Obstacle avoidance type orchard weeding device

Abstract

The invention discloses an obstacle avoidance type orchard weeding device, which belongs to the technical field of weeding devices, and comprises a walking vehicle, a moving mechanism, an avoidance mechanism, a rotary tillage weeding mechanism and an inter-row weeding mechanism, an inter-row weeding mechanism is mounted on the front side of the walking vehicle, and moving mechanisms are symmetrically mounted on the rear side of the walking vehicle; the moving mechanism comprises a positioning assembly and a first lifting assembly, and an avoiding mechanism is installed at the moving end of the first lifting assembly. The avoiding mechanism comprises a rotating assembly, a rotating mounting frame, an avoiding triggering assembly and avoiding rotating rods; the three avoiding rotating rods are uniformly distributed on the rotating mounting frame at equal intervals in a circumferential array; three groups of avoiding trigger assemblies are uniformly mounted on the rotary mounting frame in a circumferential array at equal intervals; and three groups of rotary tillage weeding mechanisms for weeding are uniformly and rotatably mounted on the rotary mounting frame at equal intervals. By means of the mode, automatic avoiding is achieved, meanwhile, rotary tillage is conducted on soil rolled by the wheels through the weeding assemblies, and the situation that the soil is solidified due to rolling of the wheels is avoided.

Description

Technical Field

[0001] This invention relates to the field of weeding device technology, specifically to an obstacle-avoidance orchard weeding device. Background Technology

[0002] When weeding in an orchard, it is necessary to consider the growth cycle and growth pattern of both fruit trees and weeds, and to choose different treatment methods at different times to clear weeds in order to avoid weeds competing for water and fertilizer and to prevent the breeding of pests and diseases. At the same time, it is necessary to avoid damaging the soil environment and the root system of fruit trees during the clearing process.

[0003] For example, Chinese patent CN222852609U discloses an obstacle-avoiding soil loosening and weeding mechanism and an orchard weeding device. The weeding device has obstacle-avoiding soil loosening and weeding mechanisms symmetrically arranged on both sides. During cleaning, the soil loosening and weeding mechanisms are driven to swing to avoid obstacles.

[0004] However, current weeding equipment needs to be moved by a traveling trolley. When the traveling trolley moves, it inevitably compacts the soil. Moreover, the larger the weeding equipment, the larger the vehicle it needs to be loaded with. During weeding, the soil is compacted and hardened.

[0005] Based on this, the present invention designs an obstacle-avoidance orchard weeding device to solve the above problems. Summary of the Invention

[0006] In view of the above-mentioned shortcomings of the existing technology, the present invention provides an obstacle-avoidance orchard weeding device.

[0007] To achieve the above objectives, the present invention provides the following technical solution: An obstacle-avoidance orchard weeding device includes a traveling vehicle, a moving mechanism, an obstacle avoidance mechanism, a rotary tillage weeding mechanism, and an inter-row weeding mechanism; The front of the traveling vehicle is equipped with an inter-row weeding mechanism for weeding, and the rear of the traveling vehicle is symmetrically equipped with a moving mechanism. The moving mechanism includes a positioning component and a lifting component 1. The positioning component is mounted on the traveling vehicle, and the lifting component 1 is mounted on the moving end of the positioning component. A collision avoidance mechanism is mounted on the moving end of the lifting component 1. The avoidance mechanism includes a rotating component, a rotating mounting frame, an avoidance triggering component, and an avoidance rotating rod. The rotating component is installed on the moving end of the lifting component one, and the rotating mounting frame is installed on the moving end of the rotating component. Three avoidance rotating rods are evenly distributed in a circular array on the rotating mounting frame. One end of the avoidance rotating rod is hinged to the rotating mounting frame. The avoidance rotating rod and the rotating mounting frame are equipped with a fitting structure for bringing the avoidance rotating rod closer to the avoidance triggering component. Three sets of avoidance triggering components are evenly installed in a circular array on the rotating mounting frame. Three sets of rotary tillage and weeding mechanisms for weeding are evenly and uniformly installed on the rotating mounting frame; when the traveling vehicle moves along the rows of fruit trees, one set of rotary tillage and weeding mechanisms is located behind the wheels of the traveling vehicle.

[0008] Furthermore, the rotary tillage and weeding mechanism includes a weeding rotary disc, a weeding component one, a drive component one, and a drive component two. The weeding rotary disc is rotatably mounted on a rotary mounting frame, and the drive component two for driving the weeding rotary disc is mounted on the rotary mounting frame. Multiple sets of weeding components one are evenly and uniformly installed in a circular array on the lower side of the weeding rotary disc, and the drive component one for driving the multiple sets of weeding components one is mounted on the weeding rotary disc.

