avoiding strain of one kind |
Non-Patent Citations (4)
| Title |
|---|
| 张斌;张宏文;肖宇星;汪鹏飞;: "果园株间除草机的设计", 农机化研究, no. 01 * |
| 李猛;弋景刚;边丽;王泽河;王家忠;: "面向果林的一款农用喷雾机器人的创新设计", 农机化研究, no. 05 * |
| 赵匀, 武传宇, 胡旭东, 俞高红: "农业机器人的研究进展及存在的问题", 农业工程学报, no. 01 * |
| 高先和;卢军;石朝毅;: "植树机器人的位移控制与避障控制设计", 哈尔滨师范大学自然科学学报, no. 06 * |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109168343B (en) * | 2018-11-02 | 2023-10-03 | 山东农业大学 | General inter-plant weeding and scarifier for mulberry field and orchard |
| CN109168343A (en) * | 2018-11-02 | 2019-01-11 | 山东农业大学 | Weed and loose soil machine between the universal strain in mulberry field and orchard |
| CN109479400A (en) * | 2018-12-29 | 2019-03-19 | 佳木斯大学 | A kind of tilting rotary tillage and weeding device |
| CN109479400B (en) * | 2018-12-29 | 2024-06-25 | 佳木斯大学 | Oblique rotary type intertillage weeding device |
| CN109601118B (en) * | 2019-01-25 | 2024-07-05 | 河北农业大学 | Suspension type orchard obstacle avoidance mower |
| CN109601118A (en) * | 2019-01-25 | 2019-04-12 | 河北农业大学 | A kind of suspension type orchard avoidance grass trimmer |
| CN110268817A (en) * | 2019-08-01 | 2019-09-24 | 吉林大学 | A kind of orchard ring-weeding is mechanical |
| CN110268817B (en) * | 2019-08-01 | 2024-01-16 | 吉林大学 | Annular weeding machine for orchard |
| CN110622637A (en) * | 2019-10-14 | 2019-12-31 | 塔里木大学 | Orchard green manure turning-fruit tree ditching and fertilizing combined machine |
| CN111713245A (en) * | 2020-05-11 | 2020-09-29 | 江苏大学 | Mountain orchard profiling autonomous obstacle avoidance mower and control method thereof |
| CN112075195A (en) * | 2020-09-21 | 2020-12-15 | 塔里木大学 | Green fertile barrier rubbing crusher that keeps away in orchard |
| CN112425332A (en) * | 2020-11-30 | 2021-03-02 | 张晓朦 | Flowers and plants transplanting seedling device |
| CN112425332B (en) * | 2020-11-30 | 2022-07-19 | 倪为勇 | Flowers and plants transplanting seedling device |
| CN113115598A (en) * | 2021-04-17 | 2021-07-16 | 浙江工业大学 | Automatic obstacle-avoiding weeding machine for orchard |
| CN113115598B (en) * | 2021-04-17 | 2022-06-17 | 浙江工业大学 | Automatic obstacle-avoiding weeding machine for orchard |
| CN113711708A (en) * | 2021-08-20 | 2021-11-30 | 中国农业大学 | Double-feeler-lever positioning type three-degree-of-freedom corn inter-plant weeding machine |
| CN113721452A (en) * | 2021-08-31 | 2021-11-30 | 农业农村部南京农业机械化研究所 | Mechanical weeding part ground inclined three-dimensional profiling device and method |
| CN114258738A (en) * | 2022-03-01 | 2022-04-01 | 烟台市蓬莱区蓬莱阁街道农业综合服务中心(挂烟台市蓬莱区蓬莱阁街道农产品质量安全监督管理站、烟台市蓬莱区蓬莱阁街道水利站牌子) | Soil loosening depth adjusting device of agricultural subsoiler |
| CN115039527B (en) * | 2022-06-22 | 2023-11-03 | 四川农业大学 | Soybean weeder |
| CN115039527A (en) * | 2022-06-22 | 2022-09-13 | 四川农业大学 | Soybean weeder |
| CN115119546A (en) * | 2022-07-19 | 2022-09-30 | 华南农业大学 | Rice field self-adaptive flexible mechanical weeding machine based on visual-tactile fusion perception |
| CN115119546B (en) * | 2022-07-19 | 2024-03-12 | 华南农业大学 | Paddy field self-adaptive flexible mechanical weeding machine based on visual-tactile fusion perception |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108551775B (en) | 2023-11-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108551775A (en) | Weeder between the bilateral vertical automatic obstacle-avoiding strain of one kind | |
| CN207754007U (en) | Weeder between the bilateral vertical automatic obstacle-avoiding strain of one kind | |
| CN108377676B (en) | Subsoiler and real-time control system and control method for subsoiling soil penetration angle thereof | |
| BR112015031412B1 (en) | SUGARCANE HARVESTER AND METHOD FOR HARVESTING MULTIPLE ROWS OF SUGARCANE STONES USING MULTIPLE BASE CUTTERS | |
| CN103270828B (en) | Weeder between a kind of lateral displacement strain | |
| AU2021217693B2 (en) | Machine vision control system for precision agriculture | |
| CN103168519B (en) | Hoe entering depth and entering angle continuous adjusting mechanism | |
| CN208657347U (en) | A kind of walking weeder | |
| CN102893732A (en) | Vibration circular disc type no-tillage anti-blocking device | |
| CN103283331B (en) | The traversing facility of a kind of intelligent steering | |
| CN106612655A (en) | Greenhouse land preparation machine | |
| CN108770389A (en) | The special liquid electricity of matrimony vine avoids system of hoeing up weeds | |
| CN2717184Y (en) | Rotary cultivator | |
| CN206698609U (en) | Woods fruit intelligence strain inter-row weeder | |
| CN108901516A (en) | A kind of drag links | |
| CN208353824U (en) | A kind of plough Level tune control device and tractor | |
| CN208783176U (en) | The dedicated liquid electricity of fructus lycii avoids system of hoeing up weeds | |
| CN108476615A (en) | A kind of plough Level tune control device | |
| CN203814148U (en) | Platform for farm machinery | |
| CN203301955U (en) | Intelligent guiding and horizontal-shifting machine tool | |
| CN209659891U (en) | A kind of energy-saving rotary tillage machine | |
| CN103444342A (en) | Root-tuber crop harvesting machine | |
| RU2544378C1 (en) | Remote section of garden rotary cultivator | |
| CN204634294U (en) | A kind of cultivated training device ploughing training for banana | |
| CN109275371A (en) | A kind of seeder disc plough arable land mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |