Crossing type row changing device and row changing method based on self-propelled double-row paddy field weeder

Abstract

The present application relates to a kind of based on self-propelled double-row paddy field weeder's leapfrogging row-changing device and row-changing method.Row-changing device includes support mechanism, transverse moving mechanism, initiative lifting mechanism, steering mechanism, reset mechanism and electric control module;When electric control module detects that weeder walks to the end of rice planting row, support mechanism elongates and supports the whole machine by contacting ground, initiative lifting mechanism lifts weeder to higher than rice seedling height, and is driven from above rice seedling by transverse moving mechanism to move horizontally;Steering mechanism and lifting mechanism drive weeder to turn 180 ° and descend, complete leapfrogging row-changing;After weeder descends to ground, reset mechanism drives row-changing device to reset, provide preparation for next row-changing.The present application realizes the leapfrogging row-changing of self-propelled paddy field weeder from above rice seedling, avoids the damage of seedling caused by weeder turning at the end of row, and optimizes support mechanism, so that the whole machine adapts to paddy field environment after weeding operation to prevent overturning.

Description

A straddle-type row-switching device and method based on a self-propelled double-row paddy field weeder. Technical Field

[0001] This invention belongs to the field of agricultural machinery, specifically relating to a crossover row-switching device and method based on a self-propelled double-row paddy field weeder. Background Technology

[0002] Rice is one of my country's main food crops, and increasing rice yield is of great significance for promoting rural economic development and ensuring national food security. Weeds in paddy fields inhibit rice growth and increase the incidence of pests and diseases, which are major factors affecting rice yield and quality. Due to limited space for vehicles in the fields and dense rice seedling planting, weeding machinery has a large turning radius, which can easily crush rice seedlings and cause damage during row changes.

[0003] Traditional paddy field weeders require manual operation for turning and changing lanes near the field ridges, making automatic turning and lane changing difficult. A small number of paddy field weeders have turning and lane changing functions, but they still suffer from large turning radii and high seedling damage rates. Currently, an automatic turning mechanism based on a self-propelled double-row paddy field weeder (patent number ZL202210586646.7) proposes a "weeder lifting - turning 90° - weeder lowering" turning method and mechanism, reducing the turning radius. Another paddy field management machine (patent number ZL201210573955.7) can achieve crab-walking and in-situ turning functions during field operations through an electric push rod and a disengagement structure or wheel-reversing structure. However, both of these machines still require continuous contact with the ground during turning and lane changing, meaning that the machine can still come into contact with and crush the seedlings, causing damage. Summary of the Invention

[0004] To address the aforementioned problems, the purpose of this invention is to provide a crossover row-changing device and method based on a self-propelled double-row paddy field weeder. Through a crossover row-changing method of "weeder lifting - horizontal crossover row-turning 180° - weeder lowering," the weeder can cross over the rice seedlings to achieve turning and row-changing, avoiding contact damage between the weeder and the rice seedlings. During the row-changing process, the support mechanism and the weeder jointly support the entire machine, preventing excessive pressure on the paddy field surface from causing the entire machine to sink.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A crossover switching device based on a self-propelled double-row paddy field weeder can be installed on the platform of the self-propelled double-row paddy field weeder for field operations. It is characterized by including a support mechanism 1, a lateral movement mechanism 2, an active lifting mechanism 3, a steering mechanism 4, a reset mechanism 5, and an electronic control module 6.

[0007] The support mechanism 1 includes a support frame 1-1, telescopic support legs 1-2, and an auxiliary moving mechanism 1-3; there are four sets of telescopic support legs 1-2, which are respectively installed at the four corners of the support frame 1-1.

[0008] The auxiliary moving mechanism 1-3 includes an upper auxiliary guide rail 1-3-1, a lower auxiliary guide rail 1-3-2, an auxiliary slider 1-3-3, and a mounting box 1-3-4; the auxiliary slider 1-3-3 is installed in conjunction with the upper auxiliary guide rail 1-3-1 and the lower auxiliary guide rail 1-3-2, the upper auxiliary guide rail 1-3-1 passes through the mounting box 1-3-4 and its two ends are fixed to the inside of the support frame 1-1, and the lower auxiliary guide rail 1-3-2 is located inside the lower side of the mounting box 1-3-4;

[0009] The lateral movement mechanism 2 and the reset mechanism 5 are installed in the support frame 1-1. The active lifting mechanism 3 is installed at the lower part of the lateral movement mechanism 2 and is fixedly connected to the mounting and fixing box 1-3-4. The steering mechanism 4 and the self-propelled double row paddy field weeder 7 are installed in sequence below it. The electric control module 6 is installed on the upper side of the self-propelled double row paddy field weeder 7.

[0010] The telescopic support leg 1-2 includes a telescopic electric cylinder 1-2-1, a support leg motor 1-2-2, a paddy field support plate 1-2-3, and a pressure sensor 1-2-4 installed between the end of the telescopic electric cylinder 1-2-1 and the paddy field support plate 1-2-3;

[0011] The lateral movement mechanism 2 includes a lateral movement screw 2-1, a lateral movement screw slide 2-2, and a lateral movement motor 2-3; the lateral movement screw 2-1 passes through the mounting box 1-3-4 and is fixed at both ends to the inner side of the support frame 1-1, and the lateral movement motor 2-3 is installed at one end of the lateral movement screw 2-1; the lateral movement screw slide 2-2 is installed in conjunction with the lateral movement screw 2-1 and can move laterally along the lateral movement screw 2-1.

