Mechanical weeding robot for paddy field

Abstract

The invention relates to the technical field of paddy field mechanical weeding, in particular to a paddy field mechanical weeding robot which comprises a driving main body and a weeding unit, the weeding unit can be changed into other agricultural auxiliary machines according to needs, the utilization rate of equipment is increased, and according to the line spacing between rice in a paddy field, the weeding unit can be changed into other agricultural auxiliary machines. The weeding row spacing of the second weeding piece is changed through the adjusting piece, the first weeding piece and the second weeding piece jointly and rapidly change the weeding row spacing under the driving of the linkage piece, time is saved, and the height of the first weeding piece and the height of the second weeding piece are adjusted through the height adjusting piece according to the height of rice, so that it is prevented that in the weeding process, the weeding efficiency is improved. When the rice plants are pressed by the height adjusting part and lodging of the rice plants occurs, soil on the two sides of the rice plants is compacted through the soil compacting part, and the situation that the rice plants lodging due to the influence of external factors is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical weeding in paddy fields, in particular to a mechanical weeding robot for paddy fields. Background Art

[0002] Paddy field weeding is an indispensable part of agricultural production. The growth of weeds will seriously affect the growth and yield of rice. By weeding, the competition between weeds and rice can be reduced, ensuring that rice obtains sufficient nutrients and growth space, thereby improving yield and quality. Common methods of paddy field weeding include: manual weeding, mechanical weeding and chemical weeding. Among them, mechanical weeding is more and more widely used in paddy field weeding because of its high weeding efficiency, fast speed, and can greatly reduce the labor intensity of farmers and will not pollute the rice field environment.

[0003] Existing paddy field mechanical weeding robots can weed by manual remote control or computer calculation control. The whole process is fast and simple. If the rice plants grow to a certain height, the rice plants are easily oppressed by the machine parts and fall over after weeding, affecting the normal growth of rice. After weeding, the soil around the rice plants is loose, and the roots of the rice cannot be firmly fixed in the soil, so they are easily affected by external factors and fall over. It also affects the growth of rice and causes it to grow poorly. When the mechanical weeding robot weeds rice fields with different row spacings, the operator needs to disassemble, adjust the spacing and install each weeding part on the machine, which takes a certain amount of time and affects the efficiency of the machine. Summary of the invention

[0004] In view of the above problems, the present application provides a paddy field mechanical weeding robot to solve the technical problem in the related art that the rice plants are oppressed and the soil is loose, causing the rice plants to fall over, and it takes a certain amount of time to adjust the distance between the weeding parts. In order to achieve the above purpose, the present application provides the following technical solutions.

[0005] A paddy field mechanical weeding robot according to an embodiment of the present application comprises a driving body and a weeding unit, wherein the weeding unit is arranged at the front side of the driving body for removing weeds in the paddy field; the driving body has an automatic driving function, a rectangular sleeve is fixedly installed at the front end of the driving body, bearing seats are fixedly installed at the upper left and lower right corners of the rectangular sleeve, a bidirectional screw extending from the upper left to the lower right is connected to the two bearing seats for common rotation, a handle is fixedly installed at the upper left end of the bidirectional screw, circular blocks are threadedly connected to the thread grooves on both sides of the bidirectional screw, a right-angle block is fixedly connected to the outer end of the circular block through the bearing seat, and a right-angle plate is fixedly installed at the front end of the right-angle block; the weeding unit comprises a rectangular column, a rectangular A rectangular column is inserted into the shaped sleeve, a rectangular annular groove is opened at the outer end of the rectangular column, a height adjusting piece for adjusting in coordination with the height of the plant is arranged at the upper end of the front side of the rectangular column, a fixing piece for fixing the weeding height is arranged at the lower end of the rectangular column, a No. 1 weeding piece for weeding between rice rows is arranged at the lower end of the height adjusting piece, a No. 2 weeding piece for weeding around the rice plants is arranged at the lower end of the height adjusting piece and located in front of the No. 1 weeding piece, a soil compacting piece for processing the soil after weeding is arranged at the rear end of the No. 1 weeding piece, an adjusting piece for adjusting the distance according to the row spacing between rice is arranged at the middle part of the front side of the No. 2 weeding piece, and a linkage piece for changing the distance together is arranged between the No. 1 weeding piece and the No. 2 weeding piece.