[0009] Furthermore, the inter-row weeding mechanism includes a second lifting component, a weeding support frame, a second weeding component, and a third driving component. The second lifting component is installed on the front side of the vehicle, and the moving end of the second lifting component is equipped with a weeding support frame. The weeding support frame is equipped with the second weeding component for weeding. The third driving component is installed on the second lifting component for driving the second weeding component.

[0010] Furthermore, the positioning assembly includes a positioning drive motor, a positioning drive gear, a positioning driven gear, and a positioning rotating frame. The positioning drive motor is fixedly installed inside the traveling vehicle, and the positioning drive gear is fixedly installed at the output end of the positioning drive motor. The positioning rotating frame is rotatably installed on the rear side of the traveling vehicle, and the positioning driven gear is fixedly installed on the positioning rotating frame. The positioning drive gear and the positioning driven gear are meshed together.

[0011] Furthermore, the lifting assembly includes a lifting mounting frame, slide rails, a lifting hydraulic cylinder, a fixed support frame, and a floating support module. The lifting mounting frame is fixedly mounted on the swing rotation frame, and multiple sets of guide grooves are symmetrically opened on the lifting mounting frame. Multiple sets of slide rails are symmetrically fixedly mounted on the fixed support frame, and the guide grooves are slidably connected to the slide rails. The lifting hydraulic cylinder is fixedly mounted on the lifting mounting frame, and the output end of the lifting hydraulic cylinder is fixedly connected to the fixed support frame. The floating support module is mounted on the fixed support frame.

[0012] Furthermore, the floating support module includes a spring, a limiting block, guide rods, a floating mounting plate, and casters. Multiple guide rods are uniformly fixedly installed in a circumferential array on the floating mounting plate. The guide rods are slidably connected to the fixed support frame. A limiting block is fixedly installed on the top of the guide rods. A spring is sleeved on the guide rod. One end of the spring is fixedly connected to the limiting block, and the other end of the spring is fixedly connected to the fixed support frame. Casters are uniformly fixedly installed in a circumferential array at equal intervals at the bottom of the fixed support frame.

[0013] Furthermore, the rotating assembly includes a clearance drive motor and a clearance rotating platform. The clearance drive motor is fixedly mounted on a floating mounting plate, and a circular groove is provided on the fixed support frame to allow clearance for the clearance drive motor. The clearance rotating platform is fixedly mounted on the output end of the clearance drive motor, and the rotating mounting frame is fixedly mounted on the clearance rotating platform.

[0014] Furthermore, the avoidance triggering assembly includes a trigger block, a mounting base one, a round rod, a spring two, a movable connecting block, and a fixed connecting block. The trigger block is fixedly mounted on the avoidance rotating rod; the mounting base one is fixedly mounted on the rotating mounting bracket, the round rod is slidably connected to the mounting base one, the movable connecting block is fixedly mounted in the middle of the round rod, the spring two is sleeved on the round rod, one end of the spring two is fixedly connected to the mounting base one, the other end of the spring two is fixedly connected to the movable connecting block, and the fixed connecting block is fixedly mounted on the mounting base one; the end of the round rod passes through the mounting base one and abuts against the trigger block.

[0015] Furthermore, the weeding component includes a weeding mounting frame, a weeding shaft, a rotary tiller, and a rotary tiller plate. The weeding mounting frame is fixedly mounted on the weeding rotating disc. The weeding shaft is rotatably mounted on the weeding mounting frame. Multiple sets of rotary tillers are fixedly mounted on the weeding shaft in a circumferential array at equal intervals. Rotary tillers are fixedly mounted on the rotary tillers.

[0016] Furthermore, the drive assembly includes a weeding drive motor, a weeding drive gear, a weeding driven gear, a protective box, and a transmission shaft. The protective box is fixedly mounted on the weeding rotating disc, and the weeding drive motor is fixedly mounted inside the protective box. The weeding drive gear is fixedly mounted on the output end of the weeding drive motor. The transmission shaft is rotatably mounted on the protective box, with one end of the transmission shaft fixedly connected to the weeding shaft and the other end of the transmission shaft fixedly mounted with the weeding driven gear. The weeding driven gear meshes with the weeding drive gear.

