CN-121970553-A - Obstacle avoidance type orchard weeding device

CN121970553ACN 121970553 ACN121970553 ACN 121970553ACN-121970553-A

Abstract

The invention discloses an obstacle avoidance type orchard weeding device, which belongs to the technical field of weeding devices and comprises a traveling vehicle, a moving mechanism, an avoidance mechanism, a rotary tillage weeding mechanism and an inter-row weeding mechanism, wherein the inter-row weeding mechanism is arranged on the front side of the traveling vehicle, the moving mechanism is symmetrically arranged on the rear side of the traveling vehicle, the moving mechanism comprises a positioning component and a lifting component I, the avoidance mechanism is arranged at the moving end of the lifting component I, the avoidance mechanism comprises a rotating component, a rotating mounting frame, avoidance triggering components and avoidance rotating rods, the three avoidance rotating rods are uniformly distributed on the rotating mounting frame in a circumferential array at equal intervals, the three sets of avoidance triggering components are uniformly arranged on the rotating mounting frame in a circumferential array at equal intervals, and the three sets of rotary tillage weeding mechanisms for weeding are uniformly rotatably arranged on the rotating mounting frame at equal intervals. Through the mode, automatic avoidance is achieved, meanwhile, rotary tillage is conducted on soil rolled through wheels through a group of weeding assemblies, and solidification of the soil due to wheel rolling is avoided.

Inventors

ZHU JIANYI
LI XINGYUE
LIU SHENGNAN
ZHAO HAOYU
ZHOU XIAOGANG
HUANG JING
FU HUIJUAN
JI ZHENGYU
PI BING
CHEN XIAOJUAN

Assignees

四川省农业科学院植物保护研究所

Dates

Publication Date: 20260505
Application Date: 20260203

Claims (10)

