Weeding device for soybean planting

Abstract

The invention discloses a weeding device for soybean planting, and relates to the field of weeding devices. A weeding device for soybean planting comprises a moving vehicle and further comprises a connecting rod installed on the rear side of the moving vehicle; the camera is mounted on the connecting rod, and the camera is used for shooting planting gaps between the soybeans so as to control the moving vehicle; the lifting telescopic cylinder is fixedly connected to the connecting rod; the cutting assembly is mounted at the telescopic end of the lifting telescopic cylinder; through cooperation of the camera and the cutting assembly, soybean gaps can be recognized, positioning of the moving trolley can be controlled, moving and adjusting of the cutting assembly are achieved through the lifting telescopic cylinder and the transverse moving telescopic cylinder, the device can adapt to soybean gaps of different planting densities and growth stages, soybean seedlings are prevented from being damaged, and weeds can be cut and removed.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of weeding devices, in particular to a weeding device for soybean planting. BACKGROUND

[0002] In the traditional soybean planting process, weeding work needs to be carried out for a long time to avoid weeds affecting the growth of soybean plants.

[0003] The existing weeding methods are generally manual weeding and mechanical weeding. When manual weeding, due to the different operation accuracies of the workers, it is easy to miss weeds or accidentally injure soybean seedlings, directly affecting the growth and yield of soybeans.

[0004] Although the existing mechanical weeding equipment improves the efficiency to some extent, it generally has the problem of insufficient operation accuracy. Most of the machines cannot accurately identify the positions of soybeans and weeds, which easily causes damage to soybean plants. In addition, the cutting range is fixed, which is difficult to adapt to the gaps between soybeans of different planting densities and growth stages, resulting in poor weeding effect and certain deficiencies. SUMMARY

[0005] The technical problem to be solved by the application is to overcome the deficiencies of the prior art and provide a weeding device that can overcome the above problems or at least partially solve the above problems.

[0006] To solve the above technical problems, the basic idea of the technical scheme adopted by the application is as follows: a weeding device for soybean planting, comprising a mobile vehicle, further comprising: a connecting rod installed at the rear side of the mobile vehicle; a camera installed on the connecting rod, the camera being used to shoot the planting gaps between soybeans and then control the mobile vehicle; a lifting telescopic cylinder fixedly connected to the connecting rod; a cutting assembly installed on the telescopic end of the lifting telescopic cylinder; The connecting rod is moved by the mobile vehicle, the planting gaps between soybeans are known by the camera, then the mobile vehicle stops moving, the cutting assembly is lowered by the lifting telescopic cylinder, and then the weeds in the planting gaps are cut.

[0007] Further, the telescopic end of the lifting telescopic cylinder is fixedly connected with a mounting plate, two groups of transverse telescopic cylinders are fixedly connected to the bottom of the mounting plate, the cutting assembly is fixedly connected to the telescopic end of the transverse telescopic cylinder, and the two groups of cutting assemblies can be synchronously approached by the transverse telescopic cylinders, and then the weeds in the planting gaps are cut.

[0008] Further, the cutting assembly comprises a housing, a motor, a driving roller, and a cutting chain, the driving roller is rotatably connected in the housing, the cutting chain is sleeved on the driving roller, the motor is fixedly connected on the housing, and the output end of the motor is fixedly connected with the driving roller, through the rotation of the driving roller, the cutting chain can rotate, and then through the cutting teeth arranged on the cutting chain, the weeds can be cut.

[0009] Further, the connecting rod is provided with a water tank, the water tank is provided with mixed chemicals, the water tank is provided with a water pump, the connecting rod is provided with a top nozzle, the top nozzle is communicated with the water pump, and the top nozzle is used for spraying the mixed chemicals on the cutting surface after the cutting assembly cuts the weeds.

[0010] Further, the water tank is rotatably connected with a rotating shaft, and a plurality of paddles are fixedly connected to the rotating shaft.

[0011] Further, the rotating shaft is hollow and internally provided with threads, a lead screw is slidably connected in the water tank, one end of the lead screw is threadedly connected in the rotating shaft, through the up-down movement of the lead screw, the rotating shaft can rotate, and then the mixed chemicals in the water tank are stirred through the paddles.

[0012] Further, the water tank is provided with an opening at the top, a connecting plate is slidably connected in the opening, and the two ends of the connecting plate are fixedly connected with the lead screw and the telescopic end of the lifting telescopic cylinder.

