Soybean and corn compound planting intelligent weeding robot

Abstract

The application discloses a soybean-corn compound planting intelligent weeding robot, and relates to the technical field of agricultural robots. The traction increasing mechanism can be used for synchronously adjusting the intervals of the multiple weeding mechanisms by the interval regulation assembly, so that the intervals of the multiple weeding mechanisms can be flexibly adjusted under different planting plant intervals of corn and soybean, the rapid weeding operation under the compound planting mode is improved, and the weeding efficiency is improved. The cultivation mechanism can collect, cut and stir the weeds and part of the soil which are dug by the weeding mechanism. The cutting process can damage the rhizome part of the weeds, so that the weeds lose the regenerative ability, the weeds after being dug are prevented from regenerating under suitable conditions, and the effect of completely weeding is achieved. The stirring process can mix the cut weeds and the soil, the weeds can be decomposed by the microorganisms in the soil after being mixed in the soil, so that the abandoned weeds can form nutrient substances which are beneficial to the growth of soybean and corn.

Description

Technical Field

[0001] This invention relates to the field of agricultural robot technology, specifically to a smart weeding robot for soybean-corn intercropping. Background Technology

[0002] Soybean-corn intercropping is a planting pattern that involves intercropping or relay-cropping soybeans and corn within the same growing season. Soybeans' nitrogen-fixing ability reduces fertilizer input, while the complementary nature of the two crops mitigates market risks. By optimizing spatial layout and management practices, the two crops achieve synergistic growth and mutual benefit. This model offers significant advantages in improving land utilization, ensuring food security, and promoting sustainable agricultural development.

[0003] Referring to the inter-row weeding device disclosed in patent application CN221532046U, the device identifies crops and weeds through a detection component and controls the oscillating component to swing back and forth through an intermittent drive component to remove weeds. In addition, the detection component can also monitor the plant spacing in real time to prevent the accumulation of deviations during weeding and the misalignment of the weeding mechanism caused by the movement error of the machine.

[0004] The existing weeding devices described above have the following drawbacks in practical use: 1) When the weeding device is used for weeding, some weed roots are only turned out of the soil, but the roots are not completely destroyed and are still in contact with the soil surface. Because weeds have strong vitality, they will regrow under suitable conditions and quickly become an obstacle to the growth of crops in the field. High-frequency weeding is required to slow down the growth of weeds, which makes it impossible to achieve a thorough and effective weeding effect, and also increases the workload of weeding. 2) While weeding, the weeding device strips away the soil around the crop roots. The reduction of soil around the crop roots reduces the support capacity of the crop roots, making the crop less able to absorb water and more prone to lodging in bad weather, thereby reducing crop yield. Therefore, this invention proposes a smart weeding robot for soybean-corn intercropping to solve the above problems. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a smart weeding robot for soybean-corn intercropping. It solves the problem that existing weeding devices only uproot some weeds, leaving the roots in contact with the soil surface. Under suitable conditions, the roots quickly regrow, failing to achieve a thorough and effective weed control. While high-frequency weeding can slow weed growth, it also increases the workload and the probability of damage to crops. Furthermore, weeding strips away soil around crop roots, reducing their support and water absorption capacity, making crops more susceptible to lodging in harsh weather, thus lowering crop yield.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a smart weeding robot for soybean-corn intercropping, comprising a traction frame mechanism, and further comprising: Multiple weeding mechanisms are equidistantly arranged on the side wall of the traction frame mechanism. They remove weeds between plants by using various weeding methods. During weeding operations, the distance between two adjacent weeding mechanisms can be flexibly adjusted according to the plant spacing of soybeans or corn to adapt to the weeding operation requirements under different plant spacing conditions. Multiple hilling mechanisms are set up in a one-to-one correspondence with multiple weeding mechanisms. After the weeding mechanism removes weeds between plants, it collects weeds and some mixed soil in time, crushes and mixes the weeds and soil and then transports them to the roots of soybeans or corn. This enhances the support for the roots and provides the necessary nutrients for the growth of soybeans or corn by using the organic matter formed after the decomposition of weed debris. The soil-raising mechanism includes a weed collection unit, a weed crushing component, a weed conveying component, and a power conversion component. The weed collection unit collects the removed weeds and conveys the weeds and some soil mixture together to the weed crushing component for crushing and mixing. The weed conveying component then conveys the crushed and mixed weed and soil mixture to the area around the crop roots. The power conversion component provides power support for the operation of the weed crushing component and the weed conveying component.

