CN112292930A - Be applied to multi-functional weeder between vegetable trunk row ditch - Google Patents
Be applied to multi-functional weeder between vegetable trunk row ditch Download PDFInfo
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- CN112292930A CN112292930A CN202011263680.8A CN202011263680A CN112292930A CN 112292930 A CN112292930 A CN 112292930A CN 202011263680 A CN202011263680 A CN 202011263680A CN 112292930 A CN112292930 A CN 112292930A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/12—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture
- A01B39/18—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture for weeding
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/20—Tools; Details
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/20—Tools; Details
- A01B39/26—Arrangements for protecting plants, e.g. fenders
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M21/00—Apparatus for the destruction of unwanted vegetation, e.g. weeds
- A01M21/02—Apparatus for mechanical destruction
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Environmental Sciences (AREA)
- Soil Sciences (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Soil Working Implements (AREA)
Abstract
The invention discloses a multifunctional weeding machine applied to vegetable plant furrows, which comprises a rack and traveling land wheels fixedly arranged at the left end and the right end of the rack, wherein a plurality of inter-plant weeding mechanisms are symmetrically and fixedly arranged on the rack between the traveling land wheels, each inter-plant weeding mechanism is composed of an equipment box fixedly arranged on the rack, and a pair of inter-plant weeding shovels parallelly and rotatably arranged at the bottom of the equipment box, and a driving mechanism which is arranged on the equipment box and can drive the pair of inter-plant weeding shovels to rotate reversely is arranged on the equipment box. This weeder when weeding to miscellaneous grass between trunk, when image recognition sensor detected the plant, through the weeding shovel antiport between two relative trunks of drive, the realization was to dodging of plant, avoided injuring the plant under the circumstances of guaranteeing to clear away weeds, and weeding is efficient, and degree of automation is high, and is easy and simple to handle, and the practicality is stronger.
Description
Technical Field
The invention belongs to the technical field of agricultural weeding equipment, and particularly relates to a multifunctional weeding machine applied to rows and ditches of vegetable plants.
Background
Chinese vegetables have become an important component of the global vegetable market, and are the second largest crop second to food in chinese crop. However, in traditional agriculture, weeds are one of the problems that seriously plague the growth of crops. The current agricultural weeding methods are as follows: the artificial weeding method comprises the following steps of artificial weeding, mechanical weeding, covering weeding, chemical weeding, biotechnological weeding and the like, wherein the artificial weeding needs a large amount of labor force, the labor intensity is high, the weeding efficiency is low, the chemical weeding pollutes the environment and threatens the safety of people and livestock, and the plants generate drug resistance. The mechanical weeding device has the advantages of high mechanical weeding efficiency, simple and convenient operation and low influence on the environment, but the greatest difficulty of mechanical weeding is to avoid removing inter-plant weeds by crops due to the complexity of the vegetable field environment, the existing vegetable weeding device has single function and low weeding efficiency, and the domestic research on inter-plant weeding is less or does not have the inter-plant weeding function.
Disclosure of Invention
The invention aims to provide a multifunctional weeding machine applied to the row ditches of vegetable plants, which is put into use and solves the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a multifunctional weeding machine applied to vegetable plant furrows comprises a frame and traveling land wheels fixedly arranged at the left end and the right end of the frame, wherein a plurality of inter-plant weeding mechanisms are symmetrically and fixedly arranged on the frame between the traveling land wheels, each inter-plant weeding mechanism is composed of an equipment box fixedly arranged on the frame and a pair of inter-plant weeding shovels arranged at the bottom of the equipment box in a parallel rotating manner, one driving mechanism is arranged on the equipment box and can drive the pair of inter-plant weeding shovels to rotate reversely, the corresponding inter-plant weeding shovels are in two states,
one is that when the driving mechanism is not working, the weeding shovel between two plants is in a weeding state arranged in parallel,
secondly, the driving mechanism drives a pair of inter-plant weeding shovels to rotate reversely, and the inter-plant weeding shovels are in a splayed plant avoiding state;
an image recognition sensor for detecting plants is arranged on the rack, and the image recognition sensor is arranged in front of the advancing path of the weeding shovel between the plants.
