Weeding device

Abstract

The invention discloses a weeding device, and relates to the technical field of weeding devices, and the weeding device comprises a hanging mechanism, a mowing mechanism, a switching mechanism, a weeding mechanism and an obstacle avoidance mechanism. The hooking mechanism is used for connecting a traction machine tool; the mowing mechanism is used for realizing stubble mowing operation between vegetation rows and is also used for swinging relative to the hanging mechanism; the switching mechanism is rotatably connected to the two ends of the mowing mechanism, and the switching mechanism is used for rotating relative to the mowing mechanism; the weeding mechanism is mounted on the switching mechanism and is used for realizing soil breaking and weeding operation among vegetation plants; the obstacle avoidance mechanism comprises an arc-shaped feeler lever, a travel switch and an unfolding and folding driving part, and the travel switch is started after the arc-shaped feeler lever is triggered, so that the unfolding and folding driving part drives the weeding mechanism to be switched from the unfolding state to the folding state. According to the weeding device, the profiling precision can be improved, the obstacle avoidance capability is enhanced, the operation efficiency is improved, and the combination of two weeding modes of row-to-row stubble reserving and row spacing ground breaking is realized.

Description

Technical Field

[0001] The present application relates to the technical field of weeding devices, and in particular to a weeding device. Background Art

[0002] Weeding in oil-tea plantations is a key link in oil-tea plantation management.

[0003] In the current system, weeding in oil tea forests mostly relies on manual labor or traditional backpack machines. However, both manual and mechanical weeding have the following shortcomings:

[0004] First, traditional weeding devices lack an effective contouring mechanism and cannot dynamically adjust to the complex and changeable surface undulations of the oil palm forest. As a result, the weeding device cannot fit closely to the ground, resulting in inconsistent weeding depths. In some areas, weeding is not thorough, while in other areas, the roots are damaged due to excessive weeding, making it difficult to ensure the stability of the operation quality.

[0005] Secondly, most current weeding machines are unable to respond promptly and accurately when encountering obstacles such as stones, tree roots or tree trunks, which makes it easy for the equipment to collide with the obstacles rigidly, causing tool wear or even damage, which not only increases maintenance costs but also affects work efficiency.

[0006] Third, manual weeding is inefficient and labor-intensive, making it difficult to meet the weeding needs of large-scale oil palm forests. Although traditional backpack mechanical weeding has improved efficiency to a certain extent, it is highly dependent on the operator, and the operation effect is greatly affected by the operator. The quality is difficult to guarantee after long-term operation, and it is also difficult to cope with complex and changeable terrain.

[0007] Fourth, existing weeders for oil tea plantations typically only perform a single weeding method, failing to simultaneously address the two key agronomic requirements of oil tea plantations: weeding between rows to retain stubble and weeding at a defined distance. For example, some weeders only perform simple mowing and are unable to remove weeds by breaking through the soil and removing roots. Meanwhile, other weeders that focus on breaking through the soil are unable to remove weeds between rows while maintaining a suitable stubble. Consequently, they struggle to meet the comprehensive weeding requirements of modern oil tea plantations.

[0008] Therefore, it is necessary for technical personnel in this field to provide a tea oil forest weeding device in a timely manner that can improve profiling accuracy, enhance obstacle avoidance ability, improve work efficiency, and combine the two weeding methods of leaving stubble between rows and breaking the soil between plants, so as to meet the needs of modern management of tea oil forests. Summary of the Invention

[0009] The purpose of this application is to provide a weeding device that can improve the profiling accuracy, enhance the obstacle avoidance ability, improve the working efficiency, and realize the combination of the two weeding methods of leaving stubble between rows and breaking the soil between plants.

[0010] To achieve the above objectives, the present application provides a weeding device, comprising:

[0011] A hooking mechanism for connecting a traction implement;

[0012] a mowing mechanism rotatably connected to the hook mechanism for performing stubble mowing between rows of vegetation and further for swinging relative to the hook mechanism about an axis in a first direction so that the mowing mechanism maintains a consistent stubble height during stubble mowing;

[0013] a transfer mechanism rotatably connected to two ends of the mowing mechanism along a second direction perpendicular to the first direction, and configured to rotate relative to the mowing mechanism about an axis in a third direction perpendicular to both the first and second directions;

[0014] The weeding mechanism is installed on the transfer mechanism and is used to achieve soil-breaking and weeding operations between plants;

[0015] The obstacle avoidance mechanism includes an arc-shaped touch rod, a travel switch and an expansion and retraction drive member. The arc-shaped touch rod is rotatably connected to the adapter mechanism. The expansion and retraction drive member is connected between the adapter mechanism and the mowing mechanism. The travel switch is turned on after the arc-shaped touch rod is triggered, so that the expansion and retraction drive member drives the weeding mechanism to switch from the expanded state to the retracted state.

[0016] In some embodiments, the hooking mechanism includes a knife roller box connecting plate, the mowing mechanism includes a knife roller box, and the knife roller box connecting plate is rotatably connected to the knife roller box via a rotating member;

[0017] The weeding device also includes a yaw drive component, one end of which is connected to the rotating component and the other end is connected to the knife roller box. The yaw drive component is used to provide a telescopic driving force to adjust the yaw angle of the knife roller box relative to the knife roller box connecting plate.

[0018] In some embodiments, the hooking mechanism further comprises:

[0019] Machine connecting plate, used for connecting traction machine;

[0020] A first main beam, one end of which is hinged to the machine connecting plate, and the other end of which is hinged to the cutter roller box connecting plate;

[0021] The second main beam has one end hinged to the machine connecting plate and the other end hinged to the cutter roller box connecting plate, and is arranged parallel to the first main beam;

[0022] The hook drive member has one end hinged to the machine connecting plate and the other end hinged to the cutter roller box connecting plate, and is used to provide telescopic driving force to adjust the position of the cutter roller box connecting plate relative to the machine connecting plate.

