Grapevine pruning device and pruning method based on working platform

Abstract

The invention provides a grapevine pruning device and a pruning method based on an operation platform, belonging to the technical field of grape cultivation, comprising a gantry frame, a pruning mechanism and a first driving mechanism, wherein the pruning mechanism is arranged on the gantry frame, and the first driving mechanism is arranged on both sides of the gantry frame; the gantry frame comprises a crossbeam and a pair of upright frames, and the pair of upright frames are arranged on both sides of the crossbeam; the pruning mechanism comprises a second driving mechanism, a first transverse sliding mechanism, a second transverse sliding mechanism, a first tool mechanism, a second tool mechanism, a first transverse pushing mechanism and a second transverse pushing mechanism, and the bifurcated branches on both sides of the grapevine are pruned simultaneously by the first tool mechanism and the second tool mechanism, so that the pruning efficiency is high, and the grapevine will not be deviated to the left and right by pruning on both sides at the same time, compared with unilateral pruning, the shearing stability is high, and the sheared grapevine is relatively flush on both sides.

Description

Technical Field

[0001] The invention belongs to the technical field of grape cultivation, and in particular relates to a grapevine pruning device and a pruning method based on an operating platform. Background Art

[0002] Grapes have a strong branching ability, so weaker branches should be removed in time, leaving only strong branches. Then the strong branches should be guided and fixed on the grape racks by tying. In the process of grape cultivation, during the new shoot growth period, flowering period, and berry growth period, we must always pay attention to the pruning of grape branches, prune the weaker forked branches, and ensure the reasonable distribution of grape branches to increase grape yield.

[0003] In the existing grape cultivation process, an operating platform, such as a gantry operating platform, is used to get rid of the traditional traction method of the tractor. There is a gantry soil ridging device that can complete the soil ridging of the grape ridges, a gantry soil cleaning device that can complete the soil cleaning on both sides of the grape ridges, and a gantry spraying device that can complete the comprehensive spraying of grape branches and leaves with high spraying efficiency. However, the existing operating platform cannot prune the branches of the grape tree. If a traditional pruning device is used, only one side of the grape tree can be pruned, and the unilateral pruning method will squeeze the branches of the grape tree on one side, causing the branches of the grape tree to deviate, resulting in some branches cannot be cut off, resulting in low pruning efficiency of the pruning device for the grape tree. Summary of the invention

[0004] Based on this, the present invention provides a grapevine pruning device and a pruning method based on a working platform to solve the technical problem existing in the prior art that the efficiency of pruning grapevine branches by traditional pruning devices is low.

[0005] The technical solution of the present invention to solve the above technical problems is as follows:

[0006] A grapevine pruning device based on a working platform comprises a gantry frame, a pruning mechanism and a first driving mechanism, wherein the pruning mechanism is arranged on the gantry frame, and the first driving mechanism is arranged on both sides of the gantry frame;

[0007] The gantry frame body comprises a crossbeam and a pair of vertical frames, wherein the pair of vertical frames are arranged on both sides of the crossbeam;

[0008] The trimming mechanism includes a second driving mechanism, a first transverse sliding mechanism, a second transverse sliding mechanism, a first tool mechanism, a second tool mechanism, a first transverse pushing mechanism and a second transverse pushing mechanism. The second driving mechanism is fixedly arranged on the crossbeam, the first transverse sliding mechanism and the second transverse sliding mechanism are arranged on the crossbeam, the first transverse sliding mechanism and the second transverse sliding mechanism are symmetrically arranged on both sides of the second driving mechanism, the first tool mechanism is vertically arranged, the first tool mechanism is rotatably connected to the first transverse sliding mechanism, the second tool mechanism is vertically arranged, the second tool mechanism is rotatably connected to the second transverse sliding mechanism, the first transverse pushing mechanism is fixedly arranged on the stand, and the first transverse pushing mechanism is rotatably connected to the first tool mechanism, the second transverse pushing mechanism is fixedly arranged on the stand, and the second transverse pushing mechanism is rotatably connected to the first tool mechanism, and the first transverse pushing mechanism and the second transverse pushing mechanism are symmetrically arranged along the second driving mechanism.

[0009] Preferably, the second driving mechanism includes a cross active driving member, a first driven driving member and a second driven driving member, the cross active driving member is arranged on the cross beam, the first driven driving member is arranged on the cross beam, one end of the first driven driving member is connected to the cross active driving member, and the other end is connected to the first transverse sliding mechanism, the second driven driving member is arranged on the cross beam, one end of the second driven driving member is connected to the cross active driving member, and the other end is connected to the second transverse sliding mechanism.

[0010] Preferably, the first transverse sliding mechanism includes a first sliding plate, a first connecting shaft and a first hinge column, the first sliding plate is fixedly arranged on the cross beam, the first sliding plate is provided with a first sliding groove, one end of the first connecting shaft is connected to the first driven driving member, the first hinge column is clamped in the first sliding groove and can slide back and forth in the first sliding groove, the first hinge column is connected to the other end of the first connecting shaft, and the first hinge column is rotatably connected to the first tool mechanism; the second transverse sliding mechanism includes a second sliding plate, a second connecting shaft and a second hinge column, the second sliding plate is fixedly arranged on the cross beam, the second sliding plate is provided with a second sliding groove, one end of the second connecting shaft is connected to the second driven driving member, the second hinge column is clamped in the second sliding groove and can slide back and forth in the second sliding groove, the second hinge column is connected to the other end of the second connecting shaft, and the second hinge column is rotatably connected to the second tool mechanism.

