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CN-122003992-A - Opposed row-plant intertillage weeding rotary cutter mechanism and weeding method thereof

CN122003992ACN 122003992 ACN122003992 ACN 122003992ACN-122003992-A

Abstract

The invention provides an opposite type inter-row inter-plant intertillage weeding rotary cutter mechanism and a weeding method thereof, wherein the weeding rotary cutter mechanism comprises an outer frame group suspension frame, the outer frame group suspension frame is connected with a power machine, an inner frame group frame, inter-plant weeding monomers, inter-row weeding monomers and an energy continuous supply module are further arranged on the outer frame group suspension frame, the outer frame group suspension frame is matched with a lifting and lowering electric push rod and a corresponding guide rail, a sliding block and other structures, so that the weeding rotary cutter mechanism can realize self-adaptive adjustment of the working depth and active profiling, the inter-row weeding monomers comprise 4 groups of inter-row weeding roller cutters, the penetration depth and the angle can be adjusted, each inter-plant weeding monomer comprises 3 groups, each group of inter-plant weeding unit comprises a positive tooth screw rod module, 2 groups of rotary cutter weeding mechanisms and an electronic ruler, and the inter-plant weeding rotary cutter can stir weeds and intertillage loosens soil by high-speed reciprocating rotation. The invention can realize the accurate intertillage weeding operation of 3 rows of crops at the same time, has compact structure, accurate seedling avoidance, low seedling injury rate, high weeding coverage rate, high automation degree and simple control.

Inventors

  • WANG XIAOCHAN
  • XU ZHEN
  • SHI YINYAN
  • HOU YIREN
  • JIA BO
  • WANG DEZHI
  • WANG LEI

Assignees

  • 南京农业大学

Dates

Publication Date
20260512
Application Date
20260128

Claims (8)

