Device and method for stabilizing row-to-row weeding depth of paddy field electric weeding machine

Abstract

The invention discloses an inter-row weeding depth stabilizing device for a paddy field electric weeding machine. The inter-row weeding depth stabilizing device comprises a cross-shaped fixed mandrel, a foot type sensing mechanism, a posture adjusting driving mechanism and a device controller. The cross-shaped fixing mandrel is connected with a power platform of the electric weeding machine through a connecting support and used for driving the foot type sensing mechanism, the posture adjusting driving mechanism, the device controller and the inter-row weeding component to run between rows of paddy field plants. According to the inter-row weeding depth stabilizing device for the electric weeding machine for the paddy field, by arranging the posture adjusting driving mechanism, the foot type sensing mechanism only plays a role in sensing the inter-row terrain of the paddy field, and the defect that the foot type sensing mechanism excessively sinks in mud due to the fact that the load is too large is overcome; through the collaborative design of a foot type sensing mechanism, a posture adjusting driving mechanism and a device controller, the inter-row weeding component can keep stable weeding depth under the complex working condition of a paddy field, and the inter-row weeding component can be lifted or descended on time at the terrain sudden change position.

Description

Technical Field

[0001] The invention relates to a device and method for stabilizing the inter-row weeding depth for a paddy field electric weeder, and belongs to the field of intelligent weeding technical equipment. Background Art

[0002] As modern paddy field weeding technology and equipment develop towards green, intelligent and efficient development, electric weeders are gradually gaining popularity. However, compared with hydraulic drive, electric drive is obviously inferior to hydraulic drive in terms of output power. Therefore, in promoting the popularization and application of electric weeders, it is urgent to scientifically control the motion of its weeding components during operation.

[0003] When operating in the harsh working conditions of paddy fields, electric weeders often produce unstable wheel sinking depths due to their own weight and the geological structure of the paddy fields, causing the weeding depth of the weeding parts between rows to change constantly. Especially when the local terrain between rows changes too much, this will aggravate the difference in weeding depths of the weeding parts in each row, causing some weeding parts between rows to stall due to excessive operating resistance. At the same time, if the electric weeder uses a transmission suspension device, after setting the working depth of the weeding mechanism, it is difficult to make adaptive adjustments according to the actual terrain of the paddy field.

[0004] It can be seen that it is necessary to design an autonomous and stable inter-row weeding depth device and method for an electric weeder, so as to reduce the overall power consumption of the electric weeder as much as possible while ensuring the weeding effect, so as to promote the popularization and application of electric weeders. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide a device and method for stabilizing the inter-row weeding depth for a paddy field electric weeder. By setting a posture adjustment drive mechanism, the foot-type sensing mechanism only serves to sense the terrain between the paddy field rows, thereby avoiding the defect that the foot-type sensing mechanism will sink excessively in the mud due to excessive load. By the coordinated design of the foot-type sensing mechanism, the posture adjustment drive mechanism and the device controller, the inter-row weeding component can maintain a stable weeding depth under complex working conditions in the paddy field, and can also be lifted or lowered more punctually at the place where the terrain suddenly changes.

[0006] In order to achieve the above purpose / solve the above technical problems, the present invention is implemented by adopting the following technical solutions: A device for stabilizing the inter-row weeding depth of a paddy field electric weeder, comprising a cross-shaped fixed mandrel, a foot-type sensing mechanism, a posture adjustment drive mechanism and a device controller; The cross-shaped fixed mandrel is connected to the power platform of the electric weeder through a connecting bracket, and is used to drive the foot-type sensing mechanism, the posture adjustment driving mechanism, the device controller and the inter-row weeding component to travel between the rows of paddy field plants; The posture adjustment drive mechanism includes a mounting bracket and a drive assembly, wherein the mounting bracket is rotatably mounted on the horizontal end of the cross-shaped fixed core shaft, one end of the mounting bracket is connected to the inter-row weeding component, and the other end is connected to the drive assembly, the drive assembly is mounted on the vertical end of the cross-shaped fixed core shaft, and the output end of the drive assembly is connected to the mounting bracket; The foot-type sensing mechanism is slidably mounted on the vertical end of the cross-shaped fixed core shaft and is used to sense local terrain changes between paddy field rows; The device controller is electrically connected to the foot-type sensing mechanism and the posture adjustment drive mechanism, and is used to control the posture adjustment drive mechanism in real time to adjust the height of the inter-row weeding component from the ground according to the local terrain changes sensed by the foot-type sensing mechanism, so that the inter-row weeding component maintains a stable weeding depth during operation.

