Obstacle-avoiding weeder

Abstract

The present invention discloses an obstacle-avoiding weeder, which comprises a weeding frame, a first weeding assembly being connected to the weeding frame, the first weeding assembly comprising a transmission shaft rotatably connected to the weeding frame, a plurality of transmission boxes being arranged on the transmission shaft and extending downward and tilted backward, an intermediate weeding shaft being connected at both ends of the lower part of the transmission box, two intermediate weeding disks being connected to the intermediate weeding shaft and spaced apart in an axial direction, a plurality of intermediate weeding blades being arranged on the outer periphery between the two intermediate weeding disks, a second weeding assembly being provided at both ends in the length direction of the weeding frame behind the first weeding assembly, the second weeding assembly comprising a mounting bracket which is arranged at the side end of the weeding frame and can swing back and forth, a side weeding shaft being rotatably connected to the outer side of the mounting bracket, two side weeding disks being connected to the side weeding shaft and spaced apart in an axial direction, a plurality of side weeding blades being arranged on the outer periphery of the two side weeding disks; the present invention can increase the width of weeding operations and improve weeding efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of weeding, in particular to an obstacle-avoiding weeder. Background Art

[0002] In traditional technology, chemical weeding and manual weeding are used for orchard weeding. The spraying of chemical herbicides will pollute the branches and leaves of fruit trees, and pesticides will remain on the branches and leaves of fruit trees, which is not conducive to the development of green agriculture; while manual weeding is time-consuming, labor-intensive and inefficient. In the prior art, a Chinese invention patent entitled "An Orchard Weeder" with announcement number CN 216626662 U and announcement date of 2022.05.31 is disclosed, which includes a bottom plate, a circular limit block is fixed on the upper end surface of the bottom plate, a motor is fixed at the bottom of the inner cavity of the circular limit block, and the motor is connected to the moving device through the output shaft transmission. A cutting device is arranged on the right part of the lower end surface of the bottom plate, and the cutting device includes a support column, a round block, a fixed column, a second bevel gear set, a round rod, a support block, a circular block and an L-shaped fixed rod. Cutting knives are fixed on the front and rear end surfaces of the L-shaped fixed rod. Cutting knives are fixed on the left and right end faces of the L-shaped fixed rod. The motor drives the moving device to move. During the movement, the second bevel gear set drives the fixed column to rotate the circular block of the fixed column to drive the L-shaped fixed rod. The L-shaped fixed rod cuts and weeds the grass in the orchard through the cutting knives on the front and rear end faces and the left and right end faces. The weeding is convenient, thereby solving the technical problem of time-consuming and labor-intensive weeding in traditional technologies. However, the weeding width of this weeder is limited by the width of the fuselage, and the weeding operation width is limited. Summary of the invention

[0003] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0004] In view of the above and / or existing problems in the existing weeding process, the present invention is proposed, and the present invention solves the technical problem of limited width of weeding operation in the prior art.

[0005] Therefore, the object of the present invention is to provide an obstacle avoidance weeder, which expands the width of weeding operations by setting up a side weeding component, and the side weeding component can be rotatably connected to the rear end of the weeding machine frame to avoid fruit trees encountered during the weeding process of the side weeding component.

[0006] To solve the above technical problems, the present invention provides the following technical solutions: an obstacle avoidance weeder, which includes a weeding frame, the weeding frame is connected to a first weeding assembly, the first weeding assembly includes a transmission shaft rotatably connected to the weeding frame, a plurality of rotatable transmission boxes extending backward and downward are arranged on the transmission shaft, both ends of the lower part of the transmission box are connected to an intermediate weeding shaft, two intermediate weeding disks arranged at intervals in the axial direction are connected to the intermediate weeding shaft, a plurality of intermediate weeding blades are arranged on the outer periphery between the two intermediate weeding disks, a second weeding assembly is provided at both ends of the weeding frame behind the first weeding assembly in the length direction, the second weeding assembly includes a mounting bracket arranged at the side end of the weeding frame and capable of swinging back and forth, a side weeding shaft is rotatably connected to the outer side of the mounting bracket, two side weeding disks arranged at intervals in the axial direction are connected to the side weeding shaft, a plurality of side weeding blades are arranged on the outer periphery between the two side weeding disks.

[0007] As a further improvement of the present invention, the rear end of the weed remover frame is fixedly connected to a connecting bracket, and the connecting bracket is rotatably connected to a first connecting plate and a second connecting plate spaced apart in the height direction, the first connecting plate and the second connecting plate have the same length and are parallel to each other, and the mounting bracket is connected to the first connecting plate and the second connecting plate.

