A row and plant intercoordination weeding device

Abstract

The application belongs to the technical field of agricultural machinery and relates to a row-plant intercoordination weeding device which comprises a mounting main beam, a plurality of weeding monomers and a spacing adjusting mechanism. The spacing adjusting mechanism comprises a plurality of sliding sleeves and at least one scissor-type telescopic mechanism. The plurality of sliding sleeves are sequentially arranged on the mounting main beam, and the sliding sleeve located at the middle part of the mounting main beam is fixedly arranged, and the remaining sliding sleeves are slidingly arranged on the mounting main beam. The scissor-type telescopic mechanism comprises a first linear driving element and a telescopic frame. The output end of the first linear driving element is connected with one end of the telescopic frame. Each middle part hinged point of the telescopic frame is sequentially arranged on the corresponding sliding sleeve. The plurality of weeding monomers are sequentially arranged at the bottom of the corresponding sliding sleeve. The weeding monomer comprises a profiling mechanism and a weeding mechanism. The application realizes the rapid adjustment of the spacing of the weeding monomers, and the profiling capability of the weeding monomer is good, so that the overall operation efficiency and operation quality can meet the requirements of precision agriculture.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology and relates to a row-to-plant coordinated weeding device. Background Technology

[0002] Interrow weeding is a crucial field management practice in agricultural production, referring to the removal of weeds between crop rows and between individual plants. This reduces competition between weeds and crops for water, nutrients, and sunlight. Existing interrow weeding methods typically include chemical and mechanical weeding. However, long-term excessive use of chemical pesticides and fertilizers can lead to severe soil pollution, degradation, compaction, and pesticide residues. For large-scale crops with regular row and plant spacing, such as corn and soybeans, mechanical weeding is a better choice, as it allows for efficient and precise interrow operations using standard row and plant spacing.

[0003] The existing inter-row coordinated weeding device includes a mounting frame and multiple weeding units, which are arranged sequentially along the length of the mounting frame. Each weeding unit includes a contouring mechanism, an inter-row weeding shovel mounted on the contouring mechanism, and inter-plant weeding teeth. The inter-plant weeding teeth are disc-shaped and rotatable. During operation, the inter-row weeding shovel is positioned between the crop rows, and the inter-plant weeding teeth are positioned close to the crop roots. Driven by a traction mechanism, the contouring mechanism ensures that the inter-row weeding shovel and inter-plant weeding teeth maintain a stable depth of penetration into the soil. The inter-row weeding shovel removes weeds between the rows, while the inter-plant weeding teeth rotate to remove weeds between the crop plants.

[0004] However, existing weeding devices are poorly adaptable to changes in row spacing and terrain undulations, making rapid and precise adjustments difficult. Specifically: Firstly, different crops have varying row spacings, especially in Northwest China where crops like corn, sugar beets, and sunflowers require weeding and have diverse row spacing patterns, and agricultural time is often limited. Existing weeding devices have fixed spacing between individual weeding units, only suitable for weeding operations with a single crop row spacing. For crops with different row spacings, it's often necessary to remove the weeding units, readjust their spacing, and then reinstall them. This makes adjusting the spacing of existing weeding units time-consuming, labor-intensive, and inefficient. Furthermore, improper manual adjustment of the weeding unit spacing can lead to high seedling damage and incomplete root destruction of weeds. On the other hand, due to the severe soil compaction and hardening in the arid Northwest region, coupled with the high gravel content in the soil, the existing contouring mechanisms have poor contouring ability and overload protection coordination, resulting in shallow weeding depth, poor stability, and the weeding components easily floating on the hard soil layer and failing to penetrate the soil, further leading to a low weeding rate.

[0005] Therefore, existing weeding devices suffer from cumbersome and time-consuming row spacing adjustments between adjacent weeding units during operation, making it difficult to quickly adapt to different crop row spacings. Furthermore, the weeding units have poor conformity to ground undulations and inconsistent penetration depth, resulting in incomplete weeding. These problems cause the overall operating efficiency and quality of weeding devices to fall short of the requirements of precision agriculture. Summary of the Invention

[0006] The purpose of this invention is to provide a row-to-plant coordinated weeding device to solve the technical problems of existing weeding devices, such as cumbersome and time-consuming row spacing adjustment between adjacent weeding units, poor conformity of weeding units to ground undulations, and difficulty in meeting the overall operating efficiency and quality requirements of precision agriculture.

