Weeding and field returning machine

Abstract

The utility model discloses a weeding and returning machine, which relates to the technical field of agricultural machinery and comprises a moving device, a weeding device and a smashing device. The weeding device is in transmission connection with the moving device, and the moving device can drive the weeding device to move in the space; the smashing device is provided with a feeding port and a discharging port, the smashing device is installed on the moving device, the feeding port is located on the moving path of the weeding device, and the feeding port can receive weeds clamped by the weeding device. According to the weeding and returning machine, weeds can be recognized and weeding can be conducted, the weeds obtained after weeding are directly crushed and returned to the field, and the utilization rate is higher.

Description

TECHNICAL FIELD

[0001] The utility model relates to agricultural machinery technical field, especially a kind of weeding back to field machine. BACKGROUND

[0002] Weed refers to the plant that grows in the farmland that is harmful, it is generally non-cultivated wild plant. Weed can compete with crops for nutrients and water, resulting in crops not getting enough nutrients and water, thereby affecting its normal growth, and even leading to poor growth, slow growth or death, ultimately reducing yield and quality. Therefore, in farmland operation, it is necessary to remove weeds in the field.

[0003] In daily weeding operation, the following modes can be selected, the first is to apply pesticide for weeding, but the mode can also cause pollution to the ecological environment of farmland;The second is manual weeding, which is low in efficiency and high in labor cost;The third is to use plowing weeder, but the device is large in size and low in flexibility, not suitable for complex planting terrain. In the above-mentioned modes, it is difficult to reuse weeds, and the subsequent treatment of weeds is troublesome. SUMMARY

[0004] The utility model aims at at least solving one of the technical problems existing in prior art. To this end, the utility model provides a weeding back to field machine, and weeds after weeding are directly crushed back to field, with higher utilization rate.

[0005] According to the weeding back to field machine of the utility model embodiment, the weeding back to field machine comprises: a moving device;

[0006] A weeding device is drivingly connected with the moving device, and the moving device can drive the weeding device to move in space.

[0007] A crushing device has a feeding port and a discharging port, the crushing device is installed on the moving device, the feeding port is located on the moving path of the weeding device, and the feeding port can receive weeds clamped by the weeding device.

[0008] According to the weeding back to field machine of the utility model embodiment, the moving device is used to control the weeding device to move in space, for example, after removing weeds at a position, the moving device can drive the weeding device to shift to the next weed position to perform weeding operation again;The moving device drives the weeding device to move in space, which not only can drive the weeding device to accurately move to the position where weeds are located, but also can move the entire machine in plane to find weeds and transfer removed weeds to the crushing device;After removing weeds, weeds can be placed in the crushing device, and the crushing device can crush weeds and then return them to field, so that weeds can be fully utilized as fertilizer.

[0009] According to some embodiments of the utility model, the weeding device comprises a clamping assembly, a cutting assembly and a fixing base, the fixing base is in transmission connection with the moving device, the clamping assembly is arranged on the fixing base, the cutting assembly is arranged on the fixing base, and the clamping point of the clamping assembly and the cutting point of the cutting assembly are in the same vertical plane.

[0010] According to some embodiments of the utility model, the clamping assembly comprises a first movable arm and a second movable arm, one end of the first movable arm is provided with a first clamping part, the other end of the first movable arm is connected with the fixing base, one end of the second movable arm is provided with a second clamping part, the other end of the second movable arm is connected with the fixing base, the first movable arm and the second movable arm are symmetrically distributed, the fixing base is provided with a first driving piece, the first driving piece is in transmission connection with the first movable arm and the second movable arm, and the first driving piece can drive the first movable arm and the second movable arm to rotate, so that the first clamping part and the second clamping part are close to or away from each other.

[0011] According to some embodiments of the utility model, one end of the first movable arm away from the first clamping part is provided with a first tooth part, one end of the second movable arm away from the second clamping part is provided with a second tooth part, the first tooth part and the second tooth part are arranged on the fixing base, the first tooth part and the second tooth part are in meshing with each other, the first driving piece is in transmission connection with the first tooth part or the second tooth part, and the first driving piece can drive the first tooth part and the second tooth part to rotate, so that the first clamping part and the second clamping part are close to or away from each other.