[0013] Further, the housing is fixedly connected with a lower nozzle, the lower nozzle is upwardly inclined, and is used for spraying the mixed chemicals on the bottom of the soybean leaves when cutting the weeds.

[0014] Further, the water pump is connected with an outlet pipe at the liquid outlet end, the outlet pipe is connected with the top nozzle and the lower nozzle, and the outlet pipe is a telescopic hose.

[0015] Further, the rotating shaft, the paddles and the lead screw are made of stainless steel.

[0016] Compared with the prior art, the application has the following advantages: through the cooperation of the camera and the cutting assembly, the soybean gap can be recognized and the moving vehicle can be positioned, the movement and adjustment of the cutting assembly can be realized by the lifting telescopic cylinder and the transverse telescopic cylinder, the soybean gap with different planting densities and growth stages can be adapted, the soybean seedlings can be prevented from being damaged, and the weeds can be cut and removed. BRIEF DESCRIPTION OF DRAWINGS

[0017] In the drawings: Figure 1A structure diagram of a weeding device for soybean planting according to the present application; Figure 2 A structure diagram of a weeding device for soybean planting according to the present application Figure 1 A structure diagram of a weeding device for soybean planting according to the present application Figure 3 A structure diagram of a weeding device for soybean planting according to the present application Figure 4 A structure diagram of a weeding device for soybean planting according to the present application Figure 1 ; Figure 5 A structure diagram of a weeding device for soybean planting according to the present application Figure 2 ; Figure 6 A structure diagram of a weeding device for soybean planting according to the present application Figure 5 A structure diagram of a weeding device for soybean planting according to the present application Figure 7 A structure diagram of a weeding device for soybean planting according to the present application Figure 8 A structure diagram of a weeding device for soybean planting according to the present application Figure 1 ; Figure 9 A structure diagram of a weeding device for soybean planting according to the present application Figure 2 .

[0018] In the figure: 1, a moving vehicle; 2, a connecting rod; 3, a water tank; 301, a water pump; 302, a liquid outlet pipe; 303, a top nozzle; 304, a lower nozzle; 4, a camera; 501, a lifting telescopic cylinder; 502, a mounting plate; 503, a horizontal telescopic cylinder; 601, a housing; 602, a motor; 603, a driving roller; 604, a cutting chain; 701, a rotating shaft; 702, a paddle; 703, a lead screw. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments will be described clearly and completely below with reference to the drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application but not to limit the scope of the present application.

[0020] Embodiment: refer to Figures 1-9The utility model provides a weeding device for soybean planting, including mobile car 1, still include: connecting rod 2, install in mobile car 1 rear side, camera 4 is installed on connecting rod 2, and camera 4 is used for shooting the planting gap between soybean, and then control mobile car 1, lifting telescopic cylinder 501 is fixedly connected on connecting rod 2, cutting assembly is installed on the telescopic end of lifting telescopic cylinder 501, connecting rod 2 is moved through mobile car 1, and the planting gap between soybean is known through camera 4, then mobile car 1 stops moving, and cutting assembly is moved down through lifting telescopic cylinder 501, and then the weeds in planting gap are cut.

[0021] The telescopic end of lifting telescopic cylinder 501 is fixedly connected with mounting plate 502, and two groups of transverse telescopic cylinders 503 are fixedly connected to the bottom of mounting plate 502, the cutting assembly is fixedly connected to the telescopic end of transverse telescopic cylinder 503, and the two groups of cutting assemblies can be synchronously approached through transverse telescopic cylinder 503, so that the weeds in the planting gap are cut.

[0022] The cutting assembly includes a shell 601, a motor 602, a drive roller 603, and a cutting chain 604. The drive roller 603 is rotatably connected in the shell 601, the cutting chain 604 is sleeved on the drive roller 603, the motor 602 is fixedly connected on the shell 601, and the output end of the motor 602 is fixedly connected with the drive roller 603. Through the rotation of the drive roller 603, the cutting chain 604 can be rotated, and the weeds can be cut through the cutting teeth arranged on the cutting chain 604.

[0023] A water tank 3 is installed on the connecting rod 2, the water tank 3 contains mixed chemicals, a water pump 301 is installed in the water tank 3, a top spray head 303 is installed on the connecting rod 2, the top spray head 303 is communicated with the water pump 301, and the top spray head 303 is used to spray mixed chemicals on the cutting surface after the cutting assembly cuts the impurities.

