An all-terrain canal weeding machine

Abstract

This invention discloses an all-terrain canal weeding machine, including a chassis, a canal-conforming tire device mounted on the chassis, and a canal weeding device. The canal-conforming tire device includes a conforming tire assembly that can span and support both sides of the canal. The conforming tire assembly includes a tire walking assembly, a swing arm suspension assembly, and a tire reversing assembly. One end of the swing arm suspension assembly is connected to the chassis, and the other end is connected to the tire reversing assembly. The tire reversing assembly drives multiple tires of the tire walking assembly to swing up and down to adapt to the canal support surface with different slopes. The swing arm suspension assembly of this invention can control the span and extension / retraction of the tire walking assembly, thereby adapting to weeding in canals of different spans and depths. The tire reversing assembly drives multiple tires of the tire walking assembly to swing up and down, so that the tires can conform to the canal support surface with different slopes, realizing all-terrain walking and weeding across the canal, thus improving the applicability of the weeding machine.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to an all-terrain canal weeding machine. Background Technology

[0002] After a period of operation, farmland irrigation ditches will become overgrown with weeds. In order to ensure the irrigation function of the ditches, weed removal operations are required regularly.

[0003] However, the size and shape of farmland irrigation ditches are not uniform, and there is currently no universal weeding equipment that can adapt to different sizes and shapes. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the existing technology and provide an all-terrain canal weeding machine.

[0005] To solve the above-mentioned technical problems, the present invention discloses an all-terrain canal weeding machine, including a walking chassis, a canal-conforming tire device and a canal weeding device mounted on the walking chassis. The canal-conforming tire device includes a conforming tire assembly that can span across and support both sides of the canal. The conforming tire assembly includes a tire walking assembly, a swing arm suspension assembly and a tire reversing assembly. One end of the swing arm suspension assembly is connected to the walking chassis and the other end is connected to the tire reversing assembly. The tire reversing assembly drives multiple tires of the tire walking assembly to swing up and down to adapt to the canal support surface with different slopes.

[0006] Furthermore, the swing arm suspension assembly includes a fixed arm, a telescopic arm, a swing arm link, and a swing arm telescopic drive component. One end of the telescopic arm is telescopically sleeved inside one end of the fixed arm. The other end of the fixed arm is hinged to one end of the swing arm link, and the other end of the swing arm link is hinged to the chassis. The fixed end of the telescopic drive component is hinged to the chassis, and the telescopic end is hinged to the fixed arm. The other end of the telescopic arm is connected to the tire reversing assembly.

[0007] Furthermore, the tire reversing assembly includes a reversing support and a reversing drive, a reversing shaft, and a reversing gear set mounted on the reversing support. The tire travel assembly is mounted on both ends of the reversing support. The tire travel assembly also includes a tire mounting base and a tire drive mounted on the tire mounting base. One end of the reversing shaft is pivotally connected to the tire mounting base, and the other end is connected to the output end of the reversing gear set. The input end of the reversing gear set is connected to the reversing drive.

[0008] Furthermore, the irrigation canal weeding device includes a side-wall-mounted mowing device, which includes a side-wall adjustable suspension, a side-wall cover, a slinger blade, a mowing roller drive assembly, and a slinger blade mounting roller. The slinger blade mounting roller is installed in the side-wall cover and is driven by the mowing roller drive assembly. One end of the side-wall adjustable suspension is connected to the walking chassis, and the other end is connected to the side-wall cover. One end of the slinger blade is pivotally connected to the slinger blade mounting roller, and the other end is provided with side-wall weeding blades that extend obliquely to both sides.

[0009] Furthermore, the chassis is also equipped with a branch-chopping device, which includes a robotic arm, a branch-chopping cover, a hammer blade, a branch-chopping roller drive assembly, and a hammer-mounting roller. One end of the robotic arm is rotatably mounted on the chassis, and the other end is connected to the branch-chopping cover. The hammer-mounting roller is installed inside the branch-chopping cover and is driven by the branch-chopping roller drive assembly. One end of the hammer blade is pivotally connected to the hammer-mounting roller, and the other end is provided with branch-chopping blades extending to both sides.

