A multifunctional weeding machine used in vegetable row ditches

Abstract

The present invention discloses a multifunctional weeding machine used between rows of vegetable plants, comprising a frame and traveling ground wheels fixedly arranged at the left and right ends of the frame, a plurality of inter-row weeding mechanisms symmetrically fixedly installed on the frame between the traveling ground wheels, the inter-row weeding mechanism consisting of an equipment box fixedly installed on the frame, a pair of inter-row weeding shovels arranged parallel and rotating at the bottom of the equipment box, and a driving mechanism arranged on the equipment box that can drive the pair of inter-row weeding shovels to rotate in the opposite direction, an image recognition sensor for detecting plants is arranged on the frame, and the image recognition sensor is arranged in front of the traveling path of the inter-row weeding shovel. When the weeding machine weeds between plants, when the image recognition sensor detects a plant, it drives two relative inter-row weeding shovels to rotate in the opposite direction to avoid the plant, and avoids damaging the plant while ensuring the removal of the weeds, and has high weeding efficiency, high degree of automation, simple operation, and stronger practicality.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural weeding equipment, and in particular relates to a multifunctional weeder used between vegetable rows and furrows. Background Art

[0002] Chinese vegetables have become an important part of the global vegetable market and the second largest crop in China's planting industry after grain. However, in traditional agriculture, weeds are one of the problems that seriously plague the growth of crops. The current methods of agricultural weeding include manual weeding, mechanical weeding, mulching weeding, chemical weeding, biotechnology weeding, etc. Manual weeding requires a lot of labor, has high labor intensity, and low weeding efficiency. Chemical weeding pollutes the environment and threatens the safety of humans and animals, and makes plants resistant to pesticides. Mechanical weeding has high efficiency, simple operation, and low impact on the environment. However, due to the complexity of the vegetable field environment, avoiding crops and removing weeds between plants is the biggest difficulty of mechanical weeding. The existing vegetable weeding equipment has relatively single functions and low weeding efficiency. In addition, there are few studies on weeding between plants in China, or it does not have the function of weeding between plants. Summary of the invention

[0003] The purpose of the present invention is to provide a multifunctional weeder for use between vegetable rows and furrows to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a multifunctional weeding machine used between rows of vegetable plants, comprising a frame and traveling ground wheels fixedly arranged at the left and right ends of the frame, a plurality of inter-row weeding mechanisms symmetrically fixedly installed on the frame between the traveling ground wheels, the inter-row weeding mechanism comprising an equipment box fixedly installed on the frame, a pair of inter-row weeding shovels arranged parallel and rotatable at the bottom of the equipment box, and a driving mechanism arranged on the equipment box that can drive the pair of inter-row weeding shovels to rotate in opposite directions, and the corresponding two inter-row weeding shovels are in two states.

[0005] First, when the driving mechanism is not working, the two weeding shovels are arranged in parallel to weed.

[0006] Secondly, the driving mechanism drives a pair of inter-row weeding shovels to rotate in opposite directions, and the two inter-row weeding shovels are in an "eight" shape to avoid the plants;

[0007] An image recognition sensor for detecting plants is arranged on the frame, and the image recognition sensor is arranged in front of the travel path of the inter-row weeding shovel.

[0008] Preferably, the driving mechanism is composed of a driving motor which is inverted and fixedly mounted on an equipment box with its output end extending into the equipment box, an intermittent gear fixedly mounted on the output shaft of the driving motor, and a pair of full-tooth gears which are installed in the equipment box and rotate side by side via a rotating shaft. The lower rotating shaft of the full-tooth gear extends out of the equipment box and is fixedly connected to the weeding shovel. One of the full-tooth gears is gear-engaged with the intermittent gear. An elastic reset mechanism is arranged between the rotating shaft and the outer casing of the equipment box for resetting the two inter-row weeding shovels after they are deflected in the opposite direction.

[0009] Preferably, the elastic reset mechanism is composed of a torsion spring sleeved on the rotating shaft, and the two ends of the torsion spring are respectively clamped and fixed to the full-tooth gear and the inner wall of the equipment box.

