阅读说明：本技术 一种水田株间锄草装置 (Paddy field inter-plant weeding device ) 是由 赖海林 马锃宏 杜小强 俞高红 于 2020-12-22 设计创作，主要内容包括：本发明涉及农业机械工程领域。目的是提供一种主动进入式水田株间锄草装置,该装置能够有效全覆盖株间锄草区域、改善锄草效果、降低锄草伤苗率,具有结构简单、运行平稳、可靠性高的特点。技术方案是：一种水田株间锄草装置,其特征在于：包括机架、固定在机架左右两侧的两个摆杆铰支架、分别铰接在两个摆杆铰支架上并可在竖直平面内摆动的两根摆杆、安装在机架上并施力于两根摆杆以驱动两根摆杆相互靠近或分开的驱动机构、分别固定在两根摆杆下端的两个锄草刀、安装在机架上以实时采集水田图像的相机以及控制锄草刀株间锄草运动的控制器。(The invention relates to the field of agricultural mechanical engineering. The purpose provides an initiative income formula paddy field inter-plant hoe device, and the device can effectively cover the inter-plant hoe region entirely, improve the effect of weeding, reduce the seedling rate of hindering of weeding, has simple structure, operates steadily, characteristics that the reliability is high. The technical scheme is as follows: the utility model provides a paddy field inter-plant weeding device which characterized in that: the weeding machine comprises a rack, two swing rod hinged supports fixed on the left side and the right side of the rack, two swing rods respectively hinged on the two swing rod hinged supports and capable of swinging in a vertical plane, a driving mechanism installed on the rack and applying force to the two swing rods to drive the two swing rods to mutually approach or separate, two weeding knives respectively fixed at the lower ends of the two swing rods, a camera installed on the rack and used for collecting paddy field images in real time and a controller used for controlling weeding movement between weeding knives.)

1. The utility model provides a paddy field inter-plant weeding device which characterized in that: the weeding machine comprises a rack (6), two swing rod hinged supports (3) fixed on the left side and the right side of the rack, two swing rods (2) respectively hinged on the two swing rod hinged supports and capable of swinging in a vertical plane, a driving mechanism installed on the rack and applying force to the two swing rods to drive the two swing rods to mutually approach or separate, two weeding knives (1) respectively fixed at the lower ends of the two swing rods, a camera (11) installed on the rack and used for collecting paddy field images in real time and a controller used for controlling weeding movement between weeding knives.

2. The inter-plant weeding device for paddy fields according to claim 1, wherein: the middle part of the swing rod is hinged with the swing rod hinged support; the driving mechanism applies force to the upper end of the swing rod.

3. The inter-plant weeding device for paddy fields according to claim 2, wherein: the driving mechanism comprises a cam (8) which is arranged between the two swing rods and is connected with the inner sides of the two swing rods in an abutting mode, a servo motor (9) which is arranged on the rack and drives the cam to rotate, and two compression springs (5) which are respectively arranged on the outer sides of the two swing rods; one end of each compression spring is fixed on the swing rod hinge support, and the other end of each compression spring is in abutting connection with the corresponding swing rod through a spring seat assembly (7); the compression spring is always in a compressed state, so that the spring force towards one side of the cam is applied to the oscillating rod.

4. The inter-plant weeding device for paddy fields according to claim 3, wherein: the spring seat assembly comprises a spring seat (13) fixed at the end part of the compression spring, a bolt (12) fixed on the spring seat and a rubber roller (14) which is rotatably positioned on the bolt and presses the outer side of the swing rod.

5. The inter-plant weeding device for paddy fields according to claim 4, wherein: the weeding knife comprises a cutter head (16) fixed at the lower end of the swing rod and steel brushes (15) uniformly distributed on the cutter head.

6. The inter-plant weeding device for paddy fields according to claim 5, wherein: swing rod supporting plates (4) are respectively fixed on the front side and the rear side of the rack; a bull eye bearing (10) is fixed on the front side and the rear side of each swing rod; the ball (17) of the bull eye bearing can roll on the plane of the swing rod supporting plate on the same side, so that the stability of the swing plane of the swing rod is guaranteed.

7. The inter-plant weeding device for paddy fields according to claim 6, wherein: the controller carries out image processing on paddy field images acquired and input by the camera in real time and calculates the distance between the weeding cutter and the seedlings, so that the rotating speed of the servo motor is controlled and adjusted in real time.