[0006] According to an embodiment of the present invention, the height adjustment member includes a vertical plate, a vertical plate is fixedly installed on the upper front end of the rectangular column, a fixed plate is fixedly installed on the upper end of the vertical plate, a threaded column is rotatably connected to the middle of the fixed plate, a control cylinder is penetrated through the middle of the upper side of the threaded column for sliding forward and backward, the lower end of the threaded column is rotatably connected to a rectangular flat plate, and a guide rod is symmetrically fixedly installed front and back on the upper end of the rectangular flat plate and slides up and down and penetrates the fixed plate.

[0007] According to an embodiment of the present invention, the weeding piece No. 1 includes a linkage block 1, a linkage block 1 is fixedly installed in the middle of the lower end of the rectangular flat plate, a linkage block 2 is symmetrically and slidably connected to the lower end of the rectangular flat plate and located on the left and right sides of the linkage block 1, and the two linkage blocks 2 on both sides are linearly and evenly arranged along the rectangular flat plate, and a vertical upright plate 1 is symmetrically and fixedly installed on the left and right sides of the lower end of the linkage block and the left and right sides of the lower end of the linkage block 2, a compensation block 1 is slidably connected to the upper and lower outer end of the vertical upright plate, and a connecting block 1 is slidably connected to the inner end of the lower side of the compensation block, a partition plate 1 is arranged in the middle of the compensation block 1, the compensation block 1 and the vertical upright plate 1 and the compensation block 1 and the connecting block 1 are fixedly connected by a cylindrical spring 1, a rectangular plate 1 is fixedly installed at the lower end of the connecting block, and a weeding wheel is rotatably connected between the two corresponding rectangular plates 1, and the weeding wheel is driven by a motor arranged on the rectangular plate 1.

[0008] According to an embodiment of the present invention, the fixing member includes a connecting plate, a connecting plate is fixedly installed at the lower end of the rectangular column, a linkage group is fixedly installed at the lower end of the connecting plate, the linkage group is composed of a plurality of "X"-shaped brackets fixedly connected, the upper horizontal section of the "X"-shaped bracket is a retractable structure, and the upper horizontal section of the "X"-shaped bracket is flush with the linkage block at the highest point.

[0009] According to an embodiment of the present invention, the second weeding piece includes a square column one, a square column one is fixedly installed at the lower end of the rectangular flat plate and located in front of the linkage block one, a square column two is symmetrically slidably connected to the lower end of the rectangular flat plate and located on the left and right sides of the square column one, and a square column three is slidably connected to the lower end of the rectangular flat plate and located in front of the square column one and the square column two, and a vertical stand plate two is symmetrically fixedly installed on the left and right sides of the lower end of the square column one, the left and right sides of the lower end of the square column two, and the left and right sides of the lower end of the square column three, a compensation block two is slidably connected to the lower outer end of the vertical stand plate two, a connecting block two is slidably connected to the lower inner end of the compensation block two, a partition plate two is arranged in the middle of the compensation block two, the compensation block two and the vertical stand plate two and the compensation block two and the connecting block two are fixedly connected by cylindrical spring two, the opposite ends of the two corresponding connecting blocks two are fixedly installed with inclined plates, and the inclined plates are rotatably connected with rotating rods, and the lower outer ends of the rotating rods are evenly fixedly installed with bent weeding rods along their circumference, and the rotating rods are driven by a motor arranged on the inclined plate.

[0010] According to an embodiment of the present invention, the soil compacting member includes an inverted F-shaped plate, an inverted F-shaped plate is fixedly installed on the rear end of the rectangular plate, the opposite ends of the middle vertical sections of the two corresponding inverted F-shaped plates are jointly rotatably connected with a spindle-shaped soil-moving wheel, the opposite ends of the rear vertical sections of the two corresponding inverted F-shaped plates are rotatably connected with a compacting wheel, a scraper block is fixedly connected on the inverted F-shaped plate and located directly above the compacting wheel, and the upper end of the horizontal section of the inverted F-shaped plate is fixedly connected to the horizontal section on the lower side of the "J"-shaped bracket.

[0011] According to an embodiment of the present invention, a positioning rod is fixedly installed at the lower end of the weeding rod, and a spiral groove is provided at the lower arc-shaped outer end of the weeding rod and the arc-shaped outer end of the positioning rod. The positioning rod and the outer end of the weeding rod are threadedly connected to a rubber sleeve with an H-shaped longitudinal section.

[0012] According to an embodiment of the present invention, the adjusting part includes a movable screw, and the opposite ends of the three square columns are rotatably connected with the movable screws, and a threaded sleeve is commonly threadedly connected between the two movable screws. A horizontal round rod is fixedly installed on the front end of the square column, and a limiting sleeve is fixedly installed on the front end of the horizontal round rod. The threaded sleeve and the limiting sleeve are rotatably connected coaxially, a threaded abutment rod is threadedly connected on the limiting sleeve, and an arc-shaped abutment block is rotatably connected to the end of the threaded abutment rod, and a rubber block with a rough surface is fixedly installed on the arc-shaped abutment block facing the central axis of the threaded sleeve.