1. The utility model provides an obstacle avoidance type orchard weeding device, includes walking car (1), moving mechanism (2), dodges mechanism (3), rotary tillage weeding mechanism (4) and interline weeding mechanism (5), its characterized in that: An inter-row weeding mechanism (5) for weeding is arranged on the front side of the travelling vehicle (1), and a moving mechanism (2) is symmetrically arranged on the rear side of the travelling vehicle (1); The moving mechanism (2) comprises a positioning assembly (21) and a lifting assembly I (22), wherein the positioning assembly (21) is arranged on the travelling vehicle (1), the lifting assembly I (22) is arranged at the moving end of the positioning assembly (21), and the avoidance mechanism (3) is arranged at the moving end of the lifting assembly I (22); The avoidance mechanism (3) comprises a rotating assembly (31), a rotating mounting frame (32), avoidance triggering assemblies (33) and avoidance rotating rods (34), wherein the rotating assembly (31) is arranged at the moving end of a lifting assembly I (22), the rotating mounting frame (32) is arranged at the moving end of the rotating assembly (31), the three avoidance rotating rods (34) are uniformly distributed on the rotating mounting frame (32) at equal intervals in a circumferential array manner, one end of each avoidance rotating rod (34) is hinged with the corresponding rotating mounting frame (32), the avoidance rotating rods (34) and the rotating mounting frame (32) are provided with a joint structure for enabling the avoidance rotating rods (34) to approach the avoidance triggering assemblies (33), and the three groups of avoidance triggering assemblies (33) are uniformly arranged on the corresponding rotating mounting frame (32) at equal intervals in the circumferential array manner; Three groups of rotary tillage weeding mechanisms (4) for weeding are uniformly and rotatably arranged on the rotary mounting frame (32) at equal intervals, and when the travelling vehicle (1) moves along the rows of the fruit trees, one group of rotary tillage weeding mechanisms (4) are positioned at the rear sides of the wheels of the travelling vehicle (1).
2. The obstacle avoidance type orchard weeding device according to claim 1, wherein the rotary tillage weeding mechanism (4) comprises a weeding rotary disc (41), a weeding component I (42), a driving component I (43) and a driving component II (44), the weeding rotary disc (41) is rotatably mounted on a rotary mounting frame (32), the driving component II (44) for driving the weeding rotary disc (41) to rotate is mounted on the rotary mounting frame (32), a plurality of groups of weeding components I (42) are uniformly mounted on the lower side of the weeding rotary disc (41) in a circumferential array at equal intervals, and the driving component I (43) for driving the plurality of groups of weeding components I (42) is mounted on the weeding rotary disc (41).
3. The obstacle avoidance type orchard weeding device according to claim 2, wherein the inter-row weeding mechanism (5) comprises a lifting assembly II (51), a weeding support frame (52), a weeding assembly II (53) and a driving assembly III (54), the lifting assembly II (51) is arranged on the front side of the travelling car (1), the weeding support frame (52) is arranged at the moving end of the lifting assembly II (51), the weeding assembly II (53) for weeding is arranged on the weeding support frame (52), and the driving assembly III (54) for driving the weeding assembly II (53) is arranged on the lifting assembly II (51).
4. The obstacle avoidance type orchard weeding device according to claim 3, wherein the positioning assembly (21) comprises a positioning driving motor (211), a positioning driving gear (212), a positioning driven gear (213) and a positioning rotating frame (214), the positioning driving motor (211) is fixedly arranged in the walking vehicle (1), the positioning driving gear (212) is fixedly arranged at the output end of the positioning driving motor (211), the positioning rotating frame (214) is rotatably arranged at the rear side of the walking vehicle (1), the positioning driven gear (213) is fixedly arranged on the positioning rotating frame (214), and the positioning driving gear (212) is in meshed connection with the positioning driven gear (213).
5. The obstacle avoidance type orchard weeding device according to claim 4, wherein the lifting assembly I (22) comprises a lifting installation frame (221), sliding rails (223), lifting hydraulic cylinders I (224), a fixed support frame (225) and a floating support module (226), the lifting installation frame (221) is fixedly installed on the positioning rotating frame (214), a plurality of groups of guide grooves (222) are symmetrically formed in the lifting installation frame (221), a plurality of groups of sliding rails (223) are symmetrically and fixedly installed on the fixed support frame (225), the guide grooves (222) are in limiting sliding connection with the sliding rails (223), the lifting hydraulic cylinders I (224) are fixedly installed on the lifting installation frame (221), the output end of the lifting hydraulic cylinders I (224) is fixedly connected with the fixed support frame (225), and the floating support module (226) is installed on the fixed support frame (225).
6. The obstacle avoidance type orchard weeding device according to claim 5, wherein the floating support module (226) comprises a first spring (2261), a limiting block (2262), guide rods (2263), a floating mounting plate (2264) and universal wheels (2265), the guide rods (2263) are uniformly and fixedly arranged on the floating mounting plate (2264) in a circumferential array at equal intervals, the limiting block (2262) is fixedly arranged at the top of the guide rods (2263) in limiting sliding connection with the fixed support frame (225), the first spring (2261) is sleeved outside the guide rods (2263), one end of the first spring (2261) is fixedly connected with the limiting block (2262), the other end of the first spring (2261) is fixedly connected with the fixed support frame (225), and the universal wheels (2265) are uniformly and fixedly arranged at the bottom of the fixed support frame (225) in the circumferential array at equal intervals.
7. The obstacle avoidance type orchard weeding device according to claim 6, wherein the rotating assembly (31) comprises an avoidance driving motor (311) and an avoidance rotating table (312), the avoidance driving motor (311) is fixedly installed on the floating installation plate (2264), a round groove which is used for yielding the avoidance driving motor (311) is formed in the fixed support frame (225), the avoidance rotating table (312) is fixedly installed at the output end of the avoidance driving motor (311), and the rotating installation frame (32) is fixedly installed on the avoidance rotating table (312).
8. The obstacle avoidance type orchard weeding device according to claim 7, wherein the avoidance triggering component (33) comprises a triggering block (331), a first mounting seat (332), a round rod (333), a second spring (334), a movable connecting block (335) and a fixed connecting block (336), the triggering block (331) is fixedly arranged on the avoidance rotating rod (34), the first mounting seat (332) is fixedly arranged on the rotary mounting frame (32), the round rod (333) is in limiting sliding connection with the first mounting seat (332), the movable connecting block (335) is fixedly arranged in the middle of the round rod (333), the second spring (334) is sleeved outside the round rod (333), one end of the second spring (334) is fixedly connected with the first mounting seat (332), the other end of the second spring (334) is fixedly connected with the movable connecting block (335), the fixed connecting block (336) is fixedly arranged on the first mounting seat (332), and the end of the round rod (333) penetrates through the first mounting seat (332) to be in abutting connection with the triggering block (331).
9. The obstacle avoidance type orchard weeding device according to claim 8, wherein the weeding assembly I (42) comprises a weeding mounting frame (421), weeding shafts (422), rotary tillage frames (423) and rotary tillage plates (424), the weeding mounting frame (421) is fixedly mounted on the weeding rotary disc (41), the weeding shaft (422) is rotatably mounted on the weeding mounting frame (421), a plurality of groups of rotary tillage frames (423) are uniformly and fixedly mounted on the weeding shaft (422) in a circumferential array at equal intervals, and the rotary tillage plates (424) are fixedly mounted on the rotary tillage frames (423).
10. The obstacle avoidance type orchard weeding device according to claim 9, wherein the first driving assembly (43) comprises a first weeding driving motor (431), a weeding driving gear (432), a weeding driven gear (433), a protection box (434) and a transmission shaft (435), the protection box (434) is fixedly arranged on the weeding rotary disc (41), the first weeding driving motor (431) is fixedly arranged in the protection box (434), the weeding driving gear (432) is fixedly arranged at the output end of the first weeding driving motor (431), the transmission shaft (435) is rotatably arranged on the protection box (434), one end of the transmission shaft (435) is fixedly connected with the weeding shaft (422), the weeding driven gear (433) is fixedly arranged at the other end of the transmission shaft (435), and the weeding driven gear (433) is meshed with the weeding driving gear (432).

