Automatic avoiding weeding device for agricultural crops

Abstract

The invention discloses an automatic avoiding weeding device for agricultural crops, and particularly relates to the field of agricultural machinery, the automatic avoiding weeding device comprises a mounting frame, a connecting rod is connected to one side of the mounting frame, a vertical plate is hinged to one end of the connecting rod, a fixing plate is connected to one side of the vertical plate, and a trigger plate is hinged to one side of the vertical plate; a second rotating shaft is installed on the rod wall of the trigger plate in a penetrating mode, the top end of the second rotating shaft is connected with a first rotating shaft, the shaft wall of the first rotating shaft is sleeved with a belt wheel, a cross-shaped rod is arranged at the bottom end of the second rotating shaft, the bottom end of the cross-shaped rod is connected with a fixing disc, and the bottom of the fixing disc is connected with a cutting knife. A trigger plate is blocked, a trigger rod is driven to rotate clockwise along the hinged side, a hydraulic telescopic rod is controlled to be shortened, accordingly, a vertical plate rotates along the hinged position of the vertical plate and a connecting rod, the cutting part is prevented from cutting fruit trees, and the automatic avoiding function of the device is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and more particularly to an automatic weeding and weeding device for agricultural crops. Background Art

[0002] In agricultural production, weeding is an important part of ensuring the healthy growth of crops and increasing yields. Traditional weeding methods mainly rely on manual labor or the use of non-intelligent weeding machinery. However, these methods have many shortcomings. Manual weeding is not only inefficient, but also labor-intensive, and it is difficult to meet the needs of large-scale agricultural production. Although non-intelligent weeding machinery has improved weeding efficiency to a certain extent, it is easy to cause damage to crops during operation due to the lack of automatic avoidance function, especially when there are fruit trees or other obstacles in the field. This problem is particularly prominent.

[0003] Most existing weeding machines use fixed cutting devices and do not have the function of automatically sensing and avoiding obstacles. When the machine is working in the field, once it encounters fruit trees or other tall crops, the cutting device will often directly contact them, causing crop damage and even mechanical failure. This not only increases agricultural production costs, but may also have an adverse effect on crop growth and yield.

[0004] To solve this problem, some weeding machines with preliminary obstacle avoidance functions have appeared on the market. These machines usually detect obstacles by installing sensors and stop or change the movement trajectory of the cutting device when an obstacle is detected. However, these machines often lack flexibility and accuracy in the obstacle avoidance process, and are prone to errors in the obstacle avoidance process, resulting in crop damage or mechanical failure. In addition, the obstacle avoidance function of these machines mostly relies on complex electronic control systems, which are not only costly but also difficult to maintain.

[0005] Therefore, there is an urgent need for an automatic crop avoidance weeding device that can automatically sense and avoid obstacles and has efficient weeding capabilities. This device should be able to accurately identify and avoid obstacles such as fruit trees during the weeding process while maintaining high weeding efficiency to ensure the healthy growth of crops and improve agricultural production efficiency. Summary of the invention

[0006] In order to overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides an automatic weeding avoidance device for agricultural crops. The problem to be solved by the present invention is that the existing mechanical equipment for weeding in gardens does not have the function of automatically avoiding trees.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an automatic weeding avoidance device for agricultural crops, comprising a mounting frame, one side of the mounting frame is fixedly connected to a plurality of groups of connecting rods evenly distributed up and down, an end of the connecting rod away from the mounting frame is hinged with a vertical plate, one side of the vertical plate is fixedly connected to a fixing plate, a side of the vertical plate is hinged with a trigger plate away from the mounting frame, a second rotating shaft is movably installed through the middle of the rod wall of the trigger plate through a bearing, the top end of the second rotating shaft is fixedly connected to the first rotating shaft, a pulley is fixedly sleeved on the shaft wall of the first rotating shaft, a cross rod is arranged at the bottom end of the second rotating shaft, the bottom end of the cross rod is fixedly connected to a fixing disk, and a plurality of groups of cutting knives are fixedly connected to the bottom peripheral side of the fixing disk;

[0008] The trigger plate is fixedly connected to a trigger rod on one side of the end away from the vertical plate, and the trigger rod is a semicircular ring structure. A cylinder body is hinged on one side of the vertical plate, and a piston is slidably installed inside the cylinder body. A piston rod is fixedly connected to one side of the piston, and one end of the piston rod movably passes through one side of the cylinder body and is hinged to the trigger plate. An elastic sleeve is fixedly connected to the side of the piston away from the piston rod, and one end of the elastic sleeve is fixedly connected to the inner wall of the piston rod away from the piston. A connecting pipe is installed through one side of the cylinder body, and a hydraulic telescopic rod is hinged between the mounting frame and the vertical plate. The hydraulic telescopic rod and the connecting rod are respectively located on both sides of the mounting frame, and one end of the connecting pipe away from the cylinder body is connected to the hydraulic circuit connected to the hydraulic telescopic rod.

