Oppositely-arranged row-plant intertillage weeding rotary knife mechanism and weeding method thereof

Abstract

The invention provides an opposed row and plant intertillage weeding rotary knife mechanism and a weeding method thereof, the weeding rotary knife mechanism comprises an outer frame group suspension bracket, the outer frame group suspension bracket is connected with a power machine, and the outer frame group suspension bracket is also provided with an inner frame group rack, a plant weeding monomer, a row weeding monomer and an energy continuous supply module; the outer frame group suspension bracket is matched with a lifting and descending electric push rod, a corresponding guide rail, a sliding block and other structures, so that the weeding rotary knife mechanism can realize self-adaptive adjustment of the operation depth and active profiling; the inter-row weeding unit comprises four groups of inter-row weeding roller cutters and can adjust the soil penetrating depth and angle, the number of the inter-plant weeding units is three, each group comprises a positive and negative tooth screw rod module, two groups of rotary cutter weeding mechanisms and an electronic ruler, and inter-plant weeding rotary cutters are used for smashing weeds and intertilling and loosening soil through high-speed reciprocating rotation. The device can realize accurate intertillage weeding operation of three rows of crops at the same time, and is compact in structure, accurate in seedling avoiding, low in seedling damage rate, high in weeding coverage rate, high in automation degree and simple to control.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery design technology, and in particular relates to an opposed-type inter-row weeding rotary blade mechanism and its weeding method. Background Technology

[0002] my country ranks among the world's top producers and consumers of grain. However, according to statistics, about 100 million hectares of land are damaged by weeds every year, resulting in a loss of about 60 million tons of grain. Weeds are one of the factors that have the greatest impact on crop yields during the growth process. They not only compete for nutrients, water and sunlight in the soil, but also breed pests that harm the plants. Therefore, timely and accurate weeding is an important part of field management.

[0003] Most existing weeding and cultivation machinery can only perform weeding between rows. For weeds between individual plants, manual or chemical weeding is the primary method, resulting in low efficiency, high cost, and a high risk of herbicide damage. Current mechanical weeding devices for between plants often use fixed rotating blades combined with physical seedling-avoidance mechanisms such as swing arms or tendrils. These devices are effective during the seedling stage, but as crops grow, the stems thicken and their position may shift, making their rigid seedling-avoidance methods highly susceptible to damage. Some devices can perform both row and plant-based weeding, but these traditional machines lack adaptability to terrain undulations, have unstable operating depths, and the row and plant weeding components often operate independently with poor coordination. The overall mechanism is also difficult to adjust, making it hard to adapt to diverse agronomic requirements.

[0004] To solve the above-mentioned technical problems, this invention designs an integrated weeding and cultivation equipment that can achieve efficient weeding in rows and between plants, and has precise seedling avoidance and intelligent shape-following functions. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an opposing rotary blade mechanism for inter-row cultivation and weeding, along with its weeding method. This mechanism features a compact structure, precise seedling avoidance, low seedling damage rate, high weed coverage, strong adaptability to different agronomic conditions, applicability to various crops with different plant spacing, high degree of automation, and simple control. It can meet the inter-row cultivation and weeding needs of most single-plant-growing crops with different growth cycles and plant / row spacing.

[0006] The present invention achieves the above-mentioned technical objectives through the following technical means.

[0007] A counter-positioned inter-row weeding rotary blade mechanism includes an outer frame suspension frame, on which an inner frame frame, an inter-row weeding unit, an inter-row weeding unit, and a continuous energy supply module are mounted.

[0008] Furthermore, the outer frame assembly suspension frame includes a lifting and lowering electric actuator. The fixed end of the lifting and lowering electric actuator is mounted on the power machinery, and the telescopic end is connected to the actuator connecting plate. The actuator connecting plate is connected to the outer frame assembly frame. Translation guide rails are installed on both sides of the outer frame assembly frame. A transverse slider is installed on the translation guide rail. The transverse slider is bolted to the longitudinal small slider via a slider adapter plate. The longitudinal small slider is connected to the longitudinal small guide rail, which is bolted to the short suspension fixing frame. A longitudinal large slider is fixed on both sides of the outer frame assembly frame. A longitudinal long guide rail is bolted to the long suspension fixing frame, and the longitudinal large slider is connected to the longitudinal long guide rail. Both the long and short suspension fixing frames are connected to the power machinery. The inner frame assembly frame is bolted inside the outer frame assembly frame.

[0009] Furthermore, the inner frame assembly includes a sensor module, a motion control module, and an inner frame assembly body. The inter-plant weeding unit, the inter-row weeding unit, and the power supply module are all bolted to the inner frame assembly, and the inner frame assembly body is bolted to the inside of the outer frame assembly. The sensor module and the motion control module are both installed inside the inner frame assembly body. The sensor module collects the height above the ground in real time and transmits the detection data to the motion control module. The motion control module collects the data in real time through the A / D conversion module and controls the lifting and lowering electric actuators for position adjustment. The motion control module also measures the position of the inter-plant weeding rotary blades in real time through the sensor module, forming a reciprocating motion closed-loop control.

