CN109906686A - Weeder between a kind of corn plants - Google Patents
Weeder between a kind of corn plants Download PDFInfo
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- CN109906686A CN109906686A CN201910315932.8A CN201910315932A CN109906686A CN 109906686 A CN109906686 A CN 109906686A CN 201910315932 A CN201910315932 A CN 201910315932A CN 109906686 A CN109906686 A CN 109906686A
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- copying tool
- stepper motor
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Abstract
Weeder category agricultural machinery technological field between a kind of corn plants, the present invention is made of body frame, information data handling system, Zhu Jian weeding mechanism, dual-laser displacement sensor I, two servo motors, two bearing bracket I, wherein laser displacement sensor I and laser displacement sensor II are respectively and fixedly connected with left stringer and right vertical beam inside in body frame, information data handling system is fixed in body frame plane middle on first crossbeam, and weeder is fixed in body frame on second cross beam between strain；Laser displacement sensor is mainly responsible for the position for providing plant and width information, weeder is mainly used for weeds between removing strain between strain, information data handling system is then responsible for receiving the position of plant and width and device velocity information, and then controls weeder removing weeds between strain；The present invention can intertill phase long-time service in corn, and energy combined circuit control removes plant Weeds Around, of simple structure and strong practicability automatically.
Description
Technical field
The invention belongs to agricultural machinery technological fields, and in particular to weeder between a kind of corn plants.
Background technique
In plant growth course, always along with the growth of weeds, under the conditions of identical nutrient, plant
Race condition is in weeds.For corn in very important position in ensureing grain yield, corn ground weed is to influence jade
One of the principal element of rice yield.At present from environmentally protective angle, weeding by machine is mostly used, as the update of equipment is changed
In generation, weeding in the ranks is opposite to achieve significant progress, but between strain weeding effect it is still undesirable.How accurately, efficiently remove
Weeds between strain, while seedling-damaging ratio is reduced to greatest extent, need deeper research.
Summary of the invention
The purpose of the present invention is to the above-mentioned problems of the prior art, weeding between a kind of corn plants of researching and designing
Device；The device can acquire plant position and width information and weeder velocity information by sensor, believe
Under the processing for ceasing data processor, weeder is enable to remove weeds to greatest extent；Reach high degree of automation, real-time
By force, operating efficiency height, service-strong purpose.
The present invention is by body frame A, information data handling system B, Zhu Jian weeding mechanism C, laser displacement sensor I 1, servo electricity
Machine I 2, bearing block I 3, bearing block II 4, laser displacement sensor II 5 and servo motor II 6 form, and the body frame A is by preceding cross
Beam 7, first crossbeam 8, second cross beam 9, rear cross beam 10, left stringer 19, right vertical beam 12, left connecting rod 17, right connecting rod 13, bolt
Group forms I 18, bolt group to II 11, left gauge wheel 16, right gauge wheel 14, velocity sensor 15, wherein front beam 7, first
The sequence arrangement front to back of crossbeam 8, second cross beam 9, rear cross beam 10, front beam 7, first crossbeam 8, second cross beam 9, rear cross beam
10 left ends and left 19 right side of stringer are affixed；Front beam 7, first crossbeam 8, second cross beam 9,10 right end of rear cross beam and right vertical beam 12 are left
Face is affixed, and left 17 upper end of connecting rod is fixed in left 19 left side central portion of stringer, left 17 lower end of connecting rod and left limit to I 18 through bolt group
Deep wheel 16 is flexibly connected, and right 13 upper end of connecting rod is fixed in 12 right side central of right vertical beam, right connecting rod 13 to II 17 through bolt group
Lower end is flexibly connected with right gauge wheel 14, and velocity sensor 15 is fixed on left gauge wheel 16.