Preferably, the driving mechanism is composed of a driving motor which is reversely and fixedly installed on the equipment box, the output end of the driving motor extends into the equipment box, an intermittent gear which is fixedly installed on an output shaft of the driving motor, and a pair of full-tooth gears which are installed in the equipment box in a side-by-side rotating mode through rotating shafts, the rotating shafts on the lower sides of the full-tooth gears extend out of the equipment box and are fixedly connected with the weeding shovel, one of the full-tooth gears is in tooth joint with the intermittent gear, and an elastic reset mechanism is arranged between the rotating shafts and the shell of the equipment box and used for resetting the weeding shovel between two.
Preferably, the elastic reset mechanism is composed of a torsion spring sleeved on the rotating shaft, and two ends of the torsion spring are respectively clamped and fixed with the full-tooth gear and the inner wall of the equipment box.
Preferably, the inter-plant weeding shovel is composed of a supporting rod fixedly arranged at the lower end of the rotating shaft, a connecting sleeve fixedly arranged at the other end of the supporting rod, a sliding rod inserted into the connecting sleeve and a shovel body fixedly arranged at the lower end of the sliding rod, the connecting sleeve and the sliding rod are both provided with a plurality of through holes with the same size, the sliding rod and the connecting sleeve are in two states,
firstly, when the bolt in the through hole corresponding to the connecting sleeve and the slide rod is pulled out, the slide rod relatively slides in the connecting sleeve to adjust the length of the lower end extending into the connecting sleeve;
and secondly, inserting the bolt into the through holes of the connecting sleeve and the sliding rod and screwing the bolt, wherein the sliding rod and the connecting sleeve are relatively fixed.
Preferably, a buffer mechanism is arranged between the connecting sleeves, the buffer mechanism is composed of a strip-shaped rubber pad in the middle and connecting rods fixedly arranged at two ends, and the two connecting rods are respectively and fixedly connected with the weeding shovel between the two plants.
Preferably, the middle part of the frame is fixedly provided with an inter-row weeding shovel, and the frame between the travelling land wheel and the inter-plant weeding mechanism is fixedly provided with an inter-ditch weeding shovel.
Preferably, the vertical rod parts of the inter-plant weeding mechanism, the inter-row weeding shovel, the inter-ditch weeding shovel and the traveling ground wheel are all fixed on the frame through U-shaped clamps.
Preferably, the lower part of the straight rod part of the inter-ditch weeding shovel is rotated with a ridge back weeding shovel and an arc-shaped guide rail, and the rod part of the ridge back weeding shovel is fixedly provided with a fixing rod inserted into the inner side of the arc-shaped guide rail.
Preferably, the bottom of the inner side of the equipment box is provided with a touch switch, and the lower side of the full-tooth gear is fixedly provided with a pressure lever which is touched with a touch switch contact.
The invention has the technical effects and advantages that: the multifunctional weeding machine applied to the row ditches of the vegetable plants,
1. through the image recognition sensor in route the place ahead of marcing, after detecting the plant, start actuating mechanism rapidly, drive the plant that the weed shovel is "eight" font between two root plants and dodge the state, dodge behind the plant drive once more between two root plants the weed shovel reset and continue to carry out weeding between the plant, realize thoroughly cleaing away to miscellaneous grass between the plant, and avoid causing the condition of harm to the plant, degree of automation is high, and the suitability is strong.
2. Through having set up weeding mechanism, inter-row weeding shovel, inter-ditch weeding shovel and ridge back of the body weeding shovel between trunk in the frame integration, guarantee to field ridge weeding effect more thoroughly, efficiency is higher, and suitability and practicality all strengthen greatly.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the structure of an inter-plant weeding mechanism;
fig. 3 is a system control block diagram of the present invention.