[0010] Preferably, the inter-row weeding shovel is composed of a support rod fixedly mounted on the lower end of the rotating shaft, a connecting sleeve fixedly mounted on the other end of the support rod, a sliding rod inserted into the connecting sleeve, and a shovel body fixedly mounted on the lower end of the sliding rod. The connecting sleeve and the sliding rod are both provided with a plurality of through holes of the same size. There are two states between the sliding rod and the connecting sleeve.

[0011] One is that when the bolts in the through holes of the connecting sleeve and the sliding rod are pulled out, the sliding rod slides relatively in the connecting sleeve to adjust the length of the lower end of the connecting sleeve;

[0012] The second is that the bolts are inserted into the relative through holes of the connecting sleeve and the sliding rod and tightened, so that the sliding rod and the connecting sleeve are relatively fixed.

[0013] Preferably, a buffer mechanism is provided between the connecting sleeves, and the buffer mechanism is composed of a strip rubber pad in the middle and connecting rods fixedly provided at both ends, and the two connecting rods are respectively fixedly connected to the two inter-row weeding shovels.

[0014] Preferably, an inter-row weeding shovel is fixedly arranged in the middle of the frame, and an inter-ditch weeding shovel is fixedly arranged on the frame between the traveling ground wheels and the inter-row weeding mechanism.

[0015] Preferably, the inter-row weeding mechanism, the inter-row weeding shovel, the inter-ditch weeding shovel and the vertical rods of the traveling ground wheels are all fixed to the frame by U-shaped clips.

[0016] Preferably, the lower part of the straight rod of the inter-ditch weeding shovel is rotatably provided with a ridge back weeding shovel and an arc guide rail, and the rod of the ridge back weeding shovel is fixedly provided with a fixing rod inserted into the inner side of the arc guide rail.

[0017] Preferably, a touch switch is arranged at the bottom of the inner side of the equipment box, and a pressure rod that contacts the touch switch is fixedly arranged at the lower side of the full-tooth gear.

[0018] The technical effects and advantages of the present invention are as follows: the multifunctional weeder used between vegetable rows and ditches can

[0019] 1. After detecting the plants through the image recognition sensor in front of the travel path, the driving mechanism is quickly started to drive the two inter-row weeding shovels to form an "eight"-shaped plant avoidance state. After avoiding the plants, the two inter-row weeding shovels are driven to reset and continue to weed between the plants, thereby completely removing the weeds between the plants and avoiding damage to the plants. It has a high degree of automation and strong applicability.

[0020] 2. By integrating the inter-row weeding mechanism, inter-row weeding shovel, inter-ditch weeding shovel and ridge back weeding shovel on the frame, the weeding effect on the ridges is more thorough and efficient, and the applicability and practicality are greatly enhanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the present invention;

[0022] Figure 2 It is a structural schematic diagram of the inter-row weeding mechanism;

[0023] Figure 3 It is a system control block diagram of the present invention.

[0024] In the figure: 1, frame; 2, traveling ground wheel; 3, inter-row weeding mechanism; 31, equipment box; 32, inter-row weeding shovel; 33, driving mechanism;

[0025] 321, support rod; 322, connecting sleeve; 323, sliding rod; 324, shovel body;

[0026] 331, driving motor; 332, intermittent gear; 333, full-tooth gear;

[0027] 4. Elastic reset mechanism; 41. Torsion spring;

[0028] 5. Buffer mechanism; 51. Strip rubber pad; 52. Connecting rod;

[0029] 6. U-shaped card; 7. Inter-row weeding shovel; 8. Inter-ditch weeding shovel; 9. Image recognition sensor; 10. Pressure rod; 11. Ridge back weeding shovel; 12. Arc guide rail; 13. Fixed rod; 14. Touch switch; 15. Rotating shaft; 16. Through hole. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] The present invention provides Figure 1-3The multifunctional weeding machine used between rows of vegetable plants shown in the figure comprises a frame 1 and traveling ground wheels 2 fixedly arranged at the left and right ends of the frame 1. A plurality of inter-row weeding mechanisms 3 are symmetrically fixedly installed on the frame 1 between the traveling ground wheels 2. The inter-row weeding mechanisms 3 are composed of an equipment box 31 fixedly installed on the frame 1, a pair of inter-row weeding shovels 32 arranged parallel and rotatable at the bottom of the equipment box 31, and a driving mechanism 33 arranged on the equipment box 31 that can drive the pair of inter-row weeding shovels 32 to rotate in opposite directions. The corresponding two inter-row weeding shovels 32 are in two states.