[0012] The lower side of the transverse moving screw slide 2-2 is provided with a plug-in hole 2-2-1;

[0013] The active lifting mechanism 3 includes a lifting screw assembly 3-1 and a T-shaped connecting mechanism 3-2. The lifting screw assembly 3-1 consists of two sets, symmetrically arranged on both sides of the transverse moving screw 2-1. Each set includes a lifting screw 3-1-1, a lifting screw slide 3-1-2, and a lifting motor 3-1-3. The lifting screw 3-1-1 is fixedly connected to the mounting box 1-3-4. The T-shaped connecting mechanism 3-2 is fixedly connected to the two lifting screw slides 3-1-2, and its upper end is provided with a plug-in block 3-2-1, which can be inserted into the plug-in hole 2-2-1 as the T-shaped connecting mechanism 3-2 rises.

[0014] The steering mechanism 4 includes a steering motor 4-1 and a connecting plate 4-2; the steering motor 4-1 is fixedly connected to the lower end of the T-shaped connecting mechanism 3-2, and the connecting plate 4-2 is connected to the power output shaft of the steering motor 4-1 and the self-propelled double-row paddy field weeder 7.

[0015] The reset mechanism 5 includes a reset rack 5-1, a reset motor 5-2, and a reset gear 5-3; the reset rack 5-1 passes through the mounting box 1-3-4 and is fixed at both ends to the inner side of the support frame 1-1; the reset motor 5-2 is fixed to the mounting box 1-3-4; and the reset gear 5-3 mounted on its power output shaft meshes with the reset rack 5-1.

[0016] The electronic control module 6 is installed on the upper part of the self-propelled double-row paddy field weeder 7, and includes a control module 6-1, a vision perception module 6-2, a motor status module 6-3, and a power supply 6-4.

[0017] The maximum lifting distance H2 of the T-shaped connecting mechanism 3-2 along with the lifting screw assembly 3-1 ranges from 170 to 200 mm, which is greater than the height H1 of rice seedlings during the weeding period;

[0018] When the T-shaped connecting mechanism 3-2 is raised to its highest position, the plug block 3-2-1 is inserted into the plug hole 2-2-1, so that the T-shaped connecting mechanism 3-2 can move horizontally with the lead screw slide 2-2; at the same time, the lifting lead screw assembly 3-1 fixed to the T-shaped connecting mechanism 3-2, the mounting fixing box 1-3-4 fixed to the lifting lead screw assembly 3-1, the reset motor 5-2 fixed to the mounting fixing box 1-3-4, and the reset gear 5-3 fixed to the mounting fixing box 1-3-4 move horizontally synchronously.

[0019] The reset gear 5-3 is a half-gear structure, with one half being a toothed surface and the other half being a smooth surface.

[0020] The horizontal distance X2 between the paddy field support plates 1-2-3 on the left and right sides is 5 to 5.5 times the row spacing of rice seedlings X1.

[0021] The auxiliary slider 1-3-3 has a symmetrical structure and is installed in conjunction with the upper auxiliary guide rail 1-3-1 and the lower auxiliary guide rail 1-3-2 respectively. When the mounting box 1-3-4 moves, it drives the auxiliary slider 1-3-3 to move along the upper auxiliary guide rail 1-3-1. When the support frame 1-1 is reset, the upper auxiliary guide rail 1-3-1 moves and is supported by the auxiliary slider 1-3-3.

[0022] The pressure sensor 1-2-4 detects the pressure applied by the paddy field support plate 1-2-3 to the telescopic electric cylinder 1-2-1, and determines that the paddy field support plate 1-2-3 has contacted the paddy field ground when the pressure value is greater than F.

[0023] The motor status module 6-3 is connected to the support leg motor 1-2-2, the lateral movement motor 2-3, the lifting motor 3-1-3, the steering motor 4-1, and the reset motor 5-2 to obtain their working status information; the control module 6-1 is connected to the pressure sensor 1-2-4, the vision perception module 6-2, the motor status module 6-3, and the self-propelled double-row paddy field weeder 7 to obtain their working status information and issue commands.

[0024] The power supply 6-4 is connected to the support leg motor 1-2-2, pressure sensor 1-2-4, lateral movement motor 2-3, lifting motor 3-1-3, steering motor 4-1, reset motor 5-2, control module 6-1, vision perception module 6-2, motor status module 6-3, and self-propelled double-row paddy field weeder 7, providing them with energy and power.

[0025] A row-switching method based on a self-propelled double-row paddy field weeder with a straddle-type row-switching device includes the following steps:

[0026] S1. Detection at the end of the rice planting row; The self-propelled double-row paddy field weeder 7 straddles the rice seedlings and walks along the rice planting row. At this time, the support leg motor 1-2-2 is in the retracted state. The vision perception module 6-2 obtains the status of the rice planting row in front of the self-propelled double-row paddy field weeder 7. When the vision perception module 6-2 detects that the self-propelled double-row paddy field weeder 7 has walked to the end of the rice planting row, the control module 6-1 receives the information and controls the self-propelled double-row paddy field weeder 7 to stop moving forward and perform a crossover row switching operation to one side. At this time, the paddy field support plate 1-2-3 is in the middle position of the two rows of rice in the horizontal direction.

[0027] S2, Crossover Line Change Operation; mainly includes the following steps:

[0028] S2.1 After the self-propelled double-row paddy field weeder 7 stops, the reset motor 5-2 drives the reset gear 5-3 to rotate, causing the reset rack 5-1 to move linearly along the row changing operation direction; at this time, the support frame 1-1 fixed to the reset rack 5-1 and the lateral moving mechanism 2 fixed to the support frame 1-1 move synchronously with the reset rack 5-1, and the moving distance X3 of the support frame 1-1 is equal to the row spacing X1 of the rice seedlings.

[0029] S2.2 The support leg motor 1-2-2 controls the four sets of telescopic electric cylinders 1-2-1 to extend respectively. When the pressure sensor 1-2-4 detects a pressure greater than F, the telescopic electric cylinder 1-2-1 stops extending and the paddy field support plate 1-2-3 contacts the paddy field ground. At this time, the paddy field support plate 1-2-3 and the self-propelled double row paddy field weeder 7 jointly support the whole machine.

