A robotic system for fruit thinning

Abstract

This invention relates to the field of agricultural mechanization technology and discloses a robot system for fruit thinning. The system includes a vehicle body with a mounting base fixedly connected to its top. A movable arm is mounted on the outside of the mounting base, and a mounting plate is mounted at the other end of the movable arm. Multiple electrically operated telescopic rods are rotatably connected to the outer wall of the mounting plate, and movable frames are rotatably connected to the other ends of each of the multiple electric telescopic rods. Soft cloth covers are connected between the multiple movable frames. A guide cylinder is fixedly connected to the center of the mounting plate, and multiple fixed seats are fixedly connected to the outer wall of the guide cylinder. By installing a collection component and a thinning component on the movable arm, excess fruit, leaves, and branches after pruning can be recycled and processed into nutrients to provide nourishment for fruit trees or other plants. This effectively reduces waste generation and provides a better environment for the orchard.

Description

Technical Field

[0001] This invention relates to the field of agricultural mechanization technology, specifically to a robot system for thinning fruit trees. Background Technology

[0002] In peach cultivation, pruning and fruit thinning are crucial agronomic practices that affect not only fruit size and quality but also tree health and overall yield. Traditional peach pruning and fruit thinning typically rely on manual labor, which is not only labor-intensive but also inefficient, especially in large-scale commercial orchards where the limitations of manual operation are even more pronounced.

[0003] Unevenness in manual fruit thinning and pruning can lead to inconsistent fruit quality, affecting the fruit's market competitiveness. Furthermore, due to the peach tree's growth cycle and physiological characteristics, incorrect pruning timing or methods can damage the tree, impacting the following year's yield and quality.

[0004] Meanwhile, waste generated from pruning and fruit thinning, if not properly disposed of, not only wastes potential organic resources but can also become a breeding ground for pests and diseases. Traditionally, this waste often needs to be collected manually and transported to specialized composting sites, which increases labor and management costs and also aggravates the environmental burden.

[0005] In view of the above problems, the present invention proposes a robot system for fruit thinning. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a robotic system for fruit tree thinning, which solves the problems of low efficiency, high labor costs, and improper disposal of orchard waste in traditional peach tree pruning and thinning.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a fruit tree thinning robot system, comprising a vehicle body, a mounting base fixedly connected to the top of the vehicle body, a movable arm disposed on the outside of the mounting base, a mounting plate disposed at the other end of the movable arm, a plurality of electric telescopic rods rotatably connected to the outer wall of the mounting plate, a movable frame rotatably connected to the other end of each of the plurality of electric telescopic rods, a soft cloth cover connected between the plurality of movable frames, a guide cylinder fixedly connected to the middle of the mounting plate, a plurality of fixed seats fixedly connected to the outer wall of the guide cylinder, the ends of the plurality of movable frames rotatably connected to the middle of the plurality of fixed seats, a thinning component disposed on the outer wall of the mounting plate, a crushing component disposed inside the vehicle body, a collecting component disposed inside the vehicle body, and anti-slip components disposed on both sides of the mounting base.

[0008] Preferably, the movable arm includes a motor, the outer wall of which is fixedly connected to the outer wall of the mounting base. An adjusting rod is fixedly connected to the drive end of the motor. Movable rods are rotatably connected to both sides of the top of the mounting base. Connecting member 1 is rotatably connected to the other end of each of the two movable rods. Movable rod 2 is rotatably connected to the other end of each of the two connecting members. The other end of the adjusting rod is rotatably connected to the opposite side of the two connecting members. A connecting control rod is rotatably connected to the middle of the other end of the adjusting rod. A motor 2 is fixedly connected to the outer wall of the mounting base. A rocker arm is fixedly connected to the drive end of the motor 2. An adjusting connecting rod is rotatably connected to the outer wall of the rocker arm. A connecting control rod is rotatably connected to the other end of the adjusting connecting rod. Connecting member 2 is rotatably connected to the connecting control rod and the other ends of the two movable rods.

[0009] Preferably, the outer wall of the mounting plate is fixedly connected to the outer wall of the connector two, and a flexible hose is fixedly connected to one end of the connecting mounting plate of the guide cylinder.

