CN116210432A - Alfalfa weeding device and method in plateau area - Google Patents
Alfalfa weeding device and method in plateau area Download PDFInfo
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- CN116210432A CN116210432A CN202310401134.3A CN202310401134A CN116210432A CN 116210432 A CN116210432 A CN 116210432A CN 202310401134 A CN202310401134 A CN 202310401134A CN 116210432 A CN116210432 A CN 116210432A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/001—Accessories not otherwise provided for
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/14—Measures for saving energy, e.g. in green houses
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Abstract
The invention discloses a device and a method for weeding alfalfa in a plateau area, which belong to the technical field of weeding of alfalfa and comprise the following steps: the weeding device comprises a frame body, a position scanning assembly, a position adjusting assembly, an inter-ridge weeding assembly and an inter-plant weeding assembly, wherein the position scanning assembly and the position adjusting assembly are arranged on the frame body, the position scanning assembly scans and judges the position of alfalfa in real time, the position adjusting assembly enables the inter-ridge weeding assembly, a cover body mechanism and the inter-plant weeding mechanism corresponding to the cover body mechanism to correspond to the position of the alfalfa in real time, a traveling linear motor drives a vertical direction moving mechanism to move towards the traveling direction at a speed greater than the traveling speed of the frame body to be pulled, the vertical direction moving mechanism drives the cover body mechanism and the inter-plant weeding mechanism corresponding to the cover body mechanism to move downwards, and the traveling linear motor drives the vertical direction moving mechanism to move towards the direction opposite to the traveling direction at the traveling speed in the inter-plant weeding process so as to protect the alfalfa and complete weeding work.
Description
Technical Field
The invention relates to the technical field of alfalfa weeding, in particular to an alfalfa weeding device and method in a plateau area.
Background
Alfalfa (Latin's name: lotuscoroniculatel), a generic term for plants of the genus Medicago (Medicago), is native to Europe and America. The alfalfa belongs to perennial forage grass of leguminous plants, is widely distributed in northeast and North China, is an excellent forage grass resource, contains rich alfalfa polysaccharide, soybean flavone and isoflavone and a plurality of unknown growth promoting factors (UGF), has physiological functions of improving the production performance of livestock and poultry, improving the immunity of the livestock and poultry, improving the oxidation resistance of the livestock and poultry, improving the quality of livestock and poultry meat, regulating the microecological balance of intestinal tracts and the like in livestock and poultry production, has wide application in pig raising production, belongs to perennial flowering plants of the alfalfa, has strong adaptability and is good in warm and moist weather, and can be planted in soil with pH of 5.5-8.5; drought resistance, cold and heat resistance, high yield and soil improvement. Due to slow growth in seedling stage, the sowing period of alfalfa can be carried out all the year round. Besides livestock raising, alfalfa has a high vitality and can be used for water and soil conservation, sand prevention, sand fixation, slope protection and greening mountain areas. The garden is mostly used for greening saline-alkali soil and barren lands and planting grass for landscape wild flowers.
The plant is planted the in-process, needs to be weeded, and the weeding mode of using always divide into chemical weeding and physical weeding, and chemical weeding utilizes different types of weedicide, sprays to the plant, gets rid of other types of weeds when avoiding causing the injury to the plant, and the physical weeding utilizes the weeder, and the weeder stretches into the soil through coupler etc. to pick up soil to make the root of weeds receive the harm, cause the weed death, so as to reach the purpose of weeding.
For alfalfa, if herbicide is used for weeding, the herbicide is unreasonable to cause 1) frequent phytotoxicity, poor drug effect and increased cost; 2) Becomes the limit of adjusting the planting structure; 3) The resistance of weeds is generated, the prevention and removal difficulty is increased, and the prevention and removal cost is increased; 4) The novel weed problem appears, if use tradition to drag the weeder, although can clear up the weeds between the seedling ridge, nevertheless because alfalfa itself is planted the density great, and the flower is little rhizome fragile, utilize the weeder can not effectually clear up the weeds between the alfalfa plant cluster, easily lead to the clearance insufficient, or damage too big to the alfalfa, simultaneously, along with the growth of alfalfa, the condition that can take place to become positional deviation, when utilizing traditional weeder clearance, can cause the harm to the alfalfa that surpasses predetermined route, consequently, it is in order to solve above-mentioned problem to need to design a plateau area alfalfa weeding device and method.
Disclosure of Invention
The invention aims to solve the technical problems that: weed among alfalfa clusters and weed among ridges are cleaned while damage to alfalfa is reduced, the occurrence of yield reduction caused by alfalfa damage is avoided while weed cleaning degree is ensured, and meanwhile detachable connection with a traction device can be facilitated, so that switching between weeding and sowing is facilitated according to working requirements.