[0008] In order to further achieve obstacle avoidance of the side weeding component, the second weeding component also includes an angle adjustment driver hinged on the upper rear side of the weeding frame, and the angle adjustment driver is connected to a piston rod that extends backward horizontally and can perform reciprocating linear motion, and the rear end of the piston rod is hinged on the first connecting plate.

[0009] As a further improvement of the present invention, the angle adjustment driver is a hydraulic cylinder, and both ends of the hydraulic cylinder are connected to a first inlet and outlet oil pipe and a second inlet and outlet oil pipe.

[0010] In order to further realize obstacle detection before weeding of the side weeding component, the second weeding component also includes a stroke reversing valve fixedly connected to the upper end of the weeding frame, the upper end of the weeding frame is fixedly connected with a first support plate and a second support plate arranged at intervals in the front-back direction, a guide rod is connected between the first support plate and the second support plate, a compression spring is sleeved on the guide rod, one end of the compression spring abuts against the first support plate, a pressure plate is slidably connected to the guide rod between the first support plate and the second support plate, the other end of the compression spring abuts against a side of the pressure plate relative to the first support plate, and the pressure plate is pressed against a side of the second support plate relative to the first support plate under the action of the compression spring, one end of the pressure plate relative to the first support plate is hinged with a transmission rod, and one end of the transmission rod extending forward is hinged with a touch rod, and the touch rod is hinged on the weeding frame, and the touch rod presses the pressure plate on the roller of the stroke reversing valve without the action of external force, and the first inlet and outlet oil pipes and the second inlet and outlet oil pipes are respectively connected to the oil outlet and the oil discharge port of the stroke reversing valve.

[0011] As a further improvement of the present invention, a driving member is fixedly connected to the inner end of the mounting bracket, and the driving member can drive the side weeding shaft to rotate.

[0012] In order to further realize the adjustment of the buffer stroke in the height direction when the side weeding blade is weeding, at least two first support shafts arranged at intervals in the front-to-back direction are connected to the connecting bracket, the upper part of the first support shaft is rotatably connected to one end of the first connecting plate, the lower part of the first support shaft is rotatably connected to one end of the second connecting plate, the other ends of the first connecting plate and the second connecting plate are respectively rotatably connected to two vertically arranged second support shafts, the upper parts of the two second support shafts are connected together through a horizontal plate, a buffer spring is sleeved on the second support shaft, one end of the buffer spring is connected to the lower end of the horizontal plate, and the other end of the buffer spring is connected to the upper side of the mounting bracket, the mounting bracket is slidably connected to the two second support shafts, a buffer adjustment rod is rotatably connected to the horizontal plate, a buffer plate is fixed on the mounting bracket, a guide hole is opened on the buffer plate, the lower end of the buffer adjustment rod passes downward out of the guide hole, an external thread is provided on the outer side of the lower part of the buffer adjustment rod, a lower buffer stroke adjustment nut is threadedly connected to the buffer adjustment rod below the buffer plate, and an upper buffer stroke adjustment nut is threadedly connected to the buffer adjustment rod above the buffer plate.

[0013] In order to further realize the rotation of the intermediate weeding shaft, the first weeding component also includes a gearbox fixedly connected to the weeding frame, the gearbox is connected to an output shaft, the output shaft is connected to a driving part, and the intermediate weeding shaft is connected to a driven part that is transmission-connected to the driving part.

[0014] In order to make the middle weeding disc always fit the ground to ensure the uniformity of the weeding depth of the middle weeding blade, a connecting ear is fixed to the rear end of the transmission box, and a movable rod is hinged on the connecting ear. A number of connecting blocks corresponding to the movable rod are arranged on the weeding machine frame, and the upper end of the movable rod is slidably connected to the connecting block. A lower return spring is mounted on the movable rod on the lower side of the connecting block, and both ends of the lower return spring are respectively connected to the hinge at the lower end of the movable rod and the lower side of the connecting block.

[0015] As a further improvement of the present invention, an upper return spring is fixed on the upper side of the connecting block, and the upper return spring is sleeved on a section of the movable rod extending upward out of the connecting block. A limiting portion is fixed to the upper part of the movable rod, and the upper end of the upper return spring is fixed to the lower side of the limiting portion.

