CN214757947U - Modularization weeding device - Google Patents

Abstract

The utility model discloses a modularization weeding device belongs to agricultural machine technical field. A modularized weeding device comprises a fixed table, wherein the lower end of the fixed table is fixedly connected with two symmetrical first sleeves, a telescopic spring is fixedly connected in the first sleeve, a first weed identification camera, an automatic navigation camera, a GPS receiver and a main controller are sequentially and fixedly connected on the fixed platform along the advancing direction, the lower end of the pesticide applying mechanism is connected with a second weed identification camera, the utility model is provided with a first transmission mechanism, the rotating wheel and the weeding mechanism can synchronously ascend and descend, the weeding end of the weeding mechanism and the lowest part of the rotating wheel are always equal in height, thereby effectively improving the efficiency of the weeding mechanism for cutting off the weeds on the ground surface, and through the mutual matching of the weeding mechanism and the pesticide applying mechanism, can thoroughly remove weeds, prevent the resurgence of the cut weeds and effectively improve the practicability of the device.

Description

Modularization weeding device

Technical Field

The utility model relates to the technical field of agricultural machinery, especially, relate to a modularization weeding device.

Background

Agriculture is an industry for obtaining products by artificial cultivation by utilizing growth and development rules of animals and plants, and belongs to the first industry, the science of researching agriculture is agriculture, the labor object of agriculture is living animals and plants, the obtained products are the animals and plants, and the agriculture is a basic industry for supporting national economic construction and development.

Weeds compete for soil moisture and nutrients with crops, occupy farmland space, affect crop growth, seriously affect the yield and quality of crops if not effectively controlled, and compete for moisture, nutrients, illumination and space with crops, so that the yield and quality of crops are reduced, and the breeding and spreading of plant diseases and insect pests are indirectly facilitated.

However, current weeding device when using, needs the staff to operate, and intelligent degree is not high, is not suitable for the weeding work in bold farmland, and current weeding device is carrying out the during operation simultaneously, removes the wheel and can receive the influence that ground is leveled, follows ground and rises and descend to make its weeding equipment can not be as high as height all the time with the minimum that removes the wheel, greatly reduced weeding equipment to the surperficial ruderal excision efficiency on.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving current weeding device when using, need the staff to operate, intelligent degree is not high, be not suitable for the weeding work in bold farmland, current weeding device is carrying out the during operation simultaneously, remove the wheel and can receive the influence that ground is leveled, follow ground and rise the decline, thereby make its weeding equipment can not wait all the time with the lower of removing the wheel, greatly reduced weeding equipment to the problem of the surperficial ruderal excision efficiency of earth, and a modularization weeding device that proposes.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a modular weeding device comprises a fixed table, wherein the lower end of the fixed table is fixedly connected with two symmetrical first sleeves, telescopic springs are fixedly connected in the first sleeves, first moving columns are connected in the first sleeves in a sliding manner, the upper ends of the first moving columns are fixedly connected with the telescopic springs, the lower ends of the first moving columns are connected with a connecting frame, rotating wheels are rotatably connected onto the connecting frame through rotating shafts, two symmetrical second sleeves are arranged between the two first sleeves and fixedly connected with the fixed table, second moving columns are connected in the second sleeves in a sliding manner, the lower ends of the second moving columns are connected with a weeding mechanism, the weeding end of the weeding mechanism is equal to the lowest part of the rotating wheels, the upper ends of the first moving columns and the second moving columns are respectively and fixedly connected with first sliding rods and second sliding rods, one ends of the first sliding rod and the second sliding rod, which are far away from the first moving column and the second moving column, penetrate through the fixed table, and is connected through a first transmission mechanism, the lower end of the fixed platform is fixedly connected with a pesticide applying mechanism, an air supply mechanism is fixedly connected between the first sleeve and the second sleeve, the gas supply mechanism is connected with the pesticide applying mechanism through a connecting pipe, the power input end of the gas supply mechanism is connected with the rotating shaft through a second transmission mechanism, the fixed station is fixedly connected with a first weed identification camera, an automatic navigation camera, a GPS receiver and a main controller in sequence along the advancing direction, the lower end of the pesticide applying mechanism is connected with a second weed identification camera, the automatic navigation camera is connected with a GPS receiver, the first weed identification camera, the second weed identification camera, the automatic navigation camera and the weeding mechanism are respectively connected with the main controller.