The technical scheme adopted to solve the technical problems is as follows: an alfalfa weeding device in a plateau region, comprising: frame body 1, position scanning subassembly, position adjustment subassembly, inter-ridge weeding subassembly and inter-plant weeding subassembly, its characterized in that:
the position scanning assembly and the position adjusting assembly are arranged on the frame body;
the inter-plant weeding assembly comprises a traveling direction moving mechanism, a vertical direction moving mechanism, a plurality of cover body mechanisms and a plurality of inter-plant weeding mechanisms corresponding to the cover body mechanisms, wherein the traveling direction moving mechanism comprises a traveling track, a traveling linear motor and a traveling plate, the traveling linear motor is in driving connection with the traveling track, the traveling linear motor is connected with the traveling plate, the traveling linear motor drives the traveling plate to move on the traveling track, the vertical direction moving mechanism is arranged on the traveling plate, the vertical direction moving mechanism is in driving connection with a mounting arm, the cover body mechanisms and the inter-plant weeding mechanisms are all arranged on the mounting arm, and the vertical direction moving mechanism drives the cover body mechanisms and the inter-plant weeding mechanisms to move towards alfalfa or move away from alfalfa;
the inter-ridge weeding assembly comprises an inter-ridge weeding driving mechanism and an inter-ridge weeding mechanism, the inter-ridge weeding driving mechanism drives the inter-ridge weeding mechanism to move up and down, the inter-ridge weeding driving mechanism and a travelling rail are both in driving connection with the position adjusting assembly, and the position adjusting assembly drives the inter-ridge weeding driving mechanism and the travelling rail to carry out position adjustment through scanning of the position scanning assembly on the alfalfa position, so that the inter-ridge weeding mechanism, the cover body mechanism and the inter-plant weeding mechanism correspond to the alfalfa position;
when the weeding machine works, the position scanning assembly scans and judges the position of alfalfa in real time, the position adjusting assembly enables the inter-ridge weeding mechanism, the cover body mechanism and the inter-plant weeding mechanism to correspond to the position of the alfalfa in real time, the traveling linear motor drives the traveling plate to move towards the proceeding direction at a speed which is larger than the traveling speed of the frame body which is pulled, then the vertical direction moving mechanism drives the cover body mechanism and the inter-plant weeding mechanism to move towards the alfalfa, so that the cover body mechanism covers the alfalfa, at the moment, the inter-plant weeding mechanism corresponding to the cover body mechanism cleans weeds among the alfalfa plants, meanwhile, the traveling linear motor drives the traveling plate to move towards the direction opposite to the traveling direction at the same speed relative to the traveling track, when weeding among plants is completed, the vertical direction moving mechanism drives the cover body mechanism and the corresponding inter-plant weeding mechanism to move away from the alfalfa, and the inter-ridge weeding mechanism moves downwards in the process of weeding between the positions of the inter-plant weeding mechanism, and the inter-plant weeding mechanism drives the inter-ridge weeding mechanism to move downwards, so that the inter-ridge weeding mechanism contacts with soil during weeding.
As a preferable technical scheme of the invention, the frame body is provided with a towing hook and a towing connector, the towing hook is detachably connected with a towing device for towing the frame body, and the towing connector is detachably connected with the towing device for towing the frame body for signal connection.
As a preferable technical scheme of the invention, the cover mechanism comprises a cover frame, the cover frame is arranged on the mounting arm, the cover frame is provided with a cover body and an air pump, a plurality of air spray pipe frames are arranged on the cover body around the cover body, air nozzles are arranged on the air spray pipe frames, the air nozzles are positioned below the cover body, and the output end of the air pump is communicated with the air nozzles through the air spray pipe frames.
As a preferable technical scheme of the invention, the inter-plant weeding mechanism comprises a weeding arm, wherein the weeding arm is arranged on the mounting arm and close to the position of the cover body frame, an inter-plant weeding motor is arranged on the weeding arm, and the output end of the inter-plant weeding motor is connected with an inter-plant weeding disc.
As a preferable technical scheme of the invention, the position adjusting assembly comprises a fixed plate, a movable plate and a position adjusting electric cylinder, wherein the fixed plate is arranged on the frame body, a supporting limiting rod is arranged on the fixed plate, the movable plate is connected to the supporting limiting rod in a sliding manner, the position adjusting electric cylinder is arranged on the fixed plate, the output end of the position adjusting electric cylinder is connected with a position adjusting push rod, the position adjusting push rod is connected with the movable plate, and the inter-ridge weeding driving mechanism and the travelling rail are both arranged on the movable plate.
As a preferable technical scheme of the invention, the travelling rail is arranged on the moving plate, the vertical direction moving mechanism comprises a mounting frame and a vertical direction moving electric cylinder, the mounting frame is arranged on the travelling plate, the vertical direction moving electric cylinder is arranged on the mounting frame, the output end of the vertical direction moving electric cylinder is connected with a vertical direction moving push rod, and the vertical direction moving push rod is connected with the mounting arm.
