Intelligent weeding robot for soybean and corn compound planting

Abstract

The invention discloses an intelligent weeding robot for soybean and corn composite planting, and relates to the technical field of mechanical weeding, the intelligent weeding robot comprises a support frame, rollers are symmetrically arranged on both sides of the support frame, and a fertilizer box, an air compressor, a first battery pack and a second battery pack are fixed at the upper end of the support frame; a weeding mechanism used for weeding and a root cleaning mechanism used for cleaning weed roots and conducting fertilization are arranged in the supporting frame. The design of rollers ensures that the robot stably walks on soil, the adjusting assembly can stir branches and leaves of crops on the two sides, a clear operation path is provided for the weeding assembly, through cooperative use of the rhizome cleaning assembly, the cutting assembly and the smashing assembly, effective treatment of different parts of weeds is achieved, rhizomes at the bottom are cut off, and the weeding efficiency is improved. The middle part is cut off, the top tender shoots are crushed, and weeds can be more thoroughly removed through multi-layer treatment and are prevented from being regenerated.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical weeding, and in particular to an intelligent weeding robot for soybean-corn composite planting. Background Art

[0002] The intelligent weeding robot for planting is an agricultural equipment that integrates modern machinery, electronics and information technology. It is designed to efficiently and accurately remove weeds in farmland while protecting crops.

[0003] For example, the patent document with publication number CN113068502A is named a hydraulically driven four-wheel independent drive four-wheel independent steering weeding robot. The invention has a simple and reasonable structure and good low-speed movement performance. It uses hydraulic drive to reduce weight while enhancing the working performance of the vehicle. Compared with other large and heavy vehicles, this vehicle reduces the impact of vehicle weight on soil compaction, reduces the impact of weeding devices on crops, and better adapts to complex road conditions in the field.

[0004] The above invention improves the structure of the robot to reduce the impact on crops. When dealing with weeds between crops, it is impossible to perform multi-level treatment according to the different positions of the weeds, and the roots of the weeds cannot be deeply cleaned in the soil. The soil at the location where the weeds grow is distributed by the weed roots, and its soil structure is not conducive to the respiration of the crop roots and the penetration of water and nutrients. Therefore, the present application provides an intelligent weeding robot for soybean and corn composite planting to meet the needs. Summary of the invention

[0005] The purpose of the present application is to provide an intelligent weeding robot for soybean-corn composite planting, which can effectively solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical solutions: an intelligent weeding robot for soybean-corn composite planting, comprising a support frame, rollers are symmetrically arranged on both sides of the support frame, a fertilizer box, an air compressor, a first battery pack and a second battery pack are fixed to the upper end of the support frame, a weeding mechanism for weeding and a root cleaning mechanism for cleaning the roots of weeds and fertilizing are arranged inside the support frame, and the weeding mechanism is located in front of the root cleaning mechanism; The weeding mechanism includes an adjusting component installed inside the support frame for pushing away the branches and leaves of crops, a root cleaning component for cutting off the roots and stems at the bottom of weeds is arranged at the bottom of the adjusting component, a cutting component for cutting weeds is arranged on the outer surface of the adjusting component and located above the root cleaning component, and a crushing component for cutting and crushing the branches and leaves at the top of weeds is arranged on the outer surface of the adjusting component and located above the cutting component; The root cleaning mechanism comprises a connection mechanism connected with the air compressor and the fertilizer box, and a soil cleaning mechanism is arranged at the lower part of the connection mechanism for inserting into the soil to cut the weed roots and stems and to turn the soil.

[0007] Among them, the adjustment component includes a fixed frame installed inside the support frame, an installation frame is installed inside the fixed frame for sliding up and down, the upper end of the fixed frame is provided with a tension spring connected to the installation frame for applying a downward force to the installation frame, and side wheels for pushing away branches and leaves of crops are rotatably installed on both sides of the lower part of the installation frame.

[0008] Wherein, a driving motor is arranged at the upper end of the installation frame, and the driving motor is electrically connected to the first battery pack, an output end of the driving motor is connected to a shaft rod, a limiting ring is arranged at the upper part of the outer surface of the shaft rod, a slide cylinder is arranged at the middle part of the fixing frame, and the limiting ring is slidably installed inside the slide cylinder, and an auxiliary rod for supporting the rotation of the shaft rod is arranged at the middle part of the inner wall of the installation frame; A limiting block is arranged at the bottom of the shaft rod, a top ring is arranged at the upper end of the limiting block, a first fixing ring and a second fixing ring are arranged on the outer surface of the shaft rod, and the second fixing ring is located between the first fixing ring and the top ring.