Information data handling system B is fixed in body frame A middle part, laser displacement sensor I 1 behind front beam 7 and is fixed in
The left 19 front end right side of stringer in body frame A, laser displacement sensor II 5 are fixed in the 12 front end left side of right vertical beam in body frame A, servo electricity
Machine I 2 is fixed in the left 19 rear portion right side of stringer, servo motor II 6 in body frame A and is fixed in the 12 rear portion left side of right vertical beam, axis in body frame A
It holds seat I 3 and is fixed in the back to the left of 9 center of second cross beam in body frame A, bearing block II 4 is fixed in 9 center of second cross beam in body frame A
Behind to the right, the output shaft of I 22 left end of screw rod and servo motor I 2 in Zhu Jian weeding mechanism C passes through servo motor shaft coupling I
20 is affixed, and the output shaft of II 25 right end of screw rod in Zhu Jian weeding mechanism C and servo motor II 6 passes through servo motor shaft coupling II
27 is affixed, and I 23 outer ring of bearing in Zhu Jian weeding mechanism C is connect with I 3 inner ring interference of bearing block, the axis in Zhu Jian weeding mechanism C
It holds II 24 outer rings to connect with II 4 inner ring interference of bearing block, the external groove I in stepper motor set I 21 in Zhu Jian weeding mechanism C
44 are slidably connected to the back to the left of 9 center of second cross beam in body frame A, and the stepper motor in Zhu Jian weeding mechanism C covers in II 26
It is to the right below that external groove II 41 is slidably connected to 9 center of second cross beam in body frame A.
The Zhu Jian weeding mechanism C is made of I H of weeder and II J of weeder, I H of weeder and weeder
II J is symmetrical structure, and I H of weeder is by servo motor shaft coupling I 20, screw rod I 22, bearing I 23, stepper motor set I 21, step
Into motor I 39, stepper motor shaft coupling I 38, connecting shaft I 37, left copying tool I 36, spring I 35, II 34 groups of left copying tool
At II J of weeding component covers II 26, stepper motor by servo motor shaft coupling II 20, screw rod II 25, bearing II 24, stepper motor
II 28, stepper motor shaft coupling II 29, connecting shaft II 30, right copying tool I 31, spring II 32, right copying tool II 33 form,
Wherein the middle part of screw rod I 22 is threadedly coupled with stepper motor set I 21 by screw hole I 45, and I 22 right end of screw rod and bearing I 23 roll
Dynamic to connect, the inner groovy I 43 and stepper motor I 39 in stepper motor set I 21 are affixed, on stepper motor I 39 and connecting shaft I 37
End is affixed by stepper motor shaft coupling I 38, and I 37 lower end of connecting shaft and left copying tool II 34 are affixed, left copying tool II 34
Affixed by spring I 35 with left copying tool I 36, the middle part of screw rod II 25 and stepper motor set II 26 pass through II 40 spiral shell of screw hole
Line connection, II 25 left end of screw rod and bearing II 24, which roll, to be connected, and the inner groovy II 42 in stepper motor set II 26 is affixed, stepping
Motor II 28 is affixed by stepper motor shaft coupling II 29 with II 30 upper end of connecting shaft, connecting shaft II 30 and right copying tool II 33
Affixed, right copying tool II 33 is affixed by spring II 32 with right copying tool I 31.
The copying tool component K structure be nibbling shear cut type, wherein left copying tool I 36, left copying tool II 34,
Right copying tool I 31 and right copying tool II 33 are identical structure, are made of six blades, left copying tool I 36, left profiling
Cutter II 34 and right copying tool I 31, right copying tool II 33 are angled respectively is mounted on connecting shaft I 37 and connecting shaft II
On 30, left copying tool I 36 is in active connection state with connecting shaft I 37 and right copying tool I 31 and connecting shaft II 30.
Left copying tool I 36, left copying tool II 34, right copying tool I 31 and the right copying tool II 33 is imitative
Ash sea Grampus griseus globefish back curve S, camber line S, which is from left to right fitted, meets functional equation:
Y=-0.2789X2+0.5909X+0.0261
Wherein: Y is cowfish height；X is cowfish length；The value range of X is 0-20cm.
Working process and principle of the invention are as follows:
When equipment operation, sensed by the laser displacement sensor I 1 and laser displacement of 12 inside of left stringer 19 and right vertical beam
Device II 5 is accurately positioned position and the width information of plant, then transfers information in information data handling system B, ties
The velocity information that the velocity sensor 15 on left gauge wheel obtains is closed, controlling servo motor I 2 and servo motor II 6 makes weeding portion
Part goes to position appropriate, controls left copying tool component K and the right side respectively finally by stepper motor I 39 and stepper motor II 28
Copying tool component M roots out a certain range of weeds around plant.
The innovative point of the present invention compared with prior art is:
1, sensor is accurately positioned, and increases accuracy.