[0011] Preferably, the first tool mechanism includes a first vertical rod, a first shearing knife and a first tool driving member, the first vertical rod is vertically arranged, one end of the first vertical rod is rotatably connected to the first hinged column, and the other end is rotatably connected to the first horizontal pushing mechanism, the first shearing knife is fixedly arranged on the first vertical rod, and the first tool driving member is connected to the first shearing knife for driving the first shearing knife to prune grape branches; the second tool mechanism includes a second vertical rod, a second shearing knife and a second tool driving member, the second vertical rod is vertically arranged, one end of the second vertical rod is rotatably connected to the second hinged column, and the other end is rotatably connected to the second horizontal pushing mechanism, the second shearing knife is fixedly arranged on the second vertical rod, and the second tool driving member is connected to the second shearing knife for driving the second shearing knife to prune grape branches.

[0012] Preferably, the first tool mechanism also includes a first freely retractable member, one end of which is rotatably connected to the first vertical rod, and the other end is rotatably connected to the first horizontal pushing mechanism, and the first freely retractable member can freely extend and contract; the second tool mechanism also includes a second freely retractable member, one end of which is rotatably connected to the second vertical rod, and the other end is rotatably connected to the second horizontal pushing mechanism, and the second freely retractable member can freely extend and contract.

[0013] Preferably, the first lateral pushing mechanism includes a first pushing cylinder and a third hinged column, the first pushing cylinder is fixed at the lower bottom end of the frame, the third hinged column is connected to one end of the first pushing cylinder, and the third hinged column is rotatably connected to the first tool mechanism; the second lateral pushing mechanism includes a second pushing cylinder and a fourth hinged column, the second pushing cylinder is fixed at the lower bottom end of the frame, the fourth hinged column is connected to one end of the second pushing cylinder, and the fourth hinged column is rotatably connected to the second tool mechanism.

[0014] Preferably, the grapevine pruning device based on the working platform further comprises a pair of self-balancing detection mechanisms, which are arranged on a pair of the vertical frames and are used to detect the flatness of the ground and send out self-balancing signals.

[0015] The present invention provides a pruning method, comprising:

[0016] S1: Pre-start: pruning a row of grapevine branches, moving the grapevine pruning device based on the working platform so that the grapevine is located between a pair of the vertical racks;

[0017] S2: Adjusting the first pruning distance: starting the cross active driving member, the first pushing cylinder and the second pushing cylinder, the cross active driving member moves, driving the first hinged column and the second hinged column to approach the cross active driving member or to move away from the cross active driving member, the first pushing cylinder moves, driving the third hinged column to approach the first pushing cylinder or to move away from the first pushing cylinder, the second pushing cylinder moves, driving the fourth hinged column to approach the second pushing cylinder or to move away from the second pushing cylinder, the first hinged column and the third hinged column drive the first tool mechanism to approach one side of the grapevine, the second hinged column and the fourth hinged column drive the second tool mechanism to approach the other side of the grapevine, and move the first tool mechanism and the second tool mechanism to the appropriate pruning position of the grapevine branches;

[0018] S3: Pruning: When the first vertical rod and the second vertical rod are located at suitable pruning positions of grape branches, the first tool driving member and the second tool driving member are started to drive the first shearing knife and the second shearing knife to move and prune the branches on both sides of the grape vine. The first driving mechanism moves to continuously prune the branches on both sides of the grape vine.

[0019] Preferably, S21: the first pruning state: when the vines on both sides of the grapevine grow vertically, the cross-section of the entire row of grapevines is distributed in a rectangular shape, the cross active driving member and the first push cylinder drive the first tool mechanism to be in a vertical state, and the cross active driving member and the second push cylinder drive the second tool mechanism to be in a vertical state, so that the first tool mechanism and the second tool mechanism are distributed in an equirectangular shape and are flush with the vines of the grapevine, and the first free telescopic member and the second free telescopic member are in a non-telescopic state;

[0020] S22: second pruning state: when the vines on both sides of the grapevine grow obliquely, the cross section of the whole row of grapevines is distributed in an isosceles trapezoid, the cross active driving member and the first push cylinder drive the first tool mechanism to be in an inclined state, and the cross active driving member and the second push cylinder drive the second tool mechanism to be in an inclined state, so that the first tool mechanism and the second tool mechanism are distributed in an isosceles trapezoid and are flush with the vines of the grapevine, and the first free telescopic member and the second free telescopic member are in an extended state;

[0021] S22: The third pruning state: when the vines on one side of the grapevine grow vertically and the vines on the other side grow obliquely, the cross-section of the entire row of grapevines is distributed in a right-angle trapezoid, the cross active driving member and the first pushing cylinder drive the first tool mechanism to be in a vertical state or an inclined state, and the cross active driving member and the second pushing cylinder drive the second tool mechanism to be in an inclined state or a vertical state, so that the first tool mechanism and the second tool mechanism are distributed in a right-angle trapezoid and are flush with the grapevine vines, and the first free telescopic member or the second free telescopic member is in an extended state.

[0022] Preferably, S4: movement adjustment of the pruning mechanism: a pair of the self-balancing detection mechanisms are used to detect the flatness of the ground and send out a self-balancing signal, the first driven drive member or the second driven drive member receives and responds to the self-balancing signal, drives the first lateral pushing mechanism or the second lateral pushing mechanism to extend or contract, and drives the first tool mechanism or the second tool mechanism to be flush with the vines on both sides of the grape vine.