[0010] Furthermore, the inter-plant weeding unit includes a module base plate fixed on the inner frame assembly frame, a bearing seat fixed on the module base plate, a threaded rod installed at the upper limit of the bearing seat, and an inter-plant reciprocating motor connected to the threaded rod via a coupling; module linear guides are also installed on the module base plate on both sides of the threaded rod, and two module sliders are threadedly connected to the threaded rod, while the module sliders are also slidably installed on the module linear guides, and a rotary blade seat is connected to the module slider by bolts;

[0011] The rotary cutter holder is fixed with a rotary cutter motor and a rotary cutter motor reducer. The rotary cutter motor reducer is connected to one end of the rotary cutter shaft through a diaphragm coupling to transmit power. Two rotary cutter fixed bearing seats are also installed at the bottom of the rotary cutter holder. The other end of the rotary cutter shaft passes through the rear end of the rotary cutter fixed bearing seat and is connected to the D-shaped hole of the rotary cutter disc. Rotary cutters are installed on the rotary cutter disc.

[0012] Furthermore, the motion of the individual weeding blades between plants is a superposition of uniform linear motion and simple harmonic motion, which is a two-dimensional nonlinear motion in space, and its motion follows the following formula:

[0013]

[0014] In the formula, Decompose the coordinates horizontally. Decompose the coordinate system vertically. The radius of rotation of the rotary cutter; The angular velocity of the rotary cutter; For time; The overall forward speed of the weeding rotary cutter mechanism; The lateral displacement of the entire weeding rotary cutter mechanism is perpendicular to the forward direction. The cycle of the reciprocating motion of a single weeding blade between plants;

[0015] Absolute velocity at any point during the operation of the rotary cutter as follows:

[0016]

[0017] The interaction between the rotary cutter and soil particles is as follows:

[0018]

[0019] in:

[0020]

[0021] In the formula, Indicates the cutting edge Velocity in the axial direction, Indicates the cutting edge Velocity in the axial direction, Indicates soil gravity; This indicates the frictional force acting on the cutting tool. This indicates the soil pressure exerted on the cutting tool; Indicates entrainment acceleration; Represents Coriolis acceleration; Represents relative acceleration; Indicates the angle between the rake face and the flank face; This indicates the angle between the entrainment acceleration and the machine's forward speed; The angle between the frictional force acting on the tool and the horizontal axis; This represents the absolute acceleration along the direction of motion; This is expressed as the rotation angle of the rotary cutter; It represents the absolute velocity along the direction of motion.

[0022] Furthermore, the inter-row weeding unit includes a full-row adjustable mounting bracket and a half-row adjustable mounting bracket connected to the inner frame assembly frame by bolts; the full-row weeding roller is fixed on the full-row adjustable mounting bracket by an internal hexagonal bearing, a full-row roller fixing shaft, and a roller shaft fixing pin; the half-row weeding roller is mounted on the half-row adjustable mounting bracket by an inter-row assembly bearing, an inter-row bearing retaining ring, and a half-row roller fixing shaft.

[0023] Furthermore, the continuous energy supply module is located on the upper end of the outer frame assembly and includes a communication interface and a rotary blade assembly power supply module; the motion control module inside the inner frame assembly communicates with the host computer inside the power machinery through the communication interface to realize weeding motion control.

[0024] A weeding method utilizing the aforementioned opposed-row inter-row rotary weeding mechanism includes the following steps:

[0025] Preliminary connection and adjustment of the entire machine before operation;

[0026] Working depth setting and contour control: The required weeding depth is set via the host computer of the power machinery. After the operation begins, the sensor module in the inner frame continuously emits and receives ultrasonic signals using ultrasonic sensors to calculate the distance between the weeding rotary blade mechanism and the ground in real time. The motion control module in the inner frame collects this distance data and compares it with the set depth value. If ground undulations are detected that cause changes in the actual distance, a control signal is immediately output to drive the lifting and lowering electric push rod to extend or shorten. This, in turn, pushes the large longitudinal slider and the small longitudinal slider along the long longitudinal guide rail and the small longitudinal guide rail, thereby driving the entire inner frame and all weeding units to achieve vertical lifting and lowering, always maintaining a constant depth of cutting into the soil with the rotary blade and the roller blade. The sensor module uses a potentiometer installed on the lifting and lowering electric push rod to feed back the position of the lifting and lowering electric push rod to the motion control module in real time, forming a closed-loop control to ensure the stability and accuracy of contour control.

[0027] Intelligent inter-plant weeding operation: The inter-plant reciprocating motion motor and rotary blade motor on the inter-plant weeding unit are activated according to the instructions of the motion control module. The inter-plant reciprocating motion motor controls the screw device to drive the rotary blade to reciprocate laterally, while the rotary blade motor drives the rotary blade to rotate at high speed to achieve inter-plant weeding. The high-speed rotating rotary blade itself is in a circular motion. This circular motion is superimposed with the lateral reciprocating motion and the uniform forward motion brought by the forward movement of the power machinery, and finally synthesizes a complex two-dimensional nonlinear absolute motion trajectory. By controlling the reciprocating motion cycle and amplitude of the inter-plant weeding blade, the rotary blade maintains an efficient cutting speed in most inter-plant areas. When it moves to the preset seedling protection area close to the crop stem, the speed direction of the lateral reciprocating motion causes it to have a tendency to move away from the stem momentarily, thereby reducing the collision force and the probability of damaging the seedlings. During this process, the sensor module uses an electronic ruler to provide real-time feedback on the actual position of the module slider on the screw device. The motion control module corrects the deviation in real time accordingly to ensure that the actual motion trajectory of the rotary blade accurately tracks the theoretical trajectory.