[0013] According to an embodiment of the present invention, the linkage part includes a connecting round rod, an inclined connecting round rod is fixedly connected between square column three and square column two on the same side, the inclined plate below square column one and the inclined plate below square column two are respectively fixedly connected to the corresponding rectangular plate one through horizontal round rod two, the inclined plate at square column three is fixedly connected to the corresponding rectangular plate one through horizontal round rod three, and the front end of the compensation block one on the upper side of the corresponding rectangular plate one is hinged with a traction rod, and a circular sleeve is slidably connected to the horizontal circular rod three, and the end of the traction rod is hinged to the corresponding circular sleeve.

[0014] It can be seen from the above technical solutions that the present invention has the following advantages:

[0015] 1. In the present invention, the weeding unit can be changed into other agricultural auxiliary machines as needed to increase the utilization rate of the equipment. According to the row spacing between rice in the paddy field, the row spacing of the weeding unit No. 2 is changed by the adjusting member. Driven by the linkage member, the weeding unit No. 1 and the weeding unit No. 2 can quickly change the weeding row spacing together to save time. According to the height of the rice, the height of the weeding unit No. 1 and the weeding unit No. 2 is adjusted by the height adjusting member to prevent the height adjusting member from pressing the rice plants during the weeding process, resulting in the rice plants falling over. The soil on both sides of the rice plants is compacted by the soil compacting member to prevent the rice plants from falling over due to the influence of external factors.

[0016] 2. In the present invention, the rubber sleeve is used to prevent the weeding rod from directly contacting the rice plant during use, so that the surface of the rice plant near the root is damaged, affecting its normal growth and development. After repeated use, the aged rubber sleeve can be removed and replaced by directly rotating. The shape of the rubber sleeve can prevent the adhesion of mud to the outer surface of the lower side of the weeding rod, and there is no need to clean the surface of the weeding rod later.

[0017] In addition to the technical problems solved by the embodiments of the present application described above, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions, other technical problems that can be solved by a paddy field mechanical weeding robot provided by the embodiments of the present application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0019] Figure 1 A schematic diagram of a main-view stereoscopic structure provided according to an embodiment of the present invention is shown.

[0020] Figure 2 A schematic diagram of the main stereoscopic structure of the present invention without the rectangular sleeve and the rectangular flat plate is shown.

[0021] Figure 3 A rear perspective structural schematic diagram of the present invention without the driving body and the rectangular flat plate is shown.

[0022] Figure 4 A schematic diagram of the main stereoscopic structure of the present invention without the driving body and the rectangular flat plate is shown.

[0023] Figure 5 A schematic diagram of the main cross-sectional plane structure of cylindrical spring 2 is shown.

[0024] Figure 6 Shows Figure 5 A local enlarged view of location N.

[0025] Figure 7 A schematic diagram of the main cross-sectional plan structure of a cylindrical spring 1 is shown.

[0026] Figure 8 The left side cross-sectional plan view of the threaded stopper and the arc stopper is shown.

[0027] The above drawings include the following reference numerals:

[0028] 1. Driving body; 11. Rectangular sleeve; 12. Bidirectional screw; 13. Handle; 14. Round block; 15. Right-angle block; 16. Right-angle plate; 2. Weeding unit; 21. Rectangular column; 22. Rectangular ring groove; 23. Height adjustment member; 231. Vertical plate; 232. Fixed plate; 233. Threaded column; 234. Control cylinder; 235. Rectangular flat plate; 236. Guide rod; 24. Fixed member; 241. Connecting plate; 242. I-shaped bracket; 25. Weeding piece No. 1; 251. Linkage block No. 1; 252. Linkage block No. 2; 253. Vertical plate No. 1; 254. Compensation block No. 1; 255. Connecting block No. 1; 256. Cylindrical spring No. 1; 257. Rectangular plate No. 1; 258. Weeding wheel; 26. Weeding piece No. 2; 261. Square column No. 1; 262. Square column two; 263, square column three; 264, vertical upright plate two; 265, compensation block two; 266, connecting block two; 267, cylindrical spring two; 268, tilting plate; 269, rotating rod; 2691, weeding rod; 2692, positioning rod; 2693, rubber sleeve; 27, soil compaction piece; 271, inverted F-shaped plate; 272, soil wheel; 273, compaction wheel; 274, scraper block; 28, adjustment piece; 281, movable screw; 282, threaded sleeve; 283, horizontal round rod one; 284, limit sleeve; 285, threaded push rod; 286, arc push block; 287, rubber block; 29, linkage piece; 291, connecting round rod; 292, horizontal round rod two; 293, horizontal round rod three; 294, traction rod; 295, circular sleeve. DETAILED DESCRIPTION

