CN113287378A - Weeding device and weeding method - Google Patents
Weeding device and weeding method Download PDFInfo
- Publication number
- CN113287378A CN113287378A CN202110725584.9A CN202110725584A CN113287378A CN 113287378 A CN113287378 A CN 113287378A CN 202110725584 A CN202110725584 A CN 202110725584A CN 113287378 A CN113287378 A CN 113287378A
- Authority
- CN
- China
- Prior art keywords
- weeding
- inter
- plant
- row
- lifting platform
- 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.)
- Pending
Links
Images
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
-
- 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
- A01B39/20—Tools; Details
-
- 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
- A01B39/20—Tools; Details
- A01B39/22—Tools; Mounting tools
Abstract
The invention belongs to the technical field of agricultural mechanical equipment, in particular to a weeding device, which is a lifting platform; the traveling device is used for driving the weeding device to travel and is connected with the lifting platform through the lifting mechanism; the inter-row weeding device comprises a connecting rod mechanism and a rake-toothed weeding claw arranged on the connecting rod structure, wherein the connecting rod structure is provided with a damping device; the inter-row weeding device is arranged on the lifting platform through a first inter-row spacing adjusting device, and the inter-plant weeding device can perform linear reciprocating motion under the action of the first inter-row spacing adjusting device; the plant spacing adjusting device is arranged on the lifting platform through the second row spacing adjusting device, and the ratchet wheel weeding claw can perform intermittent linear reciprocating motion under the driving of the plant spacing adjusting device. The invention also discloses a weeding method which is realized by utilizing the weeding equipment.
Description
Technical Field
The invention belongs to the technical field of agricultural mechanical equipment, and particularly relates to a weeding device and a weeding method between rows and plants.
Background
In recent years, the phenomenon of 'farmer' is more and more serious, the labor force related to planting in China is reduced every year, and in order to solve the contradiction, the whole-process mechanization level of main crop production needs to be improved. The workload of weeding work accounts for 1/3-1/2 of the total amount of farmland labor, relatively causes 15-25% of yield reduction, about 1.5 hundred million tons is equivalent to one year of grain for 5 hundred million people, but the current field weeding equipment in China is lack, the operation is extensive, the efficiency is low, the improvement of field management level is restricted, and the weeding work becomes one of short boards of the whole-course mechanized development. With the informatization and intelligent development of agricultural equipment, the field weeding operation is intelligentized to become a development direction at home and abroad, the refinement level of the field weeding operation is improved, the reduction of the application and the improvement of the efficiency of chemical fertilizers and pesticides are realized, and the method is important content for developing green, efficient, ecological and safe modern agriculture in China. Therefore, a weeding device between the inter-row plants needs to be designed to solve the problems of low efficiency, easy seedling damage, poor adaptability, low intelligent degree and the like of the existing field weeding operation equipment, and improve the operation precision, the operation efficiency and the intelligent level of the field weeding equipment.
Disclosure of Invention
The invention aims to provide a weeding device, which solves the technical problems of low efficiency, easy seedling damage and poor adaptability of the existing weeding equipment.
In order to solve the technical problem, the invention adopts the following technical scheme, and the weeding device is characterized by comprising:
a lifting platform;
the traveling device is used for driving the weeding device to travel and is connected with the lifting platform through the lifting mechanism;
the inter-row weeding device comprises a connecting rod mechanism and a rake-toothed weeding claw arranged on the connecting rod structure, wherein the connecting rod structure is provided with a damping device; the inter-row weeding devices are arranged on the lifting platform through the first inter-row spacing adjusting devices, the inter-plant weeding devices of the inter-plant weeding devices are driven by the lifting platform to move up and down, the inter-plant weeding devices can linearly reciprocate under the action of the first inter-row spacing adjusting devices,
the inter-plant weeding device comprises a plant spacing adjusting device, a ratchet weeding claw arranged on the plant spacing adjusting device and a ratchet weeding claw driving mechanism; the inter-plant weeding device can perform linear reciprocating motion relative to the lifting platform at the second inter-plant weeding device, and the ratchet wheel weeding claw can perform intermittent linear reciprocating motion under the driving of the inter-plant weeding device.
