Intelligent weeding robot for soybean and corn composite planting

Abstract

The invention discloses an intelligent weeding robot for soybean and corn composite planting, and relates to the technical field of agricultural robots. By arranging the traction mechanism, the spacing of the multiple weeding mechanisms can be synchronously adjusted at equal intervals through the spacing adjusting and controlling assembly, so that the spacing of the multiple weeding mechanisms can be flexibly adjusted under different planting distances of corn and soybeans, rapid weeding operation in a composite planting mode is improved, and the weeding efficiency is improved; according to the weeding machine, weeds and part of soil shoveled by the weeding mechanism can be collected, chopped and stirred, rhizomes of the weeds can be damaged in the chopping process, the regeneration capacity of the weeds is lost, the situation that the shoveled weeds are regenerated under proper conditions is avoided, the thorough weeding effect is achieved, the chopped weeds and the soil can be mixed in the stirring process, and the weeding efficiency is improved. After being mixed in the soil, the weeds can be decomposed in an accelerated manner by utilizing microorganisms in the soil, so that the waste weeds can form nutrient substances beneficial to the growth of the soybeans and the corn.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural robots, and specifically relates to a smart weeding robot for soybean-corn intercropping. Background Art

[0002] Soybean-corn intercropping is a planting mode in which soybeans and corns are intercropped or relay cropped within the same growing season. The nitrogen fixation of soybeans reduces the input of chemical fertilizers. At the same time, the complementarity of the two crops can reduce market risks. By optimizing the spatial layout and management measures, the coordinated growth and mutual benefit of the two crops can be achieved. This mode has significant advantages in improving land utilization rate, ensuring food security, and promoting sustainable agricultural development.

[0003] Referring to the farmland inter-row weeding device disclosed in the patent application with the publication number CN221532046U, the crops and weeds are identified by the detection component, and the swing component is controlled by the intermittent driving component to swing reciprocally for weeding. Secondly, the detection component can also monitor the plant spacing in real time to prevent the problem of misalignment of the weeding mechanism caused by the accumulation of deviations in the weeding work and the traveling error of the machine.

[0004] The above-mentioned weeding device in the prior art has the following defects in actual use: 1) When the weeding device is performing weeding operations, the roots of some weeds are only turned out of the soil, but the roots are not completely damaged and still have contact with the soil surface. Due to the tenacious vitality of weeds, they will grow again under suitable conditions and quickly become an obstacle to the growth of field crops in a short time. High-frequency weeding is required to slow down the growth of weeds, making it impossible to achieve a completely effective weeding effect, and at the same time increasing the working intensity of weeding; 2) When the weeding device is weeding, it will strip the soil around the roots of the crops. The reduction of the soil around the roots of the crops will reduce the supporting ability for the roots of the crops, resulting in a decrease in the water absorption ability of the crops and making them more prone to lodging under bad weather conditions, thereby reducing the crop yield; Therefore, the present invention proposes a smart weeding robot for soybean-corn intercropping to solve the above problems. Summary of the Invention

[0005] In view of the deficiencies of the prior art, the present invention provides an intelligent weeding robot for soybean-corn intercropping, which solves the problem that the existing weeding devices only turn out some weed roots from the soil, the weed roots are not completely damaged and still in contact with the soil surface, and will quickly regrow in a short time under suitable conditions, unable to achieve a completely effective weeding effect. Although frequent weeding can slow down the growth of weeds, it will increase the weeding work intensity and the probability of damage to crops during the weeding process. Moreover, when weeding, it will also strip the soil around the crop roots, and the reduction of the soil around the roots will reduce the supporting ability for the crop roots, resulting in a decrease in the water absorption ability of the crops and making them more prone to lodging in bad weather, thus reducing the crop yield.

[0006] To achieve the above objectives, the present invention is realized through the following technical solutions: An intelligent weeding robot for soybean-corn intercropping includes a traction frame mechanism, and further includes: Multiple weeding mechanisms, which are equidistantly arranged on the side wall of the traction frame mechanism, use various weeding methods to remove the weeds between plants, and can flexibly adjust the distance between two adjacent weeding mechanisms according to the plant spacing of soybeans or corns during the weeding operation to adapt to the weeding operation requirements under different plant spacing conditions; Multiple soil cultivation mechanisms, which are arranged in one-to-one correspondence with the multiple weeding mechanisms, are used to timely collect the weeds and some mixed soil after the weeding mechanisms remove the weeds between plants, and convey the weeds and soil to the roots of soybeans or corns after crushing and stirring, while enhancing the supporting force for the roots and using the organic matter formed after the decomposition of the weed debris to provide the necessary nutrients for the growth of soybeans or corns; The soil cultivation mechanism includes a weed collection unit, a weed crushing component, a crushed grass conveying component and a power conversion component. The weed collection unit collects the removed weeds through the weed collection unit, and conveys the mixture of weeds and some soil to the weed crushing component for crushing and stirring, and then conveys the crushed and stirred weed soil mixture to the crop roots through the crushed grass conveying component. The power conversion component provides power support for the operation of the weed crushing component and the crushed grass conveying component.