Description

Obstacle avoidance type orchard weeding device Technical Field The invention relates to the technical field of weeding devices, in particular to an obstacle avoidance type orchard weeding device. Background When weeding is carried out on an orchard, the growth period and the growth rule of fruit trees and weeds are considered, different treatment modes are selected at different time to clean the weeds so as to prevent the weeds from competing for water fertilizers and preventing plant diseases and insect pests from breeding, and meanwhile, the soil environment and the root systems of the fruit trees are required to be prevented from being damaged in the cleaning process. The chinese patent publication No. CN222852609U discloses a device for weeding in an obstacle avoidance type soil loosening and weeding mechanism and an orchard, the device is symmetrically provided with the mechanism for weeding in an obstacle avoidance type soil loosening and weeding on both sides, and avoidance is realized by driving the mechanism for weeding in an obstacle avoidance type soil loosening and weeding to swing during cleaning. However, the current weeding mechanism is driven to move by the travelling trolley, the travelling trolley inevitably rolls soil when moving, and the larger weeding device is loaded by the larger carrying trolley, so that the soil is rolled to solidify and harden when weeding is carried out. Based on the above, the invention designs an obstacle avoidance type orchard weeding device to solve the problems. Disclosure of Invention Aiming at the defects existing in the prior art, the invention provides an obstacle avoidance type orchard weeding device. In order to achieve the above purpose, the invention is realized by the following technical scheme: an obstacle avoidance type weeding device for an orchard comprises a traveling vehicle, a moving mechanism, an avoidance mechanism, a rotary tillage weeding mechanism and an inter-row weeding mechanism; The front side of the traveling vehicle is provided with an inter-row weeding mechanism for weeding, and the rear side of the traveling vehicle is symmetrically provided with a moving mechanism; The moving mechanism comprises a swing assembly and a lifting assembly I, wherein the swing assembly is arranged on the traveling vehicle, and the lifting assembly I is arranged at the moving end of the swing assembly; The avoidance mechanism comprises a rotating assembly, a rotating mounting frame, an avoidance triggering assembly and an avoidance rotating rod, wherein the rotating assembly is arranged at the moving end of the lifting assembly I, the rotating mounting frame is arranged at the moving end of the rotating assembly, the three avoidance rotating rods are uniformly distributed on the rotating mounting frame at equal intervals in a circumferential array, one end of each avoidance rotating rod is hinged with the rotating mounting frame, and the avoidance rotating rods and the rotating mounting frame are provided with a laminating structure for enabling the avoidance rotating rods to approach the avoidance triggering assembly; three groups of rotary tillage weeding mechanisms for weeding are uniformly and rotatably arranged on the rotary mounting frame at equal intervals, and when the travelling vehicle moves along the lines of the fruit trees, one group of rotary tillage weeding mechanisms are positioned at the rear sides of the wheels of the travelling vehicle. Still further, rotary tillage weeding mechanism includes weeding rotary disk, weeding subassembly one, drive assembly one and drive assembly two, and weeding rotary disk rotates to be installed on the rotatory mounting bracket, installs on the rotatory mounting bracket and is used for driving weeding rotary disk pivoted drive assembly two, and weeding rotary disk downside is equidistant evenly installs multiunit weeding subassembly one of circumference array, installs on the weeding rotary disk and is used for driving multiunit weeding subassembly one drive assembly one. Furthermore, the inter-row weeding mechanism comprises a lifting component II, a weeding support frame, a weeding component II and a driving component III, wherein the lifting component II is arranged on the front side of the travelling car, the weeding support frame is arranged at the moving end of the lifting component II, the weeding component II for weeding is arranged on the weeding support frame, and the driving component III for driving the weeding component II is arranged on the lifting component II. Furthermore, the swing assembly comprises a swing driving motor, a swing driving gear, a swing driven gear and a swing rotating frame, wherein the swing driving motor is fixedly arranged in the walking vehicle, the swing driving gear is fixedly arranged at the output end of the swing driving motor, the swing rotating frame is rotatably arranged at the rear side of the walking vehicle, the swing driven gear is fixedly arranged on t