CN213880814U - Double-operation profiling obstacle-avoiding weeding device between forest fruit plants and on ridges - Google Patents

Double-operation profiling obstacle-avoiding weeding device between forest fruit plants and on ridges Download PDF

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CN213880814U
CN213880814U CN202022439512.1U CN202022439512U CN213880814U CN 213880814 U CN213880814 U CN 213880814U CN 202022439512 U CN202022439512 U CN 202022439512U CN 213880814 U CN213880814 U CN 213880814U
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weeding
ridge
mounting
hydraulic
inter
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徐丽明
赵诗建
刘星星
马帅
牛丛
闫成功
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China Agricultural University
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China Agricultural University
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Abstract

The utility model belongs to the technical field of agricultural machine, a two operation profile modeling obstacle-avoiding weeding devices between forest fruit trunk and on the ridge is related to, include: the device comprises a rack part, a power transmission part, a row width adjusting mechanism, an inter-plant weeding part, an on-ridge weeding part and an automatic control part; the frame part provides a mounting carrier for other parts and plays a role in supporting and fixing; the power transmission part provides power for the row width adjusting mechanism, the inter-plant weeding part and the on-ridge weeding part; the inter-plant weeding part realizes inter-plant profile modeling obstacle avoidance weeding; the weeding part on the ridge changes according to the ridge height of the fruit of the forest, so that pitching angle profiling is realized; the automatic control part realizes signal acquisition, action execution and monitoring feedback; the row width adjusting mechanism adjusts the operation width according to the planting row spacing; the utility model discloses both realize the profile modeling between the trunk and keep away the barrier and weed, realize the weeding operation on the ridge again, improved the operating efficiency.

Description

Double-operation profiling obstacle-avoiding weeding device between forest fruit plants and on ridges
Technical Field
The utility model belongs to the technical field of agricultural machine, a two operation profile modeling obstacle-avoiding weeding devices between forest fruit trunk and on the ridge is related to.
Background
In the planting and production process of forest fruits, weeds rob plant growth resources, so that the quality and the yield of fruits are reduced. Therefore, weed removal in field management is a crucial link in the agricultural production process. The existing weeding technology mainly comprises the following steps: chemical weeding and non-chemical weeding, wherein the chemical weeding has quick response, high efficiency and convenience, but the chemical weeding pollutes the ecological environment and promotes weeds to generate drug resistance; the mechanical weeding effect in non-chemical weeding is good, the inter-row weeding technology is mature, and the inter-plant weed removal is discontinuous operation, so that the identification and positioning difficulty is high, and forest and fruit plants are easily damaged during operation; weeds are too high on the forest fruit ridges, can shelter from sunshine, influence the growth of plants, and aggravate the pest and disease damage problem, forest fruit soil ridges have inclination, and weeding machine between the rows can't carry out the operation, to the interplant with on the ridge double-operation weeding device, research is less and the development is immature at present. Foreign companies such as Norremark in Denmark, Cordill in America, AEDES in Italy and ARRIZZA in AREA carry out a series of researches on intelligent obstacle-avoiding and weeding machines for orchards, but the weeding effect is poor and is limited by factors such as large influence of the operation environment on the obstacle-avoiding effect. In China, a weed killer for automatically leading trees to have good weeding effect in an orchard is developed by the university of Xinjiang rock river and the like, but plants are easily damaged when the spacing between the trees of the forest fruits is small. The Chinese agriculture university is in the Chang et al research the bilateral operation inter-plant automatic obstacle avoidance weeding machine, has a certain weeding effect, but has a large obstacle avoidance stroke and frequent obstacle avoidance actions, so that the power consumption is large, and weeds on ridges cannot be cleared. Orchard mowers are researched by Shandong Tiansheng mechanical science and technology limited company, inter-plant and on-ridge operations cannot be performed simultaneously, weeding efficiency is low, and obstacle avoidance and weeding effects are poor.
In conclusion, although some researches are conducted on inter-plant weeding machines and on-ridge weeding machines at home and abroad, the mechanical researches applicable to inter-plant weed removal and on-ridge weed removal are blank, and a great space is provided for improving the weeding rate, the obstacle avoidance effect, the power consumption, the operation efficiency and the like. Therefore, the development of the inter-plant and on-ridge double-operation weeding machine with excellent performance, high operation efficiency and reasonable cost is a technical problem to be solved urgently by technical personnel in the field of weeding machine development.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is: provides a profiling obstacle-avoiding weeding device for double operations between tree and fruit plants and on ridges, and solves the following technical problems.
(1) How to realize the profile modeling obstacle avoidance weeding among plants, improve the weeding rate, reduce the seedling hurting rate and reduce the power consumption at the same time;
(2) how to realize upper and lower profile modeling weeding on ridges, achieving the aim that the inter-plant weed removing operation and the on-ridge weed removing operation are carried out simultaneously, improving the operation efficiency, and simultaneously, the weeding monomer can carry out angle profile modeling on soil ridges;
(3) how to select a proper scheme ensures that the cost of the whole weeding machine is reasonable and ensures that farmers obtain higher benefits in the using process.
In order to solve the technical problem, the utility model provides a two operation profile modeling obstacle-avoiding weeding devices between forest fruit trunk and on the ridge, concrete technical scheme is as follows:
a double-operation profiling obstacle-avoiding weeding device (called weeding device for short) between forest fruit plants and on ridges comprises: the device comprises a frame part, a power transmission part, a row width adjusting mechanism 12, an inter-plant weeding part 14, an on-ridge weeding part 11, a hydraulic control mechanism 3 and an automatic control part;
the frame part includes: a frame 15;
the frame 15 is in a left-right symmetrical structure;
the power transmission part, the line width adjusting mechanism 12, the hydraulic control mechanism 3 and the automatic control part are all arranged on a frame 15;
the power transmission part is connected with the hydraulic control mechanism 3;
the hydraulic control mechanism 3 is connected with an automatic control part, a row width adjusting mechanism 12, an inter-plant weeding part 14 and an on-ridge weeding part 11;
the line width adjusting mechanism 12 includes: a left row width adjusting mechanism and a right row width adjusting mechanism;
the left row width adjusting mechanism and the right row width adjusting mechanism are symmetrical in structure and are respectively and symmetrically arranged on two sides of the rack 15;
the inter-plant weeding section 14 includes: a left inter-plant weeding mechanism and a right inter-plant weeding mechanism;
the left inter-plant weeding mechanism and the right inter-plant weeding mechanism are symmetrical in structure and are respectively and symmetrically arranged on the outer sides of the left row width adjusting mechanism and the right row width adjusting mechanism;
the on-ridge weeding portion 11 includes: the left ridge weeding mechanism and the right ridge weeding mechanism;
the left ridge weeding mechanism and the right ridge weeding mechanism are symmetrical in structure and are respectively and symmetrically arranged on the inner sides of the front parts of the left row width adjusting mechanism and the right row width adjusting mechanism;
the line width adjusting mechanism 12 is configured to: changing the operation width according to the planting row spacing;
the inter-plant herbicidal moiety 14 is used to: removing weeds among plant plants;
the on-ridge weeding portion 11 is used for: the weeds on the ridges are cleared;
the power transmission portion is configured to: power is provided for the row width adjusting mechanism 12, the inter-plant weeding part 14 and the on-ridge weeding part 11;
the automatic control part is used for: according to the position information of the obstacles, the obstacle avoidance action stroke is determined and output to the hydraulic control mechanism 3, and then the position of the inter-plant weeding part 14 is adjusted, so that the inter-plant profiling obstacle avoidance weeding is realized.
On the basis of the above technical solution, the power transmission portion includes: the hydraulic pump 4, the hydraulic speed increasing box 5, the tubular filter 13 and the hydraulic oil tank 2;
the hydraulic speed increasing box 5 is provided with a front-end input shaft and a rear-end output shaft;
the front end input shaft is connected with a power take-off (PTO) of a tractor through a cardan shaft;
a power take-off (PTO) of the tractor serves as a power source of the power transmission part, the front end of the universal shaft is connected with the PTO of the power take-off of the tractor, and the rear end of the universal shaft is connected with a front end input shaft of the hydraulic speed increasing box 5;
the rear end output shaft is connected with the hydraulic pump 4;
the hydraulic oil tank 2 is connected with a tubular filter 13, and the tubular filter 13 is connected with the hydraulic pump 4;
the hydraulic pump 4 is connected with the hydraulic control mechanism 3;
the hydraulic oil tank 2 is arranged at the upper part of the frame 15;
the hydraulic speed increasing box 5 is used for increasing the speed of power output by the tractor, providing input rotating speed for the hydraulic pump 4 and transmitting the power of the tractor to the hydraulic pump 4;
the hydraulic pump 4 is used for converting mechanical energy into hydraulic energy and conveying the hydraulic oil to the hydraulic control mechanism 3 so as to provide hydraulic power for the row width adjusting mechanism 12, the inter-plant weeding part 14 and the on-ridge weeding part 11;
the hydraulic oil tank 2 is used for: providing hydraulic oil;
the tube filter 13 is used for: and filtering the hydraulic oil.