[0016] Compared with the prior art, the present invention has the following beneficial effects: by arranging side weeding assemblies at both ends of the weeding machine frame, the weeding width is expanded; by the combined arrangement of the touch rod, the transmission rod, the pressure plate, the stroke reversing valve and the side weeding assembly, obstacle avoidance is achieved during the weeding process of the side weeding assembly, thereby further improving the reliability of weeding. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0018] Figure 1 It is the front view of the present invention.

[0019] Figure 2 The three-dimensional structure of the present invention Figure 1 .

[0020] Figure 3 for Figure 2 A partial enlarged view of point A in the middle.

[0021] Figure 4 for Figure 2 A partial enlarged view of point B in the middle.

[0022] Figure 5 The three-dimensional structure of the present invention Figure 2 .

[0023] Figure 6 for Figure 5 A partial enlarged view of point C in the middle.

[0024] Figure 7 for Figure 5 A partial enlarged view of point D in the middle.

[0025] Figure 8 for Figure 5 A partial enlarged view of point E in the middle.

[0026] Fig. 9 for Figure 5 A partial enlarged view of point F in the middle.

[0027] Fig.10 for Figure 5 A partial enlarged view of point G in the middle.

[0028] Fig.11 The three-dimensional structure of the present invention Figure 3 .

[0029] Fig.12 for Fig.11 A partial enlarged view of point H in the middle.

[0030] Fig.13 The three-dimensional structure of the present invention Figure 4 .

[0031] Fig.14 for Fig.13 A partial enlarged view of point I in the middle.

[0032] In the figure, 100 is a first weeding assembly, 101 is a transmission box, 101a is a connecting ear, 102 is an intermediate weeding blade, 103 is an intermediate weeding shaft, 104 is a gearbox, 105 is an intermediate weeding disc, 106 is a first transmission chain, 107 is an active member, 108 is a lower return spring, 109 is an upper return spring, 110 is a movable rod, 110a is a hinge part, 111 is a connecting block, 112 is a driven member, 200 is a weeding frame, 300 is a walking assembly, 301 is a walking bracket, 302 wheel, 400 second weeding assembly, 401 side weeding blade, 402 side weeding disc, 403 side weeding shaft, 404 touch rod, 405 angle adjustment driver, 406 piston rod, 407 fixing block, 408 first support plate, 409 compression spring, 410 transmission rod, 411 guide rod, 412 pressure plate, 413 second support plate, 414 travel reversing valve, 414a roller, 415 first connecting plate, 416 driving member, 417 second connecting plate, 418 horizontal plate, 419 buffer spring, 420 upper buffer stroke adjustment nut, 421 lower buffer stroke adjustment nut, 422 buffer adjustment rod, 423 second support shaft, 424 first support shaft, 425 mounting bracket, 425a buffer plate, 500 hydraulic transmission assembly, 501 first oil outlet pipe, 502 oil tank, 503 hydraulic pump, 504 first oil return pipe, 505 third four-way pipe, 506 oil unloading pipe, 507 main Driving sprocket, 508 connecting oil pipe, 509 second transmission chain, 510 driven sprocket, 511 overflow valve, 512 first three-way pipe, 513 first four-way pipe, 514 second oil inlet pipe, 515 first oil inlet pipe, 516 first inlet and outlet oil pipes, 517 second inlet and outlet oil pipes, 518 oil discharge pipe, 519 third three-way pipe, 520 third oil outlet pipe, 521 second oil outlet pipe, 522 driving oil pipe, 523 second three-way pipe, 600 connecting bracket. DETAILED DESCRIPTION

[0033] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0034] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0035] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0036] Example 1

[0037] Reference Figure 1 to Figure 3 , Fig.13 and Fig.14 , which is the first embodiment of the present invention, provides an obstacle avoidance weeder, which can increase the weeding width, adjust the buffer displacement of the side weeding disc 402 according to the terrain changes, and improve the uniformity of the side weeding depth.