[0009] In a preferred embodiment, a fixing plate is fixedly connected to a side of the vertical plate away from the mounting frame, and a first spring is fixedly connected between the fixing plate and the trigger plate.

[0010] In a preferred embodiment, a protective ring is fixedly connected to the outer peripheral side of the bottom end of the second rotating shaft through a bearing, and the radius of the protective ring is smaller than the radius of the trigger rod.

[0011] In a preferred embodiment, a cross slot is provided at the bottom end of the second rotating shaft, the cross rod is slidably arranged in the cross slot, and a second spring located below the protective ring is movably sleeved on the rod wall of the cross rod.

[0012] In a preferred embodiment, a limit plate is fixedly mounted on the rod wall of the cross rod, and the two ends of the second spring are fixedly connected to the limit plate and the protective ring respectively.

[0013] In a preferred embodiment, a top plate is fixedly connected to one side of the top of the mounting frame, an arc-shaped slide groove is provided at the bottom of the top plate, a slider is slidably provided inside the arc-shaped slide groove, and the top end of the first rotating shaft is movably embedded in the bottom of the slider through a bearing.

[0014] In a preferred embodiment, the blade portion of the cutting knife is made of wear-resistant alloy material to improve cutting efficiency and service life.

[0015] In a preferred embodiment, a running wheel is provided at the bottom of the mounting frame, and a shock absorbing device is installed on the running wheel to reduce the vibration of the device when it moves on an uneven ground and protect the device structure from damage.

[0016] In a preferred embodiment, a control system is also provided on the mounting frame, and the control system is electrically connected to the hydraulic telescopic rod and the piston drive mechanism in the cylinder body, and is used to control the operating state of the device according to a preset program or a sensor input signal to achieve intelligent operation.

[0017] In a preferred embodiment, the control system is integrated with a crop recognition module, which identifies the position of crops through a camera or an infrared sensor. When crops are identified, the position of the cutting knife is adjusted by controlling the extension and retraction of the hydraulic telescopic rod and the movement of the piston in the cylinder to avoid damage to the crops and achieve precise avoidance and weeding.

[0018] Technical effects and advantages of the present invention:

[0019] 1. The trigger plate of the present invention is blocked, which drives the trigger rod to rotate clockwise along the hinged side. The piston rod pulls the piston to slide in the cylinder body, and the cylinder body is pumped with negative pressure. Under the action of the connecting pipe, the hydraulic oil in the hydraulic circuit of the hydraulic telescopic rod flows into the cylinder body, and the hydraulic telescopic rod is shortened under the influence of the circuit. Since the mounting frame is hinged by the connecting rod and the vertical plate, when the hydraulic telescopic rod is shortened, the vertical plate rotates along the hinge with the connecting rod, thereby preventing the cutting part from cutting the fruit tree, and realizing the automatic avoidance function of the device;

[0020] 2. The present invention provides a cross slot, a cross rod, a second spring and a limit plate. The second spring can be compressed or extended when subjected to force, so that the cross rod can slide up and down in the cross slot, which is convenient for the cutting knife to buffer up and down, thereby improving the practicality of the cutting knife;

[0021] 3. The present invention provides a top plate, an arc-shaped slide groove and a slider. When the device contacts the fruit tree, the first rotating shaft can drive the slider to slide in the arc-shaped slide groove, which is beneficial to improving the stability of the entire device. The setting of the arc-shaped slide groove is convenient for limiting the movement trajectory, reducing the load of each articulated hinge, and is beneficial to extending the service life of components. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a front view structural schematic diagram of the overall structure of the present invention;

[0023] Figure 2 It is a schematic diagram of the top view of the vertical plate, the fixed plate and the trigger rod of the present invention;

[0024] Figure 3 It is a front view structural schematic diagram of the second rotating shaft, the protection ring and the cross rod of the present invention;

[0025] Figure 4 It is a schematic diagram of the cross-sectional structure of the cylinder body of the present invention;

[0026] Figure 5 It is a bottom view structural schematic diagram of the top plate of the present invention;

[0027] Figure 6 It is a schematic diagram of the structure of the cooperation between the second rotating shaft and the cross rod of the present invention.