As a preferable technical scheme of the invention, the position scanning assembly comprises a scanning bracket, a scanning camera and a controller, wherein the scanning bracket and the controller are arranged on the frame body, the scanning camera is arranged on the scanning bracket, and the controller is electrically connected with the traction connector, the scanning camera and the position adjusting electric cylinder.
As a preferable technical scheme of the invention, the inter-ridge weeding driving mechanism comprises an inter-ridge weeding electric cylinder, the inter-ridge weeding mechanism comprises an inter-ridge weeding motor, the output end of the inter-ridge weeding electric cylinder is connected with the inter-ridge weeding motor, the inter-ridge weeding electric cylinder is arranged on the moving plate, and the output end of the inter-ridge weeding motor is connected with an inter-ridge weeding disc.
As a preferable technical scheme of the invention, the moving plate is provided with a supporting arm, the travelling plate is provided with a supporting chute, and the supporting arm slides in the supporting chute.
The application method of the alfalfa weeding device in the plateau area for weeding alfalfa comprises the following steps:
s1: the frame body is dragged to advance after being connected with a traction device for dragging the frame body through a dragging hook, the scanning camera scans the alfalfa position on the advancing route in real time and transmits signals to the controller, and the controller enables the hood body, the inter-plant weeding trays and the inter-ridge weeding trays to correspond to the alfalfa position in real time through real-time control of the position adjustment electric cylinder;
s2: the travelling linear motor drives the travelling plate to move towards the travelling direction at a speed greater than the travelling speed of the frame body which is pulled, the vertical direction moving electric cylinder drives the air nozzle to move downwards, the air pump sucks air and sprays the air through the air nozzle, the air sprayed by the air nozzle gathers alfalfa below the cover body, the cover body is driven by the vertical direction moving electric cylinder to cover the gathered alfalfa, the vertical direction moving electric cylinder drives the inter-plant weeding motor and the inter-plant weeding disk to move downwards through the weeding arm so that the inter-plant weeding disk contacts with the soil, and the inter-plant weeding motor is started to drive the inter-plant weeding disk to clear weeds among alfalfa plants;
s3: in the cleaning process of weeding among alfalfa plants, the travelling linear motor drives the travelling plate to move in the direction opposite to the travelling direction at the travelling speed relative to the travelling track;
s4: when the inter-plant weeding of the alfalfa is completed, the vertical moving electric cylinder drives the air nozzle, the cover body, the inter-plant weeding motor and the inter-plant weeding disk to move upwards;
s5: repeating the steps S2 to S4 as the frame body is pulled and moved;
s6: in the whole working process, the inter-ridge weeding electric cylinder drives the inter-ridge weeding motor and the inter-ridge weeding disk to move downwards, so that the inter-ridge weeding disk contacts with the land, and the inter-ridge weeding motor is started to drive the inter-ridge weeding disk to clear the inter-ridge weed of alfalfa.
The beneficial effects of the invention are as follows:
through setting up cover body mechanism, vertical direction removes the jar and drives the air jet and move downwards, and the air pump provides the jet air flow for the air jet, and the air jet gathers together the alfalfa in cover body below, and vertical direction removes the jar and drives the cover body and move downwards and cover the alfalfa to can provide the protection to the alfalfa, vertical direction removes the jar and drives weeding mechanism between the trunk and clear up the weeds between the alfalfa trunk after the cover, so that accomplish the weeds clearance work between the alfalfa trunk when reducing and cause the injury to the alfalfa.
By arranging the travelling direction moving mechanism, the travelling linear motor drives the carrying board to move in the travelling direction, so that the cover body can be matched with the travelling speed of the frame body, and the travelling of the frame body is not affected when the cover body protects alfalfa plant clusters and the inter-plant weeding mechanism carries out inter-plant weeding, thereby ensuring the smoothness degree and the weeding efficiency of inter-plant weeding;
by arranging the inter-ridge weeding assemblies, weeds among the alfalfa ridges can be cleaned, and the comprehensiveness of weed cleaning is ensured;
through setting up position scanning subassembly and position adjustment subassembly to can scan the position of alfalfa in real time when the support body marcing, so that weeding subassembly and plant weeding subassembly between the adjustment ridge correspond the alfalfa position, harm the alfalfa body when avoiding weeding through improving the precision of weeding to the alfalfa, avoid the emergence that leads to the output reduction in yield because the alfalfa damage when guaranteeing the weeds clearance degree.
Through setting up and dragging the couple to conveniently carry out detachable connection with draw gear, be convenient for switch at seeding and weeding according to the work needs.
Drawings
FIG. 1 is a schematic top view of the present invention;
FIG. 2 is a schematic top view of a portion of an inter-plant herbicidal assembly of the present invention;
FIG. 3 is a schematic side view of a portion of an inter-plant herbicidal assembly of the present invention;
FIG. 4 is a schematic side view of a vertical direction movement mechanism portion of the present invention;
FIG. 5 is a schematic side view of a travel plate portion of the present invention;
FIG. 6 is a schematic view of a scanning camera and scanning carriage portion of the present invention;
FIG. 7 is a schematic illustration of a gas jet rack and gas jet nozzle portion of the present invention;
FIG. 8 is a block diagram of a controller of the present invention;
FIG. 9 is a schematic view of a portion of an inter-ridge herbicidal assembly of the present invention.