[0007] Furthermore, the cross-shaped fixed mandrel includes a horizontal shaft section and a vertical shaft section, wherein: A central through hole is arranged at the center of the vertical shaft section, a through keyway is arranged on the central through hole, and a mounting boss and an ear shaft are also arranged on the upper outer circle of the vertical shaft section.

[0008] Furthermore, the foot-type sensing mechanism includes a supporting leg, a foot plate, a return spring and a distance sensor, wherein: The support leg is a straight rod, the upper end of the support leg vertically passes through the central through hole and is connected to the top plate, the lower end is swingably connected to the foot plate, and the support legs are interconnected through a guide flat key and a through keyway; The footboard is a bottom board with upturned ends; The return spring is sleeved on the support leg, the upper end of the return spring is pressed on the lower end surface of the vertical shaft section, and the lower end is pressed on the upper end surface of the disk fixed to the lower section of the support leg; The return spring is also provided with a columnar protective cover, the upper end of which is fixedly connected to the lower end of the vertical shaft section; The distance measuring sensor is mounted on the mounting boss and is used to sense the distance to the top plate in real time.

[0009] Furthermore, the mounting bracket includes a swing arm and a connecting shaft, and the driving assembly includes a driving motor and a driving screw, wherein: There are two swing arms, the upper ends of the two swing arms are respectively fixedly connected to the two ends of the connecting shaft, the lower ends of the two swing arms are rotatably mounted with the inter-row weeding components, and the middle parts of the two swing arms are rotatably connected to the cross-shaped fixed core shaft; The driving motor is mounted on a motor fixing bracket, and the tail of the motor fixing bracket is swingably connected to the ear shaft; One end of the driving screw rod is coaxially connected to the output shaft of the driving motor, and the other end passes through the middle of the connecting shaft through a thread pair. A limiting nut is arranged at the free end of the driving screw rod.

[0010] Furthermore, a "U"-shaped opening is provided at the lower end of the swing arm, which is slidably connected to the shaft neck of the inter-row weeding component through the sliding bearing A and the first gland; A trapezoidal opening is provided in the middle of the swing arm, which is slidably connected to the journal of the horizontal shaft section through a sliding bearing B and a second pressure cover.

[0011] Furthermore, the control method of the device controller includes: Obtaining the target weeding depth, determining the initial swing angle of the swing arm, and adjusting the swing arm to the initial swing angle through the posture adjustment drive mechanism; The real-time terrain height change is obtained, and the real-time working swing angle of the swing arm is determined according to the real-time terrain height change. The swing arm is adjusted to the real-time working swing angle through the attitude adjustment drive mechanism.

[0012] Furthermore, the calculation method of the initial swing angle is as follows:

[0013] in, is the initial swing angle, H0 is the vertical distance from the bottom of the foot plate to the rotation axis of the horizontal shaft segment when the foot plate lands, r is the rotation radius of the inter-row weeding component, is the target weeding depth, and a is the vertical distance from the rotation axis of the inter-row weeding component to the rotation axis of the horizontal shaft section at the location where the inter-row terrain changes.

[0014] Furthermore, the calculation method of the real-time working swing angle is as follows:

[0015] in, is the real-time working swing angle, h is the real-time terrain height change, which is determined by the distance to the top plate sensed by the ranging sensor.

[0016] Furthermore, the posture adjustment drive mechanism adjusts the swing arm to a real-time working swing angle, including: Obtain the forward speed of the paddy field weeding power platform and the horizontal distance between the weeding component and the foot plate during the downward movement of the real-time working swing angle; Determine the adjustment time of the attitude adjustment drive mechanism according to the forward speed and horizontal distance; Determine the change in working length of the driving screw rod at the location where the terrain between rows changes, and determine the adjustment driving speed of the posture adjustment driving mechanism according to the change in working length and the adjustment time; According to the adjustment time and the drive speed, the swing arm is adjusted to the real-time working swing angle through the posture adjustment drive mechanism.