[0010] Furthermore, the irrigation canal weeding device also includes a canal bottom weeding device, which includes a canal bottom adjusting suspension, a mounting frame, a canal bottom mowing device mounted on the mounting frame, and a weed-removing chain device. The mounting frame is provided with suspension ears, and the weed-removing chain device is located behind the canal bottom mowing device in the forward direction. The weed-removing chain device includes a conveyor chain assembly, and the chain of the conveyor chain assembly is provided with weed-removing springs for conveying the weeds cut by the canal bottom mowing device to the outside of the irrigation canal.

[0011] Furthermore, the weed-removing chain device also includes a sprocket frame and a driving sprocket, a driven sprocket, and a tensioning sprocket mounted on the sprocket frame and cooperating with the chain. A spring tooth mounting plate is installed on the chain, and the weed-removing spring teeth are mounted on the spring tooth mounting plate. The chain includes a grass-collecting chain segment disposed on both sides of the tensioning sprocket for conveying the cut weeds to the canal wall and a weed-removing chain segment for conveying the weeds conveyed to the canal wall outward along the canal wall.

[0012] Furthermore, the grass-removing spring tooth includes a torsion spring portion and a grass-removing rod. One end of the torsion spring portion is fixedly connected to the spring tooth mounting plate, and the other end is fixedly connected to the grass-removing rod. The grass-removing rod is perpendicular to the conveying surface of the chain.

[0013] Furthermore, the grass-removing spring tooth includes two sets of torsion springs integrally formed and symmetrically arranged and grass-removing rods, with an arc-shaped connecting rod formed between the two sets of torsion springs, and the arc-shaped connecting rod is pressed against the spring tooth mounting plate.

[0014] Furthermore, the conveyor chain assembly consists of two sets arranged opposite to each other. The two ends of the tooth mounting plate are respectively fixed to the chain of one of the conveyor chain assemblies. The grass-removing teeth are evenly distributed along the forward direction of the ditch bottom grass-cutting device. A contour wheel is provided below the mounting frame. When the contour wheel is in contact with the ditch wall, the grass-removing teeth on the grass-removing chain segment are elastically compressed and attached to the ditch bottom.

[0015] Furthermore, the canal bottom mowing device includes a cutter frame, a moving blade assembly, a fixed blade assembly, a hydraulic motor assembly, and a crank-connecting rod mechanism. The fixed blade assembly is mounted on the cutter frame, the moving blade assembly cooperates with the fixed blade assembly and slides back and forth with the cutter frame, and the moving blade assembly is connected to the connecting rod of the crank-connecting rod mechanism. The length of the connecting rod is adjustable to control the cutting amplitude of the moving blade assembly.

[0016] Furthermore, each fixed blade in the fixed blade assembly has a pointed tip at its front and a fixed blade groove inside that cooperates with the moving blade of the moving blade assembly. The lower side of the fixed blade groove is fixed to the cutting blade holder, and the upper side is suspended. Grooves are provided on the cutting edges that are inclined on both sides of the moving blade.

[0017] Compared with the prior art, the advantages of the present invention are as follows:

[0018] The swing arm suspension assembly of this invention can control the span and retraction / extension of the tire travel assembly. When the swing arm suspension assembly retracts and stops working, it is supported by the travel chassis. When the swing arm suspension assembly extends and starts working, it can support the travel chassis and work in conjunction with the water channel weeding device to adapt to weeding in water channels of different spans and depths. The tire reversing assembly drives the multiple tires of the tire travel assembly to swing up and down, so that the tires can fit against the water channel support surface with different slopes, thereby adapting to water channel support surfaces with different slopes and realizing all-terrain travel and weeding across water channels, thus improving the applicability of the weeding machine. Attached Figure Description

[0019] The accompanying drawings, which constitute a part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention. In the drawings:

[0020] Figure 1 This is a schematic diagram of the main body of the all-terrain canal weeding machine disclosed in an embodiment of the present invention;

