CN203457509U - Intelligent all-dimensional mechanical weeding machine of orchards - Google Patents

Intelligent all-dimensional mechanical weeding machine of orchards Download PDF

Info

Publication number
CN203457509U
CN203457509U CN201320412761.9U CN201320412761U CN203457509U CN 203457509 U CN203457509 U CN 203457509U CN 201320412761 U CN201320412761 U CN 201320412761U CN 203457509 U CN203457509 U CN 203457509U
Authority
CN
China
Prior art keywords
inter
weeding
hydraulic
row
lateral adjustment
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.)
Expired - Fee Related
Application number
CN201320412761.9U
Other languages
Chinese (zh)
Inventor
陈军
慕军营
刘斐
韩冰
马阳
王峰霞
李博
王荣
槭树腾
刘凡一
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Northwest A&F University
Original Assignee
Northwest A&F University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Northwest A&F University filed Critical Northwest A&F University
Priority to CN201320412761.9U priority Critical patent/CN203457509U/en
Application granted granted Critical
Publication of CN203457509U publication Critical patent/CN203457509U/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Images

Landscapes

  • Soil Working Implements (AREA)

Abstract

本实用新型为一种果园智能化全方位机械除草机，主要包括除草装置、检测控制装置、横向调节装置。所述除草装置包括行间除草装置、株间除草装置，主要由机架、动力传动部分、变速器、车轮、除草刀具组成，用于果树行间和株间杂草的清除；所述检测控制装置包括控制器、横向调节检测红外传感器、速度传感器、树干位置检测红外传感器，用于采集株间除草装置的相对位置信息并处理生成控制指令，控制株间除草装置的运动状态；所述横向调节装置包括横向调节液压机构、横向调节液压机构电磁阀，用于控制株间除草装置的横向偏移。本实用新型通过智能检测控制装置，实现了果树行间和株间杂草的自动清除，解放了劳动力，提高了作业效率。

Figure 201320412761

The utility model relates to an intelligent all-round mechanical weeder for orchards, which mainly includes a weeding device, a detection control device and a lateral adjustment device. The weeding device includes an inter-row weeding device and an inter-row weeding device, which are mainly composed of a frame, a power transmission part, a transmission, a wheel, and a weeding cutter, and are used to remove weeds between rows and rows of fruit trees; the detection and control device It includes a controller, a lateral adjustment detection infrared sensor, a speed sensor, and a trunk position detection infrared sensor, which are used to collect relative position information of the inter-row weeding device and process and generate control instructions to control the motion state of the inter-row weeding device; the lateral adjustment device It includes a horizontal adjustment hydraulic mechanism and a solenoid valve of the horizontal adjustment hydraulic mechanism, which are used to control the lateral offset of the inter-row weeding device. The utility model realizes the automatic removal of weeds between rows and rows of fruit trees through the intelligent detection and control device, liberates the labor force and improves the operation efficiency.

Figure 201320412761

Description

一种果园智能化全方位机械除草机An intelligent all-round mechanical weeder for orchards

一、技术领域：本实用新型涉及果园管理机械，特别涉及一种果园智能化全方位机械除草机，属于农业机械领域。  1. Technical field: The utility model relates to orchard management machinery, in particular to an orchard intelligent all-round mechanical weeder, which belongs to the field of agricultural machinery. the

二、背景技术： 2. Background technology:

目前，农业生产活动中常用的杂草控制方法主要有人工除草、化学药剂除草、电力除草、机械除草几种形式。  At present, the weed control methods commonly used in agricultural production activities mainly include manual weeding, chemical weeding, electric weeding, and mechanical weeding. the

人工除草作业效率低，劳动强度大，作业成本高，极不适应目前大面积农田杂草的及时防治。  Manual weeding has low efficiency, high labor intensity, and high operating cost, which is extremely unsuitable for the timely control of weeds in large areas of farmland. the

化学药剂除草简单易行、工作效率高，近半个世纪以来，发展迅速，除草剂的品种也越来越多，但是该种除草方式存在残留毒性的积累，会造成严重的环境污染，影响作物的生长。  Chemical weeding is simple and easy to do, with high work efficiency. In the past half century, it has developed rapidly, and there are more and more varieties of herbicides. However, the accumulation of residual toxicity in this weeding method will cause serious environmental pollution and affect crops. growth. the

电力除草技术的基本原理是使电流从杂草内部通过，使杂草的细胞组织破坏导致死亡，该种除草方式能够消除各种杂草，但是电力除草机械电压高，消耗功率大，安全性差。  The basic principle of electric weeding technology is to let electric current pass through the inside of weeds to destroy the cell tissue of weeds and lead to death. This weeding method can eliminate all kinds of weeds, but the mechanical voltage of electric weeding is high, the power consumption is large, and the safety is poor. the

机械除草由于采用机械式除草措施，对农作物生长有很好的促进作用，同时有利于保护生态环境，避免了化学药剂除草造成的农药残留，因此，近年来，该种除草方式受到越来越多的重视。  Due to the use of mechanical weeding measures, mechanical weeding can promote the growth of crops, and at the same time help protect the ecological environment and avoid pesticide residues caused by chemical weeding. Therefore, in recent years, this weeding method has received more and more attention. attention. the