[0023] Compared with the prior art, the present invention has at least the following advantages:

[0024] First, by setting the gantry frame, the gantry frame moves between the rows of grape trees. Compared with the traditional tractor-driven pruning device, the gantry frame directly spans the left and right sides of the grape trees and does not occupy the row spacing;

[0025] Secondly, the bifurcated branches on both sides of the grapevine are pruned simultaneously by the first tool mechanism and the second tool mechanism, so the pruning efficiency is high. Moreover, by pruning both sides simultaneously, compared with pruning on one side, the grapevine will not be deviated to the left or right, the shearing stability is high, and the two sides of the sheared grapevine are relatively flush.

[0026] Thirdly, for grape vines that grow at an angle, the first tool mechanism and the second tool mechanism are driven to rotate at an angle by the second driving mechanism, the first lateral pushing mechanism and the second lateral pushing mechanism, so that the first tool mechanism and the second tool mechanism can be flush with the inclined surface of the grape vine, and the bifurcated branches of the grape vine can be pruned more efficiently, thereby improving the pruning efficiency of the grape vine. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 First axonometric view of the grapevine pruning device based on the working platform.

[0028] Figure 2 Second axonometric view of the grapevine pruning device based on the working platform.

[0029] Figure 3 for Figure 2 A partial enlarged view of middle A.

[0030] Figure 4 for Figure 2 A partial enlarged view of B.

[0031] Figure 5 This is the front view of the grapevine pruning device based on the working platform.

[0032] Figure 6 A top view of the grapevine pruning device based on the working platform.

[0033] Figure 7 for Figure 6 Partial enlargement.

[0034] Figure 8 This is a left view of the grapevine pruning device based on the working platform.

[0035] In the figure: the gantry frame 10, the cross beam 110, the vertical frame 120, the trimming mechanism 20, the second driving mechanism 210, the cross active driving member 211, the first driven driving member 212, the second driven driving member 213, the first transverse sliding mechanism 220, the first sliding plate 221, the first connecting shaft 222, the first hinge column 223, the second transverse sliding mechanism 230, the second sliding plate 231, the second connecting shaft 232, the second hinge column 233, the first tool mechanism 240, the first vertical rod 2 41. The first shearing knife 242. The first tool driving member 243. The first freely retractable member 244. The second tool mechanism 250. The second vertical rod 251. The second shearing knife 252. The second tool driving member 253. The second freely retractable member 245. The first transverse pushing mechanism 260. The first pushing cylinder 261. The third articulated column 262. The second transverse pushing mechanism 270. The second pushing cylinder 271. The fourth articulated column 272. The first driving mechanism 30. The self-balancing detection mechanism 40. Implementation

[0036] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present invention can be combined with each other. The technical solution of the present invention will be further described below in conjunction with the drawings of the embodiments of the present invention, and the present invention is not limited to the following specific implementation methods.

[0037] It should be understood that the same or similar reference numerals in the drawings of the embodiments correspond to the same or similar components. In the description of the present invention, it should be understood that if the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom" and the like indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0038] Please see Figure 1 A grapevine pruning device based on a working platform comprises a gantry frame 10, a pruning mechanism 20 and a first driving mechanism 30, wherein the pruning mechanism 20 is arranged on the gantry frame 10, and the first driving mechanism 30 is arranged on both sides of the gantry frame 10; the gantry frame 10 comprises a crossbeam 110 and a pair of upright frames 120, wherein the pair of upright frames 120 are arranged on both sides of the crossbeam 110; the pruning mechanism 20 comprises a second driving mechanism 210, a first transverse sliding mechanism 220, a second transverse sliding mechanism 230, a first tool mechanism 240, a second tool mechanism 250, a first transverse pushing mechanism 260 and a second transverse pushing mechanism 270, wherein the second driving mechanism 210 is fixedly arranged on the crossbeam 110, the first transverse sliding mechanism 220 and the second transverse sliding mechanism 230 are arranged on the crossbeam 110, and the first transverse sliding mechanism 220 and the second transverse sliding mechanism 230 are arranged on the crossbeam 110, and the first transverse sliding mechanism 220 and the second transverse sliding mechanism 230 are arranged on the crossbeam 110. The mechanism 220 and the second transverse sliding mechanism 230 are symmetrically arranged on both sides of the second driving mechanism 210, the first tool mechanism 240 is vertically arranged, and the first tool mechanism 240 is rotatably connected to the first transverse sliding mechanism 220, the second tool mechanism 250 is vertically arranged, and the second tool mechanism 250 is rotatably connected to the second transverse sliding mechanism 230, the first transverse pushing mechanism 260 is fixedly arranged on the stand 120, and the first transverse pushing mechanism 260 is rotatably connected to the first tool mechanism 240, the second transverse pushing mechanism 270 is fixedly arranged on the stand 120, and the second transverse pushing mechanism 270 is rotatably connected to the first tool mechanism 240, and the first transverse pushing mechanism 260 and the second transverse pushing mechanism 270 are symmetrically arranged along the second driving mechanism 210.