[0038] An obstacle avoidance weeder, which includes a weeding frame 200, to which a first weeding assembly 100 is connected, the first weeding assembly 100 includes a transmission shaft rotatably connected to the weeding frame 200, a transmission box 101 that is arranged on the transmission shaft and extends downward and tilted backward, an intermediate weeding shaft 103 is connected to both ends of the lower part of the transmission box 101, the intermediate weeding shaft 103 is connected to two intermediate weeding disks 105 that are spaced apart in the axial direction, a plurality of intermediate weeding blades 102 are arranged on the periphery between the two intermediate weeding disks 105, the rear end of the weeding frame 200 is fixedly connected to two connecting brackets 600 that are spaced apart in the left-right direction, a second weeding assembly 400 that can swing forward and backward is connected to the connecting bracket 600, the second weeding assembly 400 includes two second support shafts 423 and two first support shafts 423 that are connected to the connecting bracket 600 and spaced apart in the front-back direction. Axle 424, a first connecting plate 415 and a second connecting plate 417 which are spaced apart in the height direction are rotatably connected to the first supporting shaft 424, the first connecting plate 415 and the second connecting plate 417 are of the same length and are parallel to each other, a horizontal plate 418 is connected to the upper ends of the two second supporting shafts 423, an end of the second connecting plate 417 away from the first supporting shaft 424 is rotatably connected to the second supporting shaft 423, a mounting bracket 425 is connected to the two second supporting shafts 423, a side weeding shaft 403 is rotatably connected to the outer side of the mounting bracket 425 below the second connecting plate 417, two side weeding disks 402 which are spaced apart in the axial direction are connected to the side weeding shaft 403, a plurality of side weeding blades 401 are arranged on the periphery between the two side weeding disks 402, a driving member 416 is fixedly connected to the inner end of the mounting bracket 425, and the driving member 416 can drive the side weeding shaft 403 to rotate.

[0039] In order to further realize the rotation of the intermediate weeding shaft 103, the first weeding component 100 also includes a gearbox 104 fixedly connected to the weeding frame 200, the gearbox 104 is connected to an output shaft 113, the output shaft 113 is connected to a driving member 107, and the intermediate weeding shaft 103 is connected to a driven member 112 that is transmission-connected to the driving member 107. In this embodiment, the driving member 107 and the driven member 112 are preferably sprockets, and the driving member 107 is connected to the driven member 112 via a first transmission chain 106.

[0040] In this embodiment, the driving member 416 is preferably a hydraulic motor, and can also be other devices that can drive the side weeding shaft 403 to rotate, such as a motor; the left and right ends of the front part of the weeding frame 200 are provided with walking components 300, and the walking component 300 includes a walking bracket 301 fixedly connected to the front end of the weeding frame 200, and the lower part of the walking bracket 301 is rotatably connected to the wheel 302; in actual use, the weeding frame 200 can be raised and lowered and connected to the front walking device, the power of the gearbox 104 is provided by the walking device, and the transmission device on the walking device is connected to the gearbox 104 via a universal joint; when operating, the weeding frame 200 is The gearbox 104 is operated, the output shaft 113 rotates, the active member 107 rotates, the active member 107 drives the driven member 112 to rotate via the first transmission chain 106, the driven member 112 drives the transmission shaft to rotate, the transmission shaft drives the transmission structure in the transmission box 101 to move, the transmission structure in the transmission box 101 is the prior art, and is not an improvement point of the present application, the middle weeding shaft 103 rotates, the middle weeding shaft 103 drives the middle weeding blade 102 to rotate via the middle weeding disk 105, the middle weeding blade 102 continuously rotates to cut weeds, and the weeding frame 200 achieves weeding within a wide range.

[0041] In order to further adjust the buffer stroke in the height direction when the side weeding blade 401 is weeding, two first support shafts 424 are connected to the connecting bracket 600 and are spaced apart in the front-to-back direction. The upper part of the first support shaft 424 is rotatably connected to one end of the first connecting plate 415, and the lower part of the first support shaft 424 is rotatably connected to one end of the second connecting plate 417. The other ends of the first connecting plate 415 and the second connecting plate 417 are rotatably connected to two vertically arranged second support shafts 423 respectively. The upper parts of the two second support shafts 423 are connected together via a horizontal plate 418. A buffer spring 419 is mounted on the second support shaft 423. One end of the buffer spring 419 is connected to The lower end of the horizontal plate 418 and the other end of the buffer spring 419 are connected to the upper side of the mounting bracket 425, and the mounting bracket 425 is slidably connected to the two second support shafts 423. The horizontal plate 418 is rotatably connected with a buffer adjustment rod 422, and a buffer plate 425a is fixed to the mounting bracket 425. The buffer plate 425a is provided with a guide hole, and the lower end of the buffer adjustment rod 422 passes downward out of the guide hole. The lower outer side of the buffer adjustment rod 422 is provided with an external thread, and the buffer adjustment rod 422 below the buffer plate 425a is threadedly connected with a lower buffer stroke adjustment nut 421, and the buffer adjustment rod 422 above the buffer plate 425a is threadedly connected with an upper buffer stroke adjustment nut 420.

