Intelligent weeding robot for soybean and corn interplanting

Abstract

The application discloses a kind of soybean corn compound planting intelligent weeding robot, it is related to mechanical weeding technical field, including support frame, the both sides of the support frame are symmetrically provided with gyro wheel, the upper end of the support frame is fixed with fertilizer tank, air compressor, first battery pack and second battery pack, the inside of the support frame is provided with weeding mechanism for weeding and root cleaning mechanism for cleaning weed root and fertilizing.The design of gyro wheel in the application ensures the stable walking of robot on soil, the adjusting assembly can move the branches and leaves of crops on both sides, providing a clear operating path for the weeding assembly, through the cooperation of root cleaning assembly, cutting assembly and crushing assembly, the effective treatment of different parts of weeds is realized, the roots at the bottom are cut off, the middle part is cut off, the top sprouts are crushed, multi-level processing can more thoroughly remove weeds and prevent their regeneration.

Description

Technical Field

[0001] This invention relates to the field of mechanical weeding technology, and in particular to an intelligent weeding robot for soybean-corn intercropping. Background Technology

[0002] Intelligent weeding robots for planting are agricultural devices that integrate modern mechanical, electronic and information technologies, designed to efficiently and accurately remove weeds from farmland while protecting crops.

[0003] For example, the patent document with publication number CN113068502A is entitled "A hydraulically driven four-wheel independent drive four-wheel independent steering weeding robot". This invention has a simple and reasonable structure, good low-speed movement performance, and 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 device on crops, and is better adapted to complex field road conditions.

[0004] The aforementioned invention improves the structure of the robot to reduce its impact on crops. However, when dealing with weeds between crops, it cannot perform multi-level treatment based on the different locations of the weeds, and the roots of the weeds cannot be deeply cleaned in the soil. Furthermore, the soil where the weeds grow is covered with weed roots, and the soil structure is not conducive to the respiration of crop roots and the penetration of water and nutrients. Therefore, this application provides an intelligent weeding robot for soybean-corn intercropping to meet the needs. Summary of the Invention

[0005] The purpose of this application is to provide an intelligent weeding robot for soybean-corn intercropping, which can effectively solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this application provides the following technical solution: an intelligent weeding robot for soybean-corn intercropping, comprising a support frame, with rollers 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 fixed to the upper end of the support frame. The support frame is internally provided with a weeding mechanism for weeding and a root cleaning mechanism for cleaning the roots of weeds and applying fertilizer, with the weeding mechanism located in front of the root cleaning mechanism.

[0007] The weeding mechanism includes an adjustment component installed inside the support frame for clearing away crop branches and leaves. The bottom of the adjustment component is provided with a root and stem clearing component for cutting the root and stem of the weeds. The outer surface of the adjustment component and above the root and stem clearing component is provided with a cutting component for cutting weeds. The outer surface of the adjustment component and above the cutting component is provided with a crushing component for cutting and crushing the top branches and leaves of the weeds.

[0008] The root cleaning mechanism includes a connecting mechanism that communicates with an air compressor and a fertilizer tank. The lower part of the connecting mechanism is provided with a soil cleaning mechanism that inserts into the soil to cut the roots and stems of weeds and to turn the soil.

[0009] The adjustment component includes a fixed frame installed inside the support frame. An installation frame is slidably installed inside the fixed frame. A tension spring connected to the installation frame and applying a downward force to the installation frame is provided at the upper end of the fixed frame. Side wheels for pushing aside crop branches and leaves are rotatably installed on both sides of the lower part of the installation frame.

[0010] The mounting frame is equipped with a drive motor at its upper end, and the drive motor is electrically connected to the first battery pack. The output end of the drive motor is connected to a shaft. A limiting ring is provided on the upper part of the outer surface of the shaft. A sliding cylinder is provided in the middle of the fixing frame, and the limiting ring is slidably installed inside the sliding cylinder. An auxiliary rod for supporting the rotation of the shaft is provided in the middle of the inner wall of the mounting frame.

[0011] A limiting block is provided at the bottom of the shaft, and a top ring is provided at the upper end of the limiting block. A first fixing ring and a second fixing ring are provided on the outer surface of the shaft, and the second fixing ring is located between the first fixing ring and the top ring.

