Intelligent sesame weeding machine

Abstract

A multi-dimensional adjustable frame of the intelligent sesame weeding machine comprises a first beam body, a second beam body and a self-walking device, the middles of the two beam bodies are rotationally connected with each other, transverse frame bodies are movably connected to the two ends of the two beam bodies, the self-walking device is installed on the transverse frame bodies, and a reference control mechanism for controlling the self-walking device is arranged on the frame; a weeding support is arranged between the lower ends of the two beam bodies, the weeding device comprises a square-frame-shaped support and a plurality of weeding mechanisms installed on the bottom face of the square-frame-shaped support side by side, a vertical supporting shaft is arranged in the middle of the square-frame-shaped support, and the upper end of the vertical supporting shaft is rotationally connected with the middle of the weeding support; according to the weeding machine, the overall width of the frame can be rapidly changed, the phenomenon that sesame seeds are rolled in the weeding process is avoided, the height of the machine frame is adjusted to adapt to the height of the sesame seeds in the weeding process, the sesame seeds are prevented from being scratched, the operation step of turning around is omitted, and the weeding efficiency is improved. And the line feed operation process is simplified.

Description

Technical Field

[0001] The invention relates to the field of sesame weeding equipment, in particular to an intelligent sesame weeding machine. Background Art

[0002] Because there is sufficient sunlight between the rows of sesame, a large number of weeds will grow and absorb the fertilizer needed by sesame. Therefore, it is particularly important to do a good job of weeding sesame.

[0003] At present, weeding is mainly carried out by weeding machines. The frames of such weeding machines are generally fixed structures, and cannot be adjusted for suitability according to the different row spacings of sesame planting. The wheels may be too close to sesame and crush the sesame during the forward movement, which requires that the row spacing of sesame planting must be precisely controlled. At the same time, the overall height of the frame cannot be changed according to the growth height of sesame, and the sesame may be easily scratched by the frame. Therefore, choosing a suitable production height for weeding will affect the convenience, flexibility and weeding quality of sesame weeding. Moreover, such weeding machines mainly weed by the rotary tillage roller rotating at the bottom, but the depth of the rotary tillage roller entering the ground surface is limited, and there is a problem of incomplete removal of weed roots. Moreover, when the existing weeder reaches the end of the row and needs to change the row for weeding, the weeder is turned around as a whole with the weeding mechanism on the frame to achieve the turning to achieve the change of row for weeding. This method usually cannot complete the turning and turning at one time. During the repeated adjustment of the direction, the sesame at the end of the row will be crushed. The row change operation is troublesome and will cause the death and reduction of sesame production, which needs to be improved. Summary of the invention

[0004] In order to solve the above problems, the present invention proposes an intelligent sesame weeder.

[0005] The technical solution of the present invention is: an intelligent sesame weeder, comprising a multi-dimensionally adjustable frame and a weeding device with a steering function; the multi-dimensionally adjustable frame comprises a first beam, a second beam and a self-propelled device, the first beam and the second beam are rotatably connected to each other in the middle, both ends of the first beam and the second beam are movably connected with transverse frames, each transverse frame is installed with a self-propelled device, and a reference control mechanism for controlling the self-propelled device is provided on the frame; a locking mechanism is provided between the first beam and the second beam, and a weeding bracket is provided between the lower ends of the first beam and the second beam; The weeding device includes a square frame bracket and a plurality of weeding mechanisms installed side by side on the bottom surface of the square frame bracket. A support is provided in the middle of the square frame bracket, a vertical support shaft is provided in the center of the support, the upper end of the vertical support shaft is rotatably connected to the middle of the weeding bracket, and a driving mechanism for driving the square frame bracket to rotate freely horizontally is provided on the weeding bracket.

[0006] Preferably, the self-propelled device includes a walking wheel with a hub motor installed and a steering motor. The steering motor is fixedly connected to the top of the transverse frame through a steering bracket. A shaft sleeve is vertically provided in the middle of the steering bracket. A rotating shaft is provided at the upper end of the U-shaped frame of the walking wheel. The rotating shaft is sleeved in the shaft sleeve and the upper end of the rotating shaft is coaxially connected to the output shaft of the steering motor.