[0021] Figure 2 This is an isometric schematic diagram of the all-terrain canal weeding machine disclosed in an embodiment of the present invention;

[0022] Figure 3 This is an isometric schematic diagram of the side-wall-mounted lawn mower disclosed in an embodiment of the present invention;

[0023] Figure 4This is an isometric schematic diagram of the knife mounting roller disclosed in an embodiment of the present invention;

[0024] Figure 5 This is an isometric schematic diagram of the twig-breaking device disclosed in an embodiment of the present invention;

[0025] Figure 6 This is an isometric schematic diagram of the hammer mounting roller disclosed in an embodiment of the present invention;

[0026] Figure 7 This is a cross-sectional schematic diagram of the tire running assembly disclosed in an embodiment of the present invention;

[0027] Figure 8 This is an isometric schematic diagram of the grass-removing chain device disclosed in an embodiment of the present invention;

[0028] Figure 9 for Figure 8 Enlarged view of point A;

[0029] Figure 10 This is a front view schematic diagram of the grass-removing chain device disclosed in an embodiment of the present invention;

[0030] Figure 11 This is an isometric schematic diagram of the canal bottom mowing device disclosed in an embodiment of the present invention.

[0031] Legend:

[0032] 1. Walking chassis; 2. Irrigation canal contouring tire device; 21. Tire walking assembly; 211. Tire; 212. Tire mounting base; 213. Tire drive component; 22. Swing arm suspension assembly; 221. Fixed arm; 222. Telescopic arm; 223. Linkage rod; 224. Swing arm telescopic drive component; 23. Tire reversing assembly; 231. Reversing support; 232. Reversing drive component; 233. Reversing shaft; 234. Reversing gear set; 3. Grass-pulling chain device; 31. Conveyor chain assembly; 311. Chain; 312. Grass-pulling spring tooth; 3121. Torsion spring part; 3122. Grass-pulling rod; 3123. Arc-shaped connecting rod; 313. Spring tooth mounting plate; 314. Grass collection section chain section; 315. Grass-pulling chain section; 32. Sprocket frame; 33. Drive sprocket; 34. Driven sprocket; 35. Tensioning sprocket; 36. Locking bolt; 4. Ditch bottom mowing device; 41. Cutter frame; 42. Moving blade assembly; 421. Moving blade; 422. Groove; 43. Fixed blade assembly; 431. Fixed blade; 432. Fixed blade groove; 44. Crank-connecting rod mechanism; 441. Crank; 442. Connecting rod; 5. Side wall attached mowing device; 51. Side wall adjustable suspension; 52. Side wall cover; 53. Spinning blade; 531. Side wall weeding blade; 54. Mowing roller drive assembly; 55. Spinning blade mounting roller; 6. Branch shredder; 61. Robotic arm; 62. Branch shredder cover; 63. Hammer blade; 631. Branch shredder blade; 64. Branch shredder roller drive assembly; 65. Spinning hammer mounting roller; 7. Ditch bottom adjustable suspension; 8. Hydraulic motor assembly; 9. Mounting frame; 91. Suspension lug; 92. Contouring wheel. Detailed Implementation

[0033] To facilitate understanding of the present invention, the present invention will be described more fully and in detail below with reference to the accompanying drawings and preferred embodiments, but the scope of protection of the present invention is not limited to the following specific embodiments.

[0034] like Figure 1-11As shown, this invention discloses an all-terrain canal weeding machine, including a chassis 1, a canal-conforming tire device 2 mounted on the chassis 1, and a canal weeding device. The chassis 1 can be based on the chassis structure of a small excavator, with tracks on the lower part and an operator's cab on the upper part. The canal-conforming tire device 2 includes a conforming tire assembly that can span across and support both sides of the canal. The conforming tire assembly includes a tire walking assembly 21, a swing arm suspension assembly 22, and a tire reversing assembly 23. One end of the swing arm suspension assembly 22 is connected to the chassis 1, and the other end is connected to the tire reversing assembly 23. The tire reversing assembly 23 drives the multiple tires 211 of the tire walking assembly 21 to swing up and down to adapt to the canal support surface with different slopes. The swing arm suspension assembly 22 of the present invention can control the span and extension / retraction of the tire walking assembly 21. When the swing arm suspension assembly 22 is retracted and stops working, it is supported by the walking chassis 1. When the swing arm suspension assembly 22 is extended and starts working, it can support the walking chassis 1 and cooperate with the water channel weeding device to adapt to weeding in water channels of different spans and depths. The tire reversing assembly 23 drives the multiple tires 211 of the tire walking assembly 21 to swing up and down, so that the tires 211 can fit against the water channel support surface with different slopes, thereby adapting to the water channel support surface with different slopes, realizing water channel traversal all-terrain walking and weeding, and improving the applicability of the weeding machine.

