Laser weed removal rotary tiller and control method thereof

Abstract

The present invention discloses a rotary tiller for removing grass entanglements by laser and a control method thereof. The rotary tiller for removing grass entanglements by laser comprises: a frame; a hollow rotating shaft, rotatably arranged on the frame, and an opening is arranged on the hollow rotating shaft; a plurality of rotary tilling blades, arranged outside the hollow rotating shaft; a laser cutting device, arranged inside the hollow rotating shaft; wherein the laser emitted by the laser cutting device passes through the opening to cut the grass entangled on the rotary tilling blades. Since the laser cutting device is assembled in the hollow rotating shaft, when the hollow rotating shaft drives the rotary tilling blades to rotate, it also drives the laser cutting device to rotate. Then, the speed of the laser cutting device is relatively small relative to the entangled grass, close to zero, and the laser cutting device has enough time to cut the same position of the entangled grass, ensuring that the cutting is carried out smoothly, the entangled grass is fully cut, and there is no need to stop the rotation of the hollow rotating shaft, thereby improving the efficiency of removing the entangled grass.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, and in particular to a laser weed-removing rotary tiller and a control method thereof. Background Art

[0002] In recent years, with the continuous advocacy and investment in modern agricultural construction, agricultural machinery has been widely promoted and applied in rural areas. Among them, the widespread application of rotary tillers helps to improve the scientific and technological content and mechanization level of agricultural production, and promote the transformation of agriculture from traditional agriculture to modern agriculture. Compared with traditional manual tillage, rotary tillers can not only complete large-scale farmland operations in a shorter time, saving a lot of manpower and time costs. It can also improve the yield and quality of crops, thereby increasing farmers' income and improving their living standards.

[0003] During the operation of a rotary tiller, some problems often occur. For example, since the rotary tiller needs to contact the ground for tilling, its blades or rake teeth can easily draw weeds or crop residues into it when rotating at high speed, resulting in grass entanglement. This will not only affect the working efficiency and quality of the rotary tiller, but also bring safety hazards. In the prior art, the grass entanglements on the rotary tiller can be cut by laser and other methods. For example, the patent document with publication number CN213187108U uses laser cutting to cut and clean the entanglements on the guide roller and the rotary tiller. Since the rotary tiller rotates rapidly during operation, the laser irradiation position on the entanglement may rotate away before the cutting is completed. The rotary tiller can only stop working and then cut the entanglement. There is still a problem of low efficiency in removing grass entanglements.

[0004] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0005] The technical problem to be solved by the present invention is that, in view of the above-mentioned defects of the prior art, a laser grass-removing rotary tiller and a control method thereof are provided, aiming to solve the problem of low grass-removing efficiency of the rotary tiller in the prior art.

[0006] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0007] A rotary tiller for removing weeds with laser, comprising:

[0008] frame;

[0009] A hollow rotating shaft is rotatably disposed on the frame, and an opening is disposed on the hollow rotating shaft;

[0010] A plurality of rotary tillage blades are arranged outside the hollow rotating shaft;

[0011] A laser cutting device is disposed in the hollow rotating shaft;

[0012] The laser emitted by the laser cutting device passes through the opening to cut the grass wrapped around the rotary tiller.

[0013] The laser weed-removing rotary tiller, wherein the openings are multiple, and the length direction of the openings is parallel to the central axis of the hollow rotating shaft;

[0014] The laser cutting device comprises:

[0015] A first translation assembly is disposed in the hollow rotating shaft;

[0016] At least two lasers, connected to the first translation assembly and distributed along the circumference of the hollow rotating shaft;

[0017] Wherein, the first translation assembly is used to move the laser so that the laser light emitted by the laser moves in the opening along the direction of the central axis of the hollow rotating shaft;

[0018] The rotary tiller also includes:

[0019] A second translation assembly is disposed on the frame;

[0020] an air jet nozzle, arranged on the second translation assembly;

[0021] Wherein, the second translation assembly drives the air nozzle to move along the direction of the central axis of the hollow rotating shaft;

[0022] The air jet nozzle is used for jetting air toward the rotary tiller.

[0023] The laser weed-removing rotary tiller, wherein the openings are multiple and the multiple openings are distributed in a spiral pattern, and the laser cutting device further comprises:

[0024] A rotating assembly, disposed on the first translation assembly;

[0025] Wherein, the laser is arranged on the rotating assembly;

[0026] The rotating assembly is used to rotate the laser.

[0027] The laser weed-removing rotary tiller, wherein the rotating assembly comprises:

[0028] a first ring structure, wherein the first ring structure is provided with a first tooth position;

[0029] a second ring structure, rotatably connected to the first ring structure;

[0030] a first driving member connected to the second ring structure;

[0031] a gear, disposed on the output shaft of the first driving member;

[0032] Wherein, the gear is meshed with the first tooth position.

[0033] The laser weed removal rotary tiller, wherein the first translation assembly comprises:

[0034] A guide rail is arranged in the hollow rotating shaft;

[0035] A slider, slidably connected to the guide rail;

[0036] A screw rod, rotatably disposed on the guide rail;

[0037] A second driving member is disposed in the hollow rotating shaft;

[0038] Wherein, the output shaft of the second driving member is connected to the screw rod;

[0039] The slider is threadedly connected to the screw rod.

[0040] The laser weed-removing rotary tiller, wherein the rotary tiller is located between two adjacent openings along the spiral line direction.