On the basis of the technical scheme, the left row width adjusting mechanism comprises: two row width adjusting round pipes 16, a row width adjusting hydraulic cylinder 17, a row width adjusting mounting frame 18 and a row width adjusting hydraulic cylinder mounting seat 10;
two round pipes extend out of the left side and the right side of the rack 15 respectively, and a left longitudinal beam and a right longitudinal beam are arranged on the left side and the right side of the bottom of the rack 15 respectively;
two row width adjusting round pipes 16 are fixedly arranged on the right side of the row width adjusting mounting frame 18;
the two row width adjusting circular pipes 16 are respectively sleeved on the two circular pipes extending out of the left side of the frame 15 and are in clearance fit; the line width adjusting mounting rack 18 can move left and right along a round pipe on the rack 15;
the line width adjusting hydraulic cylinder mounting base 10 is fixedly mounted on the left longitudinal beam;
the left end of the line width adjusting hydraulic cylinder 17 is installed on the right side of the line width adjusting installation frame 18, and the right end of the line width adjusting hydraulic cylinder 17 is installed on the line width adjusting hydraulic cylinder installation seat 10;
the line width adjusting hydraulic cylinder 17 is connected with the hydraulic control mechanism 3 through a hydraulic oil pipe;
the line width adjusting hydraulic cylinder 17 is configured to: the left and right relative positions of the line width adjusting mounting frame 18 and the rack 15 are adjusted;
the hydraulic control mechanism 3 controls the direction of the oil path of the hydraulic oil in the line width adjusting hydraulic cylinder 17, so that the line width adjusting hydraulic cylinder 17 extends and contracts, and further the left and right relative positions of the line width adjusting mounting frame 18 and the rack 15 are adjusted.
On the basis of the technical scheme, the left inter-plant weeding mechanism comprises: the device comprises an obstacle avoidance hydraulic cylinder mounting frame 19, an obstacle avoidance hydraulic cylinder 20, an obstacle avoidance signal acquisition mechanism 21, an upper and lower profiling mechanism 22, an obstacle avoidance hydraulic cylinder mounting square pipe 24 and an inter-plant weeding monomer 25;
the obstacle avoidance hydraulic cylinder mounting square pipe 24 is fixedly mounted on the row width adjusting mounting frame 18 of the left row width adjusting mechanism;
the obstacle avoidance hydraulic cylinder mounting rack 19 is fixedly mounted on the obstacle avoidance hydraulic cylinder mounting square tube 24;
a first obstacle avoidance hydraulic cylinder mounting frame is fixedly arranged on one side of the upper and lower profiling mechanisms 22;
one end of the obstacle avoidance hydraulic cylinder 20 is connected with the obstacle avoidance hydraulic cylinder mounting frame 19, and the other end of the obstacle avoidance hydraulic cylinder 20 is connected with the first obstacle avoidance hydraulic cylinder mounting frame;
the obstacle avoidance hydraulic cylinder 20 is connected with the hydraulic control mechanism 3 through a hydraulic oil pipe;
a fixed square tube is fixedly arranged on the inter-plant weeding monomer 25;
the other side of the upper and lower profiling mechanisms 22 is fixedly connected with the fixed square pipe;
the upper and lower profiling mechanisms 22 are used for realizing the upper and lower profiling of the inter-plant weeding monomers 25; the obstacle avoidance signal acquisition mechanism 21 is mounted on the row width adjusting mounting frame 18 of the left row width adjusting mechanism 12 and is mounted and fixed in a manner of extending forwards by 5 degrees relative to the inter-plant weeding monomers 25;
the obstacle avoidance signal acquisition mechanism 21 is connected with the automatic control part;
keep away barrier signal acquisition mechanism 21 and be used for: acquiring an obstacle signal and transmitting the obstacle signal to an automatic control part;
the obstacle avoidance hydraulic cylinder 20 is used for: through the extension and contraction, the upper and lower profiling mechanisms 22 connected with the upper and lower profiling mechanisms drive the inter-plant weeding monomers 25 to avoid obstacles;
the automatic control part is used for: according to the obstacle signal transmitted by the obstacle avoidance signal acquisition mechanism 21, the obstacle avoidance hydraulic cylinder 20 is made to extend and retract through the hydraulic control mechanism 3 so as to avoid the obstacle;
weeding mechanism includes on the right ridge: the ridge-mounted square pipe 46, the ridge-mounted plate 47, the ridge-mounted hydraulic cylinder mounting frame 48, the ridge-mounted hydraulic cylinder 49, the ridge-mounted weeding unit 50, the weeding unit mounting square pipe 53 and the weeding unit mounting frame 54;
the right end of the ridge upper mounting square pipe 46 is fixed on the left side surface of the row width adjusting mounting rack 18 of the right row width adjusting mechanism;
the left end of the ridge upper mounting square pipe 46 is fixedly connected with the rear part of the right side surface of the ridge upper mounting plate 47;
the ridge hydraulic cylinder mounting rack 48 is fixedly arranged at the upper end of the front part of the right side surface of the ridge mounting plate 47; the weeding unit mounting frame 54 is fixedly mounted at the lower end of the front part of the right side surface of the ridge mounting plate 47;
the left end of the weeding monomer mounting square tube 53 is hinged with the weeding monomer mounting frame 54, and the right end of the weeding monomer mounting square tube 53 is fixedly connected with the weeding monomers 50 on the ridge;
a hydraulic cylinder mounting frame II is fixedly arranged above the middle part of the weeding monomer mounting square pipe 53;
the left end of the ridge hydraulic cylinder 49 is hinged with the ridge hydraulic cylinder mounting rack 48, and the right end of the ridge hydraulic cylinder 49 is hinged with the hydraulic cylinder mounting rack II;
the hydraulic cylinder 49 on the ridge is used for: the pitch angle of the weeding units 50 on the ridges can be adjusted; the stretching enables the weeding units 50 on the ridges to realize profile modeling weeding operation according to the shape of the soil ridges, keeps weeding depth consistent, prevents the weeding cutter heads on the ridges from damaging the soil ridges, and reduces the firmness of the soil ridges.
In addition to the above technical solution, the upper and lower copying mechanism 22 includes: the device comprises a vertical fixed square pipe 37, two parallel connecting rods 38, a bent plate 39, a pressure spring 40, a pressure spring rod 41, a pressure spring fixing sleeve 42, a pressure spring fixing plate 43, a main support reinforcing rib 44 and an upper and lower profiling mechanism mounting square pipe 45;
the vertical fixed square tube 37 is fixedly connected with a fixed square tube on the inter-plant weeding monomer 25;
the upper end of the square vertical fixing pipe 37 is hinged with one end of one parallel connecting rod 38, the other end of the parallel connecting rod 38 is hinged with the upper end of a bent plate 39, the lower end of the bent plate 39 is hinged with one end of the other parallel connecting rod 38, and the other end of the other parallel connecting rod 38 is hinged with the lower end of the square vertical fixing pipe 37; the vertical fixed square tube 37, the two parallel connecting rods 38 and the bent plate 39 form a parallelogram, so that the inter-plant weeding monomer 25 is always kept parallel to the ground;
the upper end of the vertical fixed square tube 37 is hinged with the lower end of a compression spring rod 41;
a shaft shoulder is arranged at the position, close to the upper part, of the lower end of the compression spring rod 41, and threads are arranged at the upper end of the compression spring rod 41; the upper end of the compression spring rod 41 penetrates through the upper end surface of the compression spring fixing plate 43, and the threaded part of the compression spring rod 41 is exposed out of the upper surface of the compression spring fixing plate 43;
the compression spring 40 is sleeved on the compression spring rod 41, the lower end of the compression spring 40 is propped against the upper edge of a shaft shoulder of the compression spring rod 41, and the upper end of the compression spring 40 is propped against the lower surface of the compression spring fixing plate 43;
the pressure spring fixing sleeve 42 is in threaded connection with the threaded part of the pressure spring rod 41, and the lower surface of the pressure spring fixing sleeve 42 contacts the upper surface of the pressure spring fixing plate 43, so that the pressure spring 40 generates downward thrust on the pressure spring rod 41, and further the vertical fixing square pipe 37 generates downward thrust on the inter-plant weeding monomer 25, and the up-and-down profiling of the inter-plant weeding monomer 25 is realized;
one end of the main supporting reinforcing rib 44 is hinged in the middle of the pressure spring fixing plate 43, and the other end is fixed on the upper and lower profiling mechanism mounting square tube 45;
and a first obstacle avoidance hydraulic cylinder mounting frame is fixedly arranged on the upper and lower profiling mechanism mounting square pipe 45.