[0039] Effects achieved: First, by setting the gantry frame 10, the gantry frame 10 walks between the rows of grapevines. Compared with the traditional tractor-driven pruning device, the gantry frame 10 directly straddles the left and right sides of the grapevine and does not occupy the row spacing; second, the forked branches on both sides of the grapevine are pruned simultaneously by the first tool mechanism 240 and the second tool mechanism 250, and the pruning efficiency is high. Moreover, by pruning both sides simultaneously, compared with unilateral pruning, the grapevine will not be deviated to the left and right, the shearing stability is high, and the sheared grapevines are relatively flat on both sides; third, for the inclined growing grapevine, the first tool mechanism 240 and the second tool mechanism 250 are driven to rotate in an inclined manner by the second driving mechanism 210, the first lateral pushing mechanism 260 and the second lateral pushing mechanism 270, so that the first tool mechanism 240 and the second tool mechanism 250 can be flush with the inclined surface of the grapevine, and the forked branches of the grapevine can be pruned more efficiently, thereby improving the pruning efficiency of the grapevine.

[0040] Specifically, the first driving mechanism 30 is a crawler roller, which drives the gantry frame 10 to move.

[0041] As a further description, the second driving mechanism 210 includes a cross active driving member 211, a first driven driving member 212 and a second driven driving member 213. The cross active driving member 211 is arranged on the cross beam 110, the first driven driving member 212 is arranged on the cross beam 110, one end of the first driven driving member 212 is connected to the cross active driving member 211, and the other end is connected to the first transverse sliding mechanism 220, the second driven driving member 213 is arranged on the cross beam 110, one end of the second driven driving member 213 is connected to the cross active driving member 211, and the other end is connected to the second transverse sliding mechanism 230. The cross active driving member 211 is a gear box and extends with four connecting shafts. The first connecting shaft is connected to the motor, and the rotation of the motor drives the gear box to rotate. The second connecting shaft is sleeved on the crossbeam 110 to maintain the stable rotation of the gear box. The third connecting shaft is connected to the first driven driving member 212 to drive the first driven driving member 212 to rotate. The fourth connecting shaft is connected to the second driven driving member 213 to drive the second driven driving member 213 to rotate. The first driven driving member 212 and the second driven driving member 213 then drive the first transverse sliding mechanism 220 and the second transverse sliding mechanism 230 to extend or contract toward both sides. When the ends of the first transverse sliding mechanism 220 and the second transverse sliding mechanism 230 move to the same width as the two sides of the grapevine, the movement stops. At this time, the cross active driving member 211 is locked and no longer moves.

[0042] Furthermore, the first transverse sliding mechanism 220 includes a first sliding plate 221, a first connecting shaft 222 and a first hinge column 223. The first sliding plate 221 is fixedly arranged on the cross beam 110. The first sliding plate 221 is provided with a first sliding groove. One end of the first connecting shaft 222 is connected to the first driven driving member 212. The first hinge column 223 is clamped in the first sliding groove and can slide back and forth in the first sliding groove. The first hinge column 223 is connected to the other end of the first connecting shaft 222. The first hinge column 223 is connected to the first connecting shaft 222. The connecting column 223 is rotatably connected to the first tool mechanism 240; when the first driven drive 212 pushes the first connecting shaft 222 to move, the first hinged column 223 also slides along the sliding groove. Since the first hinged column 223 is connected to the first tool mechanism 240 and is heavy, the first sliding plate 221 can provide pulling force for the first hinged column 223 to prevent the first connecting shaft 222 from being too heavily loaded, causing the connection between the first connecting shaft 222 and the first driven drive 212 to become stuck.

[0043] Furthermore, the second transverse sliding mechanism 230 includes a second sliding plate 231, a second connecting shaft 232 and a second hinge column 233. The second sliding plate 231 is fixedly arranged on the crossbeam 110. The second sliding plate 231 is provided with a second sliding groove. One end of the second connecting shaft 232 is connected to the second driven driving member 213. The second hinge column 233 is clamped in the second sliding groove and can slide back and forth in the second sliding groove. The second hinge column 233 is connected to the other end of the second connecting shaft 232. The second hinge column 233 is rotatably connected to the second tool mechanism 250. The movement process and effect of the second transverse sliding mechanism 230 are the same as those of the first transverse sliding mechanism 220.

[0044] Further preferably, the first tool mechanism 240 includes a first vertical rod 241, a first shearing knife 242 and a first tool driving member 243. The first vertical rod 241 is vertically arranged, one end of the first vertical rod 241 is rotatably connected to the first hinge column 223, and the other end is rotatably connected to the first transverse pushing mechanism 260. The first shearing knife 242 is fixedly arranged on the first vertical rod 241, and the first tool driving member 243 is connected to the first shearing knife 242 for driving the first shearing knife 242 to prune the grape branches; the first vertical rod 241 is mainly used to connect the first transverse sliding mechanism 2 20 and a first lateral pushing mechanism 260, which are used to support the first shearing knife 242 and the first tool driving member 243. The length of the first shearing knife 242 is the same as the height of the side of the grape vine, and can prune the grape branches over a large area to improve the pruning efficiency. The first shearing knife 242 can be removed from the first vertical rod 241. When the first shearing knife 242 is blunt or damaged, it is easy to replace. In addition, the first shearing knife 242 is composed of two shearing knives, and a plurality of shearing teeth are arranged on the shearing knife. When the first tool driving member 243 is started, the two shearing knives move alternately with each other to shear the bifurcated branches on one side of the grape vine.