[0010] Preferably, the dredging assembly includes a mounting frame, the outer wall of which is fixedly connected to the outer wall of the connector two. A motor three is fixedly connected to the outer wall of the mounting frame, and a bidirectional lead screw is fixedly connected to the drive end of the motor three. Moving control rods are threadedly connected to both sides of the outer wall of the bidirectional lead screw. A guide rod is fixedly connected to the middle of the mounting frame. The middle parts of the two moving control rods are slidably connected to the outer wall of the guide rod. A handle is rotatably connected to the bottom of the two moving control rods. A cutter is fixedly connected to the other end of the two handles. A rotating shaft is rotatably connected to the intersection of the middle parts of the two cutters. The outer wall of the rotating shaft is rotatably connected to the middle of the mounting frame.

[0011] Preferably, the outer surfaces of the two cutters are located on the same vertical horizontal line as the soft cloth cover.

[0012] Preferably, the crushing assembly includes a crushing chamber disposed inside the vehicle body. Two crushing rollers are rotatably connected inside the crushing chamber. Gears are fixedly connected to the outer walls of both crushing rollers, and the two gears mesh externally. A motor is fixedly connected to the end of one of the crushing rollers.

[0013] Preferably, the collection assembly includes a conduit that passes through the bottom of the vehicle body and communicates with the pulverizing chamber. The other end of the conduit passes through the middle of the cavity of the vehicle body. A vacuum cleaner is fixedly connected to the top of the vehicle body. A connecting pipe is fixedly connected to the connection of the vacuum cleaner. The outer walls of the conduit and the connecting pipe are provided with connecting threads. Threaded sleeves are threadedly connected to the outside of the two connecting threads. A collection bag is fixedly connected to the opposite side of the two threaded sleeves. A filter plate is connected to the top of the collection bag.

[0014] Preferably, the anti-slip assembly includes two movable frames, the tops of which are rotatably connected to both sides of the vehicle body, and the bottoms of which are rotatably connected to rotating rods. The outer walls of the two rotating rods are fixedly connected to two rotating wheels, and the outer walls of the two sets of rotating wheels are connected to multiple wheel pieces. Connecting seats are fixedly connected to both sides of the vehicle body, and electric telescopic rods are rotatably connected to the middle of the two connecting seats. The other ends of the two electric telescopic rods are rotatably connected to the middle of the two movable frames.

[0015] This invention provides a robotic system for fruit thinning. It has the following advantages:

[0016] 1. This invention, by installing a collection component and a thinning component on the movable arm, enables the recycling and processing of excess fruit, leaves and branches after pruning, which are then used as nutrients to provide nourishment for fruit trees or other plants. This effectively reduces waste generation and provides a good environment for the orchard.

[0017] 2. This invention incorporates a crushing component inside the vehicle body, which can quickly crush the collected excess fruit, leaves, and branches, facilitating subsequent recycling and composting at the composting site. This improves composting efficiency and reduces the transportation space required to reach the composting site.

[0018] 3. By designing anti-slip components on both sides of the vehicle body, this invention ensures the stability of the device when driving on slopes or slippery surfaces, preventing tilting, slipping, and overturning, thus guaranteeing its normal operation within the orchard.

[0019] 4. The present invention incorporates a soft cloth cover on the outside of multiple movable frames. When processing fruit trees, the soft cloth cover is located below the pruning shears and can directly collect the pruned material. Furthermore, the movement of the multiple movable frames can control the opening diameter of the soft cloth cover, allowing the branches to be wrapped as needed during pruning, making the pruning of large areas of branches faster and more convenient. Attached Figure Description

[0020] Figure 1 This is a perspective view of the present invention;

[0021] Figure 2 This is a schematic diagram of the invention viewed from below;

[0022] Figure 3 This is a schematic diagram of the structure of the soft fabric cover of the present invention;

[0023] Figure 4 This is a schematic diagram of the structure of the movable arm of the present invention;

[0024] Figure 5This is a schematic diagram of the internal structure of the pulverizing chamber of the present invention;

[0025] Figure 6 This is a schematic diagram of the bidirectional lead screw of the present invention;

[0026] Figure 7 This is a schematic diagram of the internal structure of the collection bag of the present invention;

[0027] Figure 8 This is a schematic diagram of the structure of the filter plate of the present invention;

[0028] Figure 9 This is a schematic diagram of the connecting control rod of the present invention.

