A method for pruning crops

Abstract

The present invention relates to the field of crop pruning, and in particular to a crop pruning method. Technical problem: During the pruning of existing citrus trees, it takes a certain amount of time to disassemble the connection of the chain structure when switching between "C"-shaped structures of different radii. At the same time, the chains are mostly connected by rotating shafts. After changing the shape, the middle section is prone to sagging. Technical solution: A crop pruning method, the crop pruning method adopts the following device, which includes a longitudinal arm assembly; a transverse arm assembly is installed on one side of the longitudinal arm assembly. A special bilateral sliding structure is set to replace the original detachable cutter head, and the chain structure is supported by a cross structure, so that the chain structure can switch between "C"-shaped structures of different radii, and the chain structure can also be supported in the middle section to prevent it from deformation.

Description

Technical Field

[0001] The invention relates to the field of crop pruning, and in particular to a crop pruning method. Background Art

[0002] Crops are various plants cultivated in agriculture. They include food crops and cash crops (oil crops, vegetable crops, flowers, grasses, and trees). "Food is the first necessity of the people," which expresses the relationship between people and food. A reasonable diet can bring health to mankind. The growth of crops is inseparable from scientific and technological production technologies, as well as mechanical equipment that can assist agricultural production manufactured by new industries. Among the existing crops, citrus can be said to be a more popular crop. During the growth process of existing citrus trees, they often need to be pruned. When pruning citrus trees, they often need to be pruned into a round shape. The existing processes are mostly done manually, but manual pruning often leads to an increase in maintenance costs due to the expansion of the planting area. Mechanical pruning, due to the different physiques of different citrus trees, requires adjustment based on the growth of the citrus trees. The trimming structure is adjusted to change between "C" shapes of different radii according to the state, and the existing trimming structures are mostly chain trimming structures, which connect multiple trimming heads together through the chain structure, and when the trimming structure is changed, it takes a certain amount of extra time to adjust the bolts on the trimming structure. At the same time, when the chain structure is in use, the chains are mostly connected by a rotating shaft, and its shape is often limited by the stability of the rotating shaft connection at the connection. When adjusting the radius, the user is often required to stop the equipment and adjust the trimming structure to ensure that it does not become a gourd shape, thereby affecting the trimming efficiency of the entire trimming device. Summary of the invention

[0003] In order to overcome the problem that during the existing pruning of citrus trees, when switching between "C"-shaped structures of different radii, it takes a certain amount of time to disassemble the connection of the chain structure, and the chains are mostly connected by a rotating shaft, which is prone to the problem of the middle section sagging after changing shape.

[0004] The technical solution of the present invention is: a crop pruning method, which adopts the following device, which includes a longitudinal arm assembly; a cross arm assembly is installed on one side of the longitudinal arm assembly; the longitudinal arm assembly includes a longitudinal arm frame; the inner side of the longitudinal arm frame is slidably connected with a connecting slider; the cross arm assembly includes a cross arm frame; the upper end of the cross arm frame is installed with a connecting plate; the upper end of the connecting plate is provided with a connecting rod plate; the upper end of the connecting rod plate is installed with a limiting column; the outer side of the limiting column is slidably connected with an engaging sleeve; one side of the engaging sleeve is provided with an engaging driven wheel; the upper end of the engaging driven wheel is rotatably connected to a third motor through a rotating shaft; the inner side of the cross arm frame is slidably connected with a screw slider; one side of the screw slider is provided with multiple fixed sliders; the fixed slider is provided with multiple, and only one fixed slider is connected to the screw slider by bolts;

[0005] A connecting piece is provided between two adjacent fixed slide blocks; the connecting piece and the fixed slide block are arranged to be rotatably connected; a positioning rod is fixedly connected to the fixed slide block fixedly connected to the screw rod slide block and the fixed slide block fixedly connected to the connecting slide block; a fourth motor is installed on the upper end of the fixed slide block; the lower end of the fourth motor is rotatably connected to the trimming blade through a rotating shaft; a swivel seat is installed on the front and rear ends of the cross arm frame; a driving push rod is rotatably connected to the swivel seat; a connecting plate is rotatably connected to the driving push rod through a rotating shaft; a middle section frame is installed on the connecting plate; a combination piece is installed on the middle section frame; the combination piece and the fixed slide block of the middle section are arranged to be rotatably connected through a rotating shaft; a bilateral infrared ranging sensor is provided on one side of the driving push rod at the front end portion; a sensor bracket is provided on the upper and lower ends of the bilateral infrared ranging sensor; an infrared ranging receiver is installed on the sensor bracket.