[0007] Furthermore, the traction frame mechanism includes a traction frame for connecting with a traction device, and a first guide rod and a second guide rod fixedly arranged on the upper and lower sides of the outer wall of the traction frame. The top and bottom of the first guide rod are both provided with upper sliding grooves, and the top and bottom of the lower sliding grooves are both provided with lower sliding grooves. A distance control component for synchronously and equidistantly adjusting the distance between multiple weeding mechanisms is also arranged on the inner wall of the traction frame and between the first guide rod and the second guide rod.

[0008] Furthermore, the spacing control component includes a drive shaft rotatably arranged on the opposite inner walls of the traction frame mechanism and located between the first guide rod and the second guide rod. One end of the drive shaft rotatably penetrates through the traction frame and is fixedly provided with a handwheel for driving its rotation. On both sides of the outer wall of the drive shaft, a first spiral drive groove group and a second spiral drive groove group are symmetrically arranged. The first spiral drive groove group and the second spiral drive groove group have the same structure. The first spiral drive groove group includes a first spiral groove and a second spiral groove respectively opened on the outer wall of the drive shaft.

[0009] Furthermore, the weeding mechanism includes a first carrier frame and double-wing weeding shovels detachably arranged on both sides of the inner wall of the first carrier frame through bolts. On the inner wall of the first carrier frame and on one side of the double-wing weeding shovels, a depth-limiting component for controlling the weeding depth of the double-wing weeding shovels is also arranged. The depth-limiting component includes a wheel frame detachably arranged on the inner wall of the first carrier frame and with adjustable height. A guide wheel in contact with the ground is rotatably arranged on the wheel frame. On the outer wall of the first carrier frame near the depth-limiting component, a second carrier frame for providing support for the installation of the soil cultivation mechanism is fixedly arranged. And at one end of the first carrier frame away from the second carrier frame, a sliding seat is fixedly arranged. A limiting sliding groove adapted to the structure of the downward sliding groove is opened on the side wall of the sliding seat. The limiting sliding groove is slidably sleeved on the outer wall of the first guide rod. And on the top of the sliding seat, a drive rod slidably arranged in the first spiral groove or the second spiral groove is fixedly arranged. On the top of the sliding seat, a reinforcing rod for strengthening the connection strength between the sliding seat and the traction frame mechanism is rotatably arranged. A second sliding sleeve is rotatably sleeved on the outer wall of the reinforcing rod. The second sliding sleeve is slidably sleeved in the downward sliding groove. And on the side wall of the sliding seat, a third sliding sleeve is detachably arranged through bolts. On the side wall of the third sliding sleeve, a weeding board with adjustable height is fixedly arranged.

[0010] Furthermore, the weed collection unit includes a weed collection hopper and a lifting sleeve fixedly arranged on the top of the weed collection hopper. A lifting frame is slidably arranged inside the lifting sleeve. The position of the lifting frame and the lifting sleeve is locked through a fastening bolt.

[0011] Furthermore, the weed crushing component includes a crushing cylinder fixedly arranged on the outer wall of the weed collection hopper and communicated with its interior. On the top of the crushing cylinder, a fertilizer feeding hopper communicated with its interior for storing fertilizer particles is fixedly arranged. Inside the crushing cylinder, a crushing shaft is rotatably arranged through a bracket. On the outer wall of the crushing shaft, a plurality of blades for crushing weeds are uniformly fixedly arranged. The fertilizer particles entering the crushing cylinder through the fertilizer feeding hopper are mixed with weeds and soil under the stirring of the blades and jointly used as the nutrient components of the soil cultivation part.

[0012] Furthermore, the chopped grass conveying assembly includes a conveying cylinder detachably connected to one end of the crushing cylinder. A auger is rotatably arranged inside the conveying cylinder for pushing the weeds inside the crushing cylinder into the conveying cylinder. On both sides of the outer wall of the conveying cylinder, conduits communicating with its interior are fixedly arranged for providing a guiding channel for the output of the mixture of chopped grass particles, soil and fertilizer. One end of the auger is also fixedly provided with a universal joint for connecting to the crushing shaft to change the power transmission direction.

