Active seedling avoiding drawing type multi-row paddy field weeding device

Abstract

The invention relates to an active seedling avoiding drawing type multi-row paddy field weeding device which comprises a rack, a seedling avoiding clamping mechanism, a rotary drawing mechanism and an identification and control system. The seedling avoiding clamping mechanism comprises a transverse moving part, an active inserting part and a clamping execution part; the clamping execution component moves transversely, weeds are clamped when the clamping execution component makes contact with the rotary drawing mechanism, drawing of the weeds and separation of the weeds from soil are achieved along with rotation of the rotary drawing mechanism, and the weeding efficiency is improved; when the identification and control system detects that a certain row of rice seedlings in the operation direction is narrowed or inclined and the row spacing is smaller than the operation width of a single seedling avoiding clamping mechanism, an active insertion part of the seedling avoiding clamping mechanism stops the transverse movement of a clamping execution part, and the seedlings cannot be damaged by a weeding part only when a rotary drawing mechanism operates; the seedling damage rate can be effectively reduced. The invention provides the multi-row paddy field weeding device which actively avoids seedlings to realize low seedling damage rate and realizes high weeding efficiency through continuous drawing operation.

Description

Technical Field

[0001] The invention belongs to the field of agricultural machinery, and in particular relates to an active seedling-avoiding pulling-type multi-row paddy field weeding device. Background Art

[0002] Rice is one of the main food crops in my country. Weeds in rice fields inhibit the growth of rice, increase the incidence of diseases and pests, and are the main reason affecting rice yield and quality. Compared with manual weeding and chemical weeding, mechanical weeding has gradually been widely used in paddy field weeding processes due to its advantages of high degree of automation, low environmental pollution and low application cost.

[0003] However, existing mechanical weeding methods mainly rely on the interaction between weeding wheels and the soil to bury the weeds in water. When the rice rows become narrower or a row is tilted, the weeding components of a certain row cannot be autonomously controlled to stop operating, causing the weeding components to continue to contact the soil and damage the rice seedlings, resulting in an increase in the seedling injury rate and affecting the rice yield. Summary of the invention

[0004] In view of the above technical problems, the purpose of the present invention is to provide an active seedling-avoiding and pulling multi-row paddy field weeding device, which can achieve weeding operation without the weeding parts contacting the soil by clamping the upper end of the weeds and then pulling them. At the same time, a single set of weeding devices can control the start and stop operation separately to avoid damage to the rice seedlings when the rice planting rows become narrow or a row is tilted, and achieve weeding operation with low seedling damage rate.