On the basis of the above technical solution, the obstacle avoidance signal collecting mechanism 21 includes: the device comprises a feeler lever 27, a feeler lever mounting limit plate 28, a feeler lever bearing 29, a feeler lever bearing block 30, a bearing block mounting square tube 31, a displacement sensor 32, an air spring 33, a mounting front seat 34, an obstacle avoidance signal acquisition mechanism mounting plate 35, an obstacle avoidance signal acquisition mechanism support frame 36, an obstacle avoidance monitoring feedback mechanism 26 and an inter-plant weeding mechanism mounting frame 55;
the inter-plant weeding mechanism mounting frame 55 is fixedly mounted on the row width adjusting mounting frame 18;
the obstacle avoidance signal acquisition mechanism support frame 36 is fixedly arranged on the inter-plant weeding mechanism mounting frame 55;
the obstacle avoidance signal acquisition mechanism mounting plate 35 is fixedly mounted on the obstacle avoidance signal acquisition mechanism support frame 36;
the bearing seat mounting square tube 31 is fixedly mounted on the obstacle avoidance signal acquisition mechanism mounting plate 35;
the lower end of the mounting front seat 34 is mounted at one end of the bearing seat mounting square tube 31 through a U-shaped bolt;
a feeler lever bearing seat 30 is fixedly arranged at the other end of the bearing seat mounting square tube 31, and the feeler lever bearing seat 30 is matched with a feeler lever bearing 29;
the feeler lever bearing 29 is fixedly connected with the lower end of the feeler lever mounting limit plate 28;
the feeler lever mounting limit plate 28 can rotate relative to the bearing seat mounting square tube 31;
one end of the feeler lever 27 is arranged on the feeler lever mounting limit plate 28;
the feeler lever 27 extends outwards and is installed and fixed by extending forwards for 5 degrees relative to the inter-plant weeding monomer 25;
the feeler lever mounting limit plate 28 is provided with three adjusting mounting holes for: the installation position of the feeler lever 27 is changed to realize the angle adjustment and the limit protection of the feeler lever 27;
the upper end of the mounting front seat 34 is hinged with one end of the displacement sensor 32 and one end of the gas spring 33;
the other end of the displacement sensor 32 and the other end of the gas spring 33 are hinged with the upper end of the feeler lever mounting limit plate 28;
the displacement sensor 32 is installed in parallel with the gas spring 33;
the feeler lever 27 is used to: when the contact rod touches an obstacle, the contact rod mounting limit plate 28 is driven to rotate relative to the bearing seat mounting square tube 31, and then the displacement sensor 32 and the gas spring 33 are driven to stretch and contract, and the displacement sensor 32 obtains the position information of the obstacle;
the displacement sensor 32 is connected with an automatic control part;
the displacement sensor 32 is configured to: acquiring position information of the obstacle, and inputting the position information into the automatic control part to be used as a basis for determining the action stroke of the obstacle avoidance hydraulic cylinder 20 by the automatic control part;
the obstacle avoidance monitoring feedback mechanism 26 (namely, an obstacle avoidance monitoring displacement sensor) is parallel to the obstacle avoidance hydraulic cylinder 20 and synchronously acts with the extension and retraction of the obstacle avoidance hydraulic cylinder 20;
two ends of the obstacle avoidance monitoring feedback mechanism 26 are respectively arranged on the obstacle avoidance hydraulic cylinder mounting rack 19 and the first obstacle avoidance hydraulic cylinder mounting rack;
the obstacle avoidance monitoring feedback mechanism 26 is connected with the automatic control part;
the obstacle avoidance monitoring feedback mechanism 26 is configured to collect an actual motion stroke of the obstacle avoidance hydraulic cylinder 20 in real time, feed the actual motion stroke back to the automatic control part, and compare the actual motion stroke with the motion stroke of the obstacle avoidance hydraulic cylinder 20 determined by the automatic control part according to the displacement sensor 32 to determine whether the obstacle is accurately avoided.
On the basis of the technical scheme, the inter-plant weeding monomer 25 comprises: an inter-plant weeding monomer frame, an inter-plant weeding hydraulic motor 23 and an inter-plant weeding cutter head;
the inter-plant weeding hydraulic motor 23 is arranged on the inter-plant weeding single frame, and the inter-plant weeding hydraulic motor 23 is connected with the hydraulic control mechanism 3 through a hydraulic oil pipe;
the inter-plant weeding monomer frame is fixedly provided with the first hydraulic cylinder mounting frame and the fixed square tube;
the weeding hydraulic motor 23 is configured to: driving the inter-plant weeding cutter head to rotate;
the inter-plant weeding cutter head is used for removing grass among the forest fruit plants.
On the basis of the above technical scheme, the on-ridge weeding monomer 50 of the on-ridge weeding mechanism on the right ridge includes: the ridge weeding machine comprises a ridge weeding single frame 51, a ridge hydraulic motor 52 and a ridge weeding cutter head;
the weeding single frame 51 on the ridge is fixedly connected with the right end of the weeding single mounting square tube 53;
the ridge hydraulic motor 52 is arranged on the ridge weeding single frame, and the ridge hydraulic motor 52 is connected with the hydraulic control mechanism 3 through a hydraulic oil pipe;
the on-ridge hydraulic motor 52 is used to: driving the weeding cutter heads on the ridges to rotate;
weeding blade disc on the ridge is used for: removing grass on the ridges.
On the basis of the above technical solution, the rack part further includes: two machine supporting frames 9, two profiling land wheels 1 and a three-point suspension bracket 6;
a front cross beam is arranged at the front end of the frame 15;
the two machine supporting frames 9 are bilaterally symmetrical and connected to the front cross beam;
the upper ends of the two machine supporting frames 9 are connected with the front cross beam through detachable pin shafts, and the lower ends of the two machine supporting frames 9 are in contact with the ground;
the machine support 9 is used for: when the double-operation copying obstacle-avoiding and weeding device between the fruit plants and on the ridges does not work, the whole double-operation copying obstacle-avoiding and weeding device between the fruit plants and on the ridges is supported; when the double-operation profiling obstacle-avoiding weeding device works between the forest fruit plants and on the ridges, the pin shaft is removed, and the two machine supporting frames 9 are removed;
a rear cross beam is arranged at the rear end of the frame 15;
the two profiling ground wheels 1 are bilaterally symmetrical and connected to the rear cross beam;
the profiling ground wheels 1 are connected with the rear cross beam through U-shaped bolts, and the wheel bottoms of the two profiling ground wheels 1 are in contact with the ground;
the frame 15 can be adjusted in the height direction of the U-shaped bolt, so that the heights of the inter-plant weeding part 14 and the on-ridge weeding part 11 can be adjusted, and the up-and-down profiling of the inter-plant weeding part 14 and the on-ridge weeding part 11 is realized;
the three-point suspension bracket 6 is arranged at the middle position above the frame 15;
the three-point suspension 6 is used for: is connected with the three-point suspension of the tractor.
On the basis of the above technical solution, the automatic control part includes: the main controller, the electric cabinet 7 and the electric cabinet mounting plate 8;
the main controller is connected with the hydraulic control mechanism 3, the obstacle avoidance monitoring feedback mechanism 26 and the displacement sensor 32;
the hydraulic control mechanism 3 is connected with an obstacle avoidance hydraulic cylinder 20, an inter-plant weeding hydraulic motor 23, an on-ridge hydraulic cylinder 49 and an on-ridge hydraulic motor 52,
the hydraulic control mechanism 3 is arranged at the middle position of the rear part of the frame 15;
the hardware of the main controller is fixedly arranged in the electric cabinet 7;
the electric cabinet 7 is arranged at the upper end of the front part of the frame 15 through an electric cabinet mounting plate 8 and is close to the driving position of the tractor;
the master controller is configured to:
a. according to the signals transmitted by the left and right displacement sensors 32, the hydraulic control mechanism 3 respectively adjusts the extension and retraction of the left and right obstacle avoidance hydraulic cylinders 20 to avoid the obstacles;
b. and signals of the left and right obstacle avoidance monitoring feedback mechanisms 26 are received, and are respectively compared with the action strokes of the obstacle avoidance hydraulic cylinders 20 determined by the automatic control part according to the displacement sensor 32, and the extension and retraction of the obstacle avoidance hydraulic cylinders 20 are finely adjusted through the hydraulic control mechanism 3, so that accurate obstacle avoidance is realized.
On the basis of the above technical solution, the hydraulic control mechanism 3 includes: the hydraulic control system comprises a hydraulic valve seat, a manual hydraulic valve I, a manual hydraulic valve II, a manual hydraulic valve III, a proportional directional valve I, a proportional directional valve II, an electromagnetic directional valve I, an electromagnetic directional valve II, an electromagnetic directional valve III and an electromagnetic directional valve IV;
the first manual hydraulic valve is connected with a line width adjusting hydraulic cylinder 17;
the second manual hydraulic valve is connected with the left on-ridge hydraulic cylinder 49;
the third manual hydraulic valve is connected with the right hydraulic cylinder 49 on the ridge;
the first manual hydraulic valve, the second manual hydraulic valve and the third manual hydraulic valve are all connected with the hydraulic pump 4 through hydraulic valve seats;
the first manual hydraulic valve is used for: the expansion of the hydraulic cylinder 17 is adjusted according to the planting row spacing to change the working width;
the second manual hydraulic valve is used for: the expansion and contraction of the hydraulic cylinder 49 on the left ridge are adjusted according to the angle on the left ridge, so that the pitching angle of the weeding monomer 50 on the left ridge is adjusted;
the third manual hydraulic valve is used for: the expansion and contraction of the hydraulic cylinder 49 on the right ridge are adjusted according to the angle on the right ridge, so that the pitching angle of the weeding monomer 50 on the right ridge is adjusted;
the first proportional reversing valve is connected with the left obstacle avoidance hydraulic cylinder 20;
the second proportional reversing valve is connected with the right obstacle avoidance hydraulic cylinder 20;
the first electromagnetic directional valve is connected with the left inter-plant weeding hydraulic motor 23;
the second electromagnetic directional valve is connected with a right inter-plant weeding hydraulic motor 23;
the third electromagnetic directional valve is connected with a hydraulic motor 52 on the left ridge;
the fourth electromagnetic directional valve is connected with a hydraulic motor 52 on the right ridge;
the first proportional reversing valve, the second proportional reversing valve, the first electromagnetic reversing valve, the second electromagnetic reversing valve, the third electromagnetic reversing valve and the fourth electromagnetic reversing valve are all connected with the hydraulic pump 4 through hydraulic valve seats;
the proportional reversing valve I, the proportional reversing valve II, the electromagnetic reversing valve I, the electromagnetic reversing valve II, the electromagnetic reversing valve III and the electromagnetic reversing valve IV are all connected with the main controller;
the proportional reversing valve I is used for: adjusting the extension and retraction of the left obstacle avoidance hydraulic cylinder 20 according to a signal of the main controller so as to avoid the obstacle;
the proportional reversing valve is used for: adjusting the extension and retraction of the right obstacle avoidance hydraulic cylinder 20 according to a signal of the main controller so as to avoid the obstacle;
the electromagnetic directional valve is used for: the operation of the left inter-plant weeding hydraulic motor 23 is operated or stopped according to the signal of the main controller;
the electromagnetic directional valve is used for: the operation of the right inter-plant weeding hydraulic motor 23 is operated or stopped according to the signal of the main controller;
the electromagnetic directional valve is used for: the operation of the hydraulic motor 52 on the left ridge is operated or stopped according to the signal of the main controller;
the electromagnetic directional valve is used for: the operation of the hydraulic motor 52 on the right ridge is operated or stopped according to the signal of the main controller;
the first proportional reversing valve, the second proportional reversing valve, the first electromagnetic reversing valve, the second electromagnetic reversing valve, the third electromagnetic reversing valve and the fourth electromagnetic reversing valve respectively and independently operate and do not affect each other.