[0012] According to some embodiments of the utility model, one side surface of the first clamping part towards the second clamping part is provided with a first wave pattern, and one side surface of the second clamping part towards the first clamping part is provided with a second wave pattern.

[0013] According to some embodiments of the utility model, the cutting assembly includes third movable arm and fourth movable arm, one end of third movable arm is third cutting end, the other end of third movable arm is connected with fixed seat, one end of fourth movable arm is fourth cutting end, the other end of fourth movable arm is connected with fixed seat, third movable arm and fourth movable arm are symmetrically distributed, fixed seat is equipped with second drive part, second drive part is transmission connection with third movable arm and fourth movable arm, second drive part can drive third movable arm and fourth movable arm rotate, make third cutting end and fourth cutting end approach or away from each other, third cutting end is equipped with saw blade, saw blade is connected with third drive part, third drive part can drive saw blade rotate, the rotation plane of saw blade is parallel with the rotation plane of third movable arm, fourth cutting end is equipped with avoiding groove, saw blade can extend into avoiding groove.

[0014] According to some embodiments of the utility model, the moving device includes swing arm assembly and car body assembly, the first end of the swing arm assembly is connected with the weeding device, the second end of the swing arm assembly is connected with the car body assembly, the swing arm assembly is connected with the fourth drive part, the fourth drive part can drive the swing arm assembly to swing in the vertical plane around the second end, the weeding device is connected with the fifth drive part, the fifth drive part can drive the weeding device to rotate in the vertical plane around the first end.

[0015] According to some embodiments of the utility model, the swing arm assembly and the car body assembly are further provided with a rotating assembly, the rotating assembly is fixed to the car body assembly, the first end of the swing arm assembly is in transmission connection with the rotating assembly, the rotating assembly can drive the swing arm assembly to rotate in the first plane, and the first plane is parallel to the driving plane of the car body assembly.

[0016] According to some embodiments of the utility model, the crushing device includes a receiving hopper, a crushing rod and a sixth drive part, the receiving hopper is fixed to the moving device, the crushing rod is arranged in the receiving hopper, the sixth drive part is in transmission connection with the crushing rod, and the crushing rod is provided with spiral crushing blades in the axial direction.

[0017] According to some embodiments of the utility model, further comprising visual identification device, radar device and light supplementing device, the visual identification device is in transmission connection with the moving device, the position between the visual identification device and the weeding device is relatively fixed, the radar device is in transmission connection with the moving device, the position between the radar device and the visual identification device is relatively fixed, the light supplementing device is arranged on the moving device, and the light supplementing device can improve the brightness in the field of view of the visual identification device.

[0018] The additional aspects and advantages of the present application will be given partly in the following description, some will become obvious from the following description, or will be understood by the practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0019] The present application will be further described below in conjunction with the drawings and embodiments, wherein:

[0020] Figure 1 It is a first perspective view of the structure of the weeding back to the field machine of the present application embodiment;

[0021] Figure 2 It is a structure diagram of the weeding device of the present application embodiment;

[0022] Figure 3 It is an enlarged structure diagram of the weeding device of the present application embodiment;

[0023] Figure 4 It is a second perspective view of the structure of the weeding back to the field machine of the present application embodiment;

[0024] Figure 5 It is a structure diagram of the present application embodiment containing the crushing device.

[0025] Reference signs:

[0026] Mobile device 100, swing arm assembly 110, vehicle body assembly 120, rotating assembly 130, weeding device 200, clamping assembly 210, first movable arm 211, second movable arm 212, first wave 213, second wave 214, cutting assembly 220, third movable arm 221, fourth movable arm 222, saw blade 223, avoiding groove 224, fixed seat 230, visual identification device 300, radar device 400, light supplementing device 500, crushing device 600, receiving hopper 610, crushing rod 620, sixth driving member 630. DETAILED DESCRIPTION

[0027] The embodiments of the present application will be described in detail below, and the examples of the embodiments are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary, only for explaining the present application, and cannot be understood as limiting the present application.

