CN113100217B - Auxiliary mechanism suitable for paddy field treading type weeding - Google Patents
Auxiliary mechanism suitable for paddy field treading type weeding Download PDFInfo
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- CN113100217B CN113100217B CN202110273873.XA CN202110273873A CN113100217B CN 113100217 B CN113100217 B CN 113100217B CN 202110273873 A CN202110273873 A CN 202110273873A CN 113100217 B CN113100217 B CN 113100217B
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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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Abstract
The invention discloses an auxiliary mechanism suitable for treading weeding in a paddy field, which comprises a crawler belt, a driving wheel, a soil stirring module and a muddy water splashing module, wherein the soil stirring module and the driving wheel are in transmission through the crawler belt; muddy water splash module includes the baffle and fixes a plurality of gasbags that set up on the track, and the baffle is fixed to be set up in the outside of track in order to be used for the compression to be located its inboard gasbag, has all seted up the nozzle on every gasbag, and the outside of nozzle orientation track. Along with the movement of the caterpillar tracks, the air bags press the baffle plates one by one, so that the air in the air bags is sprayed out, muddy water is sprayed to two sides, soft soil is pushed to two sides, weeds among seedling plants are buried, and photosynthesis of the weeds under water is inhibited. The invention can better destroy soil, increase the muddy water turbidity degree, simultaneously spray muddy water to inter-plant weeds and push soft soil to inter-plant weeds, and effectively improve the treading type weeding efficiency.
Description
Technical Field
The invention belongs to the field of robot weeding, and particularly relates to an auxiliary mechanism suitable for treading weeding in a paddy field.
Background
In the agricultural production process, due to single and repeated operation steps and high temperature and high humidity of the paddy field environment, operators are easy to be tired, and misoperation or even serious accidents can be caused. Compared with the traditional mechanical weeding equipment, the weeding robot has remarkable advantages in the aspects of unmanned operation and weeding efficiency.
The weeds in the paddy field mainly comprise barnyard grass, monochoria vaginalis, special-shaped sedge, moleplant seeds and the like, the environment of the paddy field mainly shows high temperature and high humidity and sparse seedlings in the early stage of transplanting rice seedlings in the paddy field, and the weeds usually have a germination peak period of the barnyard grass and the moleplant seeds after 1 week of transplanting rice seedlings and a germination peak period of the moleplant seeds after 2-3 weeks of transplanting rice seedlings under the condition of sufficient moisture, nutrient substances and illumination. Because the weeds which sprout in the two periods have the characteristics of rapid growth, large quantity, large harm and the like, the weeding operation of the paddy field is mainly carried out in the period, wherein the optimal operation time is when the weeds do not grow out of the water surface in the initial period of sprouting.
Patent 201020590314.9 proposes a tread type weeding device for underwater weed seedlings, which utilizes a crawler-type moving mechanism to simply and repeatedly walk on seedling rows to tread and extract seedlings between rows, generates muddy water during walking at the same time, inhibits photosynthesis of weeds, covers the surface of inter-plant weeds after settlement, and destroys the growth environment of weeds. The weed among the seedling rows and the weed among the plants can be effectively removed, but because the weight of the robot is large, the phenomena of slipping, side turning and the like are easy to occur during walking, secondly, mud blocks are easy to fill in the gaps of the crawler block blocks, the pulling-out effect of the crawler on the weed among the rows is reduced, meanwhile, muddy water cannot be well and directionally splashed to the weed among the plants, and the inhibiting effect on the photosynthesis of the weed among the plants is reduced.
The invention provides an auxiliary mechanism by combining the pedal weeding principle, which can better stir and destroy soil and increase the turbidity degree of muddy water on one hand, and can spray the muddy water to inter-plant weeds and push soft soil to the inter-plant weeds on the other hand, thereby inhibiting the photosynthesis of weeds and destroying the growth environment of the weeds, and further improving the weeding efficiency.