[0017] Compared with the prior art, the beneficial effects of this invention are as follows: During the movement, the avoidance lever and the avoidance trigger component are in contact. When encountering a fruit tree, the fruit tree causes the avoidance lever to rotate, disengaging it from the avoidance trigger component. At this time, the avoidance trigger component triggers the rotation component, which drives the rotating mounting frame to rotate 120 degrees. This causes a set of weeding components aligned with the fruit tree and moving between the fruit tree rows to rotate towards the fruit tree rows, moving to the position behind the wheels of the traveling vehicle. The weeding component located on the side of the fruit tree closest to the traveling vehicle rotates to the front of the fruit tree, aligned with the position of the fruit tree moving between the fruit tree rows. The weeding component located on the side behind the wheels of the traveling vehicle rotates to the side of the fruit tree closest to the traveling vehicle. This achieves automatic avoidance, allowing continuous weeding. After automatic continuous adjustment, the soil compacted by the wheels is always tilled by a set of weeding components aligned with the rear of the wheels of the traveling vehicle, thus achieving continuous automatic obstacle avoidance and weeding while preventing the soil from hardening due to wheel compaction. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0019] Figure 1 This invention provides a three-dimensional obstacle-avoidance orchard weeding device. Figure 1 ; Figure 2 This is a front view of an obstacle-avoiding orchard weeding device according to the present invention; Figure 3 This is a top view of an obstacle-avoiding orchard weeding device according to the present invention; Figure 4 For along Figure 3 A three-dimensional view after part of the structure has been removed along the AA direction; Figure 5 This is a schematic diagram of the lifting mounting frame and its connection structure; Figure 6 for Figure 5 Enlarged view of point C in the middle; Figure 7 This is a schematic diagram of the movable connecting block and its connection structure; Figure 8 For along Figure 3 A three-dimensional view of the structure after partial removal along the BB direction; Figure 9 for Figure 8 Enlarged view of point D in the middle.

[0020] The labels in the diagram represent: 1. Walking vehicle; 2. Moving mechanism; 21. Positioning assembly; 211. Positioning drive motor; 212. Positioning drive gear; 213. Positioning driven gear; 214. Positioning rotating frame; 22. Lifting assembly one; 221. Lifting mounting frame; 222. Guide groove; 223. Slide rail; 224. Lifting hydraulic cylinder one; 225. Fixed support frame; 226. Floating support module; 2261. Spring one; 2262. Limit block; 2263. Guide rod; 2264. Floating mounting plate; 2265. Casters; 3. Avoidance mechanism; 31. Rotating assembly; 311. Avoidance drive motor; 312. Avoidance rotating platform; 32. Rotating mounting frame; 33. Avoidance triggering assembly; 331. Trigger block; 332. Mounting base one; 333. Round rod; 334. Spring two; 335. Moving connection 336. Fixed connecting block; 34. Clearance lever; 4. Rotary tillage and weeding mechanism; 41. Weeding rotary disc; 42. Weeding component one; 421. Weeding mounting frame; 422. Weeding shaft; 423. Rotary tillage frame; 424. Rotary tillage plate; 43. Drive component one; 431. Weeding drive motor one; 432. Weeding drive gear; 433. Weeding driven gear; 434. Protective box; 435. Transmission shaft; 44. Drive component two; 441. Rotary drive motor; 442. Drive gear; 443. Drive gear ring; 5. Inter-row weeding mechanism; 51. Lifting component two; 511. Mounting base two; 512. Mounting arm; 513. Lifting hydraulic cylinder two; 52. Weeding support frame; 53. Weeding component two; 54. Drive component three; 541. Transmission component two; 542. Weeding drive motor two. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0022] The terms "left," "right," "front," "back," "up," and "down" used in the following description refer to the orientation from the perspective of the front view.

[0023] Example 1: In some embodiments, please refer to the accompanying drawings. Figures 1-3 An obstacle-avoidance orchard weeding device includes a traveling vehicle 1, a moving mechanism 2, an obstacle avoidance mechanism 3, a rotary tillage weeding mechanism 4, and an inter-row weeding mechanism 5. The front side of the traveling vehicle 1 is equipped with an inter-row weeding mechanism 5 for weeding, and the rear side of the traveling vehicle 1 is symmetrically equipped with a moving mechanism 2. like Figure 3 As shown, the moving mechanism 2 includes a positioning component 21 and a lifting component 22. The positioning component 21 is mounted on the traveling vehicle 1, and the lifting component 22 is mounted on the moving end of the positioning component 21. An obstacle avoidance mechanism 3 is mounted on the moving end of the lifting component 22. like Figure 3 As shown, the avoidance mechanism 3 includes a rotating component 31, a rotating mounting frame 32, an avoidance triggering component 33, and avoidance rotating rods 34. The rotating component 31 is mounted on the moving end of the lifting component 22. The rotating mounting frame 32 is mounted on the moving end of the rotating component 31. The three avoidance rotating rods 34 are evenly distributed in a circular array on the rotating mounting frame 32. One end of the avoidance rotating rod 34 is hinged to the rotating mounting frame 32. The avoidance rotating rod 34 and the rotating mounting frame 32 are equipped with a fitting structure for bringing the avoidance rotating rod 34 closer to the avoidance triggering component 33. Three sets of avoidance triggering components 33 are evenly distributed in a circular array on the rotating mounting frame 32. Three sets of rotary tillage and weeding mechanisms 4 for weeding are evenly and uniformly installed on the rotating mounting frame 32; when the traveling vehicle 1 moves along the rows of fruit trees, one set of rotary tillage and weeding mechanisms 4 is located behind the wheels of the traveling vehicle 1.

