A peach tree pruning device and method

Abstract

The application discloses a peach tree branch pruning device and method, a winding machine is used for winding a collecting frame connecting rope to a closed state of a tree branch collecting frame, a camera is used for capturing a peach tree branch needing pruning, a direct current servo motor is used for driving a mechanical arm and the tree branch collecting frame to rotate, a hydraulic push rod device is used for rotating along a circular ring sliding rail, the hydraulic push rod device is used for lifting the mechanical arm, a 'H' shaped pruning support is used for rotating to adjust a pruning angle, a sawtooth disc is used for rotating to prune the peach tree branch, and the pruned peach tree branch falls into the tree branch collecting frame; the camera is used for measuring the length of the peach tree branch, after the peach tree branch is pruned to a set length, the tree branch collecting frame falls back, the direct current servo motor is used for driving the mechanical arm and the hydraulic push rod device to reverse, the tree branch collecting frame is turned to be directly above a pulverizer, the winding machine is used for winding the collecting frame connecting rope, the tree branch collecting frame is opened, and the peach tree branch falls into the pulverizer to pulverize the peach tree branch; the application realizes automatic pruning, pulverization and collection of the peach tree, and facilitates pruning of peach tree branches at different heights.

Description

TECHNICAL FIELD

[0001] The present application relates to a pruning device for branches and leaves of fruit trees, in particular for pruning branches of peach trees, and is capable of automatically pruning, crushing and cleaning branches of peach trees at different heights. BACKGROUND

[0002] Peach trees are deciduous small trees of the Rosaceae family and the Prunus genus, with a height of generally 2.5m to 3.2m. Peach flowers can be used for ornamental purposes, and peach fruits are very popular among people and are widely planted in various regions. Currently, pruning of peach trees is mainly performed manually using scissors, and the pruned branches of peach trees are directly scattered on the ground, which is troublesome to collect and process.

[0003] A long rod body fruit tree pruning mechanism disclosed in the document with the Chinese patent application number 202122458794.4 and the name "a convenient fruit tree pruning technical tool" uses a long rod front end driven by a hydraulic device to extend and retract, and a sawtooth disc is additionally installed at the front end to prune the fruit trees. The sawtooth disc can be used to prune thicker branches. However, the mechanism is long and heavy at the front end, and a large amount of force is required to stabilize the mechanism when used manually. In addition, the lower end of the pruning device does not use a protective net, and the debris generated during pruning can easily splash into the eyes of the user, posing a safety hazard. When pruning peach trees using the mechanism, the pruned branches directly fall to the ground, affecting the efficiency of movement in the orchard and increasing the workload of subsequent branch collection and processing. The document with the Chinese patent application number 202021520375.8 discloses a tree branch pruning device for garden pruning, which uses a handheld telescopic push rod with a sawtooth disc to prune branches, and a protective net is installed below the sawtooth disc to protect the eyes of the user. The telescopic rod can be used to prune branches at high places, but the entire device is still relatively heavy, and the control panel is located on the outside of the main body, which is not convenient to operate. The collection and cleaning of pruned branches are still troublesome. SUMMARY

[0004] The present application aims to solve the problems existing in the current fruit tree pruning, and proposes a pruning device and method suitable for pruning branches of peach trees, which can easily, conveniently, safely and reliably automatically prune, crush and clean branches of peach trees at different heights.

[0005] In order to achieve the above object, the technical scheme adopted by the peach tree branch pruning device is that a small trolley capable of automatically walking is provided, a circular slide rail is arranged at the front of the upper surface of the trolley, and a pulverizer is arranged inside the rear part of the trolley; the upper part of the middle position of the circular slide rail is a mechanical arm, a vertically arranged DC servo motor output shaft is connected with the lower end of the mechanical arm to drive the mechanical arm to rotate; the mechanical arm is composed of a left arm, a right arm, a rotating support and a mechanical arm support seat, the lower ends of the left arm and the right arm are connected with the rotating support by horizontal pins and can rotate in a vertical plane around the horizontal pins, the rotating support is fixedly connected with the mechanical arm support seat, and the mechanical arm support seat is arranged in the middle of the circular slide rail and connected with the vertically arranged DC servo motor output shaft; a camera and a "H" shaped pruning support are arranged at the upper end of the mechanical arm, a sawtooth disc is arranged at the front of each corner of the "H" shaped pruning support, each sawtooth disc is driven to rotate by a small DC servo motor, and the back of the "H" shaped pruning support is connected with the mechanical arm and the small servo motor through a pruning support; the middle position of the mechanical arm 6 is connected with the upper end of an obliquely arranged hydraulic push rod device, the lower end of the hydraulic push rod device is matched with the circular slide rail to roll around the circular slide rail; a winding machine is fixedly connected below the upper end of the mechanical arm, and the winding machine is connected with a peach tree branch collecting frame through a collecting frame and a rope.