  1. 1. The utility model provides a cultivation weeding rotary knife mechanism between opposite type line and plant, its characterized in that includes frame group mounted frame (1), installs inside casing group frame (2), inter-plant weeding monomer (3), inter-line weeding monomer (4), energy continuously supply module (5) on frame group mounted frame (1).
  2. 2. The opposite row inter-plant intertillage weeding rotary cutter mechanism according to claim 1, wherein the outer frame group suspension bracket (1) comprises a lifting and descending electric push rod (101), fixed ends of the lifting and descending electric push rod (101) are arranged on a power machine, telescopic ends of the lifting and descending electric push rod are connected with an outer frame group frame (106) through push rod connecting plates (102), translation guide rails (110) are arranged on two sides of the outer frame group frame (106), transverse sliding blocks (111) are arranged on the translation guide rails (110), the transverse sliding blocks (111) are connected with longitudinal small sliding blocks (108) through sliding block adapter plates (112), the longitudinal small sliding blocks (108) are connected with longitudinal small guide rails (107), the longitudinal small guide rails (107) are arranged on short suspension fixing frames (109), longitudinal large sliding blocks (104) are fixed on two sides of the outer frame group frame (106), the longitudinal large sliding blocks (104) are connected with longitudinal long guide rails (105), the longitudinal long sliding blocks (105) are arranged on the long suspension fixing frames (103), the short suspension fixing frames (109) are connected with the power machine, and the inner frame group frame (2) is arranged inside the outer frame group frame (106).
  3. 3. The inter-plant intertillage weeding rotary cutter mechanism according to claim 2 is characterized in that the inner frame group frame (2) comprises a sensor module (201), a motion control module (202) and an inner frame group frame body (203), inter-plant weeding monomers (3), inter-plant weeding monomers (4) and a power supply module (5) are all arranged on the inner frame group frame (203), the inner frame group frame body (203) is arranged in the outer frame group frame (106), the sensor module (201) and the motion control module (202) are all arranged in the inner frame group frame body (203), the sensor module (201) collects height from the ground in real time and transmits detection data to the motion control module (202), the motion control module (202) collects and controls lifting and lowering electric pushing rods (101) in real time to perform position adjustment, and the motion control module (202) simultaneously measures inter-plant weeding rotary cutter motion positions in real time through the sensor module (201) to form reciprocating motion closed loop control.
  4. 4. The inter-plant intertillage weeding rotary cutter mechanism according to claim 2, wherein the inter-plant weeding unit (3) comprises a module base plate (311) fixed on an inner frame group frame (2), a facing screw rod (314) is mounted on a bearing seat (313) on the module base plate (311) in a limiting mode, an inter-plant reciprocating motor (310) is connected with the facing screw rod (314) through a coupling (312), module wire rails (316) are further mounted on the module base plate (311) on two sides of the facing screw rod (314), two module sliding blocks (315) are connected on the facing screw rod (314) in a threaded mode, meanwhile, the module sliding blocks (315) are further mounted on the module wire rails (316) in a sliding mode, a rotary cutter seat (307) is further connected with a rotary cutter seat (307), a rotary cutter motor (309) and a rotary cutter motor speed reducer (317) are fixed on the rotary cutter seat (307), two rotary cutter fixing bearing seats (305) are further mounted on the lower portion of the rotary cutter seat (307) through a coupling (308), and a rotary cutter head (304) is mounted on the rotary cutter head (305) in a penetrating mode.
  5. 5. The opposed row inter-plant intertillage weeding rotary cutter mechanism according to claim 4, wherein the inter-plant weeding rotary cutter unit (3) moves at a uniform speed in a linear motion and is overlapped with simple harmonic vibration, and the inter-plant weeding rotary cutter unit moves at a two-dimensional nonlinear motion in space, wherein the motion of the inter-plant weeding rotary cutter unit follows the following formula: In the formula, For the coordinate decomposition to be transverse, For the coordinate decomposition longitudinal direction, The radius of gyration of the rotary knife; the rotation angle speed of the rotary knife; Time is; The advancing speed of the whole operation of the weeding rotary knife mechanism is increased; The weeding rotary knife mechanism is wholly and transversely displaced perpendicular to the advancing direction; The weeding cutter unit (3) is used for reciprocating motion period between plants; Absolute speed of any point of rotary knife during working The following are provided: the interaction of the rotary knife with the soil particles is as follows: Wherein: In the formula, Indicating the edge of the rotary knife The speed in the axial direction of the shaft, Indicating the edge of the rotary knife The speed in the axial direction of the shaft, Representing soil gravity; Indicating the frictional force to which the tool is subjected; representing the soil pressure to which the cutter is subjected; Representing the dragging acceleration; Representing the coriolis acceleration; Representing the relative acceleration; Representing the included angle between the rake face and the flank face; An included angle between the traction acceleration and the advancing speed of the machine tool is represented; the included angle between the friction force applied to the cutter and the horizontal shaft is formed; Representing absolute acceleration in the direction of motion; Expressed as the angle of rotation of the rotary cutter; representing absolute velocity in the direction of motion.
  6. 6. The opposed inter-row inter-plant intertillage weeding rotary cutter mechanism according to claim 2, wherein the inter-row weeding unit (4) comprises an inter-row adjustment mounting bracket (408) and a half-row adjustment mounting bracket (401) which are connected with the inner frame group frame (2), the inter-row weeding hob (406) is fixed on the inter-row adjustment mounting bracket (408) through an inner hexagonal bearing (403), an inter-row hob fixing shaft (409) and a hob shaft fixing pin (407), and the half-row weeding hob (402) is mounted on the half-row adjustment mounting bracket (401) through an inter-row assembly bearing (405), an inter-row bearing baffle ring (404) and a half-row hob fixing shaft (410).
  7. 7. The opposite row-plant inter-cultivation weeding rotary cutter mechanism according to claim 2 is characterized in that the energy continuous supply module (5) is arranged at the upper end of the outer frame group frame (106) and comprises a communication interface (502) and a rotary cutter group power supply module, and the motion control module (202) in the inner frame group frame (2) is communicated with an upper computer in the power machine through the communication interface (502) to realize weeding motion control.
  8. 8. A weeding method using the opposed row-plant intertillage weeding rotary cutter mechanism according to claim 2, comprising the following steps: before operation, the whole machine is connected and primarily adjusted; Setting and profiling control of the working depth, namely setting the required weeding working depth through an upper computer of a power machine, continuously transmitting and receiving ultrasonic signals by using a sensor module (201) in an inner frame group frame (2) after the working starts, and calculating the distance between a weeding rotary cutter mechanism and the ground in real time, acquiring the distance data by using a motion control module (202) in the inner frame group frame (2), comparing the distance data with a set depth value, immediately outputting a control signal if the actual distance change caused by the fluctuation of the ground is detected, driving a lifting descending electric push rod (101) to extend or shorten, further driving a longitudinal large slide block (104) and a longitudinal small slide block (108) to move along a longitudinal long guide rail (105) and a longitudinal small guide rail (107), thereby driving the whole inner frame group frame (2) and all weeding monomers to realize the vertical lifting, and always keeping the rotary cutter and the hob to cut into the soil at a constant depth; Inter-plant intelligent weeding operation, namely starting an inter-plant reciprocating motor (310) and a rotary knife motor (309) on an inter-plant weeding monomer (3) according to an instruction of a motion control module (202), controlling a screw rod device by the inter-plant reciprocating motor (310) to drive a rotary knife to transversely reciprocate, and simultaneously driving the rotary knife motor (309) to rotate at a high speed to realize inter-plant weeding; the rotary knife rotating at a high speed is characterized in that a knife tip of the rotary knife rotates at a circular motion, the circular motion is overlapped with transverse reciprocating motion and uniform forward motion caused by forward motion of a power machine, a two-dimensional nonlinear motion track is finally synthesized, the rotary knife maintains high-efficiency cutting speed in most inter-plant areas by controlling the reciprocating motion period and amplitude of a weeding knife monomer (3) between plants, and when the rotary knife moves to a preset seedling protection area close to a stalk of a crop (6), the speed direction of the transverse reciprocating motion causes the rotary knife to generate a trend of instantaneously keeping away from the stalk, so that collision force and seedling injury probability are reduced; when the power machine advances, the full-row weeding hob (406) and the half-row weeding hob (402) of the inter-row weeding monomer (4) passively rotate around the full-row hob fixing shaft (409) and the half-row hob fixing shaft (410) under the action of soil resistance, and a curved tooth structure on the full-row hob fixing shaft and the half-row hob fixing shaft completes cutting and pulling up of inter-row weeds and slight loosening of soil in the rolling process; In the whole weeding process, the electric power required by the weeding rotary cutter mechanism is intensively managed by the energy continuous supply module (5), the motion control module (202) is connected with the communication interface (502) on the energy continuous supply module (5), high-speed communication is carried out with an upper computer in the power machine through a CAN bus, an operator sets operation parameters on a screen, controls start and stop, and monitors load current, sensor data and alarm information of each motor in real time.

