CN113973580A - Automatic terrain-imitating avoiding weeding machine among plants - Google Patents
Automatic terrain-imitating avoiding weeding machine among plants Download PDFInfo
- Publication number
- CN113973580A CN113973580A CN202111329331.6A CN202111329331A CN113973580A CN 113973580 A CN113973580 A CN 113973580A CN 202111329331 A CN202111329331 A CN 202111329331A CN 113973580 A CN113973580 A CN 113973580A
- Authority
- CN
- China
- Prior art keywords
- weeding
- avoidance
- hydraulic
- seat
- hydraulic cylinder
- 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
- A01D—HARVESTING; MOWING
- A01D75/00—Accessories for harvesters or mowers
- A01D75/18—Safety devices for parts of the machines
- A01D75/185—Avoiding collisions with obstacles
-
- 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
- A01B39/26—Arrangements for protecting plants, e.g. fenders
Abstract
The invention provides an inter-plant automatic terrain-imitating avoiding weeding machine which comprises a telescopic rack, an avoiding mechanism, a mowing mechanism, a weeding mechanism, an angle adjusting mechanism and a hydraulic system. Wherein: the movable frame can automatically adjust the operation width according to the actual situation of the grape field; the avoidance mechanism adopts a double-hydraulic-cylinder telescopic arm, the rotation angle of the weeding knife is controlled by the double hydraulic cylinders, and the swing angle of the weeding knife is larger by the control of two-stage hydraulic cylinders, so that the weeding range among plants is wider; the mowing mechanism is combined with the weeding mechanism, the large grass in front of the touch rod is removed by utilizing the high-speed rotation of the blade of the mowing disc in front, so that the touch rod cannot directly avoid weeding knives to weed from the root because of touching the large grass, and the root of the removed grass can be turned backwards, the grass root is exposed, and the grass resurrection is prevented; the angle adjusting mechanism can adjust the relative angle of the wheel shaft and the frame according to different terrains, so that the stable operation of the machine tool is ensured, and the penetration depth of the weeding cutter is controlled by the high-low hydraulic cylinder.
Description
Technical Field
The invention relates to the technical field of weeding machines, in particular to an inter-plant automatic terrain-imitating avoiding weeding machine.
Background
Weeding is usually performed by chemical weeding, artificial weeding and mechanical weeding. Wherein, the chemical weeding can bring adverse effect to soil and can generate certain inhibition effect to the growth of crops; the manpower consumed by artificial weeding is huge, the efficiency is low, and the artificial weeding is not suitable for large-area planting weeding; the mechanical weeding can avoid the defects of the two modes, so that the mechanical weeding is rapidly developed and widely applied to agricultural planting. However, the weeding machines have some limitations, and research and development of the weeding machines are continuously carried out by scientific research institutions to expand the application of the weeding machines.
The hedge frame type pruning grape inter-plant weeding machine is researched by Xulinming, D-material and the like at the Chinese agriculture university. The key part of the whole machine is an automatic avoiding mechanism, whether a fruit tree is encountered is determined through a mechanical feeler lever, after the fruit tree is encountered, the mechanical feeler lever transmits resistance to a pressure sensor in the avoiding triggering mechanism, when a threshold value is reached, the automatic avoiding mechanism starts to work, a weeding unit moves out of a grape row and enters the row space, the machine can adjust different pressure threshold values to realize grape tree weeding operation suitable for different growth periods, the adaptability of the machine is increased to a certain extent, and the probability of damaging grape plants is reduced. In subsequent studies, the work efficiency of the inter-plant weeding machine in the trellis type cultivation vineyard is not high by the university of agriculture in China, Xuhliming and the like.
The technical scheme is that the automatic inter-plant avoiding weeding machine for double-side operation of trellis-cultivated grapes is developed by the people of Xuli Ming and the like in the Chang of Chinese agriculture university aiming at the low operation efficiency of the inter-plant weeding machine in the trellis-cultivated vineyard. The machine can be suitable for inter-plant weeding of the trellis type cultivation vineyard, but certain dead angles exist in inter-plant weeding, and inter-row weeding cannot be carried out, so that the machine is not suitable for orchard weeding requirements.
A robot capable of removing weeds between lines and between plants simultaneously is researched by Chenyong and the like of Nanjing forestry university. Mainly comprises a weeding cutter between rows and plants, an image recognition device, a GPS device and a control device. Position navigation is carried out through a GPS, the robot advances along a crop row line, when the robot image recognition device senses weeds, the weeding actuating mechanism can carry out weeding action, and the tail end actuating device can rapidly stretch the high-speed rotating cutter into soil to destroy weed tissues. When the robot senses the crop, the end effector of the weeding mechanism is rapidly opened to prevent the crop from being damaged.