[0006] The peach tree branch collecting frame is composed of four rectangular iron sheets, four trapezoidal iron sheets and four triangular nets, the lower end of the collecting frame connecting rope is fixedly bound in a small hole in the upper end of each rectangular iron sheet, the lower end of one rectangular iron sheet is connected with the upper end of one trapezoidal iron sheet through a rotating shaft, the rectangular iron sheet and the trapezoidal iron sheet always keep in the same plane, one triangular net is connected between the side edges of two adjacent rectangular iron sheets, the bottom opening of the peach tree branch collecting frame is opened when the rectangular iron sheet is at a 90° angle with the ground, and the side edges of the four rectangular iron sheets are close to each other; when the rectangular iron sheet is parallel to the ground, the waist and the short side of the trapezoidal iron sheet are close to each other, the triangular net is opened, the whole peach tree branch collecting frame is parallel to the ground, and is in a closed state.

[0007] The hydraulic push rod device is composed of a hydraulic telescopic rod and a hydraulic oil cylinder, the hydraulic telescopic rod extends obliquely upwards from the hydraulic oil cylinder, the upper end of the hydraulic telescopic rod is connected with the middle position of the mechanical arm, the lower end of the hydraulic oil cylinder is fixedly connected on a hydraulic cylinder support, a ball is arranged below the hydraulic cylinder support, the ball rolls in the circular slide rail, the hydraulic cylinder support is fixedly connected on a horizontally arranged branch collecting frame rotating support through a rotating support connecting rod, and the front end of the branch collecting frame rotating support is fixedly connected on the rotating support and the rear end extends to the position directly below the peach tree branch collecting frame.

[0008] The crusher includes a crusher motor, a crusher housing, and two crusher gears. The crusher housing has an open top, and the two crusher gears inside are arranged horizontally to the left and right and parallel to each other front and back. The crusher collection funnel is directly above the two crusher gears, and one of the crusher gears is coaxially fixedly connected to the output shaft of the crusher motor.

[0009] A collection frame fixing bracket is installed directly above the pulverizer collection funnel. The frame side of the collection frame fixing bracket is larger than the upper inlet of the pulverizer collection funnel. Each of the four sides of the collection frame fixing bracket is fixedly connected to the upper surface of the vehicle body by a support rod. The height of the branch collection frame rotating bracket from the upper surface of the trolley is higher than that of the collection frame fixing bracket.

[0010] The pruning method of the peach tree branch pruning device adopts the following technical solution:

[0011] Step 1): The winding machine extends the connecting rope of the collection frame until the branch collection frame is in a closed state. The hydraulic push rod device, camera and DC servo motor work at the same time. The camera captures the peach branch that needs to be pruned. The DC servo motor drives the robotic arm and the branch collection frame to rotate together. The hydraulic push rod device rotates along the circular slide rail. The hydraulic push rod device lifts the robotic arm and the branch collection frame moves upward. The DC servo motor and hydraulic push rod device stop working.

[0012] Step 2): The small DC servo motor and the small servo motor work simultaneously, driving the "I"-shaped pruning bracket to rotate to adjust the pruning angle, and driving the toothed disc to rotate to prune the peach branches. The pruned peach branches fall into the branch collection box, and the small DC servo motor and the small servo motor stop working.

[0013] Step 3): The camera measures the length of the peach tree branches. After the branches are trimmed to the set length, the hydraulic push rod device releases the robotic arm, the branch collection box falls back, and the hydraulic push rod device stops working.

[0014] Step 4): The DC servo motor rotates in the opposite direction, driving the robotic arm and hydraulic push rod device to rotate in reverse, so that the branch collection frame is directly above the shredder, and the DC servo motor stops working.

[0015] Step 5): The winding machine retracts the connecting rope of the collection frame, the branch collection frame opens, and the peach branches fall along the inner wall of the branch collection frame into the crusher to be crushed.

[0016] The beneficial effects of adopting the above technical solution in this invention are:

[0017] 1. This invention enables automated pruning, crushing, and collection of peach branches in one integrated process. It offers highly efficient branch pruning, multiple functions, and a high degree of automation, conveniently pruning peach branches of varying heights and efficiently solving the problem of peach branch collection and cleaning. Considering that peach trees are relatively short compared to other fruit trees, and that the trolley cannot be too large to avoid inconvenience, this invention is particularly suitable for relatively short peach trees.

[0018] 2. This invention uses a motor-driven cart as a carrier. The pruning device is carried by the cart and moves in the orchard, which is flexible and convenient. The cart's drive wheel is a specially made double-layer sprocket wheel. The double-sided sprocket drive wheel can move freely on muddy roads and can obtain greater grip in the orchard, avoiding the difficulty of moving in the orchard in rainy weather.

[0019] 3. The present invention installs the pruning body on a circular slide rail, so that the trolley can prune branches in multiple directions at the same position, thereby improving pruning efficiency.

[0020] 4. The present invention installs a branch collection frame below the saw blade, which directly collects the pruned branches and processes them uniformly, effectively reducing the repetitive labor of collection and processing.

[0021] 5. This invention installs the shredder at the rear of the trolley, so that the branches can be directly shredded after trimming and then fall into the collection box, which is convenient for cleaning and transporting the branches.