[0007] To achieve the above objectives, the present invention provides a specific technical solution for a row-to-plant coordinated weeding device as follows: A row-to-row coordinated weeding device includes a main beam, a plurality of weeding units arranged sequentially along the length of the main beam, and a spacing adjustment mechanism for adjusting the distance between the plurality of weeding units. The spacing adjustment mechanism includes a plurality of sliding sleeves and at least one scissor-type telescopic mechanism. The plurality of sliding sleeves are sequentially arranged on the main beam, with the sleeve located in the middle of the main beam being fixedly arranged, and the remaining sliding sleeves being slidably arranged on the main beam. The scissor-type telescopic mechanism includes a first linear drive element and a telescopic frame. The output end of the first linear drive element is connected to one end of the telescopic frame, and each central hinge point of the telescopic frame is sequentially arranged on a corresponding sliding sleeve. The plurality of weeding units are sequentially installed at the bottom of the corresponding sliding sleeve. The weeding unit includes a contouring mechanism and a weeding mechanism connected to the rear end of the contouring mechanism. The contouring mechanism includes a contouring spring, an energy storage spring, an energy storage arm, a compression pin, a contouring wheel, and a frame connecting plate, an upper contouring link, a lower contouring link, and a contouring longitudinal beam that form a parallelogram mechanism. The frame connecting plate is used to connect the mounting main beam. The middle part of the energy storage arm is hinged to the upper contouring link, and the two ends of the contouring spring are respectively connected to the lower contouring link and the upper end of the energy storage arm. The upper end of the compression pin is hinged to the upper contouring link, and the lower end of the energy storage arm and the energy storage spring are slidably sleeved on the compression pin, with the two ends of the energy storage spring abutting against the lower end of the energy storage arm and the lower end of the compression pin, respectively. The contouring wheel is located at the bottom of the contouring longitudinal beam.

[0008] Furthermore, the scissor-type telescopic mechanism is one, with its central hinge point sequentially located on corresponding sliding sleeves, used to adjust the distance between two adjacent weeding units at equal intervals; or, the scissor-type telescopic mechanism is two, with the two scissor-type telescopic mechanisms respectively located on opposite sides of the mounting main beam, and the central hinge points of the two telescopic frames alternately located on corresponding sliding sleeves, used to adjust the distance between two adjacent weeding units by varying the spacing.

[0009] Furthermore, the telescopic frame includes multiple sets of X-shaped hinge rods and two sets of V-shaped hinge rods. The corresponding ends of the multiple sets of X-shaped hinge rods are hinged sequentially, and the two sets of V-shaped hinge rods are respectively hinged to the corresponding ends of the X-shaped hinge rods on both sides.

[0010] Furthermore, the compression spring pin is stepped, comprising a first rod segment and a second rod segment connected together. The cross-sectional dimension of the second rod segment is smaller than that of the first rod segment. The lower end of the energy storage arm and the energy storage spring are both slidably sleeved on the second rod segment.

[0011] Furthermore, the row-to-row coordinated weeding device also includes an identification camera, a Beidou navigation module, and a controller. The controller is electrically connected to the identification camera, the Beidou navigation module, and the spacing adjustment mechanism. The controller is configured to control the spacing adjustment mechanism in real time to adjust the spacing of the weeding units based on the image data transmitted by the identification camera and the path data transmitted by the Beidou navigation module.

[0012] Furthermore, each of the weeding mechanisms includes a mounting beam, a mounting frame, an inter-row weeding shovel, a left loosening shovel, a right loosening shovel, a left inter-plant weeding disc, and a right inter-plant weeding disc; the mounting beam is located at the rear end of the contoured beam, the mounting frame is located on the mounting beam, and the inter-row weeding shovel is located at the rear end of the mounting beam; the left loosening shovel and the left inter-plant weeding disc are located on the left side of the mounting frame along the front-back direction, and the right loosening shovel and the right inter-plant weeding disc are located on the right side of the mounting frame along the front-back direction.

[0013] Furthermore, each of the weed-killing units also includes a left pull rod, a right pull rod, a linkage rod, and a second linear drive element; the mounting frame includes a front mounting shaft and a rear mounting shaft mounted on the mounting longitudinal beam, and left and right support beams respectively slidably mounted on the left and right sides of the front and rear mounting shafts; the linkage rod is hinged to the mounting longitudinal beam, one end of the left pull rod and the right pull rod is hinged to the corresponding end of the linkage rod, and the other end is hinged to the opposite end of the left and right support beams; the output end of the second linear drive element is perpendicular to the mounting longitudinal beam and hinged to the left pull rod or the right pull rod.

[0014] Furthermore, the weeding shovel between rows is mounted on the mounting longitudinal beam via an elastic connector; the elastic connector is a spiral-shaped connecting plate.

[0015] Furthermore, the row-to-row coordinated weeding device also includes a three-point suspension mechanism and a traveling wheel. The three-point suspension mechanism is located at the front end of the main mounting beam and is used to connect the traction device. The traveling wheel is located at the bottom of the three-point suspension mechanism.