[0028] In the description of the present application, it should be understood that the orientation description, such as the orientation or position relationship of the upper, lower, etc. is based on the orientation or position relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, and is not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as limiting the present application.

[0029] In the description of the utility model, more refers to two or more. If there is a description to the first, the second is only used for distinguishing the purpose of technical features, and can not be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the relationship between the indicated technical features.

[0030] In the description of the utility model, unless otherwise explicitly limited, the words such as setting, installation, connection should be broadly understood, and the person skilled in the art can determine the specific meaning of the above words in the utility model according to the specific content of the technical scheme.

[0031] Referring to Figure 1 And Figure 2 As shown in the utility model, a kind of weeding back to field machine of an embodiment, including mobile device 100, weeding device 200, visual identification device 300 and stirring device 600.

[0032] Weeding device 200 is drivingly connected with mobile device 100, and mobile device 100 can drive weeding device 200 to move in space.

[0033] Mobile device 100 has two purposes, the first aspect is to drive weeding device 200 to move accurately to the position of weeds, so that weeding device 200 can remove weeds;The second aspect is that weeding device 200 can be driven to move in a large range to find weeds. Therefore, mobile device 100 can be summarized as being able to drive weeding device 200 to move in space, which includes small range positioning movement, and also includes large range search movement.

[0034] To realize the above function, mobile device 100 can be divided into two parts, the first part is walking structure, the second part is adjusting structure, walking structure is used for large range movement, adjusting structure is used for small range movement adjustment, and adjusting structure can be arranged on the basis of walking structure. Some specific embodiments of mobile device 100 can be provided in the following description.

[0035] Weeding device 200 is used for weeding operation on weeds, which can include clamping operation, pulling operation, cutting operation and the like on weeds.

[0036] Stirring device 600 has a feed inlet and a discharge outlet, and stirring device 600 is installed on mobile device 100, the feed inlet is located on the moving path of weeding device 200, and the feed inlet can receive weeds clamped by weeding device 200.

[0037] When the weeds are removed by the weeding device 200, the moving device 100 drives the weeding device 200 to move above the inlet, and then places the weeds into the inlet. The weeds are processed by the crushing device 600, and finally discharged directly from the outlet back to the farmland. The broken weeds can be used as fertilizer in the farmland.

[0038] Referring to Figure 3 As shown in the drawings, it can be understood that, in some embodiments, the weeding device 200 includes a clamping assembly 210, a cutting assembly 220, and a fixed seat 230. The fixed seat 230 is in driving connection with the moving device 100. The clamping assembly 210 is arranged on the fixed seat 230, and the cutting assembly 220 is arranged on the fixed seat 230. The clamping point of the clamping assembly 210 and the cutting point of the cutting assembly 220 are in the same vertical plane.

[0039] The clamping assembly 210 is used to clamp the weeds, and then the roots of the weeds are cut by the cutting assembly 220 to complete the removal of the weeds. Further, the clamping assembly 210 can exert a pulling force on the weeds to pull the weeds a certain distance, so that the roots of the weeds are exposed more, facilitating the cutting of the roots of the weeds by the cutting assembly 220. A stress sensor can also be arranged in the clamping assembly 210. The stress sensor can monitor the pulling force of the clamping assembly 210 on the weeds in real time. When the pulling force reaches a certain threshold value, it can be understood that the weeds have been pulled out as much as possible at this time, and the cutting assembly 220 can be used to cut the roots of the weeds.

[0040] It can be understood that the clamping assembly 210 includes a first movable arm 211 and a second movable arm 212. One end of the first movable arm 211 is provided with a first clamping part, and the other end of the first movable arm 211 is connected with the fixed seat 230. One end of the second movable arm 212 is provided with a second clamping part, and the other end of the second movable arm 212 is connected with the fixed seat 230. The first movable arm 211 and the second movable arm 212 are symmetrically distributed. The fixed seat 230 is provided with a first driving member. The first driving member is in driving connection with the first movable arm 211 and the second movable arm 212. The first driving member can drive the first movable arm 211 and the second movable arm 212 to rotate, so that the first clamping part and the second clamping part approach or move away from each other.