[0022] 6. This invention uses a camera to capture the branches to be pruned, and can prune the branches according to a predetermined program.

[0023] 7. This invention uses four toothed discs mounted on an "I"-shaped bracket to handle tree branches of various shapes. Attached Figure Description

[0024] The present invention will now be described in further detail with reference to the accompanying drawings:

[0025] Figure 1 This is an axonometric assembly diagram of the overall structure of a peach tree branch pruning device according to the present invention;

[0026] Figure 2 for Figure 1 A schematic diagram of the trolley and the parts connected to it.

[0027] Figure 3 for Figure 2 A top-down view of the rotated structure;

[0028] Figure 4 for Figure 1 Enlarged structural diagram of the robotic arm, camera mounting mechanism, and winding machine;

[0029] Figure 5 for Figure 4 Front view of the robotic arm;

[0030] Figure 6 for Figure 1 Enlarged view of the structure of the central sawtooth disc and the "I"-shaped pruning bracket;

[0031] Figure 7 for Figure 6 Rear axle view;

[0032] Figure 8 for Figure 1 Enlarged view of the assembly structure of the hydraulic push rod device and the rotating bracket of the branch collection frame;

[0033] Figure 9 for Figure 8 Top-view axonometric view;

[0034] Figure 10 for Figure 1 Enlarged structural diagram of the winding machine, the connecting rope of the collection frame, and the tree branch collection frame;

[0035] Figure 11 for Figure 1 The diagram shown is a control block diagram of a peach tree branch pruning device according to the present invention.

[0036] Figure 12 A schematic diagram of the robotic arm rotating during the peach tree branch pruning process;

[0037] Figure 13 A diagram showing the starting position for pruning peach tree branches;

[0038] Figure 14 This is a schematic diagram showing the location where peach tree branches were crushed.

[0039] Figure 15 A diagram showing how to open the peach branch collection box;

[0040] Figure 16 A schematic diagram illustrating the completion of the peach tree branch crushing and collection process.

[0041] In the diagram: 1. Serrated disc; 2. I-shaped pruning bracket; 3. Small DC servo motor; 4. Pruning bracket connecting robotic arm; 4a. Robotic arm flange; 4b. Flange connector; 4c. Small servo motor; 5. Camera mounting mechanism; 5a. Camera mounting component; 5b. Camera; 6. Robotic arm; 6a. Left arm; 6b. Right arm; 6c. Reducer mounting platform; 6d. Camera connector; 6e. Rotating bracket; 7. Winding machine; 8. Collection frame connecting rope; 9. Branch collection frame; 9a. Rectangular sheet metal; 9b. Triangular mesh; 9c. Trapezoidal sheet metal; 10. Crusher collection funnel; 11. Crusher motor; 12. Small 12a. Cart body; 12b. Handle; 12c. Circular slide rail; 12d. Crusher gear; 12e. Crusher bearing; 12f. Collection frame fixing bracket; 13. Driven wheel; 14. Double-sided chain shaft drive wheel; 15. Drive motor; 16. Robotic arm support base; 17. Hydraulic push rod device; 17a. Hydraulic telescopic rod; 17b. Hydraulic cylinder; 17c. Hydraulic cylinder bracket; 17d. Ball bearing; 17e. Rotating bracket connecting rod; 18. Crusher collection frame; 19. Power distribution cabinet; 20. DC servo motor; 21. Control unit; 22. Cart controller; 23. Branch collection frame rotating bracket; 24. Reducer. Detailed Implementation

[0042] For ease of understanding, the spatial orientation of the peach tree branch pruning device of the present invention is now specified, such as... Figure 1 As shown, the position of the wheel is "down" and its relative position is "up"; the position of the drive wheel 14 is "front" and its relative position is "rear".

[0043] like Figure 1 , Figure 2 and Figure 3 As shown, the peach tree branch pruning device of the present invention has a self-propelled trolley 12. The trolley includes a body 12a, a handle 12b, double-sided chain shaft drive wheels 14, driven wheels 13, and a drive motor 15. A double-sided chain shaft drive wheel 14 is arranged on each of the left and right sides of the front bottom of the body 12a, and each double-sided chain shaft drive wheel 14 is connected to a drive motor 15 for driving. A driven wheel 13 is arranged on each of the left and right sides of the rear bottom of the body 12a. When the drive motor 15 is working, it drives the trolley to move through the double-sided chain shaft drive wheels 14. The handle 12b is welded to the rear top of the body 12a. A trolley controller 22 is provided on the handle 12b, located to the right of the handle 12b, for easy operation of the button switch of the trolley controller 22.

[0044] The front part of the upper surface of the vehicle body 12a is provided with a circular slide rail 12c which is fixedly arranged on the upper surface of the vehicle body 12a. The inside of the front part of the vehicle body 12a is provided with a power distribution cabinet 19, a direct current servo motor 20 and a control unit 21. The power distribution cabinet 19 is used to supply power to various electric components. The direct current servo motor 20 is arranged vertically below the circular slide rail 12c.