[0009] The root cleaning assembly includes a cutting disc, the inner wall of the cutting disc is provided with a snap ring, the snap ring slides up and down on the outer surface of the limit block, the upper end of the cutting disc is provided with a spring sleeved on the outer surface of the limit block, the outer surface of the cutting disc is provided with a plurality of card shells distributed in a ring array, and one side of the plurality of card shells is provided with two slices for cutting off the grass stems which are staggered up and down; Two mounting rings with different diameters are arranged at the bottom of the cutting disc, and a plurality of blades distributed in a ring array are arranged at the bottom of the two mounting rings.

[0010] Wherein, the cutting assembly includes a first mounting member, the first mounting member is fixedly mounted on the bottom of the second fixing ring by bolts, and a cutting knife is arranged on the outer surface of the first mounting member.

[0011] The crushing assembly includes a second mounting member, which is fixed to the bottom of the first fixing ring by bolts, and two cards are arranged on the outer surface of the second mounting member, and a mowing rope is arranged on one side of the two cards.

[0012] The connection mechanism comprises a plurality of hollow tubes distributed at equal intervals, the upper ends of the plurality of hollow tubes are provided with ventilation hoses connected to the air compressor, and the outer surfaces of the plurality of hollow tubes are provided with a plurality of feeding hoses connected to the fertilizer box; The connection mechanism also includes an outer sleeve installed at the lower end of the support frame, and the outer surface of the outer sleeve is provided with a plurality of positioning holes distributed in a rectangular array.

[0013] Among them, the soil cleaning mechanism includes a support member, a plurality of rib tubes distributed at equal intervals are arranged inside the support member, a rib plate is arranged on one side of the support member, and a plug plate is arranged on the upper end of the rib plate, and the plug plate is fixed to the inside of the outer sleeve through bolts and positioning holes, and the upper ends of the plurality of rib tubes are connected to the hollow tube.

[0014] Wherein, a flat plow tube is arranged at the lower end of the rib plate, and the rib tube is communicated with the interior of the flat plow tube, and a plurality of through holes distributed at equal intervals are opened at the upper end of the flat plow tube.

[0015] In summary, the technical effects and advantages of the present invention are as follows: 1. The design of the rollers in the present invention ensures that the robot can walk stably on the soil. The adjustment component can move the branches and leaves of crops on both sides, providing a clear operation path for the weeding component. Through the coordinated use of the rhizome cleaning component, the cutting component and the crushing component, effective treatment of different parts of the weeds is achieved. The rhizome at the bottom is removed, the middle part is cut off, and the top buds are crushed. The multi-level treatment can remove the weeds more thoroughly and prevent them from regenerating. Different cutting methods are selected according to the characteristics of different parts of the weeds (rigid cutting is used for the harder middle part, and flexible cutting is used for the bud part), which improves the efficiency and effect of weeding. Further crushing the rhizomes of the weeds can prevent larger residues from clogging subsequent treatment.

[0016] 2. The soil cleaning mechanism of the present invention goes deep into the soil and adjusts the depth according to the demand, breaking the soil compaction, improving the soil structure, facilitating the root breathing, and improving the permeability of water and nutrients, promoting the growth of crops. The intermittent strong airflow provided by the air compressor enters through the connection mechanism and is ejected from the soil cleaning mechanism, which can effectively overturn the upper soil, making the soil more fluffy and creating a better growth environment for the root system of crops. The fertilizer in the fertilizer box is sent to the soil cleaning mechanism through the connection mechanism, and falls evenly or is sprayed into the soil by the airflow as it moves, ensuring that the fertilizer can be directly applied around the root area of ​​the crop, improving the fertilizer utilization rate, and reducing the possibility of excessive use of chemical fertilizers through precise fertilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application 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 some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 This is a first-person perspective schematic diagram of the three-dimensional structure of the intelligent weeding robot; Figure 2 This is a schematic diagram of the second-perspective stereoscopic structure of the intelligent weeding robot; Figure 3 This is a schematic diagram of the third-person perspective stereoscopic structure of the intelligent weeding robot; Figure 4 It is a schematic diagram of the local three-dimensional connection structure of the intelligent weeding robot; Figure 5 It is a schematic diagram of the three-dimensional connection structure of the weeding mechanism; Figure 6 It is a schematic diagram of the three-dimensional connection structure of the adjustment component; Figure 7 It is a schematic diagram of the local three-dimensional connection structure of the adjustment component; Figure 8 It is a schematic diagram of the three-dimensional connection structure of the rhizome cleaning component, the cutting component and the crushing component; Fig. 9 It is a schematic diagram of the three-dimensional connection structure of the regulating component and the rhizome cleaning component; Fig.10 A schematic diagram of a first-person perspective stereoscopic connection structure of a rhizome cleaning component; Fig.11 A schematic diagram of a second-view stereoscopic connection structure of a rhizome cleaning component; Fig.12 It is a schematic diagram of the three-dimensional connection structure of the cutting assembly; Fig.13 It is a schematic diagram of the three-dimensional connection structure of the crushing component; Fig.14 A schematic diagram of the fourth-perspective stereoscopic connection structure of the intelligent weeding robot; Fig.15 It is a schematic diagram of the three-dimensional connection structure of the root cleaning mechanism; Fig.16 It is a schematic diagram of the three-dimensional connection structure of the connection mechanism; Fig.17 A schematic diagram of a three-dimensional connection structure of a soil cleaning mechanism from a first-person perspective; Fig.18 A schematic diagram of a three-dimensional connection structure of a soil cleaning mechanism from a second perspective; Fig.19 It is a schematic diagram of the three-dimensional connection structure of the rib tube and the flat plow tube from the first perspective; Fig. 20 It is a schematic diagram of the stereoscopic connection structure of the rib tube and the flat plow tube from a second perspective.