The utility model discloses following beneficial technological effect has:
(1) the utility model designs that the left and right sides of the frame 15 are respectively provided with the inter-plant weeding part 14 and the on-ridge weeding part 11 symmetrically, which can simultaneously remove weeds between plants and on ridges, thereby improving the operation efficiency; when the double-operation profiling obstacle-avoiding weeding device for the forest and fruit plants and on the ridges works, the independent hydraulic circuit control is adopted for weeding work between the plants and on the ridges (namely, the hydraulic control mechanism 3 is used for respectively controlling the weeding work), no mutual influence exists, the double-operation profiling obstacle-avoiding weeding device can be respectively suitable for different working conditions on two sides, and the weeding rate is improved.
(2) The utility model discloses an automatic copying obstacle avoidance operation mode works as when weeding device operation runs into the barrier, through keeping away obstacle signal acquisition mechanism 21 and gather barrier position signal, exports to main control unit, and main control unit exports signal conversion to corresponding hydraulic control mechanism 3 to drive the action direction and the stroke of weeding monomer 25 between hydraulic control mechanism 3 control trunk, the utility model relates to a keep away obstacle monitoring feedback mechanism 26 and keep away barrier pneumatic cylinder 20 synchronization action, real-time supervision keeps away the stroke size of barrier action to signal feedback to main control unit, the actual stroke size of keeping away the barrier action of main control unit real-time adjustment realizes that weeding monomer 25 keeps away the barrier according to the accurate copying in position of barrier between the trunk, improves the weeding rate, reduces energy consumption, has improved the accuracy and automation, the intelligent level of weeding between the trunk.
(3) The utility model discloses a profiling mechanism 22 from top to bottom, make the height situation on the height that weeding monomer 25 can be according to operation ground between the trunk, the automatically regulated degree of depth that buries, when the ground is uneven at ordinary times, after the pressure spring 40 atress on the upper and lower profiling mechanism 22, flexible change, in order to change the operation degree of depth of weeding monomer 25 between the trunk, make its depth range that buries that remains stable, it is great to avoid the degree of depth that buries, it is not enough to lead to the moment of torsion, the appearance of stall and the too big problem of power consumption appear, upper and lower profiling mechanism 22 adopts the four parallel connecting rod forms, during the operation, it keeps the level to make the blade disc that weeds between the trunk all the time, when preventing the weeding operation, the blade disc slope that weeds between the trunk, the atress is uneven, and then lead to the blade disc that weeds between the trunk emergence warp.
(4) The utility model discloses a weeding part 11 on ridge adopts high rotational speed motor for weeding blade disc realizes not having the cutting of supporting on the ridge, solves because of weeds are too high, influences the plant growth and produces the aggravation of plant diseases and insect pests problem. The pitch angle of the weeding monomers 50 on the ridges is adjusted by adopting the hydraulic cylinder 49 on the ridges, so that the weeding monomers 50 on the ridges realize profile modeling weeding operation according to the shape of the soil ridges, the weeding depth is kept consistent, the weeding cutter heads on the ridges are prevented from damaging the soil ridges, and the firmness of the soil ridges is reduced.
Drawings
The utility model discloses there is following figure:
FIG. 1 is a schematic front oblique view of a profiling obstacle-avoiding weeding device for double operations between fruit plants and on ridges of the forest of the present invention;
FIG. 2 is a schematic diagram of a rear oblique view three-dimensional structure of the profiling obstacle-avoiding weeding device for double operations between fruit plants and on ridges of the forest of the utility model;
fig. 3 is a schematic perspective view of one side of the line width adjusting mechanism 12 according to the present invention;
fig. 4 is a schematic perspective view of the inter-plant weeding section 14 according to the present invention;
fig. 5 is a schematic perspective view of one side of the obstacle avoidance signal collecting mechanism 26 according to the present invention;
fig. 6 is a schematic perspective view of one side of the upper and lower copying mechanisms 22 according to the present invention;
fig. 7 is a schematic perspective view of the weeding part 11 on the ridge according to the present invention.
Reference numerals:
1-a contour land wheel; 2-a hydraulic oil tank; 3-a hydraulic control mechanism; 4-a hydraulic pump; 5-hydraulic speed increasing box; 6-three-point suspension bracket; 7-an electric cabinet; 8, mounting a panel of the electric cabinet; 9-a machine support frame; 10-a line width adjusting hydraulic cylinder mounting seat; 11-weeding parts on ridges; 12-a line width adjustment mechanism; 13-a tube filter; 14-an interplant herbicidal moiety; 15-a frame; 16 rows of width adjusting round tubes; 17-a line width adjusting hydraulic cylinder; 18-a line width adjustment mount; 19-obstacle avoidance hydraulic cylinder mounting rack; 20-obstacle avoidance hydraulic cylinder; 21-obstacle avoidance signal acquisition mechanism; 22-up and down profiling mechanism; 23-inter-plant weeding hydraulic motor; 24-installing a square tube on the obstacle avoidance hydraulic cylinder; 25-interplant herbicidal monomers; 26-obstacle avoidance monitoring feedback mechanism; 27-feeler lever; 28-feeler lever mounting limit plate; 29-feeler-lever bearings; 30-feeler lever bearing blocks; 31-mounting a square tube on a bearing seat; 32-a displacement sensor; 33-gas spring; 34-mounting a front seat; 35-obstacle avoidance signal acquisition mechanism mounting plate; 36-obstacle avoidance signal acquisition mechanism support frame; 37-standing a fixed square tube; 38-parallel links; 39-bending a plate; 40-pressure spring; 41-pressure spring rod; 42-a pressure spring fixing sleeve; 43-a pressure spring fixing plate; 44-main support reinforcing ribs; 45-mounting a square tube by an upper and lower profiling mechanism; 46-installing square tubes on the ridges; 47-installing plates on the ridges; 48-hydraulic cylinder mounting racks on the ridges; 49-hydraulic cylinder on ridge; 50-weeding monomers on ridges; 51-weeding single frames on ridges; 52-hydraulic motor on ridge; 53-installing a square tube on the weeding monomer; 54-a herbicidal monomer mounting rack; 55-inter-plant weeding mechanism mounting frame.
Detailed Description
The following describes in further detail embodiments of the present invention with reference to the accompanying drawings.
The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
The utility model discloses based on following one kind and think: the utility model is hung at the back of the tractor by using the three-point suspension bracket 6, and moves forward along the direction of the forest fruit row at a certain speed under the traction of the tractor; meanwhile, the power output device PTO of the tractor is connected with the hydraulic speed increasing box 5, the power is transmitted to the hydraulic pump 4 after being increased in speed, and then power is provided for the double-operation profiling obstacle-avoiding weeding device between the whole forest and fruit plants and on the ridges, and each hydraulic cylinder (comprising a row width adjusting hydraulic cylinder 17, an on-ridge hydraulic cylinder 49 and an obstacle-avoiding hydraulic cylinder 20) and each hydraulic motor (comprising an inter-plant weeding hydraulic motor 23 and an on-ridge hydraulic motor 52) are driven to weed; the inter-plant weeding monomers 25 and the on-ridge weeding monomers 50 are symmetrically arranged on the left side and the right side of the frame 15, so that inter-plant and on-ridge weeding operations are respectively realized and are simultaneously carried out; the independent hydraulic cylinder and the hydraulic motor are adopted for control, and the interference does not exist between the hydraulic cylinder and the hydraulic motor, so that the weeding efficiency is greatly improved; the obstacle avoidance profiling process of the inter-plant weeding cutter head is monitored in real time by adopting an obstacle avoidance signal acquisition mechanism 21 and an obstacle avoidance monitoring feedback mechanism 26, and specifically comprises the following steps: when the feeler lever 27 touches an obstacle, the feeler lever mounting limit plate 28 is driven to rotate relative to the bearing seat mounting square tube 31, so that the displacement sensor 32 and the air spring 33 are driven to stretch, the displacement sensor 32 obtains the position information of the obstacle and transmits the position information to the main controller, the main controller converts a signal and outputs the signal to the hydraulic control mechanism 3, the stroke of the stretching action of the obstacle avoidance hydraulic cylinder 20 is controlled according to the signal value, and the inter-plant weeding part 14 is realized to profile around the obstacle; meanwhile, the obstacle avoidance monitoring feedback mechanism 26 monitors the action stroke of the obstacle avoidance hydraulic cylinder 20 in real time and immediately feeds the action stroke back to the main controller to ensure that the obstacle avoidance hydraulic cylinder 20 moves to an ideal position; the on-ridge hydraulic cylinder 49 can adjust the pitch angle of the on-ridge weeding monomer 50 according to the angle change of the shape of the soil ridge, so that the stable weeding effect is ensured, and the soil ridge is prevented from being damaged; by adopting the upper and lower profiling mechanisms 22, when the machine encounters the uneven ground condition, the machine can ensure the stable soil penetration depth and the soil penetration torque through the up and down movement of the parallel four-bar mechanism (namely, the parallel four-bar mechanism formed by the vertical fixed square tube 37, the two parallel connecting rods 37 and the bent plate 39), ensure the weeding effect and prevent the damage of a weeding cutter head among plants; the row width adjusting mechanism 12 is adopted to control the double-side row width according to the planting row spacing, and the row width adjusting hydraulic cylinder 17 is adjusted to synchronously act, so that the row width of the weeding operation is adjusted.