In the figure: 1. a frame body; 2. a fixing plate; 3. supporting a limit rod; 4. a moving plate; 5. a position adjustment cylinder; 6. a position adjusting push rod; 7. a travel track; 8. a traveling linear motor; 9. a traveling plate; 10. a mounting frame; 11. moving the electric cylinder in the vertical direction; 12. moving the push rod in the vertical direction; 13. a mounting arm; 14. a cover frame; 15. a cover body; 16. a gas jet pipe rack; 17. a gas nozzle; 18. an air pump; 19. a weeding arm; 20. an inter-plant weeding motor; 21. inter-plant weeding trays; 22. a motor for weeding between ridges; 23. weeding discs among ridges; 24. a scanning support; 25. scanning the camera; 26. a support arm; 27. a supporting chute; 28. a controller; 29. an electric weeding cylinder between ridges; 30. a hook is dragged; 31. traction connector.
Description of the embodiments
The present invention will now be described in further detail with reference to the accompanying drawings.
Referring to fig. 1 to 9, the device and method for weeding in a plateau region comprises a frame body 1, a fixed plate 2, a supporting limiting rod 3, a moving plate 4, a position adjusting electric cylinder 5, a position adjusting push rod 6, a traveling track 7, a traveling linear motor 8, a traveling plate 9, a mounting frame 10, a vertical direction moving electric cylinder 11, a vertical direction moving push rod 12, a mounting arm 13, a cover body frame 14, a cover body 15, an air spray pipe frame 16, an air spray nozzle 17, an air pump 18, a weeding arm 19, an inter-plant weeding motor 20, an inter-plant weeding disk 21, an inter-ridge weeding motor 22, an inter-ridge weeding disk 23, a scanning bracket 24, a scanning camera 25, a supporting arm 26, a supporting chute 27, a controller 28, an inter-ridge weeding electric cylinder 29, a towing hook 30 and a traction connector 31.
Referring to fig. 1, 6 and 8, an alfalfa weeding device in a plateau region comprises: the position-adjusting assembly comprises a fixed plate 2, a movable plate 4 and a position-adjusting electric cylinder 5, wherein the fixed plate 2 is arranged on the frame 1, a supporting and limiting rod 3 is arranged on the fixed plate 2, preferably, the number of the supporting and limiting rods 3 is a plurality of the supporting and limiting rods 3, the supporting and limiting rods 3 are respectively arranged at two ends and the middle position of the fixed plate 2, the movable plate 4 is connected to the supporting and limiting rods 3 in a sliding manner, the position-adjusting electric cylinder 5 is arranged on the fixed plate 2, the output end of the position-adjusting electric cylinder 5 is connected with a position-adjusting push rod 6, the position-adjusting push rod 6 is connected with the movable plate 4, an inter-ridge weeding driving mechanism in the inter-ridge weeding assembly and a travelling rail 7 in a travelling direction moving mechanism are arranged on the movable plate 4, the position-scanning assembly comprises a bracket 24, a scanning head 25 and a controller 28, the scanning bracket 24 is preferably arranged on the bracket 24, the scanning bracket 24 is preferably arranged on the end of the frame 24, the scanning bracket 24 is preferably arranged on the traction bracket 24, the traction device is preferably arranged on the traction device 30, and is connected to the frame 1, the traction device is preferably arranged on the traction device 30, and is connected to the traction device 31, the controller 28 is electrically connected with the traction connector 31, the scanning camera 25 and the position adjustment electric cylinder 5, preferably, the controller 28 comprises a signal conversion module, a signal processing module and an output control module, the signal conversion module is electrically connected with the signal processing module and the scanning camera 25, the signal processing module is electrically connected with the output control module and the traction connector 31, the output control module is electrically connected with the position adjustment electric cylinder 5, the frame body 1 is connected with an external driving traction device (such as a tractor) through a traction hook 30, the connection mode can be carried out in a hook mode, the frame body 1 is dragged by providing power by means of the external traction device, preferably, the frame body 1 is dragged at a uniform speed in a range of 3 km/h to 5 km/h, an electric control system of the external traction device is connected with the traction connector 31 in a wired connection mode for providing electric energy and a central signal for the controller 28, the alfalfa in a travelling direction is scanned in real time by means of the scanning camera 25, the alfalfa position is determined, the alfalfa is then the position is converted into the signal conversion module through the traction hook 30, the traction device is conveniently moved to the traction position adjustment electric cylinder 4, the position adjustment electric cylinder is conveniently carried out, the position adjustment is carried out in a position adjustment device is conveniently, the position adjustment is carried out, the position adjustment device is conveniently carried out, and the position adjustment device is moved, and the position-adjusted, and the position of the electric conversion device is conveniently moved, and the position-adjusted is pulled in a pulling device is pulled and moved, the operation flexibility is improved.