[0007] Furthermore, the traction frame mechanism includes a traction frame for connecting to the traction device and a first guide rod and a second guide rod fixedly installed on the upper and lower sides of the outer wall of the traction frame. The first guide rod has an upper sliding groove at its top and bottom, and a lower sliding groove has a lower sliding groove at its top and bottom. The inner wall of the traction frame, located between the first guide rod and the second guide rod, is also provided with a spacing adjustment component for synchronously and equidistantly adjusting the distance between multiple weeding mechanisms.

[0008] Furthermore, the spacing adjustment component includes a drive shaft rotatably disposed on the inner wall of the traction frame mechanism and located between the first guide rod and the second guide rod. One end of the drive shaft rotatably passes through the traction frame and is fixedly provided with a handwheel for driving its rotation. A first spiral drive groove group and a second spiral drive groove group are symmetrically arranged on both sides of the outer wall of the drive shaft. 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 support frame and a double-wing weeding shovel detachably mounted on both sides of the inner wall of the first support frame via bolts. A depth limiting component for controlling the weeding depth of the double-wing weeding shovel is also provided on the inner wall of the first support frame and on one side of the double-wing weeding shovel. The depth limiting component includes a wheel frame detachably mounted on the inner wall of the first support frame and height adjustable. A guide wheel that rotatably contacts the ground is mounted on the wheel frame. A second support frame for providing support for the installation of the soil-building mechanism is also fixedly mounted on the outer wall of the first support frame near the depth limiting component. A slide block is fixedly mounted on the end of the first support frame away from the second support frame. A limiting slide groove adapted to the sliding groove structure is opened on the side wall of the slide block. The limiting slide groove is slidably sleeved on the outer wall of the first guide rod. A drive rod that is slidably mounted in the first or second spiral groove is also fixedly mounted on the top of the slide block. A reinforcing rod is rotatably mounted on the top of the slide block to enhance the connection strength between the slide block and the traction frame mechanism. A second sliding sleeve is rotatably mounted on the outer wall of the reinforcing rod. The second sliding sleeve is slidably mounted in the lower groove. A third sliding sleeve is detachably mounted on the side wall of the slide block by bolts. A height-adjustable weeding plate is fixedly mounted on the side wall of the third sliding sleeve.

[0010] Furthermore, the weed collection unit includes a weed collection hopper and a lifting sleeve fixedly installed on the top of the weed collection hopper. A lifting frame is slidably installed inside the lifting sleeve, and the lifting frame and the lifting sleeve are locked in position by fastening bolts.

[0011] Furthermore, the weed crushing assembly includes a crushing cylinder fixedly mounted on the outer wall of the weed collecting hopper and connected to its interior. A fertilizer dispensing hopper for storing fertilizer granules is fixedly mounted on the top of the crushing cylinder and connected to its interior. A crushing shaft is rotatably mounted inside the crushing cylinder via a support. Multiple blades for crushing weeds are evenly fixedly mounted on the outer wall of the crushing shaft. The fertilizer granules entering the crushing cylinder through the fertilizer dispensing hopper are mixed with the weeds and soil under the stirring of the blades, and together they serve as nutrients for the hilling section.

[0012] Furthermore, the grass-crushing conveying assembly includes a conveying cylinder detachably connected to one end of the crushing cylinder. An auger is rotatably installed inside the conveying cylinder to push 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 communicating with the inside of the conduit to provide a guiding channel for the output of the mixture of 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 direction of power transmission.

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

[0014] Furthermore, 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 installed on the outer wall of the transmission box. A first gear and a second gear are respectively installed on the upper and lower sides of the inside of the protective box. A toothed belt is fitted on the outer wall of the first gear and the second gear. A drive shaft is fixedly installed inside the second gear. One end of the drive shaft rotates through the protective box and is fixedly installed with a roller. Multiple anti-slip teeth are evenly fixed on the outer wall of the roller to increase the friction between the roller and the soil.

[0015] Furthermore, it also includes a smart camera and a wireless transmission module installed on the outer wall of the traction frame mechanism. The smart camera is used to obtain the weed removal status between soybean or corn plants in real time, and the acquired images are transmitted to a mobile terminal device in real time through the wireless transmission module.