[0013] Furthermore, the power conversion assembly includes a transmission box fixedly arranged at one end of the conveying cylinder. Inside the transmission box, a rotating shaft fixedly connected to one end of the auger is rotatably arranged through a mounting frame. One end of the rotating shaft is fixedly provided with a worm gear, and a worm meshing with the worm gear is rotatably arranged on one side of the rotating shaft. On both sides of the outer wall of the transmission box, a first power conversion unit and a second power conversion unit are respectively arranged.

[0014] Furthermore, the structures of the first power conversion unit and the second power conversion unit are the same. The first power conversion unit includes a protective box fixedly arranged on the outer wall of the transmission box. A first gear and a second gear are respectively arranged on the upper and lower sides inside the protective box. A toothed belt is sleeved on the outer walls of the first gear and the second gear. One end of the second gear is fixedly provided with a transmission shaft. One end of the transmission shaft rotatably penetrates the protective box and is fixedly provided with a roller. A plurality of anti-slip teeth for increasing the friction with the soil are uniformly fixedly arranged on the outer wall of the roller.

[0015] Furthermore, it also includes an intelligent camera and a wireless transmission module arranged on the outer wall of the traction frame mechanism. The intelligent camera is used to obtain the weeding status between soybean or corn plants in real time, and transmit the obtained images to the mobile terminal device in real time through the wireless transmission module.

[0016] The present invention provides a smart weeding robot for soybean-corn intercropping. Compared with the prior art, it has the following beneficial effects: 1. A smart weeding robot for soybean-corn intercropping can, by setting a traction mechanism, synchronously and equidistantly adjust the spacing of multiple weeding mechanisms through a spacing adjustment component, so that the spacing between multiple weeding mechanisms can meet the planting row spacing requirements of different corns or soybeans. Moreover, in the mode of soybean-corn intercropping, after the weeding operation on the corn planting area, the spacing between multiple weeding mechanisms can be quickly adjusted to meet the row spacing requirements of soybeans, thereby realizing the flexible adjustment of the spacing between multiple weeding mechanisms under different planting row spacings of corn and soybeans, improving the fast weeding operation in the intercropping mode, improving the weeding efficiency. Compared with the current method of changing the position of the weeding shovel by disassembly and assembly, the spacing adjustment method of the present invention is faster and simpler, meeting the actual needs in the soybean-corn intercropping mode.

[0017] 2. A smart weeding robot for soybean-corn intercropping. By setting up a soil banking mechanism, it can collect, shred, and stir the weeds and part of the soil shoveled by the weeding mechanism. During the shredding process, the root parts of the weeds can be damaged, losing their regenerative ability and avoiding the situation of the shoveled weeds regenerating under suitable conditions, achieving the effect of thorough weeding, thereby reducing the frequency of field weeding. At the same time, it also reduces the probability of damaging soybeans and corns during the weeding process. The collection process can make the space between rows cleaner and flatter, facilitating the walking of workers during subsequent maintenance and improving the convenience of maintaining soybeans or corns. The stirring process can mix the shredded weeds and soil. After the weeds are mixed in the soil, the microorganisms in the soil can accelerate the decomposition to form humus that can improve the soil structure and increase soil fertility, enabling the discarded weeds to form nutrients beneficial to the growth of soybeans and corns. Moreover, through the setting of the fertilizer hopper, fertilizers can be incorporated into the mixture of weeds and soil, increasing the fertility of this part of the mixture and also saving the steps of manual fertilization and reducing the cost of manual fertilization operations.