[0041] The laser weed-removing rotary tiller, wherein the frame comprises:

[0042] roof;

[0043] Two end plates, arranged at the left and right ends of the top plate;

[0044] A middle bracket, arranged in the middle of the top plate;

[0045] A rear plate, arranged at the rear end of the top plate;

[0046] Wherein, the hollow rotating shaft passes through the middle bracket, and the two ends are rotatably connected to the two end plates respectively;

[0047] There are two laser cutting devices, which are respectively located on both sides of the middle bracket;

[0048] The second translation assembly is arranged at the front end of the top plate.

[0049] The laser weed-removing rotary tiller, wherein the top plate is provided with a fan and a laser power supply; the fan is connected to the air nozzle, and the laser power supply is electrically connected to the laser cutting device;

[0050] The middle bracket is provided with a transmission assembly for transmitting power to the hollow rotating shaft.

[0051] A control method for a rotary tiller for laser weed removal as described in any one of the above, comprising the steps of:

[0052] Controlling the second translation assembly to move, and using the air nozzle to blow air so that the grass wound around the rotary tiller blade is close to the hollow rotating shaft;

[0053] The first translation assembly is controlled to move, and the grass wrapped around the rotary blade is cut by a laser, and the second translation assembly is controlled to move, and the cut grass is blown away by the air jet from the air jet nozzle; wherein the position of the laser and the position of the air jet nozzle are staggered.

[0054] The control method of the rotary tiller for laser grass removal comprises adjusting the power of the laser, the focal position of the laser and the focal adjustment frequency of the laser during the process of cutting the grass entangled on the rotary tiller blade by the laser.

[0055] Beneficial effect: Since the laser cutting device is assembled in the hollow shaft, when the hollow shaft drives the rotary tiller to rotate, it will also drive the laser cutting device to rotate. The speed of the laser cutting device is relatively small relative to the entangled grass, close to zero. The laser cutting device has enough time to cut the same position of the entangled grass, ensuring smooth cutting and sufficient cutting of the entangled grass. There is no need to stop the rotation of the hollow shaft, thereby improving the efficiency of removing entangled grass. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 1 is a first structural schematic diagram of a rotary tiller for laser weed removal in an embodiment of the present invention.

[0057] Figure 2 It is a cross-sectional view of a rotary tiller for laser weed removal in an embodiment of the present invention.

[0058] Figure 3 yes Figure 2 Enlarged view of point A in the middle.

[0059] Figure 4 4 is a cross-sectional view of a rotary tiller for laser weed removal in an embodiment of the present invention.

[0060] Figure 5 Schematic diagram of the structure of the laser cutting device in an embodiment of the present invention.

[0061] Figure 6 yes Figure 5 Magnified image of .

[0062] Figure 7 It is a schematic structural diagram of the hollow rotating shaft in an embodiment of the present invention.

[0063] Figure 8 1 is a second structural schematic diagram of a rotary tiller for laser weed removal in an embodiment of the present invention.

[0064] Fig. 9Schematic diagram of the change of the focal position of the laser cutting device over time in an embodiment of the present invention.

[0065] Description of reference numerals:

[0066] 10. Frame; 11. Top plate; 12. End plate; 13. Middle bracket; 131. Transmission assembly; 14. Back plate; 20. Hollow shaft; 21. Opening; 22. Opening; 23. Opening; 24. Left shaft; 25. Right shaft; 30. Rotary blade; 31. Blade holder; 32. Cutting tool; 40. Laser cutting device; 41. First translation assembly; 411. Guide rail; 412. Slider; 413. Screw; 414. Second drive member; 42. Laser; 43. Rotation assembly; 431. First ring structure; 432. Second ring structure; 433. First drive member; 434. Gear; 44. Laser power supply; 51. Second translation assembly; 52. Air jet; 53. Fan. DETAILED DESCRIPTION

[0067] In order to make the purpose, technical solution and advantages of the present invention clearer and more specific, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0068] Please also see Figure 1-Figure 8 The present invention provides some embodiments of a rotary tiller for laser weed removal.

[0069] like Figure 1-Figure 3 As shown, the laser weed-removing rotary tiller of the present invention comprises:

[0070] Rack 10;

[0071] A hollow rotating shaft 20 is rotatably disposed on the frame 10, and the hollow rotating shaft 20 is provided with openings (21, 22, 23);

[0072] A plurality of rotary tillage blades 30 are disposed outside the hollow rotating shaft 20;

[0073] A laser cutting device 40 is disposed in the hollow rotating shaft 20;

[0074] The laser emitted by the laser cutting device 40 passes through the opening to cut the grass wound around the rotary tiller 30 .

[0075] Specifically, the hollow shaft 20 is hollow inside and can be used to place the laser cutting device 40, and the rotary tiller 30 is arranged outside the hollow shaft 20. The rotary tiller 30 is used to till the soil, and the laser cutting device 40 is used to cut the grass wound around the rotary tiller 30. The rotary tiller 30 includes a cutter seat 31 and a cutter 32 arranged on the cutter seat 31. The grass may be wound around the cutter 32 and the cutter seat 31, or even around the hollow shaft 20.

[0076] The laser emitted by the laser cutting device 40 passes through the openings (21, 22, 23), and irradiates the position of the grass entanglement corresponding to the openings (21, 22, 23) with laser, and cuts the grass entanglement. Since the laser cutting device 40 is assembled in the hollow rotating shaft 20, when the hollow rotating shaft 20 drives the rotary tiller 30 to rotate, it also drives the laser cutting device 40 to rotate. Then, the speed of the laser cutting device 40 is relatively small and close to zero relative to the grass entanglement. The laser cutting device 40 has enough time to cut the same position of the grass entanglement, ensuring that the cutting is carried out smoothly and the grass entanglement is fully cut. There is no need to stop the rotation of the hollow rotating shaft 20, thereby improving the efficiency of removing the grass entanglement.