Aiming at the planting mode of dwarfing and dense planting of a Vietnam vineyard of Penglai, such as Duwen Sheng and Wang Rui of Jinan university, an automatic avoiding weeding machine capable of removing weed among rows and plants of the vineyard is researched. The machine transmits a part of power to the horizontal weeding knife through the transmission system under the traction of the tractor to weed between rows of plants; and the other part of the power is transmitted to a hydraulic actuator by using a hydraulic system and is used for removing weed among plants. The movement track of the rotation center of the inter-plant weeding device is researched, and the result shows that the return speed of the hydraulic cylinder is in direct proportion to the tree damage rate in the weeding process and in inverse proportion to the inter-plant weeding rate under the same advancing speed.
Therefore, the main problem of the existing mechanical weeding is how to identify crops and weeds, timely and automatically avoid when encountering the crops in the weeding process, avoid damage to peripheral crops during weeding operation, control weeding depth, weed from the root, and avoid incomplete weeding or resurgence from the root so as to improve weeding efficiency.
Disclosure of Invention
The technical problem to be solved by the invention is to provide an inter-plant automatic terrain-imitating avoiding weeding machine, by designing an accurate avoiding mechanism, crop signals are collected when crops meet in a weeding process, and the crops are automatically and rapidly avoided, so that the peripheral crops are prevented from being damaged in the weeding operation, meanwhile, the weeds can be removed from the roots, and the weeding efficiency is improved.
The invention provides an inter-plant automatic terrain-imitating avoiding weeding machine which comprises a telescopic rack, an avoiding mechanism, a mowing mechanism, a weeding mechanism, an angle adjusting mechanism and a hydraulic system, wherein the avoiding mechanism is arranged on the side part of the telescopic rack, the mowing mechanism and the weeding mechanism are arranged on the avoiding mechanism, and the mowing mechanism is positioned in front of the weeding mechanism, wherein:
the telescopic rack comprises a fixed frame, a triangular suspension bracket is arranged at the front end of the fixed frame, a movable sleeve is connected onto the fixed frame, the movable frame is movably sleeved in the movable sleeve, a width adjusting hydraulic cylinder is arranged on the fixed frame, and the movable end of the width adjusting hydraulic cylinder is connected with the movable sleeve;
the avoidance mechanism comprises an avoidance shaft seat fixedly connected to a movable frame, a telescopic arm and a guide rail are connected to the avoidance shaft seat in parallel, a first avoidance hydraulic cylinder is installed on the movable frame, the movable end of the first avoidance hydraulic cylinder is connected to one side of the telescopic arm, an avoidance seat is arranged on the guide rail, a slide rail is arranged on the upper side of the avoidance seat, a fixed block is fixedly installed on the slide rail, the fixed block is connected with a contact plate through a return spring, the contact plate is slidably assembled on the slide rail, a hexagonal bearing is arranged on the side wall of the avoidance seat, a hexagonal rotating shaft is assembled in the hexagonal bearing, a push rod is connected to the hexagonal rotating shaft and is in contact connection with one side of the contact plate, a travel switch is fixedly arranged on the guide rail and is positioned on one side of the contact plate, and the lower end of the hexagonal rotating shaft is connected with a signal acquisition assembly;
the mowing mechanism comprises a first shaft seat connected to the telescopic arm, a mowing frame is horizontally hinged to the first shaft seat, a hydraulic motor is arranged on the mowing frame, the power output end of the hydraulic motor is connected with a driving wheel, the driving wheel is connected with a driven wheel through a belt, and a mowing disc is connected to a wheel shaft of the driven wheel;
the weeding mechanism comprises a second shaft seat connected to the tail end of the telescopic arm, a rotating rod is connected to the second shaft seat, the lower end of the rotating rod is connected with a pull plate and a weeding cutter, a second avoidance hydraulic cylinder is mounted on the avoidance seat, and the movable end of the second avoidance hydraulic cylinder is hinged to the pull plate;
the angle adjusting mechanism comprises land wheels arranged on two sides of the fixed frame, wheel shafts of the land wheels are connected to the rear of the movable frame through angle adjusting assemblies, height adjusting hydraulic cylinders are arranged behind the movable frame, and the movable ends of the height adjusting hydraulic cylinders are connected with the angle adjusting assemblies;
the hydraulic system comprises a hydraulic oil tank, the hydraulic oil tank is connected with a hydraulic pump, the liquid outlet end of the hydraulic pump is connected with a filter, the liquid outlet end of the filter is respectively connected with a compound solenoid valve and an avoidance solenoid valve, the avoidance solenoid valve is respectively connected with a first avoidance hydraulic cylinder and a second avoidance hydraulic cylinder, the compound solenoid valve is respectively connected with a height adjusting solenoid valve and a width adjusting solenoid valve, the height adjusting solenoid valve is connected with a height adjusting hydraulic cylinder, the width adjusting solenoid valve is connected with a width adjusting hydraulic cylinder, and the height adjusting solenoid valve and the width adjusting solenoid valve are respectively connected with a hydraulic motor.