[0018] 3. A smart weeding robot for soybean-corn intercropping. By setting up a grass shredding and conveying component in the soil banking mechanism, it can convey the mixture of weeds, soil, and fertilizers to the root positions of soybeans or corns through a conduit, enabling the nutrient-rich soil to cover the roots of soybeans or corns. This not only increases the supporting force for the root positions and improves the lodging resistance of crops but also enables the soil banking to achieve fixed-point nutrient delivery, allowing the soil banking to provide nutrient delivery to soybeans and corns for a long time. Secondly, the weeds located outside the root area of the crops will reduce their growth rate due to the lack of a large amount of nutrient supply. In addition, after the root area of soybeans or corns is covered by soil, the weeds that are not fully eradicated in this area cannot carry out photosynthesis due to being covered by soil, thus accelerating the death of the weeds in this area and achieving the effect of weeding in the root area of the crops. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is the first overall three-dimensional structure schematic diagram of the present invention; Figure 2 is the second overall three-dimensional structure schematic diagram of the present invention; Figure 3 is the present invention Figure 2 the enlarged structure schematic diagram of part A in; Figure 4 is the disassembled state structure schematic diagram of the present invention; Figure 5 is the present invention Figure 4 the enlarged structure schematic diagram of part B in; Figure 6 is the structure schematic diagram of the towing frame mechanism of the present invention; Figure 7 Schematic structural diagram of the assembly state of the weeding mechanism and the soil hilling mechanism of the present invention; Figure 8 For the present invention Figure 7 Enlarged structural diagram of part C in; Figure 9 Schematic diagram of the first overall structure of the soil hilling mechanism of the present invention; Figure 10 Schematic diagram of the second overall structure of the soil hilling mechanism of the present invention; Figure 11 Schematic sectional view of the soil hilling mechanism of the present invention; Figure 12 Schematic structural diagram of the soil hilling mechanism of the present invention in the state of removing the weed collection hopper, the crushing cylinder and the conveying cylinder; Figure 13 Schematic diagram of the first disassembled state of the power conversion component of the present invention; Figure 14 Schematic diagram of the second disassembled state of the power conversion component of the present invention; Figure 15 Schematic diagram of the internal structure of the transmission box of the present invention.

[0020] In the figure: 1. Tractor frame mechanism; 11. Tractor frame; 12. First guide rod; 13. Second guide rod; 14. Upper sliding groove; 15. Lower sliding groove; 16. Driving shaft; 17. Handwheel; 18. First spiral groove; 19. Second spiral groove; 2. Weeding mechanism; 21. First bearing frame; 22. Depth-limiting component; 23. Double-wing weeding shovel; 24. Second bearing frame; 25. Slide seat; 26. Limit sliding groove; 27. Driving rod; 28. Reinforcing rod; 29. Second sliding sleeve; 210. Weeding plate; 211. Third sliding sleeve; 3. Soil hilling mechanism; 31. Weed collection hopper; 32. Lifting sleeve; 33. Lifting frame; 34. Weed crushing component; 341. Crushing cylinder; 342. Fertilizer feeding hopper; 343. Crushing shaft; 344. Blade; 35. Chopped grass conveying component; 351. Conveying cylinder; 352. Auger; 353. Duct; 354. Universal joint; 36. Power conversion component; 361. Transmission box; 362. Rotating shaft; 363. Worm gear; 364. Worm; 365. Protection box; 366. First gear; 367. Transmission shaft; 368. Second gear; 369. Tooth belt; 3610. Roller. Detailed implementation manners

[0021] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0022] The present invention provides four technical solutions: a smart weeding robot for soybean-corn intercropping, specifically including the following embodiments: As Figures 1 - 5 The first embodiment is shown: a smart weeding robot for soybean-corn intercropping, including a towing frame mechanism 1, and further including: A plurality of weeding mechanisms 2 are equidistantly arranged on the side wall of the towing frame mechanism 1. By adopting various weeding methods, the weeds between plants are removed, and the distance between two adjacent weeding mechanisms 2 can be flexibly adjusted according to the plant spacing of soybeans or corns during the weeding operation to adapt to the weeding operation requirements under different plant spacing conditions; A plurality of soil cultivation mechanisms 3 are arranged in one-to-one correspondence with the plurality of weeding mechanisms 2. After the weeding mechanisms 2 remove the weeds between plants, the soil cultivation mechanisms 3 are used to timely collect the weeds and the mixed part of the soil, and after crushing and stirring the weeds and the soil, the mixture is conveyed to the roots of soybeans or corns. While enhancing the supporting force for the roots, the organic matter formed after the decomposition of the weed debris provides the necessary nutrients for the growth of soybeans or corns; The soil cultivation mechanism 3 includes a weed collection unit, a weed crushing component 34, a crushed grass conveying component 35 and a power conversion component 36. The weed collection unit collects the removed weeds through the weed collection unit, and conveys the mixture of the weeds and a part of the soil to the weed crushing component 34 for crushing and stirring. Then, the crushed grass conveying component 35 conveys the crushed and stirred weed-soil mixture to the roots of the crops. The power conversion component 36 provides power support for the operation of the weed crushing component 34 and the crushed grass conveying component 35; It also includes a smart camera and a wireless transmission module arranged on the outer wall of the towing frame mechanism 1. The smart camera is used to obtain the real-time status of weed removal between soybeans or corns, and transmits the acquired image to the mobile terminal device in real time through the wireless transmission module. The smart camera can also identify the weeds in the captured image and mark the colors of the weeds to quickly distinguish the weeds from the crops.