[0028] Inter-row coordinated weeding operation: While weeding between plants, the inter-row weeding unit works synchronously; when the power machinery moves forward, the full-row weeding roller and half-row weeding roller of the inter-row weeding unit are passively rotated around the fixed shaft of the full-row roller and the fixed shaft of the half-row roller under the action of soil resistance. The curved tooth structure on it completes the cutting, pulling up of weeds between rows and the slight loosening of soil during the rolling process.

[0029] Throughout the weeding process, the power required by the rotary weeding mechanism is centrally managed by the continuous energy supply module. After the DC power input from the power machinery is passed through the DC-DC converter inside the continuous energy supply module, it is distributed into multiple independent and stable power supplies of 48V, 24V, and 12V. The motion control module is connected to the communication interface on the continuous energy supply module and communicates at high speed with the host computer inside the power machinery through the CAN bus. The operator sets all operating parameters and start / stop mechanisms on the screen and monitors the load current of each motor, sensor data, and alarm information in real time.

[0030] The present invention has the following beneficial effects:

[0031] Deep contour-following closed-loop control: Ultrasonic sensors measure the height above the ground in real time, and the motion control module compares this with the set working depth. A PID algorithm controls the lifting and lowering of the electric actuator, enabling the mechanism to automatically rise and fall with the terrain, maintaining a constant weeding depth. A built-in potentiometer in the electric actuator provides position feedback.

[0032] Inter-plant path tracking closed-loop control: The motion control module generates the target motion trajectory according to preset parameters, controls the inter-plant reciprocating motion motor to drive the module slider, and provides real-time feedback of the slider position through an electronic ruler, forming a position closed loop to ensure that the cutter accurately tracks the preset seedling avoidance path.

[0033] Collaborative monitoring: The motion control module communicates with the host computer via the CAN bus, receives operation instructions and uploads the running status, realizing human-machine interaction and intelligent management. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the overall structure of the opposed-row inter-row weeding rotary blade mechanism described in this invention.

[0035] Figure 2 This is a front view of the opposed-row inter-row weeding rotary blade mechanism described in this invention;

[0036] Figure 3 This is a side view of the opposed-row inter-row weeding rotary blade mechanism described in this invention;

[0037] Figure 4 This is a top view of the opposed-row inter-row weeding rotary blade mechanism described in this invention;

[0038] Figure 5 This is a schematic diagram of the overall structure of the inter-plant weed control unit described in this invention;

[0039] Figure 6 This is a schematic diagram of the weeding method using the opposed-row inter-row rotary weeding and cutting mechanism described in this invention.

[0040] In the diagram: 1-Outer frame assembly suspension bracket; 2-Inner frame assembly frame; 3-Inter-plant weeding unit; 4-Inter-row weeding unit; 5-Continuous energy supply module; 101-Lifting and lowering electric actuator; 102-Actuator connecting plate; 103-Long suspension fixing bracket; 104-Longitudinal large slider; 105-Longitudinal long guide rail; 106-Outer frame assembly frame; 107-Longitudinal small guide rail; 108-Longitudinal small slider; 109-Short suspension fixing bracket; 110-Translation guide rail; 111-Transverse slider; 112-Slider adapter plate; 201-Sensor module; 202-Motion control module; 203-Inner frame assembly frame body; 301-Inter-row clockwise rotary blade; 302-Inter-row counter-clockwise rotary blade; 303-Rotary blade shaft; 304-Rotary blade disc; 305-Rotary blade fixing bearing seat; 306-Bearing retaining ring and snap ring; 307-Rotary blade seat; 308-Diaphragm coupling; 309-Rotating blade motor; 310-Inter-plant reciprocating motor; 311-Module base plate; 312-Coupling; 313-Bearing seat; 314-Threaded screw; 315-Module slider; 316-Module linear guide; 317-Rotating blade motor reducer; 401-Half-row adjustment mounting bracket; 402-Half-row weeding roller; 403-Hexagonal internal bearing; 404-Inter-row bearing retaining ring; 405-Inter-row assembly bearing; 406-Full-row weeding roller; 407-Rotating blade shaft fixing pin; 408-Full-row adjustment mounting bracket; 409-Full-row roller fixing shaft; 410-Half-row roller fixing shaft; 501a-First rotating blade group power supply module; 501b-Second rotating blade group power supply module; 501c-Third rotating blade group power supply module; 502-Communication interface; 6-Crop. Detailed Implementation

[0041] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the scope of protection of the present invention is not limited thereto. In the description of the present invention, it should be understood that the terms "installation", "connection", "fixing", etc. should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral connection; it can refer to a direct connection, an indirect connection through an intermediate medium, or a connection within two components. For those skilled in the art, the specific meaning of the above terms in the present invention can be understood according to the specific circumstances.

