Inter-plant weeding machine with double obstacle avoidance systems

Abstract

The invention discloses a double-obstacle-avoidance-system inter-plant weeding machine which comprises a rack, a transverse obstacle avoidance system and a control system, the transverse obstacle avoidance system is fixedly installed on one side of the rack, the control system is fixedly installed in the rack, and the control system is electrically connected with the interior of the rack. A transverse obstacle avoidance system is arranged to perform transverse obstacle avoidance on the two sides when the weeding machine moves, a control system is arranged to control the whole equipment to use, and a gear speed increasing box is fixedly mounted on one side of the upper portion of the rack; double touch mechanisms are adopted, effective obstacle avoidance can be achieved for grape plants with different growth vigor, weeding operation can be conducted at the same time twice, cost is reduced, operation efficiency is improved, the terrain simulating device is used for coping with different terrains, the height of the weeding machine is limited through the depth limiting wheel, lifting of the weeding machine is adjusted through three-point suspension, and the weeding machine is convenient to use. In the transportation process, the hydraulic cylinder can be manually adjusted to stretch out and draw back, so that the overall size of the weeding machine is changed, and transportation is convenient.

Description

Technical Field

[0001] The invention relates to the technical field of inter-row weeding equipment, and in particular to an inter-row weeding machine with a double obstacle avoidance system. Background Art

[0002] At present, the grape inter-row weeders are mainly developed based on passive obstacle avoidance and active obstacle avoidance weeding mechanisms. The active obstacle avoidance method transmits a signal by touching the tree through the touch rod, and controls the power device to drive the weeding device to avoid obstacles through the control system. The passive obstacle avoidance method triggers the movement of the obstacle avoidance mechanism through the squeezing of the weeding device and the plant to complete the obstacle avoidance work. The active obstacle avoidance inter-row weeder has significant advantages in dealing with inter-row weeding where the plants are tilted in the same direction.

[0003] The automatic obstacle avoidance weeder used in the existing document 201721145841.7 may cause false triggering, collision, and accidental damage to plants. When the tilting direction of the plant is opposite to the forward direction of the tool, the touch rod contacts the plant, and the control system controls the movement of the obstacle avoidance mechanism. At this time, the tool is still far away from the root, causing the weeding mechanism to avoid obstacles prematurely, thereby reducing the weeding efficiency. The passive obstacle avoidance weeder can cope with various situations where plants are tilted. However, due to the complexity of the passive obstacle avoidance mechanism and the difficulty of structural design, it is imperative to develop an active obstacle avoidance inter-row weeder that can cope with different tilting directions of grape plants. Therefore, the present invention proposes an inter-row weeder with a dual obstacle avoidance system to solve the problems existing in the prior art. Summary of the invention

[0004] In view of the above problems, the purpose of the present invention is to propose an inter-row weeder with a double obstacle avoidance system. The inter-row weeder with a double obstacle avoidance system adopts a double touch mechanism, which can effectively avoid obstacles for grape plants of different growth conditions. Weeding operations can be performed simultaneously in two round trips, thereby reducing costs and improving work efficiency. The terrain-mimicking device can cope with different terrains, and the height of the weeder is limited by the depth-limiting wheel. The lifting and lowering of the weeder is adjusted by a three-point suspension. During transportation, the extension and retraction of the hydraulic cylinder can be manually adjusted to change the overall size of the weeder, thereby facilitating transportation.

[0005] To achieve the objectives of the present invention, the present invention is implemented through the following technical solutions: a dual obstacle avoidance system inter-row weeder, comprising a frame, a lateral obstacle avoidance system and a control system, wherein a lateral obstacle avoidance system is fixedly installed on one side of the frame, a control system is fixedly installed inside the frame, and the control system and the inside of the frame are electrically connected to each other, and the lateral obstacle avoidance system is set to perform lateral obstacle avoidance on both sides when the weeder moves, and the entire equipment is controlled and used through the setting of the control system, a gear speed increaser is fixedly installed on one side above the frame, a hydraulic pump is fixedly installed on the other side above the frame, a solenoid valve group is fixedly installed on one side of the hydraulic pump, a swing obstacle avoidance hydraulic cylinder is movably installed on one side of the solenoid valve group, and a lateral obstacle avoidance hydraulic cylinder is movably installed on one side of the bottom of the frame, and the lateral obstacle avoidance hydraulic cylinder is set on one side of the swing obstacle avoidance hydraulic cylinder.

