High-low spartina alterniflora removing device

Abstract

The invention provides a high-low position spartina alterniflora removing device. The high-low spartina alterniflora removing device comprises a rack; the advancing assembly is arranged on the lower portion of the rack and used for driving the rack to move; the first pulling-out assembly is arranged at the front end of the rack and used for pulling out spartina alterniflora with the preset height or above; the second pulling-out assembly is arranged below the first pulling-out assembly and used for pulling out spartina alterniflora with the height smaller than the preset height; and the collecting assembly is arranged on the rack and used for collecting the spartina alterniflora pulled out by the first pulling-out assembly and the second pulling-out assembly. The problem that in the prior art, the removal rate of spartina alterniflora is low is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of environmental protection construction machinery, and in particular to a high and low position Spartina alterniflora removing device. Background Art

[0002] Spartina alterniflora, a perennial herbaceous plant of the Poaceae family and the genus Spartina, grows in intertidal salt marshes. After years of artificial cultivation and natural spread, Spartina alterniflora has spread rapidly throughout coastal mudflats. It is adaptable to both freshwater and saltwater, tolerant of flooding and salt, and can thrive under conditions where each tide lasts less than six hours. It reproduces both sexually and asexually, with a well-developed underground root system that can reach 50-100 cm below the surface and is prone to secondary growth, making it a typical halophyte. Furthermore, the aerial parts of Spartina alterniflora grow tall and robust, with upright stems reaching up to 2 meters. It is also capable of sexual reproduction, resulting in a series of negative impacts on local ecosystems, biodiversity, environmental resources, and ecological security.

[0003] To remove Spartina alterniflora, both the surface and underground parts must be removed simultaneously. If any part is not handled properly or the root system is not removed thoroughly, it is likely to cause a secondary recurrence of Spartina alterniflora.

[0004] Existing Spartina alterniflora control systems typically use a mowing and plowing method to physically remove the root system and surface soil. This plowing depth is limited to no more than 0.5m, and the root system is only partially or completely removed during the plowing process. This leads to a high risk of recurrence of Spartina alterniflora if it remains, resulting in a low control rate. Furthermore, the current plowing method involves rotary tilling the entire tidal flat, significantly damaging the soil and impacting the existing benthic habitat.

[0005] As can be seen from the above, the existing technology has the problem of low control rate of Spartina alterniflora. Summary of the Invention

[0006] The main purpose of the present invention is to provide a high and low position Spartina alterniflora removing device to solve the problem of low Spartina alterniflora removal rate in the prior art.

[0007] In order to achieve the above-mentioned object, the present invention provides a high-low Spartina alterniflora removal device, comprising: a frame; a traveling assembly, the traveling assembly being arranged at the lower part of the frame and being used to drive the frame to move; a first plucking assembly, the first plucking assembly being arranged at the front end of the frame and being used to plucking Spartina alterniflora having a preset height or above; a second plucking assembly, the second plucking assembly being arranged below the first plucking assembly and being used to plucking Spartina alterniflora having a height below the preset height; and a collecting assembly, the collecting assembly being arranged on the frame and being used to respectively collect the Spartina alterniflora plucking by the first plucking assembly and the second plucking assembly.

[0008] Furthermore, the first plucking assembly includes: a first plucking mechanism, the first plucking mechanism includes a first plucking member and a second plucking member, the first plucking member and the second plucking member are spaced apart and arranged opposite to each other, the first plucking member includes a first plucking tentacle, the second plucking member includes a second plucking tentacle, the first plucking tentacle and the second plucking tentacle extend toward each other and are arranged alternately and spaced apart, for clamping the Spartina alterniflora; a transmission mechanism, the transmission mechanism is respectively arranged on the first plucking member and the second plucking member, the end of the first plucking tentacle and the end of the second plucking tentacle are respectively connected to the transmission mechanism, the transmission mechanism drives the first plucking tentacle and the second plucking tentacle to move toward the collecting assembly to perform the first plucking operation; a gatherer, the gatherer is horizontally rotatably arranged and is adjustably connected to the first plucking mechanism, for transporting the Spartina alterniflora to the first plucking mechanism.

[0009] Furthermore, the first removing member further includes a first transmission housing, and the second removing member further includes a second transmission housing. The first transmission housing and the second transmission housing are centrosymmetrical special-shaped structures, and the transmission mechanisms are respectively located in the first transmission housing and the second transmission housing.

[0010] Furthermore, the transmission mechanism includes a transmission chain and a sprocket. The transmission chain is annular and is respectively adapted to the shapes of the first transmission housing and the second transmission housing. The first plucking tentacle and the second plucking tentacle are respectively connected to the transmission chain.

[0011] Furthermore, there are multiple first plucking tentacles and multiple second plucking tentacles, and the multiple first plucking tentacles and the multiple second plucking tentacles are arranged at intervals along the annular direction of the transmission chain and correspond one to one.

[0012] Furthermore, the first plucking tentacle and the second plucking tentacle have the same structure, including a clamping portion, a guide rod and a connecting portion, the connecting portion is connected to the transmission mechanism, one end of the guide rod is connected to the connecting portion, and the clamping portion is connected to the guide rod in an adjustably positionable manner.

[0013] Furthermore, the clamping portion is in a tapered shape with a diameter gradually decreasing in a direction away from the connecting portion.

[0014] Furthermore, the axial projection of one end of the clamping portion of one of the first plucking tentacle and the second plucking tentacle away from the connecting portion is located inside the connecting portion of the other one, so that the connecting portion limits and stops the clamping portion.

[0015] Furthermore, the clamping portion is provided with a central hole to be sleeved on the guide rod, and the clamping portion is slidably connected to the guide rod; or the guide rod is a telescopic rod structure.

[0016] Furthermore, the first plucking mechanism has a first position, a second position and a third position located at the front end, the middle part and the rear end respectively, wherein the distance between the first plucking tentacle and the second plucking tentacle located at the second position is smaller than the distance between the first plucking tentacle and the second plucking tentacle located at the first position, and the distance between the first plucking tentacle and the second plucking tentacle located at the second position is smaller than the distance between the first plucking tentacle and the second plucking tentacle located at the third position.