Technical Field

The invention relates to the field of agricultural mechanical engineering, in particular to a paddy field inter-plant weeding device.

Background

The rice is the grain crop with the largest planting area in China. In the rice production process, paddy field weeds and rice compete for growth resources, which is one of the main reasons for the reduction of the yield and the quality of the rice. Mechanical weeding is an environment-friendly weeding mode for removing field weeds by adopting a special machine, meets the requirements of green production and life, and is worthy of vigorous popularization.

The existing machines for weeding can be divided into an inter-row weeding machine and an inter-plant weeding machine according to the covering area of weeding operation. The existing paddy field inter-row weeding machine is mature in application, the inter-plant weeding machine is of a passive entry type, the problems of small inter-plant weeding area coverage, low weeding efficiency and the like exist, the practical application of the inter-plant weeding machine needs to be perfect, particularly, the inter-plant weeding machine realized by combining a sensor and a machine has the problem of complex driving control, and the problems of low weeding reliability and high seedling injury rate are caused due to the fact that deviation easily occurs in mechanical operation and computer simulation.

Disclosure of Invention

The invention aims to overcome the defects of the background technology and provide the active-entering type paddy field inter-plant weeding device which can effectively and fully cover the inter-plant weeding area, improve the weeding effect and reduce the weeding seedling injury rate and has the characteristics of simple structure, stable operation and high reliability.

The technical scheme provided by the invention is as follows:

the utility model provides a paddy field inter-plant weeding device which characterized in that: the weeding machine comprises a rack, two swing rod hinged supports fixed on the left side and the right side of the rack, two swing rods respectively hinged on the two swing rod hinged supports and capable of swinging in a vertical plane, a driving mechanism installed on the rack and applying force to the two swing rods to drive the two swing rods to mutually approach or separate, two weeding knives respectively fixed at the lower ends of the two swing rods, a camera installed on the rack and used for collecting paddy field images in real time and a controller used for controlling weeding movement between weeding knives.

The middle part of the swing rod is hinged with the swing rod hinged support; the driving mechanism applies force to the upper end of the swing rod.

The driving mechanism comprises a cam, a servo motor and two compression springs, wherein the cam is arranged between the two swing rods and is connected with the inner sides of the two swing rods in an abutting mode, the servo motor is installed on the rack and drives the cam to rotate, and the two compression springs are respectively arranged on the outer sides of the two swing rods; one end of each compression spring is fixed on the swing rod hinged support, and the other end of each compression spring is connected with the corresponding swing rod in an abutting mode through a spring seat assembly; the compression spring is always in a compressed state, so that the spring force towards one side of the cam is applied to the oscillating rod.

The spring seat assembly comprises a spring seat fixed at the end part of the compression spring, a bolt fixed on the spring seat and a rubber roller which is rotatably positioned on the bolt and compresses the outer side of the swing rod.

The weeding cutter comprises a cutter head fixed at the lower end of the swing rod and steel brushes uniformly distributed on the cutter head.

Swing rod supporting plates are respectively fixed on the front side and the rear side of the rack; a bull eye bearing is fixed on the front side and the rear side of each oscillating bar; the ball of the bull's eye bearing can roll on the plane of homonymy pendulum rod backup pad to guarantee that the swing plane of pendulum rod is stable.

The controller carries out image processing on paddy field images acquired and input by the camera in real time and calculates the distance between the weeding cutter and the seedlings, so that the rotating speed of the servo motor is controlled and adjusted in real time.

The invention has the beneficial effects that:

1) the weeding knife enters between adjacent crop seedlings to weed through active control, so that active entering type weeding operation is realized; in addition, when the weeding operation is carried out, the weeding device can accurately cover the inter-plant areas, complete coverage of the inter-plant weeding areas is realized, and seedling injury is avoided.

2) This device of weeding's cam profile curve is decided by the speed of advance that the operation platform was predetermine and the ideal orbit of hoe sword to under compression spring's effect, the cam compresses tightly all the time with the pendulum rod, when making the device of weeding hoe the operation of weeding, servo motor drives the cam and continuously rotates, and then drives the pendulum rod swing, can avoid the crop to carry out the operation of weeding, reduces the seedling rate of hindering of weeding.