[0017] Further, the adjustment time of the posture adjustment drive mechanism is determined, including: t=L / V 前 , where t is the adjustment time, L is the horizontal distance, V前 is the forward speed; Determine the change in the working length of the drive screw where the terrain changes between rows, including:

[0018] in, is the change in the working length of the driving screw, b is the vertical distance from the swing axis of the tail of the motor fixing bracket to the rotation axis of the horizontal shaft section; c is the vertical distance from the rotation axis of the connecting shaft to the rotation axis of the horizontal shaft section, To adjust the working length of the rear drive screw, To adjust the working length of the front drive screw; Determine the adjustment drive speed of the posture adjustment drive mechanism, including:

[0019] in, To adjust the drive speed, P is the pitch of the drive screw.

[0020] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a stable inter-row weeding depth device for an electric weeder in a paddy field. By setting a posture adjustment drive mechanism, the foot-type sensing mechanism only serves to sense the terrain between the paddy field rows, thereby avoiding the defect that the foot-type sensing mechanism sinks excessively in the mud due to excessive load. Through the coordinated design of the foot-type sensing mechanism, the posture adjustment drive mechanism and the device controller, the inter-row weeding component can maintain a stable weeding depth under complex working conditions in the paddy field, and can also be lifted or lowered more punctually at the place where the terrain suddenly changes.

[0021] The present invention provides a method for stabilizing the inter-row weeding depth of an electric weeder for a paddy field. Before weeding is performed, the initial swing angle of a swing arm can be determined according to an acquired target weeding depth, and the swing arm can be adjusted to the initial swing angle by a posture adjustment drive mechanism. When weeding is performed, the real-time terrain height change can be synchronously acquired, and the real-time working swing angle of the swing arm can be determined according to the real-time terrain height change. The swing arm can be adjusted to the real-time working swing angle by the posture adjustment drive mechanism to ensure that the inter-row weeding component can maintain a stable weeding depth under complex working conditions in the paddy field. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the structural assembly of the present invention.

[0023] Figure 2 It is a schematic diagram of the cross-shaped fixed mandrel structure of the present invention.

[0024] Figure 3 It is a schematic diagram of the assembly of the cross-shaped fixed core shaft and the foot-type sensing mechanism of the present invention.

[0025] Figure 4 It is a schematic diagram of the assembly of the cross-shaped fixed core shaft and the foot-type sensing mechanism when removing the columnar protective cover of the present invention.

[0026] Figure 5 It is a schematic diagram of the assembly of the posture adjustment drive mechanism of the present invention.

[0027] Figure 6 It is a schematic diagram of the working principle of the present invention when the local terrain between rows does not change suddenly.

[0028] Figure 7 It is a schematic diagram of the working principle of the present invention when the local terrain between rows changes suddenly.

[0029] Figure 8 This is a case diagram for the implementation of the present invention.

[0030] Fig. 9 This is a diagram showing another example of an implementation of the present invention.

[0031] In the figure: 1100, cross-shaped fixed mandrel; 1100-1, horizontal shaft section; 1100-2, vertical shaft section; 1100-3, center through hole; 1100-4, through keyway; 1100-5, mounting boss; 1100-6, ear shaft; 1200, foot-type sensing mechanism; 1201, supporting leg; 1201-1, top plate; 1202, foot plate; 1203, reset spring; 1204, distance sensor device; 1205, disc; 1206, columnar protective cover; 1207, guide flat key; 1300, posture adjustment drive mechanism; 1301, drive motor; 1302, drive screw; 1303, swing arm; 1304, motor fixing bracket; 1305, connecting shaft; 1306, limit nut; 1307, first gland; 1400, device controller; 2000, connecting bracket; 3000, inter-row weeding component; DETAILED DESCRIPTION

[0032] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0033] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0034] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances. Embodiment 1