[0017] Furthermore, the first plucking assembly further includes two second rotating arms, which are rotatably arranged on both sides of the retractor and are rotatably connected to the first plucking member and the second plucking member respectively.

[0018] Furthermore, the gatherer is provided with a plurality of shifting teeth structures at intervals along the circumferential direction, and the shifting teeth structure is provided with a plurality of shifting teeth at intervals along the axial direction, wherein the shifting teeth include a first section and a second section provided at an obtuse angle, and the bending direction of the shifting teeth faces the frame.

[0019] Furthermore, the second plucking component includes: a second plucking mechanism, the second plucking mechanism includes a plurality of clamping conveyor belts, the plurality of clamping conveyor belts are arranged in groups of two, the two clamping conveyor belts in a group are arranged at intervals and have opposite movement directions, the two clamping conveyor belts clamp and drive the Spartina alterniflora to move toward the collecting component to perform the second plucking operation; a divider, the divider is arranged on the front side of the second plucking mechanism, the divider includes a plurality of divider plates arranged at intervals, a divider area is formed between two adjacent divider plates, each divider area corresponds one-to-one to each group of clamping conveyor belts, and the Spartina alterniflora enters each group of clamping conveyor belts from the divider area.

[0020] Furthermore, the second plucking assembly also includes an auxiliary plucking part, which is multiple and each of which is respectively arranged between each distribution area and each group of clamping conveyor belts; the auxiliary plucking part includes two rollers arranged at intervals, which are rotatably arranged, and the outer peripheral wall of the roller is provided with multiple comb teeth arranged at intervals along the axial and circumferential directions. The two rollers rotate in opposite directions and are used to drive the Spartina alterniflora into each group of clamping conveyor belts.

[0021] Furthermore, the outer surface of the clamping conveyor belt is provided with a convex point structure.

[0022] Furthermore, the second removing mechanism is arranged obliquely upward in a direction close to the frame.

[0023] Furthermore, the collection component includes a collection plate and a storage bin, the storage bin is arranged on the frame, the collection plate is arranged at the front end of the frame, and includes a first plate body and a second plate body connected in sequence, the first plate body is arranged horizontally, and the second plate body is arranged inclined, and conveyor belts are respectively provided on the first plate body and the second plate body for transporting the Spartina alterniflora plucked by the first plucking component and the second plucking component to the storage bin.

[0024] Furthermore, both sides of the first plate body respectively have inclined surfaces inclined from the outer side to the inner side.

[0025] Furthermore, the high and low position Spartina alterniflora removing device also includes a first height adjustment component, which is arranged on the frame and is drivingly connected to the first plucking component for adjusting the height of the first plucking component.

[0026] Furthermore, the first height adjustment assembly includes two first rotating arms, which are rotatably arranged on both sides of the front end of the frame, and the first pulling member and the second pulling member of the first pulling assembly are rotatably connected to the two first rotating arms respectively.

[0027] Furthermore, the high and low position Spartina alterniflora removing device also includes a second height adjustment component, which is arranged on the frame and is drivingly connected to the second plucking component for adjusting the height of the second plucking component.

[0028] Furthermore, the second plucking assembly is arranged on the collecting plate of the collecting assembly, and the second height adjusting assembly is drivingly connected to the collecting plate.

[0029] Furthermore, the traveling assembly includes a crawler-type traveling structure.

[0030] Furthermore, the frame includes a buoyancy tank assembly for providing buoyancy for the high and low position Spartina alterniflora removing device.

[0031] Furthermore, the high and low Spartina alterniflora removing device also includes: a visual sensor, which is arranged at the front end of the frame and is used to obtain image information in front of the high and low Spartina alterniflora removing device; and / or a ranging module, which is arranged at the front end of the frame and is used to measure the distance between the Spartina alterniflora and the frame.

[0032] The technical solution of the present invention is applied, and the high and low position Spartina alterniflora grass removal device includes a frame, a traveling component, a first plucking component, a second plucking component and a collecting component. The traveling component is arranged at the lower part of the frame for driving the frame to move. The first plucking component is arranged at the front end of the frame for plucking Spartina alterniflora grass with a preset height and above. The second plucking component is arranged below the first plucking component for plucking Spartina alterniflora grass below the preset height. The collecting component is arranged on the frame for respectively collecting the Spartina alterniflora grass plucking by the first plucking component and the second plucking component. Spartina alterniflora is removed by the removal component, thereby replacing the existing mowing + plowing method, ensuring that the damage to the in-situ soil is minimized, and the roots of Spartina alterniflora are completely removed as much as possible to avoid secondary recurrence caused by residual roots. Furthermore, by arranging the first removal component and the second removal component to remove Spartina alterniflora at different heights respectively, the whole plant of Spartina alterniflora at different heights can be removed, which greatly improves the control rate of Spartina alterniflora and solves the problem of low control rate of Spartina alterniflora in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0034] Figure 1 A perspective view of a high and low position Spartina alterniflora removal device according to a specific embodiment of the present invention is shown;

[0035] Figure 2 A side view of a high and low position Spartina alterniflora removal device according to a specific embodiment of the present invention is shown;

[0036] Figure 3 shows a perspective view of a first plucking assembly in a specific embodiment of the present invention;

[0037] Figure 4 A perspective view showing a first removal assembly hiding a first transmission housing in a specific embodiment of the present invention is shown;

[0038] Figure 5 shows a side view of a first plucking assembly in one embodiment of the present invention;

[0039] Figure 6 An exploded view of a first plucking tentacle in one embodiment of the present invention is shown;

[0040] Figure 7 shows a perspective view of a second plucking assembly in a specific embodiment of the present invention;

[0041] Figure 8A perspective view of a second removal mechanism in a specific embodiment of the present invention is shown;

[0042] Figure 9 A perspective view of a collector plate in a specific embodiment of the present invention is shown.