在果树种植过程中，由于果园环境杂草丛生，导致果实的产量和品质急剧下降，因此必须进行杂草控制。在果园特殊环境中，杂草的控制主要分为行间杂草控制和株间杂草控制，由于株间杂草控制必须避开果树进行，传统的除草机械很难应付。现有的果园除草机械只能单独进行株间或行间除草作业，机械化水平低，并且由行走机械牵引的果园智能除草机研究甚少，还处于刚刚起步阶段。  In the process of planting fruit trees, due to the overgrown weeds in the orchard environment, the yield and quality of the fruit will drop sharply, so weed control must be carried out. In the special environment of orchards, weed control is mainly divided into inter-row weed control and inter-row weed control. Since inter-row weed control must avoid fruit trees, traditional weeding machinery is difficult to deal with. Existing orchard weeding machines can only perform inter-plant or inter-row weeding operations alone, and the level of mechanization is low, and there is little research on orchard intelligent weeding machines towed by walking machinery, which is still in its infancy. the

三、发明内容： 3. Contents of the invention:

1、发明目的：为了克服现有除草机械的不足，满足果园高效标准除草技术的要求，本实用新型提供了一种果园智能化全方位机械除草机，其目的是采用智能化机械除草装备，实现果树行间和株间杂草的同时清除，避免化学药剂对环境的污染，提高果园除草的作业效率，解放劳动力。  1. Purpose of the invention: In order to overcome the shortcomings of existing weeding machinery and meet the requirements of high-efficiency standard weeding technology in orchards, the utility model provides an intelligent all-round mechanical weeding machine for orchards. The purpose is to use intelligent mechanical weeding equipment to realize Weeds can be removed between the rows of fruit trees and between the trees at the same time, avoiding the pollution of the environment by chemical agents, improving the efficiency of weeding in the orchard, and liberating the labor force. the

2、技术方案：本实用新型是按照以下技术方案实施的：一种果园智能化全方位机械除草机，包括行间除草装置、株间除草装置、检测控制装置、横向调节装置；所述行间除草装置主要包括三点悬挂机构1、传动轴2、行间除草机构变速器3、行间除草刀具19、行间除草机构机架20、高度调节左右车轮16和21，行间除草机构机架20前端固定有三点悬挂机构1，除草机通过三点悬挂机构1与行走机械连接，由行走机械牵引除草机前进，行间除草机构机架20后端左右两侧安装有高度调节左右车轮16和21，用于控制行间除草机构的作业高度，传动轴2将行走机械后轴输出动力传递给行间除草机构变速器3，行间除草机构变速器3将输入的动力转换后驱动行间除草刀具19旋转，从而实施行间除草作业；所述株间除草装置主要包括液压马达电磁阀7、液压马达8、株间除草机构机架9、株间除草机构变速器13、株间除草刀具14，株间除草机构机架9通过横向调节液压机构10与行间除草机构机架20连接，所述液压马达8一端与行走机械液压输出点相连，另一端与万向节11连接，液压马达电磁阀7与控制器5相连，液压马达电磁阀7接收控制器5的控制指令，控制行走机械液压输出点对液压马达的液压动力输出状态，从而控制液压马达8，液压马达8通过万向节11给株间除草机构变速器13提供动力，株间除草机构变速器13将动力转换后驱动株间除草刀具14旋转，从而实施株间除草作业；所述检测控制装置主要包括电瓶4、控制器5、横向调节检测红外传感器6、速度传感器17、树干位置检 测红外传感器24，控制器5安装在行间除草机构机架20的中间位置，由电瓶4提供电力，横向调节检测红外传感器6安装在株间除草机构机架9的前方，主要检测株间除草机构与前方树干的距离，速度传感器17安装在高度调节左车轮16上，主要检测除草机的行走速度，树干位置检测红外传感器24安装在行间除草机构机架20的前侧方，主要检测行间除草机架20与侧方树干的距离，横向调节检测红外传感器6、速度传感器17和树干位置检测红外传感器24与控制器5连接，控制器5接收横向调节检测红外传感器6、速度传感器17、树干位置检测红外传感器24的检测信息，运行控制算法，生成控制指令；所述横向调节装置主要包括横向调节液压机构10、横向调节液压机构电磁阀22，横向调节液压机构10安装在横向调节液压机构底座23上，横向调节液压机构10一端与行走机械液压输出点相连，另一端固定在株间除草机构机架9上，横向调节液压机构10与横向调节液压机构电磁阀22相连，横向调节液压机构电磁阀22与控制器5相连，横向调节液压机构电磁阀22接收控制器5生成的控制指令，控制横向调节液压机构10的横向运动状态，从而可以实现株间除草装置依据果树位置和树干直径信息，生成对应的运动路径。  2. Technical solution: The utility model is implemented according to the following technical solution: an intelligent all-round mechanical weeder for orchards, including an inter-row weeding device, an inter-row weeding device, a detection control device, and a horizontal adjustment device; the inter-row The weeding device mainly includes a three-point suspension mechanism 1, a transmission shaft 2, an inter-row weeding mechanism transmission 3, an inter-row weeding tool 19, an inter-row weeding mechanism frame 20, height adjustment left and right wheels 16 and 21, and an inter-row weeding mechanism frame 20 The front end is fixed with a three-point suspension mechanism 1, and the weeder is connected with the walking machinery through the three-point suspension mechanism 1, and the weeding machine is pulled forward by the walking machinery, and the left and right sides of the rear end of the weeding mechanism frame 20 between rows are equipped with height adjustment left and right wheels 16 and 21 , used to control the working height of the inter-row weeding mechanism, the transmission shaft 2 transmits the output power of the rear axle of the walking machine to the inter-row weeding mechanism transmission 3, and the inter-row weeding mechanism transmission 3 converts the input power to drive the inter-row weeding cutter 19 to rotate , thereby implementing inter-row weeding operations; the inter-row weeding device mainly includes hydraulic motor solenoid valve 7, hydraulic motor 8, inter-row weeding mechanism frame 9, inter-row weeding mechanism transmission 13, inter-row weeding cutter 14, inter-row weeding The mechanism frame 9 is connected with the inter-row weeding mechanism frame 20 through the horizontal adjustment hydraulic mechanism 10, one end of the hydraulic motor 8 is connected with the hydraulic output point of the walking machine, and the other end is connected with the universal joint 11, and the hydraulic motor solenoid valve 7 is connected with the control The hydraulic motor solenoid valve 7 receives the control command from the controller 5, and controls the hydraulic power output state of the hydraulic output point of the walking machine to the hydraulic motor, thereby controlling the hydraulic motor 8, which weeds between plants through the universal joint 11 The mechanism transmission 13 provides power, and the inter-row weeding mechanism transmission 13 converts the power to drive the inter-row weeding cutter 14 to rotate, thereby implementing the inter-row weeding operation; the detection control device mainly includes a battery 4, a controller 5, and a lateral adjustment detection infrared sensor 6, speed sensor 17, trunk position detection infrared sensor 24, controller 5 is installed in the middle position of inter-row weeding mechanism frame 20, is provided with electric power by battery 4, and lateral adjustment detection infrared sensor 6 is installed in inter-row weeding mechanism frame The front of 9 mainly detects the distance between the inter-row weeding mechanism and the front trunk. The speed sensor 17 is installed on the height adjustment left wheel 16 to mainly detect the walking speed of the weeder. The trunk position detection infrared sensor 24 is installed on the inter-row weeding mechanism frame The front side of 20 mainly detects the distance between row weeding frame 20 and side trunk, lateral adjustment detection infrared sensor 6, speed sensor 17 and trunk position detection infrared sensor 24 are connected with controller 5, and controller 5 receives lateral adjustment Detect the detection information of infrared sensor 6, speed sensor 17, trunk position detection infrared sensor 24, run control algorithm, generate control command; Described lateral adjustment device mainly comprises lateral adjustment hydraulic mechanism 10, lateral adjustment hydraulic mechanism electromagnetic valve 22, lateral adjustment The hydraulic mechanism 10 is installed on the base 23 of the lateral adjustment hydraulic mechanism, and one end of the lateral adjustment hydraulic mechanism 10 is connected with the hydraulic output point of the walking machine. The other end is fixed on the inter-plant weeding mechanism frame 9, the lateral adjustment hydraulic mechanism 10 is connected with the lateral adjustment hydraulic mechanism electromagnetic valve 22, the lateral adjustment hydraulic mechanism electromagnetic valve 22 is connected with the controller 5, and the lateral adjustment hydraulic mechanism electromagnetic valve 22 receives control The control command generated by the device 5 controls the lateral movement state of the lateral adjustment hydraulic mechanism 10, so that the inter-row weeding device can generate a corresponding movement path according to the position of the fruit tree and the trunk diameter information. the