By adopting the scheme, the method has the following beneficial effects: a traveling device: a running gear of the whole plant; the height adjusting device is arranged on the walking device and used for adjusting the heights of the inter-row weeding device and the inter-plant weeding device; the row spacing adjusting device is used for adjusting the row spacing between the row weeding devices and the plant spacing between the plant weeding devices according to the row spacing of the crops; the inter-row weeding device is used for weeding among crop rows; inter-plant weeding device: the inter-plant distance adjusting device is arranged to adjust the inter-plant distance between the inter-plant weeding devices and weed among crop plants.
The invention is further improved, the walking device comprises wheels and a wheel driving motor, and the wheel driving motor is connected with the lifting device through a damping device. The running mechanism device is respectively connected with the high pattern tire through four motors, is controlled according to information obtained by the sensors, transmits power, and realizes adaptation to a non-structural ground surface and stable self-running control by means of the shock absorption device arranged on the rack.
The invention is further improved, the first and second line spacing adjusting mechanisms have the same structure and respectively comprise a first screw rod, a sliding block matched with the first screw rod and a first screw rod driving motor, the first screw rod driving motor drives the first screw rod to rotate and drives the sliding block to linearly and reciprocally slide relative to the lifting platform, so that line spacing adjustment is realized. The line spacing adjusting device controls the screw rod to drive the sliding block to move along the sliding rail through the control of the motor, drives the inter-line weeding device and the inter-plant weeding device which are installed on the sliding block, realizes the adjustment of crops with different line spacing, and has higher precision and efficiency.
The lifting mechanism comprises a worm, a worm driving mechanism, a worm wheel matched with the worm and a central rod arranged in the center of the worm wheel, wherein the upper part of the central rod is of a screw rod structure, the upper part of the central rod is in threaded connection with a nut arranged on the lifting platform, the worm driving mechanism drives the worm to rotate, the worm wheel and the screw rod are driven to rotate, the lifting nut and the lifting platform are driven to lift, and the lifting platform is driven to lift. The lifting mechanism controls the lifting platform to ascend or descend by simultaneously positively rotating or reversely rotating the four motors, so that the crops with different heights can be adjusted, and the lifting mechanism is high in reliability and flexible to use.
The invention is further improved, the connecting rod structure of the inter-row weeding device comprises a first connecting rod and a second connecting rod which are connected in a rotating mode, two ends of the damping device are respectively arranged on the first connecting rod and the second connecting rod, and the second connecting rod is provided with a rake-shaped weeding claw. The inter-row weeding device can weed the inter-row through the tine harrow type weeding claw, and the connection shock absorption device has certain elasticity, so that the weeding device can be protected.
The invention is further improved, the plant spacing adjusting device comprises an incomplete gear, an incomplete gear driving mechanism, a first rack and a second rack which are matched with the incomplete gear, a mounting seat fixedly connected with the racks and a guide rail which is in sliding fit with the mounting seat, the incomplete gear driving mechanism is arranged on a sliding block of the second row spacing adjusting device, the guide rail is arranged on the lifting platform, a ratchet weeding claw driving mechanism is arranged on the mounting seat, and the ratchet weeding claw driving mechanism is in driving connection with a ratchet weeding claw; the incomplete gear driving mechanism drives the incomplete gear to rotate, intermittently drives the first rack or the second rack to perform linear motion, and further drives the mounting seat to perform intermittent linear reciprocating motion, so that plant spacing adjustment is realized. The inter-plant weeding device drives the mounting base to do left-right reciprocating motion on the guide rail through the meshing motion of the incomplete gear and the rack which is rotated by the motor, realizes certain wave-shaped motion along with the walking device, and drives the ratchet weeding claw to rotate through the motor to realize inter-plant weeding;
the second purpose of the invention is to provide a weeding method, so as to solve the technical problems of low efficiency, easy seedling damage and poor adaptability of the existing weeding method.