[0042] Before operation, the buffer stroke of the mounting bracket 425 is adjusted according to the changes in terrain. The position of the buffer adjustment rod 422 in the height direction is fixed. The upper buffer stroke adjustment nut 420 and the lower buffer stroke adjustment nut 421 are rotated on the buffer adjustment rod 422 to make the displacement of the buffer plate 425a in the height direction and the buffer distance between the upper buffer stroke adjustment nut 420 and the lower buffer stroke adjustment nut 421 adapt to each other; during operation, the side weeding disc 402 moves in the height direction as the terrain changes, and the side weeding disc 402 is reset under the action of the buffer spring 419. During driving, the side weeding disc 402 can always fit on the ground to ensure the uniformity of the side weeding depth.

[0043] Example 2

[0044] Reference Fig.11 and 12 , which is the second embodiment of the present invention, provides an obstacle avoidance weeder, which can adaptively adjust the middle weeding disc 105 according to the height of the ground, so that the middle weeding disc 105 is always in contact with the ground.

[0045] A barrier-avoiding weeder, wherein the upper portion of a transmission box 101 is rotatably connected to a transmission shaft, a connecting ear 101a is fixed to the rear end of the transmission box 101, a movable rod 110 is hinged on the connecting ear 101a, a plurality of connecting blocks 111 corresponding to the movable rod 110 are arranged on a weeder frame 200, the upper end of the movable rod 110 is slidably connected to the connecting block 111, a lower return spring 108 is sleeved on the movable rod 110 at the lower side of the connecting block 111, and two ends of the lower return spring 108 are respectively connected to a hinged portion 110a at the lower end of the movable rod 110 and the lower side of the connecting block 111.

[0046] In order to further accelerate the resetting of the transmission box 101, an upper resetting spring 109 is fixed on the upper side of the connecting block 111. The upper resetting spring 109 is sleeved on a section of the movable rod 110 that extends upward outside the connecting block 111. A limiting portion is fixed to the upper part of the movable rod 110, and the upper end of the upper resetting spring 109 is fixed to the lower side of the limiting portion.

[0047] When driving along the horizontal ground, the lower return spring 108 is in a compressed state; when encountering a higher ground, the transmission box 101 swings backward, the transmission box 101 further compresses the lower return spring 108, the movable rod 110 slides upward, and the limit portion drives the upper return spring 109 to continue to stretch upward, so that the middle weeding disc 105 can always be in contact with the ground. When the middle weeding disc 105 returns to the horizontal ground, the upper return spring 109 and the lower return spring 108 work together to drive the movable rod 110 to move downward, and the movable rod 110 pushes The transmission box 101 swings down so that the middle weeding disc 105 quickly contacts the horizontal ground; when encountering a lower ground, the movable rod 110 moves down quickly under the action of the return spring, the transmission box 101 swings forward, and the middle weeding disc 105 is always in contact with the ground. When the middle weeding disc 105 returns to the horizontal ground, the upper return spring 109 and the lower return spring 108 drive the movable rod 110 to reset, and the movable rod 110 pulls the transmission box 101 to swing up so that the middle weeding disc 105 contacts the horizontal ground, thereby ensuring the uniformity of the middle weeding depth.

[0048] Example 3

[0049] Reference Figures 4 to 10 , which is the third embodiment of the present invention, provides an obstacle avoidance weeder, which can achieve obstacle avoidance of the second weeding component 400.

[0050] An obstacle avoiding weeder, the second weeding component 400 also includes an angle adjustment driver 405 hinged on the upper rear side of the weeding machine frame 200, the angle adjustment driver 405 is connected to a piston rod 406 which extends backward horizontally and can perform reciprocating linear motion, the rear end of the piston rod 406 is hinged on a first connecting plate 415, the angle adjustment driver 405 is a hydraulic cylinder, and the two ends of the hydraulic cylinder are connected to a first inlet and outlet oil pipe 516 and a second inlet and outlet oil pipe 517.