[0035] In this embodiment, to control the span and retraction / extension of the tire travel assembly 21, the swing arm suspension assembly 22 includes a fixed arm 221, a telescopic arm 222, a swing arm connecting rod 223, and a swing arm telescopic drive member 224. One end of the telescopic arm 222 is telescopically sleeved inside one end of the fixed arm 221. The telescopic arm 222 can be driven by a hydraulic cylinder (all drive members in this application are hydraulically driven) located in the fixed arm 221. The swing arm connecting rod 223 and the swing arm telescopic drive member 224 form a four-bar structure. The other end of the fixed arm 221... One end of the swing arm is hinged to the swing arm link 223, and the other end of the swing arm link 223 is hinged to the chassis 1. The swing arm telescopic drive 224 also uses a hydraulic cylinder. The fixed end of the swing arm telescopic drive 224 is hinged to the chassis 1, and the telescopic end is hinged to the fixed arm 221. When the swing arm telescopic drive 224 extends and retracts, the fixed arm 221 of the swing arm suspension assembly 22 will swing inward or outward. The other end of the telescopic arm 222 is connected to the tire reversing assembly 23. The telescopic arm 222 is used to control the height position of the chassis 1 above the water channel.

[0036] In this embodiment, see Figure 7To adjust the vertical sway of the tire 211 and ensure complete contact between the tire tread and the water channel support surface, thereby improving support performance and walking stability, the tire reversing assembly 23 includes a reversing support 231, a reversing drive 232 mounted on the reversing support 231, a reversing shaft 233, and a reversing gear set 234. The reversing gear set 234 includes two sets of bevel gears that transmit power to the reversing shaft 233 in the forward and backward directions of travel, and a pair of spur gears that control the vertical sway of the tires 211 at both ends. Tire travel assemblies 21 are mounted on both ends of the reversing support 231. The tire travel assembly 21 also includes a tire mounting base 212 and a component mounted on the tire mounting base 21. The tire drive component 213 and the reversing drive component 232 on the 2 can be hydraulic motors, thereby driving the tire 211 mounted on the tire mounting seat 212. One end of the reversing shaft 233 is fixedly connected to the tire mounting seat 212, thereby driving the tire mounting seat 212 to rotate, and the other end is connected to the output end of the reversing gear set 234. The input end of the reversing gear set 234 is connected to the reversing drive component 232. The main function of the spur gear set of the reversing gear set 234 is to realize that the reversing shaft 233 at both ends rotates in the same direction. The power transmission in the vertical direction is achieved by using a bevel gear set, thereby controlling the tires 211 at both ends to swing synchronously and in the same direction.

[0037] In this embodiment, see Figure 1 , 2 In order to achieve weeding on the sidewalls of the irrigation canal, the irrigation canal weeding device includes a sidewall-mounted mowing device 5. The sidewall-mounted mowing device 5 includes a sidewall adjusting suspension 51, a sidewall cover 52, a sling cutter 53, a mowing roller drive assembly 54, and a sling cutter mounting roller 55. The mowing roller drive assembly 54 is mounted on the sidewall cover 52 and can also be hydraulically driven. The sidewall adjusting suspension 51 adjusts the degree of contact between the sling cutter 53 and the sidewall of the irrigation canal. The sling cutter mounting roller 55 is mounted inside the sidewall cover 52 and drives the mowing roller drive assembly 54. One end of the sidewall adjusting suspension 51 is connected to the walking chassis 1, and the other end is connected to the sidewall cover 52. One end of the sling cutter 53 is pivotally connected to the sling cutter mounting roller 55, and the other end is provided with sidewall weeding blades 531 that extend to both sides, thus forming a Y-shaped structure. To prevent grass clippings from flying, a chain guard is installed at the rear of the side wall cover 52 to block grass clippings from behind the rotating direction of the slinger 53.