[0019] In the figure: 1, roller; 3, first battery pack; 4, air compressor; 5, fertilizer box; 6, second battery pack; 7, support frame; 8, weeding mechanism; 81, adjustment component; 811, fixed frame; 812, mounting frame; 813, driving motor; 814, tension spring; 815, slide; 816, limiting ring; 817, side wheel; 818, auxiliary rod; 819, shaft; 8111, first fixed ring; 8112, second fixed ring; 8113, top ring; 8114, limit block; 82, root cleaning component; 821, spring; 822, cutting disc; 823, jam; 824 , slice; 825, mounting ring; 826, blade; 827, snap ring; 83, cutting assembly; 831, first mounting member; 832, cutting knife; 84, crushing assembly; 841, second mounting member; 842, card; 843, mowing rope; 9, root cleaning mechanism; 91, connecting mechanism; 911, hollow tube; 912, ventilation hose; 913, feeding hose; 914, outer sleeve; 915, positioning hole; 92, soil cleaning mechanism; 921, rib tube; 922, plug plate; 923, rib plate; 924, support member; 925, flat plow pipe; 926, through hole; 927, push piece. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] Example 1, Reference Figures 1 to 20 The intelligent weeding robot for composite planting of soybean and corn shown in the figure comprises a support frame 7, rollers 1 are symmetrically arranged on both sides of the support frame 7, a fertilizer box 5, an air compressor 4, a first battery pack 3 and a second battery pack 6 are fixed to the upper end of the support frame 7, a weeding mechanism 8 for weeding and a root cleaning mechanism 9 for cleaning the roots of weeds and applying fertilizer are arranged inside the support frame 7, and the weeding mechanism 8 is located in front of the root cleaning mechanism 9; The weeding mechanism 8 includes an adjusting component 81 installed inside the support frame 7 for pushing away the branches and leaves of crops, a root cleaning component 82 for cutting off the root stems at the bottom of weeds is arranged at the bottom of the adjusting component 81, a cutting component 83 for cutting weeds is arranged on the outer surface of the adjusting component 81 and located above the root cleaning component 82, and a crushing component 84 for cutting and crushing the top branches and leaves of weeds is arranged on the outer surface of the adjusting component 81 and located above the cutting component 83; It is worth noting that when weeding soybean or corn fields, the roller 1 is located in the gap between two rows of plants and rolls, and the design of the roller 1 is suitable for cultivated land and prevents the roller 1 from sinking deeply into the soil, which can ensure that the intelligent weeding robot can walk steadily on the soil; When weeding, the adjustment component 81 is located between two rows of crops. The adjustment component 81 moves the branches and leaves of the crops on both sides as the support frame 7 moves. After the adjustment component 81 moves the branches and leaves of the crops on both sides, the crushing component 84, the cutting component 83 and the root and stem cleaning component 82 rotate accordingly to cut the weeds between the two rows of crops. The crushing component 84, the cutting component 83 and the root and stem cleaning component 82 move synchronously, and the root and stem cleaning component 82 rotates to cut off the roots at the bottom of the weeds, and the bottom of the root and stem cleaning component 82 can contact the ground. As the root and stem cleaning component 82 rotates, the weed roots at the bottom of the soil can be further cut; The cutting assembly 83 rotates to cut the middle part of the weeds and cut off the weeds from the middle, while the crushing assembly 84 cuts the upper part of the weeds. The cutting assembly 83 adopts rigid cutting, and the crushing assembly 84 adopts flexible cutting. Since the upper part of the weeds is a tender bud part that is easy to cut and crush, the crushing assembly 84 is used for cutting, while the rhizomes in the middle of the weeds are harder, so the cutting assembly 83 is used for cutting and weeding. The rhizomes cleaning assembly 82, the cutting assembly 83 and the crushing assembly 84 cooperate to further crush the cut weed rhizomes to prevent larger rhizomes from clogging the root cleaning mechanism 9 for subsequent processing.