[0006] A further improvement is that a touch rod is fixedly installed on one side of the frame, a touch rod adjustment block is fixedly installed on one side of the touch rod, the touch rod adjustment block is arranged between the frame and the touch rod, a touch plate is fixedly and movably installed on one side of the touch rod, and the touch plate is fixedly installed on one side of the transverse obstacle avoidance square steel.

[0007] Further improvements are: a limited depth wheel is movably installed on one side of the frame, a transverse obstacle avoidance telescopic square steel is installed below the frame, a swing obstacle avoidance arm is installed on one side of the square steel, a weeding device is installed on one side of the swing obstacle avoidance arm, a terrain-mimicking wheel is installed on one side below the weeding device, a cooling fan is fixedly installed on one side above the frame, and an oil tank is fixedly installed on one side of the cooling fan.

[0008] A further improvement is that a three-point suspension is fixedly installed on one side of the frame, and a power transmission shaft is fixedly installed on one side of the three-point suspension.

[0009] A further improvement is that a sleeve is fixedly installed below the frame, the touch rod is fixed by the sleeve, a pin is fixedly installed between the frame and the lateral obstacle avoidance hydraulic cylinder, and a weeding component is rotatably installed below the touch plate.

[0010] A further improvement is that a transverse telescopic arm is movably installed on one side of the frame, a hydraulic cylinder is movably installed on one side of the transverse telescopic arm, the hydraulic cylinder is movably installed on the transverse telescopic arm, a swing arm is fixedly connected below the pin shaft, and a fixed shaft is rotatably installed on one side of the touch rod.

[0011] A further improvement is that a gear pump is fixedly installed inside the frame, a hydraulic motor is fixedly installed outside the frame, an overflow valve is fixedly installed on one side of the hydraulic motor, and a fixing rod is fixedly installed on one side of the weeding component.

[0012] A further improvement is that a hinge is fixedly mounted on one side of the touch plate, a weeding blade disc is rotatably mounted on one side below the hinge, and the touch plate is fixedly mounted on the front side of the weeding blade disc.

[0013] A further improvement is that the weeding assembly is arranged on one side of the swing arm and is fixedly connected via a fixing rod.

[0014] The beneficial effects of the present invention are as follows: the present invention adopts a double-touch mechanism, which can effectively avoid obstacles for grape plants of different growth, and can perform weeding operations at the same time in two round trips, thereby reducing costs and improving work efficiency. The terrain-mimicking device can cope with different terrains, and the height of the weeder is limited by the depth-limiting wheel. The lifting and lowering of the weeder is adjusted by using a three-point suspension. During transportation, the extension and retraction of the hydraulic cylinder can be manually adjusted to change the overall size of the weeder, which is convenient for transportation. The weeds between the grape plants can be removed from the top and removed from the roots. Grape plants of different growth can be effectively protected, and the injury rate is greatly reduced. The lateral and swing obstacle avoidance hydraulic cylinders work together, While ensuring the weeding efficiency, it can better protect the grape plants from damage and reduce the economic losses of crops. Compared with the inter-row weeders on the market, this model adopts the working principle of double obstacle avoidance and the newer terrain-mimicking device to cope with different terrains and grape plants of different shapes, greatly improving the weeding efficiency and ensuring the integrity of the crop. The adjustable touch rod can cope with grape plants with different inclination angles, and the touch plate can cope with two plants with opposite growth trends. During the work process, two-way weeding operations can be performed, which improves the efficiency of the operation and reduces costs. By setting different lateral obstacle avoidance times, better weeding effects can be achieved to protect the growth of the plants. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0016] Figure 1 It is a schematic diagram of the positive electrode structure of the present invention;

[0017] Figure 2 It is a schematic diagram of the three-point suspension and power input of the present invention;

[0018] Figure 3 It is a schematic diagram of the lateral obstacle avoidance telescopic device of the present invention;

[0019] Figure 4 It is a schematic diagram of the swing obstacle avoidance device of the present invention;

[0020] Figure 5 It is a schematic diagram of power transmission of the weeding assembly of the present invention;

[0021] Figure 6 Schematic diagram of the obstacle avoidance rod and obstacle avoidance plate of the present invention

[0022] Figure 7 A schematic top view of the present invention

[0023] Figure 8 It is a rear view schematic diagram of the present invention.