[0038] In this embodiment, see Figure 1 , 25 and 6. Considering that trees may obstruct the path of the canal during the movement of the canal-following tire device 2, or when it is necessary to clear the trees on both sides of the canal, the chassis 1 is also equipped with a branch-breaking device 6. The branch-breaking device 6 includes a robotic arm 61, a branch-breaking cover 62, a hammer blade 63, a branch-breaking roller drive assembly 64, and a hammer-swinging installation roller 65. The robotic arm 61 is a multi-joint arm driven by a hydraulic cylinder. One end of the robotic arm 61 is rotatably mounted on the chassis 1, and the movement is assisted by a rotary support on the chassis 1. One end of the hammer is driven by the hammer, and the other end is connected to the branch shredder cover 62. The hammer mounting roller 65 is installed inside the branch shredder cover 62 and is driven by the branch roller drive assembly 64. The branch roller drive assembly 64 is also installed on the branch shredder cover 62 and is hydraulically driven. One end of the hammer blade 63 is pivotally connected to the hammer mounting roller 65. The hammer blade 63 has a T-shaped solid structure and is heavier than the hammer blade 53, making it suitable for cutting hard structures such as trees. The other end of the hammer blade 63 is provided with branch blades 631 extending to both sides. To prevent wood chips from flying, a deflector chain is provided at the rear of the branch shredder cover 62 to block wood chips from behind the hammer blade 63 in the direction of rotation.

[0039] In this embodiment, see Figure 8-11 The irrigation canal weeding device also includes a canal bottom weeding device, which includes a canal bottom adjusting suspension 7, a mounting frame 9, a canal bottom mowing device 4 mounted on the mounting frame 9, and a weed-removing chain device 3. The mounting frame 9 is provided with a suspension ear 91, which is a universal structure and has a connection hole. The weed-removing chain device 3 is located behind the canal bottom mowing device 4 in the forward direction. The weed-removing chain device 3 includes a conveyor chain assembly 31, and the chain 311 of the conveyor chain assembly 31 is provided with weed-removing spring teeth 312 for conveying the weeds cut by the canal bottom mowing device 4 to the outside of the irrigation canal. The grass cutting and weeding device of the present invention can be detachably adapted to different walking devices through the hanging ear 91, which is highly versatile. After the weeds are cut by the grass cutting device 4 at the bottom of the canal, the grass-pulling spring teeth 312 on the rear grass-pulling chain device 3 transport the cut weeds to the outside of the canal, thereby avoiding the problem of the cut weeds remaining on the canal wall and being difficult to discharge. This realizes the integrated operation of weed cutting and transportation on the canal wall and improves the efficiency of weed clearing on the canal wall of farmland.

[0040] In this embodiment, the weed-removing chain device 3 also includes a sprocket frame 32 and a drive sprocket 33, a driven sprocket 34, and a tension sprocket 35 mounted on the sprocket frame 32 and cooperating with the chain 311. The drive sprocket 33 is also driven by a hydraulic motor. The tension sprocket 35 is mounted on a tensioning frame. The tensioning frame is telescopic (specifically, it can be positioned by connecting a telescopic tube with bolts, or by connecting the tensioning frame with different connection holes on the sprocket frame 32). A spring tooth mounting plate 313 is mounted on the chain 311, and weed-removing spring teeth 312 are mounted on the spring tooth mounting plate 313. The chain 311 includes a grass-collecting chain section 314 for conveying the cut weeds to the canal wall and a weed-removing chain section 315 for conveying the weeds conveyed to the canal wall outward along the canal wall, both located on both sides of the tension sprocket 311. The lower chain 311 is divided into two sections by the tension sprocket 35, forming an angle between the grass-collecting chain section 314 and the grass-removing chain section 315. The angle can be adjusted by moving the tension sprocket 35 up and down, and the lengths of the grass-collecting and grass-removing chain sections 314 and 315 can be adjusted by moving the tension sprocket 35 left and right, thus adjusting their fit with the canal wall. During operation, the grass-removing chain section 315 fits against one side of the canal wall, while the grass-collecting chain section 314 continuously transports the cut grass from the canal to one side of the canal wall. Once the grass reaches the canal wall, it is then transported upwards by the grass-removing chain section 315, reaching the bank of the canal.