[0023] As Figure 6The second implementation manner is shown. The towing frame mechanism 1 includes a towing frame 11 for connecting with a towing device, and a first guide rod 12 and a second guide rod 13 fixedly arranged on the upper and lower sides of the outer wall of the towing frame 11. Upper sliding grooves 14 are opened at the top and bottom of the first guide rod 12, and lower sliding grooves 15 are opened at the top and bottom of the lower sliding grooves 15. A distance control assembly for synchronously and equidistantly adjusting the distance between a plurality of weeding mechanisms 2 is further arranged on the inner wall of the towing frame 11 and between the first guide rod 12 and the second guide rod 13. The distance control assembly includes a driving shaft 16 rotatably arranged on the opposite inner walls of the towing frame mechanism 1 and between the first guide rod 12 and the second guide rod 13. One end of the driving shaft 16 rotatably penetrates through the towing frame 11 and is fixedly provided with a handwheel 17 for driving its rotation. First spiral drive groove groups and second spiral drive groove groups are symmetrically arranged on both sides of the outer wall of the driving shaft 16. The first spiral drive groove groups and the second spiral drive groove groups have the same structure. The first spiral drive groove group includes a first spiral groove 18 and a second spiral groove 19 respectively opened on the outer wall of the driving shaft 16.

[0024] As Figures 7 - 8 The third implementation manner is shown: The weeding mechanism 2 includes a first carrier frame 21 and double-wing weeding shovels 23 detachably arranged on both sides of the inner wall of the first carrier frame 21 through bolts. A depth limit assembly 22 for controlling the weeding depth of the double-wing weeding shovels 23 is further arranged on the inner wall of the first carrier frame 21 and on one side of the double-wing weeding shovels 23. The depth limit assembly 22 includes a wheel frame detachably arranged on the inner wall of the first carrier frame 21 and with adjustable height. A guide wheel in contact with the ground is rotatably arranged on the wheel frame. A second carrier frame 24 for providing support for the installation of the soil cultivation mechanism 3 is fixedly arranged on the outer wall of the first carrier frame 21 close to the depth limit assembly 22. One end of the first carrier frame 21 far from the second carrier frame 24 is fixedly provided with a sliding seat 25. A limiting sliding groove 26 with a structure adapted to that of the lower sliding groove 15 is opened on the side wall of the sliding seat 25. The limiting sliding groove 26 is slidably sleeved on the outer wall of the first guide rod 12. A driving rod 27 slidably arranged in the first spiral groove 18 or the second spiral groove 19 is fixedly arranged on the top of the sliding seat 25. The height of the double-wing weeding shovels 23 from the ground can be freely adjusted. A reinforcing rod 28 for strengthening the connection strength between the sliding seat 25 and the towing frame mechanism 1 is rotatably arranged on the top of the sliding seat 25. A second sliding sleeve 29 is rotatably sleeved on the outer wall of the reinforcing rod 28. The second sliding sleeve 29 is slidably sleeved in the lower sliding groove 15. A third sliding sleeve 211 is detachably arranged on the side wall of the sliding seat 25 through bolts. A weeding plate 210 with adjustable height is fixedly arranged on the side wall of the third sliding sleeve 211.