[0006] The crop pruning method comprises the following steps:

[0007] S1. First, the device is moved to the citrus tree by the crawler structure, and the required pruning height is determined according to the growth of the citrus tree. The shape of the pruning structure is adjusted by the driving motor structure. After confirming that the adjustment is completed, the pruning structure is moved to the citrus tree by the adjustment structure, and the support structure is inserted obliquely into the soil to achieve positioning and fixing of the device;

[0008] S2, then the device is moved by the crawler structure, and the pruning of the citrus tree is realized by setting a rotating pruning structure, so that the pruning device can rotate in a circle with the top of the citrus tree as the center, and the redundant branches of the citrus tree can be pruned. During the pruning process of the citrus tree, the pruning structure can be changed to prune the citrus trees of different heights and sizes in real time;

[0009] S3. When the trimming structure needs to be adjusted, the local shape of the trimming structure can be positioned and adjusted by controlling the extension length of the vertical structure and the horizontal structure, and the infrared structure is used to limit the position. After the limiting is completed, the middle section of the trimming structure is lifted by the push rod structure so that the middle section of the trimming structure can always be in a "C" shape, and the user does not need to stop the machine for installation, thereby realizing rapid adjustment of the trimming structure by controlling the position of the trimming device formed inside the vertical structure and the horizontal structure.

[0010] Preferably, a first motor is installed at the upper end of the longitudinal arm; the lower end of the first motor is rotatably connected to a first screw rod via a coupling; two meshing bars are fixedly connected to one side of the longitudinal arm; and a meshing wheel is meshed on one side of the meshing bar.

[0011] Preferably, the two meshing wheels are connected by a rotating shaft; a fixing frame is provided on the outer side of the meshing wheel; a second motor is installed on the fixing frame; the second motor and the rotating shaft on the meshing wheel are arranged to be rotationally connected via a coupling; a connecting sleeve is installed on one side of the fixing frame.

[0012] Preferably, a first electric push rod is provided on both sides of the limit column; the first electric push rod is connected to the connecting plate by bolts; a rotating ring is installed on the upper end of the first electric push rod; and the upper end of the rotating ring is rotatably connected to a support frame.

[0013] Preferably, a sliding groove is provided on the inner side of the cross arm frame; a limit strip is slidably connected to the support frame; a fixed support plate is fixedly connected to the lower end of the limit strip; and a plurality of second electric push rods are mounted on the fixed support plate.

[0014] Preferably, an adjustment assembly is installed on one side of the cross arm assembly; the adjustment assembly includes a connecting bracket; the connecting bracket is connected to the cross arm frame by bolts; a positioning column is slidably connected to the connecting bracket; two hydraulic push rods are installed at the lower end of the connecting bracket; a rotating arm is installed at the lower end of the hydraulic push rod; a rotating seat is installed at the lower end of the rotating arm; an engaging ring is fixedly connected to the outer side of the rotating seat; the lower end of the rotating seat is rotatably connected to a fixed seat; an engaging wheel is provided at the rear end of the engaging ring; the lower end of the engaging wheel is rotatably connected to a fifth motor via a rotating shaft; a rotating ring is installed at the outer side of the fifth motor.

[0015] Preferably, a chassis assembly is installed at the lower end of the adjustment assembly; the chassis assembly includes a support plate; the support plate and the rotating ring are arranged to be rotatably connected; a control box is installed on the support plate; a flip plate is rotatably connected to the control box via a hinge; a main control module is arranged on the inner side of the control box; a wifi transmission module is electrically connected to one side of the main control module.

[0016] Preferably, the front end of the wifi transmission module is electrically connected to a data storage device; two combination frames are fixedly connected to the lower end of the support plate; a damper is installed at the lower end of the combination frame; a connecting base plate is installed at the lower end of the damper; a plurality of mounting plates are installed at the upper end of the connecting base plate; a plurality of limit rods are respectively arranged at the front and rear ends of the damper; and a return spring is arranged on the outer side of the limit rod.