[0041] The first driving member can be a rudder. The first driving member drives the first movable arm 211 and the second movable arm 212 to rotate and swing. When the first movable arm 211 and the second movable arm 212 rotate towards each other, the first clamping part and the second clamping part can approach each other to clamp the weeds. When the first movable arm 211 and the second movable arm 212 rotate in opposite directions, the first clamping part and the second clamping part move away from each other to release the weeds.

[0042] It can be understood that the first movable arm 211 is provided with a first tooth portion at one end away from the first clamping portion, the second movable arm 212 is provided with a second tooth portion at one end away from the second clamping portion, the first tooth portion and the second tooth portion are arranged on the fixed seat 230, the first tooth portion and the second tooth portion are meshed with each other, the first driving member is in transmission connection with the first tooth portion or the second tooth portion, and the first driving member can drive the first tooth portion and the second tooth portion to rotate, so that the first clamping portion and the second clamping portion are close to or away from each other.

[0043] When the first tooth portion and the second tooth portion are meshed with each other, when the first tooth portion is pushed to rotate by an external force, the first tooth portion can drive the second tooth portion to rotate, and the rotation directions between the first tooth portion and the second tooth portion are opposite. Therefore, when the first driving member is in transmission connection with the first tooth portion, the first driving member drives the first tooth portion to rotate, and the second tooth portion is also indirectly driven to rotate by the first driving member, and the reverse rotation of the first tooth portion and the second tooth portion can realize the control that the first clamping portion and the second clamping portion are close to or away from each other. Similarly, the first driving member can also be in transmission connection with the second tooth portion, the first driving member drives the second tooth portion to rotate, and the first tooth portion is also indirectly driven to rotate by the first driving member.

[0044] It can be understood that the first clamping portion is provided with a first wave pattern 213 on one side surface facing the second clamping portion, and the second clamping portion is provided with a second wave pattern 214 on one side surface facing the first clamping portion.

[0045] The first wave pattern 213 and the second wave pattern 214 can respectively increase the friction of the first clamping portion and the second clamping portion on weeds, to prevent the weeds from slipping off when the clamping assembly 210 applies a pulling force to the weeds.

[0046] It can be understood that the cutting assembly 220 comprises a third movable arm 221 and a fourth movable arm 222, one end of the third movable arm 221 is a third cutting end, the other end of the third movable arm 221 is connected with the fixed seat 230, one end of the fourth movable arm 222 is a fourth cutting end, the other end of the fourth movable arm 222 is connected with the fixed seat 230, the third movable arm 221 and the fourth movable arm 222 are symmetrically distributed, the fixed seat 230 is provided with a second driving member, the second driving member is in transmission connection with the third movable arm 221 and the fourth movable arm 222, the second driving member can drive the third movable arm 221 and the fourth movable arm 222 to rotate, so that the third cutting end and the fourth cutting end are close to or away from each other, the third cutting end is provided with a saw blade 223, the saw blade 223 is connected with a third driving member, the third driving member can drive the saw blade 223 to rotate, the rotation plane of the saw blade 223 is parallel to the rotation plane of the third movable arm 221, the fourth cutting end is provided with a avoiding slot 224, and the saw blade 223 can extend into the avoiding slot 224.

[0047] The second driving member can also be a steering engine. The second driving member drives the third movable arm 221 and the fourth movable arm 222 to rotate and swing. When the third movable arm 221 and the fourth movable arm 222 rotate towards each other, the third cutting end and the fourth cutting end can approach each other. At the same time, the third driving member can drive the saw blade 223 of the third cutting end to rotate, and the saw blade can cut the roots of the weeds. Specifically, the rotating saw blade 223 contacts the roots of the weeds, and the roots of the weeds are blocked by the fourth cutting end. When the saw blade 223 continuously moves to the avoiding groove 224 of the fourth cutting end, the roots of the weeds are cut off. Then the third movable arm 221 and the fourth movable arm 222 rotate in the opposite direction, and the third cutting end and the fourth cutting end are reset away from each other. It should be understood that when the cutting assembly 220 cuts the roots of the weeds, the clamping assembly 210 still clamps the weeds.