[0042] like Figure 1As shown, the opposed-row inter-row weeding rotary blade mechanism of the present invention includes an outer frame suspension frame 1, an inner frame frame 2, an inter-row weeding unit 3, an inter-row weeding unit 4, and a continuous energy supply module 5.

[0043] like Figure 2 , 3 As shown, the outer frame assembly suspension frame 1 includes a lifting and lowering electric push rod 101, a push rod connecting plate 102, a long suspension fixing frame 103, a longitudinal large slider 104, a longitudinal long guide rail 105, an outer frame assembly frame 106, a longitudinal small guide rail 107, a longitudinal small slider 108, a short suspension fixing frame 109, a translation guide rail 110, a transverse slider 111, and a slider adapter plate 112.

[0044] like Figure 2 , 3 As shown, the fixed end of the lifting and lowering electric push rod 101 is installed on the power mechanical end of the weeder via a shaft pin, and the telescopic end is connected to the push rod connecting plate 102. The push rod connecting plate 102 is connected to the outer frame assembly frame 106. Both sides of the outer frame assembly frame 106 are equipped with translation guide rails 110, and transverse sliders 111 are installed on the translation guide rails 110. The longitudinal small slider 108 and the transverse slider 111 are connected by bolts through a slider adapter plate 112. The longitudinal small guide rail 107 is bolted to the short suspension fixing frame 109, and the longitudinal small slider 108 is connected to the longitudinal small guide rail 107. The longitudinal large slider 104 is directly fixed to both sides of the outer frame assembly frame 106, and the longitudinal long guide rail 105 is bolted to the long suspension fixing frame 103. The longitudinal large slider 104 and the longitudinal long guide rail 105 are connected. Both the long suspension fixing frame 103 and the short suspension fixing frame 109 are connected to the weeder.

[0045] like Figure 2 , 3 As shown, the lifting and lowering power of the electric push rod 101 is transmitted through the push rod connecting plate 102, causing the large and small sliders (i.e., the longitudinal large slider 104 and the longitudinal small slider 108) to move in a limited position along the slide rails (i.e., the longitudinal long guide rail 105 and the longitudinal small guide rail 107), thereby driving the weeding rotary blade mechanism to rise and fall. The longitudinal small slider 108 is connected to the transverse slider 111 through the slider adapter plate 112, providing a limit for the left and right movement of the mechanism, while the transverse slider 111 has variable vertical angle.

[0046] like Figure 3As shown, the inner frame assembly 2 includes a sensor module 201, a motion control module 202, and an inner frame assembly frame body 203. The inter-plant weeding unit 3, the inter-row weeding unit 4, and the power supply module 5 are all installed on the inner frame assembly frame 203 via pre-drilled bolt holes and matching bolts. The inner frame assembly frame body 203 is bolted inside the outer frame assembly frame 106, allowing for quick replacement. The sensor module 201 and motion control module 202 are both installed inside the inner frame assembly frame body 203. The sensor module 201 collects the height above the ground in real time and transmits the detection data to the motion control module 202 for subsequent analysis. The motion control module 202 collects data in real time through an A / D conversion module and controls the lifting and lowering electric actuator 101 for position adjustment. The potentiometer in the sensor module 201 (including a potentiometer, electronic ruler, and ultrasonic sensor) forms a closed-loop control. Simultaneously, the electronic ruler measures the position of the inter-plant weeding rotary blades in real time and provides real-time feedback to the motion control module 202, forming a reciprocating motion closed loop.

[0047] like Figure 1 , 2 As shown in Figure 5, the inter-row weeding unit 3 includes an inter-row clockwise rotary blade 301, an inter-row counter-clockwise rotary blade 302, a rotary blade shaft 303, a rotary blade disc 304, a rotary blade fixed bearing seat 305, a rotary blade seat 307, a diaphragm coupling 308, a rotary blade motor 309, an inter-row reciprocating motor 310, a module base plate 311, a coupling 312, a bearing seat 313, a threaded screw 314, a module slider 315, a module linear guide 316, a rotary blade motor reducer 317, and a bearing retaining ring and snap ring 306.

[0048] like Figure 1 , 2 As shown in Figure 5, the module base plate 311 is fixed on the inner frame frame 203, the bearing seat 313 is fixed on the module base plate 311, and the upper limit of the bearing seat 313 is installed with the threaded rod 314. The inter-plant reciprocating motion motor 310 is connected to the threaded rod 314 through the coupling 312. The module base plate 311 on both sides of the threaded rod 314 is also equipped with module linear guides 316. Two module sliders 315 are threadedly connected to the threaded rod 314. At the same time, the module sliders 315 are also provided with grooves that match the module linear guides 316. The module sliders 315 are slidably installed on the module linear guides 316. The rotary cutter seat 307 is bolted to the module sliders 315. The inter-plant reciprocating motion motor 310 can drive the threaded rod 314 to rotate, so that the module sliders 315 reciprocate on the module linear guides 316, thereby driving the corresponding inter-plant weeding structure to reciprocate.