[0077] Since the grass wrapping is flammable, in order to avoid burning the grass wrapping and damaging the rotary tiller, the power of the laser cutting device 40 is not too high. Using a laser cutting device 40 with appropriate power to irradiate and cut the same position of the grass wrapping can not only quickly and effectively cut the grass wrapping, but also avoid burning the grass wrapping and damage to the rotary tiller.

[0078] In a preferred implementation of the embodiment of the present invention, Figure 3 and Figure 7 As shown, there are multiple openings (21, 22, 23), and the length direction of the openings (21, 22, 23) is parallel to the central axis of the hollow rotating shaft 20.

[0079] Specifically, the openings (21, 22, 23) are arranged along the direction of the central axis of the hollow rotating shaft 20, and the length direction of the openings (21, 22, 23) is perpendicular to the rotation direction of the hollow rotating shaft 20, so that the length direction of the grass wrap is close to perpendicular to the length direction of the openings (21, 22, 23), and the cutting path of a single grass wrap is shorter, and it is easier to cut the grass wrap at the openings (21, 22, 23). The grass wrap is wound along the circumference of the hollow rotating shaft 20, so the openings (21, 22, 23) cover a wider range, and the number of grass wraps passing through the openings (21, 22, 23) may also be greater, making it easier to fully cut the grass wrap. The width of the openings (21, 22, 23) is greater than the diameter of the laser emitted by the laser cutting device 40.

[0080] In a preferred implementation of the embodiment of the present invention, Figure 3-Figure 6 As shown, the laser cutting device 40 includes:

[0081] A first translation assembly 41 is disposed in the hollow shaft 20;

[0082] At least two lasers 42 are connected to the first translation assembly 41 and distributed along the circumference of the hollow shaft 20;

[0083] The first translation assembly 41 is used to move the laser 42 so that the laser light emitted by the laser 42 moves in the opening (21, 22, 23) along the direction of the central axis of the hollow rotating shaft 20.

[0084] Specifically, the first translation component 41 can drive the laser 42 to move along the length direction of the opening (21, 22, 23), that is, to move along the direction of the central axis of the hollow rotating shaft 20, so as to facilitate cutting all the grass entanglements at the opening (21, 22, 23). The movement speed of the laser 42 driven by the first translation component 41 is adjustable. By adjusting the movement speed of the laser 42, the length of time the laser exists at each point on the opening (21, 22, 23) is changed, thereby adjusting the cutting time and cutting depth of the laser 42. For example, when there are more grass entanglements, a thicker layer of grass entanglements is formed, and the movement speed of the laser 42 is reduced, so that the thicker layer of grass entanglements can be completely cut off; when there are fewer grass entanglements, a thinner layer of grass entanglements is formed, and the movement speed of the laser 42 is increased, so that the thinner layer of grass entanglements can be completely cut off. When there are more grass entanglements, it can be cut layer by layer, from the inner layer to the outer layer. The inner layer of grass wrap is denser and takes more time to cut; the outer layer of grass wrap is looser and takes less time to cut.

[0085] There are at least two lasers 42, and the multiple lasers 42 are distributed along the circumference of the hollow rotating shaft 20. Each laser 42 faces a different opening (21, 22, 23), so at least two lasers 42 can cut the same grass wrap more than twice, cutting the grass wrap into multiple sections, which is conducive to the cut grass wrap being separated from the rotary blade 30 or the hollow rotating shaft 20. The laser 42 is provided with an adjustment structure to adjust the height and direction of the laser 42. Adjusting the direction of the laser is conducive to aligning with the opening, and adjusting the height of the laser is conducive to adjusting the cutting depth of the laser.

[0086] In a preferred implementation of the embodiment of the present invention, Figure 1 , Figure 2 as well as Figure 4 As shown, the rotary tiller also includes:

[0087] A second translation assembly 51 is disposed on the frame 10;

[0088] An air nozzle 52, arranged on the second translation assembly 51;

[0089] Wherein, the second translation assembly 51 drives the air nozzle 52 to move along the direction of the central axis of the hollow rotating shaft 20;

[0090] The air nozzle 52 is used for blowing air toward the rotary tiller 30 .

[0091] Specifically, the second translation assembly 51 can drive the air nozzle 52 to move along the length direction of the opening (21, 22, 23), that is, along the direction of the central axis of the hollow shaft 20, so as to facilitate blowing all the grass wrapping or cut grass wrapping. The second translation assembly 51 drives the air nozzle 52 to move at an adjustable speed, and by adjusting the moving speed of the air nozzle 52, it matches the moving speed of the laser 42.

[0092] When the airflow of the air nozzle 52 reaches the opening (21, 22, 23), the diameter is less than or equal to the length of the opening (21, 22, 23), and the grass at the opening (21, 22, 23) can be jetted. If the grass is not cut, the jet of the air nozzle 52 can disperse the grass and make it closer to the hollow shaft 20; if the grass is cut, the jet of the air nozzle 52 can break the grass, so that the grass is separated from the hollow shaft 20, and under the centrifugal force of the rotation of the hollow shaft 20, the cut grass is also easier to separate from the hollow shaft 20. From the right end of the hollow shaft 20, the hollow shaft 20 rotates clockwise, and the rotation direction of the upper part of the hollow shaft 20 is opposite to the jet direction of the air nozzle 52. The two offset each other to increase the impact force on the cut grass, which is further conducive to the separation of the grass from the hollow shaft 20.