[0051] In order to further realize obstacle detection before weeding by the side weeding assembly, the second weeding assembly 400 also includes a stroke reversing valve 414 fixedly connected to the upper end of the weeding frame 200, and the upper end of the weeding frame 200 is fixedly connected with a first support plate 408 and a second support plate 413 arranged at intervals in the front-to-back direction, and a guide rod 411 is connected between the first support plate 408 and the second support plate 413, and a compression spring 409 is mounted on the guide rod 411, and one end of the compression spring 409 abuts against the first support plate 408, and the first support plate 408 is in front of the second support plate 413, and a pressure plate 412 is slidably connected to the guide rod 411 between the first support plate 408 and the second support plate 413, and the other end of the compression spring 409 abuts against the pressure plate 412 relative to the first support plate On one side of the plate 408, the pressure plate 412 is pressed against the side of the second support plate 413 arranged opposite to the first support plate 408 under the action of the compression spring 409, and the end of the pressure plate 412 opposite to the first support plate 408 is hinged with a transmission rod 410, and the end of the transmission rod 410 extending forward is hinged with a touch rod 404, a fixed block 407 is fixed on the upper side of the weeding frame 200, the touch rod 404 is hinged on the fixed block 407, and the end of the touch rod 404 away from the transmission rod 410 extends out of the weeding frame 200. In the absence of external force, the pressure plate 412 presses on the roller 414a of the stroke reversing valve 414, and the first inlet and outlet oil pipes 516 and the second inlet and outlet oil pipes 517 are respectively connected to the oil outlet and the oil drain port of the stroke reversing valve 414.

[0052] The weeding machine frame 200 is connected to a hydraulic transmission assembly 500 for driving hydraulic components such as a hydraulic cylinder, a hydraulic motor, and a stroke reversing valve 414. The weeding machine frame 200 is fixedly connected to an oil tank 502 and a hydraulic pump 503. The input end of the hydraulic pump 503 is connected to a driven sprocket 510. The gearbox 104 is also connected to a driving sprocket 507. The driving sprocket 507 is connected to the driven sprocket 510 via a second transmission chain 509. The oil tank 502 is connected to a first oil outlet pipe 501 and a first oil return pipe 504. The first oil outlet pipe 501 is away from the oil tank 502. 2 is connected to the oil inlet end of the hydraulic pump 503, the oil outlet end of the hydraulic pump 503 is connected to the second oil outlet pipe 521, the end of the second oil outlet pipe 521 away from the hydraulic pump 503 is connected to one end of the first three-way pipe 512, the other two ends of the first three-way pipe 512 are respectively connected to the oil inlet end of the overflow valve 511 and one end of the first four-way pipe 513, the other three ends of the first four-way pipe 513 are respectively connected to two first oil inlet pipes 515 and second oil inlet pipes 514, the end of the first oil inlet pipe 515 away from the first four-way pipe 513 and the corresponding stroke reversing valve 414 The oil inlet end is connected, one end of the second oil inlet pipe 514 away from the first four-way pipe 513 is connected to one end of the second three-way pipe 523, the other two ends of the second three-way pipe 523 are respectively connected to two driving oil pipes 522, one end of the driving oil pipe 522 away from the second three-way pipe 523 is connected to the hydraulic motor, the oil discharge end of the relief valve 511 is connected to the connecting oil pipe 508, one end of the connecting oil pipe 508 away from the relief valve 511 is connected to one end of the third four-way pipe 505, and the other three ends of the third four-way pipe 505 are respectively connected to one end of the two oil discharge pipes 506 and the first oil return pipe 5 04 is connected to one end of the oil tank 502, one end of the oil unloading pipe 506 is connected to one end of the third three-way pipe 519 away from the third four-way pipe 505, the oil inlet end and the oil discharge end of the stroke reversing valve 414 are respectively connected to the first inlet and outlet oil pipes 516 and the second inlet and outlet oil pipes 517 away from the hydraulic cylinder, the oil unloading end of the stroke reversing valve 414 is connected to the oil discharge pipe 518, the other two ends of the third three-way pipe 519 are respectively connected to the corresponding oil unloading end of the stroke reversing valve 414 and one end of the third oil outlet pipe 520, and the oil outlet end of the hydraulic motor is connected to the other end of the third oil outlet pipe 520.