[0012] The root and stem cleaning component includes a cutting disc, the inner wall of which is provided with a retaining ring, the retaining ring sliding up and down on the outer surface of the limiting block, the upper end of which is provided with a spring sleeved on the outer surface of the limiting block, and the outer surface of which is provided with a plurality of retaining shells arranged in a ring array, and each of the plurality of retaining shells is provided with two slices arranged alternately on one side for cutting grass stems.

[0013] The bottom of the cutting disc is provided with two mounting rings of different diameters, and the bottom of each mounting ring is provided with several blades arranged in a ring array.

[0014] The cutting assembly includes a first mounting component, which is fixedly mounted on the bottom of a second fixing ring by bolts, and a cutting blade is provided on the outer surface of the first mounting component.

[0015] The shredding assembly includes a second mounting component, which is fixedly mounted to the bottom of the first fixing ring by bolts. The outer surface of the second mounting component is provided with two cards, and a grass-cutting rope is provided on one side of each of the two cards.

[0016] The connecting mechanism includes several hollow tubes that are evenly spaced apart. Each hollow tube has a ventilation hose connected to an air compressor at its upper end, and each hollow tube has a feeding hose connected to a fertilizer box on its outer surface.

[0017] The connecting mechanism also includes an outer sleeve installed at the lower end of the support frame, and the outer surface of the outer sleeve has a number of locking holes arranged in a rectangular array.

[0018] The soil cleaning mechanism includes a support member, which has several ribs evenly spaced inside. A rib plate is provided on one side of the support member, and an insert plate is provided at the upper end of the rib plate. The insert plate is fixed inside the outer tube by bolts and locking holes. The upper ends of the several ribs are all connected to the hollow tube.

[0019] The lower end of the rib plate is provided with a flat plow tube, and the interior of the rib tube is connected to the interior of the flat plow tube. The upper end of the flat plow tube is provided with several through holes that are evenly distributed.

[0020] In summary, the technical effects and advantages of this invention are as follows:

[0021] 1. The roller design in this invention ensures stable movement of the robot on the soil. The adjustment component can move the branches and leaves of crops on both sides, providing a clear operating path for the weeding component. Through the combined use of the root and stem cleaning component, the cutting component, and the crushing component, effective treatment of different parts of the weeds is achieved. The bottom root and stem are cut off, the middle is cut off, and the top buds are crushed. Multi-layer treatment can remove 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 bud part), which improves the efficiency and effect of weeding. Further crushing the weed roots and stems can prevent large residues from clogging subsequent treatments.

[0022] 2. In this invention, the soil cleaning mechanism penetrates deep into the soil and adjusts its depth as needed, breaking up soil compaction, improving soil structure, facilitating root respiration, and increasing the permeability of water and nutrients, thus promoting crop growth. The intermittent strong airflow provided by the air compressor enters through the connecting mechanism and exits from the soil cleaning mechanism, effectively turning over the topsoil, making it looser and creating a better growing environment for crop roots. Fertilizer in the fertilizer tank is fed into the soil cleaning mechanism through the connecting mechanism and falls evenly into the soil as it moves, or is sprayed onto the soil by the airflow, ensuring that the fertilizer is directly applied to the area around the crop root zone, improving fertilizer utilization and reducing the possibility of overuse of chemical fertilizers through precise fertilization. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 A first-person perspective 3D structural diagram of an intelligent weeding robot;

[0025] Figure 2 A second-view 3D structural diagram of an intelligent weeding robot;

[0026] Figure 3 A third-person perspective 3D structural diagram of an intelligent weeding robot;

[0027] Figure 4 A schematic diagram of a partial three-dimensional connection structure of an intelligent weeding robot;

[0028] Figure 5 This is a schematic diagram of the three-dimensional connection structure of the weeding mechanism;

[0029] Figure 6 A schematic diagram of the three-dimensional connection structure of the adjustment components;

[0030] Figure 7 A schematic diagram of the local three-dimensional connection structure of the adjustment component;

[0031] Figure 8 A schematic diagram of the three-dimensional connection structure of the root and stem cleaning component, cutting component, and crushing component;