[0025] As Figures 9 - 15The fourth embodiment is shown. The weed collection unit includes a weed collection hopper 31 and a lifting sleeve 32 fixedly arranged at the top of the weed collection hopper 31. A lifting frame 33 is slidably arranged inside the lifting sleeve 32. The position between the lifting frame 33 and the lifting sleeve 32 is locked by fastening bolts. The lifting frame 33 is detachably and fixedly arranged at the bottom of the second bearing frame 24. The position of the lifting frame 33 relative to the lifting sleeve 32 is adjusted according to the depth of weeding. The weed crushing assembly 34 includes a crushing cylinder 341 fixedly arranged on the outer wall of the weed collection hopper 31 and communicating with its interior. A fertilizer feeding hopper 342 communicating with the interior of the crushing cylinder 341 is fixedly arranged at the top of the crushing cylinder 341 for storing fertilizer particles. A crushing shaft 343 is rotatably arranged inside the crushing cylinder 341 through a bracket. A plurality of blades 344 for crushing weeds are uniformly fixedly arranged on the outer wall of the crushing shaft 343. The fertilizer particles entering the crushing cylinder 341 through the fertilizer feeding hopper 342 are mixed with weeds and soil under the stirring of the blades 344 and jointly serve as the nutrient components of the soil covering part. A fertilizer particle release amount control structure is also arranged inside the fertilizer feeding hopper 342. This structure is a known technology in the art and will not be elaborated here. The crushed grass conveying assembly 35 includes a conveying cylinder 351 detachably connected to one end of the crushing cylinder 341. A auger 352 is rotatably arranged inside the conveying cylinder 351 for pushing the weeds inside the crushing cylinder 341 into the conveying cylinder 351. Guide pipes 353 communicating with the interior are fixedly arranged on both sides of the outer wall of the conveying cylinder 351 for providing a guiding channel for the output of the mixture of crushed grass particles, soil and fertilizer. And a universal joint 354 for connecting with the crushing shaft 343 is fixedly arranged at one end of the auger 352 to change the power transmission direction. The design of the universal joint 354 adopts a sealed design structure, which can avoid the interference of soil during the transmission process; The power conversion assembly 36 includes a transmission box 361 fixedly arranged at one end of the conveying cylinder 351. A rotating shaft 362 fixedly connected to one end of the auger 352 is rotatably arranged inside the transmission box 361 through a mounting frame. A worm gear 363 is fixedly arranged at one end of the rotating shaft 362. And a worm 364 meshing with the worm gear 363 is rotatably arranged on one side of the rotating shaft 362. The first power conversion unit and the second power conversion unit are respectively arranged on both sides of the outer wall of the transmission box 361. The opposite side walls of the protective boxes 365 in the first power conversion unit and the second power conversion unit are connected by a connecting plate to enhance the operation stability. Both ends of the worm 364 rotatably penetrate through the transmission box 361 and are fixedly connected to the first gear 366 in the first power conversion unit and the second power conversion unit; The structures of the first power conversion unit and the second power conversion unit are the same. The first power conversion unit includes a protective box 365 fixedly arranged on the outer wall of the transmission case 361. On the upper and lower sides inside the protective box 365, a first gear 366 and a second gear 368 are respectively arranged. A toothed belt 369 is sleeved on the outer walls of the first gear 366 and the second gear 368. And a transmission shaft 367 is fixedly arranged inside the second gear 368. One end of the transmission shaft 367 rotatably penetrates through the protective box 365 and a roller 3610 is fixedly arranged. A plurality of anti-slip teeth for increasing the friction with the soil are evenly fixedly arranged on the outer wall of the roller 3610. The support plate for connecting the transmission case 361 and the second carrier 24 is composed of an upper plate and a lower plate. The upper plate and the lower plate are designed for relative sliding and their positions can be fixed after being locked by bolts to achieve the effect of adjusting the height of the support plate. The outer diameter of the protective box 365 is larger than that of the first gear 366, and the first gear 366 can rotate at a speed greater than that of the second gear 368.

[0026] During use, first connect the towing frame 11 with a towing device. Generally, a tractor or other agricultural machinery suitable for field operations is selected as the towing device. After completing the connection with the towing device, adjust the heights of the double-wing weeding shovel 23, the depth-limiting component 22, the weeding plate 210 and the soil cultivating mechanism 3 from the ground according to the weeding depth. Since the structural designs of the double-wing weeding shovel 23, the depth-limiting component 22 and the weeding plate 210 can all achieve rapid height adjustment, and this kind of structure is a mature technology, the adjustment process will not be elaborated here. When adjusting the height of the soil cultivating mechanism 3 from the ground, first loosen the fastening bolts locking the lifting sleeve 32 and the lifting frame 33 and the support plate connecting the power conversion assembly 36 and the second carrier 24, and keep the weed collection hopper 31 and the bottom of the toothed belt 369 moving close to the ground surface. Subsequently, the towing device makes a secondary overall fine adjustment of the overall height of the weeding mechanism 2 and the soil cultivating mechanism 3. Adjust the distance between two adjacent weeding mechanisms 2 according to the planting spacing of soybeans or corns in the working area so that each weeding mechanism 2 can just move in the gap between two adjacent rows of soybeans or corns. When adjusting, rotate the handwheel 17 to drive the drive shaft 16 to rotate. Since the drive rods 27 in a plurality of weeding mechanisms 2 respectively slide in the first spiral grooves 18 or the second spiral grooves 19 at corresponding positions, when the drive shaft 16 rotates forward or backward, the drive rods 27 are driven by the first spiral grooves 18 or the second spiral grooves 19 at corresponding positions to move away from each other or close to each other synchronously until the distance between two adjacent weeding mechanisms 2 can meet the requirement of the planting spacing. During the movement of the weeding mechanism 2, multiple triangular teeth at the bottom of the weeding plate 210 can initially cut through the soil surface and sever the roots of weeds, while the double-wing weeding shovel 23 can turn over the surface soil, shovel out the weeds from the soil, and expose the roots of the weeds completely outside the soil; The upturned weeds and the severed weeds enter the crushing cylinder 341 through the weed collection hopper 31. Since the roller 3610 is in close contact with the ground, it rotates continuously under the combined action of the traction of the traction device and the ground friction. The power is transmitted to the second gear 368 through the transmission shaft 367 to drive the second gear 368 to rotate synchronously. The second gear 368 drives the first gear 366 to rotate at an accelerated speed through the toothed belt 369. Since the worm 364 is connected to the first gear 366, the worm 364 rotates synchronously with the first gear 366 and then drives the worm gear 363 to rotate rapidly. The power drives the auger 352, the universal joint 354, and the conduit 353 to rotate synchronously through the rotating shaft 362. The blade 344 cuts up the weeds entering the crushing cylinder 341 and mixes the chopped weeds with the soil at the same time. At this time, if fertilization needs to be carried out synchronously, fertilizers need to be added to the fertilizer hopper 342 in advance. The fertilizer particles are evenly released through the release amount control structure at the bottom of the fertilizer hopper 342. The fertilizer particles are stirred and mixed with the soil and weed debris, and are pushed upward along the conveying cylinder 351 by the auger 352, and the mixture of fertilizer particles, soil, and weed debris is conveyed to the positions of the soybean or corn roots through the conduits 353 on both sides of the conveying cylinder 351. The decomposition products of the weed debris combine with the soil minerals to form humus, improving the water and fertilizer retention capacity and the soil structure. And this part of the soil can cover the soil near the crop roots, so that the weeds that have not been completely removed are covered by the soil, and the weeds gradually die after losing light, achieving the weeding purpose again.