Disclosure of Invention
The invention aims to overcome the defects of insufficient stirring of the existing treading type weeding soil, low weeding efficiency among plants and the like, and provides an auxiliary mechanism suitable for treading weeding in a paddy field. The method specifically comprises a soil stirring module and a muddy water splashing module, the muddy water turbidity degree is increased by stirring and destroying soil, and the treading weeding efficiency is improved by directionally splashing muddy water and burying weed among plants.
In order to realize the aim of the invention, the auxiliary mechanism suitable for paddy field treading weeding comprises a crawler belt, a driving wheel, a soil stirring module and a muddy water splashing module, wherein the soil stirring module and the driving wheel are in transmission through the crawler belt,
the soil stirring module comprises a stirring wheel, and the stirring wheel and the driving wheel are in transmission through a crawler;
muddy water splash module includes the baffle and fixes a plurality of gasbags that set up on the track, and the baffle is fixed to be set up in the outside of track in order to be used for the compression to be located its inboard gasbag, has all seted up the nozzle on every gasbag, and the outside of nozzle orientation track.
Furthermore, chains are arranged on two sides of the crawler belt,
the soil stirring module further comprises a fixed shaft, an inner side gear disc and an outer side gear disc, the stirring wheel is sleeved on the fixed shaft, the inner side gear disc and the outer side gear disc are respectively located on two sides of the stirring wheel and are sleeved on the fixed shaft, and the inner side gear disc and the outer side gear disc are respectively connected with chains on two sides of the track in a meshed mode.
Furthermore, the stirring wheel comprises a wheel shaft positioned in the middle and connecting plates fixedly positioned at two ends of the wheel shaft, a plurality of spokes are arranged on the outer side of the wheel shaft, and two ends of each spoke are fixedly connected with the two connecting plates respectively.
Adopt above-mentioned scheme, can play the effect of stopping earth through the spoke that sets up.
Furthermore, the spokes are arranged outside the wheel axle in an inner ring and an outer ring, and the spokes positioned in the inner ring are arranged in a staggered manner.
Adopt above-mentioned scheme, the spoke of interior outer lane is crisscross to be set up, can block earth better, effectively avoids earth to cohere inside the stirring wheel.
Further, the distance between the barrier and the track gradually decreases along the traveling direction of the track.
Adopt above-mentioned scheme, the distance between baffle and the track reduces gradually for the gasbag can continuously flatten with the blowout inside air under the effect of baffle in the process of marcing, realizes lasting jet-propelled.
Furthermore, the baffle is provided with a groove.
Adopt above-mentioned scheme, in the operation process, on the one hand, the area of contact of fender tooth and earth can be reduced to the slot of seting up on the baffle, avoids the baffle resistance too big, and on the other hand, the baffle can carry out first destruction to earth, increases the muddy degree of local region muddy water.
Furthermore, the baffle is provided with a plurality of rows of grooves, and the grooves below the baffle penetrate through the bottom of the baffle to form comb teeth.
By adopting the scheme, the comb structure has a certain soil harrowing effect on soil, so that inter-row weed seedlings with shallow root systems can be harrowed out, and a direct weeding effect is achieved.
Further, every gasbag all includes gasbag body and elastic component, and the nozzle is seted up on the gasbag body, and the elastic component sets up in the gasbag body.
With the above arrangement, when the air bag is compressed, the elastic member contracts. The elastic piece is arranged in the air bag body, the air bag body can rebound under the elastic action of the elastic piece after being compressed and exhausted, and air enters the air bag body again.
Further, two rows of air bags are arranged along the width direction of the crawler belt, and a plurality of air bags are arranged in each air bag along the length direction of the crawler belt.
Furthermore, the auxiliary mechanism is installed and applied to the weeding device, the weeding device comprises two opposite auxiliary mechanisms, and the upper and lower directions of the nozzles of the air bags on the two auxiliary mechanisms are opposite and are arranged in a staggered manner.