[0022] Among them, the design of the roller 1 ensures that the robot walks stably on the soil, the adjustment component 81 can move the branches and leaves of crops on both sides, and provide a clear operation path for the weeding component. Through the coordinated use of the rhizome cleaning component 82, the cutting component 83 and the crushing component 84, effective treatment of different parts of the weeds is achieved. The rhizome at the bottom is removed, the middle part is cut off, and the top tender shoots are crushed. The multi-level treatment can remove the weeds more thoroughly and prevent their regeneration. Different cutting methods are selected according to the characteristics of different parts of the weeds. Rigid cutting is used for the harder middle part, and flexible cutting is used for the tender shoot part, which improves the efficiency and effect of weeding. Further crushing the weed rhizomes can prevent larger residues from clogging subsequent treatment.

[0023] The root cleaning mechanism 9 includes a connection mechanism 91 connected to the air compressor 4 and the fertilizer box 5, and a soil cleaning mechanism 92 is provided at the lower part of the connection mechanism 91 for inserting into the soil to cut the weed roots and stems and to turn the soil.

[0024] It is worth noting that after the root cleaning component 82, the cutting component 83 and the crushing component 84 cut and crush the weeds, the movement of the support frame 7 will drive the soil cleaning mechanism 92 to move, and the soil cleaning mechanism 92 will penetrate into the soil, and the depth of the soil cleaning mechanism 92 can be adjusted according to the needs of the user. When the soil cleaning mechanism 92 moves, the air compressor 4 will spray air into the connecting mechanism 91 at intervals, and the strong airflow passing through the connecting mechanism 91 will be sprayed through the soil cleaning mechanism 92. The airflow sprayed through the soil cleaning mechanism 92 will overturn the soil on the upper part of the soil cleaning mechanism 92, making the soil fluffy, and the fertilizer inside the fertilizer box 5 will also be successively sent into the soil cleaning mechanism 92 through the connecting mechanism 91. After the fertilizer enters the soil cleaning mechanism 92, it will fall into the soil one after another as the soil cleaning mechanism 92 moves, and the strong airflow sprayed from the hollow tube 911 can spray the fertilizer, so that the fertilizer can be sprayed on the soil around the crops.

[0025] Among them, the soil cleaning mechanism 92 goes deep into the soil and adjusts the depth according to needs to break up the soil compaction, improve the soil structure, facilitate root breathing, and improve the permeability of water and nutrients to promote crop growth. The intermittent strong airflow provided by the air compressor 4 enters through the connecting mechanism 91 and is ejected from the soil cleaning mechanism 92, which can effectively overturn the upper soil, making the soil more fluffy and creating a better growth environment for the crop roots.

[0026] The fertilizer in the fertilizer box 5 is sent to the soil cleaning mechanism 92 through the connecting mechanism 91, and falls evenly or is sprayed into the soil by the airflow as it moves, ensuring that the fertilizer can be directly applied around the crop root zone, improving the fertilizer utilization rate, and reducing the possibility of excessive use of chemical fertilizers through precise fertilization.

[0027] Embodiment 2: Based on the weeding mechanism 8 provided in Embodiment 1, this embodiment provides a further technical solution of an adjustment component 81, a root cleaning component 82, a cutting component 83 and a crushing component 84.

[0028] The adjustment component 81 includes a fixed frame 811 installed inside the support frame 7, and an installation frame 812 is installed inside the fixed frame 811 for sliding up and down. The upper end of the fixed frame 811 is provided with a tension spring 814 connected to the installation frame 812 and applying a downward force to the installation frame 812. Side wheels 817 for pushing away branches and leaves of crops are rotatably installed on both sides of the lower part of the installation frame 812.

[0029] It is worth noting that when the support frame 7 moves, the side wheels 817 will contact the ground and roll due to the gravity of the mounting frame 812 and the force applied by the tension spring 814, and the side wheels 817 will also push away the branches and leaves of crops on both sides when rolling, preventing the crushing component 84 and the cutting component 83 from cutting the branches and leaves of crops when removing weeds.