3、优点及效果：本实用新型通过智能检测控制装置自动检测株间除草装置的相对位置信息，生成控制指令，借助于横向调节装置，智能调节株间除草装置的横向偏移量和运行路径，可以适应不同的果园环境，实现了果树行间和株间杂草的机械清除，避免了化学药剂对环境的污染，提高了作业效率，解放了劳动力。  3. Advantages and effects: The utility model automatically detects the relative position information of the inter-row weeding device through the intelligent detection and control device, generates control instructions, and intelligently adjusts the lateral offset and running path of the inter-row weeding device by means of the horizontal adjustment device. It can adapt to different orchard environments, realize the mechanical removal of weeds between rows and rows of fruit trees, avoid environmental pollution by chemical agents, improve operating efficiency, and liberate labor. the

四、附图说明； 4. Description of drawings;

图1为本实用新型果园智能化全方位机械除草机的主视图。  Fig. 1 is the front view of the utility model orchard intelligent all-round mechanical weeder. the

图2为本实用新型果园智能化全方位机械除草机的俯视图。  Fig. 2 is the top view of the utility model orchard intelligent all-round mechanical weeder. the

图3为本实用新型株间除草机构的运动轨迹图。  Fig. 3 is a motion track diagram of the inter-row weeding mechanism of the present invention. the

标注：1-三点悬挂机构；2-传动轴；3-行间除草机构变速器；4-电瓶；5-控制器；6-横向调节检测红外传感器；7-液压马达电磁阀；8-液压马达；9-株间除草机构机架；10-横向调节液压机构；11-万向节；12-轴承；13-株间除草机构变速器；14-株间除草刀具；15-液压马达固定座；16-高度调节左车轮；17-速度传感器；18-高度调节车轮定位孔；19-行间除草刀具；20-行间除草机构机架；21-高度调节右车轮；22-横向调节液压机构电磁阀；23-横向调节液压机构底座；24-树干位置检测红外传感器；25-株间除草机构中心运动轨迹；26-果树。  Marking: 1-three-point suspension mechanism; 2-transmission shaft; 3-interrow weeding mechanism transmission; 4-battery; 5-controller; 6-horizontal adjustment detection infrared sensor; 7-hydraulic motor solenoid valve; 8-hydraulic motor ; 9- frame of inter-plant weeding mechanism; 10- horizontal adjustment hydraulic mechanism; 11- universal joint; 12- bearing; 13- inter-plant weeding mechanism transmission; 14- inter-plant weeding cutter; -Height adjustment left wheel; 17-Speed sensor; 18-Height adjustment wheel positioning hole; 19-Interrow weeding cutter; 20-Interrow weeding mechanism frame; 21-Height adjustment right wheel; ; 23-horizontal adjustment hydraulic mechanism base; 24-trunk position detection infrared sensor; 25-center movement track of weeding mechanism between plants; the