In the figure: 1. a frame; 2. a travel ground wheel; 3. an inter-plant weeding mechanism; 31. an equipment box; 32. inter-plant weeding shovel; 33. a drive mechanism;
321. a strut; 322. connecting sleeves; 323. a slide bar; 324. a shovel body;
331. a drive motor; 332. an intermittent gear; 333. a full-tooth gear;
4. an elastic reset mechanism; 41. a torsion spring;
5. a buffer mechanism; 51. strip-shaped rubber pads; 52. a connecting rod;
6. a U-shaped card; 7. inter-row weeding shovels; 8. a weeding shovel between the ditches; 9. an image recognition sensor; 10. a pressure lever; 11. weeding shovels on the back of the ridge; 12. an arc-shaped guide rail; 13. fixing the rod; 14. a touch switch; 15. a rotating shaft; 16. and a through hole.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a multifunctional weeding machine applied to vegetable plant furrows as shown in figures 1-3, which comprises a frame 1 and traveling ground wheels 2 fixedly arranged at the left end and the right end of the frame 1, wherein a plurality of inter-plant weeding mechanisms 3 are symmetrically and fixedly arranged on the frame 1 between the traveling ground wheels 2, each inter-plant weeding mechanism 3 is composed of an equipment box 31 fixedly arranged on the frame 1, a pair of inter-plant weeding shovels 32 parallelly and rotatably arranged at the bottom of the equipment box 31 and a driving mechanism 33 arranged on the equipment box 31 and capable of driving the inter-plant weeding shovels 32 to rotate reversely, the corresponding inter-plant weeding shovels 32 are in two states,
first, when the driving mechanism 33 is not in operation, the weed shovel 32 is in a weeding state in which the two plants are arranged in parallel,
secondly, the driving mechanism 33 drives the pair of inter-plant weeding shovels 32 to rotate reversely, and the inter-plant weeding shovels 32 are in a splayed plant avoiding state;
the frame 1 is provided with an image recognition sensor 9 for detecting plants, and the image recognition sensor 9 is arranged in front of the traveling path of the inter-plant weed removing shovel 32.
The frame 1 is mounted on a whole vehicle operation platform, relevant parameters such as the travelling speed and the like are sent to a weeding operation device singlechip through serial ports, and in the advancing process, the weeding shovels 32 between two plants are arranged in parallel to carry out weeding operation between the plants;
the image recognition sensor 9 in front of the advancing path collects crop information through a camera to be sent to the raspberry group, the raspberry group sends the analyzed plant related information to the weeding operation device STM32 single chip microcomputer through a series of calculation and analysis and a serial port, then the STM32 single chip microcomputer controls the driving mechanism 33 to start working to drive the weeding shovel 32 between the two plants to be in a splayed plant avoiding state, and the elastic resetting mechanism 4 drives the weeding shovel 32 between the two plants to reset to continue weeding between the plants after the weeding plants are avoided;
the driving mechanism 33 is composed of a driving motor 331 which is arranged on the equipment box 31 in an inverted fixed mode and the output end of the driving motor 331 extends into the equipment box 31, an intermittent gear 332 which is arranged on the output shaft of the driving motor 331 in a fixed mode, and a pair of full-tooth gears 333 which are arranged in the equipment box 31 in a side-by-side rotating mode through rotating shafts 15, wherein the rotating shafts 15 on the lower sides of the full-tooth gears 333 extend out of the equipment box 31 to be fixedly connected with the weeding shovel, one of the full-tooth gears 333 is in tooth joint with the intermittent gear 332, and an elastic resetting mechanism 4 is arranged between the rotating shafts 15 and the shell of the equipment box 31 and used. Drive intermittent gear 332 through driving motor 331 and rotate, when intermittent gear 332 and full-tooth gear 333 tooth joint transmission, rotate through driving one of them full-tooth gear 333, two full-tooth gears 333 continue the transmission simultaneously, thereby make two full-tooth gears 333 that set up side by side reverse deflection, weed shovel 32 reverse deflection between two plants, be and open and dodge the plant state, weed shovel 32 dodge the plant after between the plants, intermittent gear 332 just disengages with the tooth joint of full-tooth gear 333 this moment, intermittent gear 332 does not have the effort to the full-tooth gear this moment, then canceling mechanism drives two full-tooth gears 333 and rotates in the same direction simultaneously, reset, continue weeding between the plants, when having guaranteed to carry out weeding between the plants, automatic dodge the plant, and the suitability is strong, and weeding efficiency is higher, and weeding is more comprehensive and thorough.