[0030] S2.3, the lifting motor 3-1-3 drives the lifting screw 3-1-1 to move, the lifting screw slide 3-1-2 drives the T-shaped connecting mechanism 3-2 to lift, the steering mechanism 4 fixed to the T-shaped connecting mechanism 3-2 and the self-propelled double-row paddy field weeder 7 fixed to the steering mechanism 4 are lifted synchronously; the motor status module 6-3 detects the status of the lifting motor 3-1-3 to obtain the lifting distance of the T-shaped connecting mechanism 3-2; when the T-shaped connecting mechanism 3-2 reaches the highest lifting position, the plug block 3-2-1 is inserted into the plug hole 2-2-1 to complete the plugging; at this time, the whole machine is supported by the paddy field support plate 1-2-3.

[0031] S2.4 The motor status module 6-3 detects the status of the reset motor 5-2 to obtain the meshing status of the reset gear 5-3 and the reset rack 5-1; if the gear surface of the reset gear 5-3 meshes with the reset rack 5-1, the reset motor 5-2 drives the reset gear 5-3 to rotate half a turn, so that the gear surface of the reset gear 5-3 disengages from the reset rack 5-1, and then proceeds to step S2.5; if the gear surface of the reset gear 5-3 does not mesh with the reset rack 5-1, then proceed directly to step S2.5.

[0032] S2.5, the lateral movement motor 2-3 starts, driving the lateral movement screw 2-1 to rotate. The lateral movement screw slide 2-2 moves laterally in the direction of the row-changing operation. After being inserted through the plug block 3-2-1 and the plug hole 2-2-1, the T-shaped connecting mechanism 3-2 moves laterally synchronously with the lateral movement screw slide 2-2, and drives the self-propelled double-row paddy field weeder 7 to move laterally. After the vision perception module 6-2 detects that the self-propelled double-row paddy field weeder 7 is aligned with the rice seedlings, it stops moving, completing the row-changing operation. At this time, the lateral movement distance X4 of the self-propelled double-row paddy field weeder 7 is 2 to 2.5 times the rice seedling row spacing X1.

[0033] At the same time, the lifting screw assembly 3-1, which is fixed to the T-shaped connecting mechanism 3-2, the mounting and fixing box 1-3-4, which is fixed to the lifting screw assembly 3-1, the reset motor 5-2, and the reset gear 5-3, which are fixed to the mounting and fixing box 1-3-4, move horizontally synchronously.

[0034] S2.6 The steering motor 4-1 rotates 180°, which drives the self-propelled double-row paddy field weeder 7 to complete the steering action through the connecting plate 4-2.

[0035] S2.7, The lifting motor 3-1-3 drives the lifting screw assembly 3-1 to descend, so that the self-propelled double-row paddy field weeder 7 contacts the paddy field ground, and at the same time the plug block 3-2-1 separates from the plug hole 2-2-1; the support leg motor 1-2-2 controls the telescopic cylinder 1-2-1 to retract; at this time, the paddy field support plate 1-2-3 and the self-propelled double-row paddy field weeder 7 jointly support the whole machine.

[0036] S2.8 The reset motor 5-2 drives the reset gear 5-3 to rotate, causing the reset rack 5-1 to move linearly along the row changing operation direction; at this time, the support frame 1-1 fixed to the reset rack 5-1 and the lateral moving mechanism 2 fixed to the support frame 1-1 move synchronously with the reset rack 5-1, and the moving distance X5 of the reset rack 5-1 is equal to the row spacing X1 of the rice seedlings.

[0037] S3. After the crossover row change operation is completed, the self-propelled double-row paddy field weeder 7 straddles the rice seedlings and moves along the rice planting rows to carry out weeding operations, and then enters the S1 step in a cycle.

[0038] The advantages of this invention compared to the prior art are as follows:

[0039] 1. The weeding machine adopts a crossover method, which allows it to turn and change lanes by passing over rice seedlings, thus avoiding crushing the rice seedlings. The self-propelled double-row paddy field weeder 7 stops moving forward after reaching the end of the rice planting row. The telescopic support legs 1-2 extend and contact the paddy field ground to support the entire machine. The active lifting mechanism 3 lifts the self-propelled double-row paddy field weeder 7 to a maximum lifting distance H2. The range of H2 is 170-200mm, which is greater than the height of the rice seedlings H1 during the weeding period, thus avoiding contact between the weeder and the rice seedlings and causing damage to the seedlings. The lateral movement mechanism 2 drives the self-propelled double-row paddy field weeder 7 to move laterally from above the rice seedlings along the row-changing direction a distance X4 to reach the unweeded row. X4 is 2 to 2.5 times the row spacing of the rice seedlings X1. After the self-propelled double-row paddy field weeder 7 turns 180° under the drive of the steering mechanism 4, the self-propelled double-row paddy field weeder 7 lowers to contact the ground, the telescopic support legs 1-2 retract, the weeder completes the row-changing operation, and continues the weeding operation.

[0040] 2. The active lifting method reduces the pressure of the machine on the paddy field surface and achieves a greater lifting height. During row changing operations, the telescopic support legs 1-2 extend first, and after the paddy field support plate 1-2-3 contacts the ground, the active lifting mechanism 3 lifts the self-propelled double-row paddy field weeder 7. Compared with the passive lifting method that only relies on the extension of the support mechanism to make the machine passively lifted by the interaction between the support mechanism and the ground, the active lifting method is more suitable for soft paddy field environments and avoids the whole machine sinking into the paddy field and causing damage to the machine.