[0035] This embodiment provides a stable inter-row weeding depth device for a paddy field electric weeder, comprising a cross-shaped fixed mandrel 1100, a foot-type sensing mechanism 1200, a posture adjustment drive mechanism 1300 and a device controller 1400; The cross-shaped fixed spindle 1100 is connected to the power platform of the electric weeder through a connecting bracket 2000, and is used to drive the foot-type sensing mechanism 1200, the posture adjustment driving mechanism 1300, the device controller 1400 and the inter-row weeding component 3000 to travel between the rows of paddy field plants; The posture adjustment drive mechanism 1300 includes a mounting bracket and a drive assembly. The mounting bracket is rotatably mounted on the horizontal end of the cross-shaped fixed core shaft 1100. One end of the mounting bracket is connected to the inter-row weeding component 3000, and the other end is connected to the drive assembly. The drive assembly is mounted on the vertical end of the cross-shaped fixed core shaft 1100, and the output end of the drive assembly is connected to the mounting bracket. The foot-type sensing mechanism 1200 is slidably mounted on the vertical end of the cross-shaped fixed core shaft 1100 to sense local terrain changes between paddy field rows; The device controller 1400 is electrically connected to the foot-type sensing mechanism 1200 and the posture adjustment drive mechanism 1300, and is used to control the posture adjustment drive mechanism 1300 to adjust the height of the inter-row weeding component 3000 from the ground in real time according to the local terrain changes sensed by the foot-type sensing mechanism 1200, so that the inter-row weeding component 3000 maintains a stable weeding depth during operation. Embodiment 2

[0036] The stable inter-row weeding depth device for a paddy field electric weeder provided in this embodiment is different from the stable inter-row weeding depth device for a paddy field electric weeder provided in the first embodiment in that: like Figure 2 As shown, the cross-shaped fixed mandrel 1100 includes a horizontal shaft section 1100-1 and a vertical shaft section 1100-2, wherein: A central through hole 1100-3 is provided at the center of the vertical shaft section 1100-2, a through keyway 1100-4 is provided on the central through hole 1100-3, and a mounting boss 1100-5 and an ear shaft 1100-6 are also provided on the upper outer circle of the vertical shaft section 1100-2.

[0037] like Figure 3 and Figure 4 As shown, the foot-type sensing mechanism 1200 includes a supporting leg 1201, a foot plate 1202, a return spring 1203 and a distance sensor 1204, wherein: In order to adapt to the local terrain changes between the rows, the support leg 1201 is a straight rod, the upper end of the support leg 1201 vertically passes through the central through hole 1100-3 and is connected to the top plate 1201-1, and the lower end is swingably connected to the foot plate 1202. The support legs 1201 are interconnected through the guide flat key 1207 and the through key slot 1100-4; The foot plate 1202 is a bottom plate with upturned ends; The return spring 1203 is sleeved on the support leg 1201, the upper end of the return spring 1203 is pressed on the lower end surface of the vertical shaft section 1100-2, and the lower end is pressed on the upper end surface of the disk 1205 fixed to the lower section of the support leg 1201; In order to prevent weeds and crops from being entangled with the return spring 1203 during operation, a columnar protective cover 1206 is also mounted on the return spring 1203, and the upper end of the columnar protective cover 1206 is fixedly connected to the lower end of the vertical shaft section 1100-2; The distance measuring sensor 1204 is installed on the mounting boss 1100 - 5 and is used to sense the distance to the top plate 1201 - 1 in real time and provide the device controller 1400 with accurate local terrain change values ​​between rows.

[0038] like Figure 5As shown, the mounting bracket includes a swing arm 1303 and a connecting shaft 1305, and the driving assembly includes a driving motor 1301 and a driving screw 1302, wherein: There are two swing arms 1303, the upper ends of the two swing arms 1303 are respectively fixedly connected to the two ends of the connecting shaft 1305, the lower ends of the two swing arms 1303 are rotatably mounted with the inter-row weeding component 1500, and the middle parts of the two swing arms 1303 are rotatably connected to the cross-shaped fixed core shaft 1100; The driving motor 1301 is mounted on a motor fixing bracket 1304, and the tail of the motor fixing bracket 1304 is swingably connected to the ear shaft 1100-6; One end of the driving screw rod 1302 is coaxially connected to the output shaft of the driving motor 1301, and the other end passes through the middle of the connecting shaft 1305 through a threaded pair. A limit nut 1306 is installed at the free end of the driving screw rod 1302; In the above technical solution, it is designed so that when the two swing arms 1303 lift and lower the inter-row weeding component 3000, the weight of the inter-row weeding component 3000 they bear is transmitted to the connecting bracket 2000 through the cross-shaped fixed core shaft 1100, which effectively prevents the foot-type sensing mechanism from sinking excessively in the mud due to excessive load, and at the same time helps the inter-row weeding component 3000 maintain a stable weeding depth.