[0007] Preferably, the reference control mechanism includes a control rod A and a control rod B installed between two steering brackets at both ends of the frame, a slide groove is provided in the control rod A, and the control rod B is slidably mounted in the control rod B. The outer end of the control rod A is fixedly connected to one of the steering brackets through a fixed seat, and the outer end of the control rod B is fixedly connected to the other steering bracket through a fixed seat. The axes of the control rod A and the control rod B are parallel to the surfaces of the first beam and the second beam, and the direction of the axis is consistent with the width direction of the frame formed by the two beams.

[0008] Preferably, the driving mechanism includes an electric motor, a driving gear and a driven gear that mesh with each other, the electric motor is fixedly connected to the weeding bracket, the driven gear is fixedly connected to the middle part of the vertical support shaft, the driving gear is fixedly connected to the output shaft of the electric motor, and an encoder is provided on the weeding bracket, and the input shaft of the encoder is coaxially connected to the upper end of the vertical support shaft.

[0009] Preferably, the weeding mechanism includes a square cylindrical shell, a rocker arm and a shovel head, a rotating wheel is provided at the upper part of the square cylindrical shell, an eccentric shaft is provided at the edge of the rotating wheel, a motor B is provided at the upper part of the outer wall of the square cylindrical shell to drive the rotating wheel to rotate, the upper end of the rocker arm is rotatably connected to the eccentric shaft, the lower end of the rocker arm extends out of the lower port of the square cylindrical shell, the shovel head is fixedly installed at the lower end of the rocker arm, and a guide sleeve for providing guidance for the rocker arm is provided in the square cylindrical shell, the guide sleeve is rotatably connected to the lower part of the square cylindrical shell through a rotating shaft, the middle part of the rocker arm is slidably sleeved in the guide sleeve, and the lower part of the square cylindrical shell is provided with a camera located behind the shovel head.

[0010] Preferably, a support rod is provided in the middle of the outer side surface of the square cylindrical shell, and a drug delivery tube is vertically fixedly connected to the outer end of the support rod. A nozzle is provided at the lower end of the drug delivery tube, and a solenoid valve is provided on the drug delivery tube. A conical protective cover is coaxially fixedly installed at the lower end of the drug delivery tube, and a medicine box is provided at the end of the square frame-shaped bracket, and the outlet of the medicine box is connected to each drug delivery tube.

[0011] Preferably, the locking mechanism includes a sliding rod A, a sliding rod B and a sleeve rod, the outer end of the sliding rod A is hinged to the end of the first beam body, the outer end of the sliding rod B is hinged to the end of the second beam body, the sleeve rod is sleeved between the sliding rod A and the sliding rod B, and the first top screws are provided at both ends of the sleeve rod.

[0012] Preferably, the weeding bracket is fixedly connected between the sleeve rods on both sides through a supporting vertical rod, and both side beams of the weeding bracket are configured as telescopic side beams, and the ends of the telescopic side beams are provided with second top screws.

[0013] Preferably, the supporting vertical rod includes an outer square tube rod and an inner square tube rod fixedly connected to the sleeve tube, the inner square tube rod is slidably installed in the outer square tube rod, and an electric push rod is provided between the outer square tube rod and the inner square tube rod, the lower end of the electric push rod is hinged to the lower end of the inner square tube rod, and the upper end is hinged to the upper end of the outer square tube rod.

[0014] Preferably, the first beam body includes a short beam A and a short beam B, the inner ends of the short beam A and the short beam B are fixedly connected by two extension plates, a swing hole is formed between the extension plates and the inner end surfaces of the two beam bodies, and the second beam body is rotatably connected in the swing hole by a pin shaft.

[0015] The beneficial technical effects of the present invention are: (1) The first beam and the second beam of the weeder frame are connected to each other to form an X-shaped frame structure. The overall width of the frame can be quickly changed by relative rotation so that it can be accurately matched with the row spacing of sesame seeds to avoid the phenomenon of sesame seeds being crushed during weeding. A weeding bracket that can be driven to rise and fall by an electric push rod is provided. The height of the bracket can be adjusted to adapt to the height of the sesame seeds during weeding to avoid scratching the sesame seeds, so that the frame has excellent flexibility and convenience during weeding.