Using angled laser displacement sensor, the precise measurement to plant position and width information is realized.
2, elastic copying tool is invented, avoids and twines grass.
It is flexibly connected since left copying tool I 36 is in connecting shaft I 37 and right copying tool I 31 with connecting shaft II 30
State is cut off to can produce the shearing force of a multi-angle in weeding process to grass is twined.
3, cutter imitates cowfish back curve, reduces air drag.
Cowfish has the speed of superelevation during exercise, by imitating cowfish back curve, makes cutter in excision weeds
When can reduce resistance, obtain higher speed.
Detailed description of the invention
The axonometric drawing of Fig. 1 weeder between strain
The perspective view of Fig. 2 body frame in weeder between strain
Fig. 3 is the perspective view of Zhu Jian weeding mechanism
The front view of Fig. 4 weeder I between strain
The front view of Fig. 5 weeder II between strain
Fig. 6 is the perspective view of stepper motor set I
Fig. 7 is the perspective view of stepper motor set II
Fig. 8 is the cross-sectional view (one) of stepper motor set I
Fig. 9 is the cross-sectional view (two) of stepper motor set I
Figure 10 is the cross-sectional view (one) of stepper motor set II
Figure 11 is the cross-sectional view (two) of stepper motor set II
Figure 12 is the cross-sectional view (one) of stepper motor I
Figure 13 is the cross-sectional view (two) of stepper motor I
Figure 14 is the cross-sectional view (one) of stepper motor II
Figure 15 is the cross-sectional view (two) of stepper motor II
Figure 16 is the three-view diagram of left copying tool I
Figure 17 is the perspective view (one) of copying tool component
Figure 18 is the perspective view (two) of copying tool component
Wherein: between mechanism H. plants of Zhu Jian weeding of information data handling system C. of A. body frame B. between I J. plants of weeder
Right 1. laser displacement sensor of copying tool component, I 2. servo motor I 3. of the left copying tool component M. of II K. of weeder
II 7. front beam of bearing block I 4. bearing block, II 5. laser displacement sensor, II 6. servo motor, 8. first crossbeam 9. second
10. rear cross beam of crossbeam, 11. bolt group is to II 12. right vertical beam, 13. right 15. velocity sensor of gauge wheel of right connecting rod 14.
16. the left 18. bolt group of connecting rod of left gauge wheel 17. is to I 19. left 20. servo motor shaft coupling of stringer, I 21. stepper motors
It covers I 22. screw rod, I 23. bearing, I 24. bearing, II 25. screw rod, II 26. stepper motor and covers II 27. servo motor shaft couplings II
28. II 29. stepper motor shaft coupling of stepper motor, II 30. connecting shaft, II 31. right I 32. springs of copying tool II 33. are right
II 34. left I 37. connecting shaft of copying tool, the I 38. stepper motor shaft coupling of left II 35. spring of copying tool I 36. of copying tool
II 43. inner groovy of device I 39. stepper motor, I 40. screw hole, II 41. external groove, II 42 inner groovy, I 44. external groove I 45.
Screw hole I
Specific embodiment
Embodiments of the present invention are described further with reference to the accompanying drawing:
As shown in Figure 1, the present invention is sensed by body frame A, information data handling system B, Zhu Jian weeding mechanism C, laser displacement
Device I 1, servo motor I 2, bearing block I 3, bearing block II 4, laser displacement sensor II 5 and servo motor II 6 form, wherein believing
Breath data processing system B is fixed in body frame A middle part behind front beam 7, and laser displacement sensor I 1 is fixed in body frame A left
The 19 front end right side of stringer, it is affixed that laser displacement sensor II 5 is fixed in the 12 front end left side of right vertical beam, servo motor I 2 in body frame A
The left 19 rear portion right side of stringer in body frame A, servo motor II 6 are fixed in the 12 rear portion left side of right vertical beam in body frame A, and bearing block I 3 is solid
It is to the left below to be connected to 9 center of second cross beam in body frame A, bearing block II 4 is fixed in after 9 center of second cross beam is to the right in body frame A
The output shaft in face, I 22 left end of screw rod and servo motor I 2 in Zhu Jian weeding mechanism C is affixed by servo motor shaft coupling I 20,
II 25 right end of screw rod and the output shaft of servo motor II 6 in Zhu Jian weeding mechanism C is affixed by servo motor shaft coupling II 27,
I 23 outer ring of bearing in Zhu Jian weeding mechanism C is connect with I 3 inner ring interference of bearing block, the bearing II 24 in Zhu Jian weeding mechanism C
Outer ring is connect with II 4 inner ring interference of bearing block, and the external groove I 44 of I 21 front of stepper motor set in Zhu Jian weeding mechanism C is slided
It is connected to the outer recessed of II 26 front of stepper motor set that 9 center of second cross beam in body frame A is to the left below, in Zhu Jian weeding mechanism C
Slot II 41 is slidably connected to the back to the right of 9 center of second cross beam in body frame A, and wherein laser displacement sensor I 1 and laser displacement pass
Sensor II 2 with up and down adjustment angle, can be mainly responsible for position and the width of measurement plant.