[0093] The airflow ejected from the air nozzle 52 can be conical. With a flat air nozzle 52, the conical airflow can also be transformed into an elliptical conical airflow. The flat air nozzle 52 is conducive to increasing the speed of the airflow and is close to the strip holes cut on the grass layer, which is conducive to blowing away the cut grass. The air nozzle 52 is rotatably connected to the second translation assembly 51, so as to adjust the direction of the air nozzle 52. Usually, the air nozzle 52 is directed to a position slightly above the central axis of the hollow shaft 20 (for example, the distance between the air nozzle 52 and the central axis of the hollow shaft 20 is a preset distance, which can be in the centimeter level). If the air nozzle 52 is not directly facing the central axis of the hollow shaft 20, the air blown by the air nozzle 52 to the opening (21, 22, 23) is not along the central axis of the opening (21, 22, 23), but blows to the opening (21, 22, 23) at an angle, so that the probability of blowing debris into the opening (21, 22, 23) can be reduced.

[0094] There are multiple openings (21, 22, 23) along the circumference of the hollow shaft 20, and these openings (21, 22, 23) form an opening group. Usually, the number of openings in the opening group is the same as the number of lasers 42. There can be multiple opening groups along the length direction of the central axis of the hollow shaft 20. The laser 42 can be moved to the position of the corresponding opening of different opening groups by the first translation assembly 41, then each laser 42 corresponds to an opening sequence, and the openings in the opening sequence are respectively located in different opening groups, and the laser 42 corresponds to the openings of the opening sequence in sequence when it moves. The air nozzle 52 can be moved to the corresponding position of the openings of different opening groups by the second translation assembly 51. Since the hollow shaft 20 is rotating, the air nozzle 52 can blow air to the openings of the same opening group. There may be a gap between the openings of adjacent opening groups along the length direction of the central axis of the hollow rotating shaft 20. A rotary tiller 30 may be set at the position between the openings of adjacent opening groups. There may also be a small amount of grass entangled at this position that cannot be cut by the laser. These grass entanglements can be close to the hollow rotating shaft 20 without the need for the air nozzle 52 to spray.

[0095] In a preferred implementation of the embodiment of the present invention, Figure 4 and Figure 7 As shown, the plurality of openings are distributed in a spiral pattern.

[0096] Specifically, an opening sequence is formed for the opening corresponding to each laser 42, and the openings in the opening sequence can be distributed in a spiral manner (for example, all openings 21 in a certain opening sequence are distributed in a spiral manner, all openings 22 in another opening sequence are distributed in a spiral manner, and all openings 23 in another opening sequence are distributed in a spiral manner), and the laser 42 needs to rotate along the circumference of the hollow shaft 20 to make the laser 42 correspond to each opening in the opening sequence during movement. The formation of spirally distributed openings avoids excessive concentration of openings, which is conducive to improving the strength of the hollow shaft 20 and avoiding deformation of the hollow shaft 20.

[0097] For example, there are three lasers 42, and the angle between two adjacent lasers 42 is 120°. There are three openings in each opening group (opening 21, opening 22 and opening 23), and there are three opening sequences (an opening sequence formed by multiple openings 21, an opening sequence formed by multiple openings 22, and an opening sequence formed by multiple openings 23). The angle between two adjacent openings in the same opening sequence is α, and the size of α can be set according to the number of opening groups. For example, in order to disperse the openings as much as possible, along the central axis direction of the hollow rotating shaft 20, the openings do not overlap with the openings of other opening groups, α≠120° / n, n represents a positive integer, and α is close to 360° / m or 720° / m, and m represents the number of opening groups. For example, m=15, α is close to 24° or 48°, then α can be 45°, 50°, or 55°.

[0098] In a preferred implementation of the embodiment of the present invention, Figure 3-Figure 6 As shown, the laser cutting device 40 also includes:

[0099] A rotating assembly 43, disposed on the first translation assembly 41;

[0100] Wherein, the laser 42 is disposed on the rotating assembly 43;

[0101] The rotating assembly 43 is used to rotate the laser 42 .

[0102] Specifically, the rotating assembly 43 can drive the laser 42 to rotate along the circumference of the hollow shaft 20 to rotate to the position of the corresponding opening. Combining the first translation assembly 41 and the rotating assembly 43, the position of the laser 42 can be adjusted in a three-dimensional direction. The rotation angle of the rotating assembly 43 each time is α.

[0103] In a preferred implementation of the embodiment of the present invention, Figure 6 As shown, the rotating assembly 43 includes:

[0104] A first ring structure 431, wherein the first ring structure 431 is provided with a first tooth position;

[0105] A second ring structure 432, rotatably connected to the first ring structure 431;

[0106] A first driving member 433 connected to the second ring structure 432;

[0107] A gear 434, disposed on the output shaft of the first driving member 433;

[0108] The gear 434 is meshed with the first tooth position.