[0024] Figure identification: 1. Frame; 2. Gear speed increaser; 3. Hydraulic pump; 4. Solenoid valve group; 5. Swing obstacle avoidance hydraulic cylinder; 6. Lateral obstacle avoidance hydraulic cylinder; 7. Touch rod; 8. Touch rod adjustment block; 9. Touch plate; 10. Depth limit wheel; 11. Terrain wheel; 12. Cooling fan; 13. Fuel tank; 14. Three-point suspension; 15. Power transmission shaft; 16. Sleeve; 17. Pin; 18. Weeding component; 19. Lateral telescopic arm; 20. Hydraulic cylinder; 21. Swing arm; 22. Winding shaft; 23. Gear pump; 24. Hydraulic motor; 25. Overflow valve; 26. Fixed rod; 27. Hinge; 28. Weeding blade. DETAILED DESCRIPTION

[0025] 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.

[0026] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms installation, connection and connection should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] The weeder in document 201721145841.7 triggers the pressure sensor through the automatic obstacle avoidance mechanism. The pressure sensor transmits a signal to the control system, and the hydraulic cylinder retracts to drive the cutter away from the plant to achieve the obstacle avoidance effect. The pressure sensor in the obstacle avoidance trigger mechanism detects the pressure generated by the contact between the touch rod and the plant. When the critical pressure value set by the control system is reached, the obstacle avoidance mechanism is triggered, and the hydraulic cylinder contracts to drive the weeding component to move out of the grape row. In this application, the double-trigger obstacle avoidance system of the inter-row weeder is used to drive the weeding work, and effective obstacle avoidance can be achieved for grape plants with different growth conditions. The terrain-mimicking wheels are provided for convenient transportation and the device can be used in different environments. The first touch rod can be adjusted to avoid obstacles in response to different growth conditions of the grape plants. During the work process, two-way weeding operations can be performed to improve the efficiency of the operation.

[0028] according to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 As shown, this embodiment provides a dual obstacle avoidance system inter-row weeder, including a frame 1, a lateral obstacle avoidance system and a control system. A lateral obstacle avoidance system is fixedly installed on one side of the frame 1, and a control system is fixedly installed inside the frame 1, and the control system is electrically connected to the inside of the frame 1. The lateral obstacle avoidance system is set to perform lateral obstacle avoidance on both sides when the weeder moves, and the entire device is controlled by the setting of the control system. A gear speed increaser 2 is fixedly installed on one side above the frame 1. The blade speed is adjusted according to different crops and weed types through the setting of the gear speed increaser 2 to achieve the best weeding effect. The other side above the frame 1 is fixed A hydraulic pump 3 is fixedly installed, and the hydraulic oil is sucked and pressed out through the setting of the hydraulic pump 3 to provide the necessary pressure and flow for the hydraulic system. A solenoid valve group 4 is fixedly installed on one side of the hydraulic pump 3. The hydraulic oil circuit is accurately opened and closed according to the instruction of the electronic control unit through the setting of the solenoid valve group 4. A swing obstacle avoidance hydraulic cylinder 5 is movably installed on one side of the solenoid valve group 4, and a lateral obstacle avoidance hydraulic cylinder 6 is movably installed on one side of the bottom of the frame 1. The lateral obstacle avoidance hydraulic cylinder 6 is arranged on one side of the swing obstacle avoidance hydraulic cylinder 5. The setting of the swing obstacle avoidance hydraulic cylinder 5 and the lateral obstacle avoidance hydraulic cylinder 6 pushes the cutting head of the lawn mower or the whole machine to move laterally so as to bypass obstacles and continue working.

[0029] A touch rod 7 is fixedly installed on one side of the frame 1. Through the setting of the touch rod 7, when it touches an obstacle, a signal will be sent to the control system to trigger the hydraulic system to perform obstacle avoidance action, and to move horizontally or lift the cutting head. A touch rod adjustment block 8 is fixedly installed on one side of the touch rod 7. The touch rod adjustment block 8 is arranged between the frame 1 and the touch rod 7. The position of the touch rod 7 is changed by the setting of the touch rod adjustment block 8 to ensure that the touch rod 7 can correctly sense obstacles without accidentally touching crops or other non-obstacles. A touch plate 9 is fixedly and movably installed on one side of the touch rod 7. The touch plate 9 is fixedly installed on one side of the swing obstacle avoidance hydraulic cylinder 5. The touch plate 9 is arranged to sense obstacles in front of the lawn mower and increase the sensing range.