As shown in Fig. 2, the body frame A by front beam 7, first crossbeam 8, second cross beam 9, rear cross beam 10, left stringer 19,
Right vertical beam 12, left connecting rod 17, right connecting rod 13, bolt group are to I 18, bolt group to II 11, left gauge wheel 16, right gauge wheel
14, velocity sensor 15 forms, wherein the sequence arrangement front to back of front beam 7, first crossbeam 8, second cross beam 9, rear cross beam 10,
Front beam 7, first crossbeam 8, second cross beam 9,10 left end of rear cross beam and left 19 right side of stringer are affixed；Front beam 7, first crossbeam 8,
Second cross beam 9,10 right end of rear cross beam and 12 left side of right vertical beam are affixed, and left 17 upper end of connecting rod is fixed in a left side to I 18 through bolt group
19 left side central portion of stringer, left 17 lower end of connecting rod are flexibly connected with left gauge wheel 16, and right 13 upper end of connecting rod is through bolt group to II
17 are fixed in 12 right side central of right vertical beam, and right 13 lower end of connecting rod is flexibly connected with right gauge wheel 14, and velocity sensor 15 is affixed
In on left gauge wheel 16, left gauge wheel 16 and right gauge wheel 14 are mainly responsible for control and adjust the depth of burying of weeding operation part
Degree, velocity sensor 15 are mainly responsible for the speed of measuring device traveling, and weeding provides velocity information between strain.
As shown in Fig. 3 to Figure 15, the Zhu Jian weeding mechanism C is made of I H of weeder and II J of weeder, weeding
I H of device and II J of weeder be symmetrical structure, I H of weeder by servo motor shaft coupling I 20, screw rod I 22, bearing I 23,
Stepper motor set I 21, stepper motor I 39, stepper motor shaft coupling I 38, connecting shaft I 37, left copying tool I 36, spring I 35,
Left copying tool II 34 forms, and II J of weeding component is by servo motor shaft coupling II 20, screw rod II 25, bearing II 24, stepper motor
Cover II 26, stepper motor II 28, stepper motor shaft coupling II 29, connecting shaft II 30, right copying tool I 31, spring II 32, right imitative
Shape cutter II 33 forms, and wherein the middle part of screw rod I 22 is threadedly coupled with stepper motor set I 21 by screw hole I 45, screw rod I 22
Right end and bearing I 23, which roll, to be connected, and the inner groovy I 43 and stepper motor I 39 in stepper motor set I 21 are affixed, stepper motor I
39 is affixed by stepper motor shaft coupling I 38 with I 37 upper end of connecting shaft, and I 37 lower end of connecting shaft and left copying tool II 34 are affixed,
Left copying tool II 34 is affixed by spring I 35 with left copying tool I 36, and the middle part of screw rod II 25 and stepper motor set II 26 are logical
The threaded connection of screw hole II 40 is crossed, II 25 left end of screw rod and bearing II 24, which roll, to be connected, the inner groovy in stepper motor set II 26
II 42 is affixed, and stepper motor II 28 and II 30 upper end of connecting shaft are affixed by stepper motor shaft coupling II 29, connecting shaft II 30 with
Right copying tool II 33 is affixed, and right copying tool II 33 is affixed by spring II 32 with right copying tool I 31.