[0024] like Figure 2 As shown, the rotary tillage and weeding mechanism 4 includes a weeding rotary disk 41, a weeding component 42, a drive component 43, and a drive component 44. The weeding rotary disk 41 is rotatably mounted on a rotary mounting frame 32. The drive component 44 for driving the weeding rotary disk 41 to rotate is mounted on the rotary mounting frame 32. Multiple sets of weeding components 42 are evenly and uniformly arranged in a circular array on the lower side of the weeding rotary disk 41. The drive component 43 for driving the multiple sets of weeding components 42 is mounted on the weeding rotary disk 41.

[0025] like Figure 2 and Figure 3 As shown, the inter-row weeding mechanism 5 includes a second lifting component 51, a weeding support frame 52, a second weeding component 53, and a third driving component 54. The second lifting component 51 is installed on the front side of the traveling vehicle 1. The weeding support frame 52 is installed on the moving end of the second lifting component 51. The second weeding component 53 for weeding is installed on the weeding support frame 52. The third driving component 54 for driving the second weeding component 53 is installed on the second lifting component 51.

[0026] The fitting structure includes a torsion spring. A torsion spring is sleeved on the hinge shaft of the avoidance rotating rod 34 and the rotating mounting bracket 32. The two elastic legs of the torsion spring abut against the avoidance rotating rod 34 and the rotating mounting bracket 32 ​​respectively.

[0027] In this embodiment, when the obstacle-avoiding orchard weeding device is working normally, in the non-operational state, the positioning component 21 is retracted, and the lifting components 1 and 21 are raised, thus facilitating the movement of the traveling vehicle 1. During mowing operations, the traveling vehicle 1 moves between the rows of fruit trees. The lifting component 2 51 drives the weeding support frame 52 to move downwards, causing the weeding component 2 53 on the weeding support frame 52 to move to the working position. The driving component 3 54 drives the weeding component 2 53 to clear the weeds between the fruit tree rows. Simultaneously, the positioning component 21 drives the lifting component 1 22 to unfold, and the rotating component 31 drives the rotating mounting frame 32 to rotate, thereby... Align one set of weeding components 42 on the rotating mounting frame 32 with the rear side of the wheels of the traveling vehicle 1. One set of weeding components 42 is positioned on the side of the fruit tree closest to the traveling vehicle 1, while another set of weeding components 42 moves between the fruit trees. The lifting component 22 drives the rotating component 31, the rotating mounting frame 32, the avoidance trigger component 33, and the avoidance lever 34 to move vertically downward, thereby driving the three sets of weeding rotating discs 41, weeding components 42, drive components 43, and drive components 44 on the rotating mounting frame 32 to move vertically, so that weeding components 42 move to the working position. Drive components 44 drive the weeding rotating discs. 41 rotates, simultaneously driving component 43 to drive weeding component 42. The rotating weeding disc 41, with multiple weeding components 42 on it, performs shallow rotary tillage of the soil, cutting and uncovering the roots of weeds. During travel, the avoidance lever 34 engages with the avoidance trigger component 33. When encountering a fruit tree, the tree causes the avoidance lever 34 to rotate, disengaging it from the avoidance trigger component 33. At this point, the avoidance trigger component 33 triggers the rotating component 31, which in turn rotates the rotating mounting frame 32 120 degrees. This causes a set of weeding components 42, aligned with the fruit tree and moving between its rows, to rotate towards the fruit tree rows. The weeding component 42, located on the side of the fruit tree closest to the vehicle 1, rotates to the front of the fruit tree and moves to the position between the fruit trees. The weeding component 42, located on the side of the vehicle 1 closest to the vehicle 1, rotates to the side of the fruit tree closest to the vehicle 1. This achieves automatic obstacle avoidance, allowing weeding to proceed continuously. After automatic and continuous adjustment, the soil compacted by the wheels is always tilled by a set of weeding components 42 positioned on the rear of the vehicle 1's wheels, thereby achieving continuous automatic obstacle avoidance and weeding while preventing the soil from hardening due to wheel compaction.