[0029] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0030] See also Figure 1 and Figure 2A paddy field mechanical weeding robot comprises a driving body 1 and a weeding unit 2. The weeding unit 2 is arranged at the front side of the driving body 1 for removing weeds in the paddy field. The driving body 1 has an automatic driving function. A rectangular sleeve 11 is fixedly installed at the front end of the driving body 1. Bearing seats are fixedly installed at the upper left and lower right corners of the rectangular sleeve 11. A bidirectional screw 12 extending from the upper left to the lower right is connected to the two bearing seats for common rotation. A handle 13 is fixedly installed at the upper left end of the bidirectional screw 12. Circular blocks 14 are threadedly connected to the thread grooves on both sides of the bidirectional screw 12. A right-angle block 15 is fixedly connected to the outer end of the circular block 14 through the bearing seat. A right-angle plate 16 is fixedly installed at the front end of the right-angle block 15. The weeding unit 2 comprises a rectangular column 21. A A rectangular column 21 is provided with a rectangular annular groove 22 at the outer end of the rectangular column 21, a height adjusting member 23 for adjusting in coordination with the height of the plant is provided at the upper front end of the rectangular column 21, a fixing member 24 for fixing the weeding height is provided at the lower end of the rectangular column 21, a No. 1 weeding member 25 for weeding between rice rows is provided at the lower end of the height adjusting member 23, a No. 2 weeding member 26 for weeding around the rice plants is provided at the lower end of the height adjusting member 23 and located in front of the No. 1 weeding member 25, a soil compacting member 27 for processing the soil after weeding is provided at the rear end of the No. 1 weeding member 25, an adjusting member 28 for adjusting the distance according to the row spacing between rice is provided at the middle front side of the No. 2 weeding member 26, and a linkage member 29 for changing the distance together is provided between the No. 1 weeding member 25 and the No. 2 weeding member 26.

[0031] First, insert the rectangular column 21 into the rectangular sleeve 11, and then manually hold the handle 13 to rotate the bidirectional screw 12, driving the right-angle block 15 to move toward each other, thereby driving the right-angle plate 16 to move toward each other, until the two right-angle plates 16 are inserted into the rectangular ring groove 22 on the rectangular column 21. It should be noted that one right-angle plate 16 is placed upright and the other is inverted, and the two can be spliced ​​into a rectangle. The driving body 1 is connected to the weeding unit 2. The weeding unit 2 can be changed into other agricultural auxiliary machines as needed. According to the row spacing between rice in the paddy field, the row spacing of the weeding of the No. 2 weeding member 26 is changed by the adjusting member 28. Driven by the linkage member 29, the No. 1 weeding member 25 and the No. 2 weeding member 26 jointly change the weeding row spacing. According to the height of the rice, the height of the No. 1 weeding member 25 and the No. 2 weeding member 26 is adjusted by the height adjusting member 23 to prevent the height adjusting member 23 from pressing the rice plants during the weeding process, thereby preventing the rice plants from falling over. The soil on both sides of the rice plants is compacted by the soil compacting member 27.

[0032] See also Figure 1 , Figure 2 , Figure 5 and Figure 7The height adjustment member 23 includes a vertical plate 231, a vertical plate 231 is fixedly installed on the upper front end of the rectangular column 21, a fixed plate 232 is fixedly installed on the upper end of the vertical plate 231, a threaded column 233 is rotatably connected to the middle of the fixed plate 232, a control cylinder 234 is slidably penetrated through the middle of the upper side of the threaded column 233, a rectangular flat plate 235 is rotatably connected to the lower end of the threaded column 233, and a guide rod 236 that slides up and down and penetrates the fixed plate 232 is symmetrically fixedly installed on the upper end of the rectangular flat plate 235.