[0017] Preferably, multiple driving assemblies are installed on both sides of the chassis assembly; the driving assembly includes a motor support; the motor support is connected to the connecting bottom plate by bolts; a sixth motor is installed on the upper end of the motor support; an edge banding plate is provided on one side of the sixth motor; a driving wheel is provided on one side of the edge banding plate; a connecting strip is provided on one side of the driving wheel; a connecting roller is rotatably connected to the connecting strip; fixed rollers are provided at the front and rear ends of the connecting roller; side baffles are rotatably connected to the fixed roller; a connecting wheel frame is installed at the lower end of the connecting strip; multiple negative matching wheels are rotatably connected to the connecting wheel frame; multiple track shoes are provided on the outer side of the driving wheel; multiple fixed rollers are installed on the inner side of the track shoe; a connecting plate piece is provided between two adjacent track shoes; the connecting plate piece and the track shoe are arranged to be rotatably connected through a rotating shaft; and multiple guide strips are fixedly connected to the track shoe.

[0018] Preferably, a support assembly is fixedly connected to one side of the adjustment assembly; the support assembly includes a push rod bracket; the push rod bracket and the rotating arm are welded by manual arc welding; a third electric push rod is rotatably connected to the push rod bracket via a rotating shaft; a rotating head is installed on one side of the third electric push rod; an adjustment slider is rotatably connected to the rotating head via a rotating shaft; an adjustment screw slide rail is provided on the outer side of the adjustment slider; a plurality of adjustment slots are opened on the third electric push rod; an adjustment frame is installed on the outer side of the third electric push rod through the adjustment slot; and an entrenching rod is installed on the adjustment frame.

[0019] Beneficial effects of the present invention:

[0020] 1. By setting a special bilateral sliding structure to replace the original detachable blade head, the chain structure is supported by a cross structure, so that the chain structure can switch between "C"-shaped structures of different radii, and the middle section of the chain structure can also be supported to prevent it from deformation, thereby solving the problem that in the process of pruning existing citrus trees, it takes a certain amount of time to disassemble the connection of the chain structure when switching between "C"-shaped structures of different radii of the pruning structure, and the chains are mostly connected by a rotating shaft, which is easy to cause the middle section to sag after changing the shape;

[0021] 2. The first and second screw rods are driven to rotate by driving the first motor and the third motor respectively, and the connecting slider and the second slider which are gap-fitted on the first and second screw rods can respectively drive an adjustment block to move in the longitudinal arm frame and the transverse arm frame, and the two-sided infrared ranging sensor electrically connected and the two infrared ranging receivers cooperate with each other to realize the positioning of the limit position of the adjustment block in the longitudinal arm frame and the transverse arm frame, and the moving position of the middle frame is limited by driving the push rod to extend and retract, so that the "C"-shaped structure formed by the multiple adjustment blocks can ensure its fullness, so that the multiple adjustment blocks connected by the connecting piece can be changed in shape, so that the shape formed by the multiple adjustment blocks can be changed into a "C"-shaped structure with different radii, so that the trimming shape can be changed by changing the shape formed by the multiple adjustment blocks, and there is no need to stop the machine for installation when the structure is changed, thereby improving the working efficiency of the crop trimming device to a certain extent;

[0022] 3. By driving two or four sixth motors to rotate, two or four groups of track shoes are rotated, so that the device can move in a crawler-like manner, thereby improving the passability of the entire device to a certain extent. At the same time, by driving the two opposite groups of track shoes to rotate, the lateral movement and oblique movement of the device can be achieved to a certain extent, so that the entire device can be greatly improved in terms of mobility under the action of multiple fixed rollers, thereby greatly improving the convenience of use of the entire crop pruning device;

[0023] 4. A fifth motor is provided to drive the meshing wheel, and the meshing wheels and the meshing ring are meshed with each other to drive the rotating seat to rotate, so as to drive the positioning column to rotate through the rotating seat, so as to change the orientation of the longitudinal arm assembly and the transverse arm assembly. At the same time, the connecting bracket can be driven by the hydraulic push rod to adjust the height, so as to achieve the height adjustment of the longitudinal arm assembly and the transverse arm assembly, so that the pruning position can be quickly adjusted to a certain extent, thereby greatly improving the applicability of the entire crop pruning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 What is shown is a flowchart of the method for crop pruning of the present invention;

[0025] Figure 2 What is shown is a system block diagram of the crop pruning method of the present invention;

[0026] Figure 3 What is shown is a first three-dimensional structural schematic diagram of the crop pruning device of the present invention;

[0027] Figure 4Shown is a second three-dimensional structural schematic diagram of the crop pruning device of the present invention;

[0028] Figure 5 Shown is a first three-dimensional structural schematic diagram of the cross arm assembly of the crop pruning device of the present invention;