[0016] This invention provides a smart weeding robot for soybean-corn intercropping. Compared with existing technologies, it has the following advantages: 1. A smart weeding robot for soybean-corn intercropping, by setting up a traction mechanism, can synchronously and equally adjust the spacing of multiple weeding mechanisms using a spacing control component. This allows the spacing between the multiple weeding mechanisms to meet the different planting spacing requirements of corn or soybean. Moreover, in the soybean-corn intercropping mode, after weeding the corn planting area, the spacing between the multiple weeding mechanisms can be quickly adjusted to meet the soybean planting spacing requirements. This enables flexible adjustment of the spacing between the multiple weeding mechanisms under different planting spacings for corn and soybean, improving the speed and efficiency of weeding operations in the intercropping mode. Compared with the current method of changing the position of the weeding shovel by disassembling and assembling, the spacing adjustment method of this invention is faster and simpler, meeting the actual needs of the soybean-corn intercropping mode.

[0017] 2. A smart weeding robot for soybean-corn intercropping, equipped with a soil-raising mechanism, can collect, chop, and mix the weeds and some soil removed by the weeding mechanism. The chopping process destroys the root and stem parts of the weeds, rendering them unable to regenerate and preventing the weeds from regrowing under suitable conditions, thus achieving thorough weed control. This reduces the frequency of field weeding and also lowers the probability of damage to soybeans and corn during the weeding process. The collection process makes the space between rows cleaner and flatter, facilitating movement for workers during subsequent maintenance and improving the convenience of soybean or corn maintenance. The mixing process mixes the chopped weeds with the soil, allowing the weeds to decompose more rapidly using soil microorganisms, forming humus that improves soil structure and increases soil fertility. This allows the discarded weeds to become nutrients beneficial to the growth of soybeans and corn. Furthermore, the fertilizer dispensing hopper integrates fertilizer into the mixture of weeds and soil, increasing the fertility of this mixture and saving the step of manual fertilization, thus reducing the cost of manual fertilization.

[0018] 3. A smart weeding robot for soybean-corn intercropping, by setting a grass-crushing conveying component in the hilling mechanism, can deliver a mixture of weeds, soil, and fertilizer to the root zone of soybeans or corn through a conduit. This allows the nutrient-rich soil to cover the area around the roots of soybeans or corn, increasing the support for the root zone and improving the crop's resistance to lodging. Furthermore, hilling enables targeted nutrient delivery, allowing the soil to provide nutrients to soybeans and corn for an extended period. Weeds located outside the crop root zone will experience reduced growth due to a lack of sufficient nutrient supply. Secondly, once the root zone of soybeans or corn is covered with soil, weeds that were not fully removed in that area cannot photosynthesize, thus accelerating their death and achieving the effect of weed control in the crop root zone. Attached Figure Description

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

[0020] In the diagram: 1. Traction frame mechanism; 11. Traction frame; 12. Guide rod No. 1; 13. Guide rod No. 2; 14. Upper slide groove; 15. Lower slide groove; 16. Drive shaft; 17. Handwheel; 18. Spiral groove No. 1; 19. Spiral groove No. 2; 2. Weeding mechanism; 21. Support frame No. 1; 22. Depth limiting component; 23. Double-wing weeding shovel; 24. Support frame No. 2; 25. Slide seat; 26. Limiting slide groove; 27. Drive rod; 28. Reinforcing rod; 29. ​​Sleeve No. 2; 210. Weeding board; 211. Sleeve No. 3; 3. Soil-covering mechanism; 31. Weed collection. 31. Hopper; 32. Lifting sleeve; 33. Lifting frame; 34. Weed crushing assembly; 341. Crushing cylinder; 342. Fertilizer feeding hopper; 343. Crushing shaft; 344. Blade; 35. Grass shredding conveying assembly; 351. Conveying cylinder; 352. Screw; 353. Guide tube; 354. Universal joint; 36. Power conversion assembly; 361. Transmission box; 362. Rotating shaft; 363. Worm gear; 364. Worm; 365. Protective box; 366. Gear No. 1; 367. Drive shaft; 368. Gear No. 2; 369. Toothed belt; 3610. Roller. Detailed Implementation

[0021] 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.