Preferably, the signal acquisition assembly comprises a touch rod seat connected to the lower end of the hexagonal rotating shaft, a touch rod rotating shaft is arranged on the touch rod seat, a touch rod is arranged on the touch rod rotating shaft, a return spring is connected to the side wall of the touch rod, and the other end of the return spring is connected with the touch rod seat.
Preferably, the angle adjusting assembly comprises a bearing beam which is assembled on the bearing in parallel, a triangular seat is hinged to the bearing beam, an adjusting rod is hinged to the triangular seat, the other end of the adjusting rod is hinged to the movable frame, the rear side of the triangular seat is connected with an adjusting seat, and the adjusting seat is connected with the movable end of the height adjusting hydraulic cylinder.
Preferably, the cutting edge of the weeding knife is inclined upwards by 45 degrees.
Preferably, the driving wheel and the driven wheel are provided with belt pulley shields.
Preferably, the hydraulic system further comprises an air cooler.
Preferably, the electromagnetic valve further comprises a control system, and a signal output end of the control system is electrically connected with the compound electromagnetic valve, the height adjusting electromagnetic valve, the width adjusting electromagnetic valve and the avoiding electromagnetic valve respectively.
The working principle of the invention is as follows:
(1) the weeding principle of the whole machine is as follows: the invention discloses an inter-plant automatic terrain-imitating avoiding weeding machine, which comprises a telescopic rack, an avoiding mechanism, a mowing mechanism, a weeding mechanism, an angle adjusting mechanism and a hydraulic system, wherein the telescopic rack is telescopic: the machine frame is an installation carrier of a whole machine part, each element of the hydraulic system is installed above the machine frame, and the three-point suspension and the machine frame are installed separately, so that the effect of weeding in a terrain-like manner is realized, and the machine frame is connected with a suspension system of a tractor; the hydraulic system is mainly composed of a hydraulic oil tank, an electromagnetic valve group, an air cooler, a hydraulic pump, a width adjusting hydraulic cylinder, a height adjusting hydraulic cylinder, an avoidance hydraulic cylinder and the like which are connected, wherein a hydraulic motor provides power for the rotation of the mowing cutter head, a line width adjusting hydraulic cylinder provides power for a line width adjusting mechanism to realize the adjustment of the operation line width, and the avoidance hydraulic cylinder enables a weeding part to enter and exit the plant space to realize the function of avoiding grapevines; the land wheel is arranged behind the frame, the height of the land wheel is automatically adjusted through the height adjusting hydraulic cylinder, and the soil penetration depth of the weeding knife can be changed; the hydraulic motor is used for achieving the operation effect of the mowing knife, and the rotating speed of the mowing knife is changed in a belt pulley mode;
(2) the working principle of the hydraulic system is as follows: when the hydraulic pump works, power is transmitted to the hydraulic pump by a power source of the tractor, and the hydraulic pump is divided into two oil outlets which respectively enter the compound solenoid valve and the avoidance solenoid valve. The composite electromagnetic valve respectively controls the height adjusting electromagnetic valve and the left and right width electromagnetic valves, the height adjusting electromagnetic valve and the width adjusting electromagnetic valve control the action of the hydraulic cylinder, the return oil enters the hydraulic motor through the composite electromagnetic valve, and the return oil returns to the oil tank through the motor; the avoidance electromagnetic valve directly controls the action of the avoidance hydraulic cylinder. The oil route of the system is as follows:
before encountering a tree, entering an oil path: pump → filter → compound solenoid valve → high-low regulating hydraulic cylinder; pump → filter → compound solenoid valve → width adjustment hydraulic cylinder; pump → filter → avoidance solenoid → avoidance hydraulic cylinder;
an oil return path: high-low regulation hydraulic cylinder → high-low regulation solenoid valve → filter → hydraulic motor → oil tank; high-low regulation hydraulic cylinder → high-low regulation solenoid valve → filter → hydraulic motor → oil tank; a first avoidance hydraulic cylinder and a second avoidance hydraulic cylinder → a first avoidance electromagnetic valve and a second avoidance electromagnetic valve → an oil tank;
when encountering trees, the oil route of the system is as follows: an electric signal is input by a travel switch → an avoidance electromagnetic valve → an avoidance hydraulic cylinder; the travel switch inputs an electric signal → the high-low adjusting electromagnetic valve → the high-low adjusting hydraulic cylinder.