[0041] In this embodiment, to make the weed-removing spring 312 elastic, the weed-removing spring 312 includes an integrally formed torsion spring part 3121 and a weed-removing rod 3122. The weed-removing rod 3122 extends tangentially along the outer edge of the torsion spring part 3121. The torsion spring part 3121 is a torsion spring structure. One end of the torsion spring part 3121 is fixedly connected to the spring tooth mounting plate 313, and the other end is fixedly connected to the weed-removing rod 3122. The weed-removing rod 3122 is perpendicular to the conveying surface of the chain 311. The weed-removing rod 3122 can play the role of picking up weeds. By setting the torsion spring part 3121 at the end of the weed-removing rod 3122, the bending deformation of the weed-removing rod 3122 when encountering greater resistance can be avoided. This also makes it easier for the torsion spring part 3121 to store elastic potential energy, which is convenient for the subsequent weed-removing rod 3122 to eject weeds from the water channel. At the same time, it can also protect the weed-removing rod 3122 and prevent it from breaking.

[0042] In this embodiment, in order to facilitate the installation and fixation of the grass-removing spring tooth 312, the grass-removing spring tooth 312 includes two sets of torsion spring parts 3121 integrally formed and symmetrically arranged and grass-removing rods 3122. An arc-shaped connecting rod 3123 is formed between the two sets of torsion spring parts 3121. The arc-shaped connecting rod 3123 is pressed on the spring tooth mounting plate 313. Specifically, the arc-shaped connecting rod 3123 matches the outer edge of fasteners such as locking bolts 36, that is, it is pressed and fixed on the spring tooth mounting plate 313 by locking bolts 36.

[0043] In this embodiment, in order to ensure the stable installation of the tooth mounting plate 313, the length of the tooth mounting plate 313 is further increased, and more weed-removing teeth 312 are set on the tooth mounting plate 313, thereby improving the collection and conveying effect of the cut weeds. The conveyor chain assembly 31 consists of two sets arranged opposite to each other. The two ends of the tooth mounting plate 313 are respectively fixed to the chain 311 of the conveyor chain assembly 31, specifically fixed to the chain plates on both sides of the chain. The weed-removing teeth 312 are evenly distributed along the forward direction of the weed cutting device 4 at the bottom of the ditch. A contour wheel 92 is set below the mounting frame 9. When the contour wheel 92 is in contact with the ditch wall, the weed-removing teeth 312 on the weed-removing chain segment 315 are elastically compressed and attached to the bottom of the ditch. On the one hand, the contour wheel 92 can play a role in isolation and protection, preventing the weed cutting device 4 and the weed pulling chain device 3 from colliding violently or wearing out with the canal wall. On the other hand, it can ensure that the weed pulling tooth 312 is elastically compressed and attached to the bottom of the canal. The end of the weed pulling tooth 312 undergoes elastic deformation, accumulating elastic potential energy. When the weed pulling chain segment 315 is reached, the weed pulling tooth 312 returns to its original shape, and the elastic potential energy is released, throwing the weeds onto the canal.

