CN115720774A - Orchard pruning operation device with branch sawing and field returning functions and operation method thereof - Google Patents
Orchard pruning operation device with branch sawing and field returning functions and operation method thereof Download PDFInfo
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- CN115720774A CN115720774A CN202211390488.4A CN202211390488A CN115720774A CN 115720774 A CN115720774 A CN 115720774A CN 202211390488 A CN202211390488 A CN 202211390488A CN 115720774 A CN115720774 A CN 115720774A
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- 239000002420 orchard Substances 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 152
- 238000005507 spraying Methods 0.000 claims abstract description 27
- 238000009966 trimming Methods 0.000 claims description 16
- 206010024796 Logorrhoea Diseases 0.000 claims description 11
- 239000002689 soil Substances 0.000 claims description 11
- 239000007921 spray Substances 0.000 claims description 6
- 239000002699 waste material Substances 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 239000003337 fertilizer Substances 0.000 claims description 2
- 239000000463 material Substances 0.000 claims 2
- 235000013399 edible fruits Nutrition 0.000 description 11
- 238000004140 cleaning Methods 0.000 description 5
- 230000035558 fertility Effects 0.000 description 5
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- 238000006467 substitution reaction Methods 0.000 description 2
- OAICVXFJPJFONN-UHFFFAOYSA-N Phosphorus Chemical compound [P] OAICVXFJPJFONN-UHFFFAOYSA-N 0.000 description 1
- ZLMJMSJWJFRBEC-UHFFFAOYSA-N Potassium Chemical compound [K] ZLMJMSJWJFRBEC-UHFFFAOYSA-N 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
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Abstract
The invention discloses an orchard pruning operation device with a function of returning sawbranches to fields and an operation method thereof, wherein the orchard pruning operation device comprises an electric remote control crawler chassis, a hydraulic system, a pruning mechanical arm, a control system, a branch collecting mechanism, a branch crushing mechanism, a spraying mechanism and a moving mechanism; the tool rest posture of the pruning mechanical arm can be adjusted according to the target branch information, branches at any growing angle are pruned, meanwhile, the sensor arranged on the pruning mechanical arm feeds back the position information of the tool rest to the control system, and the control system predicts the approximate range of falling of the branches by taking the central position of the tool rest as a reference. The branch collecting and smashing mechanism can be driven to branch scattering points according to position information fed back by the control system, and scattered branches are collected and smashed. After the crushing is finished, the angle of the spraying mechanism can be adjusted according to the position of the tree root, and the broken branches are sprayed on the tree root. The invention can realize remote control operation, integrates the functions of pruning, moving, collecting and crushing branches, spraying crushed branches and returning the crushed branches to the field and the like, and improves the efficiency of pruning operation.
Description
Technical Field
The invention relates to the technical field of orchard pruning machinery, in particular to an orchard pruning operation device with a saw branch returning function and an operation method thereof.
Background
The tree trimming operation is the most important link in the process of orchard production or garden maintenance and belongs to labor-intensive work, the trimming operation can readjust the distribution, transportation, accumulation and digestion of nutritive substances and hormones of fruit trees, improve the relationship between the fruit trees and the surrounding environment, adjust the balance relationship among all parts of the fruit trees, improve the quality of fruits, prolong the service life of the fruit trees and stabilize the yield of the fruits. On the other hand, the branches and leaves contain a large amount of organic matters and rich nutrient elements such as nitrogen, phosphorus, potassium and the like, the return of the saw branches to the field can replace part of fertilizer investment, the production cost is reduced, the economic benefit is improved, microorganisms can accelerate decomposition of the saw branches after the saw branches are fully crushed, the crushed branches and leaves are covered between rows or under trees of fruit trees, the growth of weeds can be effectively inhibited, and the symptoms of reduction of soil organic matters, soil hardening, poor ventilation and the like of orchards can be effectively improved after the saw branches are decomposed. At present, the tree trimming operation is mainly divided into two categories, one is single branch trimming mainly by holding a trimming cutter manually, and the other is whole plant trimming mainly by a self-propelled mobile vehicle equipped with the trimming cutter. However, most of trimming devices are not designed with structures capable of cleaning and collecting the trimmed leaves and branches of the fruit trees, and the trimmed leaves and branches are often cleaned and cleaned manually, so that the workload of post-trimming treatment is greatly increased, the leaves and branches of the fruit trees are crushed and returned to the field, and then the orchard is greatly increased, and the saw branches are discarded at will, which is not beneficial to secondary utilization of resources, and waste is caused.