In order to solve the above technical problems, the present invention adopts the following technical solution, a weeding method, characterized in that the weeding method is implemented by using the weeding apparatus according to claims 1 to 6, specifically: starting the traveling device to drive the whole weeding device to travel;
starting a first row spacing adjusting device, a second row spacing adjusting device and a lifting mechanism, wherein the row spacing adjusting device drives a sliding block to move through a first screw rod under the control of a first screw rod driving motor to drive an inter-row weeding device and an inter-plant weeding device which are arranged on the sliding block of the first row spacing adjusting device and the second row spacing adjusting device, so that crops with different row spacing can be adjusted;
the lifting mechanism controls the lifting platform to ascend or descend through positive rotation or negative rotation of the worm driving mechanism, so that crops with different heights can be adjusted;
the inter-row weeding device is aligned to the inter-row through the tine harrow type weeding claws to weed along with the walking of the whole weeding device driven by the walking device, and the shock absorption device is used for protecting the weeding device; the inter-plant weeding device rotates the incomplete gear through the incomplete gear driving mechanism to move in a meshed mode with the rack, reciprocating left and right is achieved, certain wave-shaped movement is achieved along with the walking device, the ratchet weeding claw driving mechanism drives the ratchet weeding claw to rotate, and weeding among crop plants is achieved.
By adopting the scheme, the method has the following beneficial effects: the inter-row weeding device and the inter-plant weeding device are accompanied by the four-wheel drive walking device, so that inter-row weeding and inter-plant weeding are realized, and the operation precision and the operation efficiency level of field weeding equipment are improved.
Drawings
FIG. 1 is a schematic diagram of the overall three-dimensional structure of the present invention.
FIG. 2 is a schematic overall three-dimensional side view of the present invention.
Fig. 3 is a schematic structural view of the walking device of the present invention.
Fig. 4 is a schematic structural diagram of the line spacing adjustment device of the present invention.
Fig. 5 is a schematic structural diagram of the height adjusting device of the present invention.
Fig. 6 is a schematic view of the interline weeding apparatus according to the present invention.
FIG. 7 is a schematic view of an inter-plant weeding apparatus according to the present invention.
Detailed Description
The invention is further described with reference to the following figures and embodiments.
As shown in fig. 1 and 2, the inter-row weeding device is composed of a four-wheel drive traveling device 1, an inter-row distance adjusting device 2, a height adjusting device 3, an inter-row weeding device 4, an inter-row weeding device 5, a crop recognition system 6, an information processing system 7, and a power supply system 8. Four-wheel drive running gear 1 fixed mounting is on four stabilizer blades of frame 101, and row spacing adjusting device 2 fixed mounting is on the lower surface of lift platform 305, and height adjusting device 3 fixed mounting is in the backup pad of frame 101, and weeding device 5 fixed mounting is on row spacing adjusting device 2 between 4 and the trunk between the row, and crop identification system 6, information processing system 7, electrical power generating system 8 are all fixed mounting at the upper surface of lift platform 305.
As shown in fig. 3, the running gear 1 includes: the device comprises a frame 101, four driving motors 102, four high pattern tires 103, a sensor 104 and a shock absorption device 105; the driving motor 102 is connected with a high pattern tire 103 and fixed on two sides of the lower end of the frame; the sensor 104 is mounted below the frame 101; the shock absorbing device 105 is fixedly arranged below the frame. The motor is controlled by the information processing system 7 based on the information obtained by the sensor 104, and power is transmitted, thereby realizing stable self-propelled traveling control suitable for the non-structural ground surface.
As shown in fig. 4, the line spacing adjustment mechanism 2 is composed of a mounting base 201, a slide rail 202, a bearing seat 203, a motor frame 204, a first screw 205, a slider 206, a connecting block 207, a first motor 208, and a coupling 209; the mounting base 201 is fixedly arranged below the rack 101; the slide rail 202 is installed on the installation base 201; the bearing seat 203 and the motor frame 204 are fixed on the mounting base 201, and two ends of a first screw rod 205 are supported by the bearing seat 203; the first lead screw 205 is connected with a first motor 208 through a coupler 209; the first motor 208 is fixedly arranged on the motor frame 204; the sliding block 206 is connected with a nut on the first screw rod 205 and is matched with the sliding rail 202; the connecting block 207 is fixed to the slide 206. The motor is controlled according to the obtained information, and the adjustment of crops with different line intervals is realized through the line interval adjusting device.
