End effector and method for trimming and grinding fruit tree branches

Abstract

The invention discloses an end effector and a method for trimming and grinding fruit tree branches. A guiding device is mounted in front of the end effector; a saw blade is mounted below a saw blade fixing plate; the saw blade fixing plate is mounted on a linear guide rail and is in threaded fit with the linear guide rail; the saw blade fixing plate can do reciprocated motion in the axial direction of the linear guide rail and is used for shearing and crushing the branches; limit switches are mounted on the fixing plate, are positioned at two ends of the linear guide rail and are used for limiting the fixing plate in moving within the stroke range of the linear guide rail. The end effector disclosed by the invention is small in size and light in weight and meets the requirement on bearing of a mechanical arm; besides, the end effector can be used as an independent shearing and crushing tool. In addition, the trimming and the crushing of the branches are organically combined, and real-time crushing is realized, so that the labor intensity can be effectively reduced; pulverized branch as compost are returned to an orchard, so the utilization rate of biomass energy can be effectively improved; the utilization rate of the biomass energy is improved, the dependence on chemical synthetic fertilizer is reduced, the production cost is reduced, and the development of an organic gardening is promoted.

Description

Technical field [0001] The invention relates to the technical field of mechanized pruning of fruit tree branches, in particular to an end effector and method for pruning and crushing fruit tree branches. Background technique [0002] The pruning of fruit branches is important for fruit tree growth and fruit quality. In recent years, research on automated pruning of garden plants has received widespread attention, but the research is mainly aimed at automated pruning of garden plants. The pruning requirements of fruit tree branches are different from those of garden plants. The branches of the tree need to be selectively pruned, while the garden plants generally prun the whole tree. At present, there is little research on automated pruning of fruit trees, and it is urgent to strengthen the intelligent research on pruning and crushing of fruit branches. Summary of the invention [0003] The purpose of the present invention is to overcome the above shortcomings and deficiencies of ...

AI Technical Summary

Problems solved by technology

At present, there are few studies on automatic pruning of fruit trees, and it is urgent to strengthen the intelligent research on pruning and crushing of fruit tree branches

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