[0049] like Figure 1 , 2As shown in Figure 5, the inter-plant weeding structure includes a rotary blade motor 309 and a rotary blade motor reducer 317 fixed on the corresponding rotary blade holder 307. The rotary blade motor reducer 317 is connected to one end of the rotary blade shaft 303 via a diaphragm coupling 308 to transmit power. Two rotary blade fixing bearing seats 305 are also installed at the lower part of the rotary blade holder 307. The other end of the rotary blade shaft 303 passes through the rear end of the rotary blade fixing bearing seat 305 and is connected to the D-shaped hole of the rotary blade disc 304. In addition, the bearing retaining ring and the retaining ring 306 are also included. The grooves on both ends of the shaft of the rotary cutter shaft 303 serve as axial limiters to prevent the bearings and shaft from falling off or undergoing axial displacement. The shaft has grooves that hold the retaining springs, and the bearing retaining rings are clamped on both sides of the bearing. Bolts are locked onto the rotary cutter seat 307. Rotary cutters are installed on the rotary cutter disc 304. In this embodiment, preferably, in each group of inter-plant weeding units 3, one rotary cutter disc 304 is equipped with four inter-row clockwise rotary cutters 301, and the other rotary cutter disc 304 is equipped with four inter-row counter-clockwise rotary cutters 302. Each inter-plant weeding unit 3 constitutes a group. In this embodiment, preferably, three groups of inter-plant weeding units 3 are installed on the entire rotary weeding mechanism.

[0050] The motion of the weeding blade unit 3 between plants is a superposition of uniform linear motion and simple harmonic motion, which is a two-dimensional nonlinear motion in space, and its motion follows the following formula:

[0051]

[0052] In the formula, Decompose the coordinates horizontally. Decompose the coordinate system vertically. The radius of rotation of the rotary cutter is in meters. The angular velocity of the rotary cutter is expressed in rad / s. Time, in seconds; The overall forward speed of the rotary cutting mechanism for weeding is expressed in m / s. The lateral displacement of the entire weeding rotary cutter mechanism perpendicular to the forward direction is expressed in meters (m). The weeding blade between plants undergoes a reciprocating motion cycle of 3 cycles, of which The function takes its value when it is greater than or equal to 0, and takes 0 when it is less than 0.

[0053] The absolute velocity at any point during the operation of the rotary cutter Follow the formula below:

[0054]

[0055] The interaction between the rotary cutter and soil particles follows the formula:

[0056]

[0057] in:

[0058]

[0059] In the formula, Indicates the cutting edge Velocity in the axial direction, Indicates the cutting edge Velocity in the axial direction, This represents the weight of the soil, expressed in kg. This represents the frictional force acting on the cutting tool, expressed in Newton-hours (N). This indicates the soil pressure exerted on the cutting tool, expressed in N (newtons). This represents the entrainment acceleration, with units of m / s². 2 ; Represents Coriolis acceleration, with units of m / s². 2 ; Relative acceleration, measured in m / s² 2 ; This indicates the angle between the rake face and the flank face, in degrees. The angle between the traction acceleration and the machine's forward speed is expressed in deg. The angle between the frictional force acting on the tool and the horizontal axis is expressed in degrees (deg). This represents the absolute acceleration along the direction of motion, with units of m / s². 2 ; This is expressed as the rotation angle of the rotary cutter, in deg. This represents the absolute velocity along the direction of motion, measured in m / s.

[0060] like Figure 1 , 2 As shown in Figures 3 and 4, the inter-row weeding unit 4 includes a half-row adjustable mounting bracket 401, a half-row weeding roller 402, an internal hexagonal bearing 403, an inter-row bearing retaining ring 404, an inter-row assembly bearing 405, a full-row weeding roller 406, a roller shaft fixing pin 407, a full-row adjustable mounting bracket 408, a full-row roller fixing shaft 409, and a half-row roller fixing shaft 410.

[0061] like Figure 1 , 2As shown in Figures 3 and 4, both the full-row adjustable mounting bracket 408 and the half-row adjustable mounting bracket 401 are connected to the inner frame assembly frame 203 by bolts. The half-row adjustable mounting bracket 401 and the full-row adjustable mounting bracket 408 can achieve multi-hole installation and adjust the working depth. The full-row weeding roller 406 is fixed to the full-row adjustable mounting bracket 408 by the internal hexagonal bearing 403, the full-row roller fixing shaft 409, and the roller shaft fixing pin 407. Due to space constraints, the half-row weeding roller 402 is installed on the half-row adjustable mounting bracket 401 by the inter-row assembly bearing 405, the inter-row bearing retaining ring 404, and the half-row roller fixing shaft 410. There are two sets of each of the full-row weeding roller 406 and the half-row weeding roller 402.

[0062] like Figure 1 , 4 As shown, the continuous energy supply module 5 is located on the upper end of the outer frame 106, including the first rotary blade group power supply module 501a, the second rotary blade group power supply module 501b, and the third rotary blade group power supply module 501c. The three power supplies are independently connected to the power machinery through the aviation plug. It has 48V, 24V, and 12V power converter inputs. The communication interface 502 is connected to the host computer, and the upper and lower computers communicate through the CAN protocol to realize the weeding motion control.