As shown in fig. 1 and fig. 2, a profiling obstacle-avoiding and weeding device for double operations between fruit plants and on ridges of a forest comprises: the device comprises a frame part, a power transmission part, a row width adjusting mechanism 12, an inter-plant weeding part 14, an on-ridge weeding part 11, a hydraulic control mechanism 3 and an automatic control part;
the frame part is a mounting carrier of a power transmission part, a row width adjusting mechanism 12, a hydraulic control mechanism 3 and an automatic control part and is connected with a three-point suspension of a tractor through a three-point suspension bracket 6; the power transmission part is connected with the hydraulic speed increasing box 5 through the tractor PTO, and transmits the output power of the tractor to the hydraulic pump 4 after increasing the speed, so as to provide power for the operation of the weeding device; the row width adjusting mechanism 12 can change the operation width according to the planting row spacing; the inter-plant weeding part 14 can collect the position of an obstacle in real time, monitor the actual action stroke of the obstacle avoidance hydraulic cylinder 20, control the inter-plant weeding monomer 25 to accurately profile and avoid the obstacle, and eliminate the weed among the plants; the on-ridge weeding part 11 can adjust the pitch angle of the on-ridge weeding monomer 50 according to the shape of the soil ridge, so that weeds on the ridge can be cleared; the automatic control part establishes a profile modeling obstacle avoidance closed-loop control scheme among the obstacle avoidance signal acquisition mechanism 21, the hydraulic control mechanism 3 and the obstacle avoidance monitoring feedback mechanism 26, and controls profile modeling obstacle avoidance actions of the inter-plant weeding monomers 25.
The frame part includes: the device comprises a frame 15, a three-point suspension bracket 6, a machine support frame 9 and a profiling land wheel 1;
the three-point suspension bracket 6 is arranged in the middle position above the frame 15 and connected with a three-point suspension of a tractor, the machine support frame 9 is arranged below the front end of the frame 15 in a bilateral symmetry mode through a pin shaft, and the profiling ground wheels 1 are arranged behind the frame 15 in a bilateral symmetry mode through U-shaped bolts.
The power transmission portion includes: a hydraulic pump 4 and a hydraulic speed increasing box 5. The front end of a transmission shaft of the hydraulic speed increasing box 5 is connected with the rear end of the universal shaft, the rear end of the hydraulic speed increasing box 5 is connected with the hydraulic pump 4, a proper input rotating speed is provided for the hydraulic pump 4, and power of a tractor is transmitted to the hydraulic pump 4; the mechanical energy of the hydraulic pump 4 is converted into hydraulic energy to provide power for the operation of the weeding device.
The power take-off PTO of tractor is as the system power supply, and the cardan shaft front end links to each other with tractor power take-off PTO, and the cardan shaft rear end links to each other with hydraulic pressure acceleration rate case 5 front end input shaft (being the transmission shaft front end), transmits the power of tractor output to hydraulic pressure acceleration rate case 5 to provide power for weeding device.
As shown in fig. 3, the line width adjusting mechanism 12 includes: a line width adjusting round tube 16, a line width adjusting hydraulic cylinder 17, a line width adjusting mounting frame 18 and a line width adjusting hydraulic cylinder mounting seat 10 (shown in fig. 1);
the line width adjusting mounting frame 18 is provided with two line width adjusting circular pipes 16 which are respectively sleeved with the two circular pipes on the rack 15 and are in clearance fit with each other, and the line width adjusting mounting frame 18 can move along the circular pipes of the rack 15; one end of the line width adjusting hydraulic cylinder 17 is installed on the line width adjusting installation frame 18, the other end of the line width adjusting hydraulic cylinder is installed on the line width adjusting hydraulic cylinder installation seat 10, the line width adjusting hydraulic cylinder installation seat 10 is welded on a bottom longitudinal beam of the rack 15, and the line width adjusting hydraulic cylinder 17 is connected with the hydraulic control mechanism 3 through a hydraulic oil pipe.
The row width adjusting mechanisms 12 are divided into two groups, and are symmetrically arranged on the left side and the right side of the rack 15.
As shown in fig. 4, the inter-plant weeding section 14 includes: the system comprises an obstacle avoidance hydraulic cylinder mounting frame 19, an obstacle avoidance hydraulic cylinder 20, an obstacle avoidance signal acquisition mechanism 21, an upper and lower profiling mechanism 22, an obstacle avoidance hydraulic cylinder mounting square pipe 24, an inter-plant weeding monomer 25 and an obstacle avoidance monitoring feedback mechanism 26;
the inter-plant weeding monomer 25 comprises: an inter-plant weeding monomer frame, an inter-plant weeding hydraulic motor 23 and an inter-plant weeding cutter head;
keep away barrier signal acquisition mechanism 21 symmetry and install in line width adjustment mechanism 12 below, specifically link to each other with weeding mechanism mounting bracket 55 between the trunk (install on line width adjustment mechanism 12), relative weeding monomer 25 expands 5 installation fixed to the outside forward between the trunk, keeps away barrier signal acquisition mechanism 21 and is used for: acquiring an obstacle signal; keep away barrier pneumatic cylinder 20's one end with keep away barrier pneumatic cylinder mounting bracket 19 (also install on wide adjustment mechanism 12) and connect, the other end is connected with upper and lower profiling mechanism installation side pipe 45 through keeping away barrier pneumatic cylinder mounting bracket one, keeps away the flexible of barrier pneumatic cylinder 20, and weeding monomer 25 avoids the barrier between the control trunk, it all is connected with hydraulic control mechanism 3 through hydraulic pressure oil pipe to keep away barrier pneumatic cylinder 20 and weeding hydraulic motor 23 between the trunk, keep away barrier monitoring feedback mechanism 26 parallel mount in keeping away barrier pneumatic cylinder 20 top, with keep away barrier pneumatic cylinder 20 simultaneous movement. One end of the upper and lower copying mechanism 22 is connected with the outer side of the row width adjusting mounting frame 18, and the other end is connected with the inter-plant weeding monomers 25, so that the upper and lower copying of the inter-plant weeding monomers 25 is realized.
The inter-plant weeding parts 14 are divided into two groups and are symmetrically distributed on the left side and the right side of the rack 15.
As shown in fig. 7, the on-ridge weeding portion 11 includes: the ridge-mounted square pipe 46, the ridge-mounted plate 47, the ridge-mounted hydraulic cylinder mounting frame 48, the ridge-mounted hydraulic cylinder 49, the ridge-mounted weeding unit 50, the weeding unit mounting square pipe 53 and the weeding unit mounting frame 54;
the on-ridge herbicidal monomer 50 includes: the ridge weeding machine comprises a ridge weeding single frame 51, a ridge hydraulic motor 52 and a ridge weeding cutter head;
one end of the ridge upper mounting square pipe 46 is fixed on the inner side of the row width adjusting mounting frame 18, and the other end of the ridge upper mounting square pipe 46 is connected with the ridge upper mounting plate 47;
the weeding monomers 50 on the ridges extend outwards along the ridge mounting plates 47 to be fixedly mounted and are connected with the weeding monomer mounting frames 54 through the weeding monomer mounting square tubes 53;
one end of the ridge hydraulic cylinder 49 is fixed on the ridge mounting plate 47 through the ridge hydraulic cylinder mounting frame 48, and the other end of the ridge hydraulic cylinder 49 is connected with the hydraulic cylinder mounting frame II on the weeding monomer mounting square pipe 53;
hydraulic motor 52 is fixed in the installation on the ridge on weeding monomer frame 51, drives the rotation of weeding cutter dish on the ridge, hydraulic cylinder 49 on the ridge all is connected with hydraulic control mechanism 3 through hydraulic oil pipe with hydraulic motor 52 on the ridge.
The automatic control section includes: main control unit, electric cabinet 7 and electric cabinet mounting panel 8. The main control unit is connected with an obstacle avoidance signal acquisition mechanism 26, a hydraulic control mechanism 3 and an obstacle avoidance monitoring feedback mechanism 21, the hydraulic control mechanism 3 is installed in the middle of the rear side of the frame 15, the hardware of the main control unit is fixedly installed in the electric cabinet 7, and the electric cabinet 7 is installed on the front side of the frame 15 through an electric cabinet installation plate 8 and is close to the position driven by a tractor.