[0023] In some embodiments, the weed control device further comprises:

[0024] A relative position detection component is used to detect the position of the cutter roller box connecting plate relative to the tool connecting plate;

[0025] A deflection angle detection component is used to detect the deflection angle of the cutter roller box relative to the cutter roller box connecting plate;

[0026] The control system is connected to the relative position detection component, the yaw angle detection component, the travel switch, the hook drive component, the yaw drive component and the extension and retraction drive component for controlling the start and stop of the hook drive component, the yaw drive component and the extension and retraction drive component.

[0027] In some embodiments, the hanging mechanism further includes a gantry, which is connected to the tool connecting plate, and at least three hanging plates are provided on a side of the gantry facing away from the tool connecting plate.

[0028] In some embodiments, the switching mechanism includes:

[0029] A support arm for connecting a weeding mechanism;

[0030] U-shaped connecting plate, rotating with the support arm;

[0031] A support, connected to the U-shaped connecting plate;

[0032] A pin rod, one end of which is connected to the support, and the other end of which is connected to the knife roller box through a concave plate;

[0033] The special-shaped plate is connected to the support, adapted to the knife roller box, and used for abutting the knife roller box.

[0034] In some embodiments, the mowing mechanism further comprises:

[0035] A knife roller main shaft with a knife roller body, the knife roller main shaft is rotatably connected to the knife roller box, and the knife roller main shaft is used to rotate relative to the knife roller box around an axis in the second direction;

[0036] The cutter roller gearbox is connected to the cutter roller main shaft and is used to drive the cutter roller main shaft to rotate;

[0037] The knife roller drive component is connected to the knife roller gearbox and is used to drive the knife roller gearbox to operate.

[0038] In some embodiments, the weed control mechanism comprises:

[0039] The knife shaft extends along the third direction and rotates with the transfer mechanism;

[0040] The cutter disc is arranged on the cutter shaft and is used to rotate with the cutter shaft;

[0041] The vertical blade is installed on the cutter disc and has a preset soil penetration angle, which is used to break the soil and weed between plants.

[0042] In some embodiments, the obstacle avoidance mechanism further includes a reset module, which is connected to the arc-shaped contact rod. The reset module is used to provide a reset force so that the triggered arc-shaped contact rod has a tendency to reset.

[0043] In some embodiments, the weeding device further includes a terrain scanning module, which is a laser radar or an ultrasonic sensor. The terrain scanning module is used to generate a terrain map and synchronously adjust the operating parameters of the mowing mechanism and the weeding mechanism.

[0044] In contrast to the above-mentioned background technology, the weeding device provided in the embodiment of the present application includes a hooking mechanism, a mowing mechanism, a switching mechanism, a weeding mechanism, and an obstacle avoidance mechanism. The hooking mechanism is used to connect a traction device; the mowing mechanism is rotatably connected to the hooking mechanism, and is used to achieve stubble mowing between rows of vegetation. The mowing mechanism is also used to swing relative to the hooking mechanism about an axis in a first direction so that the mowing mechanism maintains a consistent stubble height during stubble mowing; the switching mechanism is rotatably connected to both ends of the mowing mechanism along a second direction perpendicular to the first direction, and is used to rotate relative to the mowing mechanism about an axis in a third direction perpendicular to both the first and second directions; the weeding mechanism is mounted on the switching mechanism, and is used to achieve ground-breaking weeding between plants; the obstacle avoidance mechanism includes an arc-shaped contact rod, a travel switch, and an extension and retraction drive member. The arc-shaped contact rod is rotatably connected to the switching mechanism, and the extension and retraction drive member is connected between the switching mechanism and the mowing mechanism. The travel switch is activated when the arc-shaped contact rod is triggered, so that the extension and retraction drive member drives the weeding mechanism to switch from an extended state to a retracted state.

[0045] The beneficial effects of the weeding device thus provided mainly include:

[0046] Firstly, the mowing mechanism is designed to swing around the axis in the first direction relative to the hanging mechanism, so that the mowing mechanism can adjust its posture in real time according to the undulations of the ground, so as to fit closely to the ground, ensuring stable stubble mowing operations even in complex terrains such as hilly mountains, maintaining the consistency of the stubble height, and solving the problem of traditional equipment being difficult to control the weeding depth when operating in complex terrain.

[0047] Secondly, an obstacle avoidance mechanism has been added. Specifically, the curved feeler is triggered when encountering obstacles such as rocks, tree roots, and tree trunks. This triggers the extension and retraction drive via a travel switch, quickly switching the weeding mechanism from its extended state to its retracted state. This effectively prevents collisions between the weeding mechanism and obstacles, protects key components such as the cutter from damage, reduces maintenance costs, and ensures operational continuity. Furthermore, the curved feeler automatically triggers the retraction drive upon sensing an obstacle, completing the weeding mechanism's extension and retraction without manual intervention, making the entire weeding process more intelligent and automated.

[0048] Third, compared with manual weeding or traditional backpack mechanical weeding, the weeding device of the present application can quickly complete the weeding task, reduce the tedious steps of manual operation and the fatigue caused by long-term work, significantly reduce labor intensity, and greatly improve work efficiency. Moreover, due to its good obstacle avoidance ability and ability to adapt to complex terrain, it can continuously and stably perform high-quality operations, further improving overall work efficiency.