[0041] 3. A detachable plug-in connection and half gear are adopted to ensure that the row changing operation of the weed cutter and the reset operation of the row changing device do not affect each other; after the plug-in block 3-2-1 is plugged into the plug-in hole 2-2-1, the lateral movement mechanism 2 is connected to the active lifting mechanism 3 and fixed to it, driving the active lifting mechanism 3, the steering mechanism 4 and the mounting box 1-3-4 to move horizontally; during horizontal movement, the gear surface of the reset gear 5-3 does not mesh with the reset rack 5-1, and the reset rack 5-1 and the support frame 1-1 and the horizontal movement screw 2-1 fixed to it remain stationary; during reset, the plug-in block 3-2-1 separates from the plug-in hole 2-2-1, the reset gear 5-3 drives the reset rack 5-1 to move linearly, and the components fixed to the reset rack 5-1 follow the reset.

[0042] 4. The four sets of telescopic support legs 1-2 work separately to ensure the machine is stable during line changes and to prevent it from tipping over. After the self-propelled paddy field weeder has been used, the ground of the paddy field will have a certain depression. When the telescopic electric cylinder 1-2-1 extends, the pressure sensor 1-2-4 detects the pressure of the paddy field support plate 1-2-3 on the end of the telescopic electric cylinder 1-2-1. When a pressure greater than F is detected, it is considered that the paddy field support plate 1-2-3 is in contact with the paddy field ground, and the telescopic electric cylinder 1-2-1 stops extending, ensuring that all four sets of telescopic support legs 1-2 can contact the ground and prevent the machine from tipping over.

[0043] Figure 1 is a schematic diagram of the straddle-type row-changing device based on the self-propelled double-row paddy field weeder of the present invention.

[0044] Figure 2 is a structural schematic diagram of the support mechanism 1 of the present invention;

[0045] Figure 3 is a schematic diagram of the result of the auxiliary movement mechanism 1-3 of the present invention.

[0046] Figure 4 is a schematic diagram of the structure of the lateral moving mechanism 2 and the active lifting mechanism 3 of the present invention;

[0047] Figure 5 is a schematic diagram of the cooperation between the T-shaped connecting mechanism 3-2 and the transverse moving lead screw slide 2-2 of the present invention;

[0048] Figure 6 is a schematic diagram of the steering mechanism 4 and the electronic control module 6 of the present invention;

[0049] Figure 7 is a schematic diagram of the structure of the reset mechanism 5 of the present invention;

[0050] Figures 8 to 10 are diagrams illustrating the working process of the crossover row switching device based on the self-propelled double-row paddy field weeder of the present invention.

[0051] Figure 11 is a flowchart of the line break method of the present invention;

[0052] The attached figures are labeled as follows:

[0053] 1. Support mechanism; 1-1 Support frame; 1-2 Telescopic support leg; 1-2-1 Telescopic electric cylinder;

[0054] 1-2-2 Support leg motor; 1-2-3 Paddy field support plate; 1-2-4 Pressure sensor; 1-3 Auxiliary moving mechanism;

[0055] 1-3-1 Upper auxiliary guide rail; 1-3-2 Lower auxiliary guide rail; 1-3-3 Auxiliary slider; 1-3-4 Mounting and fixing box; 2 Lateral movement mechanism; 2-1 Lateral movement screw; 2-2 Lateral movement screw slide table;

[0056] 2-3 Lateral movement motor; 3 Active lifting mechanism; 3-1 Lifting screw assembly; 3-1-1 Lifting screw;

[0057] 3-1-2 Lifting screw slide; 3-1-3 Lifting motor; 3-2 T-shaped connecting mechanism; 3-2-1 Insertion block;

[0058] 4. Steering mechanism; 4-1. Steering motor; 4-2. Connecting plate; 5. Reset mechanism;

[0059] 5-1 Reset rack; 5-2 Reset motor; 5-3 Reset gear; 6. Electrical control module;

[0060] 6-1 Control module; 6-2 Visual perception module; 6-3 Motor status module; 6-4 Power supply;

[0061] 7. Self-propelled double-row paddy field weeder; H1. Rice seedling height during weeding period; H2. Maximum traveling distance of the weeder;

[0062] X1 Rice seedling row spacing; X2 Paddy field support plate spacing; X3 Support frame movement distance;

[0063] X4 self-propelled double-row paddy field weeder lateral travel distance; X5 reset rack travel distance;

[0064] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0065] As shown in Figure 1, a crossover switching device based on a self-propelled double-row paddy field weeder can be installed on the platform of the self-propelled double-row paddy field weeder 7 for field operations. It is characterized by including a support mechanism 1, a lateral movement mechanism 2, an active lifting mechanism 3, a steering mechanism 4, a reset mechanism 5, and an electronic control module 6.

[0066] As shown in Figure 2, the support mechanism 1 includes a support frame 1-1, telescopic support legs 1-2, and an auxiliary moving mechanism 1-3; there are four sets of telescopic support legs 1-2, which are respectively installed at the four corners of the support frame 1-1;

[0067] The auxiliary moving mechanism 1-3 includes an upper auxiliary guide rail 1-3-1, a lower auxiliary guide rail 1-3-2, an auxiliary slider 1-3-3, and a mounting box 1-3-4; the auxiliary slider 1-3-3 is installed in conjunction with the upper auxiliary guide rail 1-3-1 and the lower auxiliary guide rail 1-3-2, the upper auxiliary guide rail 1-3-1 passes through the mounting box 1-3-4 and its two ends are fixed to the inside of the support frame 1-1, and the lower auxiliary guide rail 1-3-2 is located inside the lower side of the mounting box 1-3-4;

[0068] The telescopic support leg 1-2 includes a telescopic electric cylinder 1-2-1, a support leg motor 1-2-2, a paddy field support plate 1-2-3, and a pressure sensor 1-2-4 installed between the end of the telescopic electric cylinder 1-2-1 and the paddy field support plate 1-2-3.