五、具体实施方式： 5. Specific implementation methods:

下面结合附图对本实用新型做更进一步的说明：  Below in conjunction with accompanying drawing, the utility model is described further:

如图1和图2所示，一种果园智能化全方位机械除草机结构简图，包括行间除草装置、株间除草装置、检测控制装置、横向调节装置；所述行间除草装置包括三点悬挂机构1、传动轴2、行间除草机构变速器3、高度调节车轮定位孔18、行间除草刀具19、行间除草机构机架20、高度调节左右车轮16和21，行间除草机构机架20前端固定有三点悬挂机构1，除草机通过三点悬挂机构1与行走机械连接，由行走机械牵引除草机前进，行间除草机构机架20后端左右两侧安装有高度调节左右车轮16和21，通过高度调节车轮定位孔18，控制除草机的作业高度，传动轴2将行走机械后轴输出动力传递给行间除草机构变速器3，行间除草机构变速器3将输入的动力转换后驱动行间除草刀具19旋转，从而实施行间除草作业；所述株间除草装置包括液压马达电磁阀7、液压马达8、株间除草机构机架9、万向节11、轴承12、株间除草机构变速器13、株间除草刀具14、液压马达固定座15，株间除草机构机架9通过横向调节液压机构10与行间除草机构机架20连接，所述液压马达8安装在液压马达固定座15中， 液压马达8一端与行走机械液压输出点相连，另一端与万向节11连接，液压马达电磁阀7与控制器5相连，液压马达电磁阀7接收控制器5的控制指令，控制行走机械液压输出点对液压马达的液压动力输出状态，从而控制液压马达8，液压马达8另一端通过万向节11、轴承12与株间除草机构变速器13连接，给株间除草机构变速器13提供动力，株间除草机构变速器13将动力转换后驱动株间除草刀具14旋转，从而实施株间除草作业。所述检测控制装置主要包括电瓶4、控制器5、横向调节检测红外传感器6、速度传感器17、树干位置检测红外传感器24，控制器5安装在行间除草机构机架20的中间位置，由电瓶4提供电力，横向调节检测红外传感器6安装在株间除草机构机架9的前方，主要检测株间除草机构与前方树干的距离，速度传感器17安装在高度调节左车轮16上，主要检测除草机的行走速度，树干位置检测红外传感器24安装在行间除草机构机架20的前侧方，主要检测行间除草机架20与侧方树干的距离，横向调节检测红外传感器6、速度传感器17和树干位置检测红外传感器24与控制器5连接，控制器5接收横向调节检测红外传感器6、速度传感器17、树干位置检测红外传感器24的检测信息，运行控制算法，生成控制指令；所述横向调节装置主要包括横向调节液压机构10、横向调节液压机构电磁阀22，横向调节液压机构底座23，横向调节液压机构10安装在横向调节液压机构底座23上，横向调节液压机构10一端与行走机械液压输出点相连，另一端固定在株间除草机构机架9上，横向调节液压机构10与横向调节液压机构电磁阀22相连，横向调节液压机构电磁阀22与控制器5相连，横向调节液压机构电磁阀22接收控制器5生成的控制指令，控制横向调节液压机构10的横向运动状态，从而可以实现株间除草装置依据果树位置和树干直径信息，生成对应的运动路径。  As shown in Fig. 1 and Fig. 2, a kind of orchard intelligent all-round mechanical weeding machine structure schematic diagram, comprises inter-row weeding device, inter-row weeding device, detection control device, horizontal adjustment device; described inter-row weeding device includes three Point suspension mechanism 1, transmission shaft 2, interrow weeding mechanism transmission 3, height adjustment wheel positioning hole 18, interrow weeding cutter 19, interrow weeding mechanism frame 20, height adjustment left and right wheels 16 and 21, interrow weeding mechanism machine The frame 20 front ends are fixed with a three-point suspension mechanism 1, and the weeder is connected with the walking machinery by the three-point suspension mechanism 1, and the weeding machine is pulled forward by the walking machinery. and 21, adjust the height of the wheel positioning hole 18 to control the working height of the weeding machine, the transmission shaft 2 transmits the output power of the rear axle of the walking machine to the inter-row weeding mechanism transmission 3, and the inter-row weeding mechanism transmission 3 converts the input power to drive Inter-row weeding tool 19 rotates, thereby implementing inter-row weeding operation; described inter-row weeding device includes hydraulic motor solenoid valve 7, hydraulic motor 8, inter-row weeding mechanism frame 9, universal joint 11, bearing 12, inter-row weeding Mechanism transmission 13, inter-row weeding cutter 14, hydraulic motor fixing seat 15, inter-row weeding mechanism frame 9 is connected with inter-row weeding mechanism frame 20 through horizontal adjustment hydraulic mechanism 10, and described hydraulic motor 8 is installed on hydraulic motor fixing seat In 15, one end of the hydraulic motor 8 is connected to the hydraulic output point of the walking machine, the other end is connected to the universal joint 11, the hydraulic motor solenoid valve 7 is connected to the controller 5, and the hydraulic motor solenoid valve 7 receives the control command of the controller 5 to control the walking The mechanical hydraulic output point is connected to the hydraulic power output state of the hydraulic motor to control the hydraulic motor 8. The other end of the hydraulic motor 8 is connected to the inter-row weeding mechanism transmission 13 through the universal joint 11 and the bearing 12 to provide power for the inter-row weeding mechanism transmission 13 After the inter-row weeding mechanism transmission 13 converts the power, it drives the inter-row weeding cutter 14 to rotate, thereby implementing the inter-row weeding operation. Described detection control device mainly comprises storage battery 4, controller 5, lateral adjustment detection infrared sensor 6, speed sensor 17, trunk position detection infrared sensor 24, and controller 5 is installed in the middle position of interrow weeding mechanism frame 20, is controlled by storage battery. 4. Power supply, horizontal adjustment detection infrared sensor 6 is installed in the front of the inter-row weeding mechanism frame 9, mainly detects the distance between the inter-row weeding mechanism and the trunk in front, and the speed sensor 17 is installed on the height adjustment left wheel 16, mainly detects the weeder walking speed, the trunk position detection infrared sensor 24 is installed on the front side of the interrow weeding mechanism frame 20, mainly detects the distance between the interrow weeding mechanism frame 20 and the side trunk, and the lateral adjustment detects the infrared sensor 6, the speed sensor 17 and The trunk position detection infrared sensor 24 is connected with the controller 5, and the controller 5 receives the detection information of the lateral adjustment detection infrared sensor 6, the speed sensor 17, the trunk position detection infrared sensor 24, operates a control algorithm, and generates a control command; the lateral adjustment device It mainly includes a lateral adjustment hydraulic mechanism 10, a lateral adjustment hydraulic mechanism solenoid valve 22, a lateral adjustment hydraulic mechanism base 23, the lateral adjustment hydraulic mechanism 10 is installed on the lateral adjustment hydraulic mechanism base 23, and one end of the lateral adjustment hydraulic mechanism 10 is connected to the hydraulic output point of the walking machine. Connected, the other end is fixed on the frame 9 of the weeding mechanism between the plants, the horizontal adjustment hydraulic mechanism 10 is connected with the horizontal adjustment hydraulic mechanism electromagnetic valve 22, the horizontal adjustment hydraulic mechanism electromagnetic valve 22 is connected with the controller 5, and the horizontal adjustment hydraulic mechanism electromagnetic valve 22 Receive the control command generated by the controller 5, and control the lateral movement state of the lateral adjustment hydraulic mechanism 10, so that the inter-row weeding device can generate a corresponding movement path according to the position of the fruit tree and the trunk diameter information. the