[0016] (2) The self-propelled device of the weeder can turn freely under the drive of the steering motor. Under the synchronous cooperation of the four self-propelled devices, the weeder can travel horizontally to the adjacent row and adjust the direction of each weeding mechanism by driving the square frame bracket to rotate freely horizontally through the driving mechanism on the weeding bracket, thereby eliminating the troublesome operation of turning and changing rows of the weeder, eliminating the steps of turning and changing rows, simplifying the operation process of changing rows, and effectively avoiding the phenomenon of sesame seeds being crushed to death.

[0017] (3) The running wheels of the lawn mower are movably connected to the frame beam through a transverse frame, so that the running wheels can freely rotate at an angle at the outer end of the frame beam, and two control rods are arranged between the running wheel steering brackets at the ends of the frame. During the relative rotation of the two frame beams to adjust the width, the two control rods will slide relative to each other and always be supported laterally between the two steering brackets, controlling the steering brackets together with the transverse frame to rotate in the direction opposite to the arc-shaped swinging direction of the frame beam, so that the running wheels are always consistent with the straight-line travel reference direction of the frame during the change of the frame beam position. The automatic control of the running wheel reference direction during the frame width adjustment process is inconvenient, and there is no need to readjust the running wheel reference direction after the frame width is adjusted, thereby improving the convenience of the frame when used.

[0018] (4) The weeding mechanism of the weeder drives the rotating wheel to rotate through the reduction motor, and the rotating wheel drives the swing arm to swing through the eccentric shaft. During this process, the freely rotatable guide sleeve provides guidance for the swing arm, so that the shovel head at the lower end of the swing arm swings back and forth in a fixed arc to achieve the weeding action, cut off the weed roots and throw them to the ground, and use the pesticide sprayed from the nozzle of the drug delivery pipe to assist in chemical weeding, so as to completely remove the weeds and avoid the problem that the rotary tillage roller cannot completely remove the weeds, resulting in the residual roots continuing to grow for a short time. This effectively improves the weeding effect between sesame rows, and there is no need to perform frequent and repeated weeding operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional structural schematic diagram of the present invention; Figure 2 It is a side structural schematic diagram of the present invention; Figure 3 It is a schematic diagram of the main structure of the present invention; Figure 4 It is a three-dimensional structural schematic diagram of the reference control mechanism; Figure 5 It is one of the three-dimensional structural diagrams of the weeding support and the weeding device; Figure 6 This is the second schematic diagram of the three-dimensional structure of the weeding bracket and the weeding device; Figure 7 A schematic diagram of the connection structure of the first beam and the second beam pair; Figure 8 It is a three-dimensional structural schematic diagram of a weeding support; Fig. 9 It is a three-dimensional structural schematic diagram of a weeding device; Fig.10 It is a three-dimensional structural diagram of the weeding mechanism; Fig.11 yes Fig.10 AA section structural diagram; Fig.12 It is a three-dimensional structural schematic diagram of the self-propelled device; Fig.13 It is a schematic diagram of the internal structure of the self-propelled device; Fig.14 It is the relevant document of the provincial science and technology development plan corresponding to this invention.

[0020] In the figure, 01. multi-dimensional adjustable frame, 11. first beam, 111. short beam A, 112. short beam B, 113. extension plate, 114. swing hole, 12. second beam, 121. reinforcement, 13. pin, 14. transverse frame, 02. self-propelled device, 21. hub motor, 22. walking wheel, 23. steering motor, 24. steering bracket, 25. bushing, 26. U-shaped frame, 27. rotating shaft, 03. reference control mechanism, 31. control rod A, 311. slide, 32. control rod B, 33. fixed seat, 04. weeding bracket, 41. outer square cylinder rod, 42. inner square cylinder rod, 43. telescopic side beam , 44. second jackscrew, 45. electric push rod, 05. locking mechanism, 51. slide bar A, 52. slide bar B, 53. sleeve rod, 54. first jackscrew, 61. square frame bracket, 611. support, 612. vertical support shaft, 614. motor A, 615. driving gear, 616. driven gear, 617. encoder, 07. weeding mechanism, 71. square cylindrical shell, 72. rocker, 73. shovel head, 731. U-shaped sleeve, 74. rotating wheel, 741. eccentric shaft, 75. motor B, 76. guide sleeve, 761. rotating shaft, 77. camera, 81 medicine box, 82 medicine delivery tube 83 conical protective cover 84 solenoid valve. DETAILED DESCRIPTION