[0033] See also Figure 3 and Figure 7 The first weeding piece 25 includes a linkage block 251, a linkage block 251 is fixedly installed in the middle of the lower end of the rectangular flat plate 235, and a linkage block 252 is symmetrically connected to the lower end of the rectangular flat plate 235 and located on the left and right sides of the linkage block 251. The two linkage blocks 252 on both sides are evenly arranged linearly along the rectangular flat plate 235, and the left and right sides of the lower end of the linkage block 251 and the left and right sides of the lower end of the linkage block 252 are symmetrically fixedly installed with a vertical stand 253, and the lower outer end of the vertical stand 253 is slidably connected to A compensation block 254 is provided, and a connecting block 255 is slidably connected to the inner end of the lower side of the compensation block 254. A partition plate 1 is provided in the middle of the compensation block 254. The compensation block 254 and the vertical plate 253 as well as the compensation block 254 and the connecting block 255 are fixedly connected by a cylindrical spring 256. A rectangular plate 257 is fixedly installed at the lower end of the connecting block 255. A weeding wheel 258 is connected and rotated together between two corresponding rectangular plates 257. The weeding wheel 258 is driven by a motor provided on the rectangular plate 257.

[0034] See also Figure 3 The fixing member 24 includes a connecting plate 241, the connecting plate 241 is fixedly installed at the lower end of the rectangular column 21, and a linkage group is fixedly installed at the lower end of the connecting plate 241. The linkage group is composed of a plurality of "X"-shaped brackets 242 fixedly connected. The upper horizontal section of the "X"-shaped bracket 242 is a retractable structure, and the upper horizontal section of the "X"-shaped bracket 242 is flush with the linkage block 1 251 at the highest point.

[0035] See also Figure 3 , Figure 4 , Figure 5 and Figure 6The second weeding piece 26 includes a square column 1 261, a square column 1 261 is fixedly installed at the lower end of the rectangular flat plate 235 and located in front of the linkage block 1 251, a square column 262 is symmetrically slidably connected to the lower end of the rectangular flat plate 235 and located on both sides of the square column 1 261, and a square column 3 263 is slidably connected to the lower end of the rectangular flat plate 235 and located in front of the square column 1 261 and the square column 2 262, and a vertical stand 2 264 is symmetrically fixedly installed on the left and right sides of the lower end of the square column 1 261, the left and right sides of the lower end of the square column 2 262, and the left and right sides of the lower end of the square column 3 263. The vertical stand 2 264 The lower outer end is slidably connected with a compensation block 265, the lower inner end of the compensation block 265 is slidably connected with a connecting block 266, a partition plate 2 is arranged in the middle of the compensation block 265, the compensation block 265 and the vertical plate 264 as well as the compensation block 265 and the connecting block 266 are fixedly connected by a cylindrical spring 267, the two corresponding connecting blocks 266 are fixedly installed with inclined plates 268 at the opposite ends, the inclined plates 268 are rotatably connected with rotating rods 269, the lower outer ends of the rotating rods 269 are evenly fixedly installed with bent weeding rods 2691 along their circumference, and the rotating rods 269 are driven by a motor arranged on the inclined plates 268.

[0036] See also Figure 3 The soil compacting member 27 includes an inverted F-shaped plate 271, and the rear end of the rectangular plate 257 is fixedly installed with the inverted F-shaped plate 271. The opposite ends of the middle vertical sections of the two corresponding inverted F-shaped plates 271 are rotatably connected with a spindle-shaped soil-moving wheel 272. The opposite ends of the rear vertical sections of the two corresponding inverted F-shaped plates 271 are rotatably connected with a compacting wheel 273. A scraping block 274 is fixedly connected on the inverted F-shaped plate 271 and located directly above the compacting wheel 273. The upper end of the horizontal section of the inverted F-shaped plate 271 is fixedly connected to the horizontal section on the lower side of the "X"-shaped bracket 242.

[0037] See also Figure 6 A positioning rod 2692 is fixedly installed at the lower end of the weeding rod 2691. The lower arc-shaped outer end of the weeding rod 2691 and the arc-shaped outer end of the positioning rod 2692 are both provided with spiral grooves. The positioning rod 2692 and the outer end of the weeding rod 2691 are threadedly connected with a rubber sleeve 2693 with an H-shaped longitudinal section.

[0038] See also Figure 4 and Figure 8The adjusting member 28 comprises a movable screw 281, and the opposite ends of the square column three 263 are rotatably connected with the movable screw 281, and a threaded sleeve 282 is commonly threadedly connected between the two movable screws 281, and a horizontal round rod 283 is fixedly installed at the front end of the square column one 261, and a limiting sleeve 284 is fixedly installed at the front end of the horizontal round rod one 283, and the threaded sleeve 282 and the limiting sleeve 284 are rotatably connected coaxially, and a threaded stop rod 285 is threadedly connected to the limiting sleeve 284, and an arc stop block 286 is rotatably connected to the end of the threaded stop rod 285, and a rubber block 287 with a rough surface is fixedly installed on the arc stop block 286 toward the central axis of the threaded sleeve 282.