[0045] Furthermore, the second tool mechanism 250 includes a second vertical rod 251, a second shearing knife 252 and a second tool driving member 253. The second vertical rod 251 is vertically arranged, one end of the second vertical rod 251 is rotatably connected to the second hinge column 233, and the other end is rotatably connected to the second transverse pushing mechanism 270. The second shearing knife 252 is fixedly arranged on the second vertical rod 251, and the second tool driving member 253 is connected to the second shearing knife 252 for driving the second shearing knife 252 to prune the grape branches; the second vertical rod 251 is mainly used to connect the second transverse sliding mechanism 23 0 and a second lateral pushing mechanism 270, which is used to support the second shearing knife 252 and the second knife driving member 253. The length of the second shearing knife 252 is the same as the height of the side of the grape vine, and the grape branches can be pruned over a large area to improve the pruning efficiency. The second shearing knife 252 can be removed from the second vertical rod 251. When the second shearing knife 252 is blunt or damaged, it is easy to replace. In addition, the second shearing knife 252 is composed of two shearing knives, and a plurality of shearing teeth are arranged on the shearing knife. When the second knife driving member 253 is started, the two shearing knives move alternately with each other to shear the bifurcated branches on the other side of the grape vine.

[0046] Furthermore, the first tool mechanism 240 also includes a first freely retractable member 244, one end of the first freely retractable member 244 is rotatably connected to the first vertical rod 241, and the other end is rotatably connected to the first horizontal pushing mechanism 260, and the first freely retractable member 244 can freely extend and contract; the first freely retractable member 244 is an elastic material, such as a spring. When the first hinge column 223 and the third hinge column 262 are not in the same vertical position, that is, there is a distance difference between the two, at this time, the first hinge column 223 and the third hinge column 262 will drive the first shearing knife 242 to be in a tilted state, and the first vertical rod 241 cannot be extended, and the first freely retractable member 244 will be pulled to extend. The first freely retractable member 244 has the function of extending the first tool mechanism 240 and buffering.

[0047] Furthermore, the second tool mechanism 250 further includes a second freely retractable member 245, one end of which is rotatably connected to the second vertical rod 251, and the other end of which is rotatably connected to the second lateral pushing mechanism 270, and the second freely retractable member 245 can freely extend and contract. The movement process and effect of the second freely retractable member 245 are the same as those of the first freely retractable member 244.

[0048] Further description, the first lateral pushing mechanism 260 includes a first pushing cylinder 261 and a third hinge column 262, the first pushing cylinder 261 is fixed at the lower end of the stand 120, the third hinge column 262 is connected to one end of the first pushing cylinder 261, and the third hinge column 262 is rotatably connected to the first tool mechanism 240; before pruning, the first pushing cylinder 261 is in a retracted state and does not push the third hinge column 262 to extend; during pruning, the first pushing cylinder 261 is in an extended state, pushing the third hinge column 262 to extend, thereby driving the first tool mechanism 240 to the forked branches close to the side of the grape vine.

[0049] Furthermore, the second lateral pushing mechanism 270 includes a second pushing cylinder 271 and a fourth hinge column 272, the second pushing cylinder 271 is fixed to the lower end of the stand 120, the fourth hinge column 272 is connected to one end of the second pushing cylinder 271, and the fourth hinge column 272 is rotatably connected to the second tool mechanism 250; before pruning, the second pushing cylinder 271 is in a retracted state and does not push the fourth hinge column 272 to extend; during pruning, the second pushing cylinder 271 is in an extended state, pushing the fourth hinge column 272 to extend, thereby driving the second tool mechanism 250 to approach the forked branches on the other side of the grape vine.

[0050] Further preferably, the grapevine pruning device based on the working platform further includes a pair of self-balancing detection mechanisms 40, which are arranged on a pair of the vertical frames 120, and are used to detect the flatness of the ground and send out a self-balancing signal. Before the stand 120 moves, a pair of the self-balancing detection mechanisms 40 are located at the front end of the stand 120 and are in a suspended state. When the stand 120 moves, the pair of the self-balancing detection mechanisms 40 descend and contact the ground, and can continuously detect whether there are raised ridges or sunken depressions on the ground. When it is detected that the ground is uneven, the signal is transmitted to the first driven drive 212 or the second driven drive 213. The first driven drive 212 or the second driven drive 213 drives the first tool mechanism 240 or the second tool mechanism 250 to swing left and right, so that the first tool mechanism 240 or the second tool mechanism 250 can be flush with both sides of the grape vine, and the forked branches of the grape vine can be pruned in real time, so as to avoid the situation where the tool is tilted due to uneven ground and the forked branches of the grape vine cannot be missed.

[0051] The present invention provides a pruning method, comprising:

[0052] S1: Pre-start: pruning a row of grapevine branches, moving the grapevine pruning device based on the working platform so that the grapevine is located between a pair of the vertical racks 120;

[0053] S2: Adjusting the first pruning distance: Start the cross active driving member 211, the first pushing cylinder 261 and the second pushing cylinder 271, the cross active driving member 211 moves, driving the first hinged column 223 and the second hinged column 233 to approach the cross active driving member 211 or move away from the cross active driving member 211, the first pushing cylinder 261 moves, driving the third hinged column 262 to approach the first pushing cylinder 261 or move away from the first pushing cylinder 261, the second pushing cylinder 271 moves, driving the fourth hinged column 272 to approach the second pushing cylinder 271 or move away from the second pushing cylinder 271, the first hinged column 223 and the third hinged column 262 drive the first tool mechanism 240 to approach one side of the grapevine, the second hinged column 233 and the fourth hinged column 272 drive the second tool mechanism 250 to approach the other side of the grapevine, and move the first tool mechanism 240 and the second tool mechanism 250 to the appropriate pruning positions of the grapevine branches.