Preferably, weeding mechanism includes first motor, dwang, second motor, weeding board, first motor fixed connection removes the lower extreme of post at the second, dwang fixed connection is at the output of first motor, the one end and the second motor fixed connection of first motor are kept away from to the dwang, weeding board fixed connection is at the output of second motor.

Preferably, first protection covers are sleeved on the first motor and the second motor, and protection plates matched with the weeding plates are fixedly connected to the first protection covers close to the second motor.

Preferably, first drive mechanism includes two drive gear, telescopic link, the pivot of meshing mutually, drive gear cup joints in the pivot, the pivot is connected with the fixed station through the fixed block, the one end of pivot runs through in drive gear, and with telescopic link fixed connection, two the flexible end of telescopic link rotates with assorted first slide bar, second slide bar respectively and is connected.

Preferably, one end fixedly connected with third motor that is close to drive gear on the fixed station, arbitrary the telescopic link was kept away from in the pivot one end run through in the fixed block, and with the output fixed connection of third motor, the third motor is connected with the master controller, the last sleeve of drive mechanism has the second protection casing.

Preferably, the mechanism of giving medicine to poor free of charge includes explosive box, adjustable shower nozzle, fixed connection between explosive box and the fixed station, adjustable shower nozzle and the play medicine mouth sealing connection of explosive box, weeds discernment camera fixed connection of second is between two adjustable shower nozzles, the adjustable shower nozzle is connected with the master controller.

Preferably, the air supply mechanism comprises an air cylinder and a piston, the air cylinder is fixedly connected with the fixed station, the piston is slidably connected in the air cylinder, and one-way valves are arranged in air inlets and air outlets of the air cylinder.

Preferably, the second transmission mechanism comprises a cylindrical barrel, a limiting rod and a driving rod, a first bearing block is fixedly connected to one side of the first barrel close to the cylinder, the cylindrical barrel is rotatably connected to the first bearing block, a second bearing block is fixedly connected to one side of the connecting frame close to the cylinder, the driving rod is rotatably connected to the second bearing block, the limiting rod is fixedly connected to the inside of the cylindrical barrel, the driving rod is slidably connected to the inside of the cylindrical barrel, a sliding chute is arranged on the driving rod, the limiting rod is slidably connected to the driving rod through the sliding chute, one end of the rotating shaft close to the second bearing block penetrates through the connecting frame and is fixedly connected with a first bevel gear, a second bevel gear matched with the first bevel gear is fixedly connected to the lower end of the driving rod, a third bevel gear is fixedly connected to the upper end of the cylindrical barrel, and a transmission rod is rotatably connected to one side of the second barrel close to the cylinder, and a fourth bevel gear matched with the third bevel gear is fixedly connected to the transmission rod, and the piston is connected with the transmission rod through a connecting column.

Preferably, still include the locomotive, the locomotive rear end is connected with folded cascade operation arm, can dismantle between fixed station and the folded cascade operation arm and be connected.

Preferably, the length of the foldable working arm is 10 meters.