[0048] Referring to Figure 4 It can be understood that the moving device 100 comprises a swing arm assembly 110 and a vehicle body assembly 120. The first end of the swing arm assembly 110 is connected with the weeding device 200, the second end of the swing arm assembly 110 is connected with the vehicle body assembly 120, the swing arm assembly 110 is connected with a fourth driving member, the fourth driving member can drive the swing arm assembly 110 to swing in a vertical plane around the second end, and the weeding device 200 is connected with a fifth driving member, the fifth driving member can drive the weeding device 200 to rotate in a vertical plane around the first end.

[0049] The moving device 100 is used to drive the weeding device 200 to move accurately to the position where the weeds are located, so that the weeding device 200 can remove the weeds; and the moving device 100 can also drive the weeding device 200 to move walkingly in a large range to find the weeds. Therefore, the moving device 100 can be composed of the swing arm assembly 110 and the vehicle body assembly 120. The swing arm assembly 110 is used to drive the weeding device 200 to move accurately to the position where the weeds are located; and the vehicle body assembly 120 is used to drive the weeding device 200 to move walkingly.

[0050] More specifically, the vehicle body assembly 120 comprises wheels, and the wheels are preferably provided with four wheels. Of course, the wheels can be selected to use a track structure.

[0051] The fourth driving member drives the swing arm assembly 110 to move in a vertical plane, which can adjust the height of the weeding device 200, so that the weeding device 200 can clamp the weeds, and the cutting point of the weeding device 200 corresponds to the roots of the weeds.

[0052] It can be understood that the swing arm assembly 110 and the vehicle body assembly 120 are further provided with a rotating assembly 130. The rotating assembly 130 is fixed to the vehicle body assembly 120, the first end of the swing arm assembly 110 is in transmission connection with the rotating assembly 130, and the rotating assembly 130 can drive the swing arm assembly 110 to rotate in a first plane, and the first plane is parallel to the driving plane of the vehicle body assembly 120.

[0053] The rotating assembly 130 can improve the degree of freedom of the weeding device 200. For example, when it is required to adjust the position of the weeding device 200 in a horizontal range, the adjustment can be achieved by moving the vehicle body assembly 120 directly, and by driving the rotating assembly 130 to rotate the swing arm assembly 110 in a first plane, the horizontal position adjustment of the weeding device 200 can be achieved. It should be understood that the first plane is parallel to the driving plane of the vehicle body assembly 120, and in general, the driving plane of the vehicle body assembly 120 is the land surface of the farmland, that is, the horizontal plane, so in this case, the first plane is also horizontal.

[0054] Referring to Figure 5 It can be understood that the crushing device 600 includes a collecting hopper 610, a crushing rod 620, and a sixth driving member 630. The collecting hopper 610 is fixed to the moving device 100, the crushing rod 620 is arranged in the collecting hopper 610, and the sixth driving member 630 is in transmission connection with the crushing rod 620. The crushing rod 620 is provided with a spiral crushing blade in the axial direction.

[0055] The collecting hopper 610 is in the shape of a bucket, and the larger opening end thereof faces upward, serving as a feeding port. The crushing rod 620 is arranged in the collecting hopper 610, and the weeds enter the collecting hopper 610 and contact the crushing rod 620. The crushing rod 620 is driven to rotate by the sixth driving member 630, and the spiral crushing blade arranged on the crushing rod 620 also rotates. The weeds are further broken and dispersed by the crushing blade, and are pushed forward by the spiral crushing blade. An outlet is arranged at the end of the crushing blade, and the weeds are returned to the farmland from the outlet. The sixth driving member 630 can be a motor.

[0056] When the weeds are removed by the weeding device 200, the moving device 100 drives the weeding device 200 to move above the feeding port, and then the weeds are placed into the feeding port. The weeds are processed by the crushing device 600, and finally discharged directly from the outlet back to the farmland. The broken weeds can be used as fertilizer in the farmland.

[0057] Specifically, the clamping assembly 210 in the weeding device 200 clamps the weeds, the cutting assembly 220 cuts the roots of the weeds, and the clamping assembly 210 remains in the clamping state. The swing arm assembly 110 in the moving device 100 drives the weeding device 200 to move above the feeding port, and the clamping assembly 210 releases the weeds, and the weeds fall into the feeding port.