[0063] Reference Figures 1 to 6 As shown, the working method of the opposed-row inter-row weeding rotary cutter mechanism of the present invention is as follows:

[0064] Machine Connection and Initial Adjustment: Before operation, connect the entire mechanism to the power machinery via the long suspension bracket 103 and short suspension bracket 109 on the outer frame suspension bracket 1. According to the crop row spacing of the field to be operated, manually or through the auxiliary drive device, adjust the position of the transverse slider 111 on the translation guide rail 110 to align the center line of the mechanism with the center of the crop row 6.

[0065] Working depth setting and contour control: The required weeding depth is set via the host computer of the power machinery; after operation begins, the ultrasonic sensor (integrated in the sensor module 201) installed at the front of the inner frame assembly frame 203 continuously emits and receives ultrasonic signals, calculating the distance between the weeding rotary blade mechanism and the ground in real time; the motion control module 202 collects this distance data and compares it with the set depth value. If ground undulations are detected causing a change in the actual distance, the motion control module 202 immediately outputs a control signal through its internal A / D module to drive the lifting and lowering electric actuator 101 to extend or retract; lifting... The lowering electric actuator 101 pushes the longitudinal large slider 104 and longitudinal small slider 108 along the longitudinal long guide rail 105 and longitudinal small guide rail 107 via the actuator connecting plate 102, thereby driving the entire inner frame assembly 2 and all weeding units to achieve vertical lifting and lowering, as if equipping the weeding rotary blade mechanism with "automatic balancing", always keeping the rotary blade and roller blade cutting into the soil at a constant depth; the potentiometer installed on the lifting and lowering electric actuator 101 feeds back the precise position of the lifting and lowering electric actuator 101 to the motion control module 202 in real time, forming a high-precision position closed loop, ensuring the stability and accuracy of contour control.

[0066] Intelligent inter-plant weeding operation: This is the core of the invention. In this embodiment, two inter-plant weeding units 3 symmetrically arranged on both sides of a row of crops 6 are used as an example for illustration, as follows:

[0067] Power start-up: The inter-plant reciprocating motor 310 and the rotary cutter motor 309 are started according to the command;

[0068] Composite motion generation: According to the instructions of the motion control module 202, the inter-plant reciprocating motor 310 drives the lead screw 314 to rotate, which in turn drives the module slider 315 and the entire rotary cutter holder 307 assembly to perform lateral reciprocating motion along the module linear guide 316. This motion is not a simple uniform motion, but incorporates simple harmonic motion components according to a mathematical model, and its speed and direction change periodically. At the same time, the power of the rotary cutter motor 309 is amplified by the reducer 317 and drives the rotary cutter shaft 303 and rotary cutter disk 304 to rotate at high speed through the diaphragm coupling 308. The rotary cutter mounted on the rotary cutter disk 304 rotates at high speed accordingly.

[0069] Trajectory Synthesis and Seed Avoidance Principle: The high-speed rotating blade's tip itself undergoes circular motion. This circular motion is superimposed with the constantly changing lateral reciprocating motion brought about by the module slider 315, and the uniform forward motion brought about by the forward movement of the power machinery, ultimately synthesizing a complex two-dimensional nonlinear absolute motion trajectory; through the aforementioned creatively designed reciprocating motion period... and amplitude This allows the rotary cutter to maintain a high cutting speed in most inter-plant areas. When it moves to the preset seedling protection zone near the crop 6 stems, the lateral reciprocating motion will cause it to momentarily move away from the stems, thus greatly reducing the collision force and the probability of seedling damage. The electronic ruler installed on the linear module provides real-time, high-precision feedback on the actual position of the module slider 315. The motion control module 202 corrects the deviation in real time based on this, ensuring that the actual motion trajectory accurately tracks the theoretical trajectory, forming the second key position closed loop.

[0070] Inter-row coordinated weeding operation: While weeding between plants, the inter-row weeding unit 4 works synchronously; when the power machinery moves forward, the full-row weeding roller 406 and the half-row weeding roller 402 are passively rotated around the fixed shaft 409 of the full-row roller and the fixed shaft 410 of the half-row roller under the action of soil resistance (motor drive can also be added). Its special curved tooth structure completes the cutting and pulling of weeds between rows and the slight loosening of soil during the rolling process; the user can select different mounting holes on the half-row adjustable mounting bracket 401 and the full-row adjustable mounting bracket 408 according to the soil hardness and weed condition to adjust the soil penetration depth of the roller and achieve the best weeding effect.

[0071] Energy and System Integration: The power required for the entire weeding rotary cutter mechanism is centrally managed by the continuous energy supply module 5. After the DC power input from the power machinery is received, it is distributed by the DC-DC converter inside the continuous energy supply module 5 into multiple independent and stable power supplies, including 48V (mainly driving the high-power rotary cutter motor 309 and the lifting and lowering electric actuator 101), 24V, and 12V (driving the control circuit, sensors, etc.). All electrical connections use aviation connectors for easy and quick plugging and unplugging. The motion control module 202 connects to the communication interface 502 on the continuous energy supply module 5, enabling high-speed communication with the host computer inside the power machinery via a CAN bus. The operator can intuitively set all operating parameters and start / stop mechanisms on the screen, and monitor the load current of each motor, sensor data, alarm information, etc. in real time, achieving digital and intelligent management of the operation process.