The elastic reset mechanism 4 is composed of a torsion spring 41 sleeved on the rotating shaft 15, and two ends of the torsion spring 41 are respectively clamped and fixed with the full-tooth gear 333 and the inner wall of the equipment box 31. When the driving mechanism 33 is operated, the full-tooth gear 333 rotates relative to the inner wall of the equipment box 31, so that the torsion spring 41 is twisted to generate restoring force, and after the driving mechanism 33 stops operating, the torsion spring 41 restores to deform to drive the full-tooth gear 333 to rotate reversely relative to the inner wall of the equipment box 31.
The inter-plant weed removing shovel 32 is composed of a supporting rod 321 fixedly arranged at the lower end of the rotating shaft 15, a connecting sleeve 322 fixedly arranged at the other end of the supporting rod 321, a sliding rod 323 inserted into the connecting sleeve 322 and a shovel body 324 fixedly arranged at the lower end of the sliding rod 323, the connecting sleeve 322 and the sliding rod 323 are both provided with a plurality of through holes 16 with the same size, the sliding rod 323 and the connecting sleeve 322 are in two states,
firstly, when the connecting sleeve 322 and the bolt in the through hole 16 corresponding to the slide bar 323 are pulled out, the slide bar 323 relatively slides in the connecting sleeve 322 to adjust the state of extending into the lower end of the connecting sleeve 322;
secondly, the bolt is inserted into the connecting sleeve 322 and the sliding rod 323 and screwed into the through hole 16, and the sliding rod 323 and the connecting sleeve 322 are fixed relatively. Thereby adjusting the distance between the inter-plant weeding shovel 32 and the frame 1, adjusting the depth of inserting into the soil, ensuring the applicability of weeding,
a buffer mechanism 5 is arranged between the connecting sleeves 322, the buffer mechanism 5 is composed of a strip-shaped rubber pad 51 at the middle part and connecting rods 52 fixedly arranged at the two ends, and the two connecting rods 52 are respectively and fixedly connected with the weeding shovel 32 between the two plants. The weed shovel 32 is guaranteed to buffer when being reset between plants, and the weed shovel is prevented from being deformed due to collision under the action of the spring force.
An inter-row weeding shovel 7 is fixedly arranged in the middle of the frame 1, and an inter-ditch weeding shovel 8 is fixedly arranged on the frame 1 between the travelling land wheel 2 and the inter-plant weeding mechanism 3.
The inter-plant weeding mechanism 3, the inter-row weeding shovel 7, the inter-ditch weeding shovel 8 and the vertical rod part of the traveling ground wheel 2 are fixed on the frame 1 through U-shaped clamps 6. Through loosening 6 adjustment trunk between weeding mechanisms 3 of U-shaped card, the height of weeding shovel 7 between the line, weeding shovel 8 between the ditch to the weeding environment of difference specifically sets up the weeding degree of depth or adjusts the interval between each work shovel in order to adapt to different weeding environment, and can adjust the relative height of frame 1 on going land wheel 2, and it is the contour wheel to go land wheel 2, is used for adapting to the soil environment of relief, keeps invariable operation degree of depth, further strengthens the practicality.