[0044] In this embodiment, see Figure 11 The canal bottom mowing device 4 includes a cutter frame 41, a moving blade assembly 42, a fixed blade assembly 43, a hydraulic motor assembly 8, and a crank-connecting rod mechanism 44. The fixed blade assembly 43 is mounted on the cutter frame 41. The moving blade assembly 42 cooperates with the fixed blade assembly 43 and slides back and forth with the cutter frame 41. The output shaft of the hydraulic motor assembly 8 is connected to the crank 441 of the crank-connecting rod mechanism 44. The moving blade assembly 42 is connected to the connecting rod 442 of the crank-connecting rod mechanism 44. The length of the connecting rod 442 is adjustable to control the cutting amplitude of the moving blade assembly 42. Specifically, in this embodiment, the front of any fixed blade 431 of the fixed blade group 43 is provided with a pointed tip, which is convenient for insertion into the gap between weeds. The interior is provided with a fixed blade groove 432 that cooperates with the moving blade 421 of the moving blade group 42. The lower side of the fixed blade groove 432 of the fixed blade 431 is fixedly connected to the cutter frame 41, and the upper side is suspended, thereby ensuring that the fixed blade 431 and the moving blade 421 maintain a certain elasticity when cutting. The moving blade 421 has a triangular structure, and the cutting edges on both sides are provided with grooves 422, thereby improving the cutting efficiency. The cut weeds will enter the interior of the filter hopper structure.

[0045] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention, or modify them into equivalent embodiments, without departing from the scope of the present invention. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention, without departing from the scope of the present invention, should fall within the protection scope of the present invention.

Claims

1. An all-terrain canal weeding machine, characterized in that, The system includes a chassis (1), a canal-following tire assembly (2) mounted on the chassis (1), and a canal weeding device. The canal-following tire assembly (2) includes a conforming tire component that can span across and support both sides of the canal. The conforming tire component includes a tire travel assembly (21), a swing arm suspension assembly (22), and a tire reversing assembly (23). One end of the swing arm suspension assembly (22) is connected to the chassis (1), and the other end is connected to the tire reversing assembly (23). The tire reversing assembly (23) drives multiple tires (211) of the tire travel assembly (21) to swing up and down to adapt to different slopes. The water channel support surface; the water channel weeding device also includes a channel bottom weeding device, which includes a channel bottom adjusting suspension (7), a mounting frame (9), a channel bottom mowing device (4) mounted on the mounting frame (9), and a weed-removing chain device (3). The mounting frame (9) is provided with a suspension lug (91). The weed-removing chain device (3) is located behind the channel bottom mowing device (4) in the forward direction. The weed-removing chain device (3) includes a conveyor chain assembly (31). The chain (311) of the conveyor chain assembly (31) is provided with weed-removing springs (311) for conveying the weeds cut by the channel bottom mowing device (4) to the outside of the water channel. 12); The weed-removing chain device (3) further includes a sprocket frame (32) and a drive sprocket (33), a driven sprocket (34) and a tension sprocket (35) mounted on the sprocket frame (32) and cooperating with the chain (311). A spring tooth mounting plate (313) is mounted on the chain (311), and the weed-removing spring tooth (312) is mounted on the spring tooth mounting plate (313). The chain (311) includes a grass-collecting chain section (314) arranged on both sides of the tension sprocket (35) for conveying the cut weeds to the canal wall and a weed-removing chain section (315) for conveying the weeds conveyed to the canal wall outward along the canal wall. The grass-removing spring tooth (312) includes a torsion spring part (3121) and a grass-removing rod (3122). One end of the torsion spring part (3121) is fixedly connected to the spring tooth mounting plate (313), and the other end is fixedly connected to the grass-removing rod (3122). The grass-removing rod (3122) is perpendicular to the conveying surface of the chain (311). The grass-removing spring tooth (312) includes two sets of torsion spring parts (3121) and grass-removing rods (3122) that are integrally formed and symmetrically arranged. An arc-shaped connecting rod (3123) is formed between the two sets of torsion spring parts (3121). The arc-shaped connecting rod (3123) is pressed against the spring tooth mounting plate (313). The swing arm suspension assembly (22) includes a fixed arm (221), a telescopic arm (222), a swing arm link (223), and a swing arm telescopic drive component (224). One end of the telescopic arm (222) is telescopically sleeved inside one end of the fixed arm (221). The other end of the fixed arm (221) is hinged to one end of the swing arm link (223), and the other end of the swing arm link (223) is hinged to the chassis (1). The fixed end of the swing arm telescopic drive component (224) is hinged to the chassis (1), and the telescopic end is hinged to the fixed arm (221). The other end of the telescopic arm (222) is connected to the tire reversing assembly (23). The component (23) includes a reversing support (231) and a reversing drive (232), a reversing shaft (233), and a reversing gear set (234) mounted on the reversing support (231). The tire travel assembly (21) is mounted on both ends of the reversing support (231). The tire travel assembly (21) also includes a tire mounting seat (212) and a tire drive (213) mounted on the tire mounting seat (212). One end of the reversing shaft (233) is fixed to the tire mounting seat (212), and the other end is connected to the output end of the reversing gear set (234). The input end of the reversing gear set (234) is connected to the reversing drive (232).