The invention has the beneficial effects that:
(1) a movable frame: in order to achieve the effect of terrain simulation, the three-point suspension is separated from the rack, so that the grape land silting type special planting simulation weeding operation can be better realized according to the actual condition of the grape land, the height of the rack and the soil penetration depth of the weeding knife;
(2) an avoidance mechanism: the rotation angle of the weeding knife is controlled by the double hydraulic cylinders by adopting the double hydraulic cylinder telescopic arms, and the swing angle of the weeding knife is larger by controlling the two hydraulic cylinders, so that the weeding range among plants is wider;
(3) mowing mechanism combines with weeding mechanism: through the flat knife and the mowing disc device, the large grass in front of the touch rod is removed by the high-speed rotation of the blade of the mowing disc, so that the touch rod cannot be avoided directly due to the fact that the touch rod touches the large grass. The cutting edge of the mowing knife has an angle of 45 degrees, so that the root of the removed grass can be turned backwards in the weeding process, and the grass root is exposed, and the grass is prevented from reviving;
(4) angle adjustment mechanism: the terrain-imitated land wheel is adopted, the wheel shaft is connected with the machine frame main body through the angle adjusting device, the relative angle between the wheel shaft and the machine frame can be adjusted according to different terrains in the operation process of the machine, the smooth operation of the machine is ensured, and meanwhile, the soil penetration depth of the weeding cutter is controlled through the high-low hydraulic cylinders.
Drawings
FIG. 1 is a perspective view of an automatic terrain-imitating avoiding weeding machine between plants according to the present invention;
FIG. 2 is a top view of the automatic terrain-imitating dodging weeding machine between plants according to the present invention;
FIG. 3 is a rear view of an automatic terrain-imitating avoiding weeding machine between plants according to the present invention;
FIG. 4 is a partial enlarged view of an inter-plant automatic terrain-imitating avoiding weeding machine according to the present invention;
FIG. 5 is an enlarged view of a portion of the avoidance mechanism of FIG. 1;
FIG. 6 is an enlarged partial view of the angle adjustment mechanism;
fig. 7 is a connection diagram of the hydraulic system of the present invention.
In the figure:
the device comprises a telescopic frame 10, a fixed frame 101, a triangular suspension frame 102, a movable sleeve 103, a movable frame 104 and a width adjusting hydraulic cylinder 105;
the device comprises an avoidance mechanism 20, an avoidance shaft seat 201, a telescopic arm 202, a guide rail 203, a first avoidance hydraulic cylinder 204, an avoidance seat 205, a slide rail 206, a fixed block 207, a contact plate 208, a return spring 209, a hexagon socket bearing 210, a hexagon rotating shaft 211, a push rod 212, a clamping table 214, a signal acquisition assembly 214, a contact rod seat 214-1, a contact rod rotating shaft 214-2, a contact rod 214-3 and a homing spring 214-4;
the mowing mechanism 30, a first shaft seat 301, a mowing frame 302, a hydraulic motor 303, a driving wheel 304, a belt 305, a driven wheel 306, a mowing disc 307 and a belt pulley shield 308 are connected;
the weeding mechanism 40, a second shaft seat 401, a rotating rod 402, a pulling plate 403, a weeding knife 404 and a second avoidance hydraulic cylinder 405;
the device comprises an angle adjusting mechanism 50, a land wheel 501, an angle adjusting component 502, a bearing beam 502-1, a triangular seat 502-2, an adjusting rod 502-3, an adjusting seat 502-4 and a height adjusting hydraulic cylinder 503;
the hydraulic system 60, a hydraulic oil tank 601, a hydraulic pump 602, a filter 603, a compound solenoid valve 604, an avoidance solenoid valve 605, a height adjusting solenoid valve 606, a width adjusting solenoid valve 607 and an air cooler 608.
Detailed Description
In order to make the technical scheme of the invention easier to understand, the technical scheme of the invention is clearly and completely described by adopting a mode of a specific embodiment in combination with the attached drawings.