As shown in fig. 5, the obstacle avoidance signal acquiring mechanism includes: the device comprises a feeler lever 27, a feeler lever mounting limit plate 28, a feeler lever bearing 29, a feeler lever bearing block 30, a bearing block mounting square tube 31, a displacement sensor 32, an air spring 33, a mounting front seat 34, an obstacle avoidance signal acquisition mechanism mounting plate 35, an obstacle avoidance signal acquisition mechanism support frame 36, an obstacle avoidance monitoring feedback mechanism 26 and an inter-plant weeding mechanism mounting frame 55;
the feeler lever 27 is installed on a feeler lever installation limiting plate 28, the feeler lever installation limiting plate 28 is installed on a feeler lever bearing block 30 through a feeler lever bearing 29, and the feeler lever bearing block 30 is installed on a bearing block installation square tube 31;
the mounting front seat 34 is connected with the obstacle avoidance signal acquisition mechanism support frame 36 through the bearing seat mounting square tube 31 and the obstacle avoidance signal acquisition mechanism mounting plate 35;
the obstacle avoidance signal acquisition mechanism support frame 36 fixes the obstacle avoidance signal acquisition mechanism 21 on the lower side of the row width adjusting mechanism 12 through the inter-plant weeding mechanism mounting frame 55;
the mounting front seat 34 is mounted on the bearing seat mounting square tube 31 through a U-shaped bolt, the displacement sensor 32 is mounted in parallel with the gas spring 33, and the upper end of the mounting front seat 34 is hinged with one end of the displacement sensor 32 and one end of the gas spring 33;
the other end of the displacement sensor 32 and the other end of the gas spring 33 are hinged with the upper end of the feeler lever mounting limit plate 28.
The feeler lever mounting limit plate 28 is provided with three adjusting mounting holes, so that the angle adjustment and the limit protection of the feeler lever 27 can be realized.
As shown in fig. 6, the upper and lower copying mechanisms include: the device comprises a vertical fixed square pipe 37, two parallel connecting rods 38, a bent plate 39, a pressure spring 40, a pressure spring rod 41, a pressure spring fixing sleeve 42, a pressure spring fixing plate 43, a main support reinforcing rib 44 and an upper and lower profiling mechanism mounting square pipe 45;
the vertical fixed square pipe 37 is connected with a fixed square pipe on the inter-plant weeding monomer 25;
the upper end of the square vertical fixing pipe 37 is hinged with one end of one parallel connecting rod 38, the other end of the parallel connecting rod 38 is hinged with the upper end of a bent plate 39, the lower end of the bent plate 39 is hinged with one end of the other parallel connecting rod 38, and the other end of the other parallel connecting rod 38 is hinged with the lower end of the square vertical fixing pipe 37; the vertical fixed square tube 37, the parallel connecting rod 37 and the bent plate 39 form a parallelogram, so that the inter-plant weeding monomer 25 can be always kept parallel to the ground;
the upper end of the vertical fixed square tube 37 is hinged with the lower end of a compression spring rod 41;
a shaft shoulder is arranged at the lower end of the compression spring rod 41, and threads are arranged at the upper end of the compression spring rod 41; the upper end of the compression spring rod 41 penetrates through the upper end surface of the compression spring fixing plate 43, and the threaded part of the compression spring rod 41 is exposed out of the upper surface of the compression spring fixing plate 43;
the compression spring 40 is sleeved on the compression spring rod 41, the lower end of the compression spring 40 is propped against the upper edge of a shaft shoulder of the compression spring rod 41, and the upper end of the compression spring 40 is propped against the lower surface of the compression spring fixing plate 43;
the pressure spring fixing sleeve 42 is in threaded connection with the threaded part of the pressure spring rod 41, and the lower surface of the pressure spring fixing sleeve 42 contacts the upper surface of the pressure spring fixing plate 43, so that the pressure spring 40 generates downward thrust on the pressure spring rod 41, and further the vertical fixing square pipe 37 generates downward thrust on the inter-plant weeding monomer 25, and the up-and-down profiling of the inter-plant weeding monomer 25 is realized;
one end of the main supporting reinforcing rib 44 is hinged in the middle of the pressure spring fixing plate 43, and the other end is fixed on the upper and lower profiling mechanism mounting square tube 45.
And a first obstacle avoidance hydraulic cylinder mounting frame is fixedly arranged on the upper and lower profiling mechanism mounting square pipe 45.
The utility model discloses the holistic working process of device as follows:
according to the specific requirements of crop agriculture, the line width adjusting hydraulic cylinder 17 is adjusted to enable the operation width of the weeding machine (namely the double-operation profiling obstacle-avoiding weeding device between the plants of the forest and the fruit on the ridges) to meet the actual operation requirements, and the height of the profiling land wheel 1 and the upper and lower profiling mechanisms 22 are adjusted to enable the weeding cutter head between the plants to be fixed in an ideal soil penetration depth range, so that the upper and lower profiling of the weeding monomers 25 between the plants is realized. When the weeding device works, the three-point suspension bracket 6 is connected to the rear of the tractor, the weeding device advances under the traction of the tractor and is connected with the hydraulic speed increasing box 5 through the PTO to provide power for the weeding device, and the hydraulic control mechanism 3 independently controls each hydraulic cylinder (comprising the obstacle avoidance hydraulic cylinder 20 and the on-ridge hydraulic cylinder 49) and each hydraulic motor (comprising the inter-plant weeding hydraulic motor 23 and the on-ridge hydraulic motor 52) to act. The obstacle avoidance signal acquisition mechanism 21 and the obstacle avoidance monitoring feedback mechanism 26 in the inter-plant weeding part 14 monitor the obstacle avoidance profiling process of the inter-plant weeding cutter head in real time, the acquired signals are input to the automatic control part, the automatic control part carries out theoretical calculation and signal conversion and then outputs the signals to the hydraulic control mechanism 3, the inter-plant weeding monomer 25 is controlled to profile and avoid obstacles according to the positions of the obstacles, meanwhile, the obstacle avoidance monitoring feedback mechanism 26 monitors the actual action stroke size in real time and immediately feeds the actual action stroke size back to the automatic control part, and the accurate implementation of the profiling obstacle avoidance process is ensured. Weeding operation is gone on simultaneously with weeding operation between the trunk when weeding device gos forward on the ridge, according to soil ridge shape, adjusts the every single move angle of 50 weeding monomers on the ridge, rationally carries out weeding operation, two operation profile modeling obstacle avoidance weeding devices on the tree fruit trunk and the ridge between the trunk both can realize that the trunk profile modeling keeps away the obstacle and weed, reduce power consumption, also can realize profile modeling weeding operation on the ridge, have improved herbicidal operating efficiency greatly.
The above embodiments are only for illustrating the present invention, and are not intended to limit the present invention, and those skilled in the relevant art can make various changes and modifications without departing from the spirit and scope of the present invention, and therefore all equivalent technical solutions also belong to the scope of the present invention.
The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications will be apparent to those of ordinary skill in the art.
Those not described in detail in this specification are within the knowledge of those skilled in the art.

Claims (10)

1. The utility model provides a two operation profile modeling obstacle-avoiding weeding devices between forest fruit trunk and on the ridge which characterized in that includes: the device comprises a rack part, a power transmission part, a row width adjusting mechanism (12), an inter-plant weeding part (14), an on-ridge weeding part (11), a hydraulic control mechanism (3) and an automatic control part;
the frame part includes: a frame (15);
the rack (15) is of a left-right symmetrical structure;
the power transmission part, the line width adjusting mechanism (12), the hydraulic control mechanism (3) and the automatic control part are all arranged on a rack (15);
the power transmission part is connected with a hydraulic control mechanism (3);
the hydraulic control mechanism (3) is connected with the automatic control part, the row width adjusting mechanism (12), the inter-plant weeding part (14) and the on-ridge weeding part (11);
the line width adjustment mechanism (12) includes: a left row width adjusting mechanism and a right row width adjusting mechanism;
the left row width adjusting mechanism and the right row width adjusting mechanism are symmetrical in structure and are respectively and symmetrically arranged on two sides of the rack (15);
the inter-plant herbicidal portion (14) comprises: a left inter-plant weeding mechanism and a right inter-plant weeding mechanism;
the left inter-plant weeding mechanism and the right inter-plant weeding mechanism are symmetrical in structure and are respectively and symmetrically arranged on the outer sides of the left row width adjusting mechanism and the right row width adjusting mechanism;
the on-ridge weeding portion (11) includes: the left ridge weeding mechanism and the right ridge weeding mechanism;
the left ridge weeding mechanism and the right ridge weeding mechanism are symmetrical in structure and are respectively and symmetrically arranged on the inner sides of the front parts of the left row width adjusting mechanism and the right row width adjusting mechanism;
the line width adjusting mechanism (12) is used for: changing the operation width according to the planting row spacing;
the inter-plant herbicidal moiety (14) is used for: removing weeds among plant plants;
the on-ridge weeding portion (11) is used for: the weeds on the ridges are cleared;
the power transmission portion is configured to: provides power for the row width adjusting mechanism (12), the inter-plant weeding part (14) and the on-ridge weeding part (11);
the automatic control part is used for: according to the position information of the obstacles, the obstacle avoidance action stroke is determined and output to the hydraulic control mechanism (3), and then the position of the inter-plant weeding part (14) is adjusted, so that the inter-plant profiling obstacle avoidance weeding is realized.