[0049] Fourth, the weeding device combines two operating methods: inter-row stubble mowing and inter-plant ground-breaking weeding. When performing stubble mowing between rows of vegetation, the mowing mechanism can maintain a consistent stubble height. This stubble design is conducive to surface water and moisture conservation, effectively preventing soil erosion, and providing a certain degree of protection for the ecological environment in planting areas such as oil tea plantations. At the same time, the weeding mechanism that breaks the ground between plants can evenly mix weeds and soil, not only removing weeds but also promoting plant absorption of nutrients and turning the soil to improve its structure. Compared with devices that only use a single weeding method, it can better meet the requirements of modern agronomy and comprehensively improve the quality of weeding operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0051] Figure 1 Schematic diagram of the overall structure of the weeding device in the embodiment of the present application.

[0052] Figure 2 for Figure 1 Schematic diagram of the deployed and retracted state of the weeding mechanism in the weeding device shown.

[0053] Figure 3 for Figure 1 Schematic diagram of the structure of the hanging mechanism in the weeding device shown.

[0054] Figure 4 for Figure 1 Schematic diagram of the structure of the mowing mechanism in the weeding device shown.

[0055] Figure 5 for Figure 1 Schematic diagram of the structure of the transfer mechanism in the weeding device shown.

[0056] Figure 6 for Figure 1 Schematic diagram of the structure of the weeding mechanism in the weeding device shown.

[0057] Figure 7 for Figure 1 Schematic diagram of the structure of the obstacle avoidance mechanism in the weeding device shown.

[0058] Figure 8 This is an operation flow chart of the weeding device in the embodiment of the present application.

[0059] in:

[0060] 10-hook-up mechanism, 11-knife roller box connecting plate, 12-machine tool connecting plate, 13-first main beam, 14-second main beam, 15-hook-up drive, 16-gantry, 17-hook-up plate;

[0061] 20- mowing mechanism, 21- knife roller body, 22- knife roller main shaft, 23- knife roller bearing, 24- knife roller box, 25- knife roller gearbox, 26- knife roller drive;

[0062] 30-transfer mechanism, 31-support arm, 32-U-shaped connecting plate, 33-support, 34-pin rod, 35-concave plate, 36-special-shaped plate;

[0063] 40- weeding mechanism, 41- knife shaft, 42- knife disc, 43- vertical blade, 44- thrust ball bearing;

[0064] 50-obstacle avoidance mechanism, 51-arc-shaped contact rod, 52-travel switch, 53-extension and retraction drive component, 54-reset module. DETAILED DESCRIPTION

[0065] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0066] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0067] See also Figure 1 and Figure 2 The weeding device provided in the embodiment of the present application includes a hanging mechanism 10, a mowing mechanism 20, a transfer mechanism 30, a weeding mechanism 40 and an obstacle avoidance mechanism 50.

[0068] The hooking mechanism 10 is specifically a gantry suspension mechanism, which is used to connect a traction tool, and the traction tool is used to act as a traction device. At the same time, the hooking mechanism 10 is also used to adjust the yaw or tilt angle of the device.

[0069] The mowing mechanism 20 is specifically a horizontal mowing mechanism 20, which is rotatably connected to the hanging mechanism 10. The mowing mechanism 20 is used to realize stubble mowing operations between rows of vegetation (tea oil trees), and is also used to swing around an axis in a first direction relative to the hanging mechanism 10 so that the mowing mechanism 20 maintains a consistent stubble height when mowing.

[0070] The mowing mechanism 20 is designed to swing around the axis in the first direction relative to the hanging mechanism 10, so that the mowing mechanism 20 can adjust its posture in real time according to the undulations of the ground surface, thereby closely fitting the ground, ensuring stable stubble mowing operations even in complex terrains such as hilly mountains, maintaining the consistency of the stubble height, and solving the problem of traditional equipment being difficult to control the weeding depth when operating in complex terrain.

[0071] The adapter mechanism 30 is rotatably connected to the two ends of the mowing mechanism 20 along the second direction perpendicular to the first direction. The adapter mechanism 30 is used to rotate relative to the mowing mechanism 20 around an axis in a third direction perpendicular to both the first direction and the second direction. The adapter mechanism 30 is used to connect the mowing mechanism 20 and the weeding mechanism 40, and cooperate to complete the obstacle avoidance action, and can adjust the soil throwing and weeding depth of the weeding mechanism 40.

[0072] It should be noted that the first direction can be as follows: Figure 1 The X-axis direction shown, the second direction can be as follows Figure 1 The Y-axis direction shown, the third direction can be as follows Figure 1 The Z-axis direction is shown.

[0073] The weeding mechanism 40 is specifically a vertical weeding mechanism 40 , which is installed on the adapter mechanism 30 . The weeding mechanism 40 is used to achieve soil-breaking and weeding operations between plants (tea oil trees).

[0074] Please also refer to Figure 7 The obstacle avoidance mechanism 50 is used to enable the vertical weeding mechanism 40 to avoid oil tea trees during weeding operations and autonomously avoid obstacles while moving. Specifically, the obstacle avoidance mechanism 50 includes an arcuate contact rod 51, a travel switch 52, and an extension and retraction drive 53. The arcuate contact rod 51 is rotatably connected to the adapter mechanism 30 via a rotating shaft. The arcuate contact rod 51 is designed as a semicircular arc contact rod similar to insect antennae. The extension and retraction drive 53 is connected between the adapter mechanism 30 and the mowing mechanism 20. The travel switch 52 is activated when the arcuate contact rod 51 is triggered, causing the extension and retraction drive 53 to drive the weeding mechanism 40 from the extended state to the retracted state, thereby ensuring the dynamic operation of the obstacle avoidance mechanism 50 and enabling the vertical weeding blade to operate around oil tea trees.