Example 1:
as shown in fig. 1 to 7, the automatic terrain-following avoidance weeding machine between plants of the present embodiment includes a telescopic frame 10, an avoidance mechanism 20, a mowing mechanism 30, a weeding mechanism 40, an angle adjusting mechanism 50, and a hydraulic system 60, wherein the avoidance mechanism 20 is provided at a side portion of the telescopic frame 10, the mowing mechanism 30 and the weeding mechanism 40 are mounted on the avoidance mechanism 20, and the mowing mechanism 30 is located in front of the weeding mechanism 40, wherein:
the telescopic rack 10 comprises a fixed frame 101, a triangular suspension bracket 102 is arranged at the front end of the fixed frame 101, a movable sleeve 103 is connected onto the fixed frame 101, a movable frame 104 is movably sleeved in the movable sleeve 103, a width adjusting hydraulic cylinder 105 is arranged on the fixed frame, and the movable end of the width adjusting hydraulic cylinder 105 is connected with the movable sleeve 103;
the avoidance mechanism 20 comprises an avoidance shaft seat 201 fixedly connected to the movable frame 104, a telescopic arm 202 and a guide rail 203 are connected to the avoidance shaft seat 201 in parallel, a first avoidance hydraulic cylinder 204 is mounted on the movable frame 104, the movable end of the first avoidance hydraulic cylinder 204 is connected to one side of the telescopic arm 202, an avoidance seat 205 is arranged on the guide rail 203, a slide rail 206 is arranged on the upper side of the avoidance seat 205, a fixed block 207 is fixedly mounted on the slide rail 206, the fixed block 207 is connected with a touch plate 208 through a return spring 209, the touch plate 208 is slidably assembled on the slide rail 206, an inner hexagonal bearing 210 is arranged on the side wall of the avoidance seat 205, a hexagonal rotating shaft 211 is assembled in the inner hexagonal bearing 210, a push rod 212 is connected to the hexagonal rotating shaft 211, the push rod 212 is in contact connection with one side of the touch plate 208, and a travel switch 213 is fixedly arranged on the guide rail 203, the travel switch is positioned on one side of the touch plate 208, and the lower end of the hexagonal rotating shaft 211 is connected with the signal acquisition assembly 214;
the mowing mechanism 30 comprises a first shaft seat 301 connected to the telescopic arm 202, a mowing frame 302 is horizontally hinged on the first shaft seat 301, a hydraulic motor 303 is arranged on the mowing frame 302, the power output end of the hydraulic motor 303 is connected with a driving wheel 304, the driving wheel 304 is connected with a driven wheel 306 through a belt 305, and a mowing disc 307 is connected to the axle of the driven wheel 306;
the weeding mechanism 40 comprises a second shaft seat 401 connected to the tail end of the telescopic arm 202, a rotating rod 402 is connected to the second shaft seat 401, the lower end of the rotating rod 402 is connected with a pull plate 403 and a weeding knife 404, a second avoidance hydraulic cylinder 405 is mounted on the avoidance seat 205, and the movable end of the second avoidance hydraulic cylinder 405 is hinged to the pull plate 403;
the angle adjusting mechanism 50 comprises land wheels 501 arranged on two sides of the fixed frame 101, wheel shafts of the land wheels 501 are connected to the rear of the movable frame 104 through angle adjusting components 502, height adjusting hydraulic cylinders 503 are arranged behind the movable frame, and the movable ends of the height adjusting hydraulic cylinders 503 are connected with the angle adjusting components 502;
the hydraulic system 60 comprises a hydraulic oil tank 601, the hydraulic oil tank 601 is connected with a hydraulic pump 602, the liquid outlet end of the hydraulic pump 602 is connected with a filter 603, the liquid outlet end of the filter 603 is respectively connected with a compound solenoid valve 604 and an avoidance solenoid valve 605, the avoidance solenoid valve 605 is respectively connected with a first avoidance hydraulic cylinder 204 and a second avoidance hydraulic cylinder 405, the compound solenoid valve 604 is respectively connected with a high-low adjusting solenoid valve 606 and a width adjusting solenoid valve 607, the high-low adjusting solenoid valve 606 is connected with a high-low adjusting hydraulic cylinder 503, the width adjusting solenoid valve 607 is connected with a width adjusting hydraulic cylinder 105, and the high-low adjusting solenoid valve 606 and the width adjusting solenoid valve 607 are respectively connected with a hydraulic motor 303.