[0028] The accompanying drawings are marked as follows: 1 mounting frame, 11 connecting rod, 12 hydraulic telescopic rod, 13 connecting pipe, 2 top plate, 21 arc-shaped slide groove, 22 slider, 3 vertical plate, 31 fixed plate, 32 first spring, 4 first rotating shaft, 41 pulley, 42 second rotating shaft, 421 cross slide groove, 43 protective ring, 44 cross rod, 441 second spring, 442 limit plate, 5 trigger plate, 51 trigger rod, 6 fixed plate, 61 cutting knife, 7 cylinder body, 71 piston rod, 72 piston, 73 elastic sleeve. DETAILED DESCRIPTION

[0029] 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.

[0030] The automatic avoidance and weeding device for agricultural crops according to the embodiment of the present invention may include a mounting frame 1, one side of the mounting frame 1 is fixedly connected to a plurality of groups of connecting rods 11 evenly distributed up and down, the end of the connecting rod 11 away from the mounting frame 1 is hinged with a vertical plate 3, one side of the vertical plate 3 is fixedly connected to a fixing plate 31, the side of the vertical plate 3 away from the mounting frame 1 is hinged with a trigger plate 5, a second rotating shaft 42 is installed through the middle of the rod wall of the trigger plate 5 through a bearing, the top end of the second rotating shaft 42 is fixedly connected to the first rotating shaft 4, a pulley 41 is fixedly mounted on the shaft wall of the first rotating shaft 4, a cross rod 44 is arranged at the bottom end of the second rotating shaft 42, the bottom end of the cross rod 44 is fixedly connected to a fixing disk 6, and a plurality of groups of cutting knives 61 are fixedly connected to the bottom outer peripheral side of the fixing disk 6.

[0031] Refer to the instruction manual Figure 1-6The trigger plate 5 of the automatic crop avoidance weeding device of this embodiment is fixedly connected to a trigger rod 51 on one side of the end away from the vertical plate 3. The trigger rod 51 is a semicircular ring structure. A cylinder body 7 is hinged on one side of the vertical plate 3. A piston 72 is slidably installed inside the cylinder body 7. A piston rod 71 is fixedly connected to one side of the piston 72. One end of the piston rod 71 movably penetrates one side of the cylinder body 7 and is hinged to the trigger plate 5. An elastic sleeve 73 is fixedly connected to the side of the piston 72 away from the piston rod 71. One end of the elastic sleeve 73 away from the piston 72 is fixedly connected to the inner wall of the piston rod 71. A connecting pipe 13 is installed on one side of the cylinder body 7. A hydraulic telescopic rod 12 is hinged between the mounting frame 1 and the vertical plate 3. The hydraulic telescopic rod 12 and the connecting rod 11 are respectively located on both sides of the mounting frame 1. The end of the connecting pipe 13 away from the cylinder body 7 is connected to the hydraulic circuit connected to the hydraulic telescopic rod 12.

[0032] like Figure 1-6 As shown, the specific implementation scenario is as follows: in actual use, the automatic agricultural crop avoidance weeding device is fixedly installed on a machine (such as a tractor or other machinery) through a mounting frame 1, and the first rotating shaft 4 is rotated by a pulley 41 and a belt. The rotation of the first rotating shaft 4 drives the second rotating shaft 42 to rotate, and then the fixed plate 6 drives the cutting knife 61 to rotate, so as to clean and cut the weeds on the ground. When the trigger plate 51 encounters an obstruction of a fruit tree during the weeding process, the trigger rod 51 is subjected to the resistance of the fruit tree, so that the trigger rod 51 rotates clockwise along the hinged side. Under the action of the cylinder body 7 and the piston rod 71, the hydraulic telescopic rod 12 is shortened to further pull the vertical plate 3 to rotate clockwise, that is, the device is rotated from Figure 2 In the state shown, the trigger plate 51 rotates clockwise, so that the trigger plate 5 slides past the branches of the fruit tree, driving the movement of the entire cutting part, avoiding the cutting part from damaging the fruit tree during weeding, and realizing the function of the device automatically avoiding the fruit tree during weeding; by arranging the cylinder body 7, the piston rod 71, the piston 72, the elastic sleeve 73, the hydraulic telescopic rod 12 and the connecting pipe 13, when the trigger plate 51 is blocked, the trigger plate 51 drives the trigger rod 51 to rotate clockwise along the hinged side, and the piston rod 71 pulls the piston 72 to slide in the cylinder body 7, and the cylinder body 71 is pumped with negative pressure. Under the action of the connecting pipe 13, the hydraulic of the hydraulic telescopic rod 12 The hydraulic oil in the pressure circuit flows into the cylinder body 71, and the hydraulic telescopic rod 12 is shortened due to the influence of the circuit. Since the mounting frame 1 is hinged through the connecting rod 11 and the vertical plate 3, when the hydraulic telescopic rod 12 is shortened, the vertical plate 3 rotates along the hinge with the connecting rod 11, thereby avoiding the cutting part from cutting the fruit tree, realizing the automatic avoidance function of the device. After the protective plate 5 avoids the fruit tree, it returns to its original state under the elastic force of the elastic sleeve 73 and the first spring 32, so as to continue to automatically avoid the fruit tree after the next contact. This embodiment specifically solves the problem that the weeding machinery in the prior art does not have the automatic obstacle avoidance function.