如图3所示，一种果园智能化全方位机械除草机株间除草机构运动轨迹， 控制器5根据树干位置检测红外传感器24检测到的距离信息，生成控制指令，控制横向调节液压机构10的收缩运动量，实现株间除草装置依据果树26的位置和树干直径，生成对应的运动轨迹25，缩短了株间除草装置的运行路径，提高了作业效率。  As shown in Figure 3, a kind of orchard intelligent all-round mechanical weeding machine inter-row weeding mechanism movement trajectory, controller 5 detects the distance information detected by infrared sensor 24 according to the trunk position, generates control instructions, and controls the horizontal adjustment hydraulic mechanism 10 The amount of motion is reduced to realize that the inter-row weeding device generates a corresponding motion track 25 according to the position of the fruit tree 26 and the trunk diameter, which shortens the running path of the inter-row weeding device and improves the working efficiency. the

本实用新型所述一种果园智能化全方位机械除草机，其工作过程如下：  An intelligent all-round mechanical weeder for orchards described in the utility model, its working process is as follows:

除草机工作之前，在控制器5中设置株间除草机构的横向调节阈值和距离树干位置阈值，调整除草机高度调节左右车轮16和21的位置，通过三点悬挂机构1放下除草机，打开控制器电源，启动行走装置；除草机工作时，行走机械牵引除草机前进，行间除草装置工作，实施行间除草，横向调节装置将株间除草机构伸入果树株间，实施株间除草，当横向调节检测红外传感器6检测到的株间除草装置与树干距离达到预先设定的横向调节阈值时，株间除草机构根据控制器5的控制指令，自动返回到相应的位置，当树干位置检测红外传感器24检测到的距离大于距离树干位置阈值时，株间除草装置伸出，进入下一株间进行除草作业，此过程进行时，行间除草装置不间断工作，循环进行直至完成所有除草作业；除草机工作结束后，收回株间除草机构，由三点悬挂装置1提升除草机，关闭电源。  Before the weeder works, set the lateral adjustment threshold and the distance from the trunk position threshold of the inter-plant weeding mechanism in the controller 5, adjust the height of the weeder, adjust the positions of the left and right wheels 16 and 21, put down the weeder through the three-point suspension mechanism 1, and open the control When the weeder is working, the walking machine will pull the weeder forward, and the inter-row weeding device will work to implement inter-row weeding. The horizontal adjustment device will extend the inter-row weeding mechanism into the fruit tree to implement inter-row weeding. When the distance between the inter-row weeding device and the trunk detected by the lateral adjustment detection infrared sensor 6 reaches the preset lateral adjustment threshold, the inter-row weeding mechanism automatically returns to the corresponding position according to the control instruction of the controller 5. When the trunk position detects the infrared When the distance detected by the sensor 24 is greater than the distance from the trunk position threshold, the inter-row weeding device stretches out and enters the next inter-plant for weeding operations. When this process is carried out, the inter-row weeding device works continuously, and the cycle is carried out until all weeding operations are completed; After the work of the weeder is finished, the inter-row weeding mechanism is retracted, the weeder is lifted by the three-point suspension device 1, and the power is turned off. the