[0043] The above drawings include the following reference numerals:

[0044] 10. Frame; 20. Travel assembly; 30. First plucking assembly; 31. First plucking mechanism; 311. First plucking member; 3111. First plucking tentacle; 31111. Clamping portion; 31112. Guide rod; 31113. Connecting portion; 3112. First transmission housing; 312. Second plucking member; 3121. Second plucking tentacle; 3122. Second transmission housing; 32. Transmission mechanism; 321. Transmission chain; 322. Sprocket; 33. Retractor; 331. Tooth-pulling structure; 3311, shifting tooth; 34, second rotating arm; 35, crossbeam; 40, second pulling assembly; 41, second pulling mechanism; 411, clamping conveyor belt; 42, distributor; 421, distribution plate; 43, auxiliary pulling member; 431, rolling rod; 50, collecting assembly; 51, collecting plate; 511, first plate body; 5111, inclined surface; 512, second plate body; 52, accommodating bin; 53, conveyor belt; 60, first height adjustment assembly; 61, first rotating arm; 70, second height adjustment assembly. DETAILED DESCRIPTION

[0045] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0046] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0047] In the present invention, unless otherwise specified, the directional words used, such as "up, down, top, bottom", usually refer to the directions shown in the drawings, or to the components themselves in the vertical, perpendicular or gravity direction; similarly, for ease of understanding and description, "inside and outside" refer to the inside and outside relative to the outline of each component itself, but the above directional words are not used to limit the present invention.

[0048] Obviously, the embodiments described above are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0049] In order to solve the problem of low control rate of Spartina alterniflora in the prior art, the present invention provides a high and low position Spartina alterniflora removing device.

[0050] like Figures 1 to 2 As shown, the present application provides a high and low position Spartina alterniflora removal device, including a frame 10, a travel assembly 20, a first plucking assembly 30, a second plucking assembly 40 and a collection assembly 50. The travel assembly 20 is arranged at the lower portion of the frame 10 for driving the frame 10 to move. The first plucking assembly 30 is arranged at the front end of the frame 10 for plucking Spartina alterniflora with a preset height or above. The second plucking assembly 40 is arranged below the first plucking assembly 30 for plucking Spartina alterniflora with a preset height or below. The collection assembly 50 is arranged on the frame 10 for collecting the Spartina alterniflora plucking by the first plucking assembly 30 and the second plucking assembly 40 respectively.

[0051] By adopting the technical solution of the present application, the pulling out component is used to clean the pulling out site of Spartina alterniflora, thereby replacing the existing mowing + plowing method, ensuring that the degree of damage to the in-situ soil is minimized, and the roots of Spartina alterniflora are completely pulled out as much as possible to avoid secondary recurrence caused by residual roots. Furthermore, by arranging the first pulling out component 30 and the second pulling out component 40 to pull out Spartina alterniflora at different heights respectively, the whole plant of Spartina alterniflora at different heights can be pulled out, thereby greatly improving the control rate of Spartina alterniflora.

[0052] It is understood that the first plucking assembly 30 in this embodiment is a high-position plucking assembly, and the second plucking assembly 40 is a low-position plucking assembly. Furthermore, the preset height in this embodiment is 20 cm. It is understood that the above preset height is manually set and can be adjusted according to actual needs, and is not limited here.

[0053] It should be noted that the front end in this embodiment is based on the travel direction of the high and low position Spartina alterniflora removal device. The end facing the travel direction of the removal device is the front end, and the end facing the opposite direction of the travel direction of the removal device is the rear end.

[0054] In this embodiment, the frame 10 can be provided with a cab to achieve manual driving and control. Further, the high and low position Spartina alterniflora removal device in this embodiment can also be unmanned, and the operation of the removal device such as traveling, height adjustment, and high and low position removal can be achieved through remote control.

[0055] In this embodiment, the collection component 50 can collect the pulled out Spartina alterniflora plants and pack them. After packing, they can be transferred to a standby ship for centralized transportation, thereby avoiding the harvested Spartina alterniflora from accumulating on the mudflats and fermenting to cause secondary pollution, and avoiding the problem of grass seeds being scattered during the treatment process and causing the recurrence of Spartina alterniflora.

[0056] like Figures 3 to 6 As shown, the first plucking assembly 30 includes a first plucking mechanism 31, a transmission mechanism 32, and a retractor 33. The first plucking mechanism 31 includes a first plucking member 311 and a second plucking member 312. The first plucking member 311 and the second plucking member 312 are spaced apart and arranged relative to each other. The first plucking member 311 includes a first plucking tentacle 3111, and the second plucking member 312 includes a second plucking tentacle 3121. The first plucking tentacle 3111 and the second plucking tentacle 3121 extend toward each other and are arranged in an interlaced manner to clamp the Spartina alterniflora. It is understood that the area between the first plucking tentacle 3111 and the second plucking tentacle 3121 is the clamping area for the Spartina alterniflora. The transmission mechanism 32 is mounted on the first plucking member 311 and the second plucking member 312. The ends of the first plucking tentacles 3111 and 3121 are connected to the transmission mechanism 32, respectively. The transmission mechanism 32 drives the first and second plucking tentacles 3111 and 3121 toward the collection assembly 50 to perform the first plucking operation. The gatherer 33 is horizontally rotatable and adjustably connected to the first plucking mechanism 31, used to transport the Spartina alterniflora to the first plucking mechanism 31.

[0057] Further, such as Figures 3 to 6 As shown, the first removing member 311 further includes a first transmission housing 3112 , and the second removing member 312 further includes a second transmission housing 3122 . The first transmission housing 3112 and the second transmission housing 3122 are centrosymmetrical special-shaped structures, and the transmission mechanism 32 is located in the first transmission housing 3112 and the second transmission housing 3122 respectively.

[0058] Specifically, in this embodiment, the first transmission housing 3112 and the second transmission housing 3122 are vertical, tilted downward, and arranged in a Z-shaped structure. It is understood that the area between the first transmission housing 3112 and the second transmission housing 3122 constitutes the plucking area of ​​the first plucking assembly 30. The first plucking tentacles 3111 and the second plucking tentacles 3121 are arranged horizontally in the plucking area and move with the transmission mechanism 32.