As shown in Figure 16 to Figure 18, the left copying tool component K and right copying tool component M structure are oscillatory shear
Type, wherein left copying tool I 36, left copying tool II 34, right copying tool I 31 and right copying tool II 33 are identical structure,
It is made of six blades, II 33 points of left copying tool I 36, left copying tool II 34 and right copying tool I 31, right copying tool
It is not angled to be mounted in connecting shaft I 37 and connecting shaft II 30, left copying tool I 36 and connecting shaft I 37 and right imitation-shaped knife
Have I 31 and is in active connection state with connecting shaft II 30.
Left copying tool I 36, left copying tool II 34, right copying tool I 31 and the right copying tool II 33 is imitative
Cowfish Grampus griseus back curve S, camber line S, which is from left to right fitted, meets functional equation: Y=-0.2789X2+
0.5909X+0.0261
Wherein: Y is cowfish height；X is cowfish length；The value range of X is 0-20cm.
Working process and principle of the invention are as follows:
When equipment operation, sensed by the laser displacement sensor I 1 and laser displacement of 12 inside of left stringer 19 and right vertical beam
Device II 5 is accurately positioned position and the width information of plant, then transfers information in information data handling system B, ties
The velocity information that the velocity sensor 15 on left gauge wheel obtains is closed, controlling servo motor I 2 and servo motor II 6 makes weeding portion
Part goes to position appropriate, controls left copying tool component K and the right side respectively finally by stepper motor I 39 and stepper motor II 28
Copying tool component M roots out a certain range of weeds around plant.
Claims (4)
1. weeder between a kind of corn plants, which is characterized in that by weeding between body frame (A), information data handling system (B), strain
Mechanism (C), laser displacement sensor I (1), servo motor I (2), bearing block I (3), bearing block II (4), laser displacement sensor
II (5) and servo motor II (6) composition, the body frame (A) by front beam (7), first crossbeam (8), second cross beam (9), after
Crossbeam (10), left stringer (19), right vertical beam (12), left connecting rod (17), right connecting rod (13), bolt group are to I (18), bolt group
II (11), left gauge wheel (16), right gauge wheel (14), velocity sensor (15) are formed, wherein front beam (7), first crossbeam
(8), second cross beam (9), rear cross beam (10) from front to back sequence arrange, front beam (7), first crossbeam (8), second cross beam (9),
Rear cross beam (10) left end and left stringer (19) right side are affixed；Front beam (7), first crossbeam (8), second cross beam (9), rear cross beam
(10) right end and right vertical beam (12) left side are affixed, and left connecting rod (17) upper end is fixed in left stringer (19) to I (18) through bolt group
Left side central portion, left connecting rod (17) lower end are flexibly connected with left gauge wheel (16), and right connecting rod (13) upper end is through bolt group to II
(17) it is fixed in right vertical beam (12) right side central, right connecting rod (13) lower end is flexibly connected with right gauge wheel (14), velocity pick-up
Device (15) is fixed on left gauge wheel (16)；During information data handling system (B) is fixed in body frame (A) behind front beam (7)
Portion, laser displacement sensor I (1) are fixed in left stringer (19) the front end right side in body frame (A), and laser displacement sensor II (5) is solid
It is connected to right vertical beam (12) the front end left side in body frame (A), it is right that servo motor I (2) is fixed in left stringer (19) rear portion in body frame (A)
Face, servo motor II (6) are fixed in right vertical beam (12) the rear portion left side in body frame (A), and bearing block I (3) is fixed in body frame (A)
Two crossbeams (9) center back to the left, bearing block II (4) is fixed in the back to the right of second cross beam (9) center in body frame (A), between strain
The output shaft of screw rod I (22) left end and servo motor I (2) in weeding mechanism (C) is solid by servo motor shaft coupling I (20)
It connects, the output shaft of screw rod II (25) right end in Zhu Jian weeding mechanism (C) and servo motor II (6) passes through servo motor shaft coupling
II (27) are affixed, and bearing I (23) outer ring in Zhu Jian weeding mechanism (C) is connect with bearing block I (3) inner ring interference, weeding between strain
Bearing II (24) outer ring in mechanism (C) is connect with bearing block II (4) inner ring interference, the stepping electricity in Zhu Jian weeding mechanism (C)
The external groove I (44) that machine covers in I (21) is slidably connected to the back to the left of second cross beam (9) center in body frame (A), weeder between strain
It is inclined that the external groove II (41) in II (26) of stepper motor set in structure (C) is slidably connected to second cross beam (9) center in body frame (A)
Right back.
