Automatic trimming equipment for cylindrical shape of plant

Abstract

The invention relates to the technical field of garden pruning instruments, and particularly discloses automatic plant cylindrical shape pruning equipment which comprises a vehicle body, a plane pruning mechanism, a cylindrical pruning mechanism, a visual detection mechanism, a walking mechanism and a control system, and the plane pruning mechanism, the cylindrical pruning mechanism, the visual detection mechanism, the walking mechanism and the control system are installed on the vehicle body. The cylindrical trimming mechanism is used for trimming the arc-shaped surface of the side face of a plant and is movably connected with the vehicle body through the translation mechanism so that transverse and longitudinal movement can be achieved relative to the vehicle body, the visual detection mechanism is used for detecting the position of the plant, the walking mechanism comprises walking wheels and driving wheels, and the driving wheels are connected with servo motors driving the driving wheels to rotate. The control system controls the servo motor to work through position signals detected by the visual detection mechanism and controls the plane trimming mechanism and the cylindrical trimming mechanism to work. The automatic trimming equipment for the cylindrical shape of the plant is high in automation degree and easy to operate, and the trimming efficiency of the plant is improved.

Description

Technical Field

[0001] The invention relates to the technical field of garden pruning equipment, in particular to an automatic cylindrical pruning device for plants. Background Art

[0002] In the process of greening maintenance, it is necessary to prune the plants to improve the external beauty and ornamental value of the overall structure of the plants. For example, when pruning plants in road green belts, some plants need to be pruned into a cylindrical shape. A utility model patent with publication number CN213603316U discloses a columnar plant pruning machine, which can more conveniently obtain columnar plants through a horizontal pruning knife assembly and a vertical pruning knife assembly. However, during the pruning process of the pruning machine, it is necessary to manually move the pruning machine to the position of the plant to be pruned, and then manually control the horizontal pruning knife assembly and the vertical pruning knife assembly to prune the plant. The degree of automation is low, the operation is cumbersome, and the pruning efficiency of the plant is affected. Summary of the invention

[0003] The present invention aims to solve at least one of the above-mentioned technical problems and provide an automatic cylindrical pruning device for plants, which has a high degree of automation, is easy to operate, and improves the pruning efficiency of plants.

[0004] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: an automatic cylindrical pruning device for plants, including a vehicle body, and a plane pruning mechanism, a cylindrical pruning mechanism, a visual detection mechanism, a walking mechanism and a control system installed on the vehicle body, wherein the plane pruning mechanism is used to trim the top plane of the plant, and the cylindrical pruning mechanism is used to trim the arc surface of the side of the plant. It is movably connected to the vehicle body through a translation mechanism so as to be able to achieve lateral and longitudinal movement relative to the vehicle body. The visual detection mechanism is used to detect the position of the plant. The walking mechanism includes a walking wheel and a driving wheel. The driving wheel is connected to a servo motor that drives it to rotate. The control system controls the operation of the servo motor through a position signal detected by the visual detection mechanism, and controls the operation of the plane pruning mechanism and the cylindrical pruning mechanism.

[0005] Preferably, the plane trimming mechanism comprises a mechanical arm, a tool holder is mounted on the mechanical arm, a plurality of horizontal trimming tools are mounted on the tool holder, and a first driving motor for driving the horizontal trimming tools to rotate.

[0006] Preferably, the cylindrical trimming mechanism comprises a cylindrical trimming tool, a driving mechanism for driving the cylindrical trimming tool to rotate, and a lifting mechanism for driving the cylindrical trimming tool to move up and down in a vertical direction.

[0007] Preferably, the cylindrical pruning tool includes a knife seat and a blade, the knife seat is arranged in a circular ring shape, and a fixing portion is arranged at one end of the knife seat, and a mounting portion is arranged at the other end of the knife seat, and the blade is in a circular ring shape, one end of which is fixedly connected to the mounting portion, and the other end is surrounded by saw teeth.