[0053] In this embodiment, when the first oil inlet and outlet pipe 516 is inlet, and the second oil inlet and outlet pipe 517 is outlet, the piston rod 406 extends outward; otherwise, the piston rod 406 retracts; when the gearbox 104 is working, the driving sprocket 507 rotates, and the driving sprocket 507 drives the driven sprocket 510 to rotate through the second transmission chain 509, and the driven sprocket 510 drives the hydraulic pump 503 to work, and the hydraulic pump 503 pumps the oil in the oil tank 502 through the first oil outlet pipe 501, and the pumped oil is discharged through the second oil outlet pipe 521; in the initial state (i.e., during normal driving), ), the pressure plate 412 is pressed on the roller 414a of the travel reversing valve 414 under the action of the compression spring 409, at this time, the first inlet and outlet oil pipe 516 discharges oil, the second inlet and outlet oil pipe 517 receives oil, the piston rod 406 is always in a retracted state, and the second weeding assembly 400 is unfolded outward. During the forward driving process, if the touch rod 404 touches the fruit tree, the fruit tree pushes the touch rod 404 to rotate backward, the touch rod 404 pulls the transmission rod 410 to swing backward, and the transmission rod 410 pulls the pressure plate 412 to move toward the direction of the first support plate 408, and the pressure plate 412 is pressed. The plate 412 further compresses the compression spring 409, the pressure plate 412 leaves the roller 414a, the spring in the stroke reversing valve 414 is reset, the stroke reversing valve 414 is reversed, the first inlet and outlet oil pipe 516 enters oil, the second inlet and outlet oil pipe 517 exits oil, the piston rod 406 extends, the piston rod 406 pushes the first connecting plate 415 to rotate backward, the first connecting plate 415 drives the second support shaft 423 and the second connecting plate 417 to rotate backward, the second support shaft 423 drives the mounting bracket 425 to rotate backward, so that the side weeding disc 402 avoids the fruit tree and moves toward the side weeding disc 402. During the rear rotation process, the side weeding blade 401 rotates continuously to remove the grass around the fruit tree and improve the weeding effect; when the touch rod 404 passes over the fruit tree, the pressure plate 412 is reset under the action of the compression spring 409, and the pressure plate 412 pulls the transmission rod 410 to swing forward, and the transmission rod 410 pulls the touch rod 404 to reset, and the pressure plate 412 continues to push the roller 414a to move toward the stroke reversing valve 414, so that the spring in the stroke reversing valve 414 is compressed again, the piston rod 406 is retracted, and the side weeding disc 402 is expanded outward to continue wide weeding.

[0054] This embodiment can achieve obstacle avoidance during the weeding process, avoid fruit trees while removing the grass around the fruit trees, thereby improving the weeding effect.

[0055] The directions in this application are based on the main view, the front and rear directions are perpendicular to the paper surface, the left and right directions are horizontal directions parallel to the paper surface, the length direction of the weeding machine frame 200 is parallel to the horizontal direction of the paper surface, and the height direction is the vertical direction parallel to the paper surface.

[0056] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An obstacle avoidance weeder, comprising a weeder frame (200), characterized in that: The weeding frame (200) is connected to a first weeding assembly (100), the first weeding assembly (100) comprises a transmission shaft rotatably connected to the weeding frame (200), a plurality of transmission boxes (101) rotatably arranged on the transmission shaft and extending downward and tilted backward, both ends of the lower part of the transmission box (101) are connected to an intermediate weeding shaft (103), two intermediate weeding discs (105) spaced apart in the axial direction are connected to the intermediate weeding shaft (103), a plurality of intermediate weeding blades (102) are arranged on the periphery between the two intermediate weeding discs (105), and a second weeding assembly (400) is provided at both ends of the weeding frame (200) in the length direction behind the first weeding assembly (100), The second weeding assembly (400) comprises a mounting bracket (425) which is arranged at the side end of the weeding frame (200) and can swing forward and backward. The outer side of the mounting bracket (425) is rotatably connected to a side weeding shaft (403). The side weeding shaft (403) is connected to two side weeding discs (402) arranged at intervals in the axial direction. A plurality of side weeding blades (401) are arranged on the periphery between the two side weeding discs (402). The second weeding assembly (400) also comprises an angle adjustment driver (405) hinged on the upper rear side of the weeding frame (200). The angle adjustment driver (405) is connected to a piston rod (406) which extends outward horizontally and tiltedly and can perform reciprocating linear motion. The piston rod (406) The rear end of the weeding machine frame (200) is hinged on the first connecting plate (415), the angle adjustment driver (405) is a hydraulic cylinder, and the two ends of the hydraulic cylinder are connected to the first inlet and outlet oil pipes (516) and the second inlet and outlet oil pipes (517). The second weeding assembly (400) also includes a stroke reversing valve (414) fixedly connected to the upper end of the weeding machine frame (200), and the upper end of the weeding machine frame (200) is fixedly connected to the first support plate (408) and the second support plate (413) arranged in a spaced relationship in the front-to-back direction. A guide rod (411) is connected between the first support plate (408) and the second support plate (413), and a compression spring (409) is mounted on the guide rod (411), and one end of the compression spring (409) abuts against the first support plate ( 408), a pressure plate (412) is slidably connected to a guide rod (411) between the first support plate (408) and the second support plate (413), the other end of the compression spring (409) abuts against a side of the pressure plate (412) opposite to the first support plate (408), and the pressure plate (412) is pressed against a side of the second support plate (413) opposite to the first support plate (408) under the action of the compression spring (409), and a transmission rod (410) is hinged at one end of the pressure plate (412) opposite to the first support plate (408), and a touch rod (404) is hinged at one end of the transmission rod (410) extending forward, and the touch rod (404) is hinged on the weeding machine frame (200), and the touch rod (404) is in the absence of external force.The pressure plate (412) is pressed on the roller (414a) of the stroke reversing valve (414), and the first inlet and outlet oil pipes (516) and the second inlet and outlet oil pipes (517) are respectively connected to the oil outlet and the oil discharge port of the stroke reversing valve (414).