[0032] Figure 9 A schematic diagram of the three-dimensional connection structure of the adjustment component and the root and stem cleaning component;

[0033] Figure 10 A first-person perspective three-dimensional connection structure diagram of the root and stem cleaning component;

[0034] Figure 11 A second-view, three-dimensional connection structure diagram of the root and stem cleaning component;

[0035] Figure 12 This is a schematic diagram of the three-dimensional connection structure of the cutting components;

[0036] Figure 13 This is a schematic diagram of the three-dimensional connection structure of the crushing component;

[0037] Figure 14 A schematic diagram of the fourth-view stereoscopic connection structure of an intelligent weeding robot;

[0038] Figure 15 A schematic diagram of the three-dimensional connection structure of the root cleaning mechanism;

[0039] Figure 16 A schematic diagram of the three-dimensional connection structure of the connecting mechanism;

[0040] Figure 17 A first-person perspective three-dimensional connection structure diagram of a soil cleaning mechanism;

[0041] Figure 18 A second-view, three-dimensional connection structure diagram of a soil cleaning mechanism;

[0042] Figure 19 A first-view three-dimensional connection diagram of the ribbed tube and the flat plow tube;

[0043] Figure 20 This is a schematic diagram of the two-dimensional connection structure of the ribbed tube and the flat plow tube from a second perspective.

[0044] In the diagram: 1. Roller; 3. First battery pack; 4. Air compressor; 5. Fertilizer bin; 6. Second battery pack; 7. Support frame; 8. Weeding mechanism; 81. Adjustment assembly; 811. Fixing frame; 812. Mounting frame; 813. Drive motor; 814. Tension spring; 815. Slide cylinder; 816. Limiting ring; 817. Side wheel; 818. Auxiliary rod; 819. Shaft; 8111. First fixing ring; 8112. Second fixing ring; 8113. Top ring; 8114. Limiting block; 82. Root and stem cleaning assembly; 821. Spring; 822. Cutting disc; 823. Locking device; 824. 825. Slice; 826. Mounting ring; 827. Blade; 828. Snap ring; 83. Cutting assembly; 831. First mounting component; 832. Cutter; 84. Crushing assembly; 841. Second mounting component; 842. Card; 843. Mowing rope; 9. Root cleaning mechanism; 91. Connecting mechanism; 911. Hollow tube; 912. Ventilation hose; 913. Feeding hose; 914. Outer tube; 915. Locking hole; 92. Soil cleaning mechanism; 921. Rib tube; 922. Insert plate; 923. Rib plate; 924. Support component; 925. Flat plow tube; 926. Through hole; 927. Pusher plate. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] Example 1, Reference Figures 1 to 20 The intelligent weeding robot for soybean-corn intercropping shown includes a support frame 7, with rollers 1 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. The support frame 7 is equipped with a weeding mechanism 8 for weeding and a root cleaning mechanism 9 for cleaning the roots of weeds and applying fertilizer. The weeding mechanism 8 is located in front of the root cleaning mechanism 9.

[0047] The weeding mechanism 8 includes an adjustment component 81 installed inside the support frame 7 for clearing away crop branches and leaves. The bottom of the adjustment component 81 is provided with a root and stem clearing component 82 for cutting the root and stem of the weeds. The outer surface of the adjustment component 81 and above the root and stem clearing component 82 is provided with a cutting component 83 for cutting weeds. The outer surface of the adjustment component 81 and above the cutting component 83 is provided with a crushing component 84 for cutting and crushing the top branches and leaves of the weeds.

[0048] It is worth noting that when weeding soybean or corn fields, roller 1 rolls in the gap between two rows of plants. Roller 1 is designed to be suitable for tillage and to prevent roller 1 from sinking deep into the soil, which can ensure that the intelligent weeding robot can walk smoothly on the soil.

[0049] When weeding, the adjusting component 81 is located between two rows of crops. The adjusting component 81 moves with the support frame 7 and moves the branches and leaves of the crops on both sides. After the adjusting 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 clearing component 82 rotate to cut the weeds located between the two rows of crops. The crushing component 84, the cutting component 83 and the root and stem clearing component 82 move synchronously. The rotation of the root and stem clearing component 82 cuts off the roots and stems at the bottom of the weeds. The bottom of the root and stem clearing component 82 can contact the ground. As the root and stem clearing component 82 rotates, it can further cut the roots of the weeds located at the bottom of the soil.