[0045] The inside of the rear part of the vehicle body 12a is provided with a shredder which includes a shredder motor 11, a shredder housing and two shredder gears 12d. The shredder housing is fixedly connected to the vehicle body 12a and has an open upper end. The two shredder gears 12d are arranged horizontally and parallel to each other. The two shredder gears 12d are connected to the shredder housing through shredder bearings 12e which are arranged on the side of the shredder housing. The shredder collection funnel 10 is arranged vertically above the two shredder gears 12d and is fixedly connected to the vehicle body 12a. The two shredder gears 12d are in communication with the shredder collection funnel 10 and extend upwardly above the top surface of the vehicle body 12a. One of the two shredder gears 12d is coaxially fixedly connected to the output shaft of the shredder motor 11. The pruned peach tree branches fall from the shredder collection funnel 10 between the two shredder gears 12d. The two shredder gears 12d are driven by the shredder motor 11 to rotate and shred the tree branches.

[0046] The shredder collection frame 18 is arranged vertically below the shredder. The shredder collection frame 18 is arranged inside the rear part of the vehicle body 12a and is used to collect the shredded tree branches which fall from the shredder.

[0047] The collection frame fixing support 12f is arranged vertically above the shredder collection funnel 10. The frame of the collection frame fixing support 12f is slightly larger than the upper end of the shredder collection funnel 10. The four edges of the collection frame fixing support 12f are welded to the upper surface of the vehicle body 12a through four support rods.

[0048] The mechanical arm 6 is arranged vertically above the circular slide rail 12c. The lower end of the mechanical arm 6 is connected to the middle part of the circular slide rail 12c. The direct current servo motor 20 is arranged vertically. The output shaft of the direct current servo motor 20 is connected to the lower end of the mechanical arm 6 to drive the mechanical arm 6 to rotate.

[0049] The direct current servo motor 20 is connected to the upper rotary support 6e through a transmission shaft to drive the mechanical arm 6 to rotate.

[0050] As Figure 1 , Figure 4 and Figure 5As shown, the robotic arm 6 is composed of a left arm 6a, a right arm 6b, a rotating bracket 6e, and a robotic arm support base 16. The lower ends of the left arm 6a and the right arm 6b are respectively connected to the rotating bracket 6e with horizontal pins, allowing the left arm 6a and the right arm 6b to rotate around the lower pins in a vertical plane, raising or lowering them. The rotating bracket 6e is fixedly welded to the robotic arm support base 16, which is located in the center of the circular slide rail 12c and connected to the lower DC servo motor 20 via a coupling. The output shaft of the DC servo motor 20 is coaxially fixedly connected to the robotic arm support base 16, and the DC servo motor 20 drives the robotic arm support base 16 to rotate, thereby causing the entire robotic arm 6, including the rotating bracket 6e, the left arm 6a, and the right arm 6b, to rotate.

[0051] At the upper end of the robotic arm 6, approximately one-third of the way from the upper ends of the left arm 6a and right arm 6b, there is a 150° bend forming an L-shape. A reducer mounting platform 6c is fixedly installed at the upper end of the robotic arm 6 for securing the housing of the reducer 24. Below the reducer mounting platform 6c, below the upper end of the robotic arm 6, a winding machine 7 is fixedly connected. The winding machine 7 is connected to a peach branch collection frame 9 below via a collection frame connecting rope 8.

[0052] A camera connector 6d is fixedly welded to the upper end of the curved section between the left robotic arm 6a and the right robotic arm 6b. A camera mounting mechanism 5 is provided on the camera connector 6d. The camera mounting mechanism 5 includes a camera mounting piece 5a and a camera 5b, with the camera 5b mounted on the camera mounting piece 5a.

[0053] like Figure 1 , Figure 6 and Figure 7 As shown, the upper end of the robotic arm 6 is equipped with a serrated disc 1 and an "I"-shaped pruning bracket 2. Each of the four corners of the "I"-shaped pruning bracket 2 has a serrated disc 1 on its front side. Each serrated disc 1 is connected to a drive shaft via a pin, and the serrated disc 1 is coaxially mounted on the drive shaft. The "I"-shaped pruning bracket 2 is at a 75° angle to the ground. A small DC servo motor 3 is mounted on the back of each corner of the "I"-shaped pruning bracket 2. Each small DC servo motor 3 is connected to a corresponding drive shaft via a key. Each small DC servo motor 3 drives a serrated disc 1 to rotate via a drive shaft to cut the peach tree branches to be pruned. A pruning bracket is welded to the middle of the back of the "I"-shaped pruning bracket 2, connecting one end of the robotic arm 4. The other end of the pruning bracket connecting the robotic arm 4 is connected to a small servo motor 4c, thus connecting the "I"-shaped pruning bracket 2 to the robotic arm 4 and the small servo motor 4c via the pruning bracket.