Example 2:
as shown in fig. 1 to 7, the automatic terrain-following avoidance weeding machine between plants of the present embodiment includes a telescopic frame 10, an avoidance mechanism 20, a mowing mechanism 30, a weeding mechanism 40, an angle adjusting mechanism 50, and a hydraulic system 60, wherein the avoidance mechanism 20 is provided at a side portion of the telescopic frame 10, the mowing mechanism 30 and the weeding mechanism 40 are mounted on the avoidance mechanism 20, and the mowing mechanism 30 is located in front of the weeding mechanism 40, wherein:
the telescopic rack 10 comprises a fixed frame 101, a triangular suspension bracket 102 is arranged at the front end of the fixed frame 101, a movable sleeve 103 is connected onto the fixed frame 101, a movable frame 104 is movably sleeved in the movable sleeve 103, a width adjusting hydraulic cylinder 105 is arranged on the fixed frame, and the movable end of the width adjusting hydraulic cylinder 105 is connected with the movable sleeve 103;
the avoidance mechanism 20 comprises an avoidance shaft seat 201 fixedly connected to the movable frame 104, a telescopic arm 202 and a guide rail 203 are connected to the avoidance shaft seat 201 in parallel, a first avoidance hydraulic cylinder 204 is mounted on the movable frame 104, the movable end of the first avoidance hydraulic cylinder 204 is connected to one side of the telescopic arm 202, an avoidance seat 205 is arranged on the guide rail 203, a slide rail 206 is arranged on the upper side of the avoidance seat 205, a fixed block 207 is fixedly mounted on the slide rail 206, the fixed block 207 is connected with a touch plate 208 through a return spring 209, the touch plate 208 is slidably assembled on the slide rail 206, an inner hexagonal bearing 210 is arranged on the side wall of the avoidance seat 205, a hexagonal rotating shaft 211 is assembled in the inner hexagonal bearing 210, a push rod 212 is connected to the hexagonal rotating shaft 211, the push rod 212 is in contact connection with one side of the touch plate 208, and a travel switch 213 is fixedly arranged on the guide rail 203, the travel switch is positioned on one side of the touch plate 208, and the lower end of the hexagonal rotating shaft 211 is connected with the signal acquisition assembly 214;
the mowing mechanism 30 comprises a first shaft seat 301 connected to the telescopic arm 202, a mowing frame 302 is horizontally hinged on the first shaft seat 301, a hydraulic motor 303 is arranged on the mowing frame 302, the power output end of the hydraulic motor 303 is connected with a driving wheel 304, the driving wheel 304 is connected with a driven wheel 306 through a belt 305, and a mowing disc 307 is connected to the axle of the driven wheel 306;
the weeding mechanism 40 comprises a second shaft seat 401 connected to the tail end of the telescopic arm 202, a rotating rod 402 is connected to the second shaft seat 401, the lower end of the rotating rod 402 is connected with a pull plate 403 and a weeding knife 404, a second avoidance hydraulic cylinder 405 is mounted on the avoidance seat 205, and the movable end of the second avoidance hydraulic cylinder 405 is hinged to the pull plate 403;
the angle adjusting mechanism 50 comprises land wheels 501 arranged on two sides of the fixed frame 101, wheel shafts of the land wheels 501 are connected to the rear of the movable frame 104 through angle adjusting components 502, height adjusting hydraulic cylinders 503 are arranged behind the movable frame, and the movable ends of the height adjusting hydraulic cylinders 503 are connected with the angle adjusting components 502;
the hydraulic system 60 comprises a hydraulic oil tank 601, the hydraulic oil tank 601 is connected with a hydraulic pump 602, the liquid outlet end of the hydraulic pump 602 is connected with a filter 603, the liquid outlet end of the filter 603 is respectively connected with a compound solenoid valve 604 and an avoidance solenoid valve 605, the avoidance solenoid valve 605 is respectively connected with a first avoidance hydraulic cylinder 204 and a second avoidance hydraulic cylinder 405, the compound solenoid valve 604 is respectively connected with a high-low adjusting solenoid valve 606 and a width adjusting solenoid valve 607, the high-low adjusting solenoid valve 606 is connected with a high-low adjusting hydraulic cylinder 503, the width adjusting solenoid valve 607 is connected with a width adjusting hydraulic cylinder 105, and the high-low adjusting solenoid valve 606 and the width adjusting solenoid valve 607 are respectively connected with a hydraulic motor 303.
The signal acquisition assembly 214 comprises a touch rod seat 214-1 connected to the lower end of the hexagonal rotating shaft 211, a touch rod rotating shaft 214-2 is arranged on the touch rod seat 214-1, a touch rod 214-3 is arranged on the touch rod rotating shaft 214-2, the side wall of the touch rod 214-3 is connected with a return spring 214-4, and the other end of the return spring 214-4 is connected with the touch rod seat 214-1.
The angle adjusting assembly 502 comprises a bearing beam 502-1 which is assembled on a bearing in parallel, a triangular seat 502-2 is hinged on the bearing beam 502-1, an adjusting rod 502-3 is hinged on the triangular seat 502-2, the other end of the adjusting rod 502-3 is hinged with the movable frame 104, the rear side of the triangular seat 502-2 is connected with an adjusting seat 502-4, and the adjusting seat 502-4 is connected with the movable end of a high-low adjusting hydraulic cylinder 503.
The cutting edge of the weeding blade 404 is inclined upward by 45 °.
The driving wheel 304 and the driven wheel 306 are provided with a belt pulley shield 308.
The hydraulic system 60 also includes a wind cooler 608.
The system further comprises a control system, and the signal output end of the control system is electrically connected with the compound solenoid valve 604, the height adjusting solenoid valve 606, the width adjusting solenoid valve 607 and the avoidance solenoid valve 605 respectively.
It should be noted that the embodiments described herein are only some embodiments of the present invention, and not all implementations of the present invention, and the embodiments are only examples, which are only used to provide a more intuitive and clear understanding of the present invention, and are not intended to limit the technical solutions of the present invention. All other embodiments, as well as other simple substitutions and various changes to the technical solutions of the present invention, which can be made by those skilled in the art without inventive work, are within the scope of the present invention without departing from the spirit of the present invention.