3) Because the hoe blade can receive the resistance effect at the during operation, make the pendulum rod rock around easy, consequently, the side opposite direction is provided with the bull eye bearing around every pendulum rod to the ball of bull eye bearing contacts with the pendulum rod backup pad of homonymy, and the stability of multiplicable pendulum rod guarantees that the pendulum rod swings at vertical plane all the time, improves the life of device.

4) The camera collects images of the paddy field in real time and inputs the images into the controller for image processing, the controller calculates the distance between the weeding cutter and the current seedlings, the ideal rotating angle of the cam is calculated according to the distance, and compared with the actual rotating angle of the cam, the rotating speed of the servo motor, namely the rotating speed of the cam, is controlled and adjusted in real time, so that the weeding cutter moves according to the ideal track, the damage to crops is avoided, and the full coverage of the weeding area between the seedlings of the weeding cutter and the seedling avoidance are realized.

Drawings

Fig. 1 is one of schematic perspective views (closed state) of the present invention.

Fig. 2 is a schematic perspective view of the second embodiment of the present invention (open state).

Fig. 3 is a partial structural schematic view of the spring seat assembly of the present invention.

FIG. 4 is a perspective view of the present invention.

Fig. 5 is a schematic perspective view of the bull's eye bearing of the present invention.

FIG. 6 is a schematic view of an ideal path of the present invention during operation.

Reference numerals:

1. weeding cutters; 2. a swing rod; 3. a swing rod hinge support; 4. a swing rod supporting plate; 5. a spring; 6. a frame; 7. a spring seat assembly; 8. a cam; 9. a servo motor; 10. a bull's eye bearing; 11. a camera; 12. a bolt; 13. a spring seat; 14. a rubber roller; 15. a steel brush; 16. a cutter head; 17. a ball bearing; 18. a weeding protective area.

Detailed Description

The following further description is made with reference to the embodiments shown in the drawings.

The inter-plant weeding device for paddy fields shown in fig. 1 and 2 comprises a frame 6, two swing rod hinged brackets 3, two swing rods 2, a driving mechanism, two weeding knives 1, a camera 11 and a controller (not shown in the figure).

The frame is arranged on an external operation platform (not shown in the figure) to drive the weeding device to move forwards integrally; the two swing rod hinged supports are fixed on the left side and the right side of the frame through screws, so that the weeding device can be conveniently disassembled and assembled; in this embodiment, the frame is arranged in a door shape, and the two swing rod hinge supports are bent towards the inner side of the door-shaped space of the frame. The two swing rods are respectively hinged at the bending ends of the two swing rod hinged brackets, so that the swing rods can swing in a vertical plane; in this embodiment, the middle of the swing link is hinged to the swing link hinge support, and the swing planes of the two swing links are in the same plane.

Swing rod supporting plates 4 are respectively fixed on the front side and the rear side of the rack; a bull eye bearing 10 is fixed on the front side and the rear side of each oscillating bar; the ball 17 of the bull's eye bearing can roll on the plane of the homonymy pendulum rod backup pad to avoid the pendulum rod to rock around in the course of the work, guarantee that the swing plane of pendulum rod is stable.

The driving mechanism is mounted on the frame and applies force to the two swing rods (in this embodiment, the driving mechanism applies force to the upper ends of the swing rods) so as to drive the two swing rods to approach or separate from each other. The driving mechanism comprises a cam 8, a servo motor 9, two compression springs 5 and two spring seat assemblies 7. The cam is arranged between the two swing rods, and two sides of the cam are respectively connected with the inner sides of the two swing rods in an abutting mode; the servo motor is arranged on the frame to drive the cam to rotate; the two compression springs are respectively arranged at the outer sides of the two swing rods (namely the side of the swing rods far away from the cam), wherein one end of each compression spring is fixed on the swing rod hinged support, and the other end of each compression spring is in abutting connection with the corresponding swing rod through a spring seat assembly; the compression spring is always in a compression state, so that spring force towards one side of the cam is applied to the swing rod, the spring seat assembly is enabled to always press the swing rod, and the cam is enabled to be tightly contacted with the swing rod and cannot be separated from the swing rod.