[0024] A rotating shaft 701 is rotatably connected in the water tank 3, and a plurality of paddles 702 are fixedly connected on the rotating shaft 701.

[0025] The rotating shaft 701 is hollow and internally threaded, a lead screw 703 is slidably connected in the water tank 3, one end of the lead screw 703 is threadedly connected in the rotating shaft 701, the rotating shaft 701 can be rotated through the up and down movement of the lead screw 703, and the mixed chemicals in the water tank 3 can be stirred through the paddles 702.

[0026] An opening is provided at the top of the water tank 3, a connecting plate is slidably connected in the opening, and the two ends of the connecting plate are fixedly connected with the lead screw 703 and the telescopic end of the lifting telescopic cylinder 501 respectively.

[0027] The lower nozzle 304 is fixedly connected to the shell 601 and is upwardly inclined, used for spraying the mixed pesticide on the bottom of the soybean leaves when cutting weeds.

[0028] The outlet pipe 302 is connected to the outlet end of the water pump 301 and is connected with the top nozzle 303 and the lower nozzle 304.

[0029] The rotating shaft 701, the paddle 702 and the screw rod 703 are made of stainless steel.

[0030] In actual work, first, the camera 4 installed on the connecting rod 2 shoots the soybean planting area, and the planting gap between the soybeans is accurately known through the camera 4. The camera 4 collects one frame of image every 0.5 seconds, the recognition algorithm processes and outputs the center point coordinates of the soybean plants in real time, calculates the gap center line position between the two plants, and the control system combines the real-time position of the mobile vehicle 1. Then, the mobile vehicle 1 moves according to the gap information obtained by the camera 4, so that the device reaches the specified weed cleaning position.

[0031] At this time, the cutting assembly is initially located above, which can avoid squeezing the soybean seedlings during movement. When it is necessary to cut weeds, the lifting telescopic cylinder 501 is started to drive the cutting assembly to move downward. It is worth noting that the telescopic end of the lifting telescopic cylinder 501 drives the screw rod 703 to move up and down synchronously through the connecting plate during movement. Since the screw rod 703 is threadedly connected with the hollow rotating shaft 701, the movement of the screw rod 703 drives the rotating shaft 701 to rotate, and further drives the multiple groups of paddles 702 fixed on the rotating shaft 701 to rotate, continuously stirring the imidacloprid and imidacloprid mixed liquid in the water tank 3, and ensuring uniform mixing of the pesticide.

[0032] During the downward movement of the cutting assembly, the horizontal telescopic cylinder 503 is elongated, so that the cutting assembly can tightly adhere to the edge of the soybean, preparing for subsequent accurate cutting of weeds. When the cutting assembly is about to approach the ground, the cutting assembly starts to act: the motor 602 is started to drive the driving roller 603 to rotate, and the driving roller 603 further drives the cutting chain 604 to rotate, and at the same time, the two groups of cutting assemblies are synchronously close to each other under the action of the horizontal telescopic cylinder 503, and the cutting teeth on the cutting chain 604 are used to cut the weeds in the planting gap.

[0033] At the same time of cutting weeds by the cutting assembly, the water pump 301 in the water tank 3 is started to deliver the imidacloprid and imidacloprid mixed liquid in the tank to the top nozzle 303 and the lower nozzle 304 through the outlet pipe 302, respectively. The top nozzle 303 sprays the mixed pesticide on the cutting surface, and the lower nozzle 304 is upwardly inclined to spray the bottom of the soybean leaves, realizing synchronous weeding and pest control.

[0034] After the cutting assembly completes the cutting of weeds, the lifting telescopic cylinder 501 drives the cutting assembly to move upwards, at this time the screw rod 703 moves in the opposite direction with the reset of the lifting telescopic cylinder 501, and continues to drive the rotation shaft 701 and the paddle 702 to rotate and stir the pesticide; at the same time, the horizontal telescopic cylinder 503 is retracted, and the two are reset synchronously, so that the cutting assembly returns to the initial upper position, then the mobile vehicle 1 moves to the subsequent position where the weeds need to be removed, and the above process from identifying the gap by the camera 4 to cutting, spraying, and resetting is repeated, and the cycle is repeated until the entire soybean planting area is completed. weed control work.