[0016] The row-to-plant coordinated weeding device of the present invention has the following advantages: The telescopic movement of the scissor-type telescopic mechanism drives the corresponding sliding sleeve to slide on the main beam, thereby causing the weeding units to move synchronously. This enables rapid adjustment of the spacing between the weeding units, suitable for weeding crops with different row spacings. Simultaneously, because the contouring mechanism is equipped with a dual-spring mechanism—a contouring spring and an energy storage spring working in tandem—it maintains a constant weeding depth through tension-compression coupling response when soil resistance changes. When encountering impacts from hard objects, the energy storage spring triggers rigid obstacle crossing, and after obstacle crossing, the contouring spring automatically resets the unit, providing good overload protection. This ensures a constant penetration depth of the weeding units, resulting in thorough weeding and a good weeding effect. This invention, through the synergistic optimization of the row spacing adjustment mechanism and the contouring mechanism, achieves rapid row spacing adjustment while ensuring that each weeding unit follows the surface undulations, thus balancing operational efficiency and weeding precision, meeting the requirements of precision agriculture. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the inter-row coordinated weeding device of the present invention; Figure 2 This is a schematic diagram of the spacing adjustment mechanism for equal spacing adjustment according to the present invention; Figure 3 This is a schematic diagram of the spacing adjustment mechanism for non-equal spacing adjustment according to the present invention; Figure 4 This is a schematic diagram of the structure of the herbicidal monomer of the present invention; Figure 5 This is a structural diagram of the energy storage spring of the contouring mechanism of the present invention in a compressed state; Figure 6 This is a top view of the herbicidal monomer of the present invention when the row spacing is narrow; Figure 7 This is a top view of the herbicidal monomer of the present invention when the row spacing is wide.

[0018] Figure label: 1. Install the main beam; 2. Weeding unit; 21. Install the longitudinal beam; 221. Inter-row weeding shovel; 222. Left loosening shovel; 223. Right loosening shovel; 224. Left inter-row weeding tray; 225. Right inter-row weeding tray; 226. Flexible connector; 231. Left tie rod; 232. Right tie rod; 233. Linkage rod; 234. Second linear drive element; 235. Front mounting shaft; 236. Rear mounting shaft; 237. Left support beam; 238. Right support beam 24. Contouring mechanism; 241. Frame connecting plate; 242. Upper contouring link; 243. Lower contouring link; 244. Contouring longitudinal beam; 245. Contouring spring; 246. Energy storage spring; 247. Energy storage support arm; 248. Compression spring pin; 249. Contouring wheel; 3. Spacing adjustment mechanism; 31. Sliding sleeve; 32. First linear drive element; 33. Telescopic frame; 4. Three-point suspension mechanism; 5. Walking wheel; 6. Recognition camera; 7. Crop. Detailed Implementation

[0019] The technical solutions of this application will now be described clearly and in detail with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, "multiple" refers to two or more. The terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0020] Because row spacing varies among different crops, especially in Northwest China where crops like corn, sugar beets, and sunflowers require weeding and cultivation, and where planting time is tight, existing row-to-plant weeding devices use fixed spacing between individual weeding units, only suitable for weeding operations at one crop row spacing. For crops with different row spacings, it's often necessary to remove the weeding units, readjust their spacing, and then reinstall them. This makes adjusting the spacing of the weeding units in existing devices time-consuming, labor-intensive, and inefficient. Inappropriate manual adjustment of the weeding unit spacing can lead to high seedling damage rates and incomplete root destruction of weeds.

[0021] The traditional contouring mechanism includes a frame connecting plate, an upper contouring link, a lower contouring link, a contouring longitudinal beam, a contouring spring, and a contouring wheel. The frame connecting plate is used to connect and install the main beam. The frame connecting plate, upper contouring link, lower contouring link, and contouring longitudinal beam form a parallelogram mechanism. The two ends of the contouring spring are connected to the upper and lower contouring links, respectively. The contouring wheel is located at the bottom of the contouring longitudinal beam.

[0022] When traditional contouring mechanisms operate in uneven terrain, the contouring wheel is raised. This raises the lower contouring link counter-clockwise, causing the upper contouring link to rotate. This stretches the contouring spring, increasing its tension. The spring tension balances the soil resistance, resulting in a better contouring effect.

[0023] However, in environments with flat surfaces but significant variations in soil quality, such as the severe soil compaction and hardening in arid regions of Northwest China, where the soil also contains a high amount of gravel, the traditional contouring mechanism's contouring ability is actually poor. The large range of soil resistance variations can lead to insufficient spring tension for balance, causing the weeding shovel to become shallower or even jump out of the soil. This results in poor contouring ability for weeding depth, poor overload protection coordination, shallow weeding depth, poor stability, and the weeding components easily floating on the hard soil layer and failing to penetrate the soil, further leading to a low weeding rate.