[0069] As shown in Figures 1-2, the lateral moving mechanism 2 and the reset mechanism 5 are installed in the support frame 1-1. The active lifting mechanism 3 is installed at the lower part of the lateral moving mechanism 2 and is fixedly connected to the mounting and fixing box 1-3-4. The steering mechanism 4 and the self-propelled double-row paddy field weeder 7 are installed in sequence below it. The electronic control module 6 is installed on the upper side of the self-propelled double-row paddy field weeder 7.

[0070] The horizontal distance X2 between the paddy field support plates 1-2-3 on the left and right sides is 5 to 5.5 times the row spacing of rice seedlings X1.

[0071] The pressure sensor 1-2-4 detects the pressure applied by the paddy field support plate 1-2-3 to the telescopic electric cylinder 1-2-1, and determines that the paddy field support plate 1-2-3 has contacted the paddy field ground when the pressure value is greater than F.

[0072] As shown in Figure 3, the lateral movement mechanism 2 includes a lateral movement screw 2-1, a lateral movement screw slide 2-2, and a lateral movement motor 2-3;

[0073] The transverse moving screw 2-1 passes through the mounting and fixing box 1-3-4 and is fixed at both ends to the inner side of the support frame 1-1. The transverse moving motor 2-3 is installed at one end of the transverse moving screw 2-1. The transverse moving screw slide 2-2 is installed in conjunction with the transverse moving screw 2-1 and can move laterally along the transverse moving screw 2-1. The lower side of the transverse moving screw slide 2-2 is provided with a plug hole 2-2-1.

[0074] The active lifting mechanism 3 includes a lifting screw assembly 3-1 and a T-shaped connecting mechanism 3-2; there are two sets of lifting screw assemblies 3-1, symmetrically arranged on both sides of the transverse moving screw 2-1, each including a lifting screw 3-1-1, a lifting screw slide 3-1-2 and a lifting motor 3-1-3; the lifting screw 3-1-1 is fixedly connected to the mounting and fixing box 1-3-4.

[0075] As shown in Figure 4, the T-shaped connecting mechanism 3-2 is fixedly connected to the lifting screw slides 3-1-2 on both sides, and its upper end is provided with a plug-in block 3-2-1, which can be inserted into the plug-in hole 2-2-1 as the T-shaped connecting mechanism 3-2 rises.

[0076] When the T-shaped connecting mechanism 3-2 is raised to its highest position, the plug block 3-2-1 is inserted into the plug hole 2-2-1, so that the T-shaped connecting mechanism 3-2 can move horizontally with the lead screw slide 2-2; at the same time, the lifting lead screw assembly 3-1 fixed to the T-shaped connecting mechanism 3-2, the mounting fixing box 1-3-4 fixed to the lifting lead screw assembly 3-1, the reset motor 5-2 fixed to the mounting fixing box 1-3-4, and the reset gear 5-3 fixed to the mounting fixing box 1-3-4 move horizontally synchronously.

[0077] As shown in Figure 5, the steering mechanism 4 includes a steering motor 4-1 and a connecting plate 4-2; the steering motor 4-1 is fixed to the lower end of the T-shaped connecting mechanism 3-2, and the connecting plate 4-2 is connected to the power output shaft of the steering motor 4-1 and the self-propelled double-row paddy field weeder 7.

[0078] The electronic control module 6 is installed on the upper part of the self-propelled double-row paddy field weeder 7, and includes a control module 6-1, a vision perception module 6-2, a motor status module 6-3, and a power supply 6-4.

[0079] As shown in Figure 6, the reset mechanism 5 includes a reset rack 5-1, a reset motor 5-2, and a reset gear 5-3; the reset rack 5-1 passes through the mounting box 1-3-4 and is fixed at both ends to the inner side of the support frame 1-1; the reset motor 5-2 is fixed to the mounting box 1-3-4; and the reset gear 5-3 mounted on its power output shaft meshes with the reset rack 5-1.

[0080] The reset gear 5-3 is a half-gear structure, with one half being a toothed surface and the other half being a smooth surface.

[0081] As shown in Figure 7, the auxiliary slider 1-3-3 has a symmetrical structure and is installed in conjunction with the upper auxiliary guide rail 1-3-1 and the lower auxiliary guide rail 1-3-2 respectively. When the mounting box 1-3-4 moves, it drives the auxiliary slider 1-3-3 to move along the upper auxiliary guide rail 1-3-1. When the support frame 1-1 is reset, the upper auxiliary guide rail 1-3-1 moves and is supported by the auxiliary slider 1-3-3.

[0082] As shown in Figure 8-11, a row-switching method using a straddle-type row-switching device based on a self-propelled double-row paddy field weeder includes the following steps:

[0083] S1. Detection at the end of the rice planting row; The self-propelled double-row paddy field weeder 7 straddles the rice seedlings and walks along the rice planting row. At this time, the support leg motor 1-2-2 is in the retracted state. The vision perception module 6-2 obtains the status of the rice planting row in front of the self-propelled double-row paddy field weeder 7. When the vision perception module 6-2 detects that the self-propelled double-row paddy field weeder 7 has walked to the end of the rice planting row, the control module 6-1 receives the information and controls the self-propelled double-row paddy field weeder 7 to stop moving forward and perform a crossover row switching operation to one side. At this time, the paddy field support plate 1-2-3 is in the middle position of the two rows of rice in the horizontal direction.

[0084] S2, Crossover Line Change Operation; mainly includes the following steps:

[0085] S2.1 After the self-propelled double-row paddy field weeder 7 stops, the reset motor 5-2 drives the reset gear 5-3 to rotate, causing the reset rack 5-1 to move linearly along the row changing operation direction; at this time, the support frame 1-1 fixed to the reset rack 5-1 and the lateral moving mechanism 2 fixed to the support frame 1-1 move synchronously with the reset rack 5-1, and the moving distance X3 of the support frame 1-1 is equal to the row spacing X1 of the rice seedlings.