[0022] This invention provides four technical solutions: a smart weeding robot for soybean-corn intercropping, specifically including the following embodiments: like Figures 1-5 The first embodiment is shown: a smart weeding robot for soybean-corn intercropping, including a traction frame mechanism 1, and further comprising: Multiple weeding mechanisms 2 are equidistantly arranged on the side wall of the traction frame mechanism 1. They remove weeds between plants by using various weeding methods. During the weeding operation, the distance between two adjacent weeding mechanisms 2 can be flexibly adjusted according to the plant spacing of soybeans or corn to adapt to the weeding operation requirements under different plant spacing conditions. Multiple soil-building mechanisms 3 are arranged in a one-to-one correspondence with multiple weeding mechanisms 2. They are used to collect weeds and mixed soil in a timely manner after the weeding mechanism 2 removes weeds between plants, and to crush and mix the weeds and soil and transport them to the roots of soybeans or corn. This enhances the support for the roots and provides the necessary nutrients for the growth of soybeans or corn by utilizing the organic matter formed after the decomposition of weed debris. The soil-raising mechanism 3 includes a weed collection unit, a weed crushing component 34, a weed conveying component 35, and a power conversion component 36. The weed collection unit collects the removed weeds and conveys the weeds and some soil mixture together to the weed crushing component 34 for crushing and mixing. The crushed and mixed weed and soil mixture is then conveyed to the area around the crop roots by the weed conveying component 35. The power conversion component 36 provides power support for the operation of the weed crushing component 34 and the weed conveying component 35. It also includes a smart camera and a wireless transmission module installed on the outer wall of the traction frame mechanism 1. The smart camera is used to obtain the weed removal status between soybean or corn plants in real time, and transmits the obtained images to a mobile terminal device in real time through the wireless transmission module. The smart camera can also identify weeds in the captured images and mark the weeds with colors so as to quickly distinguish between weeds and crops.

[0023] like Figure 6The second embodiment is shown. The traction frame mechanism 1 includes a traction frame 11 for connection with the traction device and a first guide rod 12 and a second guide rod 13 fixedly disposed on the upper and lower sides of the outer wall of the traction frame 11. The first guide rod 12 has upper sliding grooves 14 at its top and bottom, and lower sliding grooves 15 at its top and bottom. A spacing adjustment component is also disposed on the inner wall of the traction frame 11, between the first guide rod 12 and the second guide rod 13, for synchronously and equidistantly adjusting the distance between multiple weeding mechanisms 2. The spacing adjustment component includes... The drive shaft 16 is rotatably mounted on the inner wall of the traction frame mechanism 1 and located between the first guide rod 12 and the second guide rod 13. One end of the drive shaft 16 rotatably passes through the traction frame 11 and is fixedly mounted with a handwheel 17 for driving its rotation. A first spiral drive groove group and a second spiral drive groove group are symmetrically arranged on both sides of the outer wall of the drive shaft 16. 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 18 and a second spiral groove 19 respectively opened on the outer wall of the drive shaft 16.

[0024] like Figures 7-8 A third embodiment is shown: The weeding mechanism 2 includes a primary support frame 21 and a double-wing weeding shovel 23 detachably mounted on both sides of the inner wall of the primary support frame 21 by bolts. A depth limiting component 22 for controlling the weeding depth of the double-wing weeding shovel 23 is also provided on the inner wall of the primary support frame 21, located on one side of the double-wing weeding shovel 23. The depth limiting component 22 includes a height-adjustable wheel frame detachably mounted on the inner wall of the primary support frame 21, with guide wheels rotatably mounted on the wheel frame to contact the ground. A secondary support frame 24 for providing support for the installation of the soil-building mechanism 3 is also fixedly mounted on the outer wall of the primary support frame 21 near the depth limiting component 22. A slide 25 is fixedly mounted at the end of the primary support frame 21 away from the secondary support frame 24. The side wall of the slide 25... A limiting slide groove 26 adapted to the structure of the sliding groove 15 is provided. The limiting slide groove 26 is slidably sleeved on the outer wall of the first guide rod 12. The top of the slide 25 is also fixedly provided with a drive rod 27 that is slidably installed in the first spiral groove 18 or the second spiral groove 19. The height of the double-wing weeding shovel 23 from the ground can be freely adjusted. A reinforcing rod 28 is rotatably provided on the top of the slide 25 to strengthen the connection between the slide 25 and the traction frame mechanism 1. 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 sliding groove 15. A third sliding sleeve 211 is detachably provided on the side wall of the slide 25 by bolts. A height-adjustable weeding plate 210 is fixedly provided on the side wall of the third sliding sleeve 211.