[0059] like Figures 3 to 6 As shown, in this embodiment, the transmission mechanism 32 includes a transmission chain 321 and a sprocket 322. The sprocket 322 is fixedly connected to the first transmission housing 3112 and the second transmission housing 3122. The transmission chain 321 is annular and conforms to the shapes of the first transmission housing 3112 and the second transmission housing 3122, respectively. The first plucking tentacles 3111 and the second plucking tentacles 3121 are respectively connected to the transmission chain 321 on either side. Specifically, the transmission chain 321 is annular and similar to a Z-shape.

[0060] Furthermore, the high and low position Spartina alterniflora removal device also includes a first driving mechanism, which is drivingly connected to the transmission mechanism 32, specifically to the sprocket 322, thereby driving the transmission chain 321 to move along the Z-shaped annular trajectory.

[0061] In this embodiment, there are multiple first plucking tentacles 3111 and multiple second plucking tentacles 3121, and the multiple first plucking tentacles 3111 and the multiple second plucking tentacles 3121 are spaced apart and correspond to each other along the annular direction of the transmission chain 321. It is understood that one first plucking tentacle 3111 and one second plucking tentacle 3121 form a clamping structure, thereby clamping and securing the Spartina alterniflora plant, and then moving backward under the drive of the transmission mechanism 32, thereby removing the Spartina alterniflora.

[0062] In this embodiment, the transmission mechanisms 32 on both sides of the first plucking assembly 30 respectively drive the first plucking tentacles 3111 and the second plucking tentacles 3121 to move at a uniform speed at the same speed.

[0063] It is understandable that the end of the first plucking assembly 30 close to the frame 10 is the rear end, which is also the upper end; the retractor 33 of the first plucking assembly 30 is located at the front end, which is also the lower end.

[0064] like Figures 1 to 2 、 Figure 7 and Figure 9 As shown, in this embodiment, the collection assembly 50 includes a collection plate 51 and a storage bin 52. The storage bin 52 is disposed on the frame 10, and the collection plate 51 is disposed at the front end of the frame 10. The collection plate 51 includes a first plate 511 and a second plate 512 connected in sequence. The first plate 511 is disposed horizontally, and the second plate 512 is disposed at an angle. Conveyor belts 53 are respectively disposed on the first plate 511 and the second plate 512 for conveying the Spartina alterniflora plucking by the first plucking assembly 30 and the second plucking assembly 40 to the storage bin 52. In other words, the conveyor belt 53 on the first plate 511 is a horizontal conveyor belt, and the conveyor belt 53 on the second plate 512 is an upwardly inclined conveyor belt. Specifically, the frame 10 is provided with a hollow channel extending forward and backward, the collecting plate 51 is overlapped with the hollow channel, a conveyor belt 53 is also provided in the hollow channel, and the accommodating bin 52 is located at the rear end of the frame 10, and the collecting plate 51 is located below the first plucking component 30. The Spartina alterniflora plants that fall on the collecting plate 51 are transported to the accommodating bin 52 in turn through each conveyor belt 53.

[0065] Further, such as Figure 9As shown, the both sides of the first plate 511 respectively have the inclined surface 5111 tilted inwardly from the outside.In the present embodiment, the conveyor belt 53 is located at the middle position of the first plate 511 and the second plate 512.By arranging the inclined surface 5111, the Spartina alterniflora plant that falls on the first plate 511 can be guided on the conveyor belt 53, ensuring conveying efficiency.Further, the periphery of the junction of the first plate 511 and the second plate 512 is also provided with a vertical baffle, which is connected with the inclined surface 5111, thereby the Spartina alterniflora plant is guided to the conveyor belt 53 of the second plate 512, prevents the Spartina alterniflora plant from falling to other positions from collecting plate 51.

[0066] In this embodiment, the first plucking mechanism 31 has a first position, a second position, and a third position, located at the front, middle, and rear ends, respectively. The distance between the first plucking tentacle 3111 and the second plucking tentacle 3121 in the second position is smaller than the distance between the first plucking tentacle 3111 and the second plucking tentacle 3121 in the first position. The distance between the first plucking tentacle 3111 and the second plucking tentacle 3121 in the second position is smaller than the distance between the first plucking tentacle 3111 and the second plucking tentacle 3121 in the third position. Specifically, this embodiment achieves different distances between the first plucking tentacle 3111 and the second plucking tentacle 3121 at the three positions by means of the centrally symmetrical first and second transmission housings 3112 and 3122.

[0067] In this embodiment, the transmission chain 321 moves from the rear end to the front end on the upper surface and from the front end to the rear end on the lower surface. In other words, because the collection plate 51 is located below the first plucking assembly 30, the Spartina alterniflora held by the first plucking mechanism 31 needs to move from the bottom to the rear end so that it can fall onto the collection plate 51. Among the above-mentioned three positions, the first position is the entry position of Spartina alterniflora, that is, it enters the first plucking mechanism 31, so a relatively large spacing is required between the first plucking tentacle 3111 and the second plucking tentacle 3121; the second position is the plucking position of Spartina alterniflora, at this time, the first plucking tentacle 3111 and the second plucking tentacle 3121 clamp the Spartina alterniflora and continue to move toward the rear end, thereby plucking the Spartina alterniflora, so the spacing between the first plucking tentacle 3111 and the second plucking tentacle 3121 is small; the third position is the dropping position of Spartina alterniflora, after passing the second position, the Spartina alterniflora has been plucking, and when arriving at the third position, the clamping of Spartina alterniflora is released, so that the Spartina alterniflora can fall downward to the collecting plate 51 to complete the collection work, so a relatively large spacing is also required between the first plucking tentacle 3111 and the second plucking tentacle 3121. The above-mentioned groups of first plucking tentacles 3111 and second plucking tentacles 3121 circulate in the above-mentioned three positions to realize the entire cleaning process of entry-plucking-dropping of Spartina alterniflora.