[0008] Preferably, the lifting mechanism includes a mounting frame, a lifting seat movably arranged on the mounting frame, and a lifting drive assembly that drives the lifting seat to move in a vertical direction relative to the mounting frame, the lifting drive assembly includes a second drive motor and a screw rod, the screw rod is rotationally connected to the mounting frame, the second drive motor is transmission-connected to the screw rod, a slide rail is arranged on the mounting frame, the opposite sides of the lifting seat are slidably matched with the slide rail via rollers, and the middle part of the lifting seat is threadedly matched with the screw rod.

[0009] Preferably, the second drive motor is connected to a torque detection device, and the control system controls the operation of the lifting mechanism through a torque signal detected by the torque detection device.

[0010] Preferably, the driving mechanism includes a rotating seat and a driving assembly for driving the rotating seat to rotate, the rotating seat is arranged in a cylindrical shape, the upper end of the rotating seat is rotatably connected to the lifting seat, the cylindrical pruning tool is fixedly installed at the lower end of the rotating seat, the driving assembly includes a third driving motor and a transmission belt, the upper end of the rotating seat is provided with a rotating shaft that cooperates with the lifting seat for rotation, and the third driving motor is transmission-connected to the rotating shaft through a transmission belt.

[0011] Preferably, two cylindrical trimming mechanisms are provided, and both cylindrical trimming mechanisms are movably connected to the vehicle body via a translation mechanism.

[0012] Preferably, the translation mechanism includes a longitudinal track arranged on the vehicle body, a slide plate is installed on the longitudinal track, the slide plate is connected to a longitudinal driving device for driving it to slide along the longitudinal track, a transverse track is arranged on the slide plate, the cylindrical trimming mechanism is installed on the transverse track, and is connected to a transverse driving device for driving it to slide along the transverse track.

[0013] Preferably, a connecting arm is provided on the vehicle body, one end of the connecting arm is rotatably connected to the vehicle body, and a driving wheel is installed on the other end. A hydraulic cylinder is connected to the middle of the connecting arm, and the hydraulic cylinder can drive the connecting arm to rotate.

[0014] The beneficial effect is: compared with the prior art, the automatic cylindrical pruning equipment of the present invention is provided with a plane pruning mechanism, a cylindrical pruning mechanism, a visual detection mechanism, a walking mechanism and a control system. When pruning plants, the control system can control the plane pruning mechanism to prune the top plane of the plant. At the same time, the control system automatically controls the servo motor and the translation mechanism through the position signal detected by the visual detection mechanism to control the driving wheel to drive the vehicle body to move, and at the same time drives the cylindrical pruning mechanism to move through the translation mechanism, so that the cylindrical pruning mechanism moves to the center above the tree, and then controls the cylindrical pruning mechanism through the control system to prune the arc surface of the side of the plant. The automation degree is high, the operation is simple, and the pruning efficiency of the plant is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The specific embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings, wherein:

[0016] Figure 1 It is a structural schematic diagram of an automatic plant cylindrical pruning device of the present invention;

[0017] Figure 2 It is a structural schematic diagram of the plane trimming mechanism;

[0018] Figure 3 It is a structural schematic diagram of a cylindrical trimming mechanism;