[0109] Specifically, the first ring structure 431 can be an inner ring structure or an outer ring structure, and the second ring structure 432 can be an outer ring structure or an inner ring structure. The outer ring structure is sleeved outside the inner ring structure, and the laser 42 is arranged on the outer ring structure. The outer ring structure and the inner ring structure are rotatably connected. Specifically, a ball can be arranged between the outer ring structure and the inner ring structure to form a structure similar to a ball bearing to realize the rotatable connection between the outer ring structure and the inner ring structure to reduce friction. If the first ring structure 431 is an outer ring structure and the second ring structure 432 is an inner ring structure, the second ring structure 432 is connected to the first translation assembly 41, and the first driving member 433 can be arranged on the first translation assembly 41. If the first ring structure 431 is an inner ring structure and the second ring structure 432 is an outer ring structure, the first ring structure 431 is connected to the first translation assembly 41, and the first driving member 433 can be arranged on the second ring structure 432. The first driving member 433 drives the gear 434 to rotate, so that the first ring structure 431 and the second ring structure 432 rotate relative to each other, specifically, the outer ring structure rotates relative to the first translation assembly 41. The gear 434 can be a small light gear 434 and a small first driving member 433 is configured.

[0110] In a preferred implementation of the embodiment of the present invention, Figure 5-Figure 6 As shown, the first translation assembly 41 includes:

[0111] The guide rail 411 is disposed in the hollow rotating shaft 20;

[0112] A slider 412 is slidably connected to the guide rail 411;

[0113] A screw rod 413 is rotatably disposed on the guide rail 411;

[0114] A second driving member 414 is disposed in the hollow rotating shaft 20;

[0115] Wherein, the output shaft of the second driving member 414 is connected to the screw rod 413;

[0116] The slider 412 is threadedly connected to the screw rod 413 .

[0117] Specifically, the first translation assembly 41 may adopt a guide rail slider structure, and the second driving member 414 drives the screw rod 413 to rotate, and the slider 412 slides along the guide rail 411, thereby driving the rotation assembly 43 to move. The first translation assembly 41 may also adopt a telescopic structure to achieve the movement of the rotation assembly 43 and the laser 42. The second translation assembly 51 may adopt a guide rail slider structure or a telescopic structure, and the movement of the air nozzle 52, and the structure of the second translation assembly 51 may refer to the first translation assembly 41.

[0118] In a preferred implementation of the embodiment of the present invention, Figure 6As shown, the rotary tiller 30 is located between two adjacent openings along the spiral line direction.

[0119] Specifically, the openings in the opening sequence are arranged along the spiral line direction, and the rotary tiller 30 is located between two adjacent openings along the spiral line direction, that is, between two adjacent opening groups. One to three rotary tillers 30 are arranged between two adjacent opening groups, and these rotary tillers 30 form a rotary tiller 30 group, and the angle between two rotary tillers 30 in the rotary tiller 30 group is configured as needed.

[0120] In a preferred implementation of the embodiment of the present invention, Figure 1 and Figure 8 As shown, the frame 10 includes:

[0121] Top plate 11;

[0122] Two end plates 12 are arranged at the left and right ends of the top plate 11;

[0123] A middle bracket 13 is arranged at the middle position of the top plate 11;

[0124] A rear plate 14, disposed at the rear end of the top plate 11;

[0125] The hollow shaft 20 passes through the middle bracket 13, and the two ends are rotatably connected to the two end plates 12 respectively;

[0126] There are two laser cutting devices 40, which are respectively located on both sides of the middle bracket 13;

[0127] The second translation assembly 51 is disposed at the front end of the top plate 11 .

[0128] Specifically, with the direction of travel of the frame 10 as the front, the top plate 11 is located at the top of the frame 10, the end plates 12 are located at the left and right ends of the frame 10, the middle bracket 13 is located in the middle of the top plate 11, and the rear plate 14 is located at the rear end of the frame 10. The hollow shaft 20 is passed through the middle bracket 13, and the middle bracket 13 divides the hollow shaft 20 into two parts, namely the left shaft 24 and the right shaft 25, which are connected to each other; there are two laser cutting devices 40, which are respectively located in the left shaft 24 and the right shaft 25, and the two laser cutting devices 40 are independently controlled. The second translation assembly 51 is arranged at the front end of the top plate 11, and the rear plate 14 is located at the rear end of the top plate 11. When the second translation assembly 51 drives the air nozzle 52 to move and blow, the rear plate 14 and the ground hinder the air flow, which is easy to form turbulence around the hollow shaft 20, thereby facilitating the blowing of the cut grass. There can be two air nozzles 52, corresponding to the left rotating shaft 24 and the right rotating shaft 25 respectively, and the two air nozzles 52 are independently controlled. A plow point is arranged on the middle bracket 13 to separate the soil to both sides of the middle bracket 13.

[0129] In a preferred implementation of the embodiment of the present invention, Figure 1 and Figure 8 As shown, a fan 53 and a laser power supply 44 are provided on the top plate 11 ; the fan 53 is connected to the air nozzle 52 , and the laser power supply 44 is electrically connected to the laser cutting device 40 .

[0130] Specifically, the fan 53 on the top plate 11 is connected to the air nozzle 52 to provide power for the air ejected from the air nozzle 52. The fan 53 is specifically connected to the air nozzle 52 by an air duct. The laser power supply 44 provides electric energy for the laser cutting device 40.

[0131] In a preferred implementation of the embodiment of the present invention, Figure 1 and Figure 8 As shown, a transmission assembly 131 is disposed on the middle bracket 13 for transmitting power to the hollow rotating shaft 20 .

[0132] Specifically, a transmission assembly 131 is disposed on the middle bracket 13, and a third driving member may be disposed on the top plate 11. The power output by the third driving member is transmitted to the hollow shaft 20 through the transmission assembly 131, thereby driving the rotary blade 30 to rotate. The transmission assembly 131 may be a reducer.