Compared with the prior art, the invention has the beneficial effects that:
(1) the stirring wheel of earth stirring module can constantly stir, destroy the earth of backward flow to trampling in the middle of the mechanism, both can reduce earth and pile up the resistance that produces, can increase muddy water muddy degree again.
(2) The air bags of the muddy water splashing modules can splash muddy water to two sides of the crawler belt and can push soft mud to two sides of the crawler belt to bury weeds among plants and inhibit photosynthesis of weeds.
(3) The baffle plate of the muddy water spraying module can rake weeds among rows and also can damage soil for the first time, so that the treading effect of the treading mechanism is improved; the groove arranged on the baffle can reduce the contact area between the baffle and soil and can reduce the resistance of the soil during movement; the comb teeth arranged on the baffle can play a role of harrowing soil for soil, and can harrow weed seedlings with shallow roots, so that a direct weeding effect is achieved.
Drawings
Fig. 1 is a schematic assembly diagram of an auxiliary mechanism suitable for paddy field treading weeding according to an embodiment of the invention.
Fig. 2 is a schematic view of an assembly of a soil stirring module in an auxiliary mechanism suitable for treading weeding in a paddy field according to an embodiment of the invention.
Fig. 3 is a schematic view of an assembly of a muddy water splashing module in an auxiliary mechanism suitable for treading weeding in a paddy field according to an embodiment of the present invention.
FIG. 4 is a general schematic view of an air bag of an assisting mechanism for treading weeding in paddy fields according to an embodiment of the present invention.
Fig. 5 is a schematic structural view of a stirring wheel in an auxiliary mechanism suitable for treading weeding in a paddy field according to an embodiment of the invention.
Fig. 6 is a schematic structural diagram of a baffle plate in an auxiliary mechanism suitable for treading weeding in paddy fields according to an embodiment of the invention.
Fig. 7 is a schematic view of the swirling flow formation in the embodiment of the present invention.
In the figure, a driving wheel 1, a chain 2, a muddy water spraying module 3, a soil stirring module 4, a fixed shaft 5, an inner gear disc 6, a stirring wheel 7, an outer gear disc 8, a bolt 9, a bearing group 10, an end cover 11, an air bag 12, a baffle plate 13, an air injection state air bag 14, a flattening air bag 15, a nozzle 16 and an elastic piece 17.
Detailed Description
In the following description, technical solutions are set forth in conjunction with specific figures in order to provide a thorough understanding of the present invention. This application is capable of embodiments in many different forms than those described herein and it is intended that all such modifications that would occur to one skilled in the art are deemed to be within the scope of the invention.
The terminology used in the description is for the purpose of describing particular embodiments only and is not intended to be limiting of the description. As used in one or more embodiments of the present specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
Referring to fig. 1, the assisting mechanism for treading weeding in paddy fields provided by the invention can be used for assisting the weeding process of a treading weeding device, and comprises a crawler belt, a driving wheel 1, a muddy water splashing module 3 and two soil stirring modules 4.
In one embodiment of the present invention, the driving wheel 1 and the two soil stirring modules 4 symmetrically distributed at equal intervals in front and back along the central axis of the auxiliary mechanism form a three-wheel system treading mechanism, and the soil stirring modules and the driving wheel 1 are driven by a crawler.
The both sides of track are provided with the chain, and earth stirring module and drive wheel 1 realize the transmission of motion through two chains. The angle between the chain 2 and the ground is 45-55 degrees.
In one embodiment of the present invention, referring to fig. 2, the soil stirring module includes a fixed shaft 5, an inner gear plate 6, a stirring wheel 7, an outer gear plate 8, a bolt 9, a bearing set 10 and an end cover 11.
The earth stirring module 4 is fixed on the side plate of the trampling mechanism through the fixed shaft 5, the extending section of the fixed shaft is a full thread, the relative distance between the earth stirring module 4 and the side plate can be adjusted, and the assembly is convenient.