[0035] In order to further improve the stability and operation effect of the device, the frame of the mobile vehicle 1 is welded by high-strength carbon structural steel. This material has high yield strength and tensile strength, and can withstand the weight of each component of the device and the impact force generated during operation. At the same time, its good welding performance ensures the overall rigidity of the frame and is not prone to deformation.

[0036] The wheels of the mobile vehicle 1 are made of high-elasticity rubber material, and the tire surface is provided with special patterns. This pattern design can increase the friction between the wheels and the ground, effectively prevent slipping in muddy farmland, and ensure that the mobile vehicle 1 can travel smoothly in various complex terrains. The connecting rod 2 is made of aluminum alloy material, which not only has light weight, but also reduces the load burden of the mobile vehicle 1. Moreover, it has good corrosion resistance and can be used in wet farmland environment for a long time without rust. The cross section of the connecting rod 2 is designed as a rectangle. Compared with a circular cross section, the rectangular cross section has a larger bending section modulus under the same material consumption, which improves the bending resistance of the connecting rod 2 and ensures that it will not be bent and deformed after installing components such as the camera 4 and the water tank 3, thereby ensuring the installation position accuracy of each component. The shell 601 in the cutting assembly is made of engineering plastic material, which has good wear resistance and impact resistance. The density of engineering plastic is relatively small, which reduces the overall weight of the cutting assembly and reduces the load of the lifting telescopic cylinder 501, thereby prolonging the service life of the lifting telescopic cylinder 501. The cutting chain 604 is made of high-carbon steel, and after quenching treatment, the surface hardness is greatly improved, which enhances the wear resistance and fatigue resistance of the chain, and can withstand friction and tension for a long time during weed cutting, thereby reducing the replacement frequency of the chain.

[0037] The water tank 3 is made of polyethylene material, which has good chemical stability and will not react with the mixed pesticide in the water tank 3, thereby ensuring the purity and effect of the pesticide. The polyethylene material also has good low-temperature resistance and will not crack in cold weather, thereby ensuring that the device can be used normally in different seasons. In the control system of the device, PLC programmable logic controller is used as the core control unit. PLC has high reliability, strong anti-interference ability and flexible programming function, which can accurately control the movement of the mobile car 1, the action of the lifting telescopic cylinder 501 and the horizontal telescopic cylinder 503, the start and stop of the cutting assembly, and the work of the water pump 301, etc.

[0038] The control system is also equipped with a touch screen human-machine interface. The operator can set the operation parameters such as the running speed of the mobile car 1, the descending depth of the cutting assembly, the spraying amount of the pesticide, etc. through the touch screen, and can also monitor the running state of the device in real time, such as the working current of each part, the remaining amount of pesticide in the water tank 3, etc. When the device fails, the touch screen will display the fault information in time, which facilitates the operator to quickly troubleshoot and repair. In order to adapt to the needs of different soybean planting densities and growth stages, the device should have good adjustability. By adjusting the telescopic amount of the lifting telescopic cylinder 501, the descending depth of the cutting assembly can be changed, which can effectively cut weeds of different heights. The telescopic amount of the horizontal telescopic cylinder 503 can also be adjusted according to the gap width between soybeans, to ensure that the cutting assembly can work accurately in the gap and avoid damaging the soybean plants. In addition, the shooting angle and height of the camera 4 can be adjusted by adjusting the installation position on the connecting rod 2 to adapt to soybean plants of different growth heights, ensuring that the camera 4 can clearly shoot the planting gap between soybeans. In the pesticide spraying system, the outlet pipe 302 is made of a telescopic hose made of food-grade rubber material. This material has good flexibility and corrosion resistance, and can freely expand and contract with the lifting and horizontal movement of the cutting assembly, without the risk of pipe being too tight or breaking, while ensuring that the pesticide will not be contaminated during transportation.

[0039] The spraying angle and flow rate of the top nozzle 303 and the lower nozzle 304 can be adjusted. By replacing nozzles of different specifications, the size of the spraying droplets can be changed. According to the density of weeds and the growth status of soybeans, appropriate spraying parameters can be selected to improve the utilization rate of pesticides and the operation effect. In order to facilitate the transportation and storage of the device, the device is designed with a foldable structure. The connection between the connecting rod 2 and the mobile car 1 uses a detachable hinge. When not in operation, the connecting rod 2 can be folded to a position parallel to the mobile car 1, reducing the occupied space of the device.