[0039] In order to realize the connection between the mounting bracket and the inter-row weeding component 3000 and the cross-shaped fixed core shaft 1100, a "U"-shaped opening is provided at the lower end of the swing arm 1303, which is slidably connected to the shaft neck of the inter-row weeding component 3000 through a sliding bearing A1306 and a first pressure cover 1307; The middle part of the swing arm 1303 is provided with a trapezoidal opening, which is slidably connected to the journal of the horizontal shaft section 1100-1 through a sliding bearing B1308 and a second gland 1309; Such a design facilitates the disassembly and assembly of the swing arm 1303, the inter-row weeding component 3000, and the cross-shaped fixed core shaft 1100, and facilitates the maintenance and care of the electric weeder. Embodiment 3

[0040] This embodiment provides a control method for a device controller 1400 of a device for stabilizing the inter-row weeding depth of a paddy field electric weeder provided in the first embodiment. Figure 6 and Figure 7 As shown, the control method of the device controller 1400 includes: Obtaining a target weeding depth, determining an initial swing angle of the swing arm 1303, and adjusting the swing arm 1303 to the initial swing angle through the posture adjustment drive mechanism 1300; The real-time terrain height change is obtained, and the real-time working swing angle of the swing arm 1303 is determined according to the real-time terrain height change. The swing arm 1303 is adjusted to the real-time working swing angle through the attitude adjustment drive mechanism 1300.

[0041] The calculation method of the initial swing angle is as follows:

[0042] in, is the initial swing angle, H0 is the vertical distance from the bottom surface of the foot plate 1202 to the rotation axis of the horizontal shaft section 1100-1 when the foot plate 1202 is on the ground, r is the rotation radius of the inter-row weeding component 1500, is the target weeding depth, and a is the vertical distance from the rotation axis of the inter-row weeding component to the rotation axis of the horizontal shaft segment 1100-1 at the location where the inter-row terrain changes.

[0043] The calculation method of the real-time working swing angle is as follows:

[0044] in, is the real-time working swing angle, h is the real-time terrain height change, which is determined by the distance to the top plate 1201-1 sensed by the ranging sensor 1204.

[0045] The posture adjustment drive mechanism 1300 adjusts the swing arm 1303 to a real-time working swing angle, including: Obtain the forward speed of the paddy field weeding power platform and the horizontal distance between the weeding component 1500 and the foot plate 1202 during the real-time working swing angle downward; Determine the adjustment time of the attitude adjustment drive mechanism 1300 according to the forward speed and the horizontal distance; Determine the change in the working length of the driving screw rod at the position where the terrain between the rows changes, and determine the adjustment driving speed of the posture adjustment driving mechanism 1300 according to the change in the working length and the adjustment time; According to the adjustment time and the adjustment driving speed, the swing arm 1303 is adjusted to the real-time working swing angle through the posture adjustment drive mechanism 1300.

[0046] Determine the adjustment time of the posture adjustment drive mechanism 1300, including: t = L / V 前 , where t is the adjustment time, L is the horizontal distance, V 前 is the forward speed; Determine the change in the working length of the drive screw where the terrain changes between rows, including:

[0047] in, is the change in the working length of the driving screw rod, b is the vertical distance from the swing axis of the tail of the motor fixing bracket 1304 to the rotation axis of the horizontal shaft section 1100-1; c is the vertical distance from the rotation axis of the connecting shaft 1305 to the rotation axis of the horizontal shaft section 1100-1; Determining the adjustment driving speed of the posture adjustment driving mechanism 1300 includes:

[0048] in, To adjust the drive speed, P is the pitch of the drive screw.

[0049] The present embodiment provides a stable inter-row weeding depth device 1000 for a paddy field electric weeder. According to actual needs, multiple stable inter-row weeding depth devices can be assembled into a multi-row inter-row weeding assembly, which is hung behind the power platform of the electric weeder through a fixed bracket 2000, and the paddy field inter-row weeding is completed under the traction of the power platform of the electric weeder. The assembly diagram of the multi-row inter-row weeding assembly placed behind the power platform of the electric weeder is shown in FIG. Figure 8 shown.