Claims (7)
1. The utility model provides an automatic imitative topography dodges weeder between trunk, its characterized in that, includes flexible frame (10), dodges mechanism (20), mowing mechanism (30), weeding mechanism (40), angle adjustment mechanism (50) and hydraulic system (60), the lateral part of flexible frame (10) is located in dodging mechanism (20), and mowing mechanism (30) and weeding mechanism (40) are installed on dodging mechanism (20) and mowing mechanism (30) are located the place ahead of weeding mechanism (40), wherein:
the telescopic rack (10) comprises a fixed frame (101), a triangular suspension bracket (102) is installed at the front end of the fixed frame (101), a movable sleeve (103) is connected onto the fixed frame (101), a movable frame (104) is movably sleeved in the movable sleeve (103), a width adjusting hydraulic cylinder (105) is installed on the fixed frame, and the movable end of the width adjusting hydraulic cylinder (105) is connected with the movable sleeve (103);
the avoidance mechanism (20) comprises an avoidance shaft seat (201) fixedly connected to the movable frame (104), a telescopic arm (202) and a guide rail (203) are connected to the avoidance shaft seat (201) in parallel, a first avoidance hydraulic cylinder (204) is installed on the movable frame (104), the movable end of the first avoidance hydraulic cylinder (204) is connected to one side of the telescopic arm (202), an avoidance seat (205) is arranged on the guide rail (203), a slide rail (206) is arranged on the upper side of the avoidance seat (205), a fixed block (207) is fixedly installed on the slide rail (206), the fixed block (207) is connected with a touch plate (208) through a return spring (209), the touch plate (208) can be assembled on the slide rail (206) in a sliding manner, an inner hexagonal bearing (210) is arranged on the side wall of the avoidance seat (205), an inner hexagonal rotating shaft (211) is assembled in the inner hexagonal bearing (210), a push rod (212) is connected to the hexagonal rotating shaft (211), and the push rod (212) is connected with one side of the touch plate (208) in a contacting manner, a travel switch (213) is fixedly arranged on the guide rail (203), the travel switch is positioned on one side of the touch plate (208), and the lower end of the hexagonal rotating shaft (211) is connected with a signal acquisition assembly (214);
the mowing mechanism (30) comprises a first shaft seat (301) connected to the telescopic arm (202), a mowing frame (302) is horizontally hinged to the first shaft seat (301), a hydraulic motor (303) is arranged on the mowing frame (302), the power output end of the hydraulic motor (303) is connected with a driving wheel (304), the driving wheel (304) is connected with a driven wheel (306) through a belt (305), and a mowing disc (307) is connected to the wheel axle of the driven wheel (306);
the weeding mechanism (40) comprises a second shaft seat (401) connected to the tail end of the telescopic arm (202), a rotating rod (402) is connected to the second shaft seat (401), the lower end of the rotating rod (402) is connected with a pulling plate (403) and a weeding knife (404), a second avoidance hydraulic cylinder (405) is installed on the avoidance seat (205), and the movable end of the second avoidance hydraulic cylinder (405) is hinged to the pulling plate (403);
the angle adjusting mechanism (50) comprises land wheels (501) arranged on two sides of the fixed frame (101), wheel shafts of the land wheels (501) are connected to the rear of the movable frame (104) through angle adjusting components (502), height adjusting hydraulic cylinders (503) are arranged behind the movable frame, and the movable ends of the height adjusting hydraulic cylinders (503) are connected with the angle adjusting components (502);
the hydraulic system (60) comprises a hydraulic oil tank (601), the hydraulic oil tank (601) is connected with a hydraulic pump (602), the liquid outlet end of the hydraulic pump (602) is connected with a filter (603), the liquid outlet end of the filter (603) is respectively connected with a compound electromagnetic valve (604) and an avoidance electromagnetic valve (605), the avoidance electromagnetic valve (605) is respectively connected with a first avoidance hydraulic cylinder (204) and a second avoidance hydraulic cylinder (405), the compound electromagnetic valve (604) is respectively connected with a height adjusting electromagnetic valve (606) and a width adjusting electromagnetic valve (607), the height adjusting electromagnetic valve (606) is connected with a height adjusting hydraulic cylinder (503), the width adjusting electromagnetic valve (607) is connected with a width adjusting hydraulic cylinder (105), and the height adjusting electromagnetic valve (606) and the width adjusting electromagnetic valve (607) are respectively connected with the hydraulic motor (303).
2. The inter-plant automatic terrain-imitation avoidance weeding machine according to claim 1, wherein the signal acquisition assembly (214) comprises a touch rod base (214-1) connected to the lower end of the hexagonal rotating shaft (211), a touch rod rotating shaft (214-2) is arranged on the touch rod base (214-1), a touch rod (214-3) is arranged on the touch rod rotating shaft (214-2), a homing spring (214-4) is connected to the side wall of the touch rod (214-3), and the other end of the homing spring (214-4) is connected with the touch rod base (214-1).