[0025] like Figures 9-15The fourth embodiment is shown. The weed collection unit includes a weed collection hopper 31 and a lifting sleeve 32 fixedly mounted on the top of the weed collection hopper 31. A lifting frame 33 is slidably mounted inside the lifting sleeve 32. The lifting frame 33 and the lifting sleeve 32 are locked in position by fastening bolts. The lifting frame 33 is detachably fixedly mounted on the bottom of the second support frame 24. The position of the lifting frame 33 relative to the lifting sleeve 32 is adjusted according to the depth of weed removal. The weed crushing assembly 34 includes a crushing cylinder 341 fixedly mounted on the outer wall of the weed collection hopper 31 and communicating with its interior. A fertilizer dispensing hopper 342 for storing fertilizer granules is fixedly mounted on the top of the crushing cylinder 341 and communicates with its interior. A crushing shaft 343 is rotatably mounted inside the crushing cylinder 341 via a bracket. Multiple blades 344 for crushing weeds are evenly fixedly mounted on the outer wall of the crushing shaft 343. The fertilizer enters the crushing cylinder 341 through the fertilizer dispensing hopper 342. The fertilizer granules are mixed with weeds and soil under the stirring of the blade 344, and together they serve as nutrients for the hilling part. The fertilizer feeding hopper 342 is also equipped with a fertilizer granule release control structure, which is a known technology and will not be described in detail here. The grass shredding conveying assembly 35 includes a conveying cylinder 351 detachably connected to one end of the crushing cylinder 341. An auger 352 is rotatably installed inside the conveying cylinder 351 to push the weeds inside the crushing cylinder 341 into the conveying cylinder 351. The outer walls of the conveying cylinder 351 are fixedly provided with conduits 353 that communicate with the inside, which provide a guide channel for the output of the mixture of grass shredding granules, soil and fertilizer. One end of the auger 352 is also fixedly provided with a universal joint 354 for connecting to the crushing shaft 343 to change the direction of power transmission. The universal joint 354 is designed with a sealed structure to avoid interference from soil during transmission. The power conversion assembly 36 includes a transmission box 361 fixedly installed at one end of the conveyor cylinder 351. Inside the transmission box 361, a rotating shaft 362 is rotatably installed and fixedly connected to one end of the auger 352 via a mounting bracket. A worm gear 363 is fixedly installed at one end of the rotating shaft 362, and a worm 364 is rotatably installed on one side of the rotating shaft 362 and meshes with the worm gear 363. A first power conversion unit and a second power conversion unit are respectively installed on both sides of the outer wall of the transmission box 361. The protective boxes 365 in the first power conversion unit and the second power conversion unit are connected to each other on opposite side walls via connecting plates to enhance operational stability. Both ends of the worm 364 rotatably pass 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 first power conversion unit and the second power conversion unit have the same structure. The first power conversion unit includes a protective box 365 fixedly installed on the outer wall of the transmission box 361. A first gear 366 and a second gear 368 are respectively installed on the upper and lower sides of the interior of the protective box 365. A toothed belt 369 is fitted on the outer wall of the first gear 366 and the second gear 368. A transmission shaft 367 is fixedly installed inside the second gear 368. One end of the transmission shaft 367 rotates through the protective box 365 and is fixedly installed with a roller 3610. Multiple anti-slip teeth are evenly fixed on the outer wall of the roller 3610 to increase the friction between the roller and the soil. The support plate for connecting the transmission box 361 and the second support frame 24 consists of an upper plate and a lower plate. The upper plate and the lower plate are designed to slide relative to each other. After being locked with bolts, their positions can be fixed 