[0030] A driving motor 813 is disposed at the upper end of the mounting frame 812, and the driving motor 813 is electrically connected to the first battery pack 3. The output end of the driving motor 813 is connected to a shaft 819, and a limiting ring 816 is disposed on the upper part of the outer surface of the shaft 819. A slide 815 is disposed in the middle of the fixing frame 811, and the limiting ring 816 is slidably mounted inside the slide 815. An auxiliary rod 818 for supporting the rotation of the shaft 819 is disposed in the middle of the inner wall of the mounting frame 812; When weeding, the output shaft of the driving motor 813 drives the shaft 819 to rotate, and the sliding of the shaft 819 will drive the limiting ring 816 to slide up and down inside the slide cylinder 815 to assist the shaft 819 to rotate, and the auxiliary rod 818 is used to assist the shaft 819 to rotate.

[0031] A limit block 8114 is provided at the bottom of the shaft rod 819, and a top ring 8113 is provided at the upper end of the limit block 8114. A first fixing ring 8111 and a second fixing ring 8112 are provided on the outer surface of the shaft rod 819, and the second fixing ring 8112 is located between the first fixing ring 8111 and the top ring 8113. The crushing assembly 84 includes a second mounting member 841, and the second mounting member 841 is fixedly installed at the bottom of the first fixing ring 8111 by bolts. Two cards 842 are provided on the outer surface of the second mounting member 841, and a mowing rope 843 is provided on one side of the two cards 842.

[0032] It is worth mentioning that the rotation of the shaft 819 drives the second mounting member 841 to rotate through the first fixing ring 8111, and the second mounting member 841 drives the card 842 to rotate. The rotation of the card 842 will drive the mowing rope 843 to rotate. The mowing rope 843 is made of steel wire or nylon rope. The mowing rope 843 is located at a high place and can cut the top branches and leaves of weeds.

[0033] Among them, the side wheel 817 contacts the ground and rolls due to the gravity of the mounting frame 812 and the force applied by the tension spring 814, preventing the crushing component 84 and the cutting component 83 from accidentally damaging the branches and leaves of crops during operation. The driving motor 813 drives the shaft 819 to rotate, and the sliding design of the shaft 819 enables it to slide up and down inside the slide 815, assisting its rotation, ensuring that the shaft 819 can rotate steadily and smoothly.

[0034] The limiting ring 816 slides up and down in the slide cylinder 815 to assist the shaft 819 in rotating, thereby maintaining the straightness and stability of the shaft 819 during rotation and preventing unnecessary vibration or deviation during high-speed rotation.

[0035] The rotation of the shaft 819 drives the second mounting member 841 through the first fixing ring 8111, thereby rotating the card 842, and finally driving the mowing rope 843 to rotate at high speed. The mowing rope 843 is located at a high position and can effectively cut the branches and leaves on the top of the weeds. The mowing rope 843 made of steel wire or nylon rope has sufficient strength to cut the weeds and has a certain flexibility.

[0036] The cutting assembly 83 includes a first mounting member 831 , which is fixed to the bottom of the second fixing ring 8112 by bolts, and a cutting knife 832 is provided on the outer surface of the first mounting member 831 .

[0037] The shaft 819 rotates through the second fixing ring 8112 to drive the first mounting member 831 to rotate, and the first mounting member 831 drives the cutting knife 832 to rotate. The cutting knife 832 is located at the lower part of the mowing rope 843, so the cutting knife 832 rotates to cut the branches and stems in the middle of the weeds to prevent the mowing rope 843 from being unable to cut off the hard branches and stems of the weeds, and the cutting knife 832 cooperates with the mowing rope 843 to quickly crush the cut weeds.

[0038] The mowing rope 843 is located at a high position and is specifically used for cutting the softer branches and leaves on the top of the weeds. The cutting knife 832 is located below the mowing rope 843 and focuses on cutting the harder branches and stems in the middle of the weeds. This division of labor ensures that weeds of different hardness can be effectively processed.

[0039] The coordinated work of the cutting knife 832 and the mowing rope 843 greatly improves the overall weed cutting efficiency. The cutting knife 832 can quickly cut the middle of the weeds, providing convenience for the mowing rope 843 to further process the top branches and leaves. The cooperation of the two can complete the entire cutting process faster.