Referring to fig. 1-8, the inter-plant weeding assembly comprises a travelling direction moving mechanism, a vertical direction moving mechanism, a plurality of cover mechanisms and inter-plant weeding mechanisms corresponding to the cover mechanisms, wherein the vertical direction moving mechanism is in driving connection with a mounting arm 13, the plurality of cover mechanisms and the inter-plant weeding mechanisms corresponding to the cover mechanisms are all arranged on the mounting arm 13, the travelling direction moving mechanism comprises a travelling rail 7, a travelling linear motor 8 and a travelling plate 9, the travelling rail 7 is arranged on the travelling plate 4, preferably, the travelling rail 7 has the same direction as the travelling direction, the travelling linear motor 8 is in driving connection with the travelling rail 7, the travelling linear motor 8 is connected with the travelling plate 9, the travelling linear motor 8 drives the travelling plate 9 to move on the travelling rail 7, the vertical direction moving mechanism comprises a mounting frame 10 and a vertical direction moving electric cylinder 11, the mounting frame 10 is arranged on the travelling plate 9, preferably, the cross section of the mounting frame 10 is L-shaped, the vertical direction moving electric cylinder 11 is arranged on the mounting frame 10, the output end of the vertical direction moving electric cylinder 11 is connected with a vertical direction moving push rod 12, the vertical direction moving push rod 12 is connected with a mounting arm 13, the cover mechanism comprises a cover frame 14, the cover frame 14 is arranged on the mounting arm 13, the cover frame 14 is provided with a cover 15 and an air pump 18, preferably, the cross section of the cover 15 is in a half-waist round structure, a plurality of air spray racks 16 are arranged on the cover 15 around the cover 15, preferably, the number of the air spray racks 16 around one cover 15 is four, the four air spray racks 16 are positioned at four corners of the cover 15, the air spray pipe rack 16 is provided with an air spray nozzle 17, the air spray nozzle 17 is positioned below the cover body 15, the output end of the air pump 18 is communicated with the air spray nozzle 17 through the air spray pipe rack 16, the inter-plant weeding mechanism comprises a weeding arm 19, the weeding arm 19 is arranged on the mounting arm 13 and is close to the position of the cover body rack 14, the weeding arm 19 is provided with an inter-plant weeding motor 20, the output end of the inter-plant weeding motor 20 is connected with an inter-plant weeding disk 21, the position of the moving plate 4 can be adjusted in real time according to the position of a alfalfa plant cluster, the position of the travelling rail 7 can be adjusted in real time according to the position of alfalfa, the position of the mounting frame 10 can be adjusted according to the position of alfalfa, so that the positions of the cover 15, the air nozzles 17 and the inter-plant weeding tray 21 can be adjusted in real time according to the positions of alfalfa, when the frame 1 is pulled and moved, the traveling linear motor 8 drives the traveling plate 9 to move towards the traveling direction at a speed greater than the traveling speed at which the frame 1 is pulled, preferably, the traveling linear motor 8 drives the traveling plate 9 to move downwards at a speed range of 6 km/h to 8 km/h greater than the traveling speed at which the frame 1 is pulled, the mounting arm 13 is driven to move downwards by means of the vertical direction moving cylinder 11 so as to drive the cover 15 and the air nozzles 17 to move downwards, the air pump 18 provides air flow injection for the air nozzles 17, because the air nozzles 17 are positioned below the cover 15, the air flow injected can blow the alfalfa so that the alfalfa is gathered below the cover 15, the cover 15 moves downwards to cover the gathered alfalfa, the installation arm 13 moves downwards to drive the weeding arm 19 to move downwards as well, the inter-plant weeding motor 20 provides power to drive the inter-plant weeding disk 21 to rotate, along with the weeding arm 19 moves downwards, the rotating inter-plant weeding disk 21 contacts with the land, thereby weeds among alfalfa clusters are cleaned, in the inter-plant weed cleaning process, the traveling linear motor 8 drives the traveling plate 9 to move towards the direction opposite to the traveling direction relative to the traveling track 7 at the traveling speed, thereby ensuring that the alfalfa position of the cover body 15 is fixed relative to the cover cap when the frame body 1 travels, so as to ensure that the alfalfa is protected and weeding work among plants is smoothly performed, when weeding among alfalfa plants is completed, the vertical direction moving cylinder 11 drives the installation arm 13 to move upwards, the cover body 15 releases the cover cap for the alfalfa clusters, and then the work flow is repeated, the traveling linear motor 8 drives the traveling plate 9 to move towards the traveling direction at the speed greater than the traveling speed, so that the subsequent alfalfa clusters are protected and weeding work among the alfalfa clusters is performed, preferably, the number of the supporting arms 26 is that the supporting arms 26 are fixed relative to the traveling speed, the supporting arms 26 are arranged on the supporting plates, and the supporting arms 26 are connected with the supporting arms 9, and the sliding grooves 27 are formed, and the sliding grooves 26 can be connected with the supporting arms 9, and the supporting arms 26 are provided with the supporting arms, and the supporting arms 9.