[0021] Example 1, see the attached specification Figure 1 , 5 -8, an intelligent sesame weeder, comprising a multi-dimensionally adjustable frame and a weeding device with a steering function, the multi-dimensionally adjustable frame comprising a first beam, a second beam and a self-propelled device, the first beam and the second beam are rotatably connected to each other in the middle, the first beam and the second beam are of the same size, both ends of the first beam and the second beam are movably connected with a transverse frame, the transverse frame can rotate relative to the beam of the frame, each transverse frame is installed with a self-propelled device, and a reference control mechanism for controlling the self-propelled device is provided on the frame; a locking mechanism is provided between the first beam and the second beam, and a weeding bracket is provided between the lower ends of the first beam and the second beam; The self-propelled device includes a traveling wheel with a hub motor installed and a steering motor. The traveling wheel is driven to rotate by the hub motor. The steering motor is fixedly connected to the top of the transverse frame through a steering bracket. The entire self-propelled device can rotate relative to the frame beam to adjust the angle under the action of the transverse frame. A shaft sleeve is vertically provided in the middle of the steering bracket. A rotating shaft is provided at the upper end of the U-shaped frame of the traveling wheel. The rotating shaft is sleeved in the shaft sleeve and the upper end of the rotating shaft is coaxially connected to the output shaft of the steering motor. Bearings are provided at both ends of the shaft sleeve pair to provide stable rotation support for the traveling wheel. Driven by the steering motor, the traveling wheel can rotate freely to adjust the direction.

[0022] The locking mechanism includes a sliding bar A, a sliding bar B and a sleeve rod. The outer end of the sliding bar A is hinged to the end of the first beam body, the outer end of the sliding bar B is hinged to the end of the second beam body, the sleeve rod is sleeved between the sliding bar A and the sliding bar B, and first top screws are provided at both ends of the sleeve rod. When the width of the first beam body and the second beam body is adjusted, the two sliding bars move toward or oppositely in the sleeve rod as the length of the frame beam body is adjusted. After the frame width is adjusted to the right position, the sliding bar and the sleeve rod are locked by the top screw to achieve overall locking of the frame.

[0023] The weeding bracket is fixedly connected between the sleeve rods on both sides through the support vertical rod. The two side beams of the weeding bracket are set as telescopic side beams. The ends of the telescopic side beams are provided with second top screws. When the width of the frame is adjusted, the weeding bracket must also change its width to avoid conflicts. The design of telescopic side beams can realize that the weeding bracket changes its width with the frame. The support vertical rod includes an outer square tube rod and an inner square tube rod fixedly connected to the sleeve tube. The inner square tube rod is slidably installed in the outer square tube rod, and an electric push rod is provided between the outer square tube rod and the inner square tube rod. The lower end of the electric push rod is hinged to the lower end of the inner square tube rod, and the upper end is hinged to the upper end of the outer square tube rod. The electric push rod can drive the outer square tube rod to slide up and down along the inner square tube tube, thereby changing the height of the weeding bracket.

[0024] The first beam body includes a short beam A and a short beam B. The short beam A and the short beam B have the same size. The inner ends of the short beam A and the short beam B are fixedly connected by two extension plates. A swing hole is formed between the extension plates and the inner end surfaces of the two beam bodies. The second beam body is rotatably connected in the swing hole by a pin shaft. The second beam body swings within the size range of the swing hole. A reinforcement part is provided in the middle of the second beam body. The reinforcement part is designed to improve the supporting strength of the middle part when the second beam body rotates. The pin shaft passes through the pin hole in the center of the reinforcement part. The upper and lower end surfaces of the reinforcement part are respectively fitted with the inner surfaces of the two extension plates, which can improve the precision and stability of the frame.