[0075] By adding an obstacle avoidance mechanism 50, specifically a curved feeler 51, it is triggered when encountering obstacles such as rocks, tree roots, and tree trunks. This triggers the extension and retraction drive 53 via a travel switch 52, rapidly switching the weeding mechanism 40 from its deployed state to its retracted state. This effectively prevents collisions between the weeding mechanism 40 and obstacles, protects key components such as the cutter from damage, reduces maintenance costs, and ensures operational continuity. Furthermore, upon sensing an obstacle, the curved feeler 51 automatically triggers the retraction drive, completing the extension and retraction of the weeding mechanism 40 without manual intervention, making the entire weeding process more intelligent and automated.

[0076] Compared with manual weeding or traditional backpack mechanical weeding, the weeding device of the present application can quickly complete the weeding task, reduce the tedious steps of manual operation and the fatigue caused by long-term work, significantly reduce labor intensity, and greatly improve work efficiency. Moreover, due to its good obstacle avoidance ability and ability to adapt to complex terrain, it can continuously and stably perform high-quality operations, further improving overall work efficiency.

[0077] The weeding device combines two operating modes: inter-row stubble mowing and inter-plant ground-breaking weeding. When performing stubble mowing between rows of vegetation, the mowing mechanism 20 can maintain a consistent stubble height. This stubble design is conducive to surface water and moisture conservation, effectively preventing soil erosion, and providing a certain degree of protection for the ecological environment in planting areas such as oil tea forests. At the same time, the weeding mechanism 40 that performs ground-breaking weeding between plants can evenly mix weeds and soil, not only removing weeds but also promoting plant absorption of nutrients and turning the soil to improve its structure. Compared with devices with a single weeding method, it can better meet the requirements of modern agronomy and comprehensively improve the quality of weeding operations.

[0078] The obstacle avoidance mechanism 50, weeding mechanism 40 and transfer mechanism 30 are each provided in two pieces, which are respectively arranged at the left and right ends of the mowing mechanism 20. The horizontal mowing mechanism 20 is used as the main body, and the two vertical weeding mechanisms 40 are arranged in a V shape at the left and right ends of the mowing mechanism 20.

[0079] In some embodiments, the hanging mechanism 10 includes a knife roller box connecting plate 11, and the mowing mechanism 20 includes a knife roller box 24. The knife roller box connecting plate 11 is rotatably connected to the knife roller box 24 through a rotating member, so that the knife roller box 24 can rotate around the axis of the first direction relative to the knife roller box connecting plate 11.

[0080] Not only that, the weeding device also includes a yaw drive component, one end of the yaw drive component is connected to the rotating component, and the other end is connected to the knife roller box 24. The yaw drive component is used to provide a telescopic driving force to adjust the yaw angle of the knife roller box 24 relative to the knife roller box connecting plate 11.

[0081] Of course, depending on actual needs, the rotating member can be a rotating shaft or a universal joint (a universal joint is used to enable the mowing mechanism 20 to swing at multiple angles about the axis in the first direction, thereby expanding the degrees of freedom of swing). Taking the rotating shaft as an example, the blade roller box connecting plate 11 and the blade roller box 24 are rotatably connected via the rotating shaft (extending in the first direction), thereby enabling the blade roller box 24 to rotate about the axis of the rotating shaft relative to the blade roller box connecting plate 11.

[0082] When the yaw angle of the mowing mechanism 20 needs to be adjusted, the yaw drive component provides telescopic power to adjust the mowing mechanism 20 to the target yaw angle, so that the mowing mechanism 20 can adjust its posture in real time according to the undulations of the ground surface, thereby closely fitting the ground, ensuring stable stubble mowing operations even in complex terrains such as hilly mountains, maintaining consistency in stubble height, and solving the problem of traditional equipment being difficult to control the weeding depth when operating in complex terrains.

[0083] In addition, in order to improve the stability of the equipment, a hydraulic buffer can be provided between the hooking mechanism 10 and the mowing mechanism 20. The hydraulic buffer is used to absorb the impact force during operation to improve the stability of the equipment.

[0084] Please also refer to Figure 3 In addition to the structure of the cutter drum box connecting plate 11, the hanging mechanism 10 also includes a machine connecting plate 12, a first main beam 13, a second main beam 14 and a hanging drive member 15. Among them, the cutter drum box connecting plate 11, the machine connecting plate 12, the first main beam 13, and the second main beam 14 form a four-bar linkage to ensure that the mowing mechanism 20 can stably adjust its position in the horizontal plane (XY plane).

[0085] Specifically, the tool connecting plate 12 is used to connect the traction tool, one end of the first main beam 13 is hinged to the tool connecting plate 12, and the other end is hinged to the knife roller box connecting plate 11, one end of the second main beam 14 is hinged to the tool connecting plate 12, and the other end is hinged to the knife roller box connecting plate 11, the second main beam 14 is always arranged parallel to the first main beam 13, one end of the hanging drive member 15 is hinged to the tool connecting plate 12, and the other end is hinged to the knife roller box connecting plate 11, the hanging drive member 15 is used to provide telescopic driving force to adjust the position of the knife roller box connecting plate 11 relative to the tool connecting plate 12.