2. weeder between corn plants according to claim 1, which is characterized in that the Zhu Jian weeding mechanism (C) is by removing
Careless device I (H) and weeder II (J) composition, weeder I (H) and weeder II (J) are symmetrical structure, weeder I
(H) by servo motor shaft coupling I (20), screw rod I (22), bearing block I (3), stepper motor cover I (21), stepper motor I (39),
Stepper motor shaft coupling I (38), connecting shaft I (37), left copying tool I (36), spring I (35), left copying tool II (34) group
At weeding component II (J) is by servo motor shaft coupling II (20), screw rod II (25), bearing II (24), stepper motor set II
(26), stepper motor II (28), stepper motor shaft coupling II (29), connecting shaft II (30), right copying tool I (31), spring II
(32), right copying tool II (33) composition, wherein the middle part of screw rod I (22) and I (21) of stepper motor set pass through screw hole I (45)
It is threadedly coupled, screw rod I (22) right end and bearing I (23) are rolled and connected, and stepper motor covers inner groovy I (43) and step in I (21)
Affixed into motor I (39), stepper motor I (39) is affixed by stepper motor shaft coupling I (38) with connecting shaft I (37) upper end, even
Spindle I (37) lower end and left copying tool II (34) are affixed, and left copying tool II (34) and left copying tool I (36) pass through spring
I (35) are affixed, and the middle part of screw rod II (25) covers II (26) with stepper motor and is threadedly coupled by screw hole II (40), screw rod II
(25) left end and bearing II (24), which roll, connects, and the inner groovy II (42) that stepper motor covers in II (26) is affixed, stepper motor II
(28) affixed by stepper motor shaft coupling II (29) with connecting shaft II (30) upper end, connecting shaft II (30) and right copying tool II
(33) affixed, right copying tool II (33) is affixed by spring II (32) with right copying tool I (31).
3. weeder between corn plants according to claim 1, it is characterised in that: described copying tool component (K) structure
For nibbling shear cut type, wherein left copying tool I (36), left copying tool II (34), right copying tool I (31) and right copying tool
II (33) are identical structure, are made of six blades, left copying tool I (36), left copying tool II (34) and right imitation-shaped knife
I (31) of tool, right copying tool II (33) is angled respectively is mounted in connecting shaft I (37) and connecting shaft II (30), Zuo Fang
Shape cutter I (36) and connecting shaft I (37) and right copying tool I (31) and connecting shaft II (30) are in active connection state.
4. weeder between corn plants according to claim 1, it is characterised in that: the left copying tool I (36), Zuo Fang
Shape cutter II (34), right copying tool I (31) and right copying tool II (33) are imitative cowfish back curve S, and camber line S is (from a left side
To the right side) fitting meet functional equation: Y=-0.2789X2+0.5909X+0.0261
Wherein: Y is cowfish height；X is cowfish length；The value range of X is 0-20cm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910315932.8A CN109906686B (en) | 2019-04-19 | 2019-04-19 | Weeding device between maize trunk |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910315932.8A CN109906686B (en) | 2019-04-19 | 2019-04-19 | Weeding device between maize trunk |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109906686A true CN109906686A (en) | 2019-06-21 |
| CN109906686B CN109906686B (en) | 2021-08-13 |
Family
ID=66977859
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910315932.8A Active CN109906686B (en) | 2019-04-19 | 2019-04-19 | Weeding device between maize trunk |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109906686B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112544137A (en) * | 2020-11-30 | 2021-03-26 | 沈阳农业大学 | Engagement type paddy field weeding machine |
| CN113317030A (en) * | 2021-07-13 | 2021-08-31 | 吉林大学 | Interplant weeding mechanism suitable for standardized farmland |
| CN114009417A (en) * | 2021-12-08 | 2022-02-08 | 吉林大学 | Weeding device suitable for dry farmland crops |
| CN114568048A (en) * | 2022-03-04 | 2022-06-03 | 福州大学 | High-clearance field weeding robot system and working method thereof |
| CN114793492A (en) * | 2022-04-24 | 2022-07-29 | 内蒙古农业大学 | Novel weeding robot based on agricultural weed removal |
| CN114846932A (en) * | 2022-05-18 | 2022-08-05 | 扬州大学 | High-clearance field management operation equipment and application method thereof |
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