The invention patent CN202010738617.9 proposes a hedge trimming device with a cleaning function, which can cut hedge branches synchronously during trimming, screen and collect the cut hedge branches with hedge blades respectively, does not need to be cleaned by plant protection personnel, is beneficial to hedge growth, reduces environmental pollution, realizes secondary utilization of resources, but can only collect fallen branches in a fixed area, cannot movably collect the fallen branches, and is not suitable for orchard operation.
The invention provides a garden step operation device with a branch and leaf collecting function for greening construction, and the patent CN202111185214.7 provides a garden step operation device with a branch and leaf collecting function, wherein a branch and leaf trimming and collecting mechanism is arranged in a collecting port, and two sides of the collecting port are communicated with a branch and leaf cut-off bin mechanism through slopes. The tree pruning device integrates functions of pruning, collecting, smashing, storing and the like, is safe and reliable, has high pruning efficiency, still needs manual pushing to complete operation, has limitations on pruning angles, is only suitable for pruning branches in a specific growth direction, is only suitable for pruning trees on two sides of a step, and is not suitable for orchard pruning operation.
On the one hand, when the orchard is pruned, the fruit tree branches grow in different directions and need to be pruned in different lengths, and on the basis, a pruning mechanical arm with high degree of freedom is needed, the posture of the pruning mechanical arm is continuously adjusted according to a target in the pruning operation process, and meanwhile, the pruning collection range is wide. The pruned branches easily injure operators and need to be manually swept away. On the other hand, the sawn branches can be returned to the field after being crushed, so that the soil fertility is improved. In order to improve pruning efficiency, reduce manual labor intensity and operation cost and improve the utilization rate of sawn branches, an orchard pruning machine integrating functions of pruning, moving, collecting branches and leaves, crushing, spraying, crushing, returning the crushed branches to the field and the like is urgently needed to be designed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an orchard pruning operation device with a function of returning sawbranches to the field and an operation method thereof. Under the limited space scope in orchard, can estimate the scope that drops of the branch and leaf of pruning according to knife rest central point, and then collect and rubbing crusher through moving mechanism and branch and remove the branch that drops and collect and smash, saw the branch smashes the back, changes in the microorganism decay in more, collects garrulous branch back, further sprays the mechanism adjustment through the remote control and sprays the angle, will smash the branch and leaf and spray to the root. Through the operation, not only can the soil physicochemical characteristic be improved, soil fertility be promoted, the orchard environment is improved, the operating efficiency can also be improved and the operation cost is reduced by a wide margin, the security of pruning operation also can be guaranteed simultaneously.
In order to achieve the purpose, the technical scheme provided by the invention is as follows: an orchard pruning operation device for returning saw branches to field comprises an electric remote control crawler chassis, a hydraulic system, a pruning mechanical arm, a control system, a branch collecting mechanism, a branch crushing mechanism, a spraying mechanism and a moving mechanism; the hydraulic system, the trimming mechanical arm, the control system and the moving mechanism are respectively arranged on the electric remote control crawler chassis; the pruning mechanical arm is provided with a cutter rest with a circular saw, the hydraulic system provides power for the pruning mechanical arm, so that the pruning mechanical arm can prune branches with any growing angle, and meanwhile, a sensor arranged on the pruning mechanical arm feeds back the position information of the cutter rest to the control system; the control system calculates the real-time position of the center of the tool rest according to the tool rest position information fed back by the sensor, and predicts the falling range of the branches by taking the center position of the tool rest as the falling center point of the branches and leaves; the branch crushing mechanism is arranged on the moving mechanism, is driven to the position below the center of the cutter frame by the moving mechanism and is used for crushing branches; the branch collecting mechanism is arranged at a feeding port of the branch crushing mechanism and used for collecting branches falling after pruning, and the spraying mechanism is arranged at a discharging port of the branch crushing mechanism and used for spraying crushed branches.