[0086] In some embodiments, the weeding device further includes a relative position detector, a yaw angle detector, and a control system. The relative position detector is used to detect the position of the cutter drum box connecting plate 11 relative to the tool connecting plate 12, and the yaw angle detector is used to detect the yaw angle of the cutter drum box 24 relative to the cutter drum box connecting plate 11. The control system is communicatively connected to the relative position detector, yaw angle detector, travel switch 52, hook drive 15, yaw drive, and extension / retraction drive 53, and is used to control the start and stop of the hook drive 15, yaw drive, and extension / retraction drive 53.

[0087] Of course, according to actual needs, the relative position detection component can be a displacement / distance sensor, the yaw angle detection component can be an angle sensor, the hook drive component 15, the yaw drive component and the extension and retraction drive component 53 can all be hydraulic cylinders, and the control system is a hydraulic control system. The hydraulic control system is used to control the start and stop of various hydraulic drive components such as the hook drive component 15, the yaw drive component and the extension and retraction drive component 53.

[0088] In this way, the relative position detector can accurately detect the positional relationship of the cutter box connecting plate 11 relative to the implement connecting plate 12 (specifically, the relative distance between the centerline of the cutter box connecting plate 11 and the centerline of the implement connecting plate 12), and the yaw angle detector can accurately monitor the yaw angle of the cutter box 24 relative to the cutter box connecting plate 11. This real-time data is fed back to the control system, allowing it to accurately grasp the spatial position and posture of each component of the weeding device. The control system can precisely control the start and stop of the hook drive 15, the yaw drive, and the extension and retraction drive 53 according to preset operating requirements and angle ranges, thereby achieving precise control of the posture and operating depth of the mowing mechanism 20 and weeding mechanism 40, ensuring consistent stubble height and that the depth and range of weeding between plants meet agronomic standards. This effectively improves the overall accuracy of the weeding operation and enhances the automation and intelligence level of the entire weeding process.

[0089] Furthermore, in addition to the existing curved sensor 51 triggering obstacle avoidance, the relative position detector and the yaw angle detector also indirectly help detect the presence of obstacles. Upon detecting an abnormal change in the position of the blade roller housing connecting plate 11 or the yaw angle of the blade roller housing 24, the control system quickly identifies an obstacle and triggers the extension and retraction drive 53 in advance, retracting the weeding mechanism 40 in time to avoid collision. This further enhances obstacle avoidance performance, reduces wear and damage to components such as the blades, and lowers maintenance costs and the risk of operation interruption.

[0090] With this setup, operators no longer need to frequently manually intervene in the weeding device's various actions. Instead, they simply set and monitor parameters on the control system interface, reducing operational difficulty and labor intensity. Even novices can quickly master the system, reducing reliance on experienced operators. Furthermore, the control system monitors the operating status of each component in real time. If an anomaly occurs, it quickly locates the source of the fault and alerts the operator through alarms, facilitating timely maintenance and repairs. This improves the maintainability of the equipment and reduces downtime.

[0091] In some embodiments, the attachment mechanism 10 further includes a gantry 16 , which is connected to the tool connecting plate 12 . At least three attachment plates 17 are provided on a side of the gantry 16 facing away from the tool connecting plate 12 .

[0092] For example, a mounting plate 17 is provided on the top of the U-shaped gantry 16 , and two mounting plates 17 are provided at both ends of the bottom. The three mounting plates 17 are used to achieve temperature connection between the gantry 16 and the traction equipment.

[0093] Please also refer to Figure 5 The adapter mechanism 30 includes a support arm 31, a U-shaped connecting plate 32, a support 33, a pin 34, and a special-shaped plate 36. The support arm 31 is used to connect to the weeding mechanism 40; the U-shaped connecting plate 32 rotates with the support arm 31, the support 33 is connected to the U-shaped connecting plate 32, one end of the pin 34 is connected to the support 33, and the other end is connected to the blade roller box 24 through the concave plate 35. The special-shaped plate 36 is connected to the support 33 and is adapted to the blade roller box 24 and is used to abut the blade roller box 24.

[0094] It should be noted that the special-shaped plate 36 is fixed on the side of the support 33 away from the U-shaped connecting plate 32, and the side of the special-shaped plate 36 away from the support 33 is provided with a special-shaped surface, which is used to be set according to the shape of the knife roller box 24 to fit the outer wall of the knife roller box 24, thereby ensuring the stability of the device during operation.

[0095] Please also refer to Figure 4 The mowing mechanism 20 also includes a cutter roller main shaft 22 with a cutter roller body 21, a cutter roller gearbox 25 and a cutter roller driving member 26. The cutter roller main shaft 22 is rotatably connected to the cutter roller box 24 through a cutter roller bearing 23. The cutter roller main shaft 22 is used to rotate relative to the cutter roller box 24 around the axis of the second direction; the cutter roller gearbox 25 is connected to the cutter roller main shaft 22, and the cutter roller gearbox 25 is used to drive the cutter roller main shaft 22 to rotate; the cutter roller driving member 26 is connected to the cutter roller gearbox 25, and the cutter roller driving member 26 is used to drive the cutter roller gearbox 25 to operate.

[0096] In this way, the cutter roller driving member 26 provides rotational power to drive the cutter roller gearbox 25 to operate, thereby driving the cutter roller main shaft 22 and the cutter roller body 21 to rotate, thereby realizing the forest mowing operation.

[0097] It should be emphasized that the above-mentioned mowing mechanism 20 is a horizontal mowing mechanism 20, which adopts a knife roller weeding structure for weeding and is suitable for stubble mowing. After the mowing mechanism 20 is operated, stubble can be left so as to conserve water and moisture in the oil tea forest and prevent soil erosion.

[0098] In addition, the mowing mechanism 20 also includes a height adjustment component, which can be an electric push rod or a hydraulic cylinder. The height adjustment component is used to dynamically adjust the mowing height according to the terrain undulations between the vegetation rows. This can increase the height adaptation function and ensure the consistency of the stubble height.