[0032] First, when the driving mechanism 33 is not working, the two weeding shovels 32 are arranged in parallel to perform weeding.

[0033] Secondly, the driving mechanism 33 drives the pair of inter-row weeding shovels 32 to rotate in opposite directions, and the two inter-row weeding shovels 32 are in an "eight"-shaped plant avoidance state;

[0034] An image recognition sensor 9 for detecting plants is disposed on the frame 1 , and the image recognition sensor 9 is disposed in front of the travel path of the inter-row weeding shovel 32 .

[0035] The frame 1 is mounted on the vehicle operation platform, and the driving speed and other related parameters are sent to the single chip microcomputer of the weeding operation device through the serial port. During the driving process, the two inter-row weeding shovels 32 are arranged in parallel to perform inter-row weeding operations;

[0036] The image recognition sensor 9 in front of the travel path collects crop information through a camera and sends it to the Raspberry Pi. The Raspberry Pi performs a series of calculations and analyses and then sends the analyzed plant-related information to the STM32 single-chip microcomputer of the weeding operation device through the serial port. Then the STM32 single-chip microcomputer controls the driving mechanism 33 to start working, driving the two inter-row weeding shovels 32 to be in an "eight"-shaped plant avoidance state. After avoiding the plants, the elastic reset mechanism 4 drives the two inter-row weeding shovels 32 to reset and continue inter-row weeding.

[0037] The driving mechanism 33 is composed of a driving motor 331 which is inverted and fixedly installed on the equipment box 31 and the output end extends into the equipment box 31, an intermittent gear 332 which is fixedly installed on the output shaft of the driving motor 331, and a pair of full-tooth gears 333 which are installed in the equipment box 31 in parallel and rotatably through a rotating shaft 15. The lower side rotating shaft 15 of the full-tooth gear 333 extends out of the equipment box 31 and is fixedly connected to the weeding shovel. One of the full-tooth gears 333 is gear-engaged with the intermittent gear 332. An elastic reset mechanism 4 is provided between the rotating shaft 15 and the outer shell of the equipment box 31 for resetting the two inter-row weeding shovels 32 after reverse deflection. The intermittent gear 332 is driven to rotate by the driving motor 331. When the intermittent gear 332 is toothed with the full-tooth gear 333 for transmission, one of the full-tooth gears 333 is driven to rotate, and the two full-tooth gears 333 continue to transmit, so that the two full-tooth gears 333 arranged side by side are deflected in the opposite direction, and the two inter-row weeding shovels 32 are deflected in the opposite direction and are in a state of opening to avoid the plants. After the inter-row weeding shovels 32 have avoided the plants, the tooth connection between the intermittent gear 332 and the full-tooth gear 333 is just disengaged. At this time, the intermittent gear 332 has no force on the full gear, and the reset mechanism drives the two full-tooth gears 333 to rotate and reset in the same direction at the same time to continue inter-row weeding, thereby ensuring that the plants are automatically avoided when weeding between rows. The inter-row weeding shovel 32 has strong applicability, higher weeding efficiency, and more comprehensive and thorough weeding.

[0038] The elastic reset mechanism 4 is composed of a torsion spring 41 sleeved on the rotating shaft 15, and the two ends of the torsion spring 41 are respectively clamped and fixed with the full-tooth gear 333 and the inner wall of the equipment box 31. When the driving mechanism 33 is working, the full-tooth gear 333 rotates relative to the inner wall of the equipment box 31, causing the torsion spring 41 to twist and generate a restoring force. After the driving mechanism 33 stops working, the torsion spring 41 recovers its deformation and drives the full-tooth gear 333 to rotate in the opposite direction relative to the inner wall of the equipment box 31.

[0039] The weeding shovel 32 between rows is composed of a support rod 321 fixedly mounted on the lower end of the rotating shaft 15, a connecting sleeve 322 fixedly mounted on the other end of the support rod 321, a sliding rod 323 inserted into the connecting sleeve 322, and a shovel body 324 fixedly mounted on the lower end of the sliding rod 323. The connecting sleeve 322 and the sliding rod 323 are both provided with a plurality of through holes 16 of the same size. There are two states between the sliding rod 323 and the connecting sleeve 322.