[0133] The rotary tiller of the present application has a simple and effective structure, which not only improves the reliability of the machine, but also reduces the operator's maintenance requirements for the machine, making the machine easier to operate and maintain; these advantages make the rotary tiller have a wider application prospect and market competitiveness in modern agricultural production.

[0134] Based on the laser grass-removing rotary tiller described in any of the above embodiments, the present invention also provides a preferred embodiment of a control method of the laser grass-removing rotary tiller:

[0135] like Figure 1 As shown, the control method of the rotary tiller for laser weed removal according to the embodiment of the present invention comprises the following steps:

[0136] Step S100, controlling the second translation assembly to move, and jetting air through the air nozzle to make the grass entangled on the rotary tiller blade approach the hollow rotating shaft.

[0137] Step S200, controlling the first translation assembly to move, cutting the grass wrapped around the rotary blade by means of a laser, and controlling the second translation assembly to move, blowing away the cut grass by means of an air jet from the air jet nozzle; wherein the position of the laser and the position of the air jet nozzle are staggered with each other.

[0138] Specifically, when the rotary tiller is started, the hollow shaft rotates and drives the rotary blade to rotate to achieve tillage. Specifically, the third driving member is started to transmit power to the hollow shaft through the transmission assembly, thereby driving the rotary blade to rotate. As tillage progresses, after a period of tillage, grass may be entangled on the rotary blade and the hollow shaft, and the entangled grass needs to be removed. Then, after a preset tillage time, step S100 is performed. When removing the entangled grass, first gather the entangled grass, and spray air through the air nozzle so that the entangled grass is closer to the hollow shaft. Then start the laser, and control the first translation assembly to move the laser along the direction of the central axis of the hollow shaft to cut the entangled grass at each opening position. After the entangled grass at the opening position is cut, control the second translation assembly to move the air nozzle to spray air to disperse the cut grass. The position of the laser and the position of the air nozzle do not correspond to the same position, but are staggered. For example, after the laser cuts the grass at the first opening (or the first opening group) position, the laser moves to the second opening (or the second opening group) position, and the air nozzle blows air to the cut grass at the first opening (or the first opening group) position, so that the air jet from the air nozzle will not affect the cutting of the laser, nor will it increase the probability of igniting the grass due to blowing. The entire process of removing grass entanglements does not stop the rotation of the hollow shaft, and the rotary tiller is still in the tillage, thereby saving time. After the laser completes cutting the grass entanglements at the previous opening position, the laser is turned off, and after the first translation assembly and the rotation assembly drive the laser to move to the next opening position, the laser is turned on again and continues to cut the grass entanglements.

[0139] In addition, the degree of dryness and wetness of the grass varies in different seasons, so the difficulty of cutting is also different. Grass is divided into dry grass and wet grass. For example, wet grass is mainly in spring and summer, and dry grass is mainly in autumn and winter. Grass after rain can also be regarded as wet grass, and grass after long-term exposure to the sun can also be regarded as dry grass. The fan can be a hot air blower, and the jet nozzle can spray hot air to dry the wet grass for cutting. Especially for the cultivation of wet land, wet soil is easy to adhere to the grass. When the grass is dried, the wet soil is also dried, which is not only convenient for the removal of soil under the action of centrifugal force, but also convenient for the laser to cut the grass and reduce the obstruction of the soil.

[0140] Specifically, when the first translation component is controlled to move the laser, the rotation component can also be controlled to rotate the laser, so that the laser can be moved and rotated to the corresponding opening. At the beginning, the laser is aimed at the first opening of the opening sequence, and after movement and rotation, the laser is aimed at the second opening of the opening sequence. Further movement and rotation can traverse all openings of the opening sequence.

[0141] In the process of cutting the grass wrapped around the rotary tiller blade by laser, the laser power, the laser focus position and the laser focus adjustment frequency and other parameters are adjusted. The laser cutting device can adopt CO 2 Laser, you can also adjust the CO 2 The focal position of the laser can be achieved by adjusting the height of the laser or by other means.

[0142] Step S200 specifically includes:

[0143] Step S210, controlling the first translation assembly to move the laser to a first end of the opening close to the first end of the hollow rotating shaft;

[0144] Step S220, starting the laser, and controlling the focal position of the laser to gradually increase from the initial focal position to a first preset focal position;

[0145] Step S230, controlling the first translation assembly to move the laser toward the second end of the opening, and cyclically controlling the focal position of the laser to gradually increase from the initial focal position to the first preset focal position until the laser moves to the second end of the opening, and turning off the laser;

[0146] Step S240, control the second translation assembly to move and spray air toward the opening through the air nozzle; control the first translation assembly to move the laser to the first end of the next opening, and continue to start the laser, control the focal position of the laser to gradually increase from the initial focal position to the first preset focal position until the laser moves to the second end of the hollow shaft.

[0147] Specifically, Fig. 9 As shown, during the cutting process of the laser cutting device, the focal position of the laser increases in a cyclic manner, and a grass layer of a certain thickness can be cut. The movement of the laser at the opening position can be a step-by-step movement method. With each step, the focal position of the laser gradually increases from the initial focal position to the first preset focal position. At a single opening position, the laser cutting device can move multiple steps, and the focal position of the laser gradually increases from the initial focal position to the first preset focal position. It takes multiple cycles. The laser energy outside the focus is small, while the laser energy at the focal position is large, which is convenient for controlling the cutting position.