[0099] Please also refer to Figure 6The weeding mechanism 40 includes a cutter shaft 41, a cutter disc 42, and vertical blades 43. The cutter shaft 41 extends in the third direction and is rotatably engaged with the adapter mechanism 30 via a thrust ball bearing 44. The cutter disc 42 is mounted on the cutter shaft 41 and rotates with the cutter shaft 41. The vertical blades 43 are mounted on the cutter disc 42 and have a preset soil penetration angle. These blades are used to break through the soil and weed between plants.

[0100] It should be noted that the existing obstacle avoidance cutter disc 42 usually adopts a disc-shaped long knife rather than a vertical knife. The vertical knife arrangement can effectively ensure that the entry angle when cutting the soil is horizontal, and when encountering obstacles (stones, branches, etc.), it can directly complete self-avoidance and cleaning.

[0101] The structural parameters of the vertical weeding mechanism 40 are designed in order to improve its operating efficiency and reduce power consumption.

[0102] Specifically, during the weeding process, soil is broken up and flung into the soil, mixing it with the weeds. This is crucial for the quality and efficiency of the weeding process. The blade bend of the vertical weeding blade is a key factor influencing this process and needs to be adjusted appropriately based on soil type and weeding requirements. If the blade bend angle is too small, the soil will not be sufficiently broken up and flung into the weeds, reducing the efficiency of the weeding process. If the blade bend angle is too large, the soil will be flung too far, causing soil loss and making backfilling difficult. Therefore, to ensure the quality and efficiency of the weeding process, it is necessary to select an appropriate opener speed based on the actual situation. Under specific operating and structural parameters, namely a forward speed of 1 m / s, a rotational speed of 309.82 r / min, and a blade bend angle of 4.29°, the weeding blade exhibits optimal performance.

[0103] It should be emphasized that the above-mentioned weeding mechanism 40 is a vertical weeding mechanism 40. The vertical weeding mechanism can not only break the soil and remove roots to remove weeds, but also evenly mix the weeds and soil to promote the fruit trees to absorb nutrients, and can also turn the soil over to improve the soil structure.

[0104] The horizontal mowing mechanism 20 serves as the main unit, with two vertical weeding mechanisms 40 positioned in a V-shape at either end. When the obstacle avoidance lever contacts an obstacle or a tea tree, the vertical weeding mechanisms 40 retract inward, perpendicular to the blade-type mowing mechanism 20. After passing the obstacle or tea tree, the vertical weeding mechanisms 40 extend outward in a V-shape, simultaneously completing both stubble mowing between rows and weeding between individual trees.

[0105] In addition, the floating three-point hitch mechanism 10, the horizontal mowing mechanism 20 and the obstacle-avoidance weeding mechanism 40 are combined. The floating three-point hitch mechanism 10 and the horizontal mowing mechanism 20 achieve a stubble height that is consistent with the ground during horizontal stubble weeding. The obstacle-avoidance weeding mechanism 40 achieves obstacle-avoidance, soil-breaking and root-clearing weeding between plants, and while achieving weeding, completes soil loosening and weeding between plants (below the drip line of the fruit trees).

[0106] Compared with traditional weeding methods, the vertical and horizontal combined weeding device used in this application can greatly improve the mechanization level of the orchard, reduce labor intensity, and improve work efficiency. At the same time, it can also combine stubble mowing and soil-breaking weeding.

[0107] In order to facilitate the resetting of the arc-shaped contact rod 51 , the obstacle avoidance mechanism 50 further includes a resetting module 54 . The resetting module 54 is connected to the arc-shaped contact rod 51 and is used to provide a resetting force so that the triggered arc-shaped contact rod 51 has a tendency to resetting.

[0108] In some embodiments, the reset module 54 is a reset elastic member (reset spring), the two ends of which are respectively connected to the arc-shaped contact rod 51 and the adapter mechanism 30. The reset elastic member is used to provide elastic force so that the triggered arc-shaped contact rod 51 has a tendency to reset.

[0109] In some embodiments, the reset module 54 may also be a delayed reset module 54, which is configured to delay restoring the deployed state of the weeding mechanism 40 for 10-15 seconds after the obstacle is removed. This can prevent the mechanism from repeatedly deploying and retracting due to high-frequency vibration, thereby improving system reliability.

[0110] It should be noted that an obstacle avoidance mechanism 50 is designed to enable the operator to avoid oil tea trees during weeding operations and autonomously avoid obstacles encountered during travel. During operation, the extension and retraction drive element 53 (also known as the obstacle avoidance hydraulic cylinder) is extended. The signal acquisition unit detects obstacles or fruit trees and transmits this information to the control system, which in turn controls the hydraulic actuator to perform an evasive maneuver. The hydraulic system then retracts the obstacle avoidance hydraulic cylinder, driving the vertical weeding mechanism 40 inward, completing the inter-row weeding and obstacle avoidance operation.

[0111] The signal acquisition scheme for the contour-profiling obstacle avoidance mechanism 50 was designed, including the following aspects:

[0112] The core of the signal acquisition system is a mechanical contact acquisition device consisting of an arc-shaped contact rod 51, a rotating shaft, a limit switch 52, and a return spring. When blocked by a tea tree or other obstacle, the arc-shaped contact rod 51 drives the limit switch 52 to close via the rotating shaft, causing the hydraulic rod of the obstacle avoidance hydraulic cylinder to retract, thereby allowing the weeding blade to avoid the fruit tree. After avoiding the tea tree or other obstacle, the arc-shaped contact rod 51 gradually returns to its initial position under the action of the return spring. In addition to resetting the arc-shaped contact rod 51 after obstacle avoidance is completed, the return spring's more important function is to ensure that the arc-shaped contact rod 51 maintains effective contact with the fruit tree at all times during the obstacle avoidance process, thereby ensuring the dynamic operation of the obstacle avoidance mechanism 50.