[0029] The components include: 1. Car body; 2. Mounting base; 3. Motor 1; 4. Adjusting rod; 5. Movable rod 1; 6. Motor 2; 7. Rocker arm; 8. Adjusting connecting rod; 9. Connecting component 1; 10. Connecting control rod; 11. Movable rod 2; 12. Connecting component 2; 13. Mounting plate; 14. Electric telescopic rod 1; 15. Movable frame; 16. Guide cylinder; 17. Fixed base; 18. Soft cloth cover; 19. Flexible hose; 20. Mounting bracket; 21. Motor 3; 22. Bidirectional wire. 23. Guide rod; 24. Motion control rod; 25. Handle; 26. Cutter; 27. Rotary shaft rod; 28. Crushing chamber; 29. ​​Crushing roller; 30. Gear; 31. Motor four; 32. Conduit; 33. Connecting thread; 34. Vacuum cleaner; 35. Connecting pipe; 36. Threaded sleeve; 37. Collection bag; 38. Movable frame; 39. Rotating rod; 40. Rotating wheel; 41. Wheel; 42. Connecting seat; 43. Electric telescopic rod two; 44. Filter plate. Detailed Implementation

[0030] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Example

[0031] Please see the appendix Figure 1 - Appendix Figure 3This invention provides a robot system for fruit tree thinning, including a vehicle body 1. A mounting base 2 is fixedly connected to the top of the vehicle body 1. A movable arm is provided on the outside of the mounting base 2. A mounting plate 13 is provided at the other end of the movable arm. Multiple electric telescopic rods 14 are rotatably connected to the outer wall of the mounting plate 13. The other end of each of the multiple electric telescopic rods 14 is rotatably connected to a movable frame 15. Soft cloth covers 18 are connected between the multiple movable frames 15. A guide cylinder 16 is fixedly connected to the middle of the mounting plate 13. Multiple fixed seats 17 are fixedly connected to the outer wall of the guide cylinder 16. The ends of the multiple movable frames 15 are rotatably connected to the middle of the multiple fixed seats 17. A thinning component is provided on the outer wall of the mounting plate 13. A crushing component and a collecting component are provided inside the vehicle body 1. Anti-slip components are provided on both sides of the mounting base 2.

[0032] Specifically, in use, the electric telescopic rod 14 is activated, causing multiple movable frames 15 to open, thus expanding the soft cloth cover 18 to its maximum diameter. Then, the movable arm is activated, causing the thinning component to prune the fruit from the peach tree branches. Excess fruit, branches, and leaves fall into the cover and then through the guide cylinder 16 into the hose 19, sliding into the crushing component. After being processed by the crushing component, the crushed material is collected by the collecting component. The soft cloth cover 18, located below the pruning shears, directly collects the pruned material during fruit tree treatment. Furthermore, the movement of the multiple movable frames 15 controls the opening diameter of the soft cloth cover 18, allowing for wrapping the branches as needed during pruning, making large-scale branch pruning quick and convenient.

[0033] Please see the appendix Figure 4 - Appendix Figure 9 The movable arm includes a motor 3, the outer wall of which is fixedly connected to the outer wall of the mounting base 2. An adjusting rod 4 is fixedly connected to the drive end of the motor 3. Movable rods 5 are rotatably connected to both sides of the top of the mounting base 2. Connecting parts 9 are rotatably connected to the other ends of the two movable rods 5. Movable rods 11 are rotatably connected to the other ends of the two connecting parts 9. The other end of the adjusting rod 4 is rotatably connected to the opposite side of the two connecting parts 9. A connecting control rod 10 is rotatably connected to the middle of the other end of the adjusting rod 4. A motor 6 is fixedly connected to the outer wall of the mounting base 2. A rocker arm 7 is fixedly connected to the drive end of the motor 6. An adjusting connecting rod 8 is rotatably connected to the outer wall of the rocker arm 7. A connecting control rod 10 is rotatably connected to the other end of the adjusting connecting rod 8. Connecting parts 12 are rotatably connected to the other ends of the connecting control rod 10 and the two movable rods 11.