Compared with the prior art, the utility model provides a modularization weeding device possesses following beneficial effect:

1. when the modularized weeding device is used, the device is firstly fixed on a working vehicle, the working vehicle drives the device to move, wherein a first weed identification camera, an automatic navigation camera, a GPS receiver and a main controller are connected on a fixed platform, the first weed identification camera can identify weeds in the advancing direction of the working vehicle, the automatic navigation camera is connected with the GPS receiver, the automatic navigation camera can determine the position of the working vehicle according to signals of the GPS receiver, the first weed identification camera and the automatic navigation camera are respectively connected with the main controller, the first weed identification camera and the automatic navigation camera respectively transmit the signals to the main controller, the main controller calculates the position of the weeds and the distance between the main controller and the working vehicle according to the received signals, the main controller is connected with a weeding mechanism, after the weeding mechanism on the fixed platform moves to the position of the weeds, the main controller sends a signal to enable the weeding mechanism to cut off weeds, then the position signal of the cut off weeds is transmitted to the main controller through the second weed identification camera, the main controller controls the adjustable spray head to spray the cut off weeds, so that the weeds are thoroughly killed, the cut off weeds are prevented from reviving again, and the practicability of the device is effectively improved; the first weed identification camera and the second weed identification camera acquire the height information of crop plants and inline weeds based on binocular vision, identify ground green target crops and weeds by means of color features to reduce the image stereo matching operand, identify the crop plants from a transverse pixel histogram fitting curve according to the spatial distribution features of the crop plants, and further identify the inline weeds, for the weeds in the row, the weeds are identified instead of the crops, in the crop row where the weeds and the crops exist simultaneously, the green targets outside the crops are the weeds, thereby being beneficial to improving the utilization rate of human resources, reducing the pesticide dosage, protecting the ecological environment, accurately identifying the position of weeds according to the automatic navigation camera and the GPS receiver after the weeds are accurately identified, the weeds are accurately cut by the weeding mechanism, and then the weeds are accurately applied, so that the use of pesticides is greatly reduced; when the rotating wheel moves, due to the influence of the flatness of the ground, the rotating wheel can ascend and descend along with the ground under the action of the telescopic spring, so that the rotating wheel can be adaptive to the height along with the fluctuation of the ground, through the arrangement of the first transmission mechanism, the weeding mechanism and the rotating wheel can ascend or descend simultaneously, the weeding end of the weeding mechanism and the lowest part of the rotating wheel are always equal in height, and the weed cutting efficiency of the weeding mechanism on the ground surface is effectively improved;

the device in not relate to the part all the same with prior art or can adopt prior art to realize, the utility model discloses a setting of first drive mechanism can make runner and weeding mechanism rise the decline in step, makes its weeding mechanism's weeding end and runner's lower portion wait high all the time to effectual improvement weeding mechanism is to the ruderal excision efficiency on the earth's surface, through weeding mechanism and the mutually supporting of mechanism of giving medicine to poor free of charge, can thoroughly detach weeds, prevent that the weeds after the excision from reviving again, the effectual practicality that has improved the device.

Drawings

Fig. 1 is a schematic structural view of a modular weeding device provided by the present invention;

fig. 2 is a schematic structural view of a first sleeve, a second sleeve, a first transmission mechanism, a second transmission mechanism, a rotating wheel and a weeding mechanism in the modular weeding device provided by the present invention;

fig. 3 is a schematic structural view of a portion a in fig. 2 of a modular weeding apparatus according to the present invention;

fig. 4 is a schematic structural view of a portion B in fig. 2 of the modular weeding device according to the present invention;

fig. 5 is a schematic structural view of a weeding mechanism in the modular weeding device provided by the utility model;

fig. 6 is a top view of a modular weeding apparatus according to the present invention;

fig. 7 is a schematic structural view of a first weed identification camera, an automatic navigation camera, a GPS receiver, a master controller and a fixed station in the modular weeding device of the present invention;

fig. 8 is a schematic structural view of a mobile vehicle and a foldable working arm in the modular weeding device provided by the present invention;

fig. 9 is a perspective view of the first sleeve, the first moving rod and the connecting frame in the modular weeding device of the present invention.