Claims (5)

1.一种果园智能化全方位机械除草机，其特征在于：包括行间除草装置、株间除草装置、检测控制装置、横向调节装置；所述行间除草装置主要包括三点悬挂机构(1)、传动轴(2)、行间除草机构变速器(3)、行间除草刀具(19)、行间除草机构机架(20)，行间除草机构机架(20)前端固定有三点悬挂机构(1)，除草机通过所述的三点悬挂机构(1)与行走机械连接，由行走机械牵引除草机前进，传动轴(2)将行走机械后轴输出动力传递给行间除草机构变速器(3)，行间除草机构变速器(3)将输入的动力转换后驱动行间除草刀具(19)旋转；所述株间除草装置主要包括液压马达电磁阀(7)、液压马达(8)、株间除草机构机架(9)、株间除草机构变速器(13)、株间除草刀具(14)，株间除草机构机架(9)通过横向调节液压机构(10)与行间除草机构机架(20)连接，所述液压马达(8)一端与行走机械液压输出点相连，行走机械液压输出点通过液压马达电磁阀(7)控制液压动力的输入状态，从而控制液压马达(8)，液压马达(8)别一端与万向节(11)连接，液压马达(8)通过万向节(11)给株间除草机构变速器(13)提供动力，株间除草机构变速器(13)将动力转换后驱动株间除草刀具(14)旋转。  1. An orchard intelligent all-round mechanical weeder is characterized in that: it comprises an inter-row weeding device, an inter-row weeding device, a detection control device, and a lateral adjustment device; the inter-row weeding device mainly includes a three-point suspension mechanism (1 ), transmission shaft (2), interrow weeding mechanism speed changer (3), interrow weeding cutter (19), interrow weeding mechanism frame (20), interrow weeding mechanism frame (20) front end is fixed with three-point suspension mechanism (1), the weeder is connected with the walking machinery through the three-point suspension mechanism (1), and the weeding machine is pulled forward by the walking machinery, and the power transmission shaft (2) transmits the output power of the rear axle of the walking machinery to the interrow weeding mechanism transmission ( 3), the inter-row weeding mechanism transmission (3) converts the input power to drive the inter-row weeding cutter (19) to rotate; the inter-row weeding device mainly includes a hydraulic motor solenoid valve (7), a hydraulic motor (8), a plant The inter-row weeding mechanism frame (9), the inter-row weeding mechanism transmission (13), the inter-row weeding cutter (14), the inter-row weeding mechanism frame (9) through the horizontal adjustment hydraulic mechanism (10) and the inter-row weeding mechanism frame (20) connection, one end of the hydraulic motor (8) is connected to the hydraulic output point of the traveling machinery, and the hydraulic output point of the traveling machinery controls the input state of the hydraulic power through the hydraulic motor solenoid valve (7), thereby controlling the hydraulic motor (8), the hydraulic pressure The other end of the motor (8) is connected with the universal joint (11), and the hydraulic motor (8) provides power to the inter-row weeding mechanism transmission (13) through the universal joint (11), and the inter-row weeding mechanism transmission (13) converts the power After driving the weeding cutter (14) between the plants rotates. the 2.根据权利要求1所述的果园智能化全方位机械除草机，其特征在于：所述检测控制装置主要包括控制器(5)、横向调节检测红外传感器(6)、速度传感器(17)、树干位置检测红外传感器(24)，横向调节检测红外传感器(6)安装在株间除草机构机架(9)的前方，主要检测株间除草机构与前方树干的距离，速度传感器(17)安装在高度调节左车轮(16)上，主要检测除草机的行走速度，树干位置检测红外传感器(24)安装在行间除草机构机架(20)的前侧方，主要检测行间除草机架(20)与侧方树干的距离，控制器(5)安装在行间除草机构机架(20)的中间位置，由电瓶(4)提供电力，控制器(5)主要 用于接收横向调节检测红外传感器(6)、速度传感器(17)、树干位置检测红外传感器(24)的检测信息，运行控制算法，生成控制指令。  2. The orchard intelligent all-round mechanical weeder according to claim 1 is characterized in that: the detection control device mainly includes a controller (5), a lateral adjustment detection infrared sensor (6), a speed sensor (17), Trunk position detects infrared sensor (24), and lateral adjustment detects infrared sensor (6) and is installed in the place ahead of inter-row weeding mechanism frame (9), mainly detects the distance between inter-row weeding mechanism and trunk in front, and speed sensor (17) is installed in The height is adjusted on the left wheel (16), mainly detecting the walking speed of the weeder, and the trunk position detection infrared sensor (24) is installed on the front side of the weeding mechanism frame (20) between the rows, mainly detecting the weeding frame (20) between the rows ) and the side trunk, the controller (5) is installed in the middle position of the weeding mechanism frame (20) between the rows, and the power is provided by the battery (4), and the controller (5) is mainly used to receive the lateral adjustment detection infrared sensor (6), the speed sensor (17), the detection information of the trunk position detection infrared sensor (24), the operation control algorithm, generates the control instruction. the 3.根据权利要求2所述的果园智能化全方位机械除草机，其特征在于：所述横向调节装置主要包括横向调节液压机构(10)、横向调节液压机构电磁阀(22)，横向调节液压机构(10)安装在横向调节液压机构底座(23)上，横向调节液压机构(10)一端与行走机械液压输出点相连，行走机械液压输出点通过横向调节液压机构电磁阀(22)控制横向调节液压机构(10)的运动状态，横向调节液压机构(10)另一端固定在株间除草机构机架(9)上，控制株间除草机构机架(9)的横向运动。  3. The orchard intelligent all-round mechanical weeder according to claim 2, characterized in that: the lateral adjustment device mainly comprises a lateral adjustment hydraulic mechanism (10), a lateral adjustment hydraulic mechanism solenoid valve (22), and a lateral adjustment hydraulic mechanism. The mechanism (10) is installed on the base (23) of the lateral adjustment hydraulic mechanism, and one end of the lateral adjustment hydraulic mechanism (10) is connected to the hydraulic output point of the traveling machinery, and the hydraulic output point of the traveling machinery controls the lateral adjustment through the solenoid valve (22) of the lateral adjustment hydraulic mechanism The motion state of the hydraulic mechanism (10), the other end of the lateral adjustment hydraulic mechanism (10) is fixed on the inter-row weeding mechanism frame (9), and controls the lateral movement of the inter-row weeding mechanism frame (9). the 4.根据权利要求3所述的果园智能化全方位机械除草机，其特征在于：横向调节液压机构电磁阀(22)与控制器(5)相连，控制器(5)根据树干位置检测红外传感器(24)检测到的距离信息，生成控制指令，控制横向调节液压机构(10)的横向运动状态。  4. The orchard intelligent all-round mechanical weeder according to claim 3 is characterized in that: the solenoid valve (22) of the horizontal adjustment hydraulic mechanism is connected to the controller (5), and the controller (5) detects the infrared sensor according to the position of the trunk (24) Generate a control command based on the detected distance information, and control the lateral movement state of the lateral adjustment hydraulic mechanism (10). the 5.根据权利要求4所述的果园智能化全方位机械除草机，其特征在于：液压马达电磁阀(7)与控制器(5)相连，在株间除草装置返回过程中，控制器(5)检测横向调节液压机构电磁阀(22)的开关状态，当横向调节液压机构电磁阀(22)有开到关时，控制器(5)关闭液压马达电磁阀(7)的开关，液压马达停止转动。  5. The orchard intelligent all-round mechanical weeder according to claim 4 is characterized in that: the hydraulic motor solenoid valve (7) is connected to the controller (5), and during the return process of the inter-row weeding device, the controller (5) ) to detect the switching state of the solenoid valve (22) of the lateral adjustment hydraulic mechanism. When the solenoid valve (22) of the lateral adjustment hydraulic mechanism is turned on to off, the controller (5) turns off the switch of the solenoid valve (7) of the hydraulic motor, and the hydraulic motor stops turn. the
CN201320412761.9U 2013-07-06 2013-07-06 Intelligent all-dimensional mechanical weeding machine of orchards Expired - Fee Related CN203457509U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201320412761.9U CN203457509U (en) 2013-07-06 2013-07-06 Intelligent all-dimensional mechanical weeding machine of orchards