Referring to fig. 1, 6, 8-9, the inter-ridge weeding assembly comprises an inter-ridge weeding driving mechanism and an inter-ridge weeding mechanism, the inter-ridge weeding driving mechanism comprises an inter-ridge weeding electric cylinder 29, the inter-ridge weeding mechanism comprises an inter-ridge weeding motor 22, the output end of the inter-ridge weeding electric cylinder 29 is connected with the inter-ridge weeding motor 22, the inter-ridge weeding electric cylinder 29 is arranged on the moving plate 4, the output end of the inter-ridge weeding motor 22 is connected with an inter-ridge weeding disk 23, because the position of the moving plate 4 can be adjusted in real time according to the position of a alfalfa plant cluster, the position of the inter-ridge weeding electric cylinder 29 can be adjusted in real time according to the position of alfalfa, and the positions of the inter-ridge weeding motor 22 and the inter-ridge weeding disk 23 can be adjusted in real time according to the position of alfalfa, the inter-ridge weeding motor 22 is driven to move downwards by virtue of power provided by the inter-ridge weeding electric cylinder 29, the inter-ridge weeding motor 22 moves downwards to drive the inter-ridge weeding disk 23 to contact with the soil, the inter-ridge weeding motor 22 provides power to drive the inter-ridge weeding disk 23 to rotate, the rotating inter-ridge weeding disk 23 cleans weeds among alfalfa ridges, preferably, the inter-ridge weeding electric cylinder 29 is operated in a single operation mode, buttons for controlling whether to work or not and in a working mode are arranged on the inter-ridge weeding electric cylinder 29 are adopted for operation in an operation mode, when the work starts, a worker independently operates the inter-ridge weeding electric cylinder 29 to enable the inter-ridge weeding disk 23 to move downwards, and after the whole work is completed, the worker independently operates the inter-ridge weeding electric cylinder 29 to enable the inter-ridge weeding disk 23 to move upwards.
The application method of the alfalfa weeding device in the plateau area for weeding alfalfa comprises the following steps:
s1: the frame body 1 is dragged to travel after being connected with a traction device for dragging the frame body 1 through a dragging hook 30, the travel speed ranges from 3 km/h to 5 km/h and keeps constant speed travel, the scanning camera 25 scans the alfalfa position on a travel route in real time and transmits signals to the controller 28, and the controller 28 enables the hood body 15, the inter-plant weeding tray 21 and the inter-ridge weeding tray 23 to correspond to the alfalfa position in real time through the real-time control of the position adjustment electric cylinder 5;
s2: the travelling linear motor 8 drives the travelling plate 9 to move towards the travelling direction at a speed greater than the travelling speed of the frame body 1, the travelling linear motor 8 drives the travelling plate 9 to move at a speed range of 6 km/h-8 km/h, the vertical direction moving electric cylinder 11 drives the air nozzle 17 to move downwards, the air pump 18 sucks air and sprays the air through the air nozzle 17, the air sprayed by the air nozzle 17 gathers alfalfa below the cover body 15, the vertical direction moving electric cylinder 11 drives the cover body 15 to cover the gathered alfalfa, the vertical direction moving electric cylinder 11 drives the inter-plant weeding motor 20 and the inter-plant weeding disc 21 to move downwards through the weeding arm 19, so that the inter-plant weeding disc 21 contacts with the soil, and the inter-plant weeding motor 20 starts to drive the inter-plant weeding disc 21 to clear weeds among alfalfa plants;
s3: in the cleaning process of weeding among alfalfa plants, the traveling linear motor 8 drives the traveling plate 9 to move in the direction opposite to the traveling direction relative to the traveling track 7 at the traveling speed;
s4: when the inter-plant weeding of the alfalfa is completed, the vertical moving cylinder 11 drives the air nozzle 17, the cover body 15, the inter-plant weeding motor 20 and the inter-plant weeding disk 21 to move upwards;
s5: repeating the steps S2 to S4 as the frame body 1 is pulled and moved;
s6: in the whole working process, the inter-ridge weeding electric cylinder 29 drives the inter-ridge weeding motor 22 and the inter-ridge weeding disk 23 to move downwards, so that the inter-ridge weeding disk 23 contacts with the soil, and the inter-ridge weeding motor 22 is started to drive the inter-ridge weeding disk 23 to clear the inter-ridge weed of alfalfa.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above-described embodiments, and that the above-described embodiments and descriptions are only preferred embodiments of the present invention, and are not intended to limit the invention, and that various changes and modifications may be made therein without departing from the spirit and scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. An alfalfa weeding device in a plateau region, comprising: frame body (1), position scanning subassembly, position adjustment subassembly, inter-ridge weeding subassembly and inter-plant weeding subassembly, its characterized in that:
the position scanning assembly and the position adjusting assembly are arranged on the frame body (1);