In the figure: 1. a fixed table; 2. a first sleeve; 3. a first moving column; 4. a connecting frame; 5. a rotating wheel; 6. a second sleeve; 7. a second moving column; 8. a first motor; 9. rotating the rod; 10. a second motor; 11. a protection plate; 12. a weeding plate; 13. a medicine storage box; 14. an adjustable spray head; 15. a first slide bar; 16. a telescopic rod; 17. a transmission gear; 18. a second slide bar; 19. a third motor; 20. a rotating shaft; 21. a tension spring; 22. a cylinder; 23. a piston; 24. a transmission rod; 25. connecting columns; 26. a second bearing block; 27. a first bearing block; 28. a cylindrical barrel; 29. a limiting rod; 30. a driving lever; 31. a rotating shaft; 32. a mobile vehicle; 33. a foldable work boom; 35. a second weed identification camera; 101. a first weed identification camera; 102. an automatic navigation camera; 103. a GPS receiver; 104. and a master controller.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Example 1:

referring to fig. 1-9, a modularized weeding device comprises a fixed station 1, wherein the lower end of the fixed station 1 is fixedly connected with two symmetrical first sleeves 2, telescopic springs 21 are fixedly connected in the first sleeves 2, first moving columns 3 are slidably connected in the first sleeves 2, the upper ends of the first moving columns 3 are fixedly connected with the telescopic springs 21, the lower ends of the first moving columns 3 are connected with a connecting frame 4, rotating wheels 5 are rotatably connected on the connecting frame 4 through rotating shafts 31, two symmetrical second sleeves 6 are arranged between the two first sleeves 2, the second sleeves 6 are fixedly connected with the fixed station 1, second moving columns 7 are slidably connected in the second sleeves 6, the lower ends of the second moving columns 7 are connected with a weeding mechanism, the weeding end of the weeding mechanism is equal to the lowest part of the rotating wheels 5, and the upper ends of the first moving columns 3 and the second moving columns 7 are respectively and fixedly connected with first sliding rods 15, One ends of the second slide bar 18, the first slide bar 15 and the second slide bar 18, which are far away from the first moving column 3 and the second moving column 7, penetrate through the fixed table 1, the weed identification camera is connected with the fixing table 1 through a first transmission mechanism, the lower end of the fixing table 1 is fixedly connected with a pesticide application mechanism, a gas supply mechanism is fixedly connected between the first sleeve 2 and the second sleeve 6, the gas supply mechanism is connected with the pesticide application mechanism through a connecting pipe, the power input end of the gas supply mechanism is connected with the rotating shaft 31 through a second transmission mechanism, a first weed identification camera 101, an automatic navigation camera 102, a GPS receiver 103 and a main controller 104 are sequentially and fixedly connected with the fixing table 1 along the advancing direction, the lower end of the pesticide application mechanism is connected with a second weed identification camera 35, the automatic navigation camera 102 is connected with the GPS receiver 103, and the first weed identification camera 101, the second weed identification camera 35, the automatic navigation camera 102 and the weeding mechanism are respectively connected with the main controller 104.

When the user uses the device, firstly, the device is fixed on a working vehicle, the working vehicle drives the device to move, wherein a first weed identification camera 101, an automatic navigation camera 102, a GPS receiver 103 and a main controller 104 are connected on a fixed platform 1, the first weed identification camera 101 can identify weeds in the advancing direction of the working vehicle, the automatic navigation camera 102 is connected with the GPS receiver 103, the automatic navigation camera 102 can determine the position of the working vehicle according to signals of the GPS receiver 103, the first weed identification camera 101 and the automatic navigation camera 102 are respectively connected with the main controller 104, the first weed identification camera 101 and the automatic navigation camera 102 respectively transmit signals to the main controller 104, the main controller 104 calculates the position of the weeds and the distance between the weeds and the working vehicle according to the received signals, the main controller 104 is connected with a weeding mechanism, after the weeding mechanism on the fixed platform 1 moves to the position of the weeds, the main controller 104 sends a signal to enable the weeding mechanism to cut off weeds, then the position signal of the cut off weeds is transmitted to the main controller 104 through the second weed identification camera 35, the main controller 104 controls the adjustable spray head 14 to spray the cut off weeds, so that the weeds are thoroughly killed, the cut off weeds are prevented from reviving again, and the practicability of the device is effectively improved;