[0024] To address the aforementioned problems, this invention provides a row-to-plant coordinated weeding device, such as... Figures 1 to 5 As shown, the inter-row coordinated weeding device includes a main beam 1, multiple weeding units 2 arranged sequentially along the length of the main beam 1, and a spacing adjustment mechanism 3. The spacing adjustment mechanism 3 is used to adjust the distance between the multiple weeding units 2. The spacing adjustment mechanism 3 includes multiple sliding sleeves 31 and at least one scissor-type telescopic mechanism. The multiple sliding sleeves 31 are sequentially arranged on the main beam 1, and the sliding sleeve 31 located in the middle of the main beam 1 is fixedly set, while the remaining sliding sleeves 31 are slidably set on the main beam 1. Preferably, if the number of sliding sleeves 31 and weeding units 2 is odd, then the sliding sleeve 31 in the middle of the main beam 1 is the sliding sleeve 31 in the exact center. Of course, if the number of sliding sleeves 31 and weeding units 2 is even, then the sliding sleeve 31 in the middle is the sliding sleeve 31 closest to the exact center of the main beam 1. The scissor-type telescopic mechanism includes a first linear drive element 32 and a telescopic frame 33. The output end of the first linear drive element 32 is connected to one end of the telescopic frame 33. Each central hinge point of the telescopic frame 33 is sequentially located on a corresponding sliding sleeve 31, and multiple weeding units 2 are sequentially installed at the bottom of the corresponding sliding sleeve 31. The central hinge point of the telescopic frame 33 refers to the hinge point where the two hinge rods of the telescopic frame 33 are hinged together at their midpoints.

[0025] The weeding unit 2 includes a contouring mechanism 24 and a weeding mechanism connected to the rear end of the contouring mechanism 24. The contouring mechanism 24 includes a frame connecting plate 241, an upper contouring link 242, a lower contouring link 243, a contouring longitudinal beam 244, a contouring spring 245, an energy storage spring 246, an energy storage support arm 247, a compression pin 248, and a contouring wheel 249. The frame connecting plate 241 is used to connect and install the main beam 1. The frame connecting plate 241, the upper contouring link 242, the lower contouring link 243, and the contouring longitudinal beam 244 form a parallelogram mechanism. The middle part of the energy storage support arm 247 is hinged to the upper contouring link 242, and the two ends of the contouring spring 245 are respectively connected to the lower contouring link 243 and the upper end of the energy storage support arm 247. The upper end of the compression pin 248 is hinged to the upper contouring connecting rod 242. The lower end of the energy storage arm 247 and the energy storage spring 246 are both slidably sleeved on the compression pin 248, and the two ends of the energy storage spring 246 abut against the lower ends of the energy storage arm 247 and the lower ends of the compression pin 248, respectively. The contouring wheel 249 is located at the bottom of the contouring longitudinal beam 244.

[0026] The working principle of the row-to-plant coordinated weeding device in this embodiment of the invention is as follows: when the scissor-type telescopic mechanism is activated, the first linear drive element 32 drives the telescopic frame 33 to telescopically move. The movement of the middle hinge point of the telescopic frame 33 is constrained to a mirror-symmetric displacement with the middle sliding sleeve 31 as the origin. The weeding unit 2 connected to the middle sliding sleeve 31 remains stationary during the adjustment process, while the other weeding units 2 are displaced relative to the stationary weeding unit 2 according to the mechanical constraint relationship.

[0027] Meanwhile, the working principle of the contouring mechanism 24 is as follows: when the soil texture is relatively uniform, the resistance of the weeding unit 2 is relatively stable, and the weeding unit 2 works normally. At this time, the tension of the contouring spring 245, the pressure of the energy storage spring 246 and the soil tillage resistance are in balance.

[0028] When the surface is flat but the soil quality varies greatly, the soil resistance increases. To maintain the balance of the mechanism, the energy storage spring 246 is compressed, the energy storage arm 247 rotates counterclockwise around the central hinge point, and the contour spring 245 is stretched. This increases both the pressure of the energy storage spring 246 and the tension of the contour spring 245. The increased tension of the contour spring 245 and the pressure of the energy storage spring 246 are balanced with the increased soil resistance. The height of the weeding shovel remains unchanged throughout the process, ensuring that the weeding depth of the weeding unit 2 remains stable even when the surface is flat and the soil resistance varies greatly. Compared to traditional contouring mechanisms, the contouring mechanism of this application adds structures such as an energy storage spring 246, an energy storage support arm 247, and a compression pin 248. This allows the energy storage spring 246 and the contouring spring 245 to work together to provide elasticity in environments with significant soil variations, while maintaining balance with soil resistance. The height of the weeding shovel remains constant throughout the process, ensuring that the weeding depth of the weeding unit 2 remains stable even with significant changes in soil resistance. This results in strong contouring ability and good weeding effect.

[0029] When the soil contains hard objects such as stones, the resistance experienced by the weeding unit 2 increases significantly. The weeding unit 2 needs to be raised to overcome the stones. At this point, the energy storage spring 246 is compressed to its set limit position. The compression pin 248, energy storage spring 246, energy storage arm 247, upper contouring link 242, and lower contouring link 243 act as a whole. As the weeding unit 2 is raised, the upper contouring link 242 and lower contouring link 243 rotate counterclockwise. The energy storage spring 246 is no longer compressed, and the contouring spring 245 is further stretched. After the weeding unit 2 overcomes the stones, the soil resistance decreases, and the tension of the contouring spring 245 exceeds the soil resistance, restoring the weeding unit 2 to its working weeding depth. Then, the tension of the contouring spring balances the soil resistance, achieving overload protection.