[0040] The root cleaning assembly 82 includes a cutting disc 822, the inner wall of which is provided with a snap ring 827, which slides up and down on the outer surface of the limit block 8114, and the upper end of the cutting disc 822 is provided with a spring 821 sleeved on the outer surface of the limit block 8114, and the outer surface of the cutting disc 822 is provided with a plurality of card shells 823 distributed in a ring array, and one side of each of the plurality of card shells 823 is provided with two slices 824 staggered up and down for cutting off the grass stems; Two mounting rings 825 with different diameters are disposed at the bottom of the cutting disc 822 , and a plurality of blades 826 distributed in a circular array are disposed at the bottom of the two mounting rings 825 .

[0041] When the shaft 819 rotates, the limit block 8114 will be driven to rotate, and the limit block 8114 will drive the snap ring 827 to rotate. The rotation of the snap ring 827 will drive the cutting disc 822 to rotate, and the spring 821 will push the cutting disc 822 to close to the ground. As the cutting disc 822 rotates, the card shell 823 will be driven to rotate, and the slice 824 set on one side of the card shell 823 will cut the branches and stems at the root of the weeds as it rotates. The staggered distribution of the slices 824 can quickly cut the roots of the weeds at the root of the weeds. As the cutting disc 822 rotates, the mounting ring 825 will be driven to rotate, and the blade 826 will be inserted into the soil under the downward pressure applied by the cutting disc 822. The blade 826 will stir the surface soil as the mounting ring 825 rotates, and the roots of weeds will be cut as the blade 826 rotates to prevent the weeds from growing again.

[0042] Among them, the spring 821 pushes the cutting disc 822 close to the ground. The design of the spring 821 enables the cutting disc 822 to always be in close contact with the ground, ensuring the accurate cutting of the weed roots and stems without being affected by the undulations of the terrain. The cutting disc 822 drives the card shell 823 to rotate, and the card shell 823 rotates with the rotation of the cutting disc 822. The slices 824 thereon can quickly and effectively cut the branches and stems at the root position of the weeds.

[0043] The design of the slices 824 being staggered up and down increases the chances of the slices 824 contacting the weed rhizomes, thereby improving the cutting efficiency. The staggered slices can more thoroughly chop the rhizomes and prevent the weeds from regenerating.

[0044] The cutting disc 822 drives the mounting ring 825 to rotate, and the rotation of the mounting ring 825 further transmits power to the blade 826, so that it penetrates into and stirs the soil on the surface of the ground. The blade 826 not only loosens the soil, but also penetrates deep into the soil to cut the roots of weeds, further preventing the regeneration of weeds and improving the soil structure. Through the dual effects of the slice 824 and the blade 826, the roots of the weeds are completely cut off and crushed, reducing the possibility of weeds growing again.

[0045] Embodiment 3: Based on the root cleaning mechanism 9 provided in Embodiment 1, this embodiment provides a further technical solution of a connection mechanism 91 and a soil cleaning mechanism 92.

[0046] The connection mechanism 91 further includes an outer sleeve 914 installed at the lower end of the support frame 7 , and the outer surface of the outer sleeve 914 is provided with a plurality of positioning holes 915 distributed in a rectangular array.

[0047] The soil cleaning mechanism 92 includes a support member 924, and a plurality of rib tubes 921 distributed at equal intervals are arranged inside the support member 924. A rib plate 923 is arranged on one side of the support member 924, and an insert plate 922 is arranged on the upper end of the rib plate 923. The insert plate 922 is fixed to the inside of the outer sleeve 914 through bolts and the locking holes 915.

[0048] It is worth mentioning that before use, the user needs to adjust the sliding position of the plug plate 922 inside the outer sleeve 914 according to needs, and then adjust the installation position of the plug plate 922 inside the outer sleeve 914 by inserting the flat plow tube 925 into the soil, and install the plug plate 922 inside the outer sleeve 914 through the positioning hole 915 at the corresponding position of the bolt.

[0049] The upper ends of the plurality of rib tubes 921 are connected to the hollow tube 911. A flat plow tube 925 is provided at the lower end of the rib plate 923, and the rib tube 921 is communicated with the inside of the flat plow tube 925. The upper end of the flat plow tube 925 is provided with a plurality of through holes 926 distributed at equal intervals.

[0050] Among them, as the support frame 7 moves, the flat plow tube 925 will cut into the soil. Since the inserted plate 922 fixes the cutting depth of the flat plow tube 925 in the soil, the randomly set flat plow tube 925 can move and turn the soil at a fixed depth, and the push piece 927 pushes some accumulated weeds to the crop planting area on one side to prevent the weeds from accumulating between the rib tubes 921. The front end of the flat plow tube 925 is arc-shaped, which can be quickly inserted into the soil and reduce the resistance to the movement of the flat plow tube 925.