[0054] The pruning bracket connecting the robotic arm 4 consists of a robotic arm flange 4a and a flange connector 4b connected coaxially. One end of the robotic arm flange 4a is welded to the middle of the back of the "I"-shaped pruning bracket 2. The other end of the robotic arm flange 4a is coaxially fixed to one end of the flange connector 4b. The other end of the flange connector 4b is connected to a small servo motor 4c via a reducer 24. When the small servo motor 4c is working, after being reduced in speed by the reducer 24, it drives the flange connector 4b to rotate, which in turn drives the "I"-shaped mounting bracket 2 and the saw toothed disc 1 to rotate, adjusting the angle of pruning peach branches so that the saw toothed disc 1 can cut peach branches from multiple directions. The "I"-shaped mounting bracket can rotate 270°, allowing it to rotate within a 270° range.

[0055] The reducer 24 is fixed on the reducer mounting platform 6c. The housing of the reducer 24 is fixedly connected to the reducer mounting platform 6c by bolts, so that the saw tooth disc 1 and the "I"-shaped trimming bracket 2 are fixed as a whole on the upper end of the robotic arm 6.

[0056] See Figure 1 , Figure 8 and Figure 9 As shown, the upper end of the hydraulic push rod device 17 is connected to the middle position of the robotic arm 6 via a pin. The hydraulic push rod device 17 is arranged at an angle, and its lower end cooperates with the annular slide rail 12c, allowing it to roll around the annular slide rail 12c. The hydraulic push rod device 17 consists of a hydraulic telescopic rod 17a extending obliquely upward from the hydraulic cylinder 17b. The hydraulic cylinder 17b is arranged at an angle, and the upper end of the telescopic rod 17a is connected to the middle position of the robotic arm 6 via a pin. The lower end of the hydraulic cylinder 17b is slidably mounted on the annular slide rail 12c, allowing it to slide around the slide rail 12c. When the robotic arm 6 rotates under the drive of the DC servo motor 20, the hydraulic push rod device 17 rotates along with the robotic arm 6 under the action of the pin, rotating around the annular slide rail 12c, thus circumnavigating the robotic arm 6. The extension and retraction of the hydraulic telescopic rod 17a causes the robotic arm 6 to rotate around the pin on the rotating bracket 6e, resulting in up-and-down movement. The upward movement of the hydraulic telescopic rod 17a pushes the robotic arm 6 upward, causing the angle between the "I"-shaped pruning bracket 2 and the ground to change, thereby changing the height of the saw toothed disc 1 from the ground to prune peach tree branches at different heights.

[0057] The lower end of the hydraulic cylinder 17b is fixedly connected to the hydraulic cylinder support 17c by bolts, the lower end of the hydraulic cylinder support 17c is clamped in the circular slide rail 12c and can slide, the lower side of the hydraulic cylinder support 17c is provided with a ball 17d, the ball 17d rolls in the circular slide rail 12c to reduce friction. The hydraulic cylinder support 17c is fixedly connected to the branch collecting frame rotating support 23 through the rotating support connecting rod 17e, the front end of the branch collecting frame rotating support 23 is fixedly welded to the rotating support 6e and rotates with the rotating support 6e. The branch collecting frame rotating support 23 is horizontally arranged, the rear end thereof extends below the peach branch collecting frame 9, the distance between the upper surface of the trolley 12 and the height of the branch collecting frame rotating support 23 is higher than the distance between the upper surface of the trolley 12 and the height of the collecting frame fixed support 12f, and the branch collecting frame rotating support 23 is above the collecting frame fixed support 12f. When the branch collecting frame rotating support 23 rotates to the position directly above the collecting frame fixed support 12f, the position of the branch collecting frame rotating support 23 coincides with the position of the collecting frame fixed support 12f. When the mechanical arm 6 and the hydraulic push rod device 17 rotate synchronously, the branch collecting frame rotating support 23 rotates synchronously to stabilize the peach branch collecting frame 9 above.

[0058] Referring to Figure 1 and Figure 10 As shown in the drawings, the peach branch collecting frame 9 is always above the branch collecting frame rotating support 23 and is composed of four rectangular iron sheets 9a, four trapezoidal iron sheets 9c and four triangular nets 9b. The upper end of the collecting frame connecting rope 8 is wound around the winding machine 7, the length of the collecting frame connecting rope 8 is changed by adjusting the motor in the winding machine 7. The lower end of the collecting frame connecting rope 8 is fixedly bound to the small hole in the upper end of each rectangular iron sheet 9a, the lower end of one rectangular iron sheet 9a is connected to the upper end of one trapezoidal iron sheet 9c through a rotating shaft, the rectangular iron sheet 9a and the trapezoidal iron sheet 9c always remain in the same plane, the rectangular iron sheet 9a and the trapezoidal iron sheet 9c can rotate around the rotating shaft between them, the outer end of the trapezoidal iron sheet 9c is the long side and the inner end is the short side. One triangular net 9b is connected between the side edges of two adjacent rectangular iron sheets 9a, the bottom opening of the peach branch collecting frame 9 is opened and in an open state when the rectangular iron sheet 9a forms a 90° angle with the ground, and the side edges of the four rectangular iron sheets 9a are close to each other. When the rectangular iron sheet 9a is parallel to the ground, the waist and the short side of the trapezoidal iron sheet 9c are close to each other, the triangular net 9b is opened, the peach branch collecting frame 9 as a whole is parallel to the ground and in a closed state.