As shown in fig. 5, the height adjusting device 3 is composed of a second motor 301, a worm wheel 302, a worm 303, a second screw 304 and a lifting platform 305; the worm 303 is connected with a second motor 301, the worm 303 is in contact fit with a worm wheel 302, a second screw 304 is fixedly arranged in the worm wheel 302, the worm wheel 302 is rotatably supported on the rack 101, the second motor 301 is fixedly arranged on the rack 101, and the lifting platform 305 is arranged at the upper end of the screw and connected with a nut; the four motors rotate forwards or reversely at the same time to drive the worm to rotate so as to drive the worm wheel to drive the lead screw to drive the lifting platform to ascend or descend, so that the crops with different heights can be adjusted.
As shown in fig. 6, the inter-row weeding device 4 is composed of an upper connecting plate 401, a lower connecting plate 402, a shock absorbing device 403, and a rake-type weeding claw 404; the upper connecting plate 401 is connected with the lower connecting plate 402 in a rotating shaft manner; the shock absorbing device 403 is connected between the upper connecting plate 401 and the lower connecting plate 402 through a rotating shaft; the tine weeding claws 404 are fixedly connected to the lower connecting plate 402. The rake type weeding claw 404 is used for weeding between rows and loosening the soil at the same time; connect upper junction plate 401 and lower connecting plate 402 through seismic isolation device 403, have certain elasticity, meet the certain protection weeding device of hard soil piece.
As shown in fig. 7, guide rail bases 506 are respectively fixed on the left and right sides of the lower end of the lifting platform 305, two guide rails 505 arranged in parallel are arranged between the two guide rail bases 506, a plurality of inter-plant weeding devices 5 are arranged on the two guide rails 505, and each inter-plant weeding device 5 is composed of a third motor 501, an incomplete gear 502, a rack 503, an installation base 504, a guide rail base 506 and a ratchet weeding claw 507; the motor 502 is fixed at the lower end of the sliding block 207, and an output shaft is connected with the incomplete gear 502; the incomplete gear 502 is provided with parallel racks 503 on the front and back sides, the two racks 503 are fixedly arranged on the mounting base 504, and the mounting base 504 is matched with the guide rail 505 and can reciprocate left and right along the guide rail 505. A fourth motor 508 is fixed at the lower end of the mounting base 504, and the fourth motor 508 is connected with the ratchet weeding claw 507. The incomplete gear 502 is rotated by the motor 502 to be meshed with one of the racks 503, the mounting base 504 is driven to reciprocate left and right on the guide rail 505, the ratchet weeding claw 507 arranged on the mounting base 504 is driven to reciprocate left and right at the same time, the four-wheel drive walking device is used for avoiding crops of the ratchet weeding claw 507, and the fourth motor 508 drives the ratchet weeding claw 507 to rotate to realize inter-plant weeding. Because the incomplete gear 502 exists, the contact with only one rack 503 can be realized at one time, firstly, the rack on one side is driven to the left, and as the rotating teeth are meshed with the rack on the other side, the other side of the gear is smooth and cannot be contacted with the rack on one side, namely, the gear is continuously driven to move to the right, and the reciprocating motion is formed.