Further, the pruning mechanical arm comprises a first base, a movable mechanical joint arm, a tool rest, hydraulic cylinders, a hydraulic motor and a circular saw, wherein the movable mechanical joint arm is formed by sequentially connecting a plurality of sections of arm sections, the section of arm section at the bottom of the movable mechanical joint arm is hinged to the first base and is provided with one hydraulic cylinder, the section of arm section can be driven to swing through the hydraulic cylinder, the section of arm section at the tail end of the movable mechanical joint arm is hinged to the tool rest, the hydraulic cylinders are respectively arranged above and below the section of arm section, the section of arm section can be driven to swing through the hydraulic cylinders above and below the section of arm section, finally, the pruning mechanical arm can adapt to branches with any growing angle through all the hydraulic cylinders, and the pruning mechanical arm can also be folded during non-operation; the hydraulic motor is arranged on the tool rest, and a plurality of circular saws are arranged on the tool rest and are powered by the hydraulic motor; the first base is installed on the electric remote control crawler chassis, a pull rope sensor is installed on each hydraulic cylinder, and a single-shaft sensor is installed on each arm section.
Furthermore, the base of the moving mechanism is arranged on a rotating mechanism, the rotating mechanism is arranged on the electric remote control crawler chassis, the moving mechanism is parallel to the side face of the electric remote control crawler chassis when not in operation, the rotating mechanism is perpendicular to the side face of the electric remote control crawler chassis when in operation and is positioned on the same plane with the pruning mechanical arm, and meanwhile, in order to ensure that the rotating mechanism rotates to the operation plane, a limit switch is arranged on the rotating mechanism to limit the rotating angle of the rotating mechanism.
Furthermore, the moving mechanism is a double-shaft moving mechanism and is formed by two lead screw sliding block mechanisms side by side, sliding blocks of the two lead screw sliding block mechanisms are connected into a whole through a connecting plate to realize synchronous motion, the branch smashing mechanism is installed on the connecting plate, each lead screw sliding block mechanism comprises a first motor, a first lead screw, a sliding block and a second base, the sliding block is assembled on the first lead screw, and the first lead screw is installed on the second base and is powered by the first motor.
Further, branch rubbing crusher constructs including the second motor, have the second lead screw of main crushing tooth, have the third lead screw of vice crushing tooth, gear and frame, wherein, the frame mounting is on the connecting plate, second lead screw and third lead screw cross in whole frame side by side, main crushing tooth and vice crushing tooth are located the frame, the gear is located outside the frame, the second lead screw is rotated by the second motor drive to drive the synchronous rotation of third lead screw through the gear, thereby smash the branch.
Furthermore, garrulous branch collection mechanism is installed to branch rubbing crusher's discharge gate department for collect the garrulous branch that drops, sprinkle the mechanism and install in garrulous branch collection mechanism's bottom through rotary device, can by rotary device drives and sprinkles the mechanism and rotate, thereby realize controlling the angle of scattering of garrulous branch, just the discharge gate of garrulous branch collection mechanism is all the time facing to the pan feeding mouth of sprinkling the mechanism.
Further, the spraying mechanism is an air blower and sprays the broken branches out of the discharge hole by generating wind power.
Furthermore, the broken branch collecting mechanism is a funnel, so that the broken branches can slide down to the discharge hole at the bottom along the wall of the funnel.
Further, the branch collecting mechanism is a funnel, so that branches can slide down to the discharge hole at the bottom along the wall of the funnel.
The invention also provides an operation method of the orchard pruning operation device for returning the branches to the field, which comprises the steps of firstly, remotely controlling an electric remote control crawler chassis to drive a target tree, adjusting the posture of a tool rest of a pruning mechanical arm according to the target tree to enable a circular saw to be perpendicular to a cut target branch, meanwhile, calculating the center position of the tool rest by a control system according to sensor feedback information, then, rotating a branch collecting mechanism and a branch crushing mechanism to an operation plane through a rotating mechanism, calculating the output range of a first motor by the control system according to real-time position information of the center of the tool rest, driving the first motor to drive the branch collecting mechanism and the branch crushing mechanism to move to a target point by a moving mechanism, starting the circular saw to prune the target branch, after collecting fallen branches and leaves by the branch collecting mechanism, starting a second motor to drive a second screw rod and a third screw rod to perform crushing operation, and after collecting the crushed branches, spraying the crushed branches to tree roots by controlling the rotating angle of a spraying mechanism, so that soil fertility is improved, waste utilization is achieved, and the sweeping workload is reduced.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the pruning mechanical arm disclosed by the invention is high in degree of freedom, can be used for cutting and pruning branches and leaves in all growth directions of fruit trees, continuously adjusts the posture of the pruning mechanical arm according to a target in the pruning operation process, is wide in pruning range, is flat in pruning surface, and is easy for pruning branch repair.