[0050] The cutting component 83 rotates to cut the middle of the weeds, severing them from the center. The crushing component 84 cuts the upper part of the weeds. The cutting component 83 uses rigid cutting, while the crushing component 84 uses flexible cutting. The upper part of the weeds is the tender shoots, which are easy to cut and crush, so the crushing component 84 is used for cutting. The middle part of the weeds has harder roots and stems, so the cutting component 83 is used for cutting and weeding. The root and stem cleaning component 82, the cutting component 83, and the crushing component 84 work together to further crush the cut weed roots and stems, preventing large roots and stems from clogging the root cleaning mechanism 9 in the subsequent processing.

[0051] The roller 1 is designed to ensure the robot walks stably on the soil. The adjustment component 81 can move the branches and leaves of crops on both sides, providing a clear operating path for the weeding component. Through the combined use of the root and stem cleaning component 82, the cutting component 83, and the crushing component 84, effective treatment of different parts of the weeds is achieved. The root and stem at the bottom are cut off, the middle is cut off, and the tender shoots at the top are crushed. Multi-layer treatment can remove 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 tender shoot part, which improves the efficiency and effect of weeding. Further crushing the root and stem of the weeds can prevent large residues from clogging subsequent treatments.

[0052] The root cleaning mechanism 9 includes a connecting mechanism 91 that is connected to the air compressor 4 and the fertilizer box 5. The lower part of the connecting mechanism 91 is provided with a soil cleaning mechanism 92 that inserts into the soil to cut the roots and stems of weeds and to turn the soil.

[0053] It is worth noting that after the root and stem clearing component 82, cutting component 83, and crushing component 84 cut and crush the weeds, the movement of the support frame 7 will drive the soil clearing mechanism 92 to move. The soil clearing mechanism 92 will then penetrate deep into the soil, and the depth of the soil clearing mechanism 92 can be adjusted according to the user's needs. When the soil clearing mechanism 92 moves, the air compressor 4 will intermittently spray airflow into the connecting mechanism 91. The strong airflow through the connecting mechanism 91 will then be sprayed out through the soil clearing mechanism 92. The airflow sprayed out through the soil clearing mechanism 92 will overturn the soil on top of the soil clearing mechanism 92, making the soil loose. The fertilizer inside the fertilizer box 5 will also be continuously sent into the soil clearing mechanism 92 through the connecting mechanism 91. After the fertilizer enters the soil clearing mechanism 92, it will fall into the soil as the soil clearing mechanism 92 moves. The strong airflow sprayed from the hollow tube 911 can spray the fertilizer out, allowing the fertilizer to be sprayed onto the soil around the crops.

[0054] The soil cleaning mechanism 92 penetrates deep into the soil and adjusts its depth as needed to break up soil compaction, improve soil structure, facilitate root respiration, and enhance the permeability of water and nutrients, thus promoting 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 layer, making the soil looser and creating a better growing environment for crop roots.

[0055] The fertilizer in fertilizer box 5 is fed into soil cleaning mechanism 92 through connecting mechanism 91, and falls evenly into the soil or is sprayed into the soil by airflow as it moves, ensuring that the fertilizer can be applied directly to the area around the crop root zone, improving fertilizer utilization and reducing the possibility of overuse of chemical fertilizers through precise fertilization.

[0056] Example 2: Based on the weeding mechanism 8 provided in Example 1, this example provides further technical solutions for the adjustment component 81, the root and stem cleaning component 82, the cutting component 83, and the crushing component 84.

[0057] The adjustment assembly 81 includes a fixed frame 811 installed inside the support frame 7. An installation frame 812 is slidably installed inside the fixed frame 811. A tension spring 814 connected to the installation frame 812 and applying a downward force to the installation frame 812 is provided at the upper end of the fixed frame 811. Side wheels 817 for pushing aside crop branches and leaves are rotatably installed on both sides of the lower part of the installation frame 812.