[0051] Among them, the user can adjust the position of the plug plate 922 according to specific needs, so as to accurately control the depth of the flat plow pipe 925 cutting into the soil. The plug plate 922 is installed by the bolt corresponding to the positioning hole 915, and the plug plate 922 is fixed inside the outer sleeve 914 through the bolt and the positioning hole 915 to ensure that the plug plate 922 will not move due to external force during operation, thereby maintaining the set cutting depth. Since the plug plate 922 fixes the cutting depth of the flat plow pipe 925, the flat plow pipe 925 can stably move and turn over the soil within a predetermined depth, and the front end of the flat plow pipe 925 is designed with an arc shape, which enables the flat plow pipe 925 to be quickly and smoothly inserted into the soil and reduces the resistance during movement.

[0052] The pusher 927 can effectively push the accumulated weeds to the crop planting area on one side, thereby preventing the weeds from blocking the spaces between the rib tubes 921 .

[0053] The connection mechanism 91 includes a plurality of hollow tubes 911 distributed at equal intervals, the upper ends of the plurality of hollow tubes 911 are provided with ventilation hoses 912 connected to the air compressor 4, and the outer surfaces of the plurality of hollow tubes 911 are provided with a plurality of feeding hoses 913 connected to the fertilizer box 5.

[0054] Among them, when the flat plow tube 925 is inserted into the soil, the air compressor 4 quickly sprays air into the inside of the ventilation hose 912 at regular intervals, and the ventilation hose 912 and the feeding hose 913 are designed with metal hoses and can be deformed as the position of the plug plate 922 is adjusted. When the airflow is sprayed through the ventilation hose 912, it will enter the inside of the flat plow tube 925 through the hollow tube 911 and the rib tube 921. Because the flat plow tube 925 is buried in the soil, when the strong airflow enters the inside of the flat plow tube 925, the airflow will be discharged through the through hole 926 and the flat plow tube 925. At this time, the soil buried on the surface of the flat plow tube 925 will be turned up by the airflow, so as to make the soil fluffy; The fertilizer box 5 is provided to gradually and slowly deliver the fertilizer into the hollow tube 911 through the feeding hose 913, and the fertilizer enters the flat plow tube 925 through the hollow tube 911 and the rib tube 921. When the airflow is ejected from the flat plow tube 925, the fertilizer will be scattered into the soil in the moving path of the flat plow tube 925, which can remove weeds and fertilize crops at the same time.

[0055] Among them, the air compressor 4 quickly sprays strong airflow into the ventilation hose 912 at regular intervals. The airflow enters the flat plow tube 925 buried in the soil through the hollow tube 911 and the rib tube 921, and is finally discharged from the through hole 926. The strong airflow can effectively turn over the soil buried on the surface of the flat plow tube 925, making it fluffy, which helps to break up the soil compaction, improve soil permeability and water permeability, and create a better growth environment for crop roots.

[0056] The fertilizer box 5 gradually and slowly delivers the fertilizer into the hollow tube 911 through the feeding hose 913, and then enters the flat plow tube 925 through the rib tube 921. When the air flow is ejected from the flat plow tube 925, the fertilizer is also scattered into the soil in the moving path of the flat plow tube 925, ensuring that the fertilizer can be evenly distributed in the soil and directly act on the root zone of the crop, thereby improving the utilization rate of the fertilizer and reducing waste.

[0057] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent weeding robot for soybean-corn composite planting, comprising a support frame (7), rollers (1) are symmetrically arranged on both sides of the support frame (7), a fertilizer box (5), an air compressor (4), a first battery pack (3) and a second battery pack (6) are fixed to the upper end of the support frame (7), characterized in that: A weeding mechanism (8) for weeding and a root cleaning mechanism (9) for cleaning weed roots and applying fertilizer are arranged inside the support frame (7), and the weeding mechanism (8) is located in front of the root cleaning mechanism (9); The weeding mechanism (8) comprises an adjusting component (81) installed inside the support frame (7) for pushing away the branches and leaves of crops, a root cleaning component (82) for cutting off the root stems at the bottom of weeds is arranged at the bottom of the adjusting component (81), a cutting component (83) for cutting weeds is arranged on the outer surface of the adjusting component (81) and located above the root cleaning component (82), and a crushing component (84) for cutting and crushing the branches and leaves at the top of weeds is arranged on the outer surface of the adjusting component (81) and located above the cutting component (83); The root cleaning mechanism (9) comprises a connection mechanism (91) connected to the air compressor (4) and the fertilizer box (5), and a soil cleaning mechanism (92) is provided at the bottom of the connection mechanism (91) for inserting into the soil to cut the weed roots and perform soil turning.