[0034] Specifically, when the height of the thinning component needs to be adjusted, the rotation angles of the adjusting rod 4 and the rocker arm 7 can be adjusted by controlling the speed of motor 3 and motor 6. The rotation of the adjusting rod 4 causes the position of the connecting part 9 to be adjusted. The rotation of the rocker arm 7 causes the adjusting connecting rod 8 to move, which in turn causes the connecting control rod 10 to move. At this time, with the cooperation of the movement of the connecting control rod 10 and the connecting part 9, and with the limit control of the moving rod 5, the entire movable arm can be adjusted in multiple directions. Furthermore, the rotation of the connecting part 9 causes the moving rod 11 to move. At the same time, with the control of the connecting control rod 10, the moving angle of the connecting part 12 is adjusted. With the cooperation of multiple components, the mounting plate 13 on the device can flexibly adjust the position of the cover and the thinning component, making it easy to adapt to the use of peach trees of different shapes.

[0035] The outer wall of the mounting plate 13 is fixedly connected to the outer wall of the connector 12, and a flexible hose 19 is fixedly connected to one end of the middle of the mounting plate 13 of the guide cylinder 16.

[0036] Please see the appendix Figure 1 and attached Figure 6 The dredging component includes a mounting frame 20. The outer wall of the mounting frame 20 is fixedly connected to the outer wall of the connector 12. A motor 21 is fixedly connected to the outer wall of the mounting frame 20. A bidirectional lead screw 22 is fixedly connected to the drive end of the motor 21. Moving control rods 24 are threadedly connected to both sides of the outer wall of the bidirectional lead screw 22. A guide rod 23 is fixedly connected to the middle of the mounting frame 20. The middle of the two moving control rods 24 is slidably connected to the outer wall of the guide rod 23. A handle 25 is rotatably connected to the bottom of the two moving control rods 24. A cutter 26 is fixedly connected to the other end of the two handles 25. A rotating shaft 27 is rotatably connected to the intersection of the middle of the two cutters 26. The outer wall of the rotating shaft 27 is rotatably connected to the middle of the mounting frame 20.

[0037] Specifically, during pruning, motor 3 21 is activated, causing the bidirectional lead screw 22 to rotate. This, in turn, drives the two movable control rods 24 on both sides to slide relative to or opposite to each other along the outer wall of the guide rod 23. This, in turn, causes the two handles 25 at the bottom to move relative to or opposite to each other. Since the two cutters 26 are rotatably connected at the middle via a pivot rod 27, the two cutters 26 can be closed or separated under the control of the two handles 25, thus pruning the fruit on the peach tree. To enable remote operation of the device, a camera can be installed on the outer wall of the handle 25, allowing workers to capture detailed images of the peach tree, including branches, leaves, flowers, and fruit, facilitating the operation of the pruning device.

[0038] The exterior of the two cutters 26 and the soft cloth cover 18 are on the same vertical horizontal line.

[0039] Specifically, this allows the trimmed material to be directly placed into the cover of the soft cloth cover 18 for easy collection.

[0040] Please see the appendix Figure 5 The crushing assembly includes a crushing chamber 28, which is located inside the vehicle body 1. Two crushing rollers 29 are rotatably connected inside the crushing chamber 28. Gears 30 are fixedly connected to the outer walls of the two crushing rollers 29, and the two gears 30 mesh with each other. A motor 31 is fixedly connected to the end of one of the crushing rollers 29.

[0041] Specifically, when the material falls into the crushing chamber 28, the motor 31 is started synchronously. Driven by the motor 31, one of the crushing rollers 29 rotates, which in turn drives the external gear 30 to rotate synchronously, which in turn drives the other gear 30 to rotate synchronously. This allows the two crushing rollers 29 to rotate synchronously inside the crushing chamber 28, quickly crushing and cutting the material that has entered the crushing chamber 28. This facilitates subsequent recycling and collection, making it easier to compost at the composting site, improving composting efficiency, and reducing the transportation space required to transport the material to the composting site.