[0059] Referring to Figure 11As shown, the trolley controller 22 is connected to the control unit 21 and the drive motor 15 via control lines. The control unit 21 is connected to the hydraulic push rod device 17, camera 5b, DC servo motor 20, winding machine 7, small DC servo motor 3, crusher motor 11, and small servo motor 4c via control lines, respectively controlling the extension and retraction of the hydraulic telescopic rod 17a of the hydraulic push rod device 17, the opening and closing of the camera 5b, and the starting and stopping of the DC servo motor 20, winding machine 7, small DC servo motor 3, crusher motor 11, and small servo motor 4c. The camera 5b faces the front of the sawtooth disk 1 to capture images and transmits the captured images to the control unit 21.

[0060] like Figure 12 As shown, after camera 5b captures the peach tree branch that needs to be pruned, robotic arm 6 is lifted to the pruning position by hydraulic pusher device 17 to prune. Winding machine 7 loosens part of the winding collection frame connecting rope 8 so that the branch collection frame 9 is in a closed state and is always suspended directly below saw toothed disc 1. During the lifting and lowering of the robotic arm 6 by the hydraulic pusher device 17, the branch collection frame 9 always moves vertically directly above the rotating bracket 23. Peach branches cut by the saw disc 1 fall into the branch collection frame 9 below. The control unit 21 controls the DC servo motor 20 to be powered on, which drives the rotating bracket 6e, causing the robotic arm 6 to rotate. The saw disc 1 and the winding machine 7 on the robotic arm 6 rotate together. The winding machine 7 connected to the upper end of the collection frame connecting rope 8 and the branch collection frame 9 suspended at the lower end also rotate at the same speed as the robotic arm 6. Under the action of the pin, the hydraulic pusher device 17 rotates around the robotic arm 6 along the circular slide rail 12c. The rotating bracket 23 of the branch collection frame, welded to the rotating bracket 6e, rotates with the rotating bracket 6e. When the rotating bracket 23 of the branch collection frame rotates to the position where it coincides with the fixed bracket 12f of the collection frame, the control unit 21 controls the DC servo motor 20 to be powered off, causing the robotic arm 6 to stop rotating. At this point, the branch collection frame 9 is positioned directly above the crusher collection funnel 10 and the collection frame fixing bracket 12f. The control unit 21 controls the winding machine 7 to tighten the collection frame connecting rope 8. The rectangular sheet metal 9a rotates upward around the rotation axis, while the trapezoidal sheet metal 9c rotates downward at the same angular velocity. The rectangular sheet metal 9a and the trapezoidal sheet metal 9c remain on the same plane. The branch collection frame 9 opens, and the pruned branches fall from the opening of the branch collection frame 9 into the crusher collection funnel 10 below.

[0061] like Figures 1 to 16 As shown, the method for pruning peach tree branches is as follows:

[0062] Step 1: When the pruning work begins, the winding machine 7 extends the connecting rope 8 of the collection frame, causing the branch collection frame 9 to be in a closed state. The operator holds the handle 12b to control the forward direction of the trolley. Pressing the forward button on the trolley controller 22 starts the drive motor 15, driving the drive wheel 14 forward. Figure 13 As shown, when the cart moves to the foot of the peach tree ( Figure 13 (The left side of the image shows a peach tree diagram). Release the forward button on the trolley controller 22. The drive motor 15 is powered off and stops working. The trolley stops moving forward. Press the start pruning button on the far left of the trolley controller 22 once. The trolley controller 22 sends a signal to the control unit 21. The control unit 21 sends a signal to the hydraulic push rod device 17, the camera 5b, and the DC servo motor 20 to work simultaneously. The camera 5b begins to capture the peach tree branches that need to be pruned. At the same time, the DC servo motor 20 receives the signal and rotates, driving the rotating bracket 6e, the robotic arm 6, the branch collection frame rotating bracket 23, and the branch collection frame 9 to rotate together. The hydraulic push rod device 17 rotates along the circular slide rail 12c. The hydraulic push rod device 17 receives the signal from the control unit 21 and extends the hydraulic telescopic rod 17a to push the robotic arm 6 up. At this time, the branch collection frame 9 leaves the branch collection frame rotating bracket 23 and moves upward.

[0063] When camera 5b captures the branch to be pruned according to the predetermined program, robotic arm 6 reaches the pruning position. Camera 5b transmits a signal back to control unit 21, which in turn transmits a signal to control DC servo motor 20 and hydraulic push rod device 17 to stop working. Then, a signal is transmitted to small DC servo motor 3 and small servo motor 4c to start working simultaneously. Small servo motor 4c drives the "I"-shaped pruning bracket 2 to rotate to adjust the pruning angle, and small DC servo motor 3 drives the saw toothed disc 1 to rotate to prune the peach branch.

[0064] After pruning is complete, the control unit 21 sends a signal to stop the small DC servo motor 3 and the small servo motor 4c from working. The branches pruned by the saw blade 1 fall into the branch collection box 9 below the saw blade 1.