[0058] It can be understood that the visual recognition device 300, the radar device 400 and the light supplement device 500 are also included, the visual recognition device 300 is in transmission connection with the mobile device 100, the position between the visual recognition device 300 and the weeding device 200 is relatively fixed, the radar device 400 is in transmission connection with the mobile device 100, the position between the radar device 400 and the visual recognition device 300 is relatively fixed, and the light supplement device 500 is arranged on the mobile device 100, and the light supplement device 500 can improve the brightness in the field of view of the visual recognition device 300.

[0059] The visual recognition device 300 is in transmission connection with the mobile device 100, and the position between the visual recognition device 300 and the weeding device 200 is relatively fixed. The visual recognition device 300 can be a camera or a camera, and after obtaining the environment picture, the position of the weed in the field of view is recognized through algorithm matching. Because the position between the visual recognition device 300 and the weeding device 200 is relatively fixed, after the visual recognition device 300 calculates the position relationship between the weed and the visual recognition device 300, the position relationship between the weeding device 200 and the weed can also be calculated, and the weeding device 200 can be moved to the weed position through the mobile device 100, so that the weeding operation can be performed.

[0060] The radar device 400 is in transmission connection with the mobile device 100, and the position between the radar device 400 and the visual recognition device 300 is relatively fixed; the light supplement device 500 is arranged on the mobile device 100, and the light supplement device 500 can improve the brightness in the field of view of the visual recognition device 300.

[0061] The light supplement device 500 can be a lamp strip, which can illuminate the field of view of the visual recognition device 300 after being powered on, and improve the brightness and clarity of the image obtained by the visual recognition device 300. Generally, the camera or camera has better resolution in a relatively bright environment. It should be understood that the scene of overexposing the camera or camera is not included. The control logic of the light supplement device 500 can include the following two ways, the first way is that the light supplement device 500 is always kept in an open state in a dark environment; the second way is that the light supplement device 500 is only turned on in advance when the visual recognition device 300 is shooting, and is turned off after waiting for the shooting to end. Compared with the first way and the second way, the second control logic of the light supplement device 500 is more power-saving.

[0062] The radar device 400 is used to assist the visual recognition device 300 in analyzing the weed profile and position in the obtained image. The radar device 400 emits electromagnetic waves to the environment and receives echoes to detect targets, and the energy image of the received echoes can correspond to the profile of the weed, so that the energy image obtained by the radar device 400 can be superimposed with the image obtained by the visual recognition device 300, and the position of the weed can be accurately analyzed.

[0063] The utility model embodiment makes the detailed explanation in combination with the drawing, but the utility model is not limited to the above -mentioned embodiment, still can make various changes in the knowledge range that the person skilled in the art has possesses without departing from the utility model's tenet under the precondition that the knowledge range that the person skilled in the art has possesses.

Claims

1. A weed-killing machine, characterized in that, The utility model relates to a kind of weeding device and mobile device, comprising: Mobile device (100); Weeding device (200), the weeding device (200) is driving connection with the mobile device (100), the mobile device (100) can drive the weeding device (200) moves in space; Chopper (600), the chopper (600) has inlet and outlet, the chopper (600) is installed on the mobile device (100), the inlet is located on the moving path of the weeding device (200), and the inlet can receive the weeds clamped by the weeding device (200).

2. The weed-killing fallow machine of claim 1, wherein, The weeding device (200) includes clamping assembly (210), cutting assembly (220) and fixed seat (230), the fixed seat (230) is driving connection with the mobile device (100), the clamping assembly (210) is arranged on the fixed seat (230), and the cutting assembly (220) is arranged on the fixed seat (230), and the clamping point of the clamping assembly (210) and the cutting point of the cutting assembly (220) are in the same vertical plane.

3. The weed-killing fallow machine of claim 2, wherein, The clamping assembly (210) includes first movable arm (211) and second movable arm (212), one end of the first movable arm (211) is equipped with first clamping part, the other end of the first movable arm (211) is connected with the fixed seat (230), one end of the second movable arm (212) is equipped with second clamping part, the other end of the second movable arm (212) is connected with the fixed seat (230), the first movable arm (211) and the second movable arm (212) are symmetrically distributed, the fixed seat (230) is equipped with first driving part, the first driving part is driving connection with the first movable arm (211) and the second movable arm (212), and the first driving part can drive the first movable arm (211) and the second movable arm (212) to rotate, so that the first clamping part and the second clamping part are close to or away from each other.