[0005] To achieve the above object, the present invention provides the following technical solutions: An active seedling-avoiding and pulling multi-row paddy field weeding device, characterized in that it comprises a frame 1, a seedling-avoiding and clamping mechanism 2, a rotary pulling mechanism 3, and an identification and control system 4; the seedling-avoiding and clamping mechanism 2 and the rotary pulling mechanism 3 are installed on the frame 1, and can be hung in front of a power chassis with the frame 1 to perform weeding operations between paddy field rows; the identification and control system 4 is located in the middle of the upper end of the frame 1, and identifies rice seedlings and calculates the spacing between rice seedling rows; The seedling-avoiding clamping mechanism 2 includes a transverse moving part 2-1, an active plug-in part 2-2, a clamping execution part 2-3 and an execution part guide rail 2-4; the transverse moving part 2-1 is fixedly connected to the upper side of the frame 1, and the execution part guide rail 2-4 is fixedly connected to the lower side of the frame 1; the active plug-in part 2-2 and the clamping execution part 2-3 are arranged in parallel in six groups; the clamping execution part 2-3 is installed in coordination with the execution part guide rail 2-4; the active plug-in part 2-2 is fixedly connected to the lower end of the transverse moving part 2-1, and can be actively plugged and separated from the clamping execution part 2-3; The transverse moving component 2-1 includes a transverse moving motor 2-1-1, a rocker mechanism 2-1-2, a transverse moving guide rail 2-1-3, and a transverse moving frame 2-1-4; the transverse moving motor 2-1-1 is installed on the right side of the upper end of the frame 1, and its motor shaft is connected to the rocker mechanism 2-1-2, and the output torque drives the rocker mechanism 2-1-2; the rocker mechanism 2-1-2 is fixedly connected to the transverse moving frame 2-1-4, and the torque is transmitted to make the transverse moving frame 2-1-4 perform linear reciprocating motion along the transverse moving guide rail 2-1-3; The active plug-in component 2-2 includes an electric push rod 2-2-1 and a plug-in block 2-2-2; six groups of electric push rods 2-2-1 are installed in parallel at the lower end of the transverse frame 2-1-4, and the plug-in block 2-2-2 is installed at the end of the push rod of the electric push rod 2-2-1; The clamping actuator 2-3 includes a guide rail slider 2-3-1, a plug connector 2-3-2 and a transverse clamping disc 2-3-3; there are six groups of transverse clamping discs 2-3-3 installed in parallel; the guide rail slider 2-3-1 is installed at the top of the transverse clamping disc 2-3-3, and cooperates with the actuator guide rail 2-4 to make the clamping actuator 2-3 move laterally along the actuator guide rail 2-4; the plug connector 2-3-2 is arranged at the top of the transverse clamping disc 2-3-3, and cooperates with the plug block 2-2-2 to achieve plugging and separation with the extension and retraction of the electric push rod 2-2-1; The rotary pulling mechanism 3 includes a rotary power and transmission component 3-1 and a rotary extraction disc 3-2. The rotary power and transmission component 3-1 transmits the motor torque to the rotary extraction disc 3-2 through a synchronous belt, so that the rotary extraction disc 3-2 rotates counterclockwise. There are six groups of rotary extraction discs 3-2, each group is installed in conjunction with a group of transverse clamping discs 2-3-3. The rotary power and transmission component 3-1 includes six sets of synchronous belt transmission systems 3-1-1 and extraction power motors 3-1-2 arranged in parallel, and the lower end of each set of synchronous belt transmission system 3-1-1 is matched with a set of rotary extraction discs 3-2; When performing the clamping and pulling operation, the transverse clamping disc 2-3-3 is driven by the rocker mechanism 2-1-2 to intermittently move back and forth laterally along the actuator guide rail 2-4; when moving toward the rotary extraction disc 3-2 on one side, the weeds between the rotary extraction disc 3-2 and the transverse clamping disc 2-3-3 are clamped, and after contacting the rotary extraction disc 3-2, the weeds are kept stationary for a certain period of time to keep the weeds clamped, and the weeds are separated from the ground by the combined action of the rotation of the rotary extraction disc 3-2 and the advancement of the machine, so as to realize the weed pulling and clamping; The identification and control system 4 includes a binocular camera 4-1 and a controller 4-2; the binocular camera 4-1 identifies the rice seedlings in front and transmits the image to the controller 4-2; the controller 4-2 measures the spacing between the seedling rows, and when the spacing between two rows of seedlings is too small, the controller 4-2 sends a signal to control the active plug-in component 2-2 of the corresponding row, the electric push rod 2-2-1 is retracted, and the plug-in block 2-2-2 is moved up and disconnected from the plug connector 2-3-2, so that the clamping execution component 2-3 of the corresponding seedling row stops moving, thereby achieving seedling avoidance.