[0050] The stable inter-row weeding depth device 1000 for a paddy field electric weeder provided in this embodiment can also be combined into a multi-row inter-row weeding assembly according to actual needs, and installed in front of the electric weeder power platform through a fixed bracket 2000, so that paddy field inter-row weeding can be completed under the push of the electric weeder power platform. The assembly diagram of the multi-row inter-row weeding assembly placed in front of the electric weeder power platform is shown in FIG. Fig. 9 shown.

[0051] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A device for stabilizing the inter-row weeding depth of a paddy field electric weeder, comprising a cross-shaped fixed spindle (1100), a foot-type sensing mechanism (1200), a posture adjustment drive mechanism (1300) and a device controller (1400), characterized in that: The cross-shaped fixed spindle (1100) is connected to the power platform of the electric weeder via a connecting bracket (2000) and is used to drive the foot-type sensing mechanism (1200), the posture adjustment driving mechanism (1300), the device controller (1400) and the inter-row weeding component (3000) to travel between the rows of paddy field plants; The posture adjustment drive mechanism (1300) comprises a mounting bracket and a drive assembly, the mounting bracket being rotatably mounted on the horizontal end of the cross-shaped fixed spindle (1100), one end of the mounting bracket being connected to the inter-row weeding component (3000), and the other end being connected to the drive assembly, the drive assembly being mounted on the vertical end of the cross-shaped fixed spindle (1100), and the output end of the drive assembly being connected to the mounting bracket; The foot-type sensing mechanism (1200) is slidably mounted on the vertical end of the cross-shaped fixed core shaft (1100) and is used to sense local terrain changes between paddy field rows; The device controller (1400) is electrically connected to the foot-type sensing mechanism (1200) and the posture adjustment drive mechanism (1300); after the foot-type sensing mechanism (1200) senses a change in local terrain and feeds back to the device controller (1400), the device controller (1400) controls the posture adjustment drive mechanism (1300) in real time to adjust the height of the inter-row weeding component (3000) above the ground, so that the inter-row weeding component (3000) maintains a stable weeding depth during operation.

2. The device for stabilizing inter-row weeding depth for a paddy field electric weeder according to claim 1, characterized in that: The cross-shaped fixed core shaft (1100) comprises a horizontal shaft section (1100-1) and a vertical shaft section (1100-2), wherein: A central through hole (1100-3) is provided at the center of the vertical shaft section (1100-2), a through keyway (1100-4) is provided on the central through hole (1100-3), and a mounting boss (1100-5) and an ear shaft (1100-6) are also provided on the upper outer circle of the vertical shaft section (1100-2).

3. The device for stabilizing inter-row weeding depth for a paddy field electric weeder according to claim 2, characterized in that: The foot-type sensing mechanism (1200) comprises a supporting leg (1201), a foot plate (1202), a return spring (1203) and a distance measuring sensor (1204), wherein: The support leg (1201) is a straight rod, the upper end of the support leg (1201) vertically passes through the central through hole (1100-3) and is connected to the top plate (1201-1), and the lower end is swingably connected to the foot plate (1202), and the support legs (1201) are interconnected via a guide flat key (1207) and a through key slot (1100-4); The foot plate (1202) is a bottom plate with upturned ends; The return spring (1203) is sleeved on the support leg (1201), the upper end of the return spring (1203) is pressed on the lower end surface of the vertical shaft section (1100-2), and the lower end is pressed on the upper end surface of the disk (1205) fixed to the lower section of the support leg (1201); A columnar protective cover (1206) is also mounted on the return spring (1203), and the upper end of the columnar protective cover (1206) is fixedly connected to the lower end of the vertical shaft section (1100-2); The distance measuring sensor (1204) is mounted on the mounting boss (1100-5) and is used to sense the distance to the top plate (1201-1) in real time.

4. The device for stabilizing inter-row weeding depth for a paddy field electric weeder according to claim 3, characterized in that: The mounting bracket comprises a swing arm (1303) and a connecting shaft (1305), and the driving assembly comprises a driving motor (1301) and a driving screw (1302), wherein: There are two swing arms (1303), the upper ends of the two swing arms (1303) are respectively fixedly connected to the two ends of the connecting shaft (1305), the lower ends of the two swing arms (1303) are rotatably mounted on the inter-row weeding components (1500), and the middle parts of the two swing arms (1303) are rotatably connected to the cross-shaped fixed core shaft (1100); The driving motor (1301) is mounted on a motor fixing bracket (1304), and the tail of the motor fixing bracket (1304) is swingably connected to the ear shaft (1100-6); One end of the driving screw rod (1302) is coaxially connected to the output shaft of the driving motor (1301), and the other end passes through the middle of the connecting shaft (1305) through a threaded pair. A limit nut (1306) is installed at the free end of the driving screw rod (1302).