[0025] Example 2, see the attached specification Figure 1-2 4. In this embodiment, based on the first embodiment, the reference control mechanism is configured to include a control rod A and a control rod B installed between two steering brackets at two ends of the frame, a slide groove is provided in the control rod A, and the control rod B is slidably sleeved in the control rod B. The outer end of the control rod A is fixedly connected to one of the steering brackets through a fixing seat, and the outer end of the control rod B is fixedly connected to the other steering bracket through a fixing seat. The tightness of the connection between the two control rods and the steering bracket is ensured by the fixing seat. The axes of the control rod A and the control rod B are parallel to the surfaces of the first beam and the second beam, and the direction of the axis is consistent with the width direction of the frame formed by the two beams. The installation position of the control rod is limited to ensure that the two control rods slide smoothly relative to each other during the adjustment of the frame width, thereby realizing the direction control of the running wheel.

[0026] When adjusting the width of the frame of the lawn mower: ⑴ Loosen the top screw on the locking mechanism to release the lock on the first beam and the second beam, rotate the two frame beams towards or oppositely, adjust the straight-line distance between the two ends of the frame beams, and change the overall width of the frame; ⑵ During the relative rotation of the two frame beams to adjust the width, the control rod A and the control rod B slide relative to each other, and are always supported laterally between the two steering brackets, and the steering brackets are controlled to rotate together with the lateral brackets in the direction opposite to the arc-shaped swing direction of the frame beams, so that the walking wheels are always consistent with the straight-line travel reference direction of the frame during the process of changing the position of the frame beams. , it is inconvenient to automatically control the reference direction of the walking wheel during the adjustment of the frame width, and there is no need to readjust the reference direction of the walking wheel after the frame width is adjusted; ⑶ When the width of the frame is adjusted, the telescopic side beam of the lower weeding bracket will be telescoped and changed in length, and the width will be adaptively changed with the frame to avoid conflict; ⑷ Re-tighten the top screw to lock the slide bar A, slide bar B and sleeve rod in the frame locking mechanism, the frame is locked and fixed, and the frame width adjustment is completed; ⑸ Start the electric push rod to drive the inner square tube to slide up and down along the outer square tube, and the weeding frame at the lower end of the inner square tube will rise and fall to change the height to achieve height adjustment.

[0027] Example 3, see the attached specification Figure 3 , 5 -6, 8-11. This embodiment is based on the first embodiment, and designs the weeding device to include a square frame bracket and a plurality of weeding mechanisms installed side by side on the bottom surface of the square frame bracket. The plurality of weeding mechanisms are installed on the square frame bracket at equal intervals. A support is provided in the middle of the square frame bracket, and a vertical support shaft is provided in the center of the support. The upper end of the vertical support shaft is rotatably connected to the middle of the weeding bracket, so that the square frame bracket can rotate freely on the mobile frame. A driving mechanism for driving the square frame bracket to rotate freely horizontally is provided on the weeding bracket.

[0028] The driving mechanism includes a motor A, a driving gear and a driven gear that mesh with each other. The motor A is fixedly connected to the weeding bracket. The motor A is a reduction motor. The driven gear is fixedly connected to the middle of the vertical support shaft. The driving gear is fixedly connected to the output shaft of the motor A. The motor A drives the driving gear to rotate, and the driving gear drives the driven gear to rotate. The driven gear drives the square frame bracket to rotate through the vertical support shaft, thereby adjusting the direction of each driving mechanism. An encoder is provided on the weeding bracket, and the input shaft of the encoder is coaxially connected to the upper end of the vertical support shaft. The encoder is used to record the number of rotations of the vertical support shaft, thereby knowing whether the weeding mechanism is adjusted to the accurate weeding position.