2. The double-operation profiling obstacle-avoiding and weeding device between forest fruit plants and on ridges as claimed in claim 1, characterized in that: the power transmission portion includes: the hydraulic pump (4), the hydraulic speed increasing box (5), the tubular filter (13) and the hydraulic oil tank (2);
the hydraulic speed increasing box (5) is provided with a front-end input shaft and a rear-end output shaft;
the front end input shaft is connected with a power output shaft PTO of the tractor through a universal shaft;
the rear end output shaft is connected with a hydraulic pump (4);
the hydraulic oil tank (2) is connected with a tubular filter (13), and the tubular filter (13) is connected with the hydraulic pump (4);
the hydraulic pump (4) is connected with the hydraulic control mechanism (3);
the hydraulic oil tank (2) is arranged on the upper part of the frame (15);
the hydraulic speed increasing box (5) is used for increasing the speed of power output by the tractor, providing input rotating speed for the hydraulic pump (4) and transmitting the power of the tractor to the hydraulic pump (4);
the hydraulic pump (4) is used for converting mechanical energy into hydraulic energy and conveying hydraulic oil to the hydraulic control mechanism (3) so as to provide hydraulic power for the row width adjusting mechanism (12), the inter-plant weeding part (14) and the on-ridge weeding part (11);
the hydraulic oil tank (2) is used for: providing hydraulic oil;
the tube filter (13) is configured to: and filtering the hydraulic oil.
3. The double-operation profiling obstacle-avoiding and weeding device between forest fruit plants and on ridges as claimed in claim 2, wherein: the left row width adjustment mechanism includes: the device comprises two row width adjusting round pipes (16), a row width adjusting hydraulic cylinder (17), a row width adjusting mounting frame (18) and a row width adjusting hydraulic cylinder mounting seat (10);
two round pipes extend out of the left side and the right side of the rack (15), and a left longitudinal beam and a right longitudinal beam are arranged on the left side and the right side of the bottom of the rack (15) respectively;
two row width adjusting round pipes (16) are fixedly arranged on the right side of the row width adjusting mounting frame (18);
the two row width adjusting circular pipes (16) are respectively sleeved on the two circular pipes extending out of the left side of the rack (15) and are in clearance fit; the line width adjusting mounting rack (18) can move left and right along a circular pipe on the rack (15);
the row width adjusting hydraulic cylinder mounting base (10) is fixedly mounted on the left longitudinal beam;
the left end of the line width adjusting hydraulic cylinder (17) is installed on the right side of the line width adjusting installation frame (18), and the right end of the line width adjusting hydraulic cylinder (17) is installed on the line width adjusting hydraulic cylinder installation seat (10);
the line width adjusting hydraulic cylinder (17) is connected with the hydraulic control mechanism (3) through a hydraulic oil pipe;
the line width adjusting hydraulic cylinder (17) is used for: the left and right relative positions of the line width adjusting mounting frame (18) and the rack (15) are adjusted;
the hydraulic control mechanism (3) enables the line width adjusting hydraulic cylinder (17) to stretch out and draw back by controlling the direction of an oil path of hydraulic oil in the line width adjusting hydraulic cylinder (17), and then the left and right relative positions of the line width adjusting mounting frame (18) and the rack (15) are adjusted.
4. The double-operation profiling obstacle-avoiding and weeding device between fruit plants and on ridges as claimed in claim 3, wherein: the weeding mechanism between the left plants comprises: the device comprises an obstacle avoidance hydraulic cylinder mounting frame (19), an obstacle avoidance hydraulic cylinder (20), an obstacle avoidance signal acquisition mechanism (21), an upper and lower profiling mechanism (22), an obstacle avoidance hydraulic cylinder mounting square tube (24) and an inter-plant weeding monomer (25);
the obstacle avoidance hydraulic cylinder mounting square pipe (24) is fixedly mounted on a row width adjusting mounting frame (18) of the left row width adjusting mechanism;
the obstacle avoidance hydraulic cylinder mounting frame (19) is fixedly mounted on the obstacle avoidance hydraulic cylinder mounting square pipe (24);
one side of the upper and lower profiling mechanisms (22) is fixedly provided with a first obstacle avoidance hydraulic cylinder mounting rack;
one end of the obstacle avoidance hydraulic cylinder (20) is connected with the obstacle avoidance hydraulic cylinder mounting frame (19), and the other end of the obstacle avoidance hydraulic cylinder (20) is connected with the first obstacle avoidance hydraulic cylinder mounting frame;
the obstacle avoidance hydraulic cylinder (20) is connected with the hydraulic control mechanism (3) through a hydraulic oil pipe;
a fixed square tube is fixedly arranged on the inter-plant weeding monomer (25);
the other side of the upper and lower profiling mechanisms (22) is fixedly connected with the fixed square pipe;
the upper and lower copying mechanism (22) is used for realizing the upper and lower copying of the inter-plant weeding monomers (25); the obstacle avoidance signal acquisition mechanism (21) is arranged on a row width adjusting mounting frame (18) of the left row width adjusting mechanism (12) and is installed and fixed relative to the inter-plant weeding monomer (25) in a manner of extending forwards by 5 degrees;
the obstacle avoidance signal acquisition mechanism (21) is connected with the automatic control part;
obstacle avoidance signal acquisition mechanism (21) is used for: acquiring an obstacle signal and transmitting the obstacle signal to an automatic control part;
the obstacle avoidance hydraulic cylinder (20) is used for: through the extension and contraction, the upper and lower profiling mechanisms (22) connected with the upper and lower profiling mechanisms drive the inter-plant weeding monomers (25) to avoid obstacles;
the automatic control part is used for: according to the obstacle signal transmitted by the obstacle avoidance signal acquisition mechanism (21), the obstacle avoidance hydraulic cylinder (20) is made to stretch and retract through the hydraulic control mechanism (3) so as to avoid the obstacle;
weeding mechanism includes on the right ridge: the device comprises ridge upper mounting square pipes (46), ridge upper mounting plates (47), ridge upper hydraulic cylinder mounting frames (48), ridge upper hydraulic cylinders (49), ridge upper weeding single bodies (50), weeding single body mounting square pipes (53) and weeding single body mounting frames (54);
the right end of the ridge upper mounting square pipe (46) is fixed on the left side surface of the row width adjusting mounting rack (18) of the right row width adjusting mechanism;
the left end of the ridge upper mounting square pipe (46) is fixedly connected with the rear part of the right side surface of the ridge upper mounting plate (47);
the ridge hydraulic cylinder mounting rack (48) is fixedly mounted at the upper end of the front part of the right side surface of the ridge mounting plate (47); the weeding single body mounting frame (54) is fixedly mounted at the lower end of the front part of the right side surface of the ridge mounting plate (47);
the left end of the weeding monomer mounting square pipe (53) is hinged with the weeding monomer mounting frame (54), and the right end of the weeding monomer mounting square pipe (53) is fixedly connected with the weeding monomers (50) on the ridge;
a hydraulic cylinder mounting frame II is fixedly arranged above the middle part of the weeding monomer mounting square pipe (53);
the left end of the ridge hydraulic cylinder (49) is hinged with the ridge hydraulic cylinder mounting rack (48), and the right end of the ridge hydraulic cylinder (49) is hinged with the hydraulic cylinder mounting rack II;
the hydraulic cylinder (49) on the ridge is used for: realize the regulation of the pitch angle of the weeding monomers (50) on the ridges.
5. The double-operation profiling obstacle-avoiding and weeding device between fruit plants and on ridges as claimed in claim 4, wherein: the upper and lower copying mechanism (22) includes: the device comprises a vertical fixing square pipe (37), two parallel connecting rods (38), a bent plate (39), a pressure spring (40), a pressure spring rod (41), a pressure spring fixing sleeve (42), a pressure spring fixing plate (43), a main support reinforcing rib (44) and an upper and lower profiling mechanism mounting square pipe (45);
the vertical fixed square tube (37) is fixedly connected with a fixed square tube on the inter-plant weeding monomer (25);
the upper end of the vertical fixed square pipe (37) is hinged with one end of one parallel connecting rod (38), the other end of the parallel connecting rod (38) is hinged with the upper end of a bent plate (39), the lower end of the bent plate (39) is hinged with one end of the other parallel connecting rod (38), and the other end of the other parallel connecting rod (38) is hinged with the lower end of the vertical fixed square pipe (37); the vertical fixed square tube (37), the two parallel connecting rods (38) and the bent plate (39) form a parallelogram, so that the inter-plant weeding monomer (25) is always kept parallel to the ground;
the upper end of the vertical fixed square pipe (37) is hinged with the lower end of a compression spring rod (41);
a shaft shoulder is arranged at the position, close to the upper part, of the lower end of the compression spring rod (41), and threads are arranged at the upper end of the compression spring rod (41); the upper end of the compression spring rod (41) penetrates through the upper end surface of the compression spring fixing plate (43), and the threaded part of the compression spring rod (41) is exposed out of the upper surface of the compression spring fixing plate (43);
the compression spring (40) is sleeved on the compression spring rod (41), the lower end of the compression spring (40) is propped against the upper edge of a shaft shoulder of the compression spring rod (41), and the upper end of the compression spring (40) is propped against the lower surface of the compression spring fixing plate (43);
the pressure spring fixing sleeve (42) is in threaded connection with a threaded part of the pressure spring rod (41), and the lower surface of the pressure spring fixing sleeve (42) is in contact with the upper surface of the pressure spring fixing plate (43);
one end of the main supporting reinforcing rib (44) is hinged in the middle of the pressure spring fixing plate (43), and the other end of the main supporting reinforcing rib is fixed on the upper and lower profiling mechanism mounting square tube (45);
and a first obstacle avoidance hydraulic cylinder mounting frame is fixedly arranged on the upper and lower profiling mechanism mounting square pipe (45).