4. The weed-killing fallow machine of claim 3, wherein, The first movable arm (211) is equipped with first tooth part at the end away from the first clamping part, the second movable arm (212) is equipped with second tooth part at the end away from the second clamping part, and the first tooth part and the second tooth part are arranged in the fixed seat (230), the first tooth part and the second tooth part are engaged with each other, the first driving part is driving connection with the first tooth part or the second tooth part, and the first driving part can drive the first tooth part and the second tooth part to rotate, so that the first clamping part and the second clamping part are close to or away from each other.

5. The weed-killing fallow machine of claim 3, wherein, The first clamping part is equipped with first wave pattern (213) on the side surface towards the second clamping part, and the second clamping part is equipped with second wave pattern (214) on the side surface towards the first clamping part.

6. The weed-killing fallow machine of claim 2, wherein, The cutting assembly (220) comprises a third movable arm (221) and a fourth movable arm (222), one end of the third movable arm (221) is a third cutting end, the other end of the third movable arm (221) is connected with the fixed seat (230), one end of the fourth movable arm (222) is a fourth cutting end, the other end of the fourth movable arm (222) is connected with the fixed seat (230), the third movable arm (221) and the fourth movable arm (222) are symmetrically distributed, the fixed seat (230) is provided with a second driving member, the second driving member is in transmission connection with the third movable arm (221) and the fourth movable arm (222), the second driving member can drive the third movable arm (221) and the fourth movable arm (222) to rotate, so that the third cutting end and the fourth cutting end are close to or away from each other, the third cutting end is provided with a saw blade (223), the saw blade (223) is connected with a third driving member, the third driving member can drive the saw blade (223) to rotate, the rotating plane of the saw blade (223) is parallel to the rotating plane of the third movable arm (221), the fourth cutting end is provided with a avoiding slot (224), and the saw blade (223) can extend into the avoiding slot (224).

7. The weed-killing fallow machine of claim 1, wherein, The moving device (100) comprises a swing arm assembly (110) and a vehicle body assembly (120), a first end of the swing arm assembly (110) is connected with the weeding device (200), a second end of the swing arm assembly (110) is connected with the vehicle body assembly (120), the swing arm assembly (110) is connected with a fourth driving member, the fourth driving member can drive the swing arm assembly (110) to swing in a vertical plane around the second end, and the weeding device (200) is connected with a fifth driving member, the fifth driving member can drive the weeding device (200) to rotate in a vertical plane around the first end.

8. The weed-killing fallow machine of claim 7, wherein, The swing arm assembly (110) and the vehicle body assembly (120) are further provided with a rotating assembly (130), the rotating assembly (130) is fixed to the vehicle body assembly (120), a first end of the swing arm assembly (110) is in transmission connection with the rotating assembly (130), and the rotating assembly (130) can drive the swing arm assembly (110) to rotate in a first plane, and the first plane is parallel to the driving plane of the vehicle body assembly (120).

9. The weed-killing fallow machine of claim 1, wherein, The crushing device (600) comprises a receiving hopper (610), a crushing rod (620) and a sixth driving member (630), the receiving hopper (610) is fixed to the moving device (100), the crushing rod (620) is arranged in the receiving hopper (610), the sixth driving member (630) is in transmission connection with the crushing rod (620), and the crushing rod (620) is axially provided with spiral crushing blades.

10. The weed-killing fallow machine of claim 9, wherein, Still include visual identification device (300), radar device (400) and light supplement device (500), the visual identification device (300) is connected with the mobile device (100) transmission, the position between the visual identification device (300) and the weeding device (200) is relatively fixed, the radar device (400) is connected with the mobile device (100) transmission, the position between the radar device (400) and the visual identification device (300) is relatively fixed, the light supplement device (500) is set to the mobile device (100), the light supplement device (500) can improve the brightness in the field of view of the visual identification device (300).

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