[0072] This invention successfully constructs a highly efficient, precise, and intelligent inter-row weeding system through integrated mechanical, electrical, and control design. It not only solves the problem of coordinated weeding between rows and between plants, but also achieves intelligent active avoidance of six crop plants through innovative motion planning and closed-loop control, representing an important trend in the development of inter-row weeding machinery towards intelligence and precision.

[0073] The embodiments described above are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments. Any obvious improvements, substitutions or modifications that can be made by those skilled in the art without departing from the essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A counter-positioned inter-row weeding rotary blade mechanism, characterized in that, It includes an outer frame group suspension frame (1), on which an inner frame group frame (2), inter-plant weeding unit (3), inter-row weeding unit (4), and energy continuous supply module (5) are installed.

2. The opposed-row inter-row weeding rotary blade mechanism according to claim 1, characterized in that, The outer frame suspension bracket (1) includes a lifting and lowering electric push rod (101), the fixed end of which is mounted on a power machine, and the telescopic end is connected to the outer frame frame (106) via a push rod connecting plate (102); both sides of the outer frame frame (106) are equipped with translation guide rails (110), and transverse sliders (111) are mounted on the translation guide rails (110). The transverse sliders (111) are connected to the longitudinal small sliders (108) via slider adapter plates (112); the longitudinal small sliders (108) The inner frame assembly (2) is connected to the longitudinal small guide rail (107), which is installed on the short suspension bracket (109); the longitudinal large slider (104) is fixed on both sides of the outer frame assembly frame (106), and the longitudinal large slider (104) is connected to the longitudinal long guide rail (105), which is installed on the long suspension bracket (103); both the long suspension bracket (103) and the short suspension bracket (109) are connected to the power machinery; the inner frame assembly frame (2) is installed inside the outer frame assembly frame (106).

3. The opposed-row inter-row weeding rotary blade mechanism according to claim 2, characterized in that, The inner frame assembly (2) includes a sensor module (201), a motion control module (202), and an inner frame assembly frame body (203). The inter-row weeding unit (3), the inter-row weeding unit (4), and the power supply module (5) are all installed on the inner frame assembly frame (203). The inner frame assembly frame body (203) is installed inside the outer frame assembly frame (106). The sensor module (201) and the motion control module (202) are both installed inside the inner frame assembly frame body (203). The sensor module (201) collects the height above the ground in real time and transmits the detection data to the motion control module (202). The motion control module (202) collects and controls the lifting and lowering electric push rod (101) to adjust its position in real time. At the same time, the motion control module (202) measures the position of the inter-row weeding rotary blade in real time through the sensor module (201), forming a reciprocating motion closed-loop control.

4. The opposed-row inter-row weeding rotary blade mechanism according to claim 2, characterized in that, The inter-plant weeding unit (3) includes a module base plate (311) fixed on the inner frame assembly (2). A threaded screw (314) is installed at the upper limit of the bearing seat (313) on the module base plate (311). The inter-plant reciprocating motor (310) is connected to the threaded screw (314) through a coupling (312). Module linear guides (316) are also installed on the module base plate (311) on both sides of the threaded screw (314). Two module sliders (315) are threadedly connected to the threaded screw (314). At the same time, the module sliders (315) are also slidably installed on the module. On the linear guide (316), a rotary cutter holder (307) is also connected to the module slider (315); a rotary cutter motor (309) and a rotary cutter motor reducer (317) are fixed on the rotary cutter holder (307). The rotary cutter motor reducer (317) is connected to one end of the rotary cutter shaft (303) through a diaphragm coupling (308). Two rotary cutter fixing bearing seats (305) are also installed on the lower part of the rotary cutter holder (307). The other end of the rotary cutter shaft (303) passes through the rear end of the rotary cutter fixing bearing seat (305) and is connected to the rotary cutter disc (304). A rotary cutter is installed on the rotary cutter disc (304).

5. The opposed-row inter-row weeding rotary blade mechanism according to claim 4, characterized in that, The motion of the inter-plant weeding blade (3) is a superposition of uniform linear motion and simple harmonic motion, which is a two-dimensional nonlinear motion in space. Its motion follows the following formula: In the formula, Decompose the coordinates horizontally. Decompose the coordinate system vertically. The radius of rotation of the rotary cutter; The angular velocity of the rotary cutter; For time; The overall forward speed of the weeding rotary cutter mechanism; The lateral displacement of the entire weeding rotary cutter mechanism is perpendicular to the forward direction. The cycle of reciprocating motion of the weeding blade (3) between plants; Absolute velocity at any point during the operation of the rotary cutter as follows: The interaction between the rotary cutter and soil particles is as follows: in: In the formula, Indicates the cutting edge Velocity in the axial direction, Indicates the cutting edge Velocity in the axial direction, Indicates soil gravity; This indicates the frictional force experienced by the cutting tool; This indicates the soil pressure exerted on the cutting tool; Indicates entrainment acceleration; Represents Coriolis acceleration; Represents relative acceleration; Indicates the angle between the rake face and the flank face; This indicates the angle between the entrainment acceleration and the machine's forward speed; The angle between the frictional force acting on the tool and the horizontal axis; This represents the absolute acceleration along the direction of motion; This is expressed as the rotation angle of the rotary cutter; It represents the absolute velocity along the direction of motion.