The lower part of the straight rod part of the inter-ditch weeding shovel 8 is rotated with a ridge back weeding shovel 11 and an arc-shaped guide rail 12, and the rod part of the ridge back weeding shovel 11 is fixedly provided with a fixing rod 13 inserted into the inner side of the arc-shaped guide rail 12. Weeding is carried out to ridge back department through ridge back weed shovel 11, and the weeding effect is more thorough to can make its relative ditch within a definite time weed shovel 8 rotate through pulling ridge back weed shovel 11, ridge back weed shovel 11 drives dead lever 13 and slides along arc guide rail 12, supports the angular adjustment between ridge back weed shovel 11 and the ditch weed shovel 8, and the suitability is stronger.
A touch switch 14 is provided at the bottom of the inside of the equipment box 31, and a pressing rod 10 that touches the touch switch 14 in contact is fixedly provided below the full-tooth gear 333. After the plant avoiding action is finished, namely the teeth between the intermittent gear 332 and the full-tooth gear 333 are disengaged, when the touch switch 14 is closed, the single chip microcomputer starts counting mode and starts counting by acquiring pulses of the inter-plant motor encoder. When the intermittent gear is counted and is about to be meshed with the full gear, the inter-plant motor is controlled to stop through the single chip microcomputer, so that the situation that stagnation occurs between weeding and avoidance action switching of the weeding mechanism 3 between plants is avoided, and avoidance accuracy is guaranteed.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (9)
1. The utility model provides a be applied to multi-functional weeder between vegetable trunk row ditch, includes frame (1) and fixed ground wheel (2) of marcing that sets up in frame (1) left and right ends, its characterized in that: a plurality of inter-plant weeding mechanisms (3) are symmetrically and fixedly arranged on a rack (1) between the advancing land wheels (2), each inter-plant weeding mechanism (3) is composed of an equipment box (31) fixedly arranged on the rack (1) and a pair of inter-plant weeding shovels (32) parallelly and rotatably arranged at the bottom of the equipment box (31), one driving mechanism (33) which is arranged on the equipment box (31) and can drive the pair of inter-plant weeding shovels (32) to rotate reversely is arranged, the corresponding inter-plant weeding shovels (32) between two plants are in two states,
firstly, when the driving mechanism (33) is not working, the weed removing shovels (32) between two plants are in a weeding state of parallel arrangement,
secondly, the driving mechanism (33) drives the inter-plant weeding shovel (32) to rotate reversely, and the inter-plant weeding shovel (32) is in a splayed plant avoiding state;
an image recognition sensor (9) for detecting plants is arranged on the frame (1), and the image recognition sensor (9) is arranged in front of the advancing path of the inter-plant weeding shovel (32).
2. The multifunctional weeding machine applied to the furrows of vegetable plants according to claim 1, characterized in that: the driving mechanism (33) is composed of a driving motor (331) which is reversely and fixedly installed on the equipment box (31) and the output end of the driving motor (331) extends into the equipment box (31), an intermittent gear (332) which is fixedly installed on the output shaft of the driving motor (331) and a pair of full-tooth gears (333) which are installed in the equipment box (31) in a side-by-side rotating mode through rotating shafts (15), the rotating shafts (15) on the lower sides of the full-tooth gears (333) extend out of the equipment box (31) and are fixedly connected with the weeding shovel, one of the full-tooth gears (333) is in tooth joint with the intermittent gear (332), and an elastic reset mechanism (4) is arranged between the rotating shafts (15) and the shell of the equipment box (31) and used for resetting the weeding shovel (32).
3. The multifunctional weeding machine applied to the furrows of vegetable plants according to claim 2, characterized in that: the elastic reset mechanism (4) is composed of a torsion spring (41) sleeved on the rotating shaft (15), and two ends of the torsion spring (41) are respectively clamped and fixed with the full-tooth gear (333) and the inner wall of the equipment box (31).