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] When using it, first connect the towing frame 11 to the towing equipment. The towing equipment is generally a tractor or other agricultural machinery suitable for field operations. After connecting to the traction equipment, adjust the height of the dual-wing weeding shovel 23, depth limiting component 22, weeding plate 210 and soil covering mechanism 3 from the ground according to the weeding depth. Since the structural design of the dual-wing weeding shovel 23, depth limiting component 22 and weeding plate 210 can achieve rapid height adjustment, and this structure is a mature technology, the adjustment process will not be described in detail here. When adjusting the height of the soil-raising mechanism 3 above the ground, first release the fastening bolts locking between the lifting sleeve 32 and the lifting frame 33, as well as the support plate connecting the power conversion component 36 and the second bearing frame 24, and keep the bottom of the weed collection bucket 31 and the toothed belt 369 in contact with the ground surface. Then, the traction equipment will make a second overall fine adjustment to the height of the weeding mechanism 2 and the soil-raising mechanism 3. Adjust the spacing between two connected weeding mechanisms 2 according to the planting spacing of soybeans or corn in the working area, so that each weeding mechanism 2 can move in the gap between two adjacent rows of soybeans or corn. When adjusting, the drive shaft 16 is rotated by turning the handwheel 17. Since the drive rods 27 in the multiple weeding mechanisms 2 slide in the first spiral groove 18 or the second spiral groove 19 at the corresponding positions, when the drive shaft 16 rotates in the forward or reverse direction, the drive rods 27 are driven by the first spiral groove 18 or the second spiral groove 19 at the corresponding positions to move away from each other or move closer to each other until the spacing between two adjacent weeding mechanisms 2 can meet the plant spacing requirements. During the movement of the weeding mechanism 2, the multiple triangular teeth at the bottom of the weeding plate 210 can initially cut through the soil surface and cut the roots and stems of weeds, while the double-wing weeding shovel 23 can turn over the surface soil and shovel the weeds out of the soil, so that the roots and stems of weeds are completely exposed to the outside of the soil. The uprooted and chopped weeds enter the crushing cylinder 341 through the weed collection hopper 31. Because the rollers 3610 are in close contact with the ground, they rotate continuously under the combined action of traction from the traction device and ground friction. Power is transmitted through the drive shaft 367 to the second gear 368, causing it to rotate synchronously. The second gear 368 drives the first gear 366 to rotate faster via the toothed belt 369. Since the worm 364 is connected to the first gear 366, its synchronous rotation with the first gear 366 drives the worm wheel 363 to rotate rapidly. Power is transmitted through the rotating shaft 362 to drive the auger 352, universal joint 354, and guide tube 353 to rotate synchronously. The blades 344 shred the weeds entering the crushing cylinder 341 and simultaneously crush the shredded weeds. The fertilizer is mixed with the soil. If simultaneous fertilization is required, fertilizer needs to be added to the fertilizer feeding hopper 342 in advance. The fertilizer granules are released at a uniform speed through the release control structure at the bottom of the fertilizer feeding hopper 342. The fertilizer granules, soil, and weed debris are mixed together and conveyed upward along the conveying cylinder 351 under the push of the auger 352. The mixture of fertilizer granules, soil, and weed debris is then conveyed to the soybean or corn root system through the guide tubes 353 on both sides of the conveying cylinder 351. The decomposition products of the weed debris combine with soil minerals to form humus, which improves water and fertilizer retention capacity and soil structure. In addition, 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. After the weeds lose sunlight, they gradually die, thus achieving the purpose of weed control again.