the inter-plant weeding assembly comprises a travelling direction moving mechanism, a vertical direction moving mechanism, a plurality of cover body mechanisms and a plurality of inter-plant weeding mechanisms corresponding to the cover body mechanisms, wherein the travelling direction moving mechanism comprises a travelling rail (7), a travelling linear motor (8) and a travelling plate (9), the travelling linear motor (8) is in driving connection with the travelling rail (7), the travelling linear motor (8) is connected with the travelling plate (9), the travelling linear motor (8) drives the travelling plate (9) to move on the travelling rail (7), the vertical direction moving mechanism is arranged on the travelling plate (9), the vertical direction moving mechanism is in driving connection with a mounting arm (13), the cover body mechanisms and the inter-plant weeding mechanisms are all arranged on the mounting arm (13), and the vertical direction moving mechanism drives the cover body mechanisms and the inter-plant weeding mechanisms to move towards or away from alfalfa;
the weeding assembly between the ridges comprises a weeding driving mechanism between the ridges and a weeding mechanism between the ridges, the weeding driving mechanism between the ridges drives the weeding mechanism between the ridges to move up and down, the weeding driving mechanism between the ridges and a travelling rail (7) are all in driving connection with the position adjusting assembly, the position adjusting assembly drives the weeding driving mechanism between the ridges and the travelling rail (7) to carry out position adjustment through scanning of the position scanning assembly on the alfalfa position, and the weeding mechanism between the ridges, the cover body mechanism and the weeding mechanism between the plants correspond to the position of the alfalfa.
2. The plateau alfalfa weeding device according to claim 1, wherein: the traction device comprises a frame body (1), and is characterized in that a traction hook (30) and a traction connector (31) are arranged on the frame body (1), the traction hook (30) is detachably connected with a traction device for traction of the frame body (1), and the traction connector (31) is detachably connected with the traction device for traction of the frame body (1) and used for signal connection.
3. The plateau alfalfa weeding device according to claim 1, wherein: the cover body mechanism comprises a cover body frame (14), the cover body frame (14) is arranged on the mounting arm (13), a cover body (15) and an air pump (18) are arranged on the cover body frame (14), a plurality of air spray pipe frames (16) are arranged on the cover body (15) around the cover body (15), air nozzles (17) are arranged on the air spray pipe frames (16), the air nozzles (17) are located below the cover body (15), and the output end of the air pump (18) is communicated with the air nozzles (17) through the air spray pipe frames (16).
4. A plateau region alfalfa weeding device according to claim 3, wherein: the inter-plant weeding mechanism comprises a weeding arm (19), the weeding arm (19) is arranged on the mounting arm (13) and is close to the position of the cover body frame (14), an inter-plant weeding motor (20) is arranged on the weeding arm (19), and the output end of the inter-plant weeding motor (20) is connected with an inter-plant weeding disc (21).
5. The plateau alfalfa weeding device according to claim 2, wherein: the position adjustment assembly comprises a fixed plate (2), a movable plate (4) and a position adjustment electric cylinder (5), wherein the fixed plate (2) is arranged on a frame body (1), a supporting limiting rod (3) is arranged on the fixed plate (2), the movable plate (4) is slidably connected to the supporting limiting rod (3), the position adjustment electric cylinder (5) is arranged on the fixed plate (2), the output end of the position adjustment electric cylinder (5) is connected with a position adjustment push rod (6), the position adjustment push rod (6) is connected with the movable plate (4), and the inter-ridge weeding driving mechanism and a travelling rail (7) are arranged on the movable plate (4).
6. The plateau alfalfa weeding device according to claim 5, wherein: the travelling rail (7) is arranged on the travelling plate (4), the vertical direction travelling mechanism comprises a mounting frame (10) and a vertical direction travelling cylinder (11), the mounting frame (10) is arranged on the travelling plate (9), the vertical direction travelling cylinder (11) is arranged on the mounting frame (10), the output end of the vertical direction travelling cylinder (11) is connected with a vertical direction travelling push rod (12), and the vertical direction travelling push rod (12) is connected with a mounting arm (13).
7. The plateau alfalfa weeding device according to claim 5, wherein: the position scanning assembly comprises a scanning support (24), a scanning camera (25) and a controller (28), wherein the scanning support (24) and the controller (28) are arranged on the frame body (1), the scanning camera (25) is arranged on the scanning support (24), and the controller (28) is electrically connected with the traction connector (31), the scanning camera (25) and the position adjusting electric cylinder (5).
8. The plateau alfalfa weeding device according to claim 5, wherein: weeding actuating mechanism includes between the ridge weeding electric cylinder (29), weeding mechanism includes between the ridge weeding motor (22) between the ridge weeding electric cylinder (29) output is connected with weeding motor (22) between the ridge, weeding electric cylinder (29) between the ridge sets up on movable plate (4), weeding motor (22) output is connected with weeding dish (23) between the ridge.