[0033] A fixing plate 31 is fixedly connected to a side of the vertical plate 3 away from the mounting frame 1 , and a first spring 32 is fixedly connected between the fixing plate 31 and the trigger plate 5 .

[0034] A protective ring 43 is fixedly connected to the outer peripheral side of the bottom end of the second rotating shaft 42 via a bearing, and the radius of the protective ring 43 is smaller than the radius of the trigger rod 51 .

[0035] A cross slot 421 is formed at the bottom end of the second rotating shaft 42 , and the cross rod 44 is slidably disposed in the cross slot 421 . A second spring 441 located below the protective ring 43 is movably sleeved on the rod wall of the cross rod 44 .

[0036] A limit plate 442 is fixedly mounted on the rod wall of the cross rod 44 , and two ends of the second spring 441 are fixedly connected to the limit plate 442 and the protective ring 43 , respectively.

[0037] A top plate 2 is fixedly connected to one side of the top of the mounting frame 1, an arc-shaped slide groove 21 is provided at the bottom of the top plate 2, a slider 22 is slidably provided inside the arc-shaped slide groove 21, and the top end of the first rotating shaft 4 is movably embedded in the bottom of the slider 22 through a bearing.

[0038] The blade of the cutting knife 61 is made of wear-resistant alloy material. A running wheel 14 is provided at the bottom of the mounting frame 1, and a shock absorbing device is installed on the running wheel 14 to reduce the vibration of the device when it moves on uneven ground and protect the structure of the device from damage. A control system is also provided on the mounting frame 1. The control system is electrically connected to the hydraulic telescopic rod 12 and the piston drive mechanism in the cylinder body 7, and is used to control the operating state of the device according to a preset program or a sensor input signal to achieve intelligent operation. The control system is integrated with a crop recognition module, which identifies the position of the crop through a camera or an infrared sensor. When the crop is identified, the position of the cutting knife 61 is adjusted by controlling the extension and retraction of the hydraulic telescopic rod 12 and the action of the piston in the cylinder body 7 to avoid damage to the crop, achieve precise avoidance and weeding, and further play a role in protecting crops.

[0039] like Figure 1-6As shown, the implementation scenario is specifically as follows: in actual use, by setting the fixing plate 31 and the first spring 32, it is convenient to provide a restoring force for the trigger rod 5, so that the trigger rod 5 can be restored to the initial position. By setting the protective ring 43, the cutting knife can be protected; by setting the cross slide 421, the cross rod 44, the second spring 441 and the limit plate 442, the second spring 441 can be compressed and extended under force, so that the cross rod 44 can slide up and down in the cross slide 421, which is convenient for the cutting knife 61 to buffer up and down, thereby improving the practicality of the cutting knife 61. By setting the top plate 2, the arc-shaped slide 21 and the slider 22, when the device contacts the fruit tree, the first rotating shaft 4 can drive the slider 22 to slide in the arc-shaped slide 21 to avoid the rotating shaft being too long and the stability of the whole device being reduced. In addition, the setting of the arc-shaped slide 21 is convenient for limiting the motion trajectory, reducing the load of each articulated hinge, and is conducive to extending the service life of components. This embodiment specifically solves the problem that the cutting device in the prior art does not have an automatic avoidance function.

[0040] In summary, the present invention realizes the rotation of the first rotating shaft 4 through the pulley 41 and the belt, so that the fixed plate 6 drives the cutting knife 61 to rotate, and the weeds on the ground are cleared and cut. When the trigger plate 51 encounters the obstruction of the fruit tree during the weeding process, the trigger rod 51 is subjected to the resistance of the fruit tree, so that the trigger rod 51 rotates clockwise along the hinged side. Under the action of the cylinder body 7 and the piston rod 71, the hydraulic telescopic rod 12 is shortened and further pulls the vertical plate 3 to rotate clockwise, so that the trigger plate 5 slides with the branches of the fruit tree, driving the movement of the entire cutting part, avoiding the cutting part from damaging the fruit tree during weeding, and realizing the function of the device automatically avoiding the fruit tree during the weeding process.