[0054] S3: Pruning: When the first vertical rod 241 and the second vertical rod 251 are located at suitable pruning positions of grape branches, the first tool driving member 243 and the second tool driving member 253 are started to drive the first shearing knife 242 and the second shearing knife 252 to move and prune the branches on both sides of the grape vine. The first driving mechanism 30 moves to continuously prune the branches on both sides of the grape vine.

[0055] Preferably, S21: the first pruning state: when the vines on both sides of the grape tree grow vertically, the cross-section of the entire row of grape trees is distributed in a rectangular shape, that is, the width on both sides of the upper top of the grape tree is the same as the width on both sides of the lower bottom of the grape tree, the cross active driving member 211 and the first pushing cylinder 261 drive the first tool mechanism 240 to be in a vertical state, the cross active driving member 211 and the second pushing cylinder 271 drive the second tool mechanism 250 to be in a vertical state, so that the first tool mechanism 240 and the second tool mechanism 250 are distributed in an equirectangular shape and are flush with the grape vines, and the first free telescopic member 244 and the second free telescopic member 245 are in a non-telescopic state.

[0056] Specifically, the cross active driving member 211 drives the first hinge column 223 and the second hinge column 233 to move to a first preset position, which is the widest position on both sides of the top of the grape vine; the first pushing cylinder 261 pushes the third hinge column 262 to move to a second preset position, which is the widest position on both sides of the bottom of the grape vine; the second pushing cylinder 271 pushes the fourth hinge column 272 to move to the second preset position, so that the first tool mechanism 240 and the second tool mechanism 250 are vertically arranged, the first tool mechanism 240 and the second tool mechanism 250 are flush with the vines on both sides of the vertically growing grape vine, and the first free telescopic member 244 and the second free telescopic member 245 are in a non-telescopic state;

[0057] S22: Second pruning state: When the vines on both sides of the grapevine grow obliquely, the cross section of the entire row of grapevines is distributed in an isosceles trapezoidal shape, that is, the width of the two sides of the top of the grapevine is smaller than the width of the two sides of the bottom, the cross active driving member 211 and the first pushing cylinder 261 drive the first tool mechanism 240 to be in an inclined state, that is, the first tool mechanism 240 rotates around the hinge point of the first hinge column 223, and the first tool mechanism 240 rotates around the hinge point of the third hinge column 262, and the cross active driving member 211 and the second pushing cylinder 261 drive the first tool mechanism 240 to be in an inclined state. The pneumatic cylinder 271 drives the second tool mechanism 250 to be in an inclined state, that is, the second tool mechanism 250 rotates around the hinge point of the second hinge column 233, and the second tool mechanism 250 rotates around the hinge point of the fourth hinge column 272, so that the first tool mechanism 240 and the second tool mechanism 250 are distributed in an isosceles trapezoidal shape and are flush with the vines of the grapevine. Since the first tool mechanism 240 and the second tool are in an inclined state and their lengths are lengthened, the first free telescopic member 244 and the second free telescopic member 245 are in an extended state, which is convenient for pruning the bifurcated branches of the grapevine.

[0058] Specifically, the cross active driving member 211 drives the first hinge column 223 and the second hinge column 233 to move to the third preset position, the third preset position is the widest position on both sides of the upper top of the grape vine, but the width of both sides of the upper top is smaller than the width of both sides of the lower bottom, the first pushing cylinder 261 pushes the third hinge column 262 to move to the fourth preset position, the fourth preset position is the widest position on both sides of the lower bottom of the grape vine, but the width of both sides of the lower bottom is larger than the width of both sides of the upper top, the second pushing cylinder 271 pushes the fourth hinge column 272 to move to the fourth preset position, so that the first tool mechanism 240 and the second tool mechanism 250 are inclined, the first tool mechanism 240 and the second tool mechanism 250 are flush with the vines on both sides of the inclined growing grape vine, and the first free telescopic member 244 and the second free telescopic member 245 are in an extended state;

[0059] S22: The third pruning state: When the vines on one side of the grapevine grow vertically and the vines on the other side grow obliquely, the cross section of the entire row of grapevines is distributed in a right-angled trapezoid, that is, the branches on one side of the grapevine grow vertically and the branches on the other side grow obliquely, the cross active driving member 211 and the first pushing cylinder 261 drive the first tool mechanism 240 to be in a vertical state or an oblique state, the cross active driving member 211 and the second pushing cylinder 271 drive the second tool mechanism 250 to be in an oblique state or a vertical state, so that the first tool mechanism 240 and the second tool mechanism 250 are distributed in a right-angled trapezoid and are flush with the grapevine vines, so as to facilitate the pruning of the bifurcated branches of the grapevine, and the first free telescopic member 244 or the second free telescopic member 245 is in a telescopic state.

[0060] First, the cross active driving member 211 and the first pushing cylinder 261 drive the first tool mechanism 240 to a vertical state, and the cross active driving member 211 and the second pushing cylinder 271 drive the second tool mechanism 250 to an inclined state, so that the first tool mechanism 240 and the second tool mechanism 250 are distributed in a right-angle trapezoid; second, the cross active driving member 211 and the first pushing cylinder 261 drive the first tool mechanism 240 to an inclined state, and the cross active driving member 211 and the second pushing cylinder 271 drive the second tool mechanism 250 to a vertical state.