[0068] In the embodiment, the first pulling tentacle 3111 and the second pulling tentacle 3121 are of the same structure. As shown in the drawings, the first pulling tentacle 3111 and the second pulling tentacle 3121 comprise a clamping portion 31111, a guide rod 31112 and a connecting portion 31113. The connecting portion 31113 is connected with the transmission mechanism 32, specifically connected with the transmission chain 321, so as to follow the movement of the transmission chain 321. One end of the guide rod 31112 is connected with the connecting portion 31113, and the clamping portion 31111 is adjustably connected with the guide rod 31112. Figure 6

[0069] In the embodiment, the clamping portion 31111 is tapered in the direction away from the connecting portion 31113. That is, the clamping portion 31111 is of a tapered structure. Through the above arrangement, the clamping surface between the first pulling tentacle 3111 and the second pulling tentacle 3121 of the group is a bevel, which can improve the clamping effect on the Spartina alterniflora.

[0070] In the embodiment, the clamping portion 31111 is provided with a central hole to be sleeved on the guide rod 31112, and the clamping portion 31111 is slidingly connected with the guide rod 31112. In the process of clamping the Spartina alterniflora by the first pulling tentacle 3111 and the second pulling tentacle 3121, under the action of friction, the clamping portion 31111 will gradually move to the middle position along the guide rod 31112, that is, the clamping portions 31111 of the first pulling tentacle 3111 and the second pulling tentacle 3121 will gradually approach each other until the Spartina alterniflora is clamped.

[0071] In the embodiment, the clamping portion 31111 of one of the first pulling tentacle 3111 and the second pulling tentacle 3121 is projected in the axial direction away from the end of the connecting portion 31113 of the other, so that the connecting portion 31113 limits and stops the clamping portion 31111. That is, in the extreme case, for example, the clamping portion 31111 of the first pulling tentacle 3111 will move a long distance, so as to move to the end of the second pulling tentacle 3121. At this time, due to the limiting and stopping of the connecting portion 31113 of the second pulling tentacle 3121, the clamping portion 31111 of the first pulling tentacle 3111 will not extend into the transmission chain 321 of the second pulling member 312, avoiding affecting the operation of the second pulling member 312.

[0072] In an optional embodiment, the guide rod 31112 can be of a telescopic rod structure. Specifically, the two ends of the guide rod 31112 are connected with the connecting portion 31113 and the clamping portion 31111 respectively. In the process of clamping the Spartina alterniflora by the first pulling tentacle 3111 and the second pulling tentacle 3121, under the action of friction, the clamping portion 31111 will gradually move to the middle position, thereby driving the guide rod 31112 to elongate. ​

[0073] In this embodiment, if Figures 1 to 2 As shown, the high and low position Spartina alterniflora removing device further includes a first height adjustment component 60. The first height adjustment component 60 is disposed on the frame 10 and is drivingly connected to the first plucking component 30 for adjusting the height of the first plucking component 30.

[0074] Specifically, such as Figures 3 to 5 As shown, the first height adjustment assembly 60 includes two first rotating arms 61, rotatably disposed on either side of the front end of the frame 10. The first and second removing members 311, 312 of the first plucking assembly 30 are rotatably connected to the first rotating arms 61, respectively. Specifically, the rear ends of the first and second transmission housings 3112, 3122 are rotatably connected to the first rotating arms 61, respectively. The first rotating arms 61 rotate up and down to adjust the overall height of the first plucking assembly 30.

[0075] In this embodiment, if Figures 3 to 5 As shown, the first removal assembly 30 also includes two second rotating arms 34. These two second rotating arms 34 are rotatably positioned on either side of the retractor 33 and are rotatably connected to the first removal member 311 and the second removal member 312, respectively. Specifically, the two second rotating arms 34 are rotatably connected to the front ends of the first transmission housing 3112 and the second transmission housing 3122, respectively. The second rotating arms 34 rotate up and down to adjust the height of the retractor 33.

[0076] In this embodiment, when the first plucking assembly 30 is in operation, according to the actual application scenario, the first rotating arm 61 first adjusts the overall height of the first plucking assembly 30, and then the second rotating arm 34 adjusts the height of the gatherer 33. The gatherer 33 rotates to gather the Spartina alterniflora plants into the first plucking mechanism 31. Finally, driven by the transmission chain 321, the paired first plucking tentacles 3111 and second plucking tentacles 3121 are used to plucking the Spartina alterniflora plants that have entered the first plucking mechanism 31.

[0077] like Figures 3 to 5 As shown, the gatherer 33 is provided with a plurality of circumferentially spaced teeth 331, and the tooth structure 331 is provided with a plurality of axially spaced teeth 3311. The teeth 3311 include a first section and a second section arranged at an obtuse angle, and the bending direction of the teeth 3311 is toward the frame 10. In other words, the bent opening of the teeth 3311 faces the rear end. This arrangement can provide a buffering effect on the Spartina alterniflora, preventing the Spartina alterniflora from escaping downward from the teeth 3311, thereby improving the control efficiency.

[0078] In this embodiment, Figure 5Taking the angle shown as an example, the rotation direction of the gatherer 33 is counterclockwise, thereby gathering the Spartina alterniflora plants into the first plucking mechanism 31 from below.

[0079] like Figures 3 to 5 As shown, the first plucking assembly 30 further includes a crossbeam 35. Both ends of the crossbeam 35 are connected to the first transmission housing 3112 and the second transmission housing 3122 respectively, thereby improving the overall structural strength of the first plucking mechanism 31.

[0080] like Figures 7 and 8 As shown, the second plucking assembly 40 includes a second plucking mechanism 41 and a divider 42. The second plucking mechanism 41 includes a plurality of clamping conveyor belts 411, and the plurality of clamping conveyor belts 411 are arranged in groups of two. The two clamping conveyor belts 411 of one group are spaced apart and move in opposite directions. The two clamping conveyor belts 411 clamp and drive the Spartina alterniflora to move toward the collecting assembly 50 to perform the second plucking operation. The divider 42 is arranged on the front side of the second plucking mechanism 41. The divider 42 includes a plurality of dividing plates 421 spaced apart. A dividing area is formed between two adjacent dividing plates 421. Each dividing area corresponds to each group of clamping conveyor belts 411 one by one. The Spartina alterniflora enters each group of clamping conveyor belts 411 from the dividing area.