[0065] Step 2: After the pruned branches fall into the closed branch collecting frame 9, the camera 5b measures the length of the corresponding peach tree branches. After the branches are pruned to the set length, the camera 5b sends a signal to the control unit 21, which sends a signal to the hydraulic push rod device 17 and the DC servo motor 20. The hydraulic push rod device 17 releases the pressure mechanical arm 6, causing the mechanical arm 6 to lower in height, and the branch collecting frame 9 falls back onto the branch collecting frame rotating support 23. The hydraulic push rod device 17 stops working, keeping the branch collecting frame 9 stable on the branch collecting frame rotating support 23. The DC servo motor 20 rotates in reverse, driving the rotating support 6e, the mechanical arm 6, the branch collecting frame rotating support 23, and the hydraulic push rod device 17 to rotate in reverse, causing the branch collecting frame 9 and the branch collecting frame rotating support 23 to rotate above the collecting frame fixed support 12f, reaching a position that coincides with the collecting frame fixed support 12f above and below, i.e., the branch collecting frame 9 is directly above the crusher and the crusher collecting hopper 10. The control unit 21 sends a signal to the DC servo motor 20 to stop working, as shown in Figure 14 .

[0066] Step 3: When the branch collecting frame 9 and the branch collecting frame rotating support 23 rotate to the coinciding position above the collecting frame fixed support 12f, the control unit 21 sends a signal to the winding machine 7, which retracts the collecting frame connecting rope 8 upwards. The rectangular iron sheet 9a and the trapezoidal iron sheet 9c remain in the same plane around the rotating shaft between them, and the branch collecting frame 9 opens, as shown in Figure 15 . The pruned branches fall along the inner wall of the branch collecting frame 9 into the crusher collecting hopper 10. The control unit 21 sends a signal to the winding machine 7 to stop working.

[0067] Step 4: After the branches fall into the crusher collecting hopper 10, the control unit 21 sends a signal to the crusher motor 11, which is energized and works, driving the crusher gear 12d to rotate. The two crusher gears 12d mesh and rotate in opposite directions, crushing the branches by twisting them into the gear gap, as shown in Figure 16 . When the crushed branches fall into the crusher collecting frame 18, the control unit 21 sends a signal to the crusher motor 11 to stop working, and the peach tree branch pruning work is completed.

Claims

1. A peach tree pruning apparatus having a small cart (12) capable of automatic walking, characterized in that: The front part of the upper surface of the trolley (12) is provided with a circular slide rail (12c), and the interior of the rear part of the trolley (12) is equipped with a crusher; above the center of the circular slide rail (12c) is a robotic arm (6), and the output shaft of the vertically arranged DC servo motor (20) is connected to the lower end of the robotic arm (6) to drive the robotic arm (6) to rotate. The robotic arm (6) consists of a left arm (6a), a right arm (6b), a rotating bracket (6e), and a robotic arm support base (16). The lower ends of the left arm (6a) and the right arm (6b) are connected to the rotating bracket (6e) by horizontal pins and can rotate around the horizontal pins on the vertical plane. The rotating bracket (6e) is fixedly connected to the robotic arm support base (16). The robotic arm support base (16) is located in the center of the circular slide rail (12c) and is connected to the output shaft of the vertically arranged DC servo motor (20). A camera (5b) and an "I"-shaped trimming bracket (2) are installed at the upper end of the robotic arm (6). A sawtooth disk (1) is provided at the front of each of the four corners of the "I"-shaped trimming bracket (2). Each sawtooth disk (1) is driven to rotate by a small DC servo motor (3). The back of the "I"-shaped trimming bracket (2) is connected to the robotic arm (6) and the small servo motor (4c) through the trimming bracket. The upper end of the inclined hydraulic push rod device (17) is connected to the middle position of the robotic arm (6), and the lower end of the hydraulic push rod device (17) is engaged with the circular slide rail (12c) and rolls around the circular slide rail (12c). The lower part of the upper end of the robotic arm (6) is fixedly connected to the winding machine (7), and the winding machine (7) is connected to the branch collection box (9) below through the collection box connecting rope (8). The tree branch collection frame (9) consists of four rectangular iron sheets (9a), four trapezoidal iron sheets (9c), and four triangular nets (9b). The lower end of the collection frame connecting rope (8) is fixedly tied to the small hole at the upper end of each rectangular iron sheet (9a). The lower end of one rectangular iron sheet (9a) is connected to the upper end of one trapezoidal iron sheet (9c) through a rotating shaft. The rectangular iron sheets (9a) and trapezoidal iron sheets (9c) always remain on the same plane. A triangular net (9b) is connected between the sides of two adjacent rectangular iron sheets (9a). When the rectangular iron sheets (9a) are at a 90° angle to the ground, the bottom opening of the peach tree branch collection frame (9) is open, and the sides of the four rectangular iron sheets (9a) are close together. When the rectangular iron sheets (9a) are parallel to the ground, the waist and short sides of the trapezoidal iron sheets (9c) are close together, the triangular net (9b) is open, and the tree branch collection frame (9) is parallel to the ground and in a closed state.