[0029] Figure 6 The second stereoscopic structure schematic diagram of the cross arm assembly of the crop pruning device of the present invention is shown;

[0030] Figure 7 The second stereoscopic structure schematic diagram of the longitudinal arm assembly of the crop pruning device of the present invention is shown;

[0031] Figure 8 Shown is a schematic diagram of the three-dimensional structure of the adjustment component of the crop pruning device of the present invention;

[0032] Fig. 9 Shown is a first three-dimensional structural schematic diagram of the chassis assembly of the crop pruning device of the present invention;

[0033] Fig.10 The second three-dimensional structure schematic diagram of the chassis assembly of the crop pruning device of the present invention is shown;

[0034] Fig.11 Shown is a first three-dimensional structural schematic diagram of a driving assembly of a crop pruning device of the present invention;

[0035] Fig.12 The second stereoscopic structure schematic diagram of the driving assembly of the crop pruning device of the present invention is shown;

[0036] Fig.13 Shown is a third three-dimensional structural schematic diagram of the driving assembly of the crop pruning device of the present invention.

[0037] Explanation of reference numerals: 1. longitudinal arm assembly; 2. cross arm assembly; 3. adjustment assembly; 4. chassis assembly; 5. drive assembly; 6. support assembly; 101. longitudinal arm frame; 102. first motor; 103. first screw rod; 104. connecting slider; 105. meshing strip; 106. connecting sleeve; 107. fixing frame; 108. meshing wheel; 109. second motor; 110. connecting strip plate; 111. drive push rod; 112. middle frame; 113. combination plate; 114. swivel seat; 115. bilateral infrared ranging sensor; 116. infrared ranging Receiver; 117, sensor bracket; 201, cross arm bracket; 202, screw slider; 203, connecting plate; 204, connecting rod plate; 205, limiting column; 206, first electric push rod; 207, meshing sleeve; 208, meshing driven wheel; 209, third motor; 210, fourth motor; 211, trimming blade; 212, connecting piece; 213, positioning rod; 214, sliding groove; 215, supporting frame; 216, limiting strip; 217, fixed support plate; 218, second electric push rod; 219, fixed slider; 220, rotating ring; 301, connecting bracket; 302, positioning column; 303, hydraulic push rod; 304, rotating arm; 305, rotating seat; 306, meshing ring; 307, fixed seat; 308, meshing wheel; 309, fifth motor; 310, rotating ring; 401, supporting plate; 402, reset spring; 403, limit rod; 404, mounting plate; 405, damper; 406, combination frame; 407, control box; 408, flip plate; 409, main control module; 410, wifi transmission module; 411, data storage device; 412, connecting bottom Plate; 501, motor support; 502, sixth motor; 503, edge banding plate; 504, driving wheel; 505, connecting strip; 506, connecting roller; 507, side baffle; 508, fixed roller; 509, wheel frame; 510, negative matching wheel; 511, track shoe; 512, fixed roller; 513, guide strip; 514, connecting plate; 601, adjusting screw guide rail; 602, adjusting slider; 603, rotating head; 604, third electric push rod; 605, push rod bracket; 606, adjusting slot; 607, adjusting frame; 608, burying rod. DETAILED DESCRIPTION

[0038] The present invention will be further described below in conjunction with the accompanying drawings and embodiments. Example

[0039] A crop pruning method, according to Figure 3-13As shown, the crop pruning method adopts the following device, which includes a longitudinal arm assembly 1; a transverse arm assembly 2 is installed on one side of the longitudinal arm assembly 1; the longitudinal arm assembly 1 includes a longitudinal arm frame 101; a connecting slider 104 is slidably connected to the inner side of the longitudinal arm frame 101; the transverse arm assembly 2 includes a transverse arm frame 201; a connecting plate 203 is installed on the upper end of the transverse arm frame 201; a connecting rod plate 204 is provided on the upper end of the connecting plate 203; a limiting column 205 is installed on the upper end of the connecting rod plate 204; The outer side of the limit column 205 is slidably connected with an engagement sleeve 207; one side of the engagement sleeve 207 is provided with an engagement driven wheel 208; the upper end of the engagement driven wheel 208 is rotatably connected with a third motor 209 via a rotating shaft; the inner side of the cross arm 201 is slidably connected with a screw slider 202; one side of the screw slider 202 is provided with a plurality of fixed sliders 219; there are a plurality of fixed sliders 219, and only one fixed slider 219 is connected to the screw slider 202 by bolts;