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201320412761.9U CN203457509U (en) 2013-07-06 2013-07-06 Intelligent all-dimensional mechanical weeding machine of orchards

Publications (1)

Publication Number Publication Date
CN203457509U true CN203457509U (en) 2014-03-05

Family

ID=50169894

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201320412761.9U Expired - Fee Related CN203457509U (en) 2013-07-06 2013-07-06 Intelligent all-dimensional mechanical weeding machine of orchards

Country Status (1)

Country Link
CN (1) CN203457509U (en)

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103329653A (en) * 2013-07-06 2013-10-02 西北农林科技大学 Intelligent all-dimensional mechanical weeding machine of orchards
CN105706751A (en) * 2016-04-11 2016-06-29 苏州宏奇锐自动化有限公司 Green belt shearing device
CN105746192A (en) * 2016-03-30 2016-07-13 苏州亚思科精密数控有限公司 Pruning device for green belts with obstacles
CN105746191A (en) * 2016-03-30 2016-07-13 苏州亚思科精密数控有限公司 Green belt trimming device
CN105746195A (en) * 2016-04-11 2016-07-13 苏州宏奇锐自动化有限公司 Barrier green belt trimming device
CN105766401A (en) * 2016-04-11 2016-07-20 苏州宏奇锐自动化有限公司 Obstructed highway greenbelt pruning system
CN105794501A (en) * 2016-04-11 2016-07-27 苏州宏奇锐自动化有限公司 Highway greenbelt trimming device
CN105794500A (en) * 2016-04-11 2016-07-27 苏州宏奇锐自动化有限公司 Intelligent green belt pruning device
CN105794499A (en) * 2016-03-30 2016-07-27 苏州亚思科精密数控有限公司 Pruning method of green belt pruning machine
CN105830754A (en) * 2016-03-30 2016-08-10 苏州亚思科精密数控有限公司 Obstructed greenbelt trimming method
CN105850527A (en) * 2016-03-30 2016-08-17 苏州亚思科精密数控有限公司 Pruning system for green belt with obstacles
CN105850526A (en) * 2016-03-30 2016-08-17 苏州亚思科精密数控有限公司 Pruning system for green belt
CN106376251A (en) * 2016-11-08 2017-02-08 宁夏智源农业装备有限公司 Intelligent weeding machine for Chinese wolfberry
CN106304861B (en) * 2016-10-19 2019-02-19 宁夏智源农业装备有限公司 Grape intelligence weeder
AT520294B1 (en) * 2018-02-01 2019-03-15 Agrom Kg HACK DEVICE
CN113907061A (en) * 2021-09-10 2022-01-11 东北农业大学 Intelligent inter-plant weeding equipment based on injury pesticide application method
CN116158273A (en) * 2022-12-07 2023-05-26 长沙中联重科环境产业有限公司 Green comprehensive maintenance vehicle