[0081] It is understandable that a group of two clamping conveyor belts 411 move in opposite directions, and the Spartina alterniflora plants located between the two clamping conveyor belts 411 are clamped and move from the front end to the rear end of the clamping conveyor belt 411, so that they can be removed away from the ground.

[0082] In this embodiment, the distribution plate 421 is vertically arranged and has a pointed end at its front end. The distribution plate 421 is used to break the surface soil and sort out the Spartina alterniflora plants that have fallen into the soil so that they can be smoothly fed into the second plucking mechanism 41.

[0083] Specifically, the clamping conveyor belt 411 includes a conveyor belt body and transmission rollers. The transmission rollers are spaced apart, and the conveyor belt body is sleeved on the two transmission rollers. The transmission rollers are also vertically arranged and adapted to the distribution plate 421.

[0084] Further, such as Figures 7 and 8 As shown, the second plucking assembly 40 also includes an auxiliary plucking member 43. Multiple auxiliary plucking members 43 are provided, each positioned between each distribution area and each set of clamping conveyor belts 411. The auxiliary plucking members 43 include two rotatably spaced rollers 431. The outer circumferential walls of the rollers 431 are provided with multiple comb teeth spaced axially and circumferentially. The two rollers 431 rotate in opposite directions to drive the Spartina alterniflora into each set of clamping conveyor belts 411.

[0085] Specifically, the reel 431 is also arranged in an upright position, that is, its rotation axis is a vertical axis. The comb teeth extend outward from the outer peripheral wall of the reel 431. The comb teeth are arranged in multiple rows along the axial direction of the reel 431. In a row of comb teeth, multiple comb teeth are arranged at intervals along the circumference of the reel 431, for example, in a cross shape. The rotation method of the reel 431 is similar to that of the clamping conveyor belt 411. By rotating the two reel rods 431 in opposite directions, the Spartina alterniflora plant located between the two reel rods 431 is clamped and moves from the front end to the rear end of the reel rod 431, so that it can enter the second plucking mechanism 41.

[0086] Furthermore, the high and low position Spartina alterniflora removing device further includes a second driving mechanism, which is respectively connected to the clamping conveyor belt 411 and the auxiliary plucking member 43 for driving, thereby driving the clamping conveyor belt 411 and the auxiliary plucking member 43 to move or rotate.

[0087] In this embodiment, the outer surface of the clamping conveyor belt 411 is provided with a convex structure. Through the above arrangement, the friction force of the outer surface of the clamping conveyor belt 411 can be increased, the anti-slip effect can be improved, and the removal effect of Spartina alterniflora can be ensured.

[0088] like Figure 7 As shown, the high and low position Spartina alterniflora removing device further includes a second height adjustment component 70. The second height adjustment component 70 is disposed on the frame 10 and is drivingly connected to the second plucking component 40 for adjusting the height of the second plucking component 40.

[0089] In this embodiment, the second plucking mechanism 41 is arranged obliquely upward in a direction close to the frame 10. Through the above arrangement, the plucking effect of Spartina alterniflora can be improved.

[0090] Furthermore, in this embodiment, the second plucking assembly is disposed on the collection plate 51, specifically the first plate 511. Accordingly, the second height adjustment assembly 70 is drivingly connected to the collection plate 51. Specifically, the second height adjustment assembly 70 includes a third rotating arm, one end of which is connected to the collection plate 51 and the other end is rotatably connected to the frame 10, thereby adjusting the overall height of the second plucking assembly 40 by rotating it up and down. The Spartina alterniflora plants plucking by the second plucking mechanism 41 fall from the rear end onto the conveyor belt 53 on the first plate 511, and are then transported to the storage bin 52.

[0091] It should be noted that in the technical solution of the present application, both the first plucking assembly 30 and the second plucking assembly 40 can be provided simultaneously to effectively remove Spartina alterniflora at different heights. Furthermore, either the first plucking assembly 30 or the second plucking assembly 40 can be provided separately to meet the removal requirements of specific scenarios, and the selection can be made based on actual needs.

[0092] In this embodiment, the traveling assembly 20 includes a crawler-type traveling structure. By adopting the crawler-type traveling structure, the contact area between the traveling assembly 20 and the muddy mudflat can be expanded, thereby preventing the cleaning device from being stuck in the mud due to its own weight.

[0093] Furthermore, in this embodiment, the frame 10 also includes a buoyancy assembly for providing buoyancy for the high- and low-position Spartina alterniflora removal device. Specifically, the buoyancy assembly includes a plurality of hollow buoyancy chambers, which can be arranged around the sides of the frame 10. This arrangement enables the high- and low-position Spartina alterniflora removal device of this embodiment to be suitable for use in water-beach operations. The buoyancy assembly can increase the buoyancy of the removal device, thereby avoiding the problem of operating in puddles or being trapped in deep pits during tidal flat operations.

[0094] In this embodiment, the high and low position Spartina alterniflora removing device further comprises a visual sensor. The visual sensor is arranged at the front end of the frame 10, and is used to obtain image information in front of the high and low position Spartina alterniflora removing device.

[0095] In this embodiment, the high and low position Spartina alterniflora removing device further comprises a distance measuring module. The distance measuring module is arranged at the front end of the frame 10, and is used to measure the distance between the Spartina alterniflora and the Spartina alterniflora. Specifically, the distance measuring module can be a laser distance measuring module or other types of distance measuring modules.

[0096] In this embodiment, the high and low position Spartina alterniflora removal device also includes a controller, which is electrically connected to the above-mentioned plucking assembly, height adjustment assembly, drive mechanism, visual sensor and distance measurement module, thereby realizing automatic control of the high and low position Spartina alterniflora removal device. The controller can identify the position of the Spartina alterniflora plant and its inclination angle in real time through the visual sensor and distance measurement module, thereby accurately guiding the clamping tentacles to perform targeted positioning and plucking, improving the accuracy of the operation; the entire clamping and plucking process is coordinated with the angle / height control and force feedback system to achieve smooth plucking and avoid broken stems and residual roots.