2. The intelligent weeding robot for soybean-corn composite planting according to claim 1, characterized in that: The adjustment assembly (81) comprises a fixing frame (811) installed inside the support frame (7); a mounting frame (812) is slidably installed inside the fixing frame (811) in an upward and downward manner; a tension spring (814) connected to the mounting frame (812) and applying a downward force to the mounting frame (812) is provided at the upper end of the fixing frame (811); and side wheels (817) for pushing away branches and leaves of crops are rotatably installed on both sides of the lower part of the mounting frame (812).

3. The intelligent weeding robot for soybean-corn composite planting according to claim 2, characterized in that: A drive motor (813) is disposed at the upper end of the installation frame (812), and the drive motor (813) is electrically connected to the first battery pack (3); an output end of the drive motor (813) is connected to a shaft (819); a limiting ring (816) is disposed at the upper portion of the outer surface of the shaft (819); a slide cylinder (815) is disposed at the middle portion of the fixing frame (811), and the limiting ring (816) is slidably mounted inside the slide cylinder (815); and an auxiliary rod (818) for supporting the rotation of the shaft (819) is disposed at the middle portion of the inner wall of the installation frame (812); A limit block (8114) is arranged at the bottom of the shaft rod (819), a top ring (8113) is arranged at the upper end of the limit block (8114), a first fixing ring (8111) and a second fixing ring (8112) are arranged on the outer surface of the shaft rod (819), and the second fixing ring (8112) is located between the first fixing ring (8111) and the top ring (8113).

4. The intelligent weeding robot for soybean-corn composite planting according to claim 3, characterized in that: The rhizome cleaning component (82) comprises a cutting disc (822), the inner wall of the cutting disc (822) being provided with a snap ring (827), the snap ring (827) sliding up and down on the outer surface of the limit block (8114), the upper end of the cutting disc (822) being provided with a spring (821) sleeved on the outer surface of the limit block (8114), the outer surface of the cutting disc (822) being provided with a plurality of snap shells (823) distributed in a ring array, and one side of each of the plurality of snap shells (823) being provided with two slices (824) staggered up and down for cutting off grass stems; Two mounting rings (825) with different diameters are arranged at the bottom of the cutting disc (822), and a plurality of blades (826) distributed in a ring array are arranged at the bottom of each of the two mounting rings (825).

5. The intelligent weeding robot for soybean-corn composite planting according to claim 3, characterized in that: The cutting assembly (83) comprises a first mounting member (831), the first mounting member (831) being fixedly mounted on the bottom of the second fixing ring (8112) by means of bolts, and a cutting knife (832) being provided on the outer surface of the first mounting member (831).

6. The intelligent weeding robot for soybean-corn composite planting according to claim 3, characterized in that: The crushing assembly (84) comprises a second mounting member (841), the second mounting member (841) being fixedly mounted on the bottom of the first fixing ring (8111) by means of bolts, two cards (842) being arranged on the outer surface of the second mounting member (841), and a mowing rope (843) being arranged on one side of each of the two cards (842).

7. The intelligent weeding robot for soybean-corn composite planting according to claim 1, characterized in that: The connection mechanism (91) comprises a plurality of hollow tubes (911) distributed at equal intervals, the upper ends of the plurality of hollow tubes (911) are each provided with a ventilation hose (912) connected to an air compressor (4), and the outer surfaces of the plurality of hollow tubes (911) are each provided with a plurality of feeding hoses (913) connected to a fertilizer box (5); The connection mechanism (91) further comprises an outer sleeve (914) mounted on the lower end of the support frame (7), and the outer surface of the outer sleeve (914) is provided with a plurality of positioning holes (915) distributed in a rectangular array.

8. The intelligent weeding robot for soybean-corn composite planting according to claim 7, characterized in that: The soil cleaning mechanism (92) comprises a support member (924), wherein a plurality of rib tubes (921) distributed at equal intervals are arranged inside the support member (924), a rib plate (923) is arranged on one side of the support member (924), and an insert plate (922) is arranged at the upper end of the rib plate (923), wherein the insert plate (922) is fixed to the inside of the outer sleeve (914) via bolts and a locking hole (915), and the upper ends of the plurality of rib tubes (921) are connected to the hollow tube (911).

9. The intelligent weeding robot for soybean-corn composite planting according to claim 8, characterized in that: A flat plow tube (925) is provided at the lower end of the rib plate (923), and the rib tube (921) is in communication with the interior of the flat plow tube (925). A plurality of through holes (926) distributed at equal intervals are provided at the upper end of the flat plow tube (925).

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