[0113] The execution part of the contour-profiling obstacle avoidance mechanism 50 is designed, including the following aspects:

[0114] When the device encounters obstacles during operation and performs weeding between plants, the retraction of the vertical weeding mechanisms 40 on both sides is mainly achieved by the obstacle avoidance hydraulic cylinder. One side of the obstacle avoidance hydraulic cylinder is connected to the support arm 31 of the adapter mechanism 30, and the other side is connected to the knife roller box 24. When the obstacle avoidance signal is transmitted to the hydraulic control system, the control system transmits an action signal, and the obstacle avoidance hydraulic cylinder retracts to achieve the obstacle avoidance function. According to the maximum operating width of 2150mm of the oil palm forest soil breaking and weeding device and the width of 1320mm of the knife roller box 24, a hydraulic cylinder with a telescopic stroke of 500mm and a cylinder barrel of 500mm is selected. The installation position of the hydraulic cylinder is determined, and the obstacle avoidance hydraulic cylinder is analyzed in the initial position and the maximum retracted position.

[0115] Please also refer to Figure 2 The rotation center A of the cutter head 42 of the hydraulic actuator part and the installation points B and C of the obstacle avoidance hydraulic cylinder form a triangle. The geometric corresponding formula of the hydraulic actuator part is as follows:

[0116]

[0117] Wherein, AB is the distance between the rotation center A of the cutterhead 42 and the installation point B of the long arm of the obstacle avoidance hydraulic cylinder, in mm; AC is the distance between the rotation center A of the cutterhead 42 and the installation point C of the obstacle avoidance hydraulic cylinder box, in mm; BC is the longest distance between the installation points B and C of the obstacle avoidance hydraulic cylinder, in mm; B1C is the shortest distance between the installation points B1 and C of the obstacle avoidance hydraulic cylinder, in mm; β is the minimum value of the angle corresponding to the side where the obstacle avoidance hydraulic cylinder is located when the vertical weeding device is in normal operation; θ is the maximum value of the angle corresponding to the side where the obstacle avoidance hydraulic cylinder is located when the vertical weeding device is in normal operation.

[0118] The transfer mechanism 30 is designed, including the following aspects:

[0119] The adapter mechanism 30 of the present application adjusts the penetration depth of the vertical weeding blade and cooperates with the contouring and obstacle avoidance function, enabling the vertical weeding blade to penetrate the soil to different depths according to the specific terrain environment of the oil tea forest. The vertical weeding blade can also be lifted off the ground and the obstacle avoidance hydraulic cylinder can be retracted to stop the weeding operation on one or both sides of the weeder, allowing the device to adapt to a variety of terrain environments.

[0120] In some embodiments, the weeding device can also be equipped with a depth control sensor, which monitors the depth of soil penetration in real time and provides feedback to the drive motor of the rotating cutter disc. By introducing closed-loop control, the accuracy of inter-row operation can be improved.

[0121] In some embodiments, the weeding device further includes a terrain scanning module, which is a laser radar or an ultrasonic sensor. The terrain scanning module is used to generate a terrain map and synchronously adjust the operating parameters of the mowing mechanism 20 and the weeding mechanism 40.

[0122] In this way, by adding an intelligent control layer, all-terrain adaptability is improved. Specifically, by real-time monitoring of the position and angle information of each mechanism of the device and real-time scanning of the terrain, the control system can accurately control the swing of the mowing mechanism 20, so that it always maintains the set stubble height during inter-row stubble mowing operations, avoiding inconsistent stubble heights due to factors such as terrain changes, thereby improving the quality of stubble mowing and better achieving water and moisture conservation effects. During inter-row weeding operations, the system can accurately control the extension and contraction of the weeding mechanism 40 based on the spacing and distribution of the plants, so that it can act more accurately on the target area, ensuring thorough weeding without damaging the roots of the oil tea trees, improving the inter-row weeding effect, and reducing unnecessary disturbance of the soil structure.

[0123] Please also refer to Figure 8 The operation process of the weeding device of this application is as follows:

[0124] First, the optimal operating position of the device and the weeding depth of the weeding mechanism 40 are adjusted through the coupling mechanism 10, mowing mechanism 20, and adapter mechanism 30. Based on the diameter of the tea tree, an appropriate return spring is selected to reset the curved contact rod 51 and the obstacle avoidance hydraulic cylinder. After the device is started, the coupling mechanism 10 drags the device forward. Then, the mowing mechanism 20 begins mowing the stubble between the rows of tea trees, while the weeding mechanism 40 begins breaking the soil and weeding between the tea trees. When the weeding mechanism 40 is about to contact a tea tree or an obstacle, the contour-guided obstacle avoidance mechanism 50 begins its obstacle avoidance operation: the curved contact rod 51 is initially blocked, driving the rotating shaft to activate the limit switch 52, causing the obstacle avoidance hydraulic cylinder to retract, and the weeding mechanism 40 to retract inward. After passing the tea tree or obstacle, the return spring resets the curved contact rod 51, driving the rotating shaft to close the limit switch 52, causing the obstacle avoidance hydraulic cylinder to extend, and the weeding mechanism 40 to extend outward, completing the obstacle avoidance operation. At the same time, when the adapter mechanism 30 stops working, it can adjust the ground-breaking depth of the weeding mechanism 40, with the deepest penetration into the soil being 50 mm and the highest elevation from the ground being 80 mm. In addition, it can cooperate with the obstacle-avoidance hydraulic cylinder to retract the weeding mechanism 40 inward and lift the weeding mechanism 40 off the ground, so that it stops breaking the soil and weeding operations to adapt to more hilly terrains.