the first weed identification camera 101 and the second weed identification camera 35 acquire the height information of crop plants and inline weeds based on binocular vision, identify ground green target crops and weeds by virtue of color features to reduce image stereo matching calculation amount, identify crop plants from a transverse pixel histogram fitting curve according to crop plant space distribution features, further identify the weeds in the outrun, change the in-line weeds into the identified crops, and in the crop lines where the weeds and the crops exist simultaneously, the green targets outside the crops are the weeds, thereby being beneficial to improving the utilization rate of human resources, reducing the pesticide dosage, protecting the ecological environment, accurately positioning the positions of the weeds according to the automatic navigation camera 102 and the GPS receiver 103 after the weeds are accurately identified, accurately cutting off the weeds by a weeding mechanism, and accurately applying pesticide at the weeds, the use of pesticides is greatly reduced;

when the rotating wheel 5 moves, due to the influence of the flatness of the ground, the rotating wheel 5 can ascend and descend along with the ground under the action of the telescopic spring 21, so that the rotating wheel 5 can be adaptive to the height along with the fluctuation of the ground, the weeding mechanism and the rotating wheel 5 can ascend or descend simultaneously through the arrangement of the first transmission mechanism, the weeding end of the weeding mechanism and the lowest part of the rotating wheel 5 are always equal in height, and the efficiency of the weeding mechanism for cutting off weeds on the ground surface is effectively improved.

Example 2:

referring to fig. 1, 2 and 5, a modular weeding apparatus, substantially the same as in embodiment 1, further comprising: weeding mechanism includes first motor 8, dwang 9, second motor 10, weeding board 12, the lower extreme of post 7 is removed at the second to first motor 8 fixed connection, dwang 9 fixed connection is at first motor 8's output, dwang 9 keeps away from first motor 8's one end and second motor 10 fixed connection, weeding board 12 fixed connection is at the output of second motor 10, after first weeds discernment camera 101 detects ruderal position, at this moment, through first motor 8 of master controller 104 control, second motor 10 rotates, thereby realize accurate weeding, and can not remove crops, the effectual practicality that has improved the device.

Example 3:

referring to fig. 5, a modular weeding apparatus, substantially the same as in embodiment 1, further comprising: all cup jointed first protection casing on first motor 8, the second motor 10, be close to on the first protection casing of second motor 10 fixedly connected with and weed board 12 assorted guard plate 11, through the setting of first protection casing, can play dirt-proof effect to first motor 8, second motor 10, through the setting of guard plate 11, when weeding board 12, the grass bits can not fly in disorder.

Example 4:

referring to fig. 1, 2, 3 and 6, a modular weeding apparatus, substantially the same as in embodiment 1, further comprising: the first transmission mechanism comprises two transmission gears 17, an expansion link 16 and a rotating shaft 20 which are meshed with each other, the transmission gears 17 are sleeved on the rotating shaft 20, the rotating shaft 20 is connected with the fixed platform 1 through a fixed block, one end of the rotating shaft 20 penetrates through the transmission gears 17, and is fixedly connected with a telescopic rod 16, the telescopic ends of the two telescopic rods 16 are respectively and rotatably connected with a first slide bar 15 and a second slide bar 18 which are matched, when the rotating wheel 5 ascends and descends along with the ground, the first slide bar 15 is driven to move up and down, the first slide bar 15 drives one of the transmission gears 17 to rotate through the telescopic rod 16, then any one transmission gear 17 drives another telescopic rod 16 to rotate, then drives a second slide bar 18 to move up and down, the second slide bar 18 drives a second moving column 7 to move up and down, thereby drive weeding mechanism and follow runner 5 and reciprocate in step to be convenient for weeding mechanism and directly weed from the earth's surface.