6. The double-operation profiling obstacle-avoiding and weeding device between fruit plants and on ridges as claimed in claim 4, wherein: keep away barrier signal acquisition mechanism (21) includes: the device comprises a feeler lever (27), a feeler lever mounting limit plate (28), a feeler lever bearing (29), a feeler lever bearing seat (30), a bearing seat mounting square tube (31), a displacement sensor (32), an air spring (33), a mounting front seat (34), an obstacle avoidance signal acquisition mechanism mounting plate (35), an obstacle avoidance signal acquisition mechanism support frame (36), an obstacle avoidance monitoring feedback mechanism (26) and an inter-plant weeding mechanism mounting frame (55);
the inter-plant weeding mechanism mounting frame (55) is fixedly mounted on the row width adjusting mounting frame (18);
the obstacle avoidance signal acquisition mechanism support frame (36) is fixedly arranged on the inter-plant weeding mechanism mounting frame (55);
the obstacle avoidance signal acquisition mechanism mounting plate (35) is fixedly mounted on an obstacle avoidance signal acquisition mechanism support frame (36);
the bearing block mounting square tube (31) is fixedly mounted on the obstacle avoidance signal acquisition mechanism mounting plate (35);
the lower end of the mounting front seat (34) is mounted at one end of a bearing seat mounting square pipe (31) through a U-shaped bolt;
a feeler lever bearing block (30) is fixedly arranged at the other end of the bearing block mounting square tube (31),
the feeler lever bearing block (30) is matched with the feeler lever bearing (29);
the feeler lever bearing (29) is fixedly connected with the lower end of the feeler lever mounting limit plate (28);
the feeler lever mounting limit plate (28) can rotate relative to the bearing seat mounting square tube (31);
one end of the feeler lever (27) is arranged on the feeler lever mounting limit plate (28);
the feeler lever (27) extends outwards and is installed and fixed by extending forwards for 5 degrees relative to the inter-plant weeding monomer (25);
the feeler lever mounting limit plate (28) is provided with three adjusting mounting holes for: the installation position of the feeler lever (27) is changed, so that the angle adjustment and the limiting protection of the feeler lever (27) are realized;
the upper end of the mounting front seat (34) is hinged with one end of the displacement sensor (32) and one end of the gas spring (33);
the other end of the displacement sensor (32) and the other end of the gas spring (33) are hinged with the upper end of the feeler lever mounting limit plate (28);
the displacement sensor (32) is arranged in parallel with the gas spring (33);
the trolley (27) is used for: when the contact rod touches an obstacle, the contact rod mounting limiting plate (28) is driven to rotate relative to the bearing seat mounting square tube (31), so that the displacement sensor (32) and the gas spring (33) are driven to stretch, and the displacement sensor (32) obtains the position information of the obstacle;
the displacement sensor (32) is connected with the automatic control part;
the displacement sensor (32) is configured to: the method comprises the steps of collecting position information of an obstacle, inputting the position information of the obstacle into an automatic control part, and using the position information as a basis for the automatic control part to determine the action stroke of an obstacle avoidance hydraulic cylinder (20);
the obstacle avoidance monitoring feedback mechanism (26) is parallel to the obstacle avoidance hydraulic cylinder (20) and synchronously acts with the extension and retraction of the obstacle avoidance hydraulic cylinder (20);
two ends of the obstacle avoidance monitoring feedback mechanism (26) are respectively arranged on the obstacle avoidance hydraulic cylinder mounting frame (19) and the first obstacle avoidance hydraulic cylinder mounting frame;
and the obstacle avoidance monitoring feedback mechanism (26) is connected with the automatic control part.
7. The double-operation profiling obstacle-avoiding and weeding device between forest fruit plants and on ridges as claimed in claim 6, wherein: the inter-plant herbicidal monomer (25) comprises: an inter-plant weeding monomer frame, an inter-plant weeding hydraulic motor (23) and an inter-plant weeding cutter head;
the inter-plant weeding hydraulic motor (23) is arranged on the inter-plant weeding single frame, and the inter-plant weeding hydraulic motor (23) is connected with the hydraulic control mechanism (3) through a hydraulic oil pipe;
the inter-plant weeding monomer frame is fixedly provided with the first hydraulic cylinder mounting frame and the fixed square tube;
the weeding hydraulic motor (23) is used for: driving the inter-plant weeding cutter head to rotate;
the inter-plant weeding cutter head is used for: grass was removed from the forest fruit plants.
8. The double-operation profiling obstacle-avoiding and weeding device between fruit plants and on ridges as claimed in claim 7, wherein: the last weeding monomer (50) of weeding mechanism on the right ridge includes: the ridge weeding machine comprises a ridge weeding single frame (51), a ridge hydraulic motor (52) and a ridge weeding cutter head;
the weeding single frame (51) on the ridge is fixedly connected with the right end of the weeding single mounting square tube (53);
the ridge hydraulic motor (52) is arranged on the ridge weeding single frame, and the ridge hydraulic motor (52) is connected with the hydraulic control mechanism (3) through a hydraulic oil pipe;
the on-ridge hydraulic motor (52) is for: driving the weeding cutter heads on the ridges to rotate;
weeding blade disc on the ridge is used for: removing grass on the ridges.
9. The double-operation profiling obstacle-avoiding and weeding device between forest fruit plants and on ridges as claimed in claim 1, characterized in that: the frame part further includes: two machine supporting frames (9), two profiling land wheels (1) and a three-point suspension bracket (6);
a front cross beam is arranged at the front end of the frame (15);
the two machine supporting frames (9) are bilaterally symmetrical and connected to the front cross beam;
the upper ends of the two machine supporting frames (9) are connected with the front cross beam through detachable pin shafts, and the lower ends of the two machine supporting frames (9) are in contact with the ground;
the machine support (9) is configured to: when the double-operation copying obstacle-avoiding and weeding device between the fruit plants and on the ridges does not work, the whole double-operation copying obstacle-avoiding and weeding device between the fruit plants and on the ridges is supported; when the double-operation profiling obstacle-avoiding weeding device works between the forest fruit plants and on the ridges, the pin shaft is removed, and the two machine supporting frames (9) are removed;
a rear cross beam is arranged at the rear end of the frame (15);
the two profiling ground wheels (1) are bilaterally symmetrical and connected to the rear cross beam;
the profiling ground wheels (1) are connected with the rear cross beam through U-shaped bolts, and the wheel bottoms of the two profiling ground wheels (1) are in contact with the ground;
the frame (15) can be adjusted in the height direction of the U-shaped bolt, so that the heights of the inter-plant weeding part (14) and the on-ridge weeding part (11) can be adjusted, and the up-and-down profiling of the inter-plant weeding part (14) and the on-ridge weeding part (11) is realized;
the three-point suspension bracket (6) is arranged in the middle position above the rack (15);
the three-point suspension bracket (6) is used for: is connected with the three-point suspension of the tractor.
10. The double-operation profiling obstacle-avoiding and weeding device between fruit plants and on ridges as claimed in claim 8, wherein: the automatic control section includes: the electric control cabinet comprises a main controller, an electric control cabinet (7) and an electric control cabinet mounting plate (8);
the main controller is connected with the hydraulic control mechanism (3), the obstacle avoidance monitoring feedback mechanism (26) and the displacement sensor (32);
the hydraulic control mechanism (3) is connected with an obstacle avoidance hydraulic cylinder (20), a inter-plant weeding hydraulic motor (23), an on-ridge hydraulic cylinder (49) and an on-ridge hydraulic motor (52),
the hydraulic control mechanism (3) is arranged in the middle of the rear part of the frame (15);
the hardware of the main controller is fixedly arranged in the electric cabinet (7);
the electric cabinet (7) is arranged at the upper end of the front part of the frame (15) through an electric cabinet mounting plate (8) and is close to the driving position of the tractor.
CN202022439512.1U 2020-10-29 2020-10-29 Double-operation profiling obstacle-avoiding weeding device between forest fruit plants and on ridges Active CN213880814U (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113721452A (en) * 2021-08-31 2021-11-30 农业农村部南京农业机械化研究所 Mechanical weeding part ground inclined three-dimensional profiling device and method
CN113748753A (en) * 2021-09-30 2021-12-07 福州大学 Hoe-shovel type end effector and working method thereof
CN113748830A (en) * 2021-09-14 2021-12-07 农业农村部南京农业机械化研究所 Weeding device for field
CN114946382A (en) * 2022-04-19 2022-08-30 安徽农业大学 Intertillage weeding equipment between crops row and trunk

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113721452A (en) * 2021-08-31 2021-11-30 农业农村部南京农业机械化研究所 Mechanical weeding part ground inclined three-dimensional profiling device and method
CN113748830A (en) * 2021-09-14 2021-12-07 农业农村部南京农业机械化研究所 Weeding device for field
CN113748830B (en) * 2021-09-14 2022-03-22 农业农村部南京农业机械化研究所 Weeding device for field
CN113748753A (en) * 2021-09-30 2021-12-07 福州大学 Hoe-shovel type end effector and working method thereof
CN114946382A (en) * 2022-04-19 2022-08-30 安徽农业大学 Intertillage weeding equipment between crops row and trunk

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