As shown in fig. 1 to 7, the operation principle of the inter-row inter-plant weeding apparatus is as follows: the four motors 102 drive the high pattern tires through the information obtained by the sensors 104, the crop recognition system 6 and the information processing system 7, and the four-wheel drive traveling device is started, so that the stable self-traveling control suitable for the non-structural ground surface is realized. Meanwhile, according to the information obtained after processing, the inter-row spacing adjusting device 2 and the height adjusting device 3 are started, the inter-row spacing adjusting device 2 controls the first screw rod 205 to drive the sliding block 206 to move along the sliding rail 202 through the control of the first motor 208, and drives the inter-row weeding device 4 and the inter-plant weeding device 5 which are installed on the sliding block 206, so that crops with different inter-row spacing can be adjusted; the height adjusting device 3 controls the lifting platform 305 to ascend or descend by simultaneously rotating forward or backward through the four second motors 301, so as to adjust crops with different heights. The four-wheel drive walking device 1 drives the whole device to walk forwards, the inter-row weeding device 4 is aligned to the inter-row through the tine harrow type weeding claw 404 to weed, and the connection shock absorption device 403 has certain elasticity and can protect the weeding device; the inter-plant weeding device 5 rotates the incomplete gear 502 to be meshed with the rack 503 through the third motor 501 to realize a left-right reciprocating motion track, certain wave-shaped motion is realized along with the traveling device, and the ratchet weeding claw 507 is driven to rotate through the fourth motor 508 to realize weeding among crop plants. The inter-row weeding device and the inter-plant weeding device are accompanied by the four-wheel drive walking device, and the operation of the motor is controlled through the information processing system by depending on the crop identification system, and meanwhile, the inter-row weeding work and the inter-plant weeding work are realized. The sensor 104 can acquire the crop image by using a camera, and match and identify the crop image with a database (the row spacing and the plant spacing are set according to different crops) in the crop identification system 6 to obtain the height information of the crop.
Claims (7)
1. A weeding apparatus, comprising:
a lifting platform;
the traveling device is used for driving the weeding device to travel and is connected with the lifting platform through the lifting mechanism;
the inter-row weeding device comprises a connecting rod mechanism and a rake-toothed weeding claw arranged on the connecting rod structure, wherein the connecting rod structure is provided with a damping device; the inter-row weeding devices are arranged on the lifting platform through the first inter-row spacing adjusting devices, the inter-plant weeding devices of the inter-plant weeding devices are driven by the lifting platform to move up and down, the inter-plant weeding devices can linearly reciprocate under the action of the first inter-row spacing adjusting devices,
the inter-plant weeding device comprises a plant spacing adjusting device, a ratchet weeding claw arranged on the plant spacing adjusting device and a ratchet weeding claw driving mechanism; the inter-plant weeding device can perform linear reciprocating motion relative to the lifting platform at the second inter-plant weeding device, and the ratchet wheel weeding claw can perform intermittent linear reciprocating motion under the driving of the inter-plant weeding device.
2. A weeding device as claimed in claim 1, wherein the traveling device includes wheels, and a wheel driving motor connected to the lifting device via a damping device.
3. The weeding device according to claim 1, wherein the first and second line spacing adjustment mechanisms are identical in structure and each comprise a first screw rod, a sliding block matched with the first screw rod, and a first screw rod driving motor, wherein the first screw rod driving motor drives the first screw rod to rotate and drives the sliding block to linearly reciprocate relative to the lifting platform to realize line spacing adjustment.
4. The weeding device according to claim 1, wherein the lifting mechanism comprises a worm, a worm driving mechanism, a worm wheel matched with the worm, and a central rod arranged in the center of the worm wheel, the upper part of the central rod is in a screw rod structure, the upper part of the central rod is in threaded connection with a nut arranged on the lifting platform, and the worm driving mechanism drives the worm to rotate, so that the worm wheel and the screw rod are driven to rotate, and further the lifting nut and the lifting platform are driven to lift, and further the lifting platform is driven to lift.
5. A weeding apparatus as claimed in claim 1, wherein the link structure of the inter-row weeding apparatus includes a first link and a second link rotatably connected to each other, and the damping device is provided at both ends thereof on the first link and the second link, respectively, and the second link is provided with a rake-toothed weeding claw.
6. The weeding device according to claim 1, wherein the inter-plant spacing adjusting device comprises an incomplete gear, an incomplete gear driving mechanism, a first rack and a second rack which are matched with the incomplete gear, a mounting seat fixedly connected with the racks, and a guide rail in sliding fit with the mounting seat, wherein the incomplete gear driving mechanism is arranged on a sliding block of the second row spacing adjusting device, the guide rail is arranged on the lifting platform, a ratchet weeding claw driving mechanism is arranged on the mounting seat, and the ratchet weeding claw driving mechanism is in driving connection with a ratchet weeding claw; the incomplete gear driving mechanism drives the incomplete gear to rotate, intermittently drives the first rack or the second rack to perform linear motion, and further drives the mounting seat to perform intermittent linear reciprocating motion, so that plant spacing adjustment is realized.