2. In the pruning process, the branch falling range can be predicted according to the center position of the tool rest, so that the moving mechanism is driven to drive the branch collecting mechanism to move and collect the fallen branches, and the operation space range for collecting the sawbranches can be saved.
3. The invention can fully crush the saw branches, and the crushed branches and leaves are easy to decay by microorganisms, thereby being beneficial to the entering of nutrient elements into soil.
4. The invention can spray the crushed branches and leaves to the roots of the trees, and the crushed branches and leaves can improve the soil fertility, improve the orchard environment and achieve the effect of recycling wastes.
5. The invention can synchronously carry out pruning, collection and crushing, reduces the operation steps and reduces the cleaning workload.
6. The pruning machine improves the automation level of pruning to a certain extent, has simple integral structure and simple operation, avoids using a ladder in the pruning process, reduces the cleaning of the pruning branches and leaves, and has higher working efficiency.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of the trimming robot arm.
Fig. 3 is a schematic structural diagram of a mobile device.
Fig. 4 is a schematic structural view of the rotating mechanism.
Fig. 5 is a schematic structural view of the branch collecting mechanism.
Fig. 6 is a structural schematic diagram of the branch shredding mechanism.
Fig. 7 is a schematic structural view of the spraying mechanism.
Fig. 8 is a schematic view of the spraying mechanism mounted to the bottom of the branch chip collecting mechanism by a rotating device.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
As shown in fig. 1 to 8, the present embodiment discloses an orchard pruning operation device with a function of pruning and returning branches to fields, which includes an electric remote control crawler chassis 1, a hydraulic system 2, a pruning mechanical arm 3, a control system 4, a branch collecting mechanism 5, a branch crushing mechanism 6, a spraying mechanism 7 and a moving mechanism 8; the hydraulic system 2, the pruning mechanical arm 3, the control system 4 and the moving mechanism 8 are respectively arranged on the electric remote control crawler chassis 1; the pruning mechanical arm 3 is provided with a tool rest 405 with a circular saw 401, the hydraulic system 2 provides power for the pruning mechanical arm 3, so that the pruning mechanical arm 3 can prune branches with any growing angle, and meanwhile, a sensor arranged on the pruning mechanical arm 3 feeds back the position information of the tool rest to the control system 4; the control system 4 calculates the real-time position of the center of the tool rest 405 according to the tool rest position information fed back by the sensor, and predicts the approximate falling range of the branches by taking the center position of the tool rest 405 as the falling center point of the branches and leaves; the branch crushing mechanism 6 is arranged on the moving mechanism 8, is driven by the moving mechanism 8 to be below the center of the knife rest 405, and is used for crushing branches; the branch collecting mechanism 5 is arranged at a feeding port of the branch crushing mechanism 6 and used for collecting branches falling after pruning, and the spraying mechanism 7 is arranged at a discharging port of the branch crushing mechanism 6 and used for spraying crushed branches.
Specifically, the pruning mechanical arm 3 comprises a first base 406, a movable mechanical knuckle arm 404, a tool holder 405, a hydraulic cylinder 403, a hydraulic motor 402 and a circular saw 401, wherein the movable mechanical knuckle arm 404 is formed by sequentially connecting a plurality of sections of arm, the section of arm at the bottom of the movable mechanical knuckle arm 404 is hinged to the first base 406 and is provided with the hydraulic cylinder 403, the section of arm can be driven to swing through the hydraulic cylinder 403, the section of arm at the tail end of the movable mechanical knuckle arm is hinged to the tool holder 405, the hydraulic cylinders 403 are respectively arranged above and below the section of arm, the section of arm can be driven to swing through the hydraulic cylinders 403 above and below the section of arm, finally, the pruning mechanical arm 3 can adapt to branches with any growing angle through all the arranged hydraulic cylinders 403, and the pruning mechanical arm 3 can also be folded during non-operation, so that obstacle avoidance and transportation are facilitated; the hydraulic motor 402 is arranged on a tool rest 405, and a plurality of circular saws 401 are arranged on the tool rest 405 and are powered by the hydraulic motor 402; the first base 406 is installed on the electric remote control crawler chassis 1, a pull rope sensor is installed on each hydraulic cylinder 403, and a single-shaft sensor is installed on each arm section.