[0019] Figure 4 Schematic diagram of the structure of a cylindrical pruning tool. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may be a central component. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be a central component at the same time. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be a central component at the same time. When a component is referred to as being "set in the middle", it does not only mean being set in the middle, as long as it is not set at both ends within the range defined by the middle. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0023] like Figures 1 to 4 As shown, the present application discloses an automatic cylindrical pruning device for plants, including a vehicle body 1, and a plane pruning mechanism 2, a cylindrical pruning mechanism 3, a visual detection mechanism 4, a walking mechanism and a control system 5 installed on the vehicle body 1, wherein the plane pruning mechanism 2 is used to prune the top plane of the plant, and the cylindrical pruning mechanism 3 is used to prune the arc surface of the side of the plant. The plane pruning mechanism 2 is movably connected to the vehicle body 1 through a translation mechanism 6 so as to be able to move horizontally and vertically relative to the vehicle body 1. The visual detection mechanism 4 is used to detect the position of the plant. Specifically, the visual detection mechanism 4 can adopt the existing technology so as to be able to identify the position of the tree to be pruned. The walking mechanism includes a walking wheel 7 and a driving wheel 8. The driving wheel 8 is connected to a servo motor 9 for driving it to rotate. The walking wheel 7 is rotatably installed on the vehicle body 1 and does not provide power to drive the vehicle body 1 to move. The driving wheel 8 is controlled by the servo motor 9, thereby driving the vehicle body 1 to move, so as to control the travel distance and travel speed of the vehicle body 1. The control system 5 controls the servo motor 9 to work through the position signal detected by the visual detection mechanism 4, and controls the plane pruning mechanism 2 and the cylindrical pruning mechanism 3 to work.

[0024] The present invention provides an automatic cylindrical pruning device for plants by setting a plane pruning mechanism 2, a cylindrical pruning mechanism 3, a visual detection mechanism 4, a walking mechanism and a control system 5. When pruning plants, the control system 5 can control the plane pruning mechanism 2 to prune the top plane of the plant. At the same time, the control system 5 automatically controls the servo motor 9 and the translation mechanism 6 through the position signal detected by the visual detection mechanism 4, so as to control the driving wheel 8 to drive the vehicle body 1 to move, and at the same time drive the cylindrical pruning mechanism 3 to move through the translation mechanism 6, so that the cylindrical pruning mechanism 3 moves to the center above the tree, and then controls the cylindrical pruning mechanism 3 through the control system 5 to prune the arc surface of the side of the plant. The device has a high degree of automation, is easy to operate, and improves the pruning efficiency of plants.

[0025] In one specific embodiment of the present application, the plane pruning mechanism 2 may include a mechanical arm 10, on which is mounted a tool holder 11, on which are mounted a plurality of horizontal pruning tools 12, and a first drive motor 13 for driving the horizontal pruning tools 12 to rotate. Specifically, the mechanical arm 10 may adopt an existing structure to adjust the position of the tool holder 11 by controlling the movement of the mechanical arm 10. The horizontal pruning tool 12 is horizontally mounted on a tool shaft, which cooperates with the tool holder 11 in rotation, and the first drive motor 13 is connected to the tool shafts of the plurality of horizontal pruning tools 12 through a belt, so that the plurality of blades 18 can be driven to rotate at the same time, thereby achieving pruning of the top plane of the plant.

[0026] In another specific embodiment of the present application, the cylindrical trimming mechanism 3 includes a cylindrical trimming tool 14, a driving mechanism 15 for driving the cylindrical trimming tool 14 to rotate, and a lifting mechanism 16 for driving the cylindrical trimming tool 14 to move up and down in a vertical direction.