[0058] It is worth noting that when the support frame 7 moves, the side wheel 817 will roll due to the gravity of the mounting frame 812 and the force applied by the tension spring 814, and the side wheel 817 will also push aside the crop branches and leaves on both sides when rolling, preventing the crushing component 84 and the cutting component 83 from cutting the crop branches and leaves when cutting weeds.

[0059] A drive motor 813 is provided at the upper end of the mounting frame 812, and the drive motor 813 is electrically connected to the first battery pack 3. The output end of the drive motor 813 is connected to a shaft 819. A limiting ring 816 is provided on the upper part of the outer surface of the shaft 819. A slide cylinder 815 is provided in the middle of the fixing frame 811, and the limiting ring 816 is slidably installed inside the slide cylinder 815. An auxiliary rod 818 for supporting the rotation of the shaft 819 is provided in the middle of the inner wall of the mounting frame 812.

[0060] When weeding, the output shaft of the drive motor 813 drives the shaft 819 to rotate, and the sliding of the shaft 819 will cause the limiting ring 816 to slide up and down inside the slide cylinder 815 to assist the rotation of the shaft 819. The auxiliary rod 818 is provided to assist the rotation of the shaft 819.

[0061] A limiting block 8114 is provided at the bottom of the shaft 819, and a top ring 8113 is provided at the upper end of the limiting block 8114. A first fixing ring 8111 and a second fixing ring 8112 are provided on the outer surface of the shaft 819, and the second fixing ring 8112 is located between the first fixing ring 8111 and the top ring 8113. The crushing component 84 includes a second mounting member 841, which 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 grass cutting rope 843 is provided on one side of each of the two cards 842.

[0062] It is worth noting that the rotation of the shaft 819 drives the rotation of the second mounting part 841 through the first fixing ring 8111. The second mounting part 841 drives the card 842 to rotate. The rotation of the card 842 will drive the grass cutting rope 843 to rotate. The grass cutting rope 843 is made of steel wire or nylon rope. The grass cutting rope 843 is located at a high position and can cut the top branches and leaves of weeds.

[0063] 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 drive motor 813 drives the shaft 819 to rotate, and the sliding design of the shaft 819 allows it to slide up and down inside the slide cylinder 815 to assist its rotation, ensuring that the shaft 819 can rotate smoothly and steadily.

[0064] The limiting ring 816 slides up and down within the slide cylinder 815 to assist the rotation of the shaft 819, maintaining the straightness and stability of the shaft 819 during rotation and preventing unnecessary vibration or deviation during high-speed rotation.

[0065] The rotation of the shaft 819 drives the second mounting part 841 through the first fixed ring 8111, which in turn causes the card 842 to rotate, ultimately driving the grass cutting rope 843 to rotate at high speed. The grass cutting rope 843 is located at a high position and can effectively cut the branches and leaves at the top of the weeds. The grass cutting rope 843, which is made of steel wire or nylon rope, has both sufficient strength to cut weeds and a certain degree of flexibility.

[0066] The cutting assembly 83 includes a first mounting member 831, which is fixedly mounted on the bottom of the second fixing ring 8112 by bolts, and a cutter 832 is provided on the outer surface of the first mounting member 831.

[0067] The shaft 819 rotates, which drives the first mounting part 831 to rotate via the second fixing ring 8112. The first mounting part 831 then drives the cutter 832 to rotate. The cutter 832 is located at the lower part of the cutting rope 843. Therefore, the rotation of the cutter 832 will cut the stems in the middle of the weeds, preventing the cutting rope 843 from being unable to cut the stems of the weeds because they are too hard. In addition, the cutter 832, together with the cutting rope 843, can quickly crush the cut weeds.

[0068] Among them, the mowing rope 843 is located at a high position and is specifically used to cut the softer branches and leaves at the top of the weeds, while the cutter 832 is located below the mowing rope 843 and focuses on cutting the harder stems in the middle of the weeds. This division of labor ensures that weeds of different hardness can be effectively treated.