[0148] Specifically, Fig. 9 As shown, the laser cutting device adopts a layer-by-layer cutting method to cut the grass wrapping layer outside each opening layer by layer. For example, the thickness of the first layer cut by the laser is the distance between the initial focus position and the first preset focus position. After cutting the grass wrapping layer at the first opening position, it moves to the second opening position, cuts the grass wrapping layer at the second opening, and then moves to the third opening position for cutting until the grass wrapping layer at the last opening is cut, completing the cutting of the first layer of the grass wrapping layer. When moving between the positions of the two openings, the laser can be controlled to move and rotate at the same time, specifically controlling the first translation component to move the laser, and controlling the rotation component to rotate the laser.

[0149] Step S200 specifically includes:

[0150] Step S250, controlling the first translation assembly to move the laser to the second end of the opening close to the second end of the hollow shaft;

[0151] Step S260, starting the laser, and controlling the focal position of the laser to gradually increase from a first preset focal position to a second preset focal position;

[0152] Step S270, controlling the first translation assembly to move the laser toward the first end of the opening, and cyclically controlling the focal position of the laser to gradually increase from the first preset focal position to the second preset focal position until the laser moves to the first end of the opening, and turning off the laser;

[0153] Step S280, control the second translation assembly to move and spray air toward the opening through the air nozzle; control the first translation assembly to move the laser to the second end of the next opening, and continue to start the laser, control the focal position of the laser to gradually increase from the first preset focal position to the second preset focal position, until the laser moves to the first end of the hollow shaft.

[0154] Specifically, if the thickness of the grass wrapping layer is less than the thickness of the first layer, the laser can cut off the grass wrapping layer after it moves from the first end of the hollow shaft to the second end. As the air nozzle sprays air and the hollow shaft rotates, the cut grass wrapping detaches from the hollow shaft. If the thickness of the grass wrapping layer is greater than the thickness of the first layer, after the first layer of the grass wrapping layer is cut, the grass wrapping layer does not detach from the hollow shaft, and it is necessary to continue cutting the second layer. The thickness of the second layer cut by the laser is the distance between the first preset focal position and the second preset focal position. For example, the first layer of the grass wrapping layer is cut from the first opening until the last opening is cut. After the first layer of the grass wrapping layer is cut, the second layer of the grass wrapping layer is cut. Of course, the moving direction of the laser needs to turn around.

[0155] Specifically, the laser moves back and forth along the hollow rotating shaft and can cut two layers. If the grass wrapping layer is still not completely cut, the focal position of the laser can continue to increase. For example, the focal position of the laser gradually increases from the second preset focal position to the third preset focal position, and the focal position of the laser gradually increases from the third preset focal position to the fourth preset focal position.

[0156] At a single opening position, the focus position is adjusted through multiple cycles, the specific number of adjustments can be a set value, and the adjustment frequency (i.e., the focus adjustment frequency, the number of focus cycle adjustments per unit time) can be changed. The larger the focus adjustment frequency, the shorter the time for a single focus position change; the smaller the focus adjustment frequency, the longer the time for a single focus position change.

[0157] Specifically, during the process of cutting the grass, the laser power, the laser focus position and the laser focus adjustment frequency can be adjusted to match different application scenarios. For example, the grass near the middle bracket on the hollow shaft may be thicker, so when the laser moves toward the middle bracket, the laser power gradually increases, the laser focus adjustment frequency gradually decreases, and the CO 2 As the laser moves away from the middle bracket, the laser power gradually decreases, the laser focus adjustment frequency gradually increases, and the laser CO 2 The pressure gradually decreases, and the thinner grass layer can be cut quickly.

[0158] Specifically, the thickness of each layer of the grass wrapping layer can be the same or different. For example, the thickness of the first layer of the grass wrapping layer (the layer close to the hollow shaft) can be configured to be 5 cm, and the thickness of the second layer of the grass wrapping layer can be configured to be 5 cm. The power of the laser can range from 100W to 500W, CO 2 The pressure may range from 0.5 MPa to 1.0 MPa. The focus adjustment frequency may range from 1 Hz to 100 Hz.

[0159] The cutting can be performed layer by layer. When cutting different layers of grass wrapping, the power of the laser, the focal position of the laser and the focal adjustment frequency of the laser can also be different. The number of grass wrapping layers can be determined by the thickness of the grass wrapping layer. When the number of layers is 1, the thickness of a single layer in the grass wrapping layer may be the preset thickness or less than the preset thickness; when the number of layers is greater than 1, the thickness of the outermost layer in the grass wrapping layer is the preset thickness or less than the preset thickness, and the thickness of the remaining single layers is the preset thickness. For the same piece of cultivated land, the diameter of a single grass in the grass wrapping layer does not change much.

[0160] When the grass wrapping layer is thicker (for example, the thickness of a single layer in the grass wrapping layer is a preset thickness, which may be 5 cm) and the diameter of a single grass is larger (for example, the diameter is larger than a preset diameter, which may be 3 mm), a larger first power may be used (for example, the first power is 300 W to 500 W), and a larger CO 2 The first pressure is 0.7 MPa to 1.0 MPa, and the first focus adjustment frequency is smaller (for example, the first focus adjustment frequency is 1 Hz to 3 Hz).

[0161] When the grass wrapping layer is thicker (for example, the thickness of a single layer in the grass wrapping layer is a preset thickness, which may be 5 cm) and the diameter of a single grass is smaller (for example, the diameter is less than or equal to the preset diameter, which may be 3 mm), a medium second power (for example, the second power is 200 W to 300 W) may be used, and a smaller CO 2 A second pressure of (for example, the second pressure is 0.6 MPa to 0.7 MPa), and a medium second focus adjustment frequency (for example, the second focus adjustment frequency is 3 Hz to 10 Hz).