2. A peach tree pruning device according to claim 1, characterised in that: The hydraulic push rod device (17) consists of a hydraulic telescopic rod (17a) and a hydraulic cylinder (17b). The hydraulic telescopic rod (17a) extends obliquely upward from the hydraulic cylinder (17b). The upper end of the hydraulic telescopic rod (17a) is connected to the middle position of the robotic arm (6). The lower end of the hydraulic cylinder (17b) is fixedly connected to the hydraulic cylinder bracket (17c). A ball bearing (17d) is provided below the hydraulic cylinder bracket (17c). The ball bearing (17d) rolls in the circular slide rail (12c). The hydraulic cylinder bracket (17c) is fixedly connected to the horizontally arranged branch collection frame rotating bracket (23) through the rotating bracket connecting rod (17e). The front end of the branch collection frame rotating bracket (23) is fixedly connected to the rotating bracket (6e), and the rear end extends to the bottom of the branch collection frame (9).

3. A peach tree pruning device according to claim 2, characterised in that: The crusher includes a crusher motor (11), a crusher housing and two crusher gears (12d). The crusher housing is open at the top. The two crusher gears (12d) inside are arranged horizontally to the left and right and parallel to each other to the front and back. The crusher collection funnel (10) is directly above the two crusher gears (12d). One of the crusher gears (12d) is coaxially fixedly connected to the output shaft of the crusher motor (11).

4. A peach tree pruning device according to claim 3, characterised in that: A collection frame fixing bracket (12f) is set directly above the crusher collection funnel (10). The frame side of the collection frame fixing bracket (12f) is larger than the upper inlet of the crusher collection funnel (10). The height of the branch collection frame rotating bracket (23) from the upper surface of the trolley (12) is higher than that of the collection frame fixing bracket (12f).

5. The peach tree limb pruning apparatus of claim 1, wherein: The trolley (12) includes a body (12a), a handle (12b), a double-sided chain shaft drive wheel (14), a driven wheel (13), and a drive motor (15). A double-sided chain shaft drive wheel (14) is provided on each of the left and right sides of the front bottom of the body (12a), and a drive motor (15) is connected to each double-sided chain shaft drive wheel (14). A driven wheel (13) is provided on each of the left and right sides of the rear bottom of the body (12a), and a handle (12b) is provided at the rear top of the body (12a). The handlebar (12b) is equipped with a car controller (22), and the front part of the car body (12a) is equipped with a DC servo motor (20) and a control unit (21). The car controller (22) is connected to the control unit (21) and the drive motor (15) via control lines. The control unit (21) is connected to the hydraulic push rod device (17), camera (5b), DC servo motor (20), winding machine (7), small DC servo motor (3) and small servo motor (4c) via control lines.

6. The peach tree limb pruning apparatus of claim 1, wherein: The left arm (6a) and right arm (6b) are L-shaped with a 150° bend, bending at a position that accounts for 1 / 3 of the total length from the upper end of the left arm (6a) and right arm (6b).

7. The peach tree limb pruning device of claim 1, wherein: The "I"-shaped trimming bracket (2) can rotate within a range of 270°.

8. A method for pruning peach branches using the peach branch pruning device according to claim 1, characterized by comprising the following steps: Step 1): The winding machine (7) extends the collection frame connecting rope (8) to the closed state of the branch collection frame (9), the hydraulic push rod device (17), the camera (5b) and the DC servo motor (20) work simultaneously, the camera (5b) captures the peach tree branches that need to be pruned, the DC servo motor (20) drives the mechanical arm (6) and the branch collection frame (9) to rotate, the hydraulic push rod device (17) rotates along the circular slide rail (12c), the hydraulic push rod device (17) lifts the mechanical arm (6), and the branch collection frame (9) moves upward; the DC servo motor (20) and the hydraulic push rod device (17) stop working; Step 2): The small DC servo motor (3) and the small servo motor (4c) work simultaneously to drive the "I" shaped pruning bracket (2) to rotate to adjust the pruning angle, and drive the sawtooth disc (1) to rotate to prune the peach tree branches, the pruned peach tree branches fall into the branch collection frame (9), the small DC servo motor (3) and the small servo motor (4c) stop working Step 3): The camera (5b) measures the length of the peach tree branches, and after pruning to the set length, the hydraulic push rod device (17) releases the mechanical arm (6), the branch collection frame (9) falls back, and the hydraulic push rod device (17) stops working; Step 4): The DC servo motor (20) rotates in reverse to drive the mechanical arm (6) and the hydraulic push rod device (17) to rotate in reverse, so that the branch collection frame (9) is turned to the upper side of the crusher, and the DC servo motor (20) stops working; Step 5): The winding machine (7) retracts the collection frame connecting rope (8), the branch collection frame (9) is opened, and the peach tree branches fall along the inner wall of the branch collection frame (9) into the crusher to crush the peach tree branches.

9. The method of claim 8, wherein: In step 5), a crusher collection frame (18) is arranged below the crusher, and the crushed peach tree branches fall into the crusher collection frame (18).

Images