[0069] The coordinated work of the cutter 832 and the cutting rope 843 greatly improves the overall cutting efficiency of weeds. The cutter 832 can quickly cut the middle of the weeds, which facilitates the cutting rope 843 to further process the top branches and leaves. The two work together to complete the entire cutting process more quickly.

[0070] The root and stem cleaning component 82 includes a cutting disc 822. The inner wall of the cutting disc 822 is provided with a retaining ring 827. The retaining ring 827 slides up and down on the outer surface of the limiting block 8114. The upper end of the cutting disc 822 is provided with a spring 821 sleeved on the outer surface of the limiting block 8114. The outer surface of the cutting disc 822 is provided with a number of retaining shells 823 arranged in a ring array. Each of the retaining shells 823 has two slices 824 arranged alternately on one side for cutting grass stems.

[0071] The bottom of the cutting disc 822 is provided with two mounting rings 825 of different diameters, and the bottom of each mounting ring 825 is provided with several blades 826 arranged in a ring array.

[0072] When the shaft 819 rotates, it will drive the limiting block 8114 to rotate, and the limiting block 8114 will drive the retaining ring 827 to rotate. The rotation of the retaining ring 827 will drive the cutting disc 822 to rotate, and the spring 821 will push the cutting disc 822 to press against the ground. As the cutting disc 822 rotates, it will drive the retaining case 823 to rotate. The slice 824 on one side of the retaining case 823 will cut the stems at the root of the weed as it rotates. The staggered distribution of the slices 824 can quickly chop the roots of the weeds.

[0073] As the cutting disc 822 rotates, it will drive the mounting ring 825 to rotate. The blade 826 will be inserted into the soil after being subjected to downward pressure by the cutting disc 822. As the mounting ring 825 rotates, the blade 826 will stir up the surface soil and cut the roots of weeds to prevent them from growing back.

[0074] Among them, the spring 821 pushes the cutting disc 822 to keep it close to the ground. The design of the spring 821 ensures that the cutting disc 822 can always keep in close contact with the ground, ensuring accurate cutting of weed roots and stems, unaffected by terrain undulations. The cutting disc 822 drives the chuck 823 to rotate. The chuck 823 rotates with the rotation of the cutting disc 822, and the slices 824 on it can quickly and effectively cut the stems at the root of the weeds.

[0075] The staggered arrangement of slices 824 increases the chance of slices 824 coming into contact with weed roots and stems, improving cutting efficiency. The staggered arrangement of slices can more thoroughly chop the roots and stems, preventing weed regeneration.

[0076] The cutting disc 822 drives the mounting ring 825 to rotate. The rotation of the mounting ring 825 further transmits power to the blade 826, causing it to insert into and agitate the surface soil. The blade 826 not only loosens the soil but also penetrates deep into the soil to cut the roots of weeds, further preventing weed regeneration and improving soil structure. Through the dual action of the slice 824 and the blade 826, the roots of weeds are completely cut off and crushed, reducing the possibility of weeds growing again.

[0077] Example 3: Based on the root cleaning mechanism 9 provided in Example 1, this example provides a further technical solution for the connecting mechanism 91 and the soil cleaning mechanism 92.

[0078] The connecting mechanism 91 also includes an outer sleeve 914 installed at the lower end of the support frame 7. The outer surface of the outer sleeve 914 has a number of locking holes 915 arranged in a rectangular array.

[0079] The soil cleaning mechanism 92 includes a support member 924. The support member 924 has several ribs 921 arranged at equal intervals inside. A rib plate 923 is provided on one side of the support member 924, and an insert plate 922 is provided at the upper end of the rib plate 923. The insert plate 922 is fixed inside the outer sleeve 914 by bolts and locking holes 915.

[0080] It is worth noting that before use, the user needs to adjust the sliding position of the insert plate 922 inside the outer tube 914 according to the requirements, and then adjust the installation position of the insert plate 922 inside the outer tube 914 by inserting the flat plow tube 925 into the soil. The insert plate 922 is then installed inside the outer tube 914 through the locking holes 915 at the corresponding positions of the bolts.

[0081] The upper ends of several ribs 921 are connected to the hollow tube 911. The lower end of the rib plate 923 is provided with a flat plow tube 925, and the interior of the ribs 921 and the flat plow tube 925 are connected. The upper end of the flat plow tube 925 is provided with several through holes 926 that are evenly distributed.