Specifically, the base of the moving mechanism 8 is mounted on a rotating mechanism 9, the rotating mechanism 9 is mounted on the electric remote control crawler chassis 1, the moving mechanism 8 is parallel to the side face of the electric remote control crawler chassis 1 when not in operation, the rotating mechanism 9 is perpendicular to the side face of the electric remote control crawler chassis 1 when in operation and is in the same plane with the trimming mechanical arm 3, meanwhile, in order to ensure that the rotating mechanism 9 rotates to the operation plane, a limit switch is mounted on the rotating mechanism to limit the rotating angle of the rotating mechanism, the space can be reduced through the rotating mechanism 9, and the effects of obstacle avoidance and transportation are facilitated.
Specifically, the moving mechanism 8 is a biaxial moving mechanism and is formed by two screw rod sliding block mechanisms arranged side by side, the sliding blocks 803 of the two screw rod sliding block mechanisms are connected into a whole through a connecting plate 804 to realize synchronous motion, the branch smashing mechanism 6 is installed on the connecting plate 804, the screw rod sliding block mechanism comprises a first motor 801, a first screw rod 802, a sliding block 803 and a second base 805, the sliding block 803 is assembled on the first screw rod 802, and the first screw rod 802 is installed on the second base 805 and is powered by the first motor 801.
Specifically, the branch smashing mechanism 6 comprises a second motor 601, a second screw rod 605 with a main smashing tooth 602, a third screw rod 606 with an auxiliary smashing tooth 603, a gear 604 and a frame 607, wherein the frame 607 is installed on a connecting plate 804, the second screw rod 605 and the third screw rod 606 parallelly cross the whole frame 607, the main smashing tooth 602 and the auxiliary smashing tooth 603 are located in the frame 607, the gear 604 is located outside the frame 607, the second screw rod 605 is driven by the second motor 601 to rotate and drives the third screw rod 606 to synchronously rotate through the gear 604, so that the branches are smashed, after being fully smashed, the branches are easier to decompose by microorganisms, and nutrient elements are facilitated to enter soil.
Specifically, the discharge port of the branch crushing mechanism 6 is provided with a branch smashing collecting mechanism 10 for collecting falling branches, the spraying mechanism 7 is arranged at the bottom of the branch smashing collecting mechanism 10 through a rotating device 11, and the rotating device 11 can drive the spraying mechanism 7 to rotate, so that the spraying angle of the branches is controlled, and the discharge port of the branch smashing collecting mechanism 10 faces the feeding port of the spraying mechanism 7 all the time.
Specifically, the spraying mechanism 7 is an air blower, and the broken branches are sprayed to the roots of the trees from the discharge port by generating wind power, so that the effect of recycling waste is achieved.
Specifically, branch collecting mechanism 5 is the funnel, can make the branch along the discharge gate of funnel wall landing to bottom, conveniently gathers together branch leaf, does benefit to subsequent smashing.
Specifically, the broken branch collecting mechanism 10 is a funnel, so that the broken branches can slide to the discharge port at the bottom along the wall of the funnel, the broken branches can be gathered conveniently, and the subsequent spraying is facilitated.