[0029] The weeding mechanism includes a square cylindrical shell, a rocker arm and a shovel head. A rotating wheel is provided at the upper part of the square cylindrical shell, an eccentric shaft is provided at the edge of the rotating wheel, a motor B is provided at the upper part of the outer wall of the square cylindrical shell to drive the rotating wheel to rotate, the upper end of the rocker arm is rotatably connected to the eccentric shaft, and the motor B is a reduction motor, which drives the rotating wheel to rotate through the reduction motor, and the rotating wheel drives the rocker arm to swing up and down through the eccentric shaft, and the lower end of the rocker arm extends out of the lower port of the square cylindrical shell, and the shovel head is fixedly installed at the lower end of the rocker arm, and a certain inclination angle is provided between the shovel head and the rocker arm, and a guide sleeve for guiding the rocker arm is provided in the square cylindrical shell, and the guide sleeve is rotatably connected to the lower part of the square cylindrical shell through a rotating shaft, and the middle part of the rocker arm is slidably sleeved in the guide sleeve, and the guide sleeve can rotate freely through the rotating shaft to make it swing in a fixed arc trajectory, and a camera located behind the shovel head is provided at the lower part of the square cylindrical shell.

[0030] A U-shaped sleeve is arranged on the shovel head, and the shovel head is connected to the lower end of the swing rod through the U-shaped sleeve and bolts. The connection structure is convenient for disassembly, maintenance and replacement of the shovel head.

[0031] A support rod is provided in the middle of the outer side surface of the square cylindrical shell, and a drug delivery tube is vertically fixedly connected to the outer end of the support rod. A nozzle is provided at the lower end of the drug delivery tube, and the drug is atomized and sprayed out through the nozzle. An electromagnetic valve is provided on the drug delivery tube to automatically control the start and stop of the spraying operation. A conical protective cover is coaxially fixedly installed on the lower end of the drug delivery tube, and a medicine box is provided at the end of the square frame-shaped bracket. The outlet of the medicine box is connected to each drug delivery tube. The spraying range of the drug is controlled by the protective cover to avoid splashing of the drug on the crop and damaging it, and the weed control effect is ensured by the combination of drug and physics.

[0032] The working process and principle of the weeding device of this embodiment are as follows: (1) The weeding device moves forward along the sesame rows at the lower part of the weeder, and each weeding mechanism corresponds to each row, so as to perform multi-row synchronous weeding operations; (2) The weeding mechanism drives the rotating wheel to rotate through motor B, and the rotating wheel drives the swing arm to swing up and down through the eccentric shaft. During the swinging process, the guide sleeve provides a swing guide for the swing arm under the action of the rotating shaft, so that the shovel head at the lower end of the swing arm swings back and forth in a fixed arc to achieve the weeding action; (3) After weeding each row is completed and reaches the end of the row, the weeder moves horizontally under the drive of the four self-propelled devices to achieve row change; (4) At the same time, the driving mechanism drives the square frame bracket to rotate freely horizontally to adjust the direction of each weeding mechanism, so that it can reach the other rows by horizontal movement to perform return weeding operations, eliminating the steps of turning and U-turning, and simplifying the operation process.

Claims

1. An intelligent sesame weeder, characterized by: Includes a multi-dimensionally adjustable frame and a weeding device with steering function; The multi-dimensionally adjustable frame comprises a first beam body, a second beam body and a self-propelled device. The first beam body and the second beam body are rotatably connected to each other in the middle, and both ends of the first beam body and the second beam body are movably connected with transverse frames, each transverse frame body is installed with a self-propelled device, and a reference control mechanism for controlling the self-propelled device is provided on the frame; a locking mechanism is provided between the first beam body and the second beam body, and a weeding bracket is provided between the lower ends of the first beam body and the second beam body; The weeding device includes a square frame bracket and a plurality of weeding mechanisms installed side by side on the bottom surface of the square frame bracket. A support is provided in the middle of the square frame bracket, a vertical support shaft is provided in the center of the support, the upper end of the vertical support shaft is rotatably connected to the middle of the weeding bracket, and a driving mechanism for driving the square frame bracket to rotate freely horizontally is provided on the weeding bracket.

2. The intelligent sesame weeder according to claim 1 is characterized in that: The self-propelled device includes a traveling wheel with a hub motor installed and a steering motor. The steering motor is fixedly connected to the top of the transverse frame through a steering bracket. A shaft sleeve is vertically provided in the middle of the steering bracket. A rotating shaft is provided at the upper end of the U-shaped frame of the traveling wheel. The rotating shaft is sleeved in the shaft sleeve and the upper end of the rotating shaft is coaxially connected to the output shaft of the steering motor.