[0030] The present invention utilizes the synchronous extension and retraction of the scissor-type telescopic mechanism. The central hinge points drive the corresponding weeding units 2 to move synchronously via the sliding sleeve 31, thus achieving adjustment of the weeding units 2. This row-to-plant coordinated weeding device effectively solves the problem of time-consuming and labor-intensive adjustments in traditional weeding devices when facing different crop planting row spacing patterns. It achieves rapid adjustment of row spacing, significantly improving the efficiency and row alignment accuracy of weeding operations, and providing reliable technical support for weeding in farmland under different planting patterns.

[0031] Meanwhile, because the contouring mechanism is equipped with a parallelogram structure consisting of a frame connecting plate 241, an upper contouring link 242, a lower contouring link 243, and a contouring longitudinal beam 244, it ensures that the vertical displacement of the contouring wheel 249 can be accurately converted into the vertical movement of the weeding component, avoiding deviations in soil penetration depth caused by instability. Due to the dual-spring mechanism of the contouring spring 245 and the energy storage spring 246 working in synergy, the weeding depth can be maintained constant through tension-compression coupling response when soil resistance changes. When encountering impacts from hard objects, the energy storage spring 246 can trigger rigid obstacle crossing, and after obstacle crossing, the contouring spring 245 automatically resets the machine, providing good overload protection. This invention, through the coordinated optimization of the row spacing adjustment mechanism and the contouring mechanism, achieves rapid row spacing adjustment while ensuring that each weeding unit follows the surface undulations, thus balancing operational efficiency and weeding precision, meeting the requirements of precision agriculture.

[0032] In some embodiments of the present invention, there is one scissor telescopic mechanism, and the central hinge point of the telescopic frame 33 is sequentially arranged on the corresponding sliding sleeve 31 for adjusting the distance between two adjacent weeding units 2 at equal intervals; or, there are two scissor telescopic mechanisms, which are respectively arranged on opposite sides of the mounting main beam 1, and the central hinge points of the two telescopic frames 33 are alternately arranged on the corresponding sliding sleeve 31 for adjusting the distance between two adjacent weeding units 2 by varying the spacing.

[0033] In this embodiment, when there is one scissor telescopic mechanism, each weeding unit 2 is displaced under the action of one scissor telescopic mechanism and its corresponding sliding sleeve, so that the spacing between two adjacent weeding units 2 is equal, which is suitable for weeding operations of crops 7 with equal row spacing. When there are two scissor telescopic mechanisms, they are respectively set on opposite sides of the main beam. The movement of the two scissor telescopic mechanisms does not interfere with each other and is symmetrically arranged, so that the force is more balanced. During operation, the displacement of the middle hinge point of the two scissor telescopic mechanisms is controlled respectively, so that the odd-numbered sliding sleeves 31 and the even-numbered sliding sleeves 31 are adjusted respectively, and the displacements are not equal, thereby forming different spacing between adjacent weeding units 2 to adapt to weeding operations of crops 7 with non-equal row spacing.

[0034] In some embodiments of the present invention, such as Figure 1 , Figure 2 and Figure 3 As shown, the telescopic frame 33 includes multiple sets of X-shaped hinge rods and two sets of V-shaped hinge rods. The corresponding ends of the multiple sets of X-shaped hinge rods are hinged in sequence, and the two sets of V-shaped hinge rods are respectively hinged to the corresponding ends of the X-shaped hinge rods on both sides.

[0035] In this embodiment, when the first linear drive element 32 is activated, its output end pushes an end sleeve 31 to slide along the mounting main beam 1. The sleeve 31 drives the V-shaped hinge rod connected to it to move, thereby driving the first set of X-shaped hinge rods to rotate around its central hinge point. This rotation is transmitted step by step to the subsequent sets of X-shaped hinge rods through the hinge relationship, ultimately causing all X-shaped hinge rods to open and close synchronously. During this process, the two sets of V-shaped hinge rods always maintain the boundary constraints at both ends of the X-shaped hinge rod chain to prevent misalignment or jamming caused by local deformation. Since the length of the X-shaped hinge rod is significantly greater than that of the V-shaped hinge rod, the distance between the end of the X-shaped hinge rod and the connection point of the sleeve 31 is farther. Therefore, it can provide a larger displacement increment of the sleeve 31 under the same angle change, improving the adjustment resolution and stroke utilization. At the same time, the longer X-shaped hinge rod improves the lateral bending stiffness of the structure and reduces the impact of micro-swaying caused by field operation vibration on row spacing accuracy.