The following is an operation method of the orchard pruning operation device for pruning and returning branches to field in the embodiment, and the specific flow is as follows: firstly, the remote control electric remote control crawler chassis 1 drives a target tree, the posture of a tool rest of a pruning mechanical arm 3 is adjusted according to the target tree, the circular saw 401 is perpendicular to a target branch to be cut, meanwhile, the control system 4 calculates the center position of the tool rest 405 according to sensor feedback information, then, the branch collecting mechanism 5 and the branch smashing mechanism 6 rotate to an operation plane through the rotating mechanism 9, the control system 4 calculates the output range of the first motor 801 according to real-time position information of the center of the tool rest 405, the moving mechanism 8 drives the first motor 801 to drive the branch collecting mechanism 5 and the branch smashing mechanism 6 to move to a target point, the circular saw 401 is started to prune the target branch, after the branch collecting mechanism 5 collects fallen branches and leaves, the second motor 601 is started to drive the second lead screw 605 and the third lead screw 606 to conduct smashing operation, and after the broken branches are collected, finally, the broken branches are sprayed to tree roots through controlling the rotating angle of the spraying mechanism 7, and the effects of improving soil fertility, waste utilization and reducing the cleaning workload are achieved.
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 orchard pruning operation device of still field of saw branch which characterized in that: the pruning machine comprises an electric remote control crawler chassis (1), a hydraulic system (2), a pruning mechanical arm (3), a control system (4), a branch collecting mechanism (5), a branch crushing mechanism (6), a spraying mechanism (7) and a moving mechanism (8); the hydraulic system (2), the pruning mechanical arm (3), the control system (4) and the moving mechanism (8) are respectively arranged on the electric remote control crawler chassis (1); the pruning mechanical arm (3) is provided with a tool rest (405) with a circular saw (401), the hydraulic system (2) provides power for the pruning mechanical arm (3), so that the pruning mechanical arm (3) can prune branches with any growing angle, and meanwhile, a sensor arranged on the pruning mechanical arm (3) feeds back tool rest position information to the control system (4); the control system (4) calculates the real-time position of the center of the tool rest (405) according to the tool rest position information fed back by the sensor, and predicts the branch falling range by taking the center position of the tool rest (405) as a branch and leaf falling center point; the branch crushing mechanism (6) is arranged on the moving mechanism (8), is driven to the position below the center of the cutter frame (405) by the moving mechanism (8) and is used for crushing branches; the tree branch collecting mechanism (5) is arranged at a material inlet of the tree branch crushing mechanism (6) and used for collecting tree branches falling after pruning, and the spraying mechanism (7) is arranged at a material outlet of the tree branch crushing mechanism (6) and used for spraying crushed broken branches.
2. The orchard pruning operation device with the function of pruning and returning branches as claimed in claim 1, is characterized in that: the pruning mechanical arm (3) comprises a first base (406), a movable mechanical joint arm (404), a tool rest (405), a hydraulic cylinder (403), a hydraulic motor (402) and a circular saw (401), wherein the movable mechanical joint arm (404) is formed by sequentially connecting a plurality of sections of arms, the section of the bottom of the movable mechanical joint arm is hinged to the first base (406) and is provided with the hydraulic cylinder (403), the section of the movable mechanical joint arm can be driven to swing through the hydraulic cylinder (403), the section of the tail end of the movable mechanical joint arm is hinged to the tool rest (405), the hydraulic cylinders (403) are respectively arranged above and below the section of the movable mechanical joint arm, the section of the movable mechanical joint arm can be driven to swing through the hydraulic cylinders (403) above and below the movable mechanical joint arm, finally, the pruning mechanical arm (3) can adapt to branches with any growing angle through all the arranged hydraulic cylinders (403), and the pruning mechanical arm (3) can also be folded when not in operation; the hydraulic motor (402) is arranged on the tool rest (405), and the circular saw (401) is provided with a plurality of circular saw blades which are arranged on the tool rest (405) and are powered by the hydraulic motor (402); the first base (406) is installed on the electric remote control crawler chassis (1), a pull rope sensor is installed on each hydraulic cylinder (403), and a single-shaft sensor is installed on each section of arm section.
3. The orchard pruning operation device with the function of pruning and returning branches as claimed in claim 1, is characterized in that: the second base of the moving mechanism (8) is installed on a rotating mechanism (9), the rotating mechanism (9) is installed on the electric remote control crawler chassis (1), the moving mechanism (8) is parallel to the side face of the electric remote control crawler chassis (1) when the electric remote control crawler chassis is not in operation, the moving mechanism is perpendicular to the side face of the electric remote control crawler chassis (1) through the rotating mechanism (9) and is located on the same plane with the mechanical arm (3) of the trimming machine when the electric remote control crawler chassis is in operation, and meanwhile, in order to ensure that the rotating mechanism (9) rotates to the operation plane, a limit switch is installed on the moving mechanism to limit the rotating angle of the moving mechanism.