[0028] Example 2: In some embodiments, as a preferred embodiment of the present invention, such as... Figures 4-6 and Figure 8As shown, the positioning assembly 21 includes a positioning drive motor 211, a positioning drive gear 212, a positioning driven gear 213, and a positioning rotating frame 214. The positioning drive motor 211 is fixedly installed inside the traveling vehicle 1. The positioning drive gear 212 is fixedly installed at the output end of the positioning drive motor 211. The positioning rotating frame 214 is rotatably installed on the rear side of the traveling vehicle 1. The positioning driven gear 213 is fixedly installed on the positioning rotating frame 214. The positioning drive gear 212 and the positioning driven gear 213 are meshed together. The lifting assembly 22 includes a lifting mounting frame 221, slide rails 223, a lifting hydraulic cylinder 224, a fixed support frame 225, and a floating support module 226. The lifting mounting frame 221 is fixedly mounted on the swing rotating frame 214, and multiple sets of guide grooves 222 are symmetrically opened on the lifting mounting frame 221. Multiple sets of slide rails 223 are symmetrically fixedly mounted on the fixed support frame 225, and the guide grooves 222 are slidably connected to the slide rails 223. The lifting hydraulic cylinder 224 is fixedly mounted on the lifting mounting frame 221, and the output end of the lifting hydraulic cylinder 224 is fixedly connected to the fixed support frame 225. The floating support module 226 is mounted on the fixed support frame 225. The floating support module 226 includes a spring 2261, a limiting block 2262, a guide rod 2263, a floating mounting plate 2264, and casters 2265. Multiple guide rods 2263 are uniformly and evenly fixedly installed in a circular array on the floating mounting plate 2264. The guide rods 2263 are slidably connected to the fixed support frame 225. The limiting block 2262 is fixedly installed on the top of each guide rod 2263. A spring 2261 is sleeved on each guide rod 2263. One end of the spring 2261 is fixedly connected to the limiting block 2262, and the other end is fixedly connected to the fixed support frame 225. Casters 2265 are uniformly and evenly fixedly installed in a circular array at the bottom of the fixed support frame 225.

[0029] like Figures 5-8 As shown, the rotating assembly 31 includes a clearance drive motor 311 and a clearance rotating platform 312. The clearance drive motor 311 is fixedly mounted on the floating mounting plate 2264, and the fixed support frame 225 has a circular groove for making way for the clearance drive motor 311. The output end of the clearance drive motor 311 is fixedly mounted on the clearance rotating platform 312, and the rotating mounting frame 32 is fixedly mounted on the clearance rotating platform 312. The avoidance trigger assembly 33 includes a trigger block 331, a mounting base 332, a round rod 333, a second spring 334, a movable connecting block 335, and a fixed connecting block 336. The trigger block 331 is fixedly mounted on the avoidance rotating rod 34. The mounting base 332 is fixedly mounted on the rotating mounting bracket 32. The round rod 333 is slidably connected to the mounting base 332. The movable connecting block 335 is fixedly mounted in the middle of the round rod 333. The second spring 334 is sleeved on the round rod 333. One end of the second spring 334 is fixedly connected to the mounting base 332, and the other end of the second spring 334 is fixedly connected to the movable connecting block 335. The fixed connecting block 336 is fixedly mounted on the mounting base 332. The end of the round rod 333 passes through the mounting base 332 and abuts against the trigger block 331. The control circuit of the avoidance drive motor 311 is disconnected. One end of the disconnected control circuit of the avoidance drive motor 311 is electrically connected to the movable connecting block 335, and the other end of the disconnected control circuit of the avoidance drive motor 311 is electrically connected to the fixed connecting block 336. When the movable connecting block 335 and the fixed connecting block 336 are in contact, the control circuit of the avoidance drive motor 311 is closed.