As shown in fig. 3, the spring seat assembly includes a spring seat 13, a latch 12, and a rubber roller 14. One end of the spring seat is fixedly connected with the end part of the compression spring, and the other end of the spring seat is fixedly inserted with a bolt; the rubber roller is rotatably positioned on the bolt and is always pressed against the outer side of the swing rod under the action of the compression spring. When the device works, the cam rotates, and the upper ends of the two swing rods are always contacted with the cam under the action of the spring force of the compression spring, so that the swing rods swing along with the rotation of the cam; the cam profile curve is designed according to the advance speed of the preset operation platform and then based on the ideal track of the weeding knife.

The two weeding knives are respectively fixed at the lower ends of the two swing rods; each weeding cutter comprises a cutter head 16 fixedly connected with a swing rod and steel brushes 15 (see figure 4) uniformly distributed on the cutter head.

The camera is mounted on the frame; the camera faces the direction of the weeding knife so as to acquire paddy field images in real time.

When the weeding device of the invention is used for weeding, the whole weeding device moves forward under the drive of the external operation platform, and the weeding knife periodically swings along with the swing rod, and the ideal weeding track of the weeding knife is shown in figure 6 (the arrow direction in figure 6 is the forward direction of the operation platform). The ideal track can be divided into a front end curve AB section, a middle straight line BC section, a rear end curve CD section and a rear end straight line DE section, and each section of line respectively corresponds to a specific rotation angle range of the cam and is sequentially set as theta₁、θ₂、θ₃、θ₄And theta₁+θ₂+θ₂+θ₄2 pi. If the width of the cutter head of the weeding cutter is B, the radius of the weeding protection area is R, and the inter-plant distance between adjacent crops is L, the moving distance of the weeding cutter in the advancing direction sequentially corresponding to the segments AB, BC, CD and DE is R, L-2R-B, R, B, which can be obtained by analyzing the moving track of the position of the weeding cutter shown in figure 6. According to the time synchronism of the forward motion of the operation platform and the swing motion of the swing rod corresponding to the rotation of the cam, the following results are obtained:

in the formula (1), v₁、ν₂、v₃、ν₄The average advancing speed omega of the working platform corresponding to the AB section, the BC section, the CD section and the DE section respectively₁、ω₂、ω₃、ω₄The average angular velocity of the cam rotation angle corresponding to the AB, BC, CD, DE segments, respectively.

In the weeding process, because the advancing speed of the operation platform changes, the spacing between crop plants also changes due to the influence of planting precision, a camera is adopted to collect paddy field images in real time and input the images into a controller for image processing, then the controller calculates the spacing between the weeding cutter and the current plant seedlings, an ideal rotating angle of a cam is calculated according to the spacing, and compared with the actual rotating angle of the cam, the rotating speed of a servo motor, namely the rotating speed of the cam, is controlled and adjusted in real time, the corresponding relation between the rotating angle of the cam at each stage and the moving distance of the weeding cutter in the advancing direction shown in the formula (1) is gradually realized, the weeding cutter moves along the ideal track, and finally, the full coverage of the weeding area between the weeding cutters and the seedling avoidance are realized.

When the weeding device works, the servo motor drives the cam to rotate, the camera collects paddy field images in real time and inputs the images into the controller for image processing, the controller calculates the current spacing between the weeding cutter and the seedlings, calculates the ideal rotation angle of the cam according to the spacing, compares the ideal rotation angle with the actual rotation angle of the cam, and controls and adjusts the rotation speed of the cam, namely the rotation speed of the servo motor in real time, so that the weeding cutter moves along the ideal track of weeding operation shown in fig. 6; when the weeding knife is arranged between two adjacent crops (the point P and the point Q in the figure 6 respectively represent the positions of the two adjacent crops), the two weeding knives are close to each other and are in a closed state (shown in figure 1); when the weeding knives are close to the crops, the two weeding knives gradually get away from each other along the circular boundary of the weeding protection area to be in an opening state (see figure 2), so that the crops are avoided, and finally, the full coverage of the weeding area among the weeding knives and the seedling avoidance are realized.

Finally, it should be noted that the above-mentioned list is only a specific embodiment of the present invention. It is obvious that the present invention is not limited to the above embodiments, but many variations are possible. All modifications which can be derived or suggested by a person skilled in the art from the disclosure of the present invention are to be considered within the scope of the invention.