9. The plateau alfalfa weeding device according to claim 7, wherein: a supporting arm (26) is arranged on the moving plate (4), a supporting chute (27) is formed in the travelling plate (9), and the supporting arm (26) slides in the supporting chute (27); when the weeding device works, the position scanning assembly scans and judges the position of alfalfa in real time, the position adjusting assembly enables the weeding mechanism between ridges, the cover body mechanism and the weeding mechanism between plants to correspond to the position of the alfalfa in real time, the traveling linear motor (8) drives the traveling plate (9) to move towards the traveling direction at a speed greater than the traveling speed of the frame body (1) which is pulled, then the vertical direction moving mechanism drives the cover body mechanism and the weeding mechanism between plants to move towards the alfalfa, so that the cover body mechanism covers the alfalfa, at the moment, the weeding mechanism between plants corresponding to the cover body mechanism clears weeds between alfalfa plants, meanwhile, the traveling linear motor (8) drives the traveling plate (9) to move towards the direction opposite to the traveling direction at the same speed as the traveling speed relative to the traveling track (7), and when weeding between plants is completed, the vertical direction moving mechanism drives the cover body mechanism and the weeding mechanism between plants corresponding to move away from the weeding mechanism between the plants, the weeding driving mechanism between the plants to move away from the weeding mechanism between the plants, and the weeding driving mechanism between the plants to make weeding driving mechanism between the plants to contact with the soil.
10. A method of using the alfalfa weeding apparatus in a plateau region according to any one of claims 1 to 9 to weed alfalfa, comprising: the method comprises the following steps:
s1: the frame body (1) is dragged to advance after being connected with a traction device for dragging the frame body (1) through a dragging hook (30), the scanning camera (25) scans the alfalfa position on a traveling route in real time and transmits signals to the controller (28), and the controller (28) enables the cover body (15), the inter-plant weeding tray (21) and the inter-ridge weeding tray (23) to correspond to the alfalfa position in real time through real-time control of the position adjusting electric cylinder (5);
s2: the travelling linear motor (8) drives the travelling plate (9) to move towards the travelling direction at a speed greater than the travelling speed of the frame body (1) which is pulled, the vertical direction moving cylinder (11) drives the air nozzle (17) to move downwards, the air pump (18) sucks air and sprays the air through the air nozzle (17), the air sprayed by the air nozzle (17) gathers alfalfa below the cover body (15), the cover body (15) is driven by the vertical direction moving cylinder (11) to cover the gathered alfalfa, the inter-plant weeding motor (20) and the inter-plant weeding disc (21) are driven by the vertical direction moving cylinder (11) to move downwards through the weeding arm (19) so that the inter-plant weeding disc (21) is in contact with the land, and the inter-plant weeding motor (20) is started to drive the inter-plant weeding disc (21) to clear weeds among alfalfa plants;
s3: in the cleaning process of weeding among alfalfa plants, the travelling linear motor (8) drives the travelling plate (9) to move towards the direction opposite to the travelling direction at the travelling speed relative to the travelling track (7);
s4: when the inter-plant weeding of alfalfa is completed, the vertical moving cylinder (11) drives the air nozzle (17), the cover body (15), the inter-plant weeding motor (20) and the inter-plant weeding disc (21) to move upwards;
s5: repeating the steps S2 to S4 along with the dragging and advancing of the frame body (1);
s6: in the whole working process, the inter-ridge weeding electric cylinder (29) drives the inter-ridge weeding motor (22) and the inter-ridge weeding disk (23) to move downwards, so that the inter-ridge weeding disk (23) is in contact with the land, and the inter-ridge weeding motor (22) starts to drive the inter-ridge weeding disk (23) to clear up inter-ridge weed of alfalfa.
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| CN113273376A (en) * | 2021-06-07 | 2021-08-20 | 内蒙古科学技术研究院 | Modularization weeding device |
| CN218007062U (en) * | 2022-07-26 | 2022-12-13 | 中国农业大学 | Composite obstacle-avoiding weeding machine |
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Patent Citations (5)
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|---|---|---|---|---|
| US20090125197A1 (en) * | 2007-11-10 | 2009-05-14 | Willi Behnke | Method for monitoring the quality of crop material |
| JP2010068776A (en) * | 2008-09-22 | 2010-04-02 | Ishii Noki:Kk | Paddy weeder |
| JP2014076004A (en) * | 2012-10-10 | 2014-05-01 | Orec Co Ltd | Paddy-field weeding work machine |
| CN113273376A (en) * | 2021-06-07 | 2021-08-20 | 内蒙古科学技术研究院 | Modularization weeding device |
| CN218007062U (en) * | 2022-07-26 | 2022-12-13 | 中国农业大学 | Composite obstacle-avoiding weeding machine |
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| CN116210432B (en) | 2023-07-21 |
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