4. The multifunctional weeding machine applied to the furrows of vegetable plants according to claim 2, characterized in that: the inter-plant weeding shovel (32) consists of a supporting rod (321) fixedly arranged at the lower end of the rotating shaft (15), a connecting sleeve (322) fixedly arranged at the other end of the supporting rod (321), a sliding rod (323) inserted into the connecting sleeve (322) and a shovel body (324) fixedly arranged at the lower end of the sliding rod (323), wherein the connecting sleeve (322) and the sliding rod (323) are both provided with a plurality of through holes (16) with the same size, and the sliding rod (323) and the connecting sleeve (322) are in two states,
firstly, when the connecting sleeve (322) and the bolt in the through hole (324) corresponding to the sliding rod (323) are pulled out, the sliding rod (323) slides relatively in the connecting sleeve (322) to adjust the state of extending into the length of the lower end of the connecting sleeve (322);
and the second mode is that the bolt is inserted into the connecting sleeve (322) and the through hole (324) corresponding to the sliding rod and is screwed, and the sliding rod and the connecting sleeve (322) are relatively fixed.
5. The multifunctional weeding machine for vegetable plant furrows according to claim 4, characterized in that: a buffer mechanism (5) is arranged between the connecting sleeves (322), the buffer mechanism (5) is composed of a strip-shaped rubber pad (51) at the middle part and connecting rods (52) fixedly arranged at two ends, and the two connecting rods (52) are respectively and fixedly connected with the weeding shovel (32) between the two plants.
6. The multifunctional weeding machine applied to the furrows of vegetable plants according to claim 1, characterized in that: an inter-row weeding shovel (7) is fixedly arranged in the middle of the frame (1), and an inter-ditch weeding shovel (8) is fixedly arranged on the frame (1) between the advancing land wheel (2) and the inter-plant weeding mechanism (3).
7. The multifunctional weeding machine for vegetable plant furrows according to claim 6, wherein: the vertical rod parts of the inter-plant weeding mechanism (3), the inter-row weeding shovel (7), the inter-ditch weeding shovel (8) and the advancing ground wheel (2) are all fixed on the frame (1) through U-shaped clamps (6).
8. The multifunctional weeding machine for vegetable plant furrows according to claim 6, wherein: the lower part of the straight rod part of the inter-ditch weeding shovel (8) is rotated with a ridge back weeding shovel (11) and an arc-shaped guide rail (12), and the rod part of the ridge back weeding shovel (11) is fixedly provided with a fixed rod (13) inserted into the inner side of the arc-shaped guide rail (12).
9. The multifunctional weeding machine applied to the furrows of vegetable plants according to claim 1, characterized in that: a touch switch (14) is arranged at the bottom of the inner side of the equipment box (31), and a pressure lever (10) which is in contact with the touch switch (14) is fixedly arranged at the lower side of the full-tooth gear (333).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011263680.8A CN112292930A (en) | 2020-11-12 | 2020-11-12 | Be applied to multi-functional weeder between vegetable trunk row ditch |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011263680.8A CN112292930A (en) | 2020-11-12 | 2020-11-12 | Be applied to multi-functional weeder between vegetable trunk row ditch |
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| Publication Number | Publication Date |
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| CN112292930A true CN112292930A (en) | 2021-02-02 |
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| CN202011263680.8A Pending CN112292930A (en) | 2020-11-12 | 2020-11-12 | Be applied to multi-functional weeder between vegetable trunk row ditch |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113287378A (en) * | 2021-06-29 | 2021-08-24 | 扬州大学 | Weeding device and weeding method |
| CN113396650A (en) * | 2021-04-30 | 2021-09-17 | 中国农业大学 | Intelligent vegetable inter-plant weeding device and control method |
-
2020
- 2020-11-12 CN CN202011263680.8A patent/CN112292930A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113396650A (en) * | 2021-04-30 | 2021-09-17 | 中国农业大学 | Intelligent vegetable inter-plant weeding device and control method |
| CN113287378A (en) * | 2021-06-29 | 2021-08-24 | 扬州大学 | Weeding device and weeding method |
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