The inner side gear disc 6 is meshed with the chain 2 positioned on the inner side and is fixed on the inner end face of the stirring wheel 7 through a bolt. The outer gear disc 8 is meshed with the chain 2 positioned on the outer side and is fixed on the outer end face of the stirring wheel 7 through a bolt 9. Four threaded holes are uniformly distributed in the inner end face and the outer end face of the stirring wheel 7 and used for connecting bolts.
The bearing group 10 comprises four bearings, two of which are in a group and are respectively arranged on the inner end surface of the inner gear disc 6 and the inner end surface of the stirring wheel 7, the outer gear disc 8 and the outer end surface of the stirring wheel 7 and rotate around the fixed shaft 5.
The end cover 11 comprises a sleeve, a washer and a bolt, the inner end face of the sleeve is abutted against the inner ring of the bearing, and the outer end face of the sleeve is fixed on the fixed shaft 5 through the washer and the bolt, so that the bearing group 10 is prevented from sliding.
During operation, the driving wheel 1 drives the crawler belt to move, and then drives the inner gear disc, the outer gear disc and the stirring wheel 7 to rotate around the fixed shaft 5, so that soil is continuously stirred and damaged.
In one embodiment of the present invention, the stirring wheel 7 includes a wheel axle located in the middle and connecting plates fixedly located at two ends of the wheel axle, the outer side of the wheel axle is further provided with a plurality of spokes, and two ends of each spoke are respectively and fixedly connected with the two connecting plates. Wherein, many the spoke is inside and outside two rings and sets up the outside of shaft, and the spoke that is located the inner circle sets up with the spoke that is located the inner circle is crisscross, can effectively block earth, avoids earth to cohere in stirring wheel inside.
In one embodiment of the invention, the spokes are circular and bent into an S-shape, and the S-shape of the spokes in the inner and outer circles is opposite. Set up the spoke and can avoid earth to cohere in stirring round inside, can stir earth better.
In one embodiment of the present invention, referring to fig. 3, the muddy water spraying module includes a baffle 13 and a plurality of air bags 12 fixedly disposed on the crawler, the baffle 13 is provided with a groove, the baffle 13 is located at an outer side of the crawler and is fixed on the fixed shaft 5 through the end cover 11, a distance between the baffle 13 and the crawler is gradually reduced along a traveling direction of the crawler to compress the air bags 12, each air bag 12 is provided with a nozzle 16, and each nozzle 16 faces the outer side of the crawler, and an included angle between the nozzle 16 and a vertical line is 45-60 °. When the air bag 12 is squeezed, the air can be sprayed out, so that muddy water can be sprayed to weeds on two sides, or soft soil can be pushed to two sides, weeds among plants can be buried, and photosynthesis of the weeds can be inhibited.
In one embodiment of the present invention, each of the balloons 12 includes a balloon body and an elastic member 17, the shape of the nozzle 16 is half-moon-shaped, the nozzle 16 is opened on the balloon body, and the elastic member 17 is disposed in the balloon body.
When the balloon 12 is compressed, the elastic member 17 contracts. In this embodiment, the elastic member 17 is a spring, a stepped concave hole is formed in the middle of the airbag body, the spring is arranged in the large hole, and the airbag body and the spring are mounted on the track through bolts and nuts at the end of the small hole. The airbag body is made of a material with resilience, such as polyamide fabric.
In one embodiment of the invention, two rows of air bags are arranged along the width direction of the crawler belt, a plurality of air bags 12 are uniformly arranged in each air bag along the length direction of the crawler belt, and the nozzles 16 on each air bag 12 face the outer side of the crawler belt.
In one embodiment of the present invention, the baffle 13 is fixedly connected to the soil stirring module 4 through an upper connecting plate and a lower connecting plate, and the length of the upper connecting plate is greater than that of the lower connecting plate.