3. The inter-plant automatic terrain-imitating avoidance weeding machine according to claim 1, wherein the angle adjusting assembly (502) comprises a bearing beam (502-1) assembled on a bearing in parallel, a triangular seat (502-2) is hinged on the bearing beam (502-1), an adjusting rod (502-3) is hinged on the triangular seat (502-2), the other end of the adjusting rod (502-3) is hinged with the movable frame (104), the rear side of the triangular seat (502-2) is connected with an adjusting seat (502-4), and the adjusting seat (502-4) is connected with the movable end of a height adjusting hydraulic cylinder (503).
4. The inter-plant automatic terrain-imitating weeding machine according to claim 1, wherein the cutting edge of the weeding blade (404) is inclined upward by 45 °.
5. The inter-plant automatic terrain-imitating weeding machine according to claim 1, wherein the driving wheel (304) and the driven wheel (306) are provided with belt pulley shields (308).
6. The inter-plant automatic terrain-imitating weeding machine according to claim 1, wherein the hydraulic system (60) further comprises an air cooler (608).
7. The inter-plant automatic terrain-imitating avoiding weeding machine according to claim 1, further comprising a control system, wherein signal output ends of the control system are electrically connected with the compound solenoid valve (604), the height adjusting solenoid valve (606), the width adjusting solenoid valve (607) and the avoiding solenoid valve (605), respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111329331.6A CN113973580A (en) | 2021-11-10 | 2021-11-10 | Automatic terrain-imitating avoiding weeding machine among plants |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111329331.6A CN113973580A (en) | 2021-11-10 | 2021-11-10 | Automatic terrain-imitating avoiding weeding machine among plants |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113973580A true CN113973580A (en) | 2022-01-28 |
Family
ID=79747808
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111329331.6A Pending CN113973580A (en) | 2021-11-10 | 2021-11-10 | Automatic terrain-imitating avoiding weeding machine among plants |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113973580A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116616033A (en) * | 2023-05-16 | 2023-08-22 | 李萍萍 | Crop row and plant space adjustable automatic intertillage weeding system and control method |
-
2021
- 2021-11-10 CN CN202111329331.6A patent/CN113973580A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116616033A (en) * | 2023-05-16 | 2023-08-22 | 李萍萍 | Crop row and plant space adjustable automatic intertillage weeding system and control method |
| CN116616033B (en) * | 2023-05-16 | 2024-04-23 | 李萍萍 | Crop row and plant space adjustable automatic intertillage weeding system and control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203457509U (en) | Intelligent all-dimensional mechanical weeding machine of orchards | |
| CN103329653B (en) | A kind of intelligent comprehensive weeding by machine in orchard machine | |
| CN108738638A (en) | A kind of scythe | |
| CN107960194B (en) | Automatic obstacle-avoiding mower for orchard | |
| CN113115598B (en) | Automatic obstacle-avoiding weeding machine for orchard | |
| RU164780U1 (en) | MOWING GARDEN MOBILE | |
| CN109429586A (en) | It is a kind of collection in the ranks, between strain weeding function one the device that weeds with a hoe | |
| CN208905295U (en) | A kind of scythe | |
| WO2023221430A1 (en) | Adaptive terrain unmanned weeding robot for orchard in mountainous region | |
| CN104396428A (en) | Swing type lawn mower | |
| CN113973580A (en) | Automatic terrain-imitating avoiding weeding machine among plants | |
| CN205143313U (en) | Automatic it spouts medicine device to keep away multi -functional mowing in barrier orchard | |
| CN209017403U (en) | A kind of weed-eradicating robot for orchard weeding | |
| CN216673906U (en) | Automatic terrain-imitating avoiding weeding machine among plants | |
| CN112449904A (en) | Shrub modeling trimming device for landscaping | |
| CN114097320B (en) | Terminal actuating mechanism of bionic intelligent inter-plant weeding robot | |
| CN108934406A (en) | Ridging formula orchard automatic obstacle avoiding omnidirectional grass trimmer | |
| CN111066386A (en) | Inter-plant weeding device based on machine vision | |
| CN210406089U (en) | Annular orchard weeding machine | |
| CN212447827U (en) | Power platform for afforestation and tending in hilly and mountainous regions | |
| CN212116222U (en) | Special electronic induction inter-plant-row mower for medlar | |
| CN110268817B (en) | Annular weeding machine for orchard | |
| CN204482449U (en) | A kind of long-term cropping tendril clipping device | |
| CN115152454A (en) | Gate type trimmer | |
| CN212232252U (en) | Grape vine side-top synchronous trimming device |
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 |