[0042] Please see the appendix Figure 5 Appendix Figure 7 and attached Figure 8 The collection component includes a conduit 32, which passes through the bottom of the vehicle body 1 and connects to the crushing chamber 28. The other end of the conduit 32 passes through the middle of the cavity of the vehicle body 1. A vacuum cleaner 34 is fixedly connected to the top of the vehicle body 1. A connecting pipe 35 is fixedly connected to the connection of the vacuum cleaner 34. The outer walls of the conduit 32 and the connecting pipe 35 are provided with connecting threads 33. Threaded sleeves 36 are threadedly connected to the outside of the two connecting threads 33. Collection bags 37 are fixedly connected to the opposite sides of the two threaded sleeves 36. A filter plate 44 is connected to the top of the collection bag 37.

[0043] Specifically, under the suction force of the vacuum cleaner 34, the pulverized material enters the collection bag 37 from the inside of the conduit 32. A filter plate 44 is designed in the top through hole of the collection bag 37 to prevent the material from entering the connecting pipe 35, thereby avoiding damage to the internal components of the vacuum cleaner 34. After collection, the collection bag 37 can be rotated to separate the threaded sleeves 36 on both sides from the connecting threads 33 on the outside of the conduit 32 and the connecting pipe 35, thus avoiding the material inside the collection bag 37 from being poured out and facilitating the replacement of the collection bag 37 during use.

[0044] Please see the appendix Figure 5The anti-slip assembly includes two movable frames 38. The tops of the two movable frames 38 are rotatably connected to both sides of the vehicle body 1. The bottoms of the two movable frames 38 are rotatably connected to rotating rods 39. The outer walls of the two rotating rods 39 are fixedly connected to two rotating wheels 40. The outer walls of the two sets of rotating wheels 40 are connected to multiple wheel pieces 41. The sides of the vehicle body 1 are fixedly connected to connecting seats 42. The middle of the two connecting seats 42 is rotatably connected to electric telescopic rods 43. The other ends of the two electric telescopic rods 43 are rotatably connected to the middle of the two movable frames 38.

[0045] Specifically, during use, if the device is on a slope or slippery ground, the electric telescopic rod 43 can be activated to reduce the angle between the movable frame 38 and the vehicle body 1. This reduces the distance between the rotating wheels 40 and the ground, allowing the wheel pieces 41 to contact the ground. As the tires at the bottom of the vehicle body 1 travel on the ground, they drive the outer wheel pieces 41 of the two sets of rotating wheels 40 to rotate along the ground, thus inserting them into the soil. At the point of rotation, when they are inserted into the soil, the friction between the device chassis and the ground is increased, improving the stability and grip of the device on slopes or slippery ground. This design makes the robot's movement in complex terrain safer and more reliable, reducing the risk of accidents caused by slipping or overturning. Through structural adjustments to the control device, the robot maintains good operational performance and safety even on uneven or smooth surfaces, enhancing its adaptability and efficiency in various agricultural environments.