[0027] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0028] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A soybean-corn composite planting intelligent weeding robot, comprising a traction frame mechanism, characterized in that: Also includes: Multiple weeding mechanisms are equidistantly arranged on the side wall of the traction frame mechanism, and weeds between plants are removed by adopting multiple weeding methods. During the weeding operation, the distance between two adjacent weeding mechanisms can be flexibly adjusted according to the plant spacing of soybeans or corns to adapt to the weeding operation requirements under different plant spacing conditions; A plurality of soil-raising mechanisms, wherein the positions of the plurality of soil-raising mechanisms and the plurality of weeding mechanisms are arranged in a one-to-one correspondence, and are used to timely collect weeds and part of the mixed soil after the weeding mechanisms remove the weeds between the plants, and crush and stir the weeds and soil and then transport them to the root system of soybeans or corns, thereby enhancing the support for the root system and utilizing the organic matter formed by the decomposition of the weed debris to provide the soybeans or corns with the nutrients necessary for growth; The soil cultivation mechanism comprises a weed collecting unit, a weed crushing assembly, a chopped grass conveying assembly and a power conversion assembly. The weed collecting unit collects the weeds after being removed through the weed collecting unit, and conveys the weeds and part of the soil mixture to the weed crushing assembly for crushing and stirring. The crushed and stirred weed-soil mixture is then conveyed to the vicinity of the crop root system through the chopped grass conveying assembly. The power conversion assembly provides power support for the operation of the weed crushing assembly and the chopped grass conveying assembly.

2. The soybean-corn composite planting intelligent weeding robot according to claim 1, characterized in that: The traction frame mechanism includes a traction frame for connecting with the traction equipment and a No. 1 guide rod and a No. 2 guide rod fixedly arranged on the upper and lower sides of the outer wall of the traction frame. The No. 1 guide rod is provided with an upper slide groove at the top and bottom, and the No. 1 slide groove is provided with a lower slide groove at the top and bottom. A spacing control component for synchronously and equidistantly adjusting the distance between multiple weeding mechanisms is also provided on the inner wall of the traction frame and between the No. 1 guide rod and the No. 2 guide rod.

3. The soybean-corn composite planting intelligent weeding robot according to claim 2, characterized in that: The spacing adjustment component includes a driving shaft rotatably arranged on the inner wall relative to the traction frame mechanism and located between the first guide rod and the second guide rod. One end of the driving shaft rotates through the traction frame and is fixedly provided with a hand wheel for driving its rotation. A first spiral driving groove group and a second spiral driving groove group are symmetrically arranged on both sides of the outer wall of the driving shaft. The first spiral driving groove group and the second spiral driving groove group have the same structure. The first spiral driving groove group includes a first spiral groove and a second spiral groove respectively opened on the outer wall of the driving shaft.