7. A weeding method, characterized in that the weeding method is carried out using the weeding apparatus according to claims 1 to 6, and specifically: starting the traveling device to drive the whole weeding device to travel;
starting a first row spacing adjusting device, a second row spacing adjusting device and a lifting mechanism, wherein the row spacing adjusting device drives a sliding block to move through a first screw rod under the control of a first screw rod driving motor to drive an inter-row weeding device and an inter-plant weeding device which are arranged on the sliding block of the first row spacing adjusting device and the second row spacing adjusting device, so that crops with different row spacing can be adjusted;
the lifting mechanism controls the lifting platform to ascend or descend through positive rotation or negative rotation of the worm driving mechanism, so that crops with different heights can be adjusted;
the inter-row weeding device is aimed at the inter-row weeding through the tine harrow type weeding claw along with the walking of the whole weeding device driven by the walking device, and the shock-absorbing spring is used for protecting the weeding device; the inter-plant weeding device rotates the incomplete gear through the incomplete gear driving mechanism to move in a meshed mode with the rack, reciprocating left and right is achieved, certain wave-shaped movement is achieved along with the walking device, the ratchet weeding claw driving mechanism drives the ratchet weeding claw to rotate, and weeding among crop plants is achieved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110725584.9A CN113287378A (en) | 2021-06-29 | 2021-06-29 | Weeding device and weeding method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110725584.9A CN113287378A (en) | 2021-06-29 | 2021-06-29 | Weeding device and weeding method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113287378A true CN113287378A (en) | 2021-08-24 |
Family
ID=77330106
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110725584.9A Pending CN113287378A (en) | 2021-06-29 | 2021-06-29 | Weeding device and weeding method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113287378A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114568048A (en) * | 2022-03-04 | 2022-06-03 | 福州大学 | High-clearance field weeding robot system and working method thereof |
| CN114747362A (en) * | 2022-03-24 | 2022-07-15 | 福州大学 | Single-ridge double-row weeding device in field |
| CN114793492A (en) * | 2022-04-24 | 2022-07-29 | 内蒙古农业大学 | Novel weeding robot based on agricultural weed removal |
| WO2023226782A1 (en) * | 2022-05-26 | 2023-11-30 | 河南科技大学 | Crop weeding device having seedling avoidance function |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014076004A (en) * | 2012-10-10 | 2014-05-01 | Orec Co Ltd | Paddy-field weeding work machine |
| CN107912089A (en) * | 2017-11-06 | 2018-04-17 | 吉林大学 | In the ranks mechanical weeding device between strain |
| CN109983862A (en) * | 2019-04-10 | 2019-07-09 | 郑小柔 | A kind of the weeding dedicated unit and its application method of ridge interrow crop |
| CN110050528A (en) * | 2019-06-10 | 2019-07-26 | 华南农业大学 | Weeder and herbicidal methods between swing type rice strain |
| CN110226373A (en) * | 2019-06-03 | 2019-09-13 | 中国农业大学 | Vegetables strain inter-row weeder structure |
| CN211110841U (en) * | 2019-11-10 | 2020-07-28 | 李玉仙 | H-shaped worm gear lead screw lifting working platform |
| CN211240861U (en) * | 2019-09-30 | 2020-08-14 | 泉州盛元贸易有限公司 | Mechanical weeding device between trunk based on surplus pendulum motion of claw tooth |
| CN112292930A (en) * | 2020-11-12 | 2021-02-02 | 北京市农业机械试验鉴定推广站 | Be applied to multi-functional weeder between vegetable trunk row ditch |
| CN215421520U (en) * | 2021-06-29 | 2022-01-07 | 扬州大学 | Inter-row inter-plant weeding device |
-
2021