[0061] Specifically, the cross active driving member 211 drives the first hinged column 223 to move to a first preset position, which is the widest position on the top side of the grape vine. The cross active driving member 211 drives the second hinged column 233 to move to a second preset position, which is the widest position on the bottom side of the grape vine. The first preset position and the second position are located in the same vertical plane, and the width of the top side of the grape vine is the same as the width of the bottom side of the grape vine. The first pushing cylinder 261 pushes the third hinged column 262 to move to a third preset position. The third preset position The fourth hinge column 272 is moved to the fourth preset position, which is the widest position on the other side of the top of the grape vine. The second pushing cylinder 271 pushes the fourth hinge column 272 to move to the fourth preset position. The fourth preset position is the widest position on the other side of the bottom of the grape vine. The width of the other side of the top of the grape vine is smaller than the width of the other side of the bottom of the grape vine, so that the first tool mechanism 240 is flush with the vine on one side of the vertically growing grape vine, and the second tool mechanism 250 is flush with the vine on one side of the inclined growing grape vine, which is convenient for pruning the bifurcated branches of the grape vine, and the first free telescopic member 244 is in a non-telescopic state, and the second free telescopic member 245 is in an extended state.

[0062] Furthermore, S4: movement adjustment of the pruning mechanism 20: a pair of the self-balancing detection mechanisms 40 are used to detect the flatness of the ground and send out a self-balancing signal, and the first driven drive member 212 or the second driven drive member 213 receives and responds to the self-balancing signal, drives the first lateral pushing mechanism 260 or the second lateral pushing mechanism 270 to extend or contract, and drives the first tool mechanism 240 or the second tool mechanism 250 to be flush with the vines on both sides of the grape vine.

[0063] Specifically, when the ground on one side is concave, the stand 120 and the shearing knife on the side will be deviated, so that the shearing knife on the side cannot prune the bifurcated branches of the grape vine, and the bifurcated branches still grow on the grape vine, resulting in low pruning efficiency. When the self-balancing detection mechanism 40 on the side of the first tool mechanism 240 detects that the ground is concave and sends a concave self-balancing signal, the first driven driving member 212 receives the concave self-balancing signal and responds to it. The first driven driving member 212 drives the first connecting shaft 222 to contract, so that the first The hinged column 223 moves toward the side close to the first driven driving member 212, driving the upper end of the first tool mechanism 240 to approach the side of the first driven driving member 212, and the lower end of the first tool mechanism 240 does not move, thereby driving the first tool mechanism 240 to rotate, so that the first tool mechanism 240 is flush with the forked branches on one side of the grape vine, and the forked branches are pruned, thereby avoiding the inability to prune the forked branches of the grape vine due to the tilt of the first tool mechanism 240, thereby improving the pruning efficiency.

[0064] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A grapevine pruning device based on a working platform, characterized in that: It includes a gantry frame, a trimming mechanism and a first driving mechanism, wherein the trimming mechanism is arranged on the gantry frame, and the first driving mechanism is arranged on both sides of the gantry frame; the gantry frame includes a crossbeam and a pair of vertical frames, and the pair of vertical frames are arranged on both sides of the crossbeam; the trimming mechanism includes a second driving mechanism, a first transverse sliding mechanism, a second transverse sliding mechanism, a first tool mechanism, a second tool mechanism, a first transverse pushing mechanism and a second transverse pushing mechanism, the second driving mechanism is fixedly arranged on the crossbeam, the first transverse sliding mechanism and the second transverse sliding mechanism are arranged on the crossbeam, the first transverse sliding mechanism and the second transverse sliding mechanism are symmetrically arranged on both sides of the second driving mechanism, the first tool mechanism is vertically arranged, the first tool mechanism is rotatably connected to the first transverse sliding mechanism, the second tool mechanism is vertically arranged, the second tool mechanism is rotatably connected to the second transverse sliding mechanism, the first transverse pushing mechanism is fixedly arranged on the vertical frame, and the first transverse pushing mechanism is rotatably connected to the first tool mechanism, the second transverse pushing mechanism is fixedly arranged on the vertical frame, and the second transverse pushing mechanism is rotatably connected to the first tool mechanism, and the first transverse pushing mechanism and the second transverse pushing mechanism are symmetrically arranged along the second driving mechanism; The second driving mechanism comprises a cross active driving member, a first driven driving member and a second driven driving member, wherein the cross active driving member is arranged on the cross beam, the first driven driving member is arranged on the cross beam, one end of the first driven driving member is connected to the cross active driving member, and the other end is connected to the first transverse sliding mechanism, the second driven driving member is arranged on the cross beam, one end of the second driven driving member is connected to the cross active driving member, and the other end is connected to the second transverse sliding mechanism; The first transverse sliding mechanism includes a first sliding plate, a first connecting shaft and a first hinge column, the first sliding plate is fixedly arranged on the cross beam, a first sliding groove is provided on the first sliding plate, one end of the first connecting shaft is connected to the first driven driving member, the first hinge column is clamped in the first sliding groove and can slide back and forth in the first sliding groove, the first hinge column is connected to the other end of the first connecting shaft, and the first hinge column is rotatably connected to the first tool mechanism; the second transverse sliding mechanism includes a second sliding plate, a second connecting shaft and a second hinge column, the second sliding plate is fixedly arranged on the cross beam, the second sliding plate is provided with a second sliding groove, one end of the second connecting shaft is connected to the second driven driving member, the second hinge column is clamped in the second sliding groove and can slide back and forth in the second sliding groove, the second hinge column is connected to the other end of the second connecting shaft, and the second hinge column is rotatably connected to the second tool mechanism.