[0030] A depth limiting wheel 10 is movably installed on one side of the frame 1. The depth limiting wheel 10 contacts the ground to limit the downward pressure of the weeder, thereby preventing the weeder from penetrating too deeply into the soil and damaging the soil structure. Terrain-imitation wheels 11 are rotatably installed on both sides of the frame 1. The terrain-imitation wheels 11 are set to follow the undulations of the ground so that the cutting head of the weeder maintains a relatively constant distance from the ground, thereby achieving precise weeding. A cooling fan 12 is fixedly installed on one side above the frame 1. The cooling fan 12 is set to cool the inside of the frame 1. An oil tank 13 is fixedly installed on one side of the cooling fan 12. The oil tank 13 is set to store hydraulic oil for the weeder, thereby providing necessary hydraulic oil supply for the hydraulic system of the weeder.

[0031] A three-point suspension 14 is fixedly installed on one side of the frame 1. The frame 1 is telescopically installed through the three-point suspension 14 to facilitate adjustment to different heights. A power transmission shaft 15 is fixedly installed on one side of the three-point suspension 14. The power transmission shaft 15 drives the gear speed increaser 2 to rotate, and the gear speed increaser 2 drives the hydraulic pump 3 to provide power for the whole machine.

[0032] A sleeve 16 is fixedly installed at the bottom of the frame 1, and the bottom of the frame 1 is supported and fixed by the sleeve 16. The touch rod 7 is fixed by the sleeve 16. A pin shaft 17 is fixedly installed between the frame 1 and the lateral obstacle avoidance hydraulic cylinder 6, and the frame 1 and the lateral obstacle avoidance hydraulic cylinder 6 are stably connected by the pin shaft 17. A weeding component 18 is rotatably installed at the bottom of the touch plate 9. When the touch plate 9 touches the travel switch, a signal is transmitted to the control system. The control system changes the direction of the solenoid valve group 4 to make the lateral obstacle avoidance hydraulic cylinder 6 start working, thereby driving the weeding component 18 to avoid the grape vines for easy weeding.

[0033] A transverse telescopic arm 19 is movably installed on one side of the frame 1, and a hydraulic cylinder 20 is movably installed on one side of the transverse telescopic arm 19. The hydraulic cylinder 20 is movably installed on the transverse telescopic arm 19 and is connected to the transverse telescopic arm 19 through the hydraulic cylinder 20. The hydraulic cylinder 20 provides power support. A swing arm 21 is fixedly connected below the pin shaft 17. The swing arm 21 is connected through the pin shaft 17 to swing to avoid obstacles. When the touch rod 7 touches the grape vines, a fixed shaft 22 is rotatably installed on one side of the touch rod 7. The fixed shaft 22 on one side of the touch rod 7 rotates to trigger the travel switch. The travel switch controls the solenoid valve group 4 to perform reversing work. At this time, the hydraulic cylinder 20 contracts to drive the swing arm 21 to avoid obstacles.

[0034] A gear pump 23 is fixedly installed inside the frame 1, and a hydraulic motor 24 is fixedly installed outside the frame 1. The hydraulic motor 24 provides power for weeding operations. An overflow valve 25 is fixedly installed on one side of the hydraulic motor 24, and a fixed rod 26 is fixedly installed on one side of the weeding component 18. The gear pump 23 is connected to the hydraulic motor 24 through the overflow valve 25. During the weeding operation, the fixed rod 26 is used to stably support one side of the weeding component 18. When the terrain is undulating, the terrain-imitation wheel 11 can drive the weeding component 18 to perform synchronous undulating movements while moving forward, thereby achieving a terrain-imitation effect.