[0039] See also Figure 4 The linkage member 29 includes a connecting round rod 291, and an inclined connecting round rod 291 is fixedly connected between the square column three 263 and the square column two 262 on the same side. The inclined plate 268 under the square column one 261 and the inclined plate 268 under the square column two 262 are respectively fixedly connected to the corresponding rectangular plate one 257 through the horizontal round rod two 292. The inclined plate 268 at the square column three 263 is fixedly connected to the corresponding rectangular plate one 257 through the horizontal round rod three 293, and the front end of the compensation block one 254 on the upper side of the corresponding rectangular plate one 257 is hinged with a traction rod 294, and a circular sleeve 295 is slidably connected to the horizontal circular rod three 293, and the end of the traction rod 294 is hinged to the corresponding circular sleeve 295.

[0040] The working principle of the present invention is as follows: first, the rectangular column 21 is inserted into the rectangular sleeve 11, and then the bidirectional screw 12 is rotated by manually holding the handle 13 to drive the right-angle blocks 15 to move toward each other, thereby driving the right-angle plates 16 to move toward each other, until the two right-angle plates 16 are inserted into the rectangular annular grooves 22 on the rectangular column 21, so that the driving body 1 and the weeding unit 2 are connected. The weeding unit 2 can be changed to other agricultural auxiliary machines as needed.

[0041] According to the row spacing between rice in the paddy field, the threaded sleeve 282 is rotated to change the distance between the square columns 3 263 on the left and right sides. Driven by the connecting round rod 291, the square column 262 moves together. Under the cooperation of the horizontal round rod 292 and the horizontal round rod 3 293, the linkage block 252 moves synchronously, so that the distance between the weeding wheels 258 and the distance between the rotating rods 269 are adapted to the row spacing between the rice in the paddy field to be weeded. At this time, the threaded support rod 285 is rotated to move the arc-shaped support block 286 on the threaded support rod 285 toward the central axis of the threaded sleeve 282, so that the rubber block 287 is in close contact with the threaded sleeve 282, so as to avoid the driving body 1 from vibrating during subsequent use, driving the threaded sleeve 282 to rotate, resulting in a change in the distance between the square columns 3 263 on the left and right sides.

[0042] According to the height of the rice, an external motor or manual operation is used to drive the threaded rod column to rotate and adjust the height of the rectangular plate 235, thereby changing the distance between the vertical plate 1 253 and the connecting block 1 255 and the distance between the vertical plate 264 and the connecting block 2 266, to prevent the moving rectangular plate 235 from pressing the rice plants during weeding, causing the rice plants to fall over, and the rice leaves to be hindered, so that photosynthesis is weakened, thereby affecting the growth and development of the rice. The rubber sleeve 2693 is used to prevent the weeding rod 2691 from directly contacting the rice plants during use, so that the surface of the rice plants near the roots is damaged, affecting its normal growth and development. After multiple uses, the aged rubber sleeve 2693 can be removed and replaced by directly rotating it. The shape of the rubber sleeve 2693 is used to prevent the adhesion of soil to the lower outer surface of the weeding rod 2691, and there is no need to subsequently clean the surface of the weeding rod 2691. During the entire weeding process, The motor-driven weeding wheel 258 on the rectangular plate 257 rotates to cut, plow and bury the weeds between the rows of rice plants. Since the root depth of the rice plants in the paddy field is greater than the root depth of the weeds in the paddy field, the motor-driven rotating rod 269 on the inclined plate 268 drives the weeding rod 2691 thereon to rotate along the rotating rod 269, and the centrifugal force generated can remove the weeds between the rice plants.

[0043] When the driving column drives the weeding unit 2 forward to weed, the weeds are pulled out of the paddy field by the pulling force, making the soil in the paddy field loose, and the rice plants are also subjected to a certain pulling force, making the soil around them loose, resulting in poor soil stability, making it impossible for the roots of the rice to be firmly fixed in the soil, and thus easily affected by external factors and lodging, and also affecting the growth of the rice, causing it to grow poorly. Therefore, the soil between the rice rows is pushed toward the rice on both sides by the rear soil-pushing wheel 272, and then the soil on both sides of the rice plants is compacted by the compacting wheel 273 at the further rear, and the scraper block 274 can scrape off the soil attached to the compacting wheel 273.

[0044] In the description of the present invention, it is necessary to understand that the terms "center", "middle", "up", "down", "front", "back", "left", "right", "top", "bottom", "inside", "outside", "end", "axial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0045] In addition, the terms "first", "second", "number one", "number two", "one", "two" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. In the description of the present invention, "multiple" means at least two, such as two, three, etc., unless otherwise clearly and specifically limited.