[0082] As the support frame 7 moves, the flat plow tube 925 will cut into the soil. Because the insertion plate 922 fixes the cutting depth of the flat plow tube 925 in the soil, the randomly placed flat plow tube 925 can move and turn the soil at a fixed depth. The pusher plate 927 pushes some piled weeds to the side of the crop planting area to prevent weeds from piling up between the various rib tubes 921. In addition, the front end of the flat plow tube 925 is arc-shaped, which can quickly insert into the soil and reduce the resistance of the flat plow tube 925 movement.

[0083] The user can adjust the position of the insert plate 922 according to specific needs, thereby precisely controlling the depth of the flat plow tube 925 into the soil. The bolts are installed with the insert plate 922 corresponding to the locking holes 915. The insert plate 922 is fixed inside the outer tube 914 by the bolts and locking holes 915, ensuring that the insert plate 922 will not move due to external force during operation and maintaining the set cutting depth. Since the insert plate 922 fixes the cutting depth of the flat plow tube 925, the flat plow tube 925 can move and turn the soil stably within the predetermined depth. In addition, the curved design of the front end of the flat plow tube 925 allows the flat plow tube 925 to be inserted into the soil quickly and smoothly, and reduces the resistance during movement.

[0084] The pusher plate 927 can effectively push the accumulated weeds to one side of the crop planting area, avoiding the situation where the weeds block the gaps between the rib tubes 921.

[0085] The connecting mechanism 91 includes several hollow tubes 911 that are evenly spaced. Each hollow tube 911 has a ventilation hose 912 connected to the air compressor 4 at its upper end. Each hollow tube 911 has a feeding hose 913 connected to the fertilizer box 5 on its outer surface.

[0086] When the flat plow tube 925 is inserted into the soil, the air compressor 4 will quickly spray air into the interior of the ventilation hose 912 at regular intervals. The ventilation hose 912 and the feeding hose 913 are designed with metal hoses and can deform as the insertion plate 922 adjusts its position. When the air is sprayed out through the ventilation hose 912, it will enter the interior of the flat plow tube 925 through the hollow tube 911 and the rib tube 921. Since the flat plow tube 925 is buried in the soil, when the strong airflow enters the interior 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, thereby loosening the soil.

[0087] Furthermore, the fertilizer box 5 slowly feeds fertilizer into the hollow tube 911 through the feeding hose 913. The fertilizer enters the flat plow tube 925 through the hollow tube 911 and the rib tube 921. When the airflow sprays out from the flat plow tube 925, the fertilizer will fall into the soil along the moving path of the flat plow tube 925, which can remove weeds and fertilize crops at the same time.

[0088] The air compressor 4 rapidly sprays a 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 finally exits 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 loose, which helps to break up soil compaction, improve soil aeration and water permeability, and create a better growth environment for crop roots.

[0089] The fertilizer box 5 slowly feeds fertilizer into the hollow tube 911 through the feeding hose 913, and then into the flat plow tube 925 through the rib tube 921. When the airflow is sprayed out from the flat plow tube 925, the fertilizer is also scattered into the soil along the movement path of the flat plow tube 925, ensuring that the fertilizer can be evenly distributed in the soil and directly act on the crop root zone, improving fertilizer utilization and reducing waste.