4. The orchard pruning operation device with the function of pruning and returning the branches to the field according to claim 3, wherein: the tree branch grinding mechanism is characterized in that the moving mechanism (8) is a double-shaft moving mechanism and is formed by two lead screw sliding block mechanisms in parallel, sliding blocks (803) of the two lead screw sliding block mechanisms are connected into a whole through a connecting plate (804) to achieve synchronous motion, the branch grinding mechanism (6) is installed on the connecting plate (804), each lead screw sliding block mechanism comprises a first motor (801), a first lead screw (802), a sliding block (803) and a second base (805), the sliding blocks (803) are assembled on the first lead screw (802), and the first lead screw (802) is installed on the second base (805) and is powered by the first motor (801).
5. The orchard pruning operation device with the function of pruning and returning branches as claimed in claim 1, is characterized in that: the branch smashing mechanism (6) comprises a second motor (601), a second screw rod (605) with main smashing teeth (602), a third screw rod (606) with auxiliary smashing teeth (603), a gear (604) and a frame (607), wherein the frame (607) is installed on a connecting plate (804), the second screw rod (605) and the third screw rod (606) penetrate through the whole frame (607) side by side, the main smashing teeth (602) and the auxiliary smashing teeth (603) are located in the frame (607), the gear (604) is located outside the frame (607), the second screw rod (605) is driven to rotate by the second motor (601), and the gear (604) drives the third screw rod (606) to synchronously rotate, so that branches are smashed.
6. The orchard pruning operation device with the function of pruning and returning the branches to the field according to claim 5, wherein: garrulous branch collection mechanism (10) are installed to the discharge gate department of branch rubbing crusher structure (6) for collect the garrulous branch that drops, sprinkle mechanism (7) and install in the bottom that garrulous branch was collected mechanism (10) through rotary device (11), can by rotary device (11) drive sprinkle mechanism (7) and rotate, thereby realize controlling the angle of scattering of garrulous branch, just the discharge gate that garrulous branch was collected mechanism (10) is all the time facing to the pan feeding mouth that sprinkles mechanism (7).
7. The orchard pruning operation device with the function of pruning and returning branches as claimed in claim 6, wherein: the spraying mechanism (7) is an air blower and sprays the broken branches out of the discharge hole by generating wind power.
8. The orchard pruning operation device with the function of pruning and returning the branches to the field according to claim 6, wherein: the broken branch collecting mechanism (10) is a funnel, and can enable the broken branches to slide down to a discharge hole at the bottom along the wall of the funnel.
9. The orchard pruning operation device with the function of pruning and returning the branches to the field according to claim 1, wherein: the branch collecting mechanism (5) is a funnel, so that branches can slide to a discharge port at the bottom along the wall of the funnel.
10. The method of any one of claims 1 to 9 wherein the device is adapted to be used in orchard pruning operations with pruning and return to field: firstly, a remote control electric remote control crawler chassis (1) runs to a target tree, the posture of a tool rest of a pruning mechanical arm (3) is adjusted according to the target tree, a circular saw (401) is perpendicular to a target branch to be cut, meanwhile, a control system (4) calculates the center position of the tool rest (405) according to sensor feedback information, then, a branch collecting mechanism (5) and a branch crushing mechanism (6) rotate to an operation plane through a rotating mechanism (9), the control system (4) calculates the output range of a first motor (801) according to real-time position information of the center of the tool rest (405), a moving mechanism (8) drives the first motor (801) to drive the branch collecting mechanism (5) and the branch crushing mechanism (6) to move to a target point, the circular saw (401) is started to prune the target branch at the moment, after the branch collecting mechanism (5) collects and drops branches, a second motor (601) is started to drive a second lead screw (605) and a third lead screw (606) to carry out crushing operation, after the crushed branches are collected, finally, the crushed branches are scattered to reach the effects of spraying the root of fertilizer, the soil and the waste amount is reduced.
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| CN115720774B (en) | 2024-05-10 |
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