4. The soybean-corn composite planting intelligent weeding robot according to claim 3, characterized in that: The weeding mechanism comprises a No. 1 carrier and a double-wing weeding shovel detachably arranged on both sides of the inner wall of the No. 1 carrier by bolts, and a depth limiting component for controlling the weeding depth of the double-wing weeding shovel is also arranged on the inner wall of the No. 1 carrier and on one side of the double-wing weeding shovel, the depth limiting component comprises a wheel frame detachably arranged on the inner wall of the No. 1 carrier and adjustable in height, a guide wheel rotatably arranged on the wheel frame and contacting the ground, a No. 2 carrier frame for providing support for the installation of the soil-raising mechanism is also fixedly arranged on the outer wall of the No. 1 carrier close to the depth limiting component, and a sliding seat is fixedly arranged at one end of the No. 1 carrier away from the No. 2 carrier frame, a limiting sliding groove compatible with the sliding groove structure is opened on the side wall of the sliding seat, the limiting sliding groove is slidably sleeved on the outer wall of the No. 1 guide rod, and a driving rod slidably arranged in the No. 1 spiral groove or the No. 2 spiral groove is also fixedly arranged on the top of the sliding seat; A reinforcing rod for reinforcing the connection strength between the slide and the traction frame mechanism is rotatably provided on the top of the slide seat, a No. 2 sliding sleeve is rotatably sleeved on the outer wall of the reinforcing rod, the No. 2 sliding sleeve is slidably sleeved in the lower slide groove, and a No. 3 sliding sleeve is detachably provided on the side wall of the slide seat by bolts, and a height-adjustable weeding plate is fixedly provided on the side wall of the No. 3 sliding sleeve.

5. The soybean-corn composite planting intelligent weeding robot according to claim 1, characterized in that: The weed collecting unit comprises a weed collecting bucket and a lifting sleeve fixedly arranged on the top of the weed collecting bucket, a lifting frame is slidably arranged inside the lifting sleeve, and the lifting frame and the lifting sleeve are locked in position by fastening bolts.

6. The soybean-corn composite planting intelligent weeding robot according to claim 5, characterized in that: The weed crushing assembly includes a crushing cylinder fixedly arranged on the outer wall of the weed collecting bucket and connected with the interior thereof, a fertilizer delivery bucket connected with the interior thereof and used for storing fertilizer particles is fixedly arranged on the top of the crushing cylinder, a crushing shaft is rotatably arranged inside the crushing cylinder through a bracket, and a plurality of blades for crushing weeds are evenly fixedly arranged on the outer wall of the crushing shaft, and the fertilizer particles entering the crushing cylinder through the fertilizer delivery bucket are mixed with weeds and soil under the stirring of the blades, and together serve as the nutrient components of the soil cultivation part.

7. The soybean-corn composite planting intelligent weeding robot according to claim 6, characterized in that: The chopped grass conveying assembly includes a conveying cylinder detachably connected to one end of the crushing cylinder, an auger is rotatably arranged inside the conveying cylinder for pushing the weeds inside the crushing cylinder into the conveying cylinder, both sides of the outer wall of the conveying cylinder are fixedly provided with conduits connected to the interior thereof for providing a guide channel for outputting a mixture of chopped grass particles, soil and fertilizer, and a universal joint for connecting to the crushing shaft is also fixedly arranged at one end of the auger for changing the direction of power transmission.

8. The soybean-corn composite planting intelligent weeding robot according to claim 7, characterized in that: The power conversion assembly includes a transmission box fixedly arranged at one end of the conveying cylinder, a rotating shaft fixedly connected to one end of the auger is rotatably arranged inside the transmission box through a mounting frame, a worm gear is fixedly arranged at one end of the rotating shaft, and a worm screw meshing with the worm gear is also rotatably arranged on one side of the rotating shaft, and a first power conversion unit and a second power conversion unit are respectively arranged on both sides of the outer wall of the transmission box.

9. The soybean-corn composite planting intelligent weeding robot according to claim 8, characterized in that: The first power conversion unit and the second power conversion unit have the same structure. The first power conversion unit includes a protective box fixedly arranged on the outer wall of the transmission box, and a first gear and a second gear are respectively arranged on the upper and lower sides of the interior of the protective box. A toothed belt is jointly sleeved on the outer walls of the first gear and the second gear, and a transmission shaft is fixedly arranged inside the second gear. One end of the transmission shaft rotates through the protective box and is fixedly arranged with a roller, and a plurality of anti-slip teeth for increasing friction with the soil are evenly and fixedly arranged on the outer wall of the roller.

10. The soybean-corn composite planting intelligent weeding robot according to claim 1, characterized in that: It also includes an intelligent camera and a wireless transmission module arranged on the outer wall of the traction frame mechanism. The intelligent camera is used to obtain the weed removal status between soybean or corn plants in real time, and transmit the obtained image to the mobile terminal device in real time through the wireless transmission module.

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