[0027] Specifically, it includes a knife seat 17 and a blade 18. The knife seat 171 is arranged in a circular ring shape, and a fixing portion 19 is arranged at one end of the knife seat 17. The knife seat 17 is fixedly mounted on the driving mechanism 15 through the fixing portion 19 to drive the knife seat 17 to rotate. The other end of the knife seat 17 is provided with a mounting portion 20. The blade 18 is in a circular ring shape, and one end thereof is fixedly connected to the mounting portion 20, so that after the blade 18 is installed, its axis is in the same straight line with the axis of the knife seat 17, and the other end of the blade 18 is surrounded by saw teeth 21. By arranging the knife seat 17 and the blade 18 in a circular ring shape, during pruning, the blade 18 can be driven to rotate around its own axis by the driving mechanism 15, and the blade 18 can be driven to move up and down in the vertical direction by the lifting mechanism 16, so as to achieve pruning of the cylindrical side of the plant. The structure is simple and the pruning efficiency is high. At the same time, the blade 18 is arranged in a circular ring shape, which improves the rigidity of the blade 18 and reduces the wear of the blade 18. Further, an annular flange is extended outward from one end of the knife seat 17 away from the mounting portion 20, the flange extends horizontally and forms a circular ring shape, and a plurality of fixing holes are evenly arranged on the flange around the axis of the knife seat 17, through which the knife seat 17 can be detachably mounted on the driving mechanism 15 by screws, so as to facilitate the disassembly and assembly of the knife seat 17. In addition, a mounting groove is arranged on the inner wall of the knife seat 17 at the mounting portion 20, and the blade 18 is fixedly mounted on the mounting groove, and the blade 18 is positioned by the mounting groove, so as to facilitate the installation of the blade 18 and improve the stability of the installation of the blade 18. Further, a plurality of mounting holes are evenly arranged around the mounting groove, and a connecting hole corresponding to the mounting hole is arranged at the end of the blade 18, so that the blade 18 can be detachably fixedly mounted on the knife seat 17 by matching the mounting hole and the connecting hole by fixing screws, so as to facilitate the disassembly and replacement of the blade 18.

[0028] The lifting mechanism 16 may include a mounting frame 22, a lifting seat 23 movably arranged on the mounting frame 22, and a lifting drive assembly that drives the lifting seat 23 to move in a vertical direction relative to the mounting frame 22. The lifting drive assembly includes a second drive motor 24 and a screw rod 25. The screw rod 25 is rotationally connected to the mounting frame 22, and the second drive motor 24 is transmission-connected to the screw rod 25. A slide rail 26 is provided on the mounting frame 22. The opposite sides of the lifting seat 23 are slidably matched with the slide rail 26 through rollers 27. The middle part of the lifting seat 23 is threadedly matched with the screw rod 25. The screw rod 25 is controlled to rotate by the second drive motor 24, thereby driving the lifting seat 23 to move up and down relative to the mounting frame 22.

[0029] Furthermore, the second drive motor 24 can be connected to a torque detection device, and the control system 5 controls the operation of the lifting mechanism 16 through the torque signal detected by the torque detection device. Specifically, the second drive motor 24 adopts a servo motor. When the second drive motor 24 drives the lifting seat 23 to move downward, the torque detection device detects that the torque value of the second drive motor 24 exceeds the set value. At this time, too thick branches may be encountered. The control system 5 controls the second drive motor 24 to reverse, and then controls the second drive motor 24 to drive the lifting seat 23 to repeatedly move up and down several times to achieve the pruning of thick branches.

[0030] In the present application, the driving mechanism 15 may include a rotating seat 28 and a driving component for driving the rotating seat 28 to rotate. The rotating seat 28 is arranged in a cylindrical shape. The upper end of the rotating seat 28 is rotatably connected to the lifting seat 23. The cylindrical pruning tool 14 is fixedly installed at the lower end of the rotating seat 28. The driving component includes a third driving motor 29 and a transmission belt 35. The upper end of the rotating seat 28 is provided with a rotating shaft 36 that rotates with the lifting seat 23. The third driving motor 29 is transmission-connected to the rotating shaft 36 through the transmission belt 35. The rotating seat 28 is driven to rotate by the third driving motor 29, thereby driving the cylindrical pruning tool 14 installed at the lower end of the rotating seat 28, thereby realizing the pruning of the cylindrical side of the plant. Preferably, a protective cover 37 is also provided on the outside of the rotating seat 28. The protective cover 27 is slidably matched with the mounting frame 22, and the protective cover 27 covers the cylindrical pruning tool 14 inside thereof. When the rotating seat 28 slides up and down relative to the mounting frame 22, the protective cover 27 can move synchronously with the rotating seat 28, so that the cylindrical pruning tool 14 can always be kept in a protective state.