2. The grapevine pruning device based on the working platform according to claim 1, characterized in that: The first tool mechanism includes a first vertical rod, a first shearing knife and a first tool driving member. The first vertical rod is vertically arranged, one end of the first vertical rod is rotatably connected to the first hinged column, and the other end is rotatably connected to the first horizontal pushing mechanism. The first shearing knife is fixedly arranged on the first vertical rod, and the first tool driving member is connected to the first shearing knife for driving the first shearing knife to prune grape branches; the second tool mechanism includes a second vertical rod, a second shearing knife and a second tool driving member. The second vertical rod is vertically arranged, one end of the second vertical rod is rotatably connected to the second hinged column, and the other end is rotatably connected to the second horizontal pushing mechanism. The second shearing knife is fixedly arranged on the second vertical rod, and the second tool driving member is connected to the second shearing knife for driving the second shearing knife to prune grape branches.

3. The grapevine pruning device based on the working platform as claimed in claim 2, characterized in that: The first tool mechanism also includes a first freely retractable member, one end of which is rotatably connected to the first vertical rod, and the other end is rotatably connected to the first horizontal pushing mechanism, and the first freely retractable member can freely extend and contract; the second tool mechanism also includes a second freely retractable member, one end of which is rotatably connected to the second vertical rod, and the other end is rotatably connected to the second horizontal pushing mechanism, and the second freely retractable member can freely extend and contract.

4. The grapevine pruning device based on the working platform as claimed in claim 3, characterized in that: The first lateral pushing mechanism includes a first pushing cylinder and a third hinged column, the first pushing cylinder is fixed at the lower bottom end of the frame, the third hinged column is connected to one end of the first pushing cylinder, and the third hinged column is rotatably connected to the first tool mechanism; the second lateral pushing mechanism includes a second pushing cylinder and a fourth hinged column, the second pushing cylinder is fixed at the lower bottom end of the frame, the fourth hinged column is connected to one end of the second pushing cylinder, and the fourth hinged column is rotatably connected to the second tool mechanism.

5. The grapevine pruning device based on the working platform as claimed in claim 4, characterized in that: The grapevine pruning device based on the working platform further comprises a pair of self-balancing detection mechanisms, which are arranged on a pair of the vertical frames and are used to detect the flatness of the ground and send out self-balancing signals.

6. A pruning method, using the grapevine pruning device based on the working platform as claimed in claim 5, characterized in that: include S1: Pre-start: pruning a row of grapevine branches, moving the grapevine pruning device based on the working platform so that the grapevine is located between a pair of the vertical racks; S2: Adjusting the first pruning distance: starting the cross active driving member, the first pushing cylinder and the second pushing cylinder, the cross active driving member moves, driving the first hinged column and the second hinged column to approach the cross active driving member or to move away from the cross active driving member, the first pushing cylinder moves, driving the third hinged column to approach the first pushing cylinder or to move away from the first pushing cylinder, the second pushing cylinder moves, driving the fourth hinged column to approach the second pushing cylinder or to move away from the second pushing cylinder, the first hinged column and the third hinged column drive the first tool mechanism to approach one side of the grapevine, the second hinged column and the fourth hinged column drive the second tool mechanism to approach the other side of the grapevine, and move the first tool mechanism and the second tool mechanism to the appropriate pruning position of the grapevine branches; S3: Pruning: When the first vertical rod and the second vertical rod are located at suitable pruning positions of grape branches, the first tool driving member and the second tool driving member are started to drive the first shearing knife and the second shearing knife to move and prune the branches on both sides of the grape vine. The first driving mechanism moves to continuously prune the branches on both sides of the grape vine.

7. The pruning method according to claim 6, characterized in that: S2 includes S21: First pruning state: when the vines on both sides of the grapevine grow vertically, the cross-section of the entire row of grapevines is distributed in a rectangular shape, the cross active driving member and the first push cylinder drive the first tool mechanism to be in a vertical state, and the cross active driving member and the second push cylinder drive the second tool mechanism to be in a vertical state, so that the first tool mechanism and the second tool mechanism are distributed in an equirectangular shape and are flush with the vines of the grapevine, and the first free telescopic member and the second free telescopic member are in a non-telescopic state; S22: second pruning state: when the vines on both sides of the grapevine grow obliquely, the cross section of the whole row of grapevines is distributed in an isosceles trapezoid, the cross active driving member and the first push cylinder drive the first tool mechanism to be in an inclined state, and the cross active driving member and the second push cylinder drive the second tool mechanism to be in an inclined state, so that the first tool mechanism and the second tool mechanism are distributed in an isosceles trapezoid and are flush with the vines of the grapevine, and the first free telescopic member and the second free telescopic member are in an extended state; S22: The third pruning state: when the vines on one side of the grapevine grow vertically and the vines on the other side grow obliquely, the cross-section of the entire row of grapevines is distributed in a right-angle trapezoid, the cross active driving member and the first pushing cylinder drive the first tool mechanism to be in a vertical state or an inclined state, and the cross active driving member and the second pushing cylinder drive the second tool mechanism to be in an inclined state or a vertical state, so that the first tool mechanism and the second tool mechanism are distributed in a right-angle trapezoid and are flush with the grapevine vines, and the first free telescopic member or the second free telescopic member is in an extended state.

8. The pruning method according to claim 7, characterized in that: Also includes S4: Movement adjustment of the pruning mechanism: A pair of the self-balancing detection mechanisms are used to detect the flatness of the ground and send out a self-balancing signal. The first driven drive member or the second driven drive member receives and responds to the self-balancing signal, drives the first lateral pushing mechanism or the second lateral pushing mechanism to extend or contract, and drives the first tool mechanism or the second tool mechanism to be flush with the vines on both sides of the grape vine.

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