Description

Opposed row-plant intertillage weeding rotary cutter mechanism and weeding method thereof Technical Field The invention belongs to the technical field of agricultural machine design, and particularly relates to an opposite row-plant intertillage weeding rotary cutter mechanism and a weeding method thereof. Background The yield and the demand of the crops in China are in the front of the world, but the land damaged by weeds is about 1 hundred million square hectare each year according to statistics, the loss of the crops is about 6000 ten thousand tons, the weeds are one of the factors which have the greatest influence on the yield in the growth process of crops, the nutrients, the moisture and the illumination in the land are contended, and the plants damaged by the pests can be bred, so that timely and accurate weeding is an important ring of field management. Most of the existing intertillage weeding machines only can perform inter-row weeding, and inter-plant weeding mainly depends on manual or chemical weeding, and is low in efficiency, high in cost and easy to cause phytotoxicity. The existing mechanical inter-plant weeding device mostly adopts a fixed rotary cutter to be matched with a physical seedling avoidance mechanism such as a swinging rod or tentacle, and the device has a certain effect in the seedling stage of crops, but the rigid seedling avoidance mode is extremely easy to cause seedling injury along with the growth of crops, the thickening of stems and the possible deviation of positions. There are some devices for weeding between lines and weeding between plants, but the traditional machine lacks self-adaptive capability to topography fluctuation, the operation depth is unstable, weeding components between lines and plants often work independently, the cooperativity is poor, the whole mechanism is inconvenient to adjust, and the traditional machine is difficult to adapt to diversified agricultural requirements. In order to solve the technical problems, the invention designs the integrated intertillage weeding device which can realize efficient weeding in cooperation between plants and has the accurate seedling avoidance capability and the intelligent profiling function. Disclosure of Invention Aiming at the defects in the prior art, the invention provides an inter-row opposed intertillage weeding rotary cutter mechanism and a weeding method thereof, which have the characteristics of compact structure, accurate seedling avoidance, low seedling injury rate, high weeding coverage rate, strong adaptability to different agronomic conditions, suitability for crops with various plant spacing, high automation degree, simple control and the like, and can meet the intertillage weeding operation requirements of most single-plant growing crops with different growth periods and plant spacing and row spacing. The present invention achieves the above technical object by the following technical means. The utility model provides a cultivation weeding rotary cutter mechanism between opposite type line and plant, includes frame group mounted frame, installs inside casing group frame, inter-plant weeding monomer, inter-line weeding monomer, energy on the frame group mounted frame and continuously supplies with the module. The frame group suspension bracket comprises a lifting descending electric push rod, a fixed end of the lifting descending electric push rod is arranged on a power machine, a telescopic end of the lifting descending electric push rod is connected with a push rod connecting plate, the push rod connecting plate is connected with a frame group frame, two sides of the frame group frame are respectively provided with a translation guide rail, the translation guide rails are provided with transverse sliding blocks, the transverse sliding blocks are in locking connection with longitudinal small sliding blocks through bolts between sliding block adapter plates, the longitudinal small sliding blocks are connected with the longitudinal small guide rails, the longitudinal small guide rails are locked on a short suspension fixing frame through bolts, the longitudinal large sliding blocks are fixed on two sides of the frame group frame, the longitudinal long guide rails are locked on a long suspension fixing frame through bolts, the long suspension fixing frame and the short suspension fixing frame are connected with the power machine, and the inner frame group frame is arranged inside the frame group frame through bolts. The inter-plant weeding unit, the inter-row weeding unit and the power supply module are all installed on the inner frame group frame through bolts, the inner frame group frame body is installed inside the outer frame group frame through bolts, the sensor module and the motion control module are all installed in the inner frame group frame body, the sensor module collects the height from the ground in real time and transmits detection data to the motion control module, the motion contro