[0086] S2.2 The support leg motor 1-2-2 controls the four sets of telescopic electric cylinders 1-2-1 to extend respectively. When the pressure sensor 1-2-4 detects a pressure greater than F, the telescopic electric cylinder 1-2-1 stops extending and the paddy field support plate 1-2-3 contacts the paddy field ground. At this time, the paddy field support plate 1-2-3 and the self-propelled double row paddy field weeder 7 jointly support the whole machine.

[0087] S2.3, the lifting motor 3-1-3 drives the lifting screw 3-1-1 to move, the lifting screw slide 3-1-2 drives the T-shaped connecting mechanism 3-2 to lift, the steering mechanism 4 fixed to the T-shaped connecting mechanism 3-2 and the self-propelled double-row paddy field weeder 7 fixed to the steering mechanism 4 are lifted synchronously; the motor status module 6-3 detects the status of the lifting motor 3-1-3 to obtain the lifting distance of the T-shaped connecting mechanism 3-2; when the T-shaped connecting mechanism 3-2 reaches the highest lifting position, the plug block 3-2-1 is inserted into the plug hole 2-2-1 to complete the plugging; at this time, the whole machine is supported by the paddy field support plate 1-2-3.

[0088] S2.4 The motor status module 6-3 detects the status of the reset motor 5-2 to obtain the meshing status of the reset gear 5-3 and the reset rack 5-1; if the gear surface of the reset gear 5-3 meshes with the reset rack 5-1, the reset motor 5-2 drives the reset gear 5-3 to rotate half a turn, so that the gear surface of the reset gear 5-3 disengages from the reset rack 5-1, and then proceeds to step S2.5; if the gear surface of the reset gear 5-3 does not mesh with the reset rack 5-1, then proceed directly to step S2.5.

[0089] S2.5, the lateral movement motor 2-3 starts, driving the lateral movement screw 2-1 to rotate. The lateral movement screw slide 2-2 moves laterally in the direction of the row-changing operation. After being inserted through the plug block 3-2-1 and the plug hole 2-2-1, the T-shaped connecting mechanism 3-2 moves laterally synchronously with the lateral movement screw slide 2-2, and drives the self-propelled double-row paddy field weeder 7 to move laterally. After the vision perception module 6-2 detects that the self-propelled double-row paddy field weeder 7 is aligned with the rice seedlings, it stops moving, completing the row-changing operation. At this time, the lateral movement distance X4 of the self-propelled double-row paddy field weeder 7 is 2 to 2.5 times the rice seedling row spacing X1.

[0090] Simultaneously, the lifting screw assembly 3-1, which is fixed to the T-shaped connecting mechanism 3-2, the mounting and fixing box 1-3-4, which is fixed to the lifting screw assembly 3-1, the reset motor 5-2, and the reset gear 5-3, which are fixed to the mounting and fixing box 1-3-4, move horizontally in sync.

[0091] S2.6 The steering motor 4-1 rotates 180°, which drives the self-propelled double-row paddy field weeder 7 to complete the steering action through the connecting plate 4-2.

[0092] S2.7, The lifting motor 3-1-3 drives the lifting screw assembly 3-1 to descend, so that the self-propelled double-row paddy field weeder 7 contacts the paddy field ground, and at the same time the plug block 3-2-1 separates from the plug hole 2-2-1; the support leg motor 1-2-2 controls the telescopic cylinder 1-2-1 to retract; at this time, the paddy field support plate 1-2-3 and the self-propelled double-row paddy field weeder 7 jointly support the whole machine.

[0093] S2.8 The reset motor 5-2 drives the reset gear 5-3 to rotate, causing the reset rack 5-1 to move linearly along the row changing operation direction; at this time, the support frame 1-1 fixed to the reset rack 5-1 and the lateral moving mechanism 2 fixed to the support frame 1-1 move synchronously with the reset rack 5-1, and the moving distance X5 of the reset rack 5-1 is equal to the row spacing X1 of the rice seedlings.

[0094] S3. After the crossover row change operation is completed, the self-propelled double-row paddy field weeder 7 straddles the rice seedlings and moves along the rice planting rows to carry out weeding operations, and then enters the S1 step in a cycle.

[0095] The above embodiments are only used to illustrate the present invention. The structure and connection method of each component can be varied. Any equivalent transformations and improvements made on the basis of the technical solution of the present invention should not be excluded from the protection scope of the present invention.