[0097] From the above description, it can be seen that the above-mentioned embodiment of the present invention achieves the following technical effects: by setting the high and low position Spartina alterniflora removing device, the device includes a frame 10, a traveling assembly 20, a first plucking assembly 30, a second plucking assembly 40 and a collecting assembly 50. The traveling assembly 20 is arranged at the lower part of the frame 10 for driving the frame 10 to move. The first plucking assembly 30 is arranged at the front end of the frame 10 for plucking Spartina alterniflora with a preset height or above. The second plucking assembly 40 is arranged below the first plucking assembly 30 for plucking Spartina alterniflora below the preset height. The collecting assembly 50 is provided. 0 is provided on the frame 10, and is used to collect the Spartina alterniflora pulled out by the first pulling out assembly 30 and the second pulling out assembly 40 respectively. In this way, the pulling out assembly cleans the Spartina alterniflora where it is pulled out, thereby replacing the existing mowing+tillage method, ensuring that the damage to the in-situ soil is minimized, and the roots of the Spartina alterniflora are completely pulled out as much as possible to avoid secondary recurrence caused by residual roots. Furthermore, by arranging the first pulling out assembly 30 and the second pulling out assembly 40 to pull out Spartina alterniflora at different heights respectively, the whole plant of Spartina alterniflora at different heights can be pulled out, thereby greatly improving the control rate of Spartina alterniflora.

[0098] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, tasks, devices, components and / or combinations thereof.

[0099] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0100] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A device for removing high and low-lying Spartina alterniflora, characterized in that: include: Frame (10); A traveling assembly (20), the traveling assembly (20) being arranged at the lower portion of the frame (10) and being used for driving the frame (10) to move; a first plucking assembly (30), the first plucking assembly (30) being arranged at the front end of the frame (10) and being used for plucking Spartina alterniflora having a preset height or above; a second plucking assembly (40), the second plucking assembly (40) being arranged below the first plucking assembly (30) and being used for plucking the Spartina alterniflora having a height below the preset height; A collecting component (50) is provided on the frame (10) and is used to collect the Spartina alterniflora removed by the first removing component (30) and the second removing component (40).

2. The high and low position Spartina alterniflora removing device according to claim 1, characterized in that: The first removal component (30) comprises: A first plucking mechanism (31), the first plucking mechanism (31) comprising a first plucking member (311) and a second plucking member (312), the first plucking member (311) and the second plucking member (312) being spaced apart and arranged relative to each other, the first plucking member (311) comprising a first plucking tentacle (3111), the second plucking member (312) comprising a second plucking tentacle (3121), the first plucking tentacle (3111) and the second plucking tentacle (3121) extending towards each other and being spaced apart and staggered to clamp the Spartina alterniflora; a transmission mechanism (32), the transmission mechanism (32) being respectively arranged on the first plucking member (311) and the second plucking member (312), the end of the first plucking tentacle (3111) and the end of the second plucking tentacle (3121) being respectively connected to the transmission mechanism (32), and the transmission mechanism (32) driving the first plucking tentacle (3111) and the second plucking tentacle (3121) to move toward the collecting assembly (50) to perform a first plucking operation; A gatherer (33) is horizontally rotatably arranged and is positionally adjustable connected to the first plucking mechanism (31), and is used for transporting the Spartina alterniflora to the first plucking mechanism (31).

3. The high and low position Spartina alterniflora removing device according to claim 2, characterized in that: The first removing member (311) further includes a first transmission housing (3112), and the second removing member (312) further includes a second transmission housing (3122). The first transmission housing (3112) and the second transmission housing (3122) are centrally symmetrical special-shaped structures, and the transmission mechanism (32) is respectively located in the first transmission housing (3112) and the second transmission housing (3122).

4. The high and low position Spartina alterniflora removing device according to claim 3, characterized in that: The transmission mechanism (32) comprises a transmission chain (321) and a sprocket (322); the transmission chain (321) is annular and matches the shapes of the first transmission housing (3112) and the second transmission housing (3122), respectively; the first plucking tentacle (3111) and the second plucking tentacle (3121) are respectively connected to the transmission chain (321).

5. The high and low position Spartina alterniflora removing device according to claim 4, characterized in that: There are multiple first plucking tentacles (3111) and multiple second plucking tentacles (3121), and the multiple first plucking tentacles (3111) and the multiple second plucking tentacles (3121) are arranged at intervals along the annular direction of the transmission chain (321) and correspond one to one.

6. The high and low position Spartina alterniflora removing device according to claim 2, characterized in that: The first plucking tentacle (3111) and the second plucking tentacle (3121) have the same structure, including a clamping portion (31111), a guide rod (31112) and a connecting portion (31113), wherein the connecting portion (31113) is connected to the transmission mechanism (32), one end of the guide rod (31112) is connected to the connecting portion (31113), and the clamping portion (31111) is connected to the guide rod (31112) in an adjustable manner.

7. The high and low position Spartina alterniflora removing device according to claim 6, characterized in that: The clamping portion (31111) is tapered, the diameter of which gradually decreases in a direction away from the connecting portion (31113).

8. The high and low position Spartina alterniflora removing device according to claim 6, characterized in that: The axial projection of one end of the clamping portion (31111) of one of the first plucking tentacle (3111) and the second plucking tentacle (3121) away from the connecting portion (31113) is located within the connecting portion (31113) of the other one, so that the connecting portion (31113) limits and stops the clamping portion (31111).

9. The high and low position Spartina alterniflora removing device according to claim 6, characterized in that: The clamping portion (31111) is provided with a central hole for being sleeved on the guide rod (31112), and the clamping portion (31111) is slidably connected to the guide rod (31112); or The guide rod (31112) is a telescopic rod structure.