[0036] Because the X-shaped hinged rod serves as the main load-bearing structure and its length is greater than that of the V-shaped hinged rod, it possesses higher structural rigidity and motion guidance accuracy during telescoping, thereby improving the synchronization and stability of row spacing adjustment. Since multiple sets of X-shaped hinged rods are sequentially hinged and controlled by the same drive source, the relative positional relationship of each weeding unit 2 remains unchanged during adjustment, avoiding cumulative errors caused by single-point drive. Because the two sets of V-shaped hinged rods respectively constrain the beginning and end ends of the X-shaped hinged rod chain, lateral movement of the end sleeve 31 is effectively suppressed in complex terrain, reducing the risk of jamming and wear. These synergistic effects together ensure that the telescoping frame 33 can reliably complete one-button row spacing switching even in compacted soil and gravel conditions in the arid northwest region.

[0037] In some embodiments of the present invention, such as Figure 4 , Figure 5 As shown, the compression pin 248 is stepped and includes a first rod segment and a second rod segment connected together. The cross-sectional dimension of the second rod segment is smaller than that of the first rod segment. The lower end of the energy storage arm 247 and the energy storage spring 246 are both slidably sleeved on the second rod segment.

[0038] In this embodiment, by setting a stepped compression pin 248, and making the lower end of the energy storage arm 247 and the energy storage spring 246 slide on the second rod section of the compression pin 248, the end face of the first rod section can stop the energy storage arm 247, ensuring that the lengths of the energy storage spring 246 and the contour spring 245 are within a certain range, so that the movement and force of the contour mechanism 24 are more reasonable.

[0039] In some embodiments of the present invention, such as Figure 1 As shown, the inter-row coordinated weeding device also includes a three-point suspension mechanism 4 and traveling wheels 5. The three-point suspension mechanism 4 is located at the front end of the main beam 1 and is used to connect the traction equipment. The traveling wheels 5 are located at the bottom of the three-point suspension mechanism 4.

[0040] In this embodiment, the three-point suspension mechanism 4 includes an upper pull rod connecting seat, a left lower pull rod connecting seat, and a right lower pull rod connecting seat. The three connecting seats are respectively hinged to the upper pull rod, left lower pull rod, and right lower pull rod behind the traction equipment. The three-point suspension mechanism 4 achieves quick assembly and disassembly with the traction equipment through a standard agricultural machinery mounting interface. Its structural rigidity meets the dynamic load transmission requirements of the whole machine during operation and supports the tractor hydraulic system to control the overall lifting and lowering of the whole machine. During the coordinated weeding operation between rows and plants, the three-point suspension mechanism 4 undertakes the function of transmitting the weight of the whole machine and the tillage reaction force, and maintains the posture stability of the main beam 1 relative to the traction equipment through the three-link spatial constraint relationship, providing a reference installation platform for the spacing adjustment mechanism 3, the identification camera 6, and the weeding unit 2. The two walking wheels 5 are symmetrically arranged at both ends of the bottom of the suspension mechanism, and the outer edge contour of the wheel is in a continuous rolling state with the ground contact line. Before operation, the whole machine is lifted off the ground by the hydraulic system of the traction equipment and the three-point suspension mechanism 4 to complete the initial row alignment.

[0041] In some embodiments of the present invention, such as Figure 1 As shown, the row-to-row coordinated weeding device also includes an identification camera 6, a Beidou navigation module, and a controller. The controller is electrically connected to the identification camera 6, the Beidou navigation module, and the spacing adjustment mechanism. The controller is configured to control the spacing adjustment mechanism in real time to adjust the spacing of the weeding units 2 based on the image data transmitted by the identification camera 6 and the path data transmitted by the Beidou navigation module.

[0042] In this embodiment, before the entire machine enters the working stroke, the Beidou navigation module can load the reference path data recorded during the sowing stage and initialize the local coordinate system. The identification camera 6 continuously acquires ground images in front, and after preprocessing such as denoising, grayscale conversion, and histogram equalization, the images are input to the controller. After processing the input data, the controller converts the displacement command into a drive signal for the first linear drive element 32, which is then amplified and applied to the scissor-type telescopic mechanism, causing the sliding sleeve 31 to slide along the main beam.

[0043] Because the recognition camera 6 provides real-time spatial position perception of the crop seedling strip 7, the controller can acquire local seedling strip geometric features. Because the Beidou navigation module provides a memory reference for the sowing trajectory and macroscopic pose information, the controller can establish a global path reference system. By performing spatiotemporal synchronization registration and deviation mapping on the two types of data, the controller can accurately decompose global path deviations to the positions of each sliding sleeve 31. Because the spacing adjustment mechanism 3 has equidistant / non-equidistant adjustment capabilities, it can respond to differentiated displacement commands output by the controller, enabling independent, synchronous, and dynamic reconfiguration of the spacing between multiple weeding units 2. This solves the problems of low efficiency and poor accuracy in manually adjusting row spacing, and especially improves the ability to quickly restore rows after turning at the edge of the field in complex farmland environments, significantly improving operational continuity and intelligence.