[0006] Compared with the prior art, the present invention has the following beneficial effects: The active seedling avoidance weeding operation with low seedling injury rate is realized; the weeds are clamped when the lateral movement of the lateral clamping disc 2-3-3 contacts the rotary extraction disc 3-2, and the weeds are pulled out and separated from the soil as the rotary extraction disc 3-2 rotates. At the same time, when the identification and control system 4 detects that a row of rice seedlings in the operation direction becomes narrower or tilted so that the row spacing is less than the operation width of the single-group seedling avoidance clamping mechanism, the electric push rod 2-2-1 corresponding to the single-group seedling avoidance clamping mechanism is lifted, and the plug block 2-2-2 is separated from the plug connector 2-3-2, so that the clamping execution component 2-3 cannot move laterally with the lateral movement component 2-1 to complete the clamping action. At the same time, since the pulling weeding only needs to clamp the upper end of the weeds without the weeding component contacting the soil, the weeding component will not damage the seedlings only when the rotary extraction disc 3-2 is in operation, which can effectively reduce the seedling injury rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 This is a structural schematic diagram of an active seedling-avoiding pulling-type multi-row paddy field weeding device of the present invention; Figure 2 It is a structural schematic diagram of the seedling-avoiding clamping mechanism 2 of the present invention; Figure 3 It is a schematic diagram of the active plug-in component 2-2 and the clamping execution component 2-3 of the present invention; Figure 4 It is a schematic diagram of the structure of the rotary drawing mechanism 3 and the identification and control system 4 of the present invention.

[0008] The accompanying drawings are denoted as follows: Frame 1; seedling avoidance clamping mechanism 2; transverse moving component 2-1; transverse moving motor 2-1-1; rocker mechanism 2-1-2; transverse moving guide rail 2-1-3; transverse moving frame 2-1-4; active plug-in component 2-2; electric push rod 2-2-1; plug-in block 2-2-2; clamping execution component 2-3; guide rail slider 2-3-1; plug connector 2-3-2; transverse moving clamping disc 2-3-3; execution component guide rail 2-4; rotary pulling mechanism 3; rotary power and transmission component 3-1; synchronous belt transmission system 3-1-1; pulling power motor 3-1-2; rotary pulling disc 3-2; identification and control system 4; including binocular camera 4-1; controller 4-2.

[0009] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0010] like Figure 1 As shown, an active seedling-avoiding and pulling multi-row paddy field weeding device is characterized in that it includes a frame 1, a seedling-avoiding and clamping mechanism 2, a rotary pulling mechanism 3, and an identification and control system 4; the seedling-avoiding and clamping mechanism 2 and the rotary pulling mechanism 3 are installed on the frame 1, and can be hung in front of the power chassis with the random frame 1 to perform weeding operations between paddy field rows; the identification and control system 4 is located in the middle of the upper end of the frame 1, and identifies rice seedlings and calculates the spacing between seedling rows.

[0011] like Figure 2-Figure 3 As shown, the seedling-avoiding clamping mechanism 2 includes a transverse moving part 2-1, an active plug-in part 2-2, a clamping execution part 2-3 and an execution part guide rail 2-4; the transverse moving part 2-1 is fixedly connected to the upper side of the frame 1, and the execution part guide rail 2-4 is fixedly connected to the lower side of the frame 1; the active plug-in part 2-2 and the clamping execution part 2-3 are arranged in parallel in six groups; the clamping execution part 2-3 is installed in coordination with the execution part guide rail 2-4; the active plug-in part 2-2 is fixedly connected to the lower end of the transverse moving part 2-1, and can be actively plugged and separated from the clamping execution part 2-3; The transverse moving component 2-1 includes a transverse moving motor 2-1-1, a rocker mechanism 2-1-2, a transverse moving guide rail 2-1-3, and a transverse moving frame 2-1-4; the transverse moving motor 2-1-1 is installed on the right side of the upper end of the frame 1, and its motor shaft is connected to the rocker mechanism 2-1-2, and the output torque drives the rocker mechanism 2-1-2; the rocker mechanism 2-1-2 is fixedly connected to the transverse moving frame 2-1-4, and the torque is transmitted to make the transverse moving frame 2-1-4 perform linear reciprocating motion along the transverse moving guide rail 2-1-3; The active plug-in component 2-2 includes an electric push rod 2-2-1 and a plug-in block 2-2-2; six groups of electric push rods 2-2-1 are installed in parallel at the lower end of the transverse frame 2-1-4, and the plug-in block 2-2-2 is installed at the end of the push rod of the electric push rod 2-2-1; The clamping actuator 2-3 includes a guide rail slider 2-3-1, a plug connector 2-3-2 and a transverse clamping disc 2-3-3; there are six groups of transverse clamping discs 2-3-3 installed in parallel; the guide rail slider 2-3-1 is installed at the top of the transverse clamping disc 2-3-3, and cooperates with the actuator guide rail 2-4 to make the clamping actuator 2-3 move laterally along the actuator guide rail 2-4; the plug connector 2-3-2 is arranged at the top of the transverse clamping disc 2-3-3, and cooperates with the plug block 2-2-2 to realize plugging and separation with the extension and retraction of the electric push rod 2-2-1.