[0040] First, when the bolts in the through hole 16 of the connecting sleeve 322 and the sliding rod 323 are pulled out, the sliding rod 323 slides relatively in the connecting sleeve 322 to adjust the length of the lower end of the connecting sleeve 322;

[0041] Secondly, the bolt is inserted into the through hole 16 of the connecting sleeve 322 and the slide rod 323 and tightened, so that the slide rod 323 and the connecting sleeve 322 are relatively fixed. In this way, the distance between the weeding shovel 32 and the frame 1 is adjusted, and the depth of insertion into the soil is adjusted to ensure the applicability of weeding.

[0042] A buffer mechanism 5 is arranged between the connecting sleeves 322, and the buffer mechanism 5 is composed of a strip rubber pad 51 in the middle and connecting rods 52 fixedly arranged at both ends, and the two connecting rods 52 are respectively fixedly connected to the two inter-row weeding shovels 32. It is ensured that when the inter-row weeding shovels 32 are reset, buffering is performed to prevent the weeding shovels from colliding and deforming under the action of the spring force.

[0043] An inter-row weeding shovel 7 is fixedly arranged in the middle of the frame 1 , and an inter-ditch weeding shovel 8 is fixedly arranged on the frame 1 between the traveling ground wheels 2 and the inter-row weeding mechanism 3 .

[0044] The vertical rods of the inter-row weeding mechanism 3, the inter-row weeding shovel 7, the inter-ditch weeding shovel 8 and the traveling ground wheel 2 are all fixed on the frame 1 through the U-shaped clamp 6. The height of the inter-row weeding mechanism 3, the inter-row weeding shovel 7 and the inter-ditch weeding shovel 8 is adjusted by loosening the U-shaped clamp 6, so as to specifically set the weeding depth for different weeding environments or adjust the spacing between each working shovel to adapt to different weeding environments, and the relative height of the frame 1 on the traveling ground wheel 2 can be adjusted, and the traveling ground wheel 2 is a contouring wheel to adapt to the undulating soil environment, maintain a constant working depth, and further enhance practicality.

[0045] The lower part of the straight rod of the inter-ditch weeding shovel 8 is rotatably provided with a ridge back weeding shovel 11 and an arc guide rail 12, and the rod of the ridge back weeding shovel 11 is fixedly provided with a fixed rod 13 inserted into the inner side of the arc guide rail 12. The ridge back is weeded by the ridge back weeding shovel 11, and the weeding effect is more thorough. Moreover, the ridge back weeding shovel 11 can be turned relative to the inter-ditch weeding shovel 8 by turning it, and the ridge back weeding shovel 11 drives the fixed rod 13 to slide along the arc guide rail 12, and the angle adjustment between the ridge back weeding shovel 11 and the inter-ditch weeding shovel 8 is supported, and the applicability is stronger.

[0046] A touch switch 14 is provided at the bottom of the inner side of the equipment box 31, and a pressure rod 10 that contacts the touch switch 14 is fixedly provided at the lower side of the full-tooth gear 333. After the plant avoidance action is completed, that is, when the tooth connection between the intermittent gear 332 and the full-tooth gear 333 is disengaged, when the touch switch 14 is closed, the single-chip microcomputer starts the counting mode and starts counting by obtaining the pulses of the inter-row motor encoder. When the count reaches that the intermittent gear is about to mesh with the full gear, the inter-row motor is stopped by the single-chip microcomputer, thereby ensuring that each time the plant avoidance action is performed, the drive motor 331 rotates, and the tooth connection between the full-tooth gear 333 and the intermittent gear 332 can be immediately realized, so that the plant avoidance action can be quickly performed, avoiding the stagnation of the inter-row weeding mechanism 3 between the weeding and avoidance action switching, and ensuring accurate avoidance.