[0030] In this embodiment, the positioning drive motor 211 drives the positioning drive gear 212 to rotate, and the positioning drive gear 212 drives the positioning rotating frame 214 to rotate through the positioning driven gear 213, thereby driving the lifting mounting frame 221 to rotate. This allows the lifting mounting frame 221 and its related structures mounted on it to retract to the rear of the traveling vehicle 1 in the non-operating state, facilitating movement between rows in the orchard. During operation, the positioning drive gear 212 drives the positioning rotating frame 214 and the lifting mounting frame 221 to unfold through the positioning driven gear 213. The lifting hydraulic cylinder 224 drives the fixed support frame 225 in the guide groove 2. Under the limiting action of 22 and slide rail 223, it moves vertically, thereby moving the weeding component 42 away from the ground in the non-operating state, and moving it downward to weed in the operating state; after moving downward, the caster wheel 2265 contacts the ground, and the floating mounting plate 2264 and guide rod 2263 move vertically relative to the fixed support frame 225, causing the spring 2261 to be compressed; thus, during operation, through the floating support of the caster wheel 2265, spring 2261, and guide rod 2263, it is easy to adjust itself when moving on uneven road surfaces, so that the rotary tillage depth of the weeding component 42 remains stable; When moving horizontally, the avoidance lever 34 is perpendicular to the direction of travel. The trigger block 331 on the avoidance lever 34 presses against the round rod 333, causing the round rod 333 to move on the mounting base 332. At this time, the moving connecting block 335 moves away from the fixed connecting block 336, the control circuit of the avoidance drive motor 311 is disconnected, and the second spring 334 is compressed. When the avoidance lever 34 is blocked by a fruit tree, the avoidance lever 34 is pushed, causing the trigger block 331 to move away from the round rod 333. The torque between the avoidance lever 34 and the rotating mounting bracket 32 ​​is reduced. The spring twists; the spring 334 returns to its original position, causing the round rod 333 to move, so that the moving connecting block 335 on the round rod 333 is pressed against the fixed connecting block 336. The control circuit of the obstacle avoidance drive motor 311 is closed, triggering the obstacle avoidance drive motor 311 to start and drive the obstacle avoidance rotating table 312 to rotate, thereby driving the rotating mounting frame 32 to rotate; the rotating mounting frame 32 drives the weeding rotating disk 41 to rotate, completing the obstacle avoidance. At this time, the torsion spring between the obstacle avoidance rod 34 and the rotating mounting frame 32 returns to its original position, causing the obstacle avoidance rod 34 to return to its original position.

[0031] Example 3: In some embodiments, as a preferred embodiment of the present invention, such as Figure 6 , Figure 8 and Figure 9 As shown, the weeding component 42 includes a weeding mounting frame 421, a weeding shaft 422, a rotary tiller 423, and a rotary tiller plate 424. The weeding mounting frame 421 is fixedly mounted on the weeding rotating disk 41. The weeding shaft 422 is rotatably mounted on the weeding mounting frame 421. Multiple sets of rotary tillers 423 are evenly fixedly mounted in a circular array on the weeding shaft 422. The rotary tillers 424 are fixedly mounted on the rotary tillers 423. The drive assembly 43 includes a weeding drive motor 431, a weeding drive gear 432, a weeding driven gear 433, a protective box 434, and a drive shaft 435. The protective box 434 is fixedly mounted on the weeding rotating disk 41, and the weeding drive motor 431 is fixedly mounted inside the protective box 434. The weeding drive gear 432 is fixedly mounted at the output end of the weeding drive motor 431. The drive shaft 435 is rotatably mounted on the protective box 434. One end of the drive shaft 435 is fixedly connected to the weeding shaft 422, and the other end of the drive shaft 435 is fixedly mounted with the weeding driven gear 433. The weeding driven gear 433 meshes with the weeding drive gear 432. The second drive assembly 44 includes a rotary drive motor 441, a drive gear 442, and a drive gear ring 443. The rotary drive motor 441 is fixedly mounted on the rotary mounting bracket 32. The output end of the rotary drive motor 441 is fixedly mounted with the drive gear 442. The drive gear ring 443 is fixedly mounted on the weeding rotary disc 41. The drive gear 442 and the drive gear ring 443 are meshed together.

[0032] like Figure 3 and Figure 4As shown, the second lifting assembly 51 includes a second mounting base 511, a mounting arm 512, and a second lifting hydraulic cylinder 513. The second mounting base 511 is fixedly installed on the front side of the traveling vehicle 1. The mounting arms 512 are symmetrically distributed on both sides of the weeding support frame 52. One end of the mounting arm 512 is rotatably connected to the second mounting base 511, and the other end of the mounting arm 512 is rotatably connected to the weeding support frame 52. The second lifting hydraulic cylinder 513 is rotatably installed on the front side of the traveling vehicle 1, and the output end of the second lifting hydraulic cylinder 513 is rotatably connected to the weeding support frame 52. The second weeding component 53 has the same structure as the first weeding component 42; The drive assembly 3 54 includes a transmission assembly 2 541 and a weeding drive motor 2 542. The weeding drive motor 2 542 is fixedly installed in the mounting base 2 511. The output end of the weeding drive motor 2 542 is fixedly connected to the power input end of the transmission assembly 2 541. The power output end of the transmission assembly 2 541 is fixedly connected to the power input end of the weeding assembly 2 53. Transmission component 2 541 adopts a belt and pulley transmission structure, with both the power input end and the power output end of transmission component 2 541 being pulleys.