2. The obstacle avoidance weeder according to claim 1, characterized in that: The rear end of the weeding machine frame (200) is fixedly connected to a connecting bracket (600), and the connecting bracket (600) is rotatably connected to a first connecting plate (415) and a second connecting plate (417) spaced apart in the height direction, the first connecting plate (415) and the second connecting plate (417) are of the same length and parallel to each other, and the mounting bracket (425) is connected to the first connecting plate (415) and the second connecting plate (417).

3. The obstacle avoidance weeder according to claim 1, characterized in that: The inner end of the mounting bracket (425) is fixedly connected with a driving member (416), and the driving member (416) can drive the side weeding shaft (403) to rotate.

4. The obstacle avoiding weeder according to claim 2 or 3, characterized in that: The connecting bracket (600) is connected to at least two first support shafts (424) spaced apart in the front-to-back direction, the upper portion of the first support shaft (424) is rotatably connected to one end of the first connecting plate (415), the lower portion of the first support shaft (424) is rotatably connected to one end of the second connecting plate (417), the other ends of the first connecting plate (415) and the second connecting plate (417) are rotatably connected to two vertically arranged second support shafts (423), the upper portions of the two second support shafts (423) are connected together via a horizontal plate (418), a buffer spring (419) is sleeved on the second support shaft (423), one end of the buffer spring (419) is connected to the lower end of the horizontal plate (418), and the buffer spring (419) is provided on the second support shaft (423). 9) is connected to the upper side of the mounting bracket (425), the mounting bracket (425) is slidably connected to the two second support shafts (423), the horizontal plate (418) is rotatably connected to a buffer adjustment rod (422), a buffer plate (425a) is fixed to the mounting bracket (425), a guide hole is opened on the buffer plate (425a), the lower end of the buffer adjustment rod (422) passes downward out of the guide hole, an external thread is provided on the lower outer side of the buffer adjustment rod (422), a lower buffer stroke adjustment nut (421) is threadedly connected to the buffer adjustment rod (422) below the buffer plate (425a), and an upper buffer stroke adjustment nut (420) is threadedly connected to the buffer adjustment rod (422) above the buffer plate (425a).

5. The obstacle avoiding weeder according to any one of claims 1 to 3, characterized in that: The first weeding component (100) further comprises a gearbox (104) fixedly connected to the weeding machine frame (200), the gearbox (104) being connected to an output shaft (113), the output shaft (113) being connected to a driving member (107), and the intermediate weeding shaft (103) being connected to a driven member (112) drivingly connected to the driving member (107).

6. The obstacle avoiding weeder according to any one of claims 1 to 3, characterized in that: A connecting ear (101a) is fixed at the rear end of the transmission box (101), and a movable rod (110) is hinged on the connecting ear (101a). A plurality of connecting blocks (111) corresponding to the movable rod (110) are arranged on the weeding machine frame (200), and the upper end of the movable rod (110) is slidably connected to the connecting block (111). A lower return spring (108) is sleeved on the movable rod (110) at the lower side of the connecting block (111), and the two ends of the lower return spring (108) are respectively connected to the hinged portion (110a) at the lower end of the movable rod (110) and the lower side of the connecting block (111).

7. The obstacle avoiding weeder according to claim 6, characterized in that: An upper return spring (109) is fixed on the upper side of the connecting block (111). The upper return spring (109) is sleeved on a section of the movable rod (110) extending upward outside the connecting block (111). A limiting portion is fixed on the upper part of the movable rod (110), and the upper end of the upper return spring (109) is fixed on the lower side of the limiting portion.

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