[0012] like Figure 4 As shown, the rotary pulling mechanism 3 includes a rotary power and transmission component 3-1 and a rotary extraction disc 3-2. The rotary power and transmission component 3-1 transmits the motor torque to the rotary extraction disc 3-2 through a synchronous belt, so that the rotary extraction disc 3-2 rotates counterclockwise. There are six groups of rotary extraction discs 3-2, each group is installed in conjunction with a group of transverse clamping discs 2-3-3. The rotary power and transmission component 3-1 includes six sets of synchronous belt transmission systems 3-1-1 and extraction power motors 3-1-2 arranged in parallel, and the lower end of each set of synchronous belt transmission system 3-1-1 is matched with a set of rotary extraction discs 3-2; When performing the clamping and pulling operation, the transverse clamping disc 2-3-3 is driven by the rocker mechanism 2-1-2 to intermittently move back and forth laterally along the actuator guide rail 2-4; when moving toward the rotary extraction disc 3-2 on one side, the weeds between the rotary extraction disc 3-2 and the transverse clamping disc 2-3-3 are clamped, and after contacting the rotary extraction disc 3-2, the weeds are kept stationary for a certain period of time to keep the weeds clamped, and the weeds are separated from the ground by the combined action of the rotation of the rotary extraction disc 3-2 and the advancement of the machine, so as to realize the weed pulling and clamping; The identification and control system 4 includes a binocular camera 4-1 and a controller 4-2; the binocular camera 4-1 identifies the rice seedlings in front and transmits the image to the controller 4-2; the controller 4-2 measures the spacing between the seedling rows, and when the spacing between two rows of seedlings is too small, the controller 4-2 sends a signal to control the active plug-in component 2-2 of the corresponding row, the electric push rod 2-2-1 is retracted, and the plug-in block 2-2-2 is moved up and disconnected from the plug connector 2-3-2, so that the clamping execution component 2-3 of the corresponding seedling row stops moving, thereby achieving seedling avoidance.

[0013] The above embodiments are only used to illustrate the present invention, wherein the structures and connection modes of the components may be changed. Any equivalent transformations and improvements based on the technical solution of the present invention should not be excluded from the protection scope of the present invention.