[0040] A connecting piece 212 is provided between two adjacent fixed sliders 219; the connecting piece 212 and the fixed slider 219 are arranged to be rotatably connected; the fixed slider 219 fixed to the screw slider 202 and the fixed slider 219 fixed to the connecting slider 104 are both fixedly connected with a positioning rod 213; the upper ends of the fixed sliders 219 are both installed with a fourth motor 210; the lower end of the fourth motor 210 is rotatably connected with a trimming blade 211 through a rotating shaft; a swivel seat 114 is installed at the front and rear ends of the cross arm frame 201; the swivel seat 114 is rotatably connected to the There is a driving push rod 111; the driving push rod 111 is rotatably connected to a connecting plate 110 via a rotating shaft; a middle frame 112 is installed on the connecting plate 110; a combination piece 113 is installed on the middle frame 112; the combination piece 113 and the middle section fixed slider 219 are rotatably connected via a rotating shaft; a double-sided infrared ranging sensor 115 is provided on one side of the driving push rod 111 at the front end; a sensor bracket 117 is provided at the upper and lower ends of the double-sided infrared ranging sensor 115; an infrared ranging receiver 116 is installed on the sensor bracket 117.

[0041] according to Figure 1-2 As shown, the crop pruning method comprises the following steps:

[0042] S1. First, the device is moved to the citrus tree by the crawler structure, and the required pruning height is determined according to the growth of the citrus tree. The shape of the pruning structure is adjusted by the driving motor structure. After confirming that the adjustment is completed, the pruning structure is moved to the citrus tree by the adjustment structure, and the support structure is inserted obliquely into the soil to achieve positioning and fixing of the device;

[0043] S2, then the device is moved by the crawler structure, and the pruning of the citrus tree is realized by setting a rotating pruning structure, so that the pruning device can rotate in a circle with the top of the citrus tree as the center, and the redundant branches of the citrus tree can be pruned. During the pruning process of the citrus tree, the pruning structure can be changed to prune the citrus trees of different heights and sizes in real time;

[0044] S3. When the trimming structure needs to be adjusted, the local shape of the trimming structure can be positioned and adjusted by controlling the extension length of the vertical structure and the horizontal structure, and the infrared structure is used to limit the position. After the limiting is completed, the middle section of the trimming structure is lifted by the push rod structure so that the middle section of the trimming structure can always be in a "C" shape, and the user does not need to stop the machine for installation, thereby realizing rapid adjustment of the trimming structure by controlling the position of the trimming device formed inside the vertical structure and the horizontal structure.

[0045] A first motor 102 is installed at the upper end of the longitudinal arm frame 101; the lower end of the first motor 102 is rotatably connected to a first screw rod 103 via a coupling; two meshing bars 105 are fixedly connected to one side of the longitudinal arm frame 101; and a meshing wheel 108 is meshed on one side of the meshing bar 105.

[0046] The two meshing wheels 108 are connected by a rotating shaft; a fixing frame 107 is arranged on the outer side of the meshing wheel 108; a second motor 109 is installed on the fixing frame 107; the second motor 109 and the rotating shaft on the meshing wheel 108 are arranged to be rotationally connected through a coupling; a connecting sleeve 106 is installed on one side of the fixing frame 107.

[0047] A first electric push rod 206 is disposed on both sides of the limit column 205; the first electric push rod 206 is connected to the connecting plate 203 by bolts; a rotating ring 220 is installed on the upper end of the first electric push rod 206; and a support frame 215 is rotatably connected to the upper end of the rotating ring 220.

[0048] A sliding groove 214 is provided on the inner side of the cross arm frame 201 ; a limit bar 216 is slidably connected to the support frame 215 ; a fixed support plate 217 is fixed to the lower end of the limit bar 216 ; and a plurality of second electric push rods 218 are installed on the fixed support plate 217 .

[0049] An adjustment component 3 is installed on one side of the cross arm component 2; the adjustment component 3 includes a connecting bracket 301; the connecting bracket 301 is connected to the cross arm frame 201 by bolts; a positioning column 302 is slidably connected to the connecting bracket 301; two hydraulic push rods 303 are installed at the lower end of the connecting bracket 301; a rotating arm 304 is installed at the lower end of the hydraulic push rod 303; a rotating seat 305 is installed at the lower end of the rotating arm 304; a meshing ring 306 is fixed to the outer side of the rotating seat 305; the lower end of the rotating seat 305 is rotatably connected to a fixed seat 307; a meshing wheel 308 is provided at the rear end of the meshing ring 306; the lower end of the meshing wheel 308 is rotatably connected to a fifth motor 309 through a rotating shaft; a rotating ring 310 is installed on the outer side of the fifth motor 309.