2. The all-terrain irrigation canal weeding machine according to claim 1, characterized in that, The irrigation canal weeding device includes a side-wall attached mowing device (5), which includes a side-wall adjustable suspension (51), a side-wall cover (52), a slinger (53), a mowing roller drive assembly (54), and a slinger mounting roller (55). The slinger mounting roller (55) is installed inside the side-wall cover (52) and is driven by the mowing roller drive assembly (54). One end of the side-wall adjustable suspension (51) is connected to the walking chassis (1), and the other end is connected to the side-wall cover (52). One end of the slinger (53) is pivotally connected to the slinger mounting roller (55), and the other end is provided with a side-wall weeding blade (531) that extends obliquely to both sides.

3. The all-terrain irrigation canal weeding machine according to claim 1, characterized in that, The walking chassis (1) is also equipped with a branch-breaking device (6), which includes a robotic arm (61), a branch-breaking cover (62), a hammer (63), a branch-breaking roller drive assembly (64), and a hammer-swinging installation roller (65). One end of the robotic arm (61) is rotatably mounted on the walking chassis (1), and the other end is connected to the branch-breaking cover (62). The hammer-swinging installation roller (65) is installed inside the branch-breaking cover (62) and is driven by the branch-breaking roller drive assembly (64). One end of the hammer (63) is pivotally connected to the hammer-swinging installation roller (65), and the other end is provided with branch-breaking blades (631) extending to both sides.

4. The all-terrain irrigation canal weeding machine according to claim 1, characterized in that, The conveyor chain assembly (31) consists of two sets arranged opposite to each other. The two ends of the tooth mounting plate (313) are respectively fixed to the chain (311) of one of the conveyor chain assemblies (31). The grass-removing teeth (312) are evenly distributed along the forward direction of the ditch bottom grass-cutting device (4). A contour wheel (92) is provided below the mounting frame (9). When the contour wheel (92) is in contact with the ditch wall, the grass-removing teeth (312) on the grass-removing chain segment (315) are elastically compressed and attached to the bottom of the ditch.

5. The all-terrain canal weeding machine according to claim 1 or 4, characterized in that, The ditch bottom mowing device (4) includes a cutter frame (41), a moving blade assembly (42), a fixed blade assembly (43), a crank-connecting rod mechanism (44), and a hydraulic motor assembly (8). The fixed blade assembly (43) is mounted on the cutter frame (41). The moving blade assembly (42) cooperates with the fixed blade assembly (43) and slides back and forth with the cutter frame (41). The output shaft of the hydraulic motor assembly (8) is connected to the crank (441) of the crank-connecting rod mechanism (44). The moving blade assembly (42) is connected to the connecting rod (442) of the crank-connecting rod mechanism (44).

6. The all-terrain canal weeding machine according to claim 5, characterized in that, The front of any fixed blade (431) of the fixed blade group (43) is provided with a pointed tip, and the inside is provided with a fixed blade groove (432) that cooperates with the moving blade (421) of the moving blade group (42). The lower side of the fixed blade groove (432) of the fixed blade (431) is fixedly connected to the cutting blade holder (41), and the upper side is suspended. The cutting edges of the moving blade (421) are inclined on both sides and are provided with grooves (422).

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