[0044] In some embodiments of the present invention, such as Figure 4 As shown, each weeding unit 2 includes a mounting beam 21, a mounting frame, an inter-row weeding shovel 221, a left loosening shovel 222, a right loosening shovel 223, a left inter-plant weeding tray 224, and a right inter-plant weeding tray 225. The mounting beam 21 is located at the rear end of the contoured beam 244, the mounting frame is located on the mounting beam 21, and the inter-row weeding shovel 221 is located at the rear end of the mounting beam 21. The left loosening shovel 222 and the left inter-plant weeding tray 224 are located on the left side of the mounting frame along the front-back direction, and the right loosening shovel 223 and the right inter-plant weeding tray 225 are located on the right side of the mounting frame along the front-back direction.

[0045] In this embodiment, during the movement of the machine, the left loosening shovel 222 and the right loosening shovel 223 first pre-treat the soil of the crops 7 on the left and right sides to reduce density and resistance; then the weeding disc between plants completes precise cutting and disturbance in the loosened area; the weeding shovel between rows 221 is arranged in the center, forming a spatial complement with the working area between plants on the left and right sides, avoiding blind spots in the operation, and completing large-scale weeding and soil covering between two rows; each component is strictly staggered in time and space to avoid functional overlap and mutual interference, ensuring the continuity and stability of the operation.

[0046] In some embodiments of the present invention, such as Figure 6 and Figure 7 As shown, each weeding unit 2 also includes a left pull rod 231, a right pull rod 232, a linkage rod 233, and a second linear drive element 234. The mounting frame includes a front mounting shaft 235 and a rear mounting shaft 236 mounted on the mounting longitudinal beam 21, with left support beams 237 and right support beams 238 slidably mounted on the left and right sides of the front mounting shaft 235 and the rear mounting shaft 236, respectively. The linkage rod 233 is hinged to the mounting longitudinal beam 21. One end of the left pull rod 231 and the right pull rod 232 is hinged to the corresponding end of the linkage rod 233, and the other end is hinged to the opposite ends of the left support beam 237 and the right support beam 238. The output end of the second linear drive element 234 is perpendicular to the mounting longitudinal beam 21 and is hinged to either the left pull rod 231 or the right pull rod 232.

[0047] In this embodiment, when the output end of the second linear drive element 234 extends, it pushes the left pull rod 231 to move. The left support beam 237 slides to the left under the traction of the left pull rod 231. At the same time, the left pull rod 231 rotates around the left hinge point of the linkage rod 233, and the linkage rod 233 rotates clockwise around the middle hinge point, driving the right pull rod 232 to move in the opposite direction, so that the right support beam 238 slides to the right synchronously, thereby increasing the distance between the left and right support beams 238. Conversely, when the second linear drive element 234 retracts, the left and right support beams 238 slide towards each other, and the distance decreases. Throughout the process, the linkage rod 233, as the core force transmission and coordination component, ensures that the displacement of the left and right support beams 238 is equal and the direction is opposite, avoiding the twisting of the mounting frame or the instability of the weeding component due to unilateral load. This linkage relationship does not rely on electronic sensor feedback and has the characteristics of high mechanical reliability, low response delay, and strong anti-interference ability. This solution enables the left loosening shovel 222 and right loosening shovel 223 of the weeding unit 2, and the spacing between the left inter-plant weeding disc 224 and the right inter-plant weeding disc 225 to be adjustable, which can be flexibly adjusted according to the plant spacing, thereby improving the adaptability and operational accuracy to different crop planting patterns 7.

[0048] In some embodiments of the present invention, such as Figure 4 As shown, the inter-row weeding shovel 221 is mounted on the mounting beam 21 via an elastic connector 226. The elastic connector 226 is a spiral-shaped connecting plate.

[0049] In this embodiment, since the inter-row weeding shovel 221 is flexibly connected to the mounting longitudinal beam 21 through a spiral-shaped elastic connecting plate, it can undergo controllable elastic deformation to absorb impact energy when encountering sudden soil resistance, thereby avoiding shovel body breakage or installation structure cracking. Since the spiral-shaped connecting plate has high fatigue life and compact spatial layout characteristics, it can achieve smooth transition and rapid reset of vertical movement of the inter-row weeding shovel 221 without increasing the structural complexity of the mounting longitudinal beam 21, thereby ensuring the stability of weeding depth and the reliability of the whole machine operation.

[0050] It is understood that the present invention has been described through some embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the invention. Furthermore, under the teachings of the present invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of the present invention.