[0046] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic system for fruit thinning, comprising a vehicle body (1), characterized in that, A mounting base (2) is fixedly connected to the top of the vehicle body (1). An movable arm is provided on the outside of the mounting base (2). A mounting plate (13) is provided at the other end of the movable arm. Multiple electric telescopic rods (14) are rotatably connected to the outer wall of the mounting plate (13). A movable frame (15) is rotatably connected to the other end of each of the multiple electric telescopic rods (14). A soft cloth cover (18) is connected between the multiple movable frames (15). A guide cylinder (16) is fixedly connected to the middle of the mounting plate (13). Multiple fixed seats (17) are fixedly connected to the outer wall of the guide cylinder (16). The ends of the multiple movable frames (15) are rotatably connected to the middle of the multiple fixed seats (17). A scavenging component is provided on the outer wall of the mounting plate (13). A crushing component is provided inside the vehicle body (1). A collecting component is provided inside the vehicle body (1). Anti-slip components are provided on both sides of the mounting base (2). The movable arm includes a motor (3), the outer wall of which is fixedly connected to the outer wall of the mounting base (2). An adjusting rod (4) is fixedly connected to the drive end of the motor (3). Movable rods (5) are rotatably connected to both sides of the top of the mounting base (2). Connecting piece (9) is rotatably connected to the other end of each of the two movable rods (5). Movable rod (11) is rotatably connected to the other end of each of the two connecting pieces (9). The other end of the adjusting rod (4) is rotatably connected to the two connecting pieces. On the opposite side of the first (9), the middle of the other end of the adjusting rod (4) is rotatably connected to the connecting control rod (10), the outer wall of the mounting base (2) is fixedly connected to the second motor (6), the driving end of the second motor (6) is fixedly connected to the rocker arm (7), the outer wall of the rocker arm (7) is rotatably connected to the adjusting connecting rod (8), the other end of the adjusting connecting rod (8) is rotatably connected to the connecting control rod (10), and the other end of the connecting control rod (10) and the two movable rods (11) are rotatably connected to the connecting piece (12); The outer wall of the mounting plate (13) is fixedly connected to the outer wall of the connector (12), and a flexible hose (19) is fixedly connected to one end of the middle part of the connecting mounting plate (13) of the guide cylinder (16). The dredging assembly includes a mounting frame (20), the outer wall of which is fixedly connected to the outer wall of connector two (12), a motor three (21) is fixedly connected to the outer wall of the mounting frame (20), a bidirectional lead screw (22) is fixedly connected to the drive end of the motor three (21), and movable control rods (24) are threadedly connected to both sides of the outer wall of the bidirectional lead screw (22). A guide rod (23) is fixedly connected to the middle of the mounting frame (20), and the middle of the two movable control rods (24) is slidably connected to the outer wall of the guide rod (23). A handle (25) is rotatably connected to the bottom of the two movable control rods (24), and a cutter (26) is fixedly connected to the other end of the two handles (25). A rotating shaft (27) is rotatably connected to the intersection of the middle of the two cutters (26), and the outer wall of the rotating shaft (27) is rotatably connected to the middle of the mounting frame (20). The exterior of the two cutters (26) is on the same vertical horizontal line as the powdered soft cloth cover (18).

2. The fruit thinning robot system according to claim 1, characterized in that, The crushing assembly includes a crushing chamber (28) which is located inside the vehicle body (1). Two crushing rollers (29) are rotatably connected inside the crushing chamber (28). Gears (30) are fixedly connected to the outer walls of the two crushing rollers (29). The two gears (30) mesh with each other externally. A motor (31) is fixedly connected to the end of one of the crushing rollers (29).

3. The fruit thinning robot system according to claim 2, characterized in that, The collection assembly includes a conduit (32) that passes through the bottom of the vehicle body (1) and connects to the crushing chamber (28). The other end of the conduit (32) passes through the middle of the cavity of the vehicle body (1). A vacuum cleaner (34) is fixedly connected to the top of the vehicle body (1). A connecting pipe (35) is fixedly connected to the connection of the vacuum cleaner (34). The outer walls of the conduit (32) and the connecting pipe (35) are provided with connecting threads (33). Threaded sleeves (36) are threaded to the outside of the two connecting threads (33). A collection bag (37) is fixedly connected to the opposite side of the two threaded sleeves (36). A filter plate (44) is connected to the top of the collection bag (37).

4. The fruit thinning robot system according to claim 1, characterized in that, The anti-slip assembly includes two movable frames (38), the tops of which are rotatably connected to both sides of the vehicle body (1), the bottoms of which are rotatably connected to rotating rods (39), the outer walls of which are fixedly connected to two rotating wheels (40), the outer walls of which are connected to multiple wheel pieces (41), the sides of which are fixedly connected to connecting seats (42), the middle of which are rotatably connected to electric telescopic rods (43), and the other ends of which are rotatably connected to the middle of the two movable frames (38).

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