[0035] A hinge 27 is fixedly installed on one side of the touch plate 9, and the touch plate 9 is connected through the hinge 27. A weeding disc 28 is rotatably installed on one side below the hinge 27. The extension length and different parameters of the touch rod 7 are adjusted by adjusting the sleeve 16 to cope with grape plants of different growth. The touch plate 9 is fixedly installed on the front side of the weeding disc 28 to improve the weeding efficiency and better protect the plants. The touch plate 9 provides a signal for lateral obstacle avoidance through the compression stroke switch.

[0036] The weeding assembly 18 is disposed on one side of the swing arm 21 and is fixedly connected via a fixing rod 26 .

[0037] When the dual obstacle avoidance system inter-row weeder is used, the weeder is 1.5m long, 2.5m wide and 1.2m high. The tractor provides the power device, such as Figure 3 , Figure 4As shown, a weeding knife extends out on the right side, and a swing cylinder is installed on the weeding knife connecting arm. When the touch rod 7 is triggered, the swing obstacle avoidance hydraulic cylinder 5 works to drive the weeding device to swing and avoid obstacles. When the touch plate 9 is triggered, the lateral obstacle avoidance hydraulic cylinder 6 performs obstacle avoidance. The lateral obstacle avoidance system is set to perform lateral obstacle avoidance on both sides when the weeder moves. The entire equipment is controlled and used through the setting of the control system. The blade speed is adjusted according to different crops and weed types through the setting of the gear speed increaser 2 to achieve the best weeding effect. The hydraulic oil is sucked and pressed out through the setting of the hydraulic pump 3 to provide the necessary pressure and flow for the hydraulic system. The electromagnetic valve group 4 is set to accurately open and close according to the instructions of the electronic control unit. The hydraulic oil circuit is used to push the cutting head or the whole machine of the lawn mower to move laterally through the setting of the lateral obstacle avoidance hydraulic cylinder 6 so as to bypass the obstacle and continue working. When the obstacle is touched by the setting of the touch rod 7, a signal will be sent to the control system to trigger the hydraulic system to perform obstacle avoidance action, and to move laterally or lift the cutting head. The position of the touch rod 7 is changed by the setting of the touch rod adjustment block 8 to ensure that the touch rod 7 can correctly sense the obstacle without accidentally touching the crop or other non-obstacles. The touch plate 9 is used to sense the obstacle in front of the lawn mower to increase the sensing range. The depth limiting wheel 10 contacts the ground to limit the downward pressure of the lawn mower to prevent the lawn mower from penetrating too deep into the soil and causing damage to the soil structure. The terrain-imitation wheel 11 is set to follow the undulations of the ground so that the cutting head of the lawn mower maintains a relatively constant distance from the ground, thereby achieving precise weeding. The cooling fan 12 is set to cool the inside of the frame 1 for heat dissipation. The oil tank 13 is set to store hydraulic oil for the lawn mower, providing the necessary hydraulic oil supply for the hydraulic system of the lawn mower. The power transmission shaft 15 drives the gear speed increaser 2 to rotate, and the gear speed increaser 2 drives the hydraulic pump 3 to provide power for the whole machine. The bottom of the frame 1 is supported and fixed by the sleeve 16, and the frame 1 and the lateral obstacle avoidance hydraulic cylinder 6 are stably connected by the pin shaft 17. When the touch plate 9 touches the travel switch, a signal is transmitted to the control system, and the control system changes the solenoid valve group 4. The direction of the lateral obstacle avoidance hydraulic cylinder 6 starts to work, driving the weeding component 18 to avoid the grape vines for weeding. It is connected to the lateral telescopic arm 19 through the hydraulic cylinder 20, and the hydraulic cylinder 20 provides power support. The swing arm 21 is connected through the pin shaft 17 to swing to avoid obstacles. When the touch rod 7 touches the grape vines, the rotation around the fixed axis 22 on one side of the touch rod 7 triggers the travel switch. The travel switch controls the solenoid valve group 4 to perform reversing work. At this time, the hydraulic cylinder 20 contracts and drives the swing arm 21 to avoid obstacles. The gear pump 23 is connected to the hydraulic motor 24 through the overflow valve 25, and the hydraulic motor 24 provides power for weeding operations. During the weeding operation, the fixed rod 26 is used to stably support one side of the weeding component 18. When the terrain is undulating,The terrain-mimicking wheel 11 can drive the weeding component 18 to perform synchronous ups and downs during the forward movement to achieve the terrain-mimicking effect. The sleeve 16 can be adjusted to drive the extension length and different parameters of the touch rod 7 to cope with grape plants of different growth, improve the weeding efficiency and better protect the plants. The touch plate 9 is connected through the hinge 27, and the touch plate 9 provides a signal for lateral obstacle avoidance through the compression stroke switch.