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

[0028] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A smart weeding robot for soybean-corn intercropping, 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. They remove weeds between plants by using various weeding methods. During weeding operations, the distance between two adjacent weeding mechanisms can be flexibly adjusted according to the plant spacing of soybeans or corn to adapt to the weeding operation requirements under different plant spacing conditions. Multiple hilling mechanisms are set up in a one-to-one correspondence with multiple weeding mechanisms. After the weeding mechanism removes weeds between plants, it collects weeds and some mixed soil in time, crushes and mixes the weeds and soil and then transports them to the roots of soybeans or corn. This enhances the support for the roots and provides the necessary nutrients for the growth of soybeans or corn by using the organic matter formed after the decomposition of weed debris. The soil-raising mechanism includes a weed collection unit, a weed crushing component, a weed conveying component, and a power conversion component. The weed collection unit collects the removed weeds and conveys the weeds and some soil mixture together to the weed crushing component for crushing and mixing. The weed conveying component then conveys the crushed and mixed weed and soil mixture to the area around the crop roots. The power conversion component provides power support for the operation of the weed crushing component and the weed conveying component. The traction frame mechanism includes a traction frame for connecting to the traction device and a first guide rod and a second guide rod fixedly installed on the upper and lower sides of the outer wall of the traction frame. The first guide rod has an upper sliding groove at its top and bottom, and a lower sliding groove has a lower sliding groove at its top and bottom. The inner wall of the traction frame, located between the first guide rod and the second guide rod, is also provided with a spacing adjustment component for synchronously and equidistantly adjusting the distance between multiple weeding mechanisms. The spacing adjustment component includes a drive shaft rotatably disposed on the inner wall of the traction frame mechanism and located between the first guide rod and the second guide rod. One end of the drive shaft rotatably passes through the traction frame and is fixedly provided with a handwheel for driving its rotation. A first spiral drive groove group and a second spiral drive groove group are symmetrically arranged on both sides of the outer wall of the drive shaft. 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. The weeding mechanism includes a first support frame and a double-wing weeding shovel detachably mounted on both sides of the inner wall of the first support frame via bolts. A depth limiting component for controlling the weeding depth of the double-wing weeding shovel is also provided on the inner wall of the first support frame and on one side of the double-wing weeding shovel. The depth limiting component includes a wheel frame detachably mounted on the inner wall of the first support frame and height adjustable. A guide wheel that rotatably contacts the ground is mounted on the wheel frame. A second support frame for providing support for the installation of the soil-building mechanism is also fixedly mounted on the outer wall of the first support frame near the depth limiting component. A slide block is fixedly mounted at the end of the first support frame away from the second support frame. A limiting slide groove adapted to the sliding groove structure is opened on the side wall of the slide block. The limiting slide groove is slidably sleeved on the outer wall of the first guide rod. A drive rod that is slidably mounted in the first or second spiral groove is also fixedly mounted on the top of the slide block. A reinforcing rod is rotatably mounted on the top of the slide block to enhance the connection strength between the slide block and the traction frame mechanism. A second sliding sleeve is rotatably mounted on the outer wall of the reinforcing rod. The second sliding sleeve is slidably mounted in the lower groove. A third sliding sleeve is detachably mounted on the side wall of the slide block by bolts. A height-adjustable weeding plate is fixedly mounted on the side wall of the third sliding sleeve. The weed collection unit includes a weed collection hopper and a lifting sleeve fixedly installed on the top of the weed collection hopper. A lifting frame is slidably installed inside the lifting sleeve, and the lifting frame and the lifting sleeve are locked in position by fastening bolts. The weed crushing assembly includes a crushing cylinder fixedly mounted on the outer wall of the weed collecting hopper and connected to its interior. A fertilizer dispensing hopper for storing fertilizer granules is fixedly mounted on the top of the crushing cylinder and connected to its interior. A crushing shaft is rotatably mounted inside the crushing cylinder via a support. Multiple blades for crushing weeds are evenly fixedly mounted on the outer wall of the crushing shaft. Fertilizer granules entering the crushing cylinder through the fertilizer dispensing hopper are mixed with weeds and soil by the blades and serve as nutrients for the hilling section.

2. The intelligent weeding robot for soybean-corn intercropping according to claim 1, characterized in that: The shredded grass conveying assembly includes a conveying cylinder detachably connected to one end of the shredding cylinder. An auger is rotatably installed inside the conveying cylinder to push the weeds inside the shredding cylinder into the conveying cylinder. Both sides of the outer wall of the conveying cylinder are fixedly provided with conduits communicating with the inside of the conduit to provide a guiding channel for the output of the mixture of shredded grass particles, soil and fertilizer. Furthermore, one end of the auger is also fixedly provided with a universal joint for connecting to the shredding shaft to change the direction of power transmission.

3. The intelligent weeding robot for soybean-corn intercropping according to claim 2, characterized in that: The power conversion assembly includes a transmission box fixedly installed at one end of the conveying cylinder. Inside the transmission box, a rotating shaft fixedly connected to one end of the auger is rotatably installed via a mounting bracket. A worm gear is fixedly installed at one end of the rotating shaft, and a worm gear meshing with the worm gear is rotatably installed on one side of the rotating shaft. A first power conversion unit and a second power conversion unit are respectively installed on both sides of the outer wall of the transmission box.

4. The intelligent weeding robot for soybean-corn intercropping according to claim 3, 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 installed on the outer wall of the transmission box. A first gear and a second gear are respectively installed on the upper and lower sides of the inside of the protective box. A toothed belt is fitted on the outer wall of the first gear and the second gear. A drive shaft is fixedly installed inside the second gear. One end of the drive shaft rotates through the protective box and is fixedly installed with a roller. Multiple anti-slip teeth are evenly fixed on the outer wall of the roller to increase the friction between the roller and the soil.

5. The intelligent weeding robot for soybean-corn intercropping according to claim 1, characterized in that: It also includes a smart camera and a wireless transmission module installed on the outer wall of the traction frame mechanism. The smart camera is used to obtain real-time information on the weed removal status between soybean or corn plants, and the acquired images are transmitted to a mobile terminal device in real time via the wireless transmission module.

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