[0125] It should be noted that, in this specification, relational terms such as first and second are merely used to distinguish one entity from other entities, but do not necessarily require or imply any actual relationship or order between these entities.

[0126] The above is a detailed introduction to the weeding device provided by this application. This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above examples is only intended to help understand the solution and core concept of this application. It should be noted that for those skilled in the art, without departing from the principles of this application, various improvements and modifications can be made to this application, and these improvements and modifications also fall within the scope of protection of this application.

Claims

1. A weeding device, characterized in that: include: A hooking mechanism for connecting a traction implement; a mowing mechanism rotatably connected to the hook mechanism, for performing stubble mowing between rows of vegetation, and further for swinging relative to the hook mechanism about an axis in a first direction so that the mowing mechanism maintains a consistent stubble height during stubble mowing; a transfer mechanism rotatably connected to both ends of the mowing mechanism along a second direction perpendicular to the first direction, and configured to rotate relative to the mowing mechanism about an axis in a third direction perpendicular to both the first direction and the second direction; A weeding mechanism, mounted on the adapter mechanism, for achieving soil-breaking and weeding operations between plants; The obstacle avoidance mechanism includes an arc-shaped touch rod, a travel switch and an expansion and retraction drive member. The arc-shaped touch rod is rotatably connected to the adapter mechanism. The expansion and retraction drive member is connected between the adapter mechanism and the mowing mechanism. The travel switch is turned on after the arc-shaped touch rod is triggered, so that the expansion and retraction drive member drives the weeding mechanism to switch from an expanded state to a retracted state.

2. The weeding device according to claim 1, wherein: The hooking mechanism includes a knife roller box connecting plate, the mowing mechanism includes a knife roller box, and the knife roller box connecting plate is rotatably connected to the knife roller box via a rotating member; The weeding device also includes a yaw drive component, one end of which is connected to the rotating component, and the other end is connected to the knife roller box. The yaw drive component is used to provide a telescopic driving force to adjust the yaw angle of the knife roller box relative to the knife roller box connecting plate.

3. The weeding device according to claim 2, wherein: The hooking mechanism also includes: Machine connecting plate, used for connecting traction machine; a first main beam, one end of which is hinged to the tool connection plate, and the other end of which is hinged to the cutter roller box connection plate; A second main beam, one end of which is hinged to the tool connecting plate, the other end of which is hinged to the cutter roller box connecting plate, and is arranged parallel to the first main beam; A hooking drive member, one end of which is hinged to the machine connecting plate and the other end of which is hinged to the knife roller box connecting plate, is used to provide a telescopic driving force to adjust the position of the knife roller box connecting plate relative to the machine connecting plate.

4. The weeding device according to claim 3, wherein: The weeding device also includes: A relative position detection member, used for detecting the position of the knife roller box connecting plate relative to the tool connecting plate; A deflection angle detection component, used for detecting the deflection angle of the knife roller box relative to the knife roller box connecting plate; The control system is communicatively connected with the relative position detection component, the yaw angle detection component, the travel switch, the hook drive component, the yaw drive component and the extension and retraction drive component, and is used to control the start and stop of the hook drive component, the yaw drive component and the extension and retraction drive component.

5. The weeding device according to claim 3, wherein: The hanging mechanism further comprises a gantry, which is connected to the tool connecting plate. At least three hanging plates are provided on a side of the gantry facing away from the tool connecting plate.

6. The weeding device according to claim 2, wherein: The switching mechanism includes: A support arm, used for connecting the weeding mechanism; A U-shaped connecting plate, rotatably engaged with the support arm; a support connected to the U-shaped connecting plate; A pin rod, one end of which is connected to the support, and the other end of which is connected to the knife roller box through a concave plate; The special-shaped plate is connected to the support, adapted to the knife roller box, and used for abutting against the knife roller box.

7. The weeding device according to claim 2, wherein: The mowing mechanism further comprises: a knife roller main shaft with a knife roller body, the knife roller main shaft being rotatably connected to the knife roller box, and the knife roller main shaft being configured to rotate relative to the knife roller box about an axis in the second direction; A knife roller gearbox is connected to the knife roller main shaft and is used to drive the knife roller main shaft to rotate; The knife roller driving component is connected to the knife roller gearbox and is used to drive the knife roller gearbox to operate.

8. The weeding device according to claim 1, wherein: The weeding mechanism comprises: a knife shaft extending along the third direction and rotatably engaged with the switching mechanism; A cutter disc, provided on the cutter shaft, and configured to rotate along with the cutter shaft; The vertical blade is arranged on the cutter disc and has a preset soil penetration angle, and is used to achieve soil breaking and weeding operations between vegetation plants.

9. The weeding device according to any one of claims 1 to 8, characterized in that: The obstacle avoidance mechanism further includes a reset module, which is connected to the arc-shaped contact rod and is used to provide a reset force so that the triggered arc-shaped contact rod has a reset tendency.

10. The weeding device according to any one of claims 1 to 8, characterized in that: The weeding device further includes a terrain scanning module, which is a laser radar or an ultrasonic sensor. The terrain scanning module is used to generate a terrain map and synchronously adjust the operating parameters of the mowing mechanism and the weeding mechanism.

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