[0038] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A dual obstacle avoidance system inter-row weeder, comprising a frame (1), a lateral obstacle avoidance system and a control system, characterized in that: A lateral obstacle avoidance system is fixedly installed on one side of the frame (1); a control system is fixedly installed inside the frame (1), and the control system is electrically connected to the inside of the frame (1); a gear speed increaser (2) is fixedly installed on one side above the frame (1); a hydraulic pump (3) is fixedly installed on the other side above the frame (1); the hydraulic pump (3) is arranged on one side of the gear speed increaser (2); a solenoid valve group (4) is fixedly installed on one side of the hydraulic pump (3); a swing obstacle avoidance hydraulic cylinder (5) is movably installed on one side of the solenoid valve group (4); the swing obstacle avoidance hydraulic cylinder (5) is arranged on one side below the frame (1); a lateral obstacle avoidance hydraulic cylinder (6) is movably installed on one side of the bottom of the frame (1); the lateral obstacle avoidance hydraulic cylinder (6) is arranged on one side of the swing obstacle avoidance hydraulic cylinder (5).

2. The dual obstacle avoidance system inter-row weeder according to claim 1, characterized in that: A touch rod (7) is fixedly mounted on one side of the frame (1), a touch rod adjustment block (8) is fixedly mounted on one side of the touch rod (7), the touch rod adjustment block (8) is arranged between the frame (1) and the touch rod (7), a touch plate (9) is fixedly and movably mounted on one side of the touch rod (7), and the touch plate (9) is fixedly mounted on one side of the weeding blade disc.

3. The dual obstacle avoidance system inter-row weeder according to claim 1, characterized in that: A limited-depth wheel (10) is movably mounted on one side of the frame (1), terrain-imitation wheels (11) are rotatably mounted on both sides of the frame (1), a cooling fan (12) is fixedly mounted on one side above the frame (1), and an oil tank (13) is fixedly mounted on one side of the cooling fan (12).

4. The dual obstacle avoidance system inter-row weeder according to claim 1, characterized in that: A three-point suspension (14) is fixedly mounted on one side of the frame (1), and a power transmission shaft (15) is fixedly mounted on one side of the three-point suspension (14), so that the frame (1) is stably fixed by the three-point suspension (14).

5. The dual obstacle avoidance system inter-row weeder according to claim 2, characterized in that: A sleeve (16) is fixedly installed below the frame (1), the touch rod (7) is fixed by the sleeve (16), a pin shaft (17) is fixedly installed between the frame (1) and the lateral obstacle avoidance hydraulic cylinder (6), and a weeding assembly (18) is rotatably installed below the touch plate (9).

6. The dual obstacle avoidance system inter-row weeder according to claim 5, characterized in that: A transverse telescopic arm (19) is movably mounted on one side of the frame (1), a hydraulic cylinder (20) is movably mounted on one side of the transverse telescopic arm (19), the hydraulic cylinder (20) is movably mounted on the transverse telescopic arm (19), a swing arm (21) is fixedly connected below the pin shaft (17), and a fixed shaft (22) is rotatably mounted on one side of the touch rod (7).

7. The dual obstacle avoidance system inter-row weeder according to claim 5, characterized in that: A gear pump (23) is fixedly installed inside the frame (1), a hydraulic motor (24) is fixedly installed outside the frame (1), an overflow valve (25) is fixedly installed on one side of the hydraulic motor (24), and a fixing rod (26) is fixedly installed on one side of the weeding component (18).

8. The dual obstacle avoidance system inter-row weeder according to claim 2, characterized in that: A hinge (27) is fixedly mounted on one side of the touch plate (9), a weeding blade disc (28) is rotatably mounted on one side below the hinge (27), and the touch plate (9) is fixedly mounted on the front side of the weeding blade disc (28).

9. The dual obstacle avoidance system inter-row weeder according to claim 7, characterized in that: The weeding assembly (18) is arranged on one side of the swing arm (21) and is fixedly connected via a fixing rod (26).

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