[0090] Finally, it should be noted that the above description 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 foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A smart weeding robot for soybean-corn intercropping, comprising a support frame (7), wherein rollers (1) are symmetrically arranged on both sides of the support frame (7), and 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: The support frame (7) is equipped with a weeding mechanism (8) for weeding and a root cleaning mechanism (9) for cleaning the roots of weeds and fertilizing. The weeding mechanism (8) is located in front of the root cleaning mechanism (9). The weeding mechanism (8) includes an adjustment component (81) installed inside the support frame (7) for clearing away crop branches and leaves. The bottom of the adjustment component (81) is provided with a root and stem clearing component (82) for cutting the root and stem of the weeds. The outer surface of the adjustment component (81) and above the root and stem clearing component (82) is provided with a cutting component (83) for cutting weeds. The outer surface of the adjustment component (81) and above the cutting component (83) is provided with a crushing component (84) for cutting and crushing the top branches and leaves of the weeds. The root cleaning mechanism (9) includes a connecting mechanism (91) connected to the air compressor (4) and the fertilizer box (5), and the lower part of the connecting mechanism (91) is provided with a soil cleaning mechanism (92) that inserts into the soil to cut the roots and stems of weeds and performs soil turning. The adjustment assembly (81) includes a fixed frame (811) installed inside the support frame (7). An installation frame (812) is slidably installed inside the fixed frame (811). A tension spring (814) connected to the installation frame (812) and applying a downward force to the installation frame (812) is provided at the upper end of the fixed frame (811). Side wheels (817) for pushing aside crop branches and leaves are rotatably installed on both sides of the lower part of the installation frame (812). The upper end of the mounting frame (812) is provided with a drive motor (813), and the drive motor (813) is electrically connected to the first battery pack (3). The output end of the drive motor (813) is connected to a shaft (819). A limiting ring (816) is provided on the upper part of the outer surface of the shaft (819). A slide cylinder (815) is provided in the middle of the fixing frame (811), and the limiting ring (816) is slidably installed inside the slide cylinder (815). An auxiliary rod (818) for supporting the rotation of the shaft (819) is provided in the middle of the inner wall of the mounting frame (812). The bottom of the shaft (819) is provided with a limiting block (8114), the upper end of the limiting block (8114) is provided with a top ring (8113), the outer surface of the shaft (819) is provided with a first fixing ring (8111) and a second fixing ring (8112), and the second fixing ring (8112) is located between the first fixing ring (8111) and the top ring (8113); The root and stem cleaning assembly (82) includes a cutting disc (822), the inner wall of which is provided with a retaining ring (827), the retaining ring (827) sliding up and down on the outer surface of the limiting block (8114), the upper end of the cutting disc (822) is provided with a spring (821) sleeved on the outer surface of the limiting block (8114), the outer surface of the cutting disc (822) is provided with a plurality of retaining shells (823) arranged in a ring array, and each of the retaining shells (823) has two slices (824) arranged alternately on one side for cutting grass stems. The bottom of the cutting disc (822) is provided with two mounting rings (825) of different diameters, and the bottom of each of the two mounting rings (825) is provided with a number of blades (826) arranged in a ring array. The cutting assembly (83) includes a first mounting member (831), which is fixedly mounted on the bottom of the second fixing ring (8112) by bolts, and a cutter (832) is provided on the outer surface of the first mounting member (831). The shredding assembly (84) includes a second mounting member (841), which is fixedly mounted on the bottom of the first fixing ring (8111) by bolts. The outer surface of the second mounting member (841) is provided with two cards (842), and a grass cutting rope (843) is provided on one side of each of the two cards (842).

2. The intelligent weeding robot for soybean-corn intercropping according to claim 1, characterized in that: The connecting mechanism (91) includes a plurality of hollow tubes (911) distributed at equal intervals. The upper end of each hollow tube (911) is provided with a ventilation hose (912) connected to the air compressor (4). The outer surface of each hollow tube (911) is provided with a plurality of feeding hoses (913) connected to the fertilizer box (5). The connecting mechanism (91) also 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 number of locking holes (915) arranged in a rectangular array.

3. The intelligent weeding robot for soybean-corn intercropping according to claim 2, characterized in that: The soil cleaning mechanism (92) includes a support member (924), inside which are arranged a plurality of rib tubes (921) distributed at equal intervals. A rib plate (923) is provided on one side of the support member (924), and an insert plate (922) is provided at the upper end of the rib plate (923). The insert plate (922) is fixed inside the outer sleeve (914) by bolts and locking holes (915). The upper ends of the plurality of rib tubes (921) are all connected to the hollow tube (911).

4. The intelligent weeding robot for soybean-corn intercropping according to claim 3, characterized in that: The lower end of the rib (923) is provided with a flat plow tube (925), and the interior of the rib tube (921) and the flat plow tube (925) are connected. The upper end of the flat plow tube (925) is provided with a number of through holes (926) that are evenly distributed.

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