[0040] The cutting assembly can also be removed from the lifting telescopic cylinder 501 by disassembling the bolts and stored separately. This design not only facilitates the transportation of the device and reduces transportation costs, but also saves storage space when stored, making it convenient for farmers to manage and maintain the device.

[0041] The above merely describes the preferred embodiments of the present application, and is not intended to limit the present application in any form. Although the present application has been disclosed with the preferred embodiments as above, it is not intended to limit the present application, and any skilled person in the art can make some changes or modifications to the above-mentioned technical content with the prompt as equivalent embodiments of equivalent changes without departing from the technical solution of the present application. Any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application, which does not depart from the technical solution of the present application, still belongs to the scope of the present application.

Claims

1. A weeding device for soybean planting comprising a mobile cart (1), characterized in that, Also include: Connecting rod (2) is installed in the rear side of the mobile car (1); Camera (4) is installed on the connecting rod (2), the camera (4) is used for shooting the planting gap between soybeans, and then controlling the mobile car (1); Lifting telescopic cylinder (501) is fixedly connected on the connecting rod (2); Cutting assembly is installed on the telescopic end of the lifting telescopic cylinder (501); Through the connecting rod (2) of the mobile car (1), the planting gap between soybeans is known through the camera (4), then the mobile car (1) stops moving, the cutting assembly is lowered through the lifting telescopic cylinder (501), and the weeds in the planting gap are cut; The telescopic end of the lifting telescopic cylinder (501) is fixedly connected with a mounting plate (502), two groups of horizontal telescopic cylinders (503) are fixedly connected at the bottom of the mounting plate (502), and the cutting assembly is fixedly connected with the telescopic end of the horizontal telescopic cylinder (503). Through the horizontal telescopic cylinder (503), two groups of cutting assemblies can be synchronized to approach, and the weeds in the planting gap are cut.

2. The weeding device for soybean cultivation according to claim 1, characterized in that, The cutting assembly comprises a shell (601), a motor (602), a driving roller (603) and a cutting chain (604), the driving roller (603) is rotatably connected in the shell (601), the cutting chain (604) is sleeved on the driving roller (603), the motor (602) is fixedly connected on the shell (601), and the output end of the motor (602) is fixedly connected with the driving roller (603). Through the rotation of the driving roller (603), the cutting chain (604) can be rotated, and the weeds are cut through the cutting teeth arranged on the cutting chain (604).

3. The weeding device for soybean cultivation according to claim 2, wherein The connecting rod (2) is provided with a water tank (3), the water tank (3) is provided with mixed chemicals, the water tank (3) is provided with a water pump (301), the connecting rod (2) is provided with a top nozzle (303), the top nozzle (303) is communicated with the water pump (301), and the top nozzle (303) is used for spraying mixed chemicals on the cutting surface after the cutting assembly cuts the impurities.

4. The weeding device for soybean cultivation according to claim 3, wherein The water tank (3) is rotatably connected with a rotating shaft (701), and a plurality of paddles (702) are fixedly connected with the rotating shaft (701).

5. The weeding device for soybean cultivation according to claim 4, wherein The rotating shaft (701) is hollow and internally provided with threads, the water tank (3) is slidably connected with a lead screw (703), one end of the lead screw (703) is threadedly connected in the rotating shaft (701), the rotating shaft (701) is rotated through the up and down movement of the lead screw (703), and the mixed chemicals in the water tank (3) are stirred through the paddles (702).

6. The weeding device for soybean cultivation according to claim 5, wherein The water tank (3) is provided with an opening at the top, a connecting plate is slidably connected in the opening, and the two ends of the connecting plate are fixedly connected with the lead screw (703) and the telescopic end of the lifting telescopic cylinder (501).

7. The weeding device for soybean cultivation according to claim 4, wherein The lower nozzle (304) is fixedly connected to the shell (601) and is upwardly inclined, and is used for spraying the mixed pesticide on the bottom of the soybean leaf during the cutting of the weeds.

8. The weeding device for soybean cultivation according to claim 7, wherein The water pump (301) is connected with the liquid outlet pipe (302) at the liquid outlet end, the liquid outlet pipe (302) is connected with the top nozzle (303) and the lower nozzle (304) respectively, and the liquid outlet pipe (302) is a telescopic hose.

9. The weeding device for soybean cultivation according to claim 5, wherein The rotating shaft (701), the paddle (702) and the screw rod (703) are made of stainless steel.

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