[0162] When the grass wrapping layer is thin (for example, the thickness of a single layer in the grass wrapping layer is less than the preset thickness, which can be 5 cm, and in this case, only the first layer of the grass wrapping layer or a single layer in the grass wrapping layer is the outermost layer) and the diameter of a single grass is large (for example, the diameter is greater than the preset diameter, which can be 3 mm), a larger first power (for example, the first power is 300W to 500W) can be used, and a larger CO 2 A first pressure (for example, the first pressure is 0.7 MPa to 1.0 MPa) and a medium second focus adjustment frequency (for example, the second focus adjustment frequency is 3 Hz to 10 Hz).

[0163] When the grass wrapping layer is thin (for example, the thickness of the grass wrapping layer is less than the preset thickness, which may be 5 cm, and only the first layer or a single layer in the grass wrapping layer is the outermost layer) and the diameter of a single grass is small (for example, the diameter is less than or equal to the preset diameter, which may be 3 mm), a smaller third power may be used (for example, the third power is 100 W to 200 W), and a smaller CO 2 The second pressure is 0.6 MPa to 0.7 MPa, and the third focus adjustment frequency is larger (for example, the third focus adjustment frequency is 10 Hz to 100 Hz).

[0164] In order to determine the thickness of the grass wrapping layer and whether the grass wrapping layer is detached from the hollow rotating shaft, a camera can be set on the end plate or the air nozzle, and the thickness of the grass wrapping layer and whether the grass wrapping layer is detached from the hollow rotating shaft can be determined by the size of the grass wrapping layer in the image captured by the camera, so as to control the number of times the laser moves back and forth along the hollow rotating shaft.

[0165] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A rotary tiller for removing weeds with laser, characterized in that: include: frame; A hollow rotating shaft is rotatably disposed on the frame, and an opening is disposed on the hollow rotating shaft; A plurality of rotary tillage blades are arranged outside the hollow rotating shaft; A laser cutting device is disposed in the hollow rotating shaft; Wherein, the laser emitted by the laser cutting device passes through the opening to cut the grass entangled on the rotary tiller; There are multiple openings, and the length direction of each opening is parallel to the central axis of the hollow rotating shaft; The laser cutting device comprises: A first translation assembly is disposed in the hollow rotating shaft; At least two lasers, connected to the first translation assembly and distributed along the circumference of the hollow rotating shaft; Wherein, the first translation assembly is used to move the laser so that the laser light emitted by the laser moves in the opening along the direction of the central axis of the hollow rotating shaft; The rotary tiller also includes: A second translation assembly is disposed on the frame; an air jet nozzle, arranged on the second translation assembly; Wherein, the second translation assembly drives the air nozzle to move along the direction of the central axis of the hollow rotating shaft; The air jet nozzle is used to spray air toward the rotary tiller; There are multiple openings, and the multiple openings are distributed in a spiral manner. The laser cutting device also includes: A rotating assembly, disposed on the first translation assembly; Wherein, the laser is arranged on the rotating assembly; The rotating assembly is used to rotate the laser.

2. The laser weed remover according to claim 1, characterized in that: The rotating assembly comprises: a first ring structure, wherein the first ring structure is provided with a first tooth position; a second ring structure, rotatably connected to the first ring structure; a first driving member connected to the second ring structure; a gear, disposed on the output shaft of the first driving member; Wherein, the gear is meshed with the first tooth position.

3. The laser weed remover according to claim 2, characterized in that: The first translation assembly comprises: A guide rail is arranged in the hollow rotating shaft; A slider, slidably connected to the guide rail; A screw rod, rotatably disposed on the guide rail; A second driving member is disposed in the hollow rotating shaft; Wherein, the output shaft of the second driving member is connected to the screw rod; The slider is threadedly connected to the screw rod.

4. The laser weed remover according to claim 1, characterized in that: The rotary tiller is located between two adjacent openings along the spiral line direction.

5. The laser weed remover according to any one of claims 1 to 4, characterized in that: The frame comprises: roof; Two end plates, arranged at the left and right ends of the top plate; A middle bracket, arranged in the middle of the top plate; A rear plate, arranged at the rear end of the top plate; Wherein, the hollow rotating shaft passes through the middle bracket, and the two ends are rotatably connected to the two end plates respectively; There are two laser cutting devices, which are respectively located on both sides of the middle bracket; The second translation assembly is arranged at the front end of the top plate.

6. The rotary tiller for laser weed removal according to claim 5, characterized in that: The top plate is provided with a fan and a laser power supply; the fan is connected to the air nozzle, and the laser power supply is electrically connected to the laser cutting device; The middle bracket is provided with a transmission assembly for transmitting power to the hollow rotating shaft.

7. A control method for a rotary tiller for laser weed removal according to any one of claims 1 to 6, characterized in that: Includes steps: Controlling the second translation assembly to move, and using the air nozzle to blow air so that the grass wound around the rotary tiller blade is close to the hollow rotating shaft; The first translation assembly is controlled to move, and the grass wrapped around the rotary blade is cut by a laser, and the second translation assembly is controlled to move, and the cut grass is blown away by the air jet from the air jet nozzle; wherein the position of the laser and the position of the air jet nozzle are staggered.

8. The control method of a rotary tiller for laser weed removal according to claim 7, characterized in that: During the process of cutting the grass wound around the rotary tiller blade by the laser, the power of the laser, the focal position of the laser and the focal adjustment frequency of the laser are adjusted.

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