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103329653A (en) * 2013-07-06 2013-10-02 西北农林科技大学 Intelligent all-dimensional mechanical weeding machine of orchards
CN105794499A (en) * 2016-03-30 2016-07-27 苏州亚思科精密数控有限公司 Pruning method of green belt pruning machine
CN105850526A (en) * 2016-03-30 2016-08-17 苏州亚思科精密数控有限公司 Pruning system for green belt
CN105746192A (en) * 2016-03-30 2016-07-13 苏州亚思科精密数控有限公司 Pruning device for green belts with obstacles
CN105746191A (en) * 2016-03-30 2016-07-13 苏州亚思科精密数控有限公司 Green belt trimming device
CN105850527A (en) * 2016-03-30 2016-08-17 苏州亚思科精密数控有限公司 Pruning system for green belt with obstacles
CN105830754A (en) * 2016-03-30 2016-08-10 苏州亚思科精密数控有限公司 Obstructed greenbelt trimming method
CN105746195A (en) * 2016-04-11 2016-07-13 苏州宏奇锐自动化有限公司 Barrier green belt trimming device
CN105794500A (en) * 2016-04-11 2016-07-27 苏州宏奇锐自动化有限公司 Intelligent green belt pruning device
CN105794501A (en) * 2016-04-11 2016-07-27 苏州宏奇锐自动化有限公司 Highway greenbelt trimming device
CN105766401A (en) * 2016-04-11 2016-07-20 苏州宏奇锐自动化有限公司 Obstructed highway greenbelt pruning system
CN105706751A (en) * 2016-04-11 2016-06-29 苏州宏奇锐自动化有限公司 Green belt shearing device
CN106304861B (en) * 2016-10-19 2019-02-19 宁夏智源农业装备有限公司 Grape intelligence weeder
CN106376251A (en) * 2016-11-08 2017-02-08 宁夏智源农业装备有限公司 Intelligent weeding machine for Chinese wolfberry
AT520294B1 (en) * 2018-02-01 2019-03-15 Agrom Kg HACK DEVICE
AT520294A4 (en) * 2018-02-01 2019-03-15 Agrom Kg HACK DEVICE
US11627693B2 (en) 2018-02-01 2023-04-18 Roman ROMSTORFER Hoeing device
CN113907061A (en) * 2021-09-10 2022-01-11 东北农业大学 Intelligent inter-plant weeding equipment based on injury pesticide application method
CN116158273A (en) * 2022-12-07 2023-05-26 长沙中联重科环境产业有限公司 Green comprehensive maintenance vehicle

Similar Documents

Publication Publication Date Title
CN103329653B (en) A kind of intelligent comprehensive weeding by machine in orchard machine
CN102696294B (en) Weeding robot with adjustable center of gravity for paddy fields
CN103404379B (en) Self-propelled intelligent flower thinning machine for orchard
CN104904700B (en) A kind of comprehensive weeder of intelligent crops and method
CN103314689B (en) A kind of self-navigation orchard intelligence ditching-fertilizing machine
CN203369088U (en) Intelligent ditching fertilizer distributor for garden based on automatic navigation
CN111758424A (en) A field cotton automatic topping device
CN101412217A (en) Autonomous field robot
CN113678587B (en) An unmanned rice intertillage weeder and its operation method
CN204722111U (en) The comprehensive weeder of a kind of intelligent crops
CN103314663A (en) Intelligentized intra-row and intra-plant weeding device for crops in seedling stage
CN102792943A (en) Multispectral vision based efficient weeding robot
CN107600202A (en) A kind of intelligent weed-eradicating robot for being applicable complicated landform
CN103416251B (en) A kind of plant cultivation trolley and control method thereof
CN117356245B (en) Intelligent ridge mowing robot structure and autonomous navigation and mowing operation control method thereof
CN111066386A (en) An interplant weeding device based on machine vision
CN107509399A (en) A kind of green intelligent weed-eradicating robot
CN206260441U (en) Mobile sprinkling irrigation equipment
KR102356045B1 (en) Weedkiller robot
CN102124847B (en) Electric stepping rice transplanter
CN204560721U (en) High precision automatic pesticide spraying machine
CN207269304U (en) A kind of green intelligent weed-eradicating robot
CN113907061A (en) Intelligent inter-plant weeding equipment based on injury pesticide application method
CN204498988U (en) A kind of drone version treegarden irrigation machine
CN106922238B (en) An intelligent agricultural machinery automatic alignment device

Legal Events

Date Code Title Description
GR01 Patent grant
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20140305

Termination date: 20140706

EXPY Termination of patent right or utility model