[0047] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multifunctional weeder used between rows of vegetable plants, comprising a frame (1) and traveling wheels (2) fixedly arranged at the left and right ends of the frame (1), characterized in that: A plurality of inter-row weeding mechanisms (3) are symmetrically fixedly mounted on a frame (1) between the traveling wheels (2). The inter-row weeding mechanisms (3) are composed of an equipment box (31) fixedly mounted on the frame (1), a pair of inter-row weeding shovels (32) arranged at the bottom of the equipment box (31) for parallel rotation, and a driving mechanism (33) arranged on the equipment box (31) for driving the pair of inter-row weeding shovels (32) to rotate in opposite directions. The corresponding two inter-row weeding shovels (32) are in two states. First, when the driving mechanism (33) is not working, the two inter-row weeding shovels (32) are arranged in parallel to perform weeding. Secondly, the driving mechanism (33) drives a pair of inter-row weeding shovels (32) to rotate in opposite directions, and the two inter-row weeding shovels (32) are in an "eight"-shaped plant avoidance state; An image recognition sensor (9) for detecting plants is arranged on the frame (1), and the image recognition sensor (9) is arranged in front of the travel path of the inter-plant weeding shovel (32); The driving mechanism (33) is composed of a driving motor (331) fixedly mounted on the equipment box (31) in an inverted manner and with its output end extending into the equipment box (31), an intermittent gear (332) fixedly mounted on the output shaft of the driving motor (331), and a pair of full-tooth gears (333) mounted in the equipment box (31) in parallel and rotatably mounted via a rotating shaft (15). The rotating shaft (15) at the lower side of the full-tooth gear (333) extends out of the equipment box (31) and is fixedly connected to the weeding shovel. One of the full-tooth gears (333) is gear-engaged with the intermittent gear (332). An elastic reset mechanism (4) is provided between the rotating shaft (15) and the outer shell of the equipment box (31) for resetting the two inter-row weeding shovels (32) after reverse deflection. The elastic reset mechanism (4) is composed of a torsion spring (41) sleeved on the rotating shaft (15), and the two ends of the torsion spring (41) are respectively clamped and fixed to the full-tooth gear (333) and the inner wall of the equipment box (31); the inter-row weeding shovel (32) is composed of a support rod (321) fixedly installed on the lower end of the rotating shaft (15), a connecting sleeve (322) fixedly installed on the other end of the support rod (321), a sliding rod (323) inserted into the connecting sleeve (322), and a shovel body (324) fixedly installed on the lower end of the sliding rod (323), and the connecting sleeve (322) and the sliding rod (323) are both provided with a plurality of through holes (16) of the same size, and there are two states between the sliding rod (323) and the connecting sleeve (322). First, when the bolts in the through hole (16) of the connecting sleeve (322) and the sliding rod (323) are pulled out, the sliding rod (323) slides relatively in the connecting sleeve (322) to adjust the length of the lower end extending into the connecting sleeve (322); The second method is to insert the bolt into the relative through hole (16) of the connecting sleeve (322) and the sliding rod and tighten it, so that the sliding rod and the connecting sleeve (322) are relatively fixed.

2. A multifunctional weeder for use between rows of vegetable plants according to claim 1, characterized in that: A buffer mechanism (5) is arranged between the connecting sleeves (322), and the buffer mechanism (5) is composed of a strip rubber pad (51) in the middle and connecting rods (52) fixedly arranged at both ends, and the two connecting rods (52) are respectively fixedly connected to the two inter-row weeding shovels (32).

3. The multifunctional weeder used between vegetable rows and furrows according to claim 1, characterized in that: An inter-row weeding shovel (7) is fixedly arranged in the middle of the frame (1), and an inter-ditch weeding shovel (8) is fixedly arranged on the frame (1) between the traveling ground wheels (2) and the inter-row weeding mechanism (3).

4. The multifunctional weeder used between vegetable rows and furrows according to claim 3, characterized in that: The inter-row weeding mechanism (3), the inter-row weeding shovel (7), the inter-ditch weeding shovel (8) and the vertical rod portion of the traveling ground wheel (2) are all fixed on the frame (1) through a U-shaped clamp (6).

5. The multifunctional weeder used between vegetable rows and furrows according to claim 3, characterized in that: The lower part of the straight rod of the inter-ditch weeding shovel (8) is rotatably provided with a ridge back weeding shovel (11) and an arc-shaped guide rail (12); the rod of the ridge back weeding shovel (11) is fixedly provided with a fixing rod (13) inserted into the inner side of the arc-shaped guide rail (12).

6. The multifunctional weeder used between vegetable rows and furrows according to claim 1, characterized in that: A touch switch (14) is arranged at the bottom of the inner side of the equipment box (31), and a pressure rod (10) that contacts the contact point of the touch switch (14) is fixedly arranged at the lower side of the full-tooth gear (333).

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