10. The high and low position Spartina alterniflora removing device according to claim 2, characterized in that: The first plucking mechanism (31) has a first position, a second position and a third position respectively located at the front end, the middle part and the rear end, wherein the distance between the first plucking tentacle (3111) and the second plucking tentacle (3121) located at the second position is smaller than the distance between the first plucking tentacle (3111) and the second plucking tentacle (3121) located at the first position, and the distance between the first plucking tentacle (3111) and the second plucking tentacle (3121) located at the second position is smaller than the distance between the first plucking tentacle (3111) and the second plucking tentacle (3121) located at the third position.

11. The high and low position Spartina alterniflora removing device according to claim 2, characterized in that: The first plucking assembly (30) further includes two second rotating arms (34). The two second rotating arms (34) are rotatably arranged on both sides of the retractor (33) and are rotatably connected to the first plucking member (311) and the second plucking member (312).

12. The high and low position Spartina alterniflora removing device according to claim 2, characterized in that: The gatherer (33) is provided with a plurality of shifting teeth structures (331) at intervals along the circumferential direction, and the shifting teeth structure (331) is provided with a plurality of shifting teeth (3311) at intervals along the axial direction, wherein the shifting teeth (3311) include a first section and a second section arranged at an obtuse angle, and the bending direction of the shifting teeth (3311) is toward the frame (10).

13. The high and low position Spartina alterniflora removing device according to claim 1, characterized in that: The second removal assembly (40) comprises: a second plucking mechanism (41), the second plucking mechanism (41) comprising a plurality of clamping conveyor belts (411), the plurality of clamping conveyor belts (411) being arranged in groups of two, the two clamping conveyor belts (411) in a group being spaced apart and moving in opposite directions, the two clamping conveyor belts (411) clamping and driving the Spartina alterniflora to move toward the collecting assembly (50) to perform a second plucking operation; A distributor (42) is provided at the front side of the second plucking mechanism (41), and the distributor (42) comprises a plurality of distribution plates (421) arranged at intervals, a distribution area is formed between two adjacent distribution plates (421), each distribution area corresponds to each group of the clamping conveyor belts (411), and the Spartina alterniflora enters each group of the clamping conveyor belts (411) from the distribution area.

14. The high and low position Spartina alterniflora removing device according to claim 13, characterized in that: The second plucking assembly (40) further includes an auxiliary plucking member (43), wherein the auxiliary plucking member (43) is multiple, and each auxiliary plucking member (43) is respectively arranged between each distribution area and each group of the clamping conveyor belts (411); the auxiliary plucking member (43) includes two spaced-apart rolling rods (431), the rolling rods (431) are rotatably arranged, and the outer peripheral wall of the rolling rod (431) is provided with multiple comb teeth spaced-apart in the axial and circumferential directions, and the two rolling rods (431) rotate in opposite directions, and are used to drive the Spartina alterniflora into each group of the clamping conveyor belts (411).

15. The high and low position Spartina alterniflora removing device according to claim 13, characterized in that: The outer surface of the clamping conveyor belt (411) is provided with a convex point structure.

16. The high and low position Spartina alterniflora removing device according to claim 13, characterized in that: The second removing mechanism (41) is arranged obliquely upward in a direction close to the frame (10).

17. The high and low position Spartina alterniflora removing device according to claim 1, characterized in that: The collecting assembly (50) comprises a collecting plate (51) and a accommodating bin (52), wherein the accommodating bin (52) is arranged on the frame (10), and the collecting plate (51) is arranged at the front end of the frame (10), comprising a first plate body (511) and a second plate body (512) connected in sequence, wherein the first plate body (511) is arranged horizontally, and the second plate body (512) is arranged obliquely, and a conveyor belt (53) is respectively arranged on the first plate body (511) and the second plate body (512) for conveying the Spartina alterniflora plucked by the first plucking assembly (30) and the second plucking assembly (40) to the accommodating bin (52).

18. The high and low position Spartina alterniflora removing device according to claim 17, characterized in that: Both sides of the first plate (511) respectively have inclined surfaces (5111) inclined from the outside to the inside.

19. The high and low position Spartina alterniflora removing device according to claim 1, characterized in that: The high and low position Spartina alterniflora removing device further comprises a first height adjustment component (60), which is arranged on the frame (10) and is drivingly connected to the first plucking component (30) for adjusting the height of the first plucking component (30).

20. The high and low Spartina alterniflora removal device according to claim 19, characterized in that: The first height adjustment assembly (60) comprises two first rotating arms (61), the two first rotating arms (61) being rotatably arranged on both sides of the front end of the frame (10), and the first removing member (311) and the second removing member (312) of the first removing assembly (30) being rotatably connected to the two first rotating arms (61).

21. The high and low position Spartina alterniflora removing device according to claim 1, characterized in that: The high and low position Spartina alterniflora removing device further comprises a second height adjustment component (70), which is arranged on the frame (10) and is drivingly connected to the second plucking component (40) for adjusting the height of the second plucking component (40).

22. The high and low position Spartina alterniflora removing device according to claim 21, characterized in that: The second plucking assembly (40) is arranged on the collecting plate (51) of the collecting assembly (50), and the second height adjusting assembly (70) is drivingly connected to the collecting plate (51).

23. The high and low position Spartina alterniflora removing device according to any one of claims 1 to 22, characterized in that: The traveling assembly (20) includes a crawler-type traveling structure.

24. The high and low Spartina alterniflora removing device according to any one of claims 1 to 22, characterized in that: The frame (10) comprises a buoyancy box assembly for providing buoyancy for the high and low position Spartina alterniflora removing device.

25. The high and low Spartina alterniflora removing device according to any one of claims 1 to 22, characterized in that: The high and low position Spartina alterniflora removing device also includes: a visual sensor, the visual sensor being arranged at the front end of the frame (10) and being used for acquiring image information in front of the high and low position Spartina alterniflora removing device; and / or A distance measuring module is provided at the front end of the frame (10) and is used for measuring the distance between the frame and the Spartina alterniflora.

Images