[0046] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "connect", "install", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, a sliding 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 according to specific circumstances.

[0047] The embodiments of this specific implementation method are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, all equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A paddy field mechanical weeding robot, characterized in that , comprising a driving body (1) and a weeding unit (2), wherein the weeding unit (2) is arranged on the front side of the driving body (1) and is used to remove weeds in a paddy field; The driving body (1) has an automatic driving function. A rectangular sleeve (11) is fixedly mounted on the front end of the driving body (1). Bearing seats are fixedly mounted on the upper left and lower right corners of the rectangular sleeve (11). A bidirectional screw rod (12) extending from the upper left to the lower right is rotatably connected to the two bearing seats. A handle (13) is fixedly mounted on the upper left end of the bidirectional screw rod (12). Circular blocks (14) are threadedly connected to the thread grooves on both sides of the bidirectional screw rod (12). The outer end of the circular block (14) is fixedly connected to a right-angle block (15) via the bearing seat. A right-angle plate (16) is fixedly mounted on the front end of the right-angle block (15). The weeding unit (2) comprises a rectangular column (21), the rectangular column (21) is inserted into the rectangular sleeve (11), a rectangular annular groove (22) is provided at the outer end of the rectangular column (21), a height adjustment member (23) for adjusting in coordination with the height of the plant is provided at the upper end of the front side of the rectangular column (21), a fixing member (24) for fixing the weeding height is provided at the lower end of the rectangular column (21), a first weeding member (25) for weeding between rice rows is provided at the lower end of the height adjustment member (23), and the height adjustment member (23) is provided at the lower end of the height adjustment member (23). (23) A second weeding piece (26) for weeding around rice plants is arranged at the lower end and in front of the first weeding piece (25); a soil compacting piece (27) for processing soil after weeding is arranged at the rear end of the first weeding piece (25); an adjusting piece (28) for adjusting the distance according to the row spacing between rice plants is arranged in the middle of the front side of the second weeding piece (26); and a linkage piece (29) for changing the distance together is arranged between the first weeding piece (25) and the second weeding piece (26).

2. A paddy field mechanical weeding robot according to claim 1, characterized in that: The height adjustment member (23) comprises a vertical plate (231), the vertical plate (231) is fixedly mounted on the upper front end of the rectangular column (21), a fixed plate (232) is fixedly mounted on the upper end of the vertical plate (231), a threaded column (233) is rotatably connected to the middle of the fixed plate (232), a control cylinder (234) is slidably penetrated through the middle of the upper side of the threaded column (233), a rectangular flat plate (235) is rotatably connected to the lower end of the threaded column (233), and a guide rod (236) is symmetrically fixedly mounted on the upper end of the rectangular flat plate (235) and is slidably penetrated through the fixed plate (232) up and down.

3. A paddy field mechanical weeding robot according to claim 2, characterized in that: The first weeding piece (25) comprises a linkage block (251), the linkage block (251) is fixedly installed in the middle of the lower end of the rectangular plate (235), the lower end of the rectangular plate (235) and located on the left and right sides of the linkage block (251) are symmetrically connected to the linkage block (252) for sliding left and right, the two linkage blocks (252) on both sides are linearly and evenly arranged along the rectangular plate (235), the left and right sides of the lower end of the linkage block (251) and the left and right sides of the lower end of the linkage block (252) are symmetrically fixedly installed with a vertical stand (253), and the lower outer end of the vertical stand (253) is connected to a compensation block for sliding up and down. A connecting block (255) is slidably connected to the inner end of the lower side of the compensation block (254), a partition plate (254) is arranged in the middle of the compensation block (254), the compensation block (254) and the vertical plate (253) as well as the compensation block (254) and the connecting block (255) are fixedly connected by a cylindrical spring (256), a rectangular plate (257) is fixedly installed at the lower end of the connecting block (255), a weeding wheel (258) is rotatably connected between the two corresponding rectangular plates (257), and the weeding wheel (258) is driven by a motor arranged on the rectangular plate (257).

4. A paddy field mechanical weeding robot according to claim 3, characterized in that: The fixing member (24) comprises a connecting plate (241), the lower end of the rectangular column (21) is fixedly mounted with the connecting plate (241), the lower end of the connecting plate (241) is fixedly mounted with a linkage group, the linkage group is composed of a plurality of "X"-shaped brackets (242) that are fixedly connected, the upper horizontal section of the "X"-shaped bracket (242) is a telescopic structure, and the upper horizontal section of the "X"-shaped bracket (242) is flush with the linkage block (251) at the highest point.