Claims

1. A crossover row-changing device based on a self-propelled double-row paddy field weeder, which can be installed on the platform of the self-propelled double-row paddy field weeder (7) for field operations, characterized in that, It includes a support mechanism (1), a lateral movement mechanism (2), an active lifting mechanism (3), a steering mechanism (4), a reset mechanism (5), and an electronic control module (6); the support mechanism (1) includes a support frame (1-1), telescopic support legs (1-2), and an auxiliary movement mechanism (1-3); the telescopic support legs (1-2) are in four sets, respectively installed at the four corners of the support frame (1-1); the auxiliary movement mechanism (1-3) includes an upper auxiliary guide rail (1-3-1), a lower auxiliary guide rail (1-3-2), an auxiliary slider (1-3-3), and a mounting box (1-3-4); the auxiliary slider (1-3-3) is installed in conjunction with the upper auxiliary guide rail (1-3-1) and the lower auxiliary guide rail (1-3-2), and the upper auxiliary guide rail (1-3-3) is installed with the lower auxiliary guide rail (1-3-2). -3-1) Passing through the mounting box (1-3-4) and fixed at both ends to the inside of the support frame (1-1), the lower auxiliary guide rail (1-3-2) is located inside the mounting box (1-3-4) on the lower side; the lateral movement mechanism (2) and the reset mechanism (5) are installed inside the support frame (1-1), the active lifting mechanism (3) is installed at the lower part of the lateral movement mechanism (2) and fixed to the mounting box (1-3-4), and the steering mechanism (4) and the self-propelled double-row paddy field weeder (7) are installed below it in sequence, and the electric control module (6) is installed on the upper side of the self-propelled double-row paddy field weeder (7); the telescopic support leg (1-2) includes a telescopic electric cylinder (1-2-1), a support leg motor (1-2-2), a paddy field support plate (1-2-3) and a safety device. A pressure sensor (1-2-4) is installed between the end of the telescopic electric cylinder (1-2-1) and the paddy field support plate (1-2-3); the lateral movement mechanism (2) includes a lateral movement screw (2-1), a lateral movement screw slide (2-2), and a lateral movement motor (2-3); the lateral movement screw (2-1) passes through the mounting box (1-3-4) and is fixed at both ends to the inside of the support frame (1-1), and the lateral movement motor (2-3) is installed at one end of the lateral movement screw (2-1); the lateral movement screw slide (2-2) is installed in conjunction with the lateral movement screw (2-1) and can move laterally along the lateral movement screw (2-1); the lower side of the lateral movement screw slide (2-2) is provided with a plug hole (2-2-1); The active lifting mechanism (3) includes a lifting screw assembly (3-1) and a T-shaped connecting mechanism (3-2); the lifting screw assembly (3-1) consists of two sets, symmetrically arranged on both sides of the transverse moving screw (2-1), each including a lifting screw (3-1-1), a lifting screw slide (3-1-2), and a lifting motor (3-1-3); the lifting screw (3-1-1) is fixedly connected to the mounting and fixing box (1-3-4); the T-shaped connecting mechanism (3-2) is fixedly connected to the lifting screw slides (3-1-2) on both sides, and its upper end is provided with a plug-in block (3-2-1), which can be inserted into the plug-in hole (2-2-1) as the T-shaped connecting mechanism (3-2) rises; the steering mechanism (4) includes a steering motor (4-1) and a connecting plate (4-2);The steering motor (4-1) is fixed to the lower end of the T-shaped connecting mechanism (3-2), and the connecting plate (4-2) is connected to the power output shaft of the steering motor (4-1) and the self-propelled double-row paddy field weeder (7); the reset mechanism (5) includes a reset rack (5-1), a reset motor (5-2), and a reset gear (5-3); the reset rack (5-1) passes through the mounting box (1-3-4) and is fixed at both ends to the inner side of the support frame (1-1), the reset motor (5-2) is fixed to the mounting box (1-3-4), and the reset gear (5-3) installed on its power output shaft meshes with the reset rack (5-1); the electronic control module (6) is installed on the upper end of the self-propelled double-row paddy field weeder (7), and includes a control module (6-1), a visual perception module (6-2), a motor status module (6-3), and a power supply (6-4).

2. The straddle-type row-changing device based on a self-propelled double-row paddy field weeder according to claim 1, characterized in that, The maximum lifting distance H2 of the T-shaped connecting mechanism (3-2) with the lifting screw assembly (3-1) ranges from 170 to 200 mm, which is greater than the height H1 of rice seedlings during the weeding period. When the T-shaped connecting mechanism (3-2) is lifted to the highest position, the plug block (3-2-1) is inserted into the plug hole (2-2-1), so that the T-shaped connecting mechanism (3-2) can move horizontally with the transverse moving screw slide (2-2). At the same time, the lifting screw assembly (3-1) fixed to the T-shaped connecting mechanism (3-2), the mounting fixing box (1-3-4) fixed to the lifting screw assembly (3-1), the reset motor (5-2) fixed to the mounting fixing box (1-3-4), and the reset gear (5-3) move horizontally synchronously.

3. The straddle-type row-changing device based on a self-propelled double-row paddy field weeder according to claim 2, characterized in that, The reset gear (5-3) is a half-gear structure, with one half being a toothed surface and the other half being a smooth surface.

4. The straddle-type row-changing device based on a self-propelled double-row paddy field weeder according to claim 3, characterized in that, The horizontal distance X2 between the paddy field support plates (1-2-3) on the left and right sides is 5 to 5.5 times the row spacing of rice seedlings X1.

5. The straddle-type row-changing device based on a self-propelled double-row paddy field weeder according to claim 4, characterized in that, The auxiliary slider (1-3-3) has a symmetrical structure and is installed in conjunction with the upper auxiliary guide rail (1-3-1) and the lower auxiliary guide rail (1-3-2). When the mounting box (1-3-4) moves, it drives the auxiliary slider (1-3-3) to move along the upper auxiliary guide rail (1-3-1). When the support frame (1-1) is reset, the upper auxiliary guide rail (1-3-1) moves and is supported by the auxiliary slider (1-3-3).

6. The straddle-type row-changing device based on a self-propelled double-row paddy field weeder according to claim 5, characterized in that, The pressure sensor (1-2-4) detects the pressure applied by the paddy field support plate (1-2-3) to the telescopic electric cylinder (1-2-1), and determines that the paddy field support plate (1-2-3) has contacted the paddy field ground when the pressure value is greater than F.

7. The straddle-type row-changing device based on a self-propelled double-row paddy field weeder according to claim 6, characterized in that, The motor status module (6-3) is connected to the support leg motor (1-2-2), the lateral movement motor (2-3), the lifting motor (3-1-3), the steering motor (4-1), and the reset motor (5-2) to obtain their working status information; the control module (6-1) is connected to the pressure sensor (1-2-4), the vision perception module (6-2), the motor status module (6-3), and the self-propelled double-row paddy field weeder (7) to obtain their working status information and issue commands; the power supply (6-4) is connected to the support leg motor (1-2-2), the pressure sensor (1-2-4), the lateral movement motor (2-3), the lifting motor (3-1-3), the steering motor (4-1), the reset motor (5-2), the control module (6-1), the vision perception module (6-2), the motor status module (6-3), and the self-propelled double-row paddy field weeder (7) to provide them with energy and power.