3. The intelligent sesame weeder according to claim 2 is characterized in that: The reference control mechanism includes a control rod A and a control rod B installed between two steering brackets at both ends of the frame. A slide groove is provided in the control rod A, and the control rod B is slidably sleeved in the control rod B. The outer end of the control rod A is fixedly connected to one of the steering brackets through a fixed seat, and the outer end of the control rod B is fixedly connected to the other steering bracket through a fixed seat. The axes of the control rod A and the control rod B are parallel to the surfaces of the first beam body and the second beam body, and the direction of the axis is consistent with the width direction of the frame formed by the two beam bodies.

4. The intelligent sesame weeder according to claim 1 is characterized in that: The driving mechanism includes an electric motor, a driving gear and a driven gear that mesh with each other. The electric motor is fixedly connected to the weeding bracket, the driven gear is fixedly connected to the middle part of the vertical support shaft, the driving gear is fixedly connected to the output shaft of the electric motor, and an encoder is provided on the weeding bracket, and the input shaft of the encoder is coaxially connected to the upper end of the vertical support shaft.

5. The intelligent sesame weeder according to claim 1 is characterized in that: The weeding mechanism includes a square cylindrical shell, a rocker arm and a shovel head. A rotating wheel is provided at the upper part of the square cylindrical shell, an eccentric shaft is provided at the edge of the rotating wheel, a motor B is provided at the upper part of the outer wall of the square cylindrical shell to drive the rotating wheel to rotate, the upper end of the rocker arm is rotatably connected to the eccentric shaft, the lower end of the rocker arm extends out of the lower port of the square cylindrical shell, the shovel head is fixedly installed at the lower end of the rocker arm, and a guide sleeve for guiding the rocker arm is provided in the square cylindrical shell, the guide sleeve is rotatably connected to the lower part of the square cylindrical shell through a rotating shaft, the middle part of the rocker arm is slidably sleeved in the guide sleeve, and a camera located behind the shovel head is provided at the lower part of the square cylindrical shell.

6. The intelligent sesame weeder according to claim 5 is characterized in that: A support rod is provided in the middle of the outer side surface of the square cylindrical shell, and a drug delivery tube is vertically fixedly connected to the outer end of the support rod. A nozzle is provided at the lower end of the drug delivery tube, and a solenoid valve is provided on the drug delivery tube. A conical protective cover is coaxially fixedly installed at the lower end of the drug delivery tube, and a medicine box is provided at the end of the square frame bracket, and the outlet of the medicine box is connected to each drug delivery tube.

7. The intelligent sesame weeder according to claim 1 is characterized in that: The locking mechanism includes a slide bar A, a slide bar B and a sleeve rod. The outer end of the slide bar A is hinged to the end of the first beam body, the outer end of the slide bar B is hinged to the end of the second beam body, the sleeve rod is sleeved between the slide bar A and the slide bar B, and the two ends of the sleeve rod are provided with a first top screw.

8. The intelligent sesame weeder according to claim 1 is characterized by: The weeding bracket is fixedly connected between the sleeve rods on both sides through the supporting vertical rods. Both side beams of the weeding bracket are configured as telescopic side beams, and the ends of the telescopic side beams are provided with second top screws.

9. The intelligent sesame weeder according to claim 8, characterized in that: The supporting vertical rod includes an outer square rod and an inner square rod fixedly connected to the sleeve tube. The inner square rod is slidably installed in the outer square rod, and an electric push rod is provided between the outer square rod and the inner square rod. The lower end of the electric push rod is hinged to the lower end of the inner square rod, and the upper end is hinged to the upper end of the outer square rod.

10. The intelligent sesame weeder according to claim 1, characterized in that: The first beam body includes a short beam A and a short beam B. The inner ends of the short beam A and the short beam B are fixedly connected by two extension plates. A swing hole is formed between the extension plates and the inner end surfaces of the two beam bodies. The second beam body is rotatably connected in the swing hole by a pin shaft.

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