Example 5:

referring to fig. 6, a modular weeding apparatus, substantially the same as in embodiment 1, further comprising: one end fixedly connected with third motor 19 that is close to drive gear 17 on fixed station 1, the one end that telescopic link 16 was kept away from to arbitrary pivot 20 runs through in the fixed block, and with the output fixed connection of third motor 19, third motor 19 is connected with master controller 104, the last sleeve of drive mechanism has the second protection casing, setting through third motor 19, after weeding finishes, can make runner 5, weeding mechanism rises, the convenience is transported it, through the setting of second protection casing, can play the effect of protection to third motor 19, first drive mechanism.

Example 6:

referring to fig. 1, a modular weeding apparatus, substantially the same as in embodiment 1, further comprising: the mechanism of giving medicine to poor free of charge includes explosive box 13, adjustable shower nozzle 14, fixed connection between explosive box 13 and fixed station 1, adjustable shower nozzle 14 and explosive box 13's play medicine mouth sealing connection, second weeds discernment camera 35 fixed connection is between two adjustable shower nozzles 14, adjustable shower nozzle 14 is connected with master controller 104, when air feed mechanism carries out the air feed to explosive box 13, at this moment, the medicament in the explosive box 13 then can go out through adjustable shower nozzle 14 under the effect of pressure, carry out accurate discernment to weeds through second weeds discernment camera 35, thereby master controller 104 carries out angle modulation to adjustable shower nozzle 14, make accurate spouting of its medicament on weeds, the effectual practicality that has improved the device.

Example 7:

referring to fig. 1-3, a modular weeding apparatus, substantially the same as in example 1, further comprising: the gas supply mechanism comprises a cylinder 22 and a piston 23, the cylinder 22 is fixedly connected with the fixed platform 1, the piston 23 is slidably connected in the cylinder 22, one-way valves are arranged in gas inlet and outlet ports of the cylinder 22, the piston 23 is driven by the second transmission mechanism to reciprocate in the cylinder 22, and therefore gas in the cylinder 22 is conveyed into the pesticide applying mechanism through the connecting pipe to be pressurized, and pesticide is sprayed on weeds.

Example 8:

referring to fig. 1-4, a modular weeding apparatus, substantially the same as in example 1, further comprising: the second transmission mechanism comprises a cylindrical barrel 28, a limiting rod 29 and a driving rod 30, wherein a first bearing block 27 is fixedly connected to one side of the first sleeve 2 close to the cylinder 22, the cylindrical barrel 28 is rotatably connected to the first bearing block 27, a second bearing block 26 is fixedly connected to one side of the connecting frame 4 close to the cylinder 22, the driving rod 30 is rotatably connected to the second bearing block 26, the limiting rod 29 is fixedly connected to the inside of the cylindrical barrel 28, the driving rod 30 is slidably connected to the inside of the cylindrical barrel 28, a sliding groove is formed in the driving rod 30, the limiting rod 29 is slidably connected with the driving rod 30 through the sliding groove, one end of the rotating shaft 31 close to the second bearing block 26 penetrates through the connecting frame 4 and is fixedly connected with a first bevel gear, a second bevel gear matched with the first bevel gear is fixedly connected to the lower end of the driving rod 30, a third bevel gear is fixedly connected to the upper end of the cylindrical barrel 28, a transmission rod 24 is rotatably connected to one side of the second sleeve 6 close to the cylinder 22, fixedly connected with and third bevel gear assorted fourth bevel gear on transfer line 24, connect through spliced pole 25 between piston 23 and the transfer line 24, when runner 5 rotates, can drive axis of rotation 31 and rotate, axis of rotation 31 rethread first bevel gear drives second bevel gear and rotates, second bevel gear drives the drive lever 30 again and rotates, drive lever 30 rethread gag lever post 29 drives cylinder 28 and rotates, cylinder 28 rethread third bevel gear drives fourth bevel gear and rotates, fourth bevel gear drives transfer line 24 again and rotates, transfer line 24 rethread spliced pole 25 drives piston 23 and reciprocates, thereby carry out the air feed to the mechanism of giving medicine to poor free of charge, through the setting of gag lever post 29, can make the stable drive cylinder 28 that drives of drive lever 30 rotate, and stability is improved.