5. The device for stabilizing inter-row weeding depth for a paddy field electric weeder according to claim 4, characterized in that: The lower end of the swing arm (1303) is provided with a U-shaped opening, which is slidably connected to the shaft neck of the inter-row weeding component (3000) via a sliding bearing A (1306) and a first pressure cover (1307); The swing arm (1303) is provided with a trapezoidal opening in the middle, and is slidably connected to the journal of the horizontal shaft section (1100-1) via a sliding bearing B (1308) and a second pressure cover (1309).

6. The device for stabilizing inter-row weeding depth for a paddy field electric weeder according to claim 4, characterized in that: The control method of the device controller (1400) comprises: Obtaining a target weeding depth, determining an initial swing angle of a swing arm (1303), and adjusting the swing arm (1303) to the initial swing angle through a posture adjustment drive mechanism (1300), wherein the target weeding depth is determined based on the growth of plants and weeds in the paddy field and the texture of the paddy field soil; The real-time terrain height change is obtained, and the real-time working swing angle of the swing arm (1303) is determined according to the real-time terrain height change, and the swing arm (1303) is adjusted to the real-time working swing angle through the attitude adjustment drive mechanism (1300).

7. The device for stabilizing the weeding depth between rows for a paddy field electric weeder according to claim 6, characterized in that: The calculation method of the initial swing angle is as follows: ； in, is the initial swing angle, H0 is the vertical distance from the bottom surface of the foot plate (1202) to the rotation axis of the horizontal shaft section (1100-1) when the foot plate (1202) is on the ground, r is the rotation radius of the inter-row weeding component (1500), is the target weeding depth, and a is the vertical distance from the rotation axis of the inter-row weeding component to the rotation axis of the horizontal shaft section (1100-1) at the location where the inter-row terrain changes.

8. The device for stabilizing inter-row weeding depth for a paddy field electric weeder according to claim 7, characterized in that: The calculation method of the real-time working swing angle is as follows: ； in, is the real-time working swing angle, and h is the real-time terrain height change, which is determined by the distance to the top plate (1201-1) sensed by the ranging sensor (1204).

9. The device for stabilizing inter-row weeding depth for a paddy field electric weeder according to claim 8, characterized in that: The posture adjustment drive mechanism (1300) adjusts the swing arm (1303) to a real-time working swing angle, comprising: Obtaining the forward speed and real-time working swing angle of the paddy field weeding power platform and the horizontal distance between the weeding component (3000) and the foot plate (1202); Determining the adjustment time of the attitude adjustment drive mechanism (1300) according to the forward speed and the horizontal distance; Determine the change in the working length of the driving screw rod at the position where the terrain between rows changes, and determine the adjustment driving speed of the posture adjustment driving mechanism (1300) according to the change in the working length and the adjustment time; According to the adjustment time and the adjustment driving speed, the swing arm (1303) is adjusted to a real-time working swing angle through the posture adjustment drive mechanism (1300).

10. The device for stabilizing inter-row weeding depth for a paddy field electric weeder according to claim 1, characterized in that: Determine the adjustment time of the posture adjustment drive mechanism (1300), including: t = L / V 前 , where t is the adjustment time, L is the horizontal distance, V 前 is the forward speed; Determine the change in the working length of the drive screw where the terrain changes between rows, including: ； in, is the change in the working length of the driving screw rod, b is the vertical distance from the swing axis of the tail of the motor fixing bracket (1304) to the rotation axis of the horizontal shaft section (1100-1); c is the vertical distance from the rotation axis of the connecting shaft (1305) to the rotation axis of the horizontal shaft section (1100-1), To adjust the working length of the rear drive screw, To adjust the working length of the front drive screw; Determining the adjustment driving speed of the posture adjustment driving mechanism (1300) includes: ； in, To adjust the drive speed, P is the pitch of the drive screw.

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