6. The opposed-row inter-row weeding rotary blade mechanism according to claim 2, characterized in that, The inter-row weeding unit (4) includes a full-row adjustable mounting bracket (408) and a half-row adjustable mounting bracket (401) connected to the inner frame assembly frame (2); the full-row weeding roller (406) is fixed on the full-row adjustable mounting bracket (408) by an internal hexagonal bearing (403), a full-row roller fixing shaft (409), and a roller shaft fixing pin (407); the half-row weeding roller (402) is mounted on the half-row adjustable mounting bracket (401) by an inter-row assembly bearing (405), an inter-row bearing retaining ring (404), and a half-row roller fixing shaft (410).

7. The opposed-row inter-row weeding rotary blade mechanism according to claim 2, characterized in that, The energy supply module (5) is installed on the upper end of the outer frame assembly (106) and includes a communication interface (502) and a rotary blade assembly power supply module; the motion control module (202) in the inner frame assembly (2) communicates with the host computer in the power machinery through the communication interface (502) to realize weeding motion control.

8. A weeding method using the opposed-type inter-row weeding rotary blade mechanism as described in claim 2, characterized in that, The process includes the following: Preliminary connection and adjustment of the entire machine before operation; Working depth setting and contour control: The required weeding working depth is set by the host computer of the power machinery; after the operation starts, the sensor module (201) in the inner frame group (2) continuously emits and receives ultrasonic signals using ultrasonic sensors, and calculates the distance between the weeding rotary blade mechanism and the ground in real time; the motion control module (202) in the inner frame group (2) collects this distance data and compares it with the set depth value. If the ground undulation is detected, causing the actual distance to change, the control signal is immediately output to drive the lifting and lowering electric push rod (101) to extend or shorten, thereby pushing the longitudinal large slider (104) and longitudinal small slider (108) to move along the longitudinal long guide rail (105) and longitudinal small guide rail (107), thereby driving the entire inner frame group (2) and all weeding units to achieve vertical lifting and lowering, and always keeping the rotary blade and roller blade cutting into the soil at a constant depth; The sensor module (201) uses a potentiometer mounted on the lifting and lowering electric push rod (101) to feed back the position of the lifting and lowering electric push rod (101) to the motion control module (202) in real time, forming a closed-loop control to ensure the stability and accuracy of the contour control; Intelligent inter-plant weeding operation: The inter-plant reciprocating motion motor (310) and rotary blade motor (309) on the inter-plant weeding unit (3) are started according to the instructions of the motion control module (202). The inter-plant reciprocating motion motor (310) controls the screw device to drive the rotary blade to move laterally and reciprocally. At the same time, the rotary blade motor (309) drives the rotary blade to rotate at high speed to realize inter-plant weeding. The high-speed rotating rotary blade has its blade tip making a circular motion. This circular motion is superimposed with the lateral reciprocating motion and the uniform forward motion brought by the forward motion of the power machinery, and finally synthesizes a two-dimensional nonlinear motion trajectory. By controlling the inter-plant weeding unit (3), the weeding operation is achieved. The reciprocating motion cycle and amplitude of the weeding blade (3) allow the rotary blade to maintain a high cutting speed in most inter-plant areas. When it moves to the preset seedling protection area close to the stem of the crop (6), the speed direction of the lateral reciprocating motion causes it to have a tendency to move away from the stem momentarily, thereby reducing the collision force and the probability of damaging the seedlings. During this process, the sensor module (201) uses the electronic ruler to provide real-time feedback on the actual position of the module slider (315) on the screw device. The motion control module (202) corrects the deviation in real time accordingly to ensure that the actual motion trajectory of the rotary blade accurately tracks the theoretical trajectory. Inter-row coordinated weeding operation: While weeding between plants, the inter-row weeding unit (4) works synchronously; when the power machinery moves forward, the full-row weeding roller (406) and half-row weeding roller (402) of the inter-row weeding unit (4) are passively rotated around the fixed shaft (409) of the full-row roller and the fixed shaft (410) of the half-row roller under the action of soil resistance. The curved tooth structure on it completes the cutting, pulling up of weeds between rows and the slight loosening of soil during the rolling process; Throughout the weeding process, the power required by the weeding rotary blade mechanism is centrally managed by the continuous energy supply module (5). The motion control module (202) is connected to the communication interface (502) on the continuous energy supply module (5) and communicates at high speed with the host computer in the power machinery via the CAN bus. The operator sets the operation parameters on the screen, controls the start and stop, and monitors the load current of each motor, sensor data, and alarm information in real time.

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