[0031] In order to improve the pruning efficiency, two cylindrical pruning mechanisms 3 in the present application can be provided, both of which are movably connected to the vehicle body 1 through a translation mechanism 6, and both of which are equipped with a visual detection mechanism 4. The control system 5 controls one of the cylindrical pruning mechanisms 3 to move to the center position above one of the plants through a position signal detected by one of the visual detection mechanisms 4, and controls the translation mechanism 6 to drive the other cylindrical pruning mechanism 3 to move to the center position above another adjacent plant through a position signal detected by the other visual detection mechanism 4, so as to realize the simultaneous pruning operation of two connected plants.

[0032] In the present application, the translation mechanism 6 may include a longitudinal track 30 arranged on the vehicle body 1, a slide plate 31 is installed on the longitudinal track 30, the slide plate 31 is connected to a longitudinal driving device that drives it to slide along the longitudinal track 30, a transverse track 32 is arranged on the slide plate 31, the cylindrical trimming mechanism 3 is installed on the transverse track 32, and is connected to a transverse driving device that drives it to slide along the transverse track 32. Specifically, the longitudinal driving device includes a longitudinal rack and a longitudinal driving motor, the longitudinal rack is fixedly installed on the vehicle body 1 and is parallel to the longitudinal track 30, and the longitudinal driving motor is installed on the longitudinal rack. The slide plate 31 is mounted on a plate, and a gear matching the longitudinal rack is installed on its output shaft. The gear is controlled to rotate forward and reversely by the longitudinal drive motor, thereby driving the slide plate 31 to slide forward and backward along the longitudinal track 30. The transverse drive device includes a transverse rack and a transverse drive motor. The transverse rack is fixedly mounted on the slide plate 31 and is parallel to the transverse track 32. The transverse drive motor is mounted on the mounting frame 22 of the cylindrical trimming mechanism 3, and a gear matching the transverse rack is installed on its output shaft. The gear is controlled to rotate forward and reversely by the transverse drive motor, thereby driving the cylindrical trimming mechanism 3 to slide left and right along the transverse track 32.

[0033] In another preferred embodiment of the present application, a connecting arm 33 may be provided on the vehicle body 1, one end of the connecting arm 33 is rotatably connected to the vehicle body 1, and the other end is equipped with a driving wheel 8. A hydraulic cylinder 34 is connected to the middle of the connecting arm 33, and the hydraulic cylinder 34 can drive the connecting arm 33 to rotate, and the hydraulic cylinder 34 is connected to a hydraulic system to provide a driving force for the movement of the hydraulic cylinder 34. When driving the vehicle body 1 to move, the connecting arm 33 can be driven by the hydraulic cylinder 34 to rotate downward so that the driving wheel 8 contacts the ground. When there is no need to provide driving force, the connecting arm 33 can be driven by the hydraulic cylinder 34 to rotate upward so that the driving wheel 8 is separated from the ground.

[0034] The above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Any modification or equivalent substitution that does not depart from the spirit and scope of the present invention shall be included in the scope of the technical solution of the present invention.

Claims

1. An automatic cylindrical pruning device for plants, characterized in that: The invention comprises a vehicle body (1), and a plane trimming mechanism (2), a cylindrical trimming mechanism (3), a visual detection mechanism (4), a running mechanism and a control system (5) mounted on the vehicle body (1), wherein the plane trimming mechanism (2) is used to trim the top plane of the plant, and the cylindrical trimming mechanism (3) is used to trim the arc-shaped surface of the side of the plant. The plane trimming mechanism (2) is movably connected to the vehicle body (1) via a translation mechanism (6) so as to be able to move horizontally and vertically relative to the vehicle body (1). The visual detection mechanism (4) is used to detect the position of the plant. The running mechanism comprises a running wheel (7) and a driving wheel (8), and the driving wheel (8) is connected to a servo motor (9) for driving the driving wheel (8) to rotate. The control system (5) controls the servo motor (9) to work through a position signal detected by the visual detection mechanism (4), and controls the plane trimming mechanism (2) and the cylindrical trimming mechanism (3) to work.