In order to obtain a better extrusion effect, the lengths of the upper connecting plate and the lower connecting plate are different, so that the distance between the baffle 13 and the crawler is adjusted, the air bag 12 enters the baffle 13 from the large opening end of the baffle 13 and leaves the baffle 13 from the small opening end, the air bag 12 is continuously extruded more in the process, and then air is continuously injected (the air bag 14 in an air injection state at the moment), when an air nozzle of the air bag just enters a water layer, muddy water can be sprayed to inter-plant weeds by the air injection effect, so that the water layer is more swinging, soil initially damaged by the baffle is impacted, when the air bag moves along with the crawler and the air nozzle is positioned at a certain depth or a soft mud layer under water, the air injection effect of the air bag pushes the soft mud layer to two sides, the inter-plant weeds are buried, and the purpose of inhibiting photosynthesis of weeds can be achieved; along with the advancing of the crawler belt, the air bags 12 are pressed into the soil and are changed into a flattened state, namely, the flattened air bags 15 are shown in the figure, so that the contact area of the crawler belt and the soil is increased, and the phenomenon that the weeding equipment is sunk into the soil to a large depth to cause increased resistance is avoided; when the gasbag breaks away from the extrusion state gradually and moves to the water layer top, because gasbag body self material has certain resilience, and middle stairstepping shrinkage pool department is equipped with the elastic component, the gasbag body resumes to the inflation state gradually, because air nozzle opening down this moment, the muddy water that the gasbag body was inhaled can flow out gradually in the motion process, and the inside air that is full of once more of gasbag body.
In one embodiment of the present invention, 3 rows of grooves are formed on the baffle 13, and the grooves below the baffle 13 penetrate through the bottom of the baffle 13 to form comb teeth.
During the operation, 13 surperficial divisions of baffle have the slot, can reduce the area of contact of baffle and earth to the resistance of soil when reducing the motion, and the baffle can carry out the first destruction to earth, increases the muddy degree of local region muddy water, and track and squashed gasbag carry out the secondary destruction to earth afterwards, can gain better trampling effect. The comb teeth formed at the bottom of the baffle 13 have the soil raking effect on soil, so that inter-row weed seedlings with shallow root systems can be raked out, and the direct weeding effect is achieved.
According to the auxiliary mechanism suitable for treading weeding in the paddy field, the soil stirring module is used for continuously stirring and destroying soil, continuously increasing the turbidity degree of muddy water and simultaneously drawing and cutting partial inter-row weeds; the muddy water splashing module sprays muddy water to two sides and pushes soft soil to two sides through the compressed air injection of the air bag, and in addition, the baffle can also carry out primary damage on the soil and rake out weeds in rows. Compared with the simple treading weeding of the crawler belt, the crawler belt type weeding machine can better destroy soil, increase the muddy water turbidity degree, simultaneously spray muddy water to inter-plant weeds and push soft soil to inter-plant weeds, and effectively improves the treading weeding efficiency.
The auxiliary mechanism suitable for treading weeding in the paddy field can be installed and applied to a weeding device. Two auxiliary mechanisms are oppositely arranged in the weeding device.
In one embodiment of the invention, the two tracks of the two auxiliary mechanisms respectively comprise a plurality of V-shaped track blocks which are uniformly arranged at intervals, and the openings of the track blocks on the two tracks are opposite in direction, namely the track blocks on the two tracks are V-shaped and inverted V-shaped respectively.
In one embodiment of the invention, two air bags 12 are installed on two tracks at intervals of one track block, the nozzles 16 of the air bags open towards the outer sides of the tracks, wherein the up-down directions of the nozzles 16 on the two tracks are opposite, namely the nozzle 16 on one track opens upwards, the nozzle on the other track opens downwards, and the opposite air bags on the two tracks are staggered.