8. A row-switching method using the straddle-type row-switching device based on a self-propelled double-row paddy field weeder as described in any one of claims 1-7, characterized in that, The process includes the following steps: S1, detection at the end of the rice planting row; the self-propelled double-row paddy field weeder (7) straddles the rice seedlings and walks along the rice planting row. At this time, the support leg motor (1-2-2) is in the retracted state, and the visual perception module (6-2) obtains the status of the rice planting row in front of the self-propelled double-row paddy field weeder (7); when the visual perception module (6-2) detects that the self-propelled double-row paddy field weeder (7) has walked to the end of the rice planting row, the control module (6-1) receives the information and controls the self-propelled double-row paddy field weeder (7) to stop moving forward and perform a crossover row change operation to one side. At this time, the paddy field support plate (1-2-3) is in the middle position of the two rice rows in the horizontal direction; S2, crossover row change operation; mainly including Next steps: S2.1 After the self-propelled double-row paddy field weeder (7) stops, the reset motor (5-2) drives the reset gear (5-3) to rotate, causing the reset rack (5-1) to move linearly along the row-changing operation direction; at this time, the support frame (1-1) fixed to the reset rack (5-1) and the lateral moving mechanism (2) fixed to the support frame (1-1) move synchronously with the reset rack (5-1), and the moving distance X3 of the support frame (1-1) is equal to the row spacing X1 of the rice seedlings; S2.2 The support leg motor (1-2-2) controls the four sets of telescopic electric cylinders (1-2-1) to extend respectively. When the pressure sensor (1-2-4) detects a pressure greater than F, the telescopic electric cylinder (1-2-1) stops extending, and the paddy field The support plate (1-2-3) contacts the paddy field ground; at this time, the paddy field support plate (1-2-3) and the self-propelled double-row paddy field weeder (7) jointly support the whole machine; S2.3, the lifting motor (3-1-3) drives the lifting screw (3-1-1) to move, the lifting screw slide (3-1-2) drives the T-shaped connecting mechanism (3-2) to lift, the steering mechanism (4) fixed to the T-shaped connecting mechanism (3-2) and the self-propelled double-row paddy field weeder (7) fixed to the steering mechanism (4) are lifted synchronously; the motor status module (6-3) detects the status of the lifting motor (3-1-3) to obtain the lifting distance of the T-shaped connecting mechanism (3-2); the T-shaped connecting mechanism (3-2) lifts the maximum lifting distance H2 to reach the highest lifting distance. When in position, the plug-in block (3-2-1) is inserted into the plug-in hole (2-2-1) to complete the plug-in; at this time, the whole machine is supported by the paddy field support plate (1-2-3); S2.4, the motor status module (6-3) detects the status of the reset motor (5-2) to obtain the meshing status of the reset gear (5-3) and the reset rack (5-1); if the gear surface of the reset gear (5-3) meshes with the reset rack (5-1), the reset motor (5-2) drives the reset gear (5-3) to rotate half a turn, so that the gear surface of the reset gear (5-3) disengages from the reset rack (5-1), and then proceeds to step S2.5; if the gear surface of the reset gear (5-3) does not mesh with the reset rack (5-1), then proceed directly to step S2.5; S2.

5. The lateral movement motor (2-3) starts, driving the lateral movement screw (2-1) to rotate. The lateral movement screw slide (2-2) moves laterally in the direction of row switching. After being connected through the plug-in block (3-2-1) and the plug-in hole (2-2-1), the T-shaped connecting mechanism (3-2) moves laterally synchronously with the lateral movement screw slide (2-2), and drives the self-propelled double-row paddy field weeder (7) to move laterally. After the visual perception module (6-2) detects that the self-propelled double-row paddy field weeder (7) is aligned with the rice seedlings, it stops moving. The row change operation is completed; at this time, the horizontal movement distance X4 of the self-propelled double-row paddy field weeder (7) is 2 to 2.5 times the row spacing X1 of the rice seedlings; at the same time, the lifting screw group (3-1) fixed to the T-shaped connecting mechanism (3-2), the mounting fixing box (1-3-4) fixed to the lifting screw group (3-1), the reset motor (5-2) fixed to the mounting fixing box (1-3-4), and the reset gear (5-3) move horizontally synchronously; S2.6, the steering motor (4-1) rotates 180°, and drives the connecting plate (4-2) to move the steering motor (4-1) to move the steering motor ... The self-propelled double-row paddy field weeder (7) completes the turning action; S2.7, the lifting motor (3-1-3) drives the lifting screw assembly (3-1) to descend, so that the self-propelled double-row paddy field weeder (7) contacts the paddy field ground, and at the same time the plug block (3-2-1) separates from the plug hole (2-2-1); the support leg motor (1-2-2) controls the telescopic electric cylinder (1-2-1) to retract; at this time, the whole machine is supported by the paddy field support plate (1-2-3) and the self-propelled double-row paddy field weeder (7); S2.8, the reset motor (5-2) drives the reset motor to retract. The positioning gear (5-3) rotates, causing the reset rack (5-1) to move linearly along the row-changing operation direction; at this time, the support frame (1-1) fixed to the reset rack (5-1) and the lateral moving mechanism (2) fixed to the support frame (1-1) move synchronously with the reset rack (5-1), and the moving distance X5 of the reset rack (5-1) is equal to the row spacing X1 of the rice seedlings; S3, the straddling row-changing operation is completed, and the self-propelled double-row paddy field weeder (7) straddles the rice seedlings and moves along the rice planting rows to carry out weeding operations, and the cycle enters step S1.

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