[0033] In this embodiment, the rotary drive motor 441 drives the drive gear 442 to rotate, and the drive gear 442 drives the weeding rotary disk 41 to rotate through the drive gear ring 443; the weeding drive motor 431 drives the weeding drive gear 432 to rotate, and the weeding drive gear 432 drives the transmission shaft 435 to rotate through the weeding driven gear 433, and the transmission shaft 435 drives the weeding shaft 422 to rotate, thereby driving the rotary tiller frame 423 to rotate the rotary tiller plate 424, which cuts the grass roots and performs shallow rotary tillage on the soil; thus completing the weeding of the orchard, and always keeping a set of weeding rotary disks 41 behind the wheels of the traveling vehicle 1, so as to facilitate rotary tillage of the compacted soil; and preventing the soil from being compacted and solidified. The second lifting hydraulic cylinder 513 drives the weeding support frame 52 and the second mounting base 511 to move, so that the second weeding component 53 on the weeding support frame 52 is lifted off the ground in the non-operation state, and the weeding support frame 52 and the second weeding component 53 move down in the operation state; when operating, the second weeding drive motor 542 drives the second weeding component 53 through the transmission component 541, and the weeding component 53 performs inter-row weeding operation.

[0034] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An obstacle-avoidance orchard weeding device, comprising a traveling vehicle (1), a moving mechanism (2), an obstacle avoidance mechanism (3), a rotary tillage weeding mechanism (4), and an inter-row weeding mechanism (5), characterized in that: The front side of the traveling vehicle (1) is equipped with a weeding mechanism (5) for weeding, and the rear side of the traveling vehicle (1) is symmetrically equipped with a moving mechanism (2). The moving mechanism (2) includes a positioning component (21) and a lifting component (22). The positioning component (21) is mounted on the traveling vehicle (1), and the lifting component (22) is mounted on the moving end of the positioning component (21). The moving end of the lifting component (22) is mounted with an obstacle avoidance mechanism (3). The avoidance mechanism (3) includes a rotating component (31), a rotating mounting frame (32), an avoidance triggering component (33), and an avoidance rotating rod (34). The rotating component (31) is installed on the moving end of the lifting component (22). The rotating mounting frame (32) is installed on the moving end of the rotating component (31). The three avoidance rotating rods (34) are evenly distributed in a circular array on the rotating mounting frame (32). One end of the avoidance rotating rod (34) is hinged to the rotating mounting frame (32). The avoidance rotating rod (34) and the rotating mounting frame (32) are fitted with a fitting structure for bringing the avoidance rotating rod (34) closer to the avoidance triggering component (33). Three sets of avoidance triggering components (33) are evenly installed in a circular array on the rotating mounting frame (32). Three sets of rotary tillage and weeding mechanisms (4) for weeding are evenly rotated and installed at equal intervals on the rotating mounting frame (32); when the traveling vehicle (1) moves along the rows of fruit trees, one set of rotary tillage and weeding mechanisms (4) is located behind the wheels of the traveling vehicle (1).

2. The obstacle-avoidance orchard weeding device according to claim 1, characterized in that, The rotary tillage and weeding mechanism (4) includes a weeding rotary disc (41), a weeding component one (42), a drive component one (43) and a drive component two (44). The weeding rotary disc (41) is rotatably mounted on a rotary mounting frame (32). The rotary mounting frame (32) is equipped with a drive component two (44) for driving the weeding rotary disc (41) to rotate. Multiple sets of weeding components one (42) are evenly installed in a circular array on the lower side of the weeding rotary disc (41). The weeding rotary disc (41) is equipped with a drive component one (43) for driving the multiple sets of weeding components one (42).

3. The obstacle-avoidance orchard weeding device according to claim 2, characterized in that, The inter-row weeding mechanism (5) includes a second lifting component (51), a weeding support frame (52), a second weeding component (53), and a third driving component (54). The second lifting component (51) is installed on the front side of the traveling vehicle (1). The moving end of the second lifting component (51) is equipped with a weeding support frame (52). The second weeding component (53) for weeding is installed on the weeding support frame (52). The third driving component (54) for driving the second weeding component (53) is installed on the second lifting component (51).

4. The obstacle-avoidance orchard weeding device according to claim 3, characterized in that, The positioning assembly (21) includes a positioning drive motor (211), a positioning drive gear (212), a positioning driven gear (213), and a positioning rotating frame (214). The positioning drive motor (211) is fixedly installed inside the traveling vehicle (1). The positioning drive gear (212) is fixedly installed at the output end of the positioning drive motor (211). The positioning rotating frame (214) is rotatably installed on the rear side of the traveling vehicle (1). The positioning driven gear (213) is fixedly installed on the positioning rotating frame (214). The positioning drive gear (212) and the positioning driven gear (213) are meshed together.