- 2021-06-29 CN CN202110725584.9A patent/CN113287378A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014076004A (en) * | 2012-10-10 | 2014-05-01 | Orec Co Ltd | Paddy-field weeding work machine |
| CN107912089A (en) * | 2017-11-06 | 2018-04-17 | 吉林大学 | In the ranks mechanical weeding device between strain |
| CN109983862A (en) * | 2019-04-10 | 2019-07-09 | 郑小柔 | A kind of the weeding dedicated unit and its application method of ridge interrow crop |
| CN110226373A (en) * | 2019-06-03 | 2019-09-13 | 中国农业大学 | Vegetables strain inter-row weeder structure |
| CN110050528A (en) * | 2019-06-10 | 2019-07-26 | 华南农业大学 | Weeder and herbicidal methods between swing type rice strain |
| CN211240861U (en) * | 2019-09-30 | 2020-08-14 | 泉州盛元贸易有限公司 | Mechanical weeding device between trunk based on surplus pendulum motion of claw tooth |
| CN211110841U (en) * | 2019-11-10 | 2020-07-28 | 李玉仙 | H-shaped worm gear lead screw lifting working platform |
| CN112292930A (en) * | 2020-11-12 | 2021-02-02 | 北京市农业机械试验鉴定推广站 | Be applied to multi-functional weeder between vegetable trunk row ditch |
| CN215421520U (en) * | 2021-06-29 | 2022-01-07 | 扬州大学 | Inter-row inter-plant weeding device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114568048A (en) * | 2022-03-04 | 2022-06-03 | 福州大学 | High-clearance field weeding robot system and working method thereof |
| CN114747362A (en) * | 2022-03-24 | 2022-07-15 | 福州大学 | Single-ridge double-row weeding device in field |
| CN114747362B (en) * | 2022-03-24 | 2023-08-25 | 福州大学 | Single-ridge double-row weeding device in field |
| CN114793492A (en) * | 2022-04-24 | 2022-07-29 | 内蒙古农业大学 | Novel weeding robot based on agricultural weed removal |
| WO2023226782A1 (en) * | 2022-05-26 | 2023-11-30 | 河南科技大学 | Crop weeding device having seedling avoidance function |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113287378A (en) | Weeding device and weeding method | |
| CN101589705B (en) | Laser weeding robot | |
| CN102138377B (en) | Horizontal swing type inter-plant weeding device | |
| CN102696294B (en) | Weeding robot with adjustable center of gravity for paddy fields | |
| CN201957651U (en) | Leaping type weeding robot mechanism used in paddy field | |
| EP2404492A3 (en) | Agricultural machine | |
| CN109006783A (en) | A kind of WEEDING DEVICE, farmland intelligence uprooting weed robot | |
| CN215421520U (en) | Inter-row inter-plant weeding device | |
| CN113115598B (en) | Automatic obstacle-avoiding weeding machine for orchard | |
| LU503171B1 (en) | Terrain self-adaption unmanned weeding robot for hillside orchard | |
| CN107873150A (en) | Based on solar powered agricultural weeder between machine vision strain | |
| CN109005693B (en) | Open-close type intelligent weeding device based on binocular vision for obtaining seedling and grass information | |
| CN202857243U (en) | Gravity center adjustable weeding robot for irrigated field | |
| CN212876572U (en) | Plowing, leveling and pond digging device with adjustable plant spacing | |
| CN111183783B (en) | Grass winding prevention mowing mechanism and mower | |
| CN206212625U (en) | A kind of ridge plant thing self-action drives cave machine | |
| CN210491583U (en) | Paddy field intertillage weeder | |
| CN110771286A (en) | Agricultural machinery equipment adopting factory operation mode | |
| CN114946815A (en) | Crop weeding device with seedling avoiding function | |
| CN209914426U (en) | Vertical side cutting device of rape harvester | |
| CN204498603U (en) | Farmland mobile operating device | |
| CN111226515B (en) | Two-way single-ridge grape vine soil removal device and engineering machinery provided with same | |
| CN211152641U (en) | Self-propelled intelligent obstacle-avoiding weeding robot | |
| CN210537286U (en) | Vegetable plant inter-row weeding mechanism | |
| CN114616936A (en) | Mechanical inter-plant and inter-row intelligent weeding machine |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210824 |