The air injection effect of the air bag has two effects, and the air bag positioned on the outer side of the two tracks can splash muddy water to weeds on two sides, so that a water layer is more fluctuated, the soil initially damaged by the baffle is impacted, and the turbidity of muddy water is increased. For the air bags distributed on the inner sides of the two tracks, the air bags face opposite directions and are staggered, and the air injection effect forms rotational flow in the middle of the tracks, so that muddy water and soft silt can be gathered, weeds among plants can be buried, the growth environment of the weeds can be damaged, and the photosynthesis of the weeds can be further inhibited.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. The utility model provides an auxiliary mechanism suitable for paddy field is trampled and is weeded which characterized in that: comprises a crawler, a driving wheel (1), a soil stirring module (4) and a muddy water splashing module (3), wherein the soil stirring module and the driving wheel (1) are driven by the crawler,
the soil stirring module (4) comprises a stirring wheel (7), and the stirring wheel (7) and the driving wheel (1) are in transmission through a crawler;
muddy water splash module (3) include baffle (13) and fixed a plurality of gasbags (12) that set up on the track, baffle (13) are fixed to be set up in the outside of track in order to be used for compressing gasbag (12) that are located its inboard, all seted up on every gasbag (12) nozzle (16), and nozzle (16) are towards the outside of track, and when gasbag (12) received the extrusion, the gas in gasbag (12) passed through nozzle (16) with muddy water splash to weeds or push away soil to both sides.
2. The assisting mechanism for paddy field treading weeding according to claim 1, wherein: chains (2) are arranged on two sides of the crawler belt,
the soil stirring module (4) further comprises a fixed shaft (5), an inner side gear disc (6) and an outer side gear disc (8), the stirring wheel (7) is sleeved on the fixed shaft (5), the inner side gear disc (6) and the outer side gear disc (8) are respectively located on two sides of the stirring wheel (7) and are all sleeved on the fixed shaft (5), and the inner side gear disc (6) and the outer side gear disc (8) are respectively meshed with chains (2) on two sides of the crawler belt.
3. The assisting mechanism for paddy field treading weeding according to claim 1, wherein: the stirring wheel (7) comprises a wheel shaft positioned in the middle and connecting plates fixedly positioned at two ends of the wheel shaft, a plurality of spokes are arranged on the outer side of the wheel shaft, and two ends of each spoke are respectively fixedly connected with the two connecting plates.
4. The assisting mechanism for paddy field treading weeding according to claim 3, wherein: the spokes are arranged on the outer side of the wheel shaft in an inner ring and an outer ring, and the spokes positioned in the inner ring are arranged in a staggered manner.
5. The assisting mechanism for paddy field treading weeding according to claim 1, wherein: the distance between the apron (13) and the track is gradually reduced along the travel direction of the track.
6. The assisting mechanism for paddy field treading weeding according to claim 1, wherein: the baffle (13) is provided with a groove.
7. The assisting mechanism for paddy field treading weeding according to claim 1, wherein: the baffle (13) is provided with a plurality of rows of grooves, and the grooves below the baffle (13) penetrate through the bottom of the baffle (13) to form comb teeth.
8. The assisting mechanism for paddy field treading weeding according to claim 1, wherein: each air bag (12) comprises an air bag body and an elastic piece (17), the nozzle (16) is arranged on the air bag body, the elastic piece (17) is arranged in the air bag body, and when the air bag (12) is compressed, the elastic piece (17) contracts.
9. The assisting mechanism for paddy field treading weeding according to any one of claims 1 to 8, wherein: two rows of air bags are arranged along the width direction of the crawler belt, and a plurality of air bags (12) are arranged in each air bag along the length direction of the crawler belt.
10. The assisting mechanism for paddy field treading weeding according to claim 1, wherein: the auxiliary mechanism is installed and applied to the weeding device, the weeding device comprises two opposite auxiliary mechanisms, and the upper direction and the lower direction of nozzles (16) of air bags on the two auxiliary mechanisms are opposite and are arranged in a staggered manner.
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| EP4388839A1 (en) * | 2022-12-22 | 2024-06-26 | Honda Research Institute Europe GmbH | Weed control with an autonomous work device |
| CN115808930B (en) * | 2023-02-09 | 2023-04-18 | 南京傲翼飞控智能科技有限公司 | Control system of paddy field weeding robot |
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