Claims

1. An active seedling-avoiding pulling-type multi-row paddy field weeding device, characterized in that: It comprises a frame (1), a seedling avoidance clamping mechanism (2), a rotary pulling mechanism (3), and an identification and control system (4); the seedling avoidance clamping mechanism (2) and the rotary pulling mechanism (3) are mounted on the frame (1), and can be hung in front of a power chassis along with the frame (1) to perform weeding operations between paddy field rows; the identification and control system (4) is located in the middle of the upper end of the frame (1), and identifies rice seedlings and calculates the spacing between rice seedling rows; The seedling-avoiding clamping mechanism (2) comprises a transverse moving component (2-1), an active plug-in component (2-2), a clamping execution component (2-3) and an execution component guide rail (2-4); the transverse moving component (2-1) is fixedly connected to the upper side of the frame (1), and the execution component guide rail (2-4) is fixedly connected to the lower side of the frame (1); the active plug-in component (2-2) and the clamping execution component (2-3) are arranged in parallel in six groups; the clamping execution component (2-3) and the execution component guide rail (2-4) are installed in coordination; the active plug-in component (2-2) is fixedly connected to the lower end of the transverse moving component (2-1), and can be actively plugged into and separated from the clamping execution component (2-3); The transverse moving component (2-1) comprises a transverse moving motor (2-1-1), a rocker mechanism (2-1-2), a transverse moving guide rail (2-1-3), and a transverse moving frame (2-1-4); the transverse moving motor (2-1-1) is installed on the right side of the upper end of the frame (1), and its motor shaft is connected to the rocker mechanism (2-1-2), and outputs torque to drive the rocker mechanism (2-1-2); the rocker mechanism (2-1-2) is fixedly connected to the transverse moving frame (2-1-4), and transmits torque to make the transverse moving frame (2-1-4) perform linear reciprocating motion along the transverse moving guide rail (2-1-3); The active plug-in component (2-2) comprises an electric push rod (2-2-1) and a plug-in block (2-2-2); six groups of electric push rods (2-2-1) are installed in parallel at the lower end of the transverse frame (2-1-4), and the plug-in block (2-2-2) is installed at the end of the push rod of the electric push rod (2-2-1); The clamping actuator (2-3) comprises a guide rail slider (2-3-1), a plug connector (2-3-2) and a transverse clamping disc (2-3-3); the transverse clamping disc (2-3-3) has four pieces installed in parallel; the guide rail slider (2-3-1) is installed at the top of the transverse clamping disc (2-3-3) and cooperates with the actuator guide rail (2-4) to enable the clamping actuator (2-3) to move laterally along the actuator guide rail (2-4); the plug connector (2-3-2) is arranged at the top of the transverse clamping disc (2-3-3) and cooperates with the plug block (2-2-2) to achieve plugging and separation as the electric push rod (2-2-1) is extended and retracted; The rotary pulling mechanism (3) comprises a rotary power and transmission component (3-1) and a rotary extraction disc (3-2). The rotary power and transmission component (3-1) transmits the motor torque to the rotary extraction disc (3-2) through a synchronous belt, so that the rotary extraction disc (3-2) rotates counterclockwise. There are six groups of rotary extraction discs (3-2), each group of which is installed in cooperation with a group of transverse clamping discs (2-3-3). The rotary power and transmission component (3-1) comprises six sets of synchronous belt transmission systems (3-1-1) and extraction power motors (3-1-2) arranged in parallel, and the lower end of each set of synchronous belt transmission systems (3-1-1) is mounted in cooperation with a set of rotary extraction discs (3-2); When performing the clamping and pulling operation, the transverse clamping disc (2-3-3) is driven by the rocker mechanism (2-1-2) to intermittently move back and forth laterally along the actuator guide rail (2-4); when moving toward the rotary extraction disc (3-2) on one side, the weeds between the rotary extraction disc (3-2) and the transverse clamping disc (2-3-3) are clamped, and after contacting the rotary extraction disc (3-2), the weeds are kept stationary for a certain period of time to keep the weeds clamped, and the weeds are separated from the ground under the combined action of the rotation of the rotary extraction disc (3-2) and the advancement of the machine, thereby achieving weed pulling and clamping; The identification and control system (4) comprises a binocular camera (4-1) and a controller (4-2); the binocular camera (4-1) identifies the rice seedlings in front and transmits the image to the controller (4-2); the controller (4-2) measures the spacing between the seedling rows, and when the spacing between two rows of seedlings is too small, the controller (4-2) sends a signal to control the active plug-in components (2-2) of the corresponding rows, and the electric push rod (2-2-1) is retracted, and the plug-in block (2-2-2) moves up and is disconnected from the plug-in connector (2-3-2), so that the gripping execution component (2-3) of the corresponding row of seedlings stops moving, thereby achieving seedling avoidance.

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