5. The paddy field mechanical weeding robot according to claim 4, characterized in that: The second weeding piece (26) comprises a square column 1 (261), a square column 1 (261) is fixedly installed at the lower end of the rectangular plate (235) and located in front of the linkage block 1 (251), a square column 2 (262) is symmetrically slidably connected to the lower end of the rectangular plate (235) and located on both sides of the square column 1 (261), a square column 3 (263) is slidably connected to the lower end of the rectangular plate (235) and located in front of the square column 1 (261) and the square column 2 (262), and a vertical stand plate 2 (264) is symmetrically fixedly installed on the left and right sides of the lower end of the square column 1 (261), the left and right sides of the lower end of the square column 2 (262) and the left and right sides of the lower end of the square column 3 (263), and the lower end of the ...). A second compensation block (265) is slidably connected to the outer side end, a second connection block (266) is slidably connected to the inner side of the lower side of the second compensation block (265), a second partition plate is arranged in the middle of the second compensation block (265), the second compensation block (265) and the second vertical plate (264) as well as the second compensation block (265) and the second connection block (266) are fixedly connected by a second cylindrical spring (267), an inclined plate (268) is fixedly installed at the opposite ends of the two corresponding second connection blocks (266), and a rotating rod (269) is rotatably connected to the inclined plate (268), and a bent weeding rod (2691) is evenly fixedly installed on the lower side outer end of the rotating rod (269) along its circumference, and the rotating rod (269) is driven by a motor arranged on the inclined plate (268).

6. The paddy field mechanical weeding robot according to claim 4, characterized in that: The soil compacting member (27) comprises an inverted F-shaped plate (271), the rear end of each rectangular plate (257) is fixedly mounted with the inverted F-shaped plate (271), the opposite ends of the middle vertical sections of the two corresponding inverted F-shaped plates (271) are rotatably connected to a spindle cone-shaped soil-moving wheel (272), the opposite ends of the rear vertical sections of the two corresponding inverted F-shaped plates (271) are rotatably connected to a compacting wheel (273), a scraping block (274) is fixedly connected to the inverted F-shaped plate (271) and located directly above the compacting wheel (273), and the upper end of the horizontal section of the inverted F-shaped plate (271) is fixedly connected to the horizontal section on the lower side of the "X"-shaped bracket (242).

7. The paddy field mechanical weeding robot according to claim 5, characterized in that: A positioning rod (2692) is fixedly mounted on the lower end of the weeding rod (2691); a spiral groove is provided at the lower arc-shaped outer end of the weeding rod (2691) and the arc-shaped outer end of the positioning rod (2692); and a rubber sleeve (2693) having an H-shaped longitudinal section is threadedly connected to the outer ends of the positioning rod (2692) and the weeding rod (2691).

8. The paddy field mechanical weeding robot according to claim 5, characterized in that: The adjusting member (28) comprises a movable screw rod (281), the opposite ends of the square column three (263) are rotatably connected with the movable screw rod (281), a threaded sleeve (282) is commonly threadedly connected between the two movable screw rods (281), a horizontal round rod one (283) is fixedly installed at the front end of the square column one (261), a limiting sleeve (284) is fixedly installed at the front end of the horizontal round rod one (283), the threaded sleeve (282) and the limiting sleeve (284) are rotatably connected coaxially, a threaded stop rod (285) is threadedly connected to the limiting sleeve (284), the end of the threaded stop rod (285) is rotatably connected with an arc-shaped stop block (286), and a rubber block (287) with a rough surface is fixedly installed on the arc-shaped stop block (286) facing the central axis of the threaded sleeve (282).

9. The paddy field mechanical weeding robot according to claim 5, characterized in that: The linkage member (29) comprises a connecting round rod (291), an inclined connecting round rod (291) is fixedly connected between the square column three (263) and the square column two (262) on the same side, an inclined plate (268) below the square column one (261) and an inclined plate (268) below the square column two (262) are respectively fixedly connected to the corresponding rectangular plate one (257) through a horizontal round rod two (292), the inclined plate (268) at the square column three (263) is fixedly connected to the corresponding rectangular plate one (257) through a horizontal round rod three (293), and the front end of the compensation block one (254) on the upper side of the corresponding rectangular plate one (257) is hinged with a traction rod (294), and a circular ring sleeve (295) is slidably connected to the horizontal circular rod three (293), and the end of the traction rod (294) is hinged to the corresponding circular ring sleeve (295).

Images