Example 9:

referring to fig. 8, a modular weeding apparatus, substantially the same as in embodiment 1, further comprising: still include the locomotive 32, the locomotive 32 rear end is connected with folded cascade operation arm 33, can dismantle between fixed station 1 and the folded cascade operation arm 33 to be connected, through the setting of locomotive 32, folded cascade operation arm 33, conveniently drives a plurality of fixed stations 1 and carries out weeding work, wherein can dismantle between fixed station 1 and the folded cascade operation arm 33 and be connected, and the person of facilitating the use separates fixed station 1 and folded cascade operation arm 33.

Example 10:

referring to fig. 8, a modular weeding apparatus, substantially the same as in embodiment 1, further comprising: the length of foldable working arm 33 is 10 meters, has effectively improved the efficiency of weeding of this device.

The utility model discloses a setting of first drive mechanism can make runner 5 and weeding mechanism rise the decline in step, and the height such as height all the time is held in the weeding of its weeding mechanism and runner 5's lower portion to effectual improvement weeding mechanism to the ruderal excision efficiency on the earth's surface, through mutually supporting of weeding mechanism and pesticide application mechanism, can thoroughly detach weeds, prevent that the weeds after the excision from reviving again, the effectual practicality that has improved the device.

The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims (10)

1. The modular weeding device comprises a fixed table (1) and is characterized in that the lower end of the fixed table (1) is fixedly connected with two symmetrical first sleeves (2), an extension spring (21) is fixedly connected in the first sleeves (2), a first movable column (3) is connected in the first sleeves (2) in a sliding manner, the upper end of the first movable column (3) is fixedly connected with the extension spring (21), the lower end of the first movable column (3) is connected with a connecting frame (4), a rotating wheel (5) is rotatably connected on the connecting frame (4) through a rotating shaft (31), two symmetrical second sleeves (6) are arranged between the first sleeves (2), the second sleeves (6) are fixedly connected with the fixed table (1), and a second movable column (7) is connected in the second sleeves (6) in a sliding manner, the weeding device is characterized in that the lower end of the second movable column (7) is connected with a weeding mechanism, the weeding end of the weeding mechanism is equal to the lowest part of the rotating wheel (5), the upper ends of the first movable column (3) and the second movable column (7) are fixedly connected with a first sliding rod (15) and a second sliding rod (18) respectively, one ends of the first sliding rod (15) and the second sliding rod (18) far away from the first movable column (3) and the second movable column (7) penetrate through the fixed table (1) and are connected through a first transmission mechanism, the lower end of the fixed table (1) is fixedly connected with a pesticide applying mechanism, a gas supply mechanism is fixedly connected between the first sleeve (2) and the second sleeve (6), the gas supply mechanism is connected with the pesticide applying mechanism through a connecting pipe, the power input end of the gas supply mechanism is connected with the rotating shaft (31) through a second transmission mechanism, and a first weed identification camera (101) and a second weed identification camera are fixedly connected on the fixed table (1) in sequence along the advancing direction, The automatic weed control device comprises an automatic navigation camera (102), a GPS receiver (103) and a master controller (104), wherein the lower end of the pesticide applying mechanism is connected with a second weed identification camera (35), the automatic navigation camera (102) is connected with the GPS receiver (103), and the first weed identification camera (101), the second weed identification camera (35), the automatic navigation camera (102) and the weeding mechanism are respectively connected with the master controller (104).

2. A modular weeding device according to claim 1, wherein said weeding mechanism comprises a first motor (8), a rotating rod (9), a second motor (10), and a weeding plate (12), said first motor (8) is fixedly connected to the lower end of the second movable column (7), said rotating rod (9) is fixedly connected to the output end of the first motor (8), one end of the rotating rod (9) far from the first motor (8) is fixedly connected to the second motor (10), and said weeding plate (12) is fixedly connected to the output end of the second motor (10).