[0041] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. 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. An automatic weeding device for agricultural crops, comprising a mounting frame (1), characterized in that: A plurality of groups of connecting rods (11) uniformly distributed up and down are fixedly connected to one side of the mounting frame (1); a vertical plate (3) is hingedly connected to one end of the connecting rod (11) away from the mounting frame (1); a fixed plate (31) is fixedly connected to one side of the vertical plate (3); a trigger plate (5) is hingedly connected to one side of the vertical plate (3) away from the mounting frame (1); a second rotating shaft (42) is movably installed in the middle of the rod wall of the trigger plate (5) through a bearing; a first rotating shaft (4) is fixedly connected to the top end of the second rotating shaft (42); a pulley (41) is fixedly mounted on the shaft wall of the first rotating shaft (4); a cross rod (44) is arranged at the bottom end of the second rotating shaft (42); a fixed disk (6) is fixedly connected to the bottom end of the cross rod (44); and a plurality of groups of cutting knives (61) are fixedly connected to the outer peripheral side of the bottom of the fixed disk (6); A trigger rod (51) is fixedly connected to one side of the end of the trigger plate (5) away from the vertical plate (3); the trigger rod (51) is a semicircular ring structure; a cylinder body (7) is hingedly connected to one side of the vertical plate (3); a piston (72) is slidably mounted inside the cylinder body (7); a piston rod (71) is fixedly connected to one side of the piston (72); one end of the piston rod (71) movably passes through one side of the cylinder body (7) and is hingedly connected to the trigger plate (5); and a side of the piston (72) away from the piston rod (71) is fixedly connected to the other side of the cylinder body (7). An elastic sleeve (73) is fixedly connected, and one end of the elastic sleeve (73) away from the piston (72) is fixedly connected to the inner wall of the piston rod (71); a connecting pipe (13) is installed through one side of the cylinder body (7); a hydraulic telescopic rod (12) is hinged between the mounting frame (1) and the vertical plate (3); the hydraulic telescopic rod (12) and the connecting rod (11) are respectively located on two sides of the mounting frame (1); and one end of the connecting pipe (13) away from the cylinder body (7) is connected to a hydraulic circuit connected to the hydraulic telescopic rod (12).

2. The automatic weeding device for agricultural crops according to claim 1, characterized in that: A fixing plate (31) is fixedly connected to the side of the vertical plate (3) away from the mounting frame (1), and a first spring (32) is fixedly connected between the fixing plate (31) and the trigger plate (5).

3. The automatic weeding device for agricultural crops according to claim 1, characterized in that: A protective ring (43) is fixedly connected to the outer peripheral side of the bottom end of the second rotating shaft (42) via a bearing, and the radius of the protective ring (43) is smaller than the radius of the trigger rod (51).

4. The automatic weeding device for agricultural crops according to claim 3, characterized in that: A cross slot (421) is provided at the bottom end of the second rotating shaft (42), the cross rod (44) is slidably arranged in the cross slot (421), and a second spring (441) located below the protective ring (43) is movably sleeved on the rod wall of the cross rod (44).

5. The automatic weeding device for agricultural crops according to claim 4, characterized in that: A limit plate (442) is fixedly mounted on the rod wall of the cross rod (44), and two ends of the second spring (441) are respectively fixedly connected to the limit plate (442) and the protective ring (43).

6. The automatic weeding device for agricultural crops according to claim 1, characterized in that: A top plate (2) is fixedly connected to one side of the top of the mounting frame (1), an arc-shaped slide groove (21) is provided at the bottom of the top plate (2), a slider (22) is slidably provided inside the arc-shaped slide groove (21), and the top end of the first rotating shaft (4) is movably embedded in the bottom of the slider (22) through a bearing.

7. The automatic weeding device for agricultural crops according to claim 1, characterized in that: The blade portion of the cutting knife (61) is made of wear-resistant alloy material.

8. The automatic weeding device for agricultural crops according to claim 1, characterized in that: A running wheel (14) is provided at the bottom of the mounting frame (1), and a shock absorbing device is installed on the running wheel (14).

9. The automatic weeding device for agricultural crops according to claim 1, characterized in that: The mounting frame (1) is also provided with a control system, and the control system is electrically connected to the hydraulic telescopic rod (12) and the piston drive mechanism in the cylinder body (7).

10. The automatic weeding device for agricultural crops according to claim 9, characterized in that: The control system is integrated with a crop recognition module, which recognizes the position of crops through a camera or an infrared sensor. When crops are recognized, the position of the cutting knife (61) is adjusted by controlling the extension and retraction of the hydraulic telescopic rod (12) and the movement of the piston in the cylinder (7).

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