2. The automatic cylindrical pruning device of claim 1, characterized in that: The plane trimming mechanism (2) comprises a mechanical arm (10), a tool holder (11) is mounted on the mechanical arm (10), a plurality of horizontal trimming tools (12) are mounted on the tool holder (11), and a first driving motor (13) for driving the horizontal trimming tools (12) to rotate.

3. The automatic cylindrical pruning device of claim 1, characterized in that: The cylindrical trimming mechanism (3) comprises a cylindrical trimming tool (14), a driving mechanism (15) for driving the cylindrical trimming tool (14) to rotate, and a lifting mechanism (16) for the cylindrical trimming tool (14) to move up and down in a vertical direction.

4. The automatic cylindrical pruning device of claim 1, characterized in that: The cylindrical pruning tool (14) comprises a tool holder (17) and a blade (18); the tool holder (17) is arranged in an annular shape, and a fixing portion (19) is arranged at one end of the tool holder (17), and a mounting portion (20) is arranged at the other end of the tool holder (17); the blade (18) is in an annular shape, one end of which is fixedly connected to the mounting portion (20), and the other end of which is surrounded by saw teeth (21).

5. The automatic cylindrical pruning device of claim 1, characterized in that: The lifting mechanism (16) comprises a mounting frame (22), a lifting seat (23) movably arranged on the mounting frame (22), and a lifting drive assembly for driving the lifting seat (23) to move in a vertical direction relative to the mounting frame (22), the lifting drive assembly comprising a second driving motor (24) and a screw rod (25), the screw rod (25) being rotationally connected to the mounting frame (22), the second driving motor (24) being transmission-connected to the screw rod (25), a slide rail (26) being arranged on the mounting frame (22), opposite sides of the lifting seat (23) being slidably matched with the slide rail (26) via rollers (27), and a middle portion of the lifting seat (23) being threadedly matched with the screw rod (25).

6. The automatic cylindrical pruning device of claim 5, characterized in that: The second drive motor (24) is connected to a torque detection device, and the control system (5) controls the operation of the lifting mechanism (16) through a torque signal detected by the torque detection device.

7. The automatic cylindrical pruning device of claim 1, characterized in that: The driving mechanism (15) comprises a rotating seat (28) and a driving assembly for driving the rotating seat (28) to rotate. The rotating seat (28) is arranged in a cylindrical shape. The upper end of the rotating seat (28) is rotatably connected to the lifting seat (23). The cylindrical trimming tool (14) is fixedly mounted on the lower end of the rotating seat (28). The driving assembly comprises a third driving motor (29) and a transmission belt (35). The upper end of the rotating seat (28) is provided with a rotating shaft (36) rotatably matched with the lifting seat (23). The third driving motor (29) is transmission-connected to the rotating shaft (36) via the transmission belt (35).

8. The automatic cylindrical pruning device of claim 1, characterized in that: Two cylindrical trimming mechanisms (3) are provided, and both cylindrical trimming mechanisms (3) are movably connected to the vehicle body (1) via a translation mechanism (6).

9. The automatic cylindrical pruning device of claim 1, characterized in that: The translation mechanism (6) comprises a longitudinal track (30) arranged on the vehicle body (1), a slide plate (31) is installed on the longitudinal track (30), the slide plate (31) is connected to a longitudinal driving device for driving it to slide along the longitudinal track (30), a transverse track (32) is arranged on the slide plate (31), and the cylindrical trimming mechanism (3) is installed on the transverse track (32) and is connected to a transverse driving device for driving it to slide along the transverse track (32).

10. The automatic cylindrical pruning device of claim 1, characterized in that: The vehicle body (1) is provided with a connecting arm (33), one end of the connecting arm (33) is rotatably connected to the vehicle body (1), and the other end is provided with a driving wheel (8). The middle part of the connecting arm (33) is connected to a hydraulic cylinder (34), and the hydraulic cylinder (34) can drive the connecting arm (33) to rotate.

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