5. The obstacle-avoidance orchard weeding device according to claim 4, characterized in that, The lifting assembly (22) includes a lifting mounting frame (221), a slide rail (223), a lifting hydraulic cylinder (224), a fixed support frame (225), and a floating support module (226). The lifting mounting frame (221) is fixedly mounted on the swing rotating frame (214), and multiple sets of guide grooves (222) are symmetrically opened on the lifting mounting frame (221). Multiple sets of slide rails (223) are symmetrically fixedly mounted on the fixed support frame (225), and the guide grooves (222) are limited and slidably connected to the slide rails (223). The lifting hydraulic cylinder (224) is fixedly mounted on the lifting mounting frame (221), and the output end of the lifting hydraulic cylinder (224) is fixedly connected to the fixed support frame (225). The floating support module (226) is mounted on the fixed support frame (225).

6. The obstacle-avoidance orchard weeding device according to claim 5, characterized in that, The floating support module (226) includes a spring (2261), a limiting block (2262), a guide rod (2263), a floating mounting plate (2264), and casters (2265). Multiple guide rods (2263) are uniformly fixedly installed in a circular array on the floating mounting plate (2264). The guide rods (2263) are slidably connected to the fixed support frame (225). The limiting block (2262) is fixedly installed on the top of the guide rods (2263). The spring (2261) is sleeved on the guide rods (2263). One end of the spring (2261) is fixedly connected to the limiting block (2262), and the other end of the spring (2261) is fixedly connected to the fixed support frame (225). Casters (2265) are uniformly fixedly installed in a circular array at equal intervals at the bottom of the fixed support frame (225).

7. The obstacle-avoidance orchard weeding device according to claim 6, characterized in that, The rotating assembly (31) includes a clearance drive motor (311) and a clearance rotating platform (312). The clearance drive motor (311) is fixedly mounted on a floating mounting plate (2264). A circular groove is provided on the fixed support frame (225) to allow clearance for the clearance drive motor (311). The clearance rotating platform (312) is fixedly mounted on the output end of the clearance drive motor (311). The rotating mounting frame (32) is fixedly mounted on the clearance rotating platform (312).

8. The obstacle-avoidance orchard weeding device according to claim 7, characterized in that, The avoidance trigger assembly (33) includes a trigger block (331), a mounting base (332), a round rod (333), a spring (334), a movable connecting block (335), and a fixed connecting block (336). The trigger block (331) is fixedly mounted on the avoidance rotating rod (34). The mounting base (332) is fixedly mounted on the rotating mounting frame (32). The round rod (333) is slidably connected to the mounting base (332). The movable connecting block (335) is fixedly mounted in the middle of the round rod (333). The spring (334) is sleeved on the round rod (333). One end of the spring (334) is fixedly connected to the mounting base (332), and the other end of the spring (334) is fixedly connected to the movable connecting block (335). The fixed connecting block (336) is fixedly mounted on the mounting base (332). The end of the round rod (333) passes through the mounting base (332) and abuts against the trigger block (331).

9. The obstacle-avoidance orchard weeding device according to claim 8, characterized in that, The weeding component 1 (42) includes a weeding mounting frame (421), a weeding shaft (422), a rotary tiller (423), and a rotary tiller plate (424). The weeding mounting frame (421) is fixedly mounted on the weeding rotating disk (41). The weeding shaft (422) is rotatably mounted on the weeding mounting frame (421). Multiple sets of rotary tillers (423) are fixedly mounted in a circumferential array at equal intervals on the weeding shaft (422). The rotary tiller plate (424) is fixedly mounted on the rotary tiller (423).

10. The obstacle-avoidance orchard weeding device according to claim 9, characterized in that, The drive assembly (43) includes a weeding drive motor (431), a weeding drive gear (432), a weeding driven gear (433), a protective box (434), and a drive shaft (435). The protective box (434) is fixedly installed on the weeding rotating disk (41). The weeding drive motor (431) is fixedly installed inside the protective box (434). The weeding drive gear (432) is fixedly installed at the output end of the weeding drive motor (431). The drive shaft (435) is rotatably installed on the protective box (434). One end of the drive shaft (435) is fixedly connected to the weeding shaft (422), and the other end of the drive shaft (435) is fixedly installed with the weeding driven gear (433). The weeding driven gear (433) meshes with the weeding drive gear (432).

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