3. The modular weeding device according to claim 2, wherein the first motor (8) and the second motor (10) are sleeved with first protective covers, and the first protective cover close to the second motor (10) is fixedly connected with a protective plate (11) matched with the weeding plate (12).

4. The modular weeding device according to claim 1, wherein the first transmission mechanism comprises two transmission gears (17), telescopic rods (16) and a rotating shaft (20) which are meshed with each other, the transmission gears (17) are sleeved on the rotating shaft (20), the rotating shaft (20) is connected with the fixed table (1) through a fixed block, one end of the rotating shaft (20) penetrates through the transmission gears (17) and is fixedly connected with the telescopic rods (16), and the telescopic ends of the two telescopic rods (16) are respectively and rotatably connected with the first sliding rod (15) and the second sliding rod (18) which are matched with each other.

5. The modular weeding device according to claim 4, wherein a third motor (19) is fixedly connected to one end of the fixed table (1) close to the transmission gear (17), one end of any one of the rotating shafts (20), which is far away from the telescopic rod (16), penetrates through the fixed block and is fixedly connected with the output end of the third motor (19), the third motor (19) is connected with the main controller (104), and a second protective cover is sleeved on the transmission mechanism.

6. The modular weeding apparatus according to claim 1, wherein the pesticide applying mechanism comprises a pesticide storage box (13) and adjustable spray heads (14), the pesticide storage box (13) is fixedly connected with the fixed platform (1), the adjustable spray heads (14) are hermetically connected with the pesticide outlet of the pesticide storage box (13), the second weed identification camera (35) is fixedly connected between the two adjustable spray heads (14), and the adjustable spray heads (14) are connected with the main controller (104).

7. The modular weeding device according to claim 1, wherein the air supply mechanism comprises an air cylinder (22) and a piston (23), the air cylinder (22) is fixedly connected with the fixed platform (1), the piston (23) is slidably connected in the air cylinder (22), and one-way valves are arranged in air inlet and air outlet openings of the air cylinder (22).

8. The modular weeding device according to claim 7, wherein the second transmission mechanism comprises a cylindrical barrel (28), a limiting rod (29) and a driving rod (30), a first bearing block (27) is fixedly connected to one side of the first sleeve (2) close to the cylinder (22), the cylindrical barrel (28) is rotatably connected to the first bearing block (27), a second bearing block (26) is fixedly connected to one side of the connecting frame (4) close to the cylinder (22), the driving rod (30) is rotatably connected to the second bearing block (26), the limiting rod (29) is fixedly connected to the inside of the cylindrical barrel (28), the driving rod (30) is slidably connected to the inside of the cylindrical barrel (28), a sliding groove is formed in the driving rod (30), the limiting rod (29) is slidably connected to the driving rod (30) through the sliding groove, one end of the rotating shaft (31) close to the second bearing block (26) penetrates through the connecting frame (4), the driving mechanism is characterized in that a first bevel gear is fixedly connected to the lower end of the driving rod (30), a second bevel gear matched with the first bevel gear is fixedly connected to the lower end of the driving rod (30), a third bevel gear is fixedly connected to the upper end of the cylindrical barrel (28), one side, close to the air cylinder (22), of the second sleeve (6) is rotatably connected with a transmission rod (24), a fourth bevel gear matched with the third bevel gear is fixedly connected to the transmission rod (24), and the piston (23) is connected with the transmission rod (24) through a connecting column (25).

9. A modular weeding apparatus as claimed in claim 1, further comprising a mobile vehicle (32), wherein a foldable working arm (33) is connected to the rear end of the mobile vehicle (32), and the fixed station (1) and the foldable working arm (33) are detachably connected.

10. A modular weeding apparatus as claimed in claim 9, wherein said foldable working arm (33) has a length of 6-12 m.

Images