Claims

1. A row-to-plant coordinated weeding device, comprising a main beam and a plurality of weeding units arranged sequentially along the length of the main beam, characterized in that, It also includes a spacing adjustment mechanism for adjusting the distance between the multiple weeding units; the spacing adjustment mechanism includes multiple sliding sleeves and at least one scissor telescopic mechanism, the multiple sliding sleeves are sequentially arranged on the mounting main beam, and the sliding sleeve located in the middle of the mounting main beam is fixedly arranged, while the remaining sliding sleeves are slidably arranged on the mounting main beam; the scissor telescopic mechanism includes a first linear drive element and a telescopic frame, the output end of the first linear drive element is connected to one end of the telescopic frame, and each of the central hinge points of the telescopic frame is sequentially arranged on the corresponding sliding sleeve, and the multiple weeding units are sequentially installed on the bottom of the corresponding sliding sleeve; The weeding unit includes a contouring mechanism and a weeding mechanism connected to the rear end of the contouring mechanism. The contouring mechanism includes a contouring spring, an energy storage spring, an energy storage arm, a compression pin, a contouring wheel, and a frame connecting plate, an upper contouring link, a lower contouring link, and a contouring longitudinal beam that form a parallelogram mechanism. The frame connecting plate is used to connect the mounting main beam. The middle part of the energy storage arm is hinged to the upper contouring link, and the two ends of the contouring spring are respectively connected to the lower contouring link and the upper end of the energy storage arm. The upper end of the compression pin is hinged to the upper contouring link, and the lower end of the energy storage arm and the energy storage spring are slidably sleeved on the compression pin, with the two ends of the energy storage spring abutting against the lower end of the energy storage arm and the lower end of the compression pin, respectively. The contouring wheel is located at the bottom of the contouring longitudinal beam.

2. The row-to-plant coordinated weeding device according to claim 1, characterized in that, The scissor-type telescopic mechanism is one unit, with its central hinge point sequentially located on corresponding sliding sleeves for adjusting the spacing between two adjacent weeding units at equal intervals; or, the scissor-type telescopic mechanism is two units, each located on opposite sides of the main mounting beam, with its central hinge point alternately located on corresponding sliding sleeves for adjusting the spacing between two adjacent weeding units by varying the distance between them.

3. The row-to-plant coordinated weeding device according to claim 1, characterized in that, The telescopic frame includes multiple sets of X-shaped hinge rods and two sets of V-shaped hinge rods. The corresponding ends of the multiple sets of X-shaped hinge rods are hinged sequentially, and the two sets of V-shaped hinge rods are respectively hinged to the corresponding ends of the X-shaped hinge rods on both sides.

4. The row-to-plant coordinated weeding device according to claim 1, characterized in that, The compression spring pin is stepped and includes a first rod segment and a second rod segment connected together. The cross-sectional dimension of the second rod segment is smaller than that of the first rod segment. The lower end of the energy storage arm and the energy storage spring are both slidably sleeved on the second rod segment.

5. The row-to-plant coordinated weeding device according to claim 1, characterized in that, It also includes an identification camera, a Beidou navigation module, and a controller, wherein the controller is electrically connected to the identification camera, the Beidou navigation module, and the spacing adjustment mechanism; the controller is configured to: control the spacing adjustment mechanism in real time to adjust the spacing of the weeding units based on the image data transmitted by the identification camera and the path data transmitted by the Beidou navigation module.

6. The row-to-plant coordinated weeding device according to claim 1, characterized in that, Each of the weeding mechanisms includes a mounting beam, a mounting frame, an inter-row weeding shovel, a left loosening shovel, a right loosening shovel, a left inter-plant weeding disc, and a right inter-plant weeding disc; the mounting beam is located at the rear end of the conforming beam, the mounting frame is located on the mounting beam, and the inter-row weeding shovel is located at the rear end of the mounting beam; the left loosening shovel and the left inter-plant weeding disc are located on the left side of the mounting frame along the front-back direction, and the right loosening shovel and the right inter-plant weeding disc are located on the right side of the mounting frame along the front-back direction.

7. The row-to-plant coordinated weeding device according to claim 6, characterized in that, Each of the weed-killing units further includes a left pull rod, a right pull rod, a linkage rod, and a second linear drive element; the mounting frame includes a front mounting shaft and a rear mounting shaft mounted on the mounting longitudinal beam, and left and right support beams respectively slidably mounted on the left and right sides of the front and rear mounting shafts; the linkage rod is hinged to the mounting longitudinal beam, one end of the left pull rod and the right pull rod is hinged to the corresponding end of the linkage rod, and the other end is hinged to the opposite end of the left and right support beams; the output end of the second linear drive element is perpendicular to the mounting longitudinal beam and hinged to the left pull rod or the right pull rod.

8. The row-to-plant coordinated weeding device according to claim 6, characterized in that, The weeding shovel between rows is mounted on the mounting longitudinal beam via an elastic connector; the elastic connector is a spiral-shaped connecting plate.

9. The row-to-plant coordinated weeding device according to claim 1, characterized in that, It also includes a three-point suspension mechanism and a traveling wheel. The three-point suspension mechanism is located at the front end of the main beam and is used to connect the traction equipment. The traveling wheel is located at the bottom of the three-point suspension mechanism.

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