[0050] A chassis component 4 is installed at the lower end of the adjustment component 3; the chassis component 4 includes a support plate 401; the support plate 401 and the rotating ring 310 are set to be rotatably connected; a control box 407 is installed on the support plate 401; a flip plate 408 is rotatably connected to the control box 407 through a hinge; a main control module 409 is arranged on the inner side of the control box 407; a wifi transmission module 410 is electrically connected to one side of the main control module 409; the model of the main control module 409 is set to STM32F407ZGT6, and the model of the wifi transmission module 410 is set to ATK-ESP8266.

[0051] The front end of the wifi transmission module 410 is electrically connected to a data storage device 411; two assembly frames 406 are fixedly connected to the lower end of the support plate 401; a damper 405 is installed at the lower end of the assembly frame 406; a connecting base plate 412 is installed at the lower end of the damper 405; a plurality of mounting plates 404 are installed at the upper end of the connecting base plate 412; a plurality of limit rods 403 are respectively provided at the front and rear ends of the damper 405; a return spring 402 is provided on the outer side of the limit rod 403; the model of the data storage device 411 is set to KLUCG2K1EA-B0C1.

[0052] A plurality of drive assemblies 5 are installed on both sides of the chassis assembly 4; the drive assembly 5 includes a motor support 501; the motor support 501 is connected to the connecting bottom plate 412 by bolts; a sixth motor 502 is installed on the upper end of the motor support 501; a side of the sixth motor 502 is provided with an edge plate 503; a driving wheel 504 is provided on one side of the edge plate 503; a connecting strip 505 is provided on one side of the driving wheel 504; a connecting roller 506 is rotatably connected to the connecting strip 505; and fixed rollers are provided at the front and rear ends of the connecting roller 506. A fixed roller 508; a side baffle 507 is rotatably connected to the fixed roller 508; a wheel frame 509 is installed at the lower end of the connecting strip 505; a plurality of negative matching wheels 510 are rotatably connected to the wheel frame 509; a plurality of track shoes 511 are arranged on the outer side of the driving wheel 504; a plurality of fixed rollers 512 are installed on the inner side of the track shoes 511; a connecting plate 514 is arranged between two adjacent track shoes 511; the connecting plate 514 is rotatably connected to the track shoes 511 through a rotating shaft; a plurality of guide strips 513 are fixedly connected to the track shoes 511.

[0053] A support assembly 6 is fixedly connected to one side of the adjustment assembly 3; the support assembly 6 includes a push rod bracket 605; the push rod bracket 605 and the rotating arm 304 are welded by manual arc welding; the push rod bracket 605 is rotatably connected to a third electric push rod 604 via a rotating shaft; a rotating head 603 is installed on one side of the third electric push rod 604; an adjusting slider 602 is rotatably connected to the rotating head 603 via a rotating shaft; an adjusting screw guide rail 601 is provided on the outer side of the adjusting slider 602; a plurality of adjusting slots 606 are opened on the third electric push rod 604; an adjusting frame 607 is installed on the outer side of the third electric push rod 604 through the adjusting slot 606; and an entrenching rod 608 is installed on the adjusting frame 607.

[0054] When working, first, the sixth motor 502 drives the driving wheel 504 to rotate, so as to drive the multiple track plates 511 to rotate through the driving wheel 504. With the rotation of the track plates 511, the device can be moved to the citrus tree, and then the shape of the pruning structure is adjusted according to the required pruning degree of the citrus tree, and the position of the rotating head 603 is adjusted by adjusting the screw slide rail 601 and the adjusting slider 602, and the third electric push rod 604 drives the burying rod 608 so that the burying rod 608 can be inserted into the soil.

[0055] The connecting slider 104 and the screw slider 202 are driven by the longitudinal arm frame 101 and the cross arm frame 201 respectively, and a fixed slider 219 can be driven to move in the longitudinal arm frame 101 and the cross arm frame 201 respectively. At the same time, the electrically connected bilateral infrared ranging sensor 115 cooperates with the two infrared ranging receivers 116 to realize the positioning of the limit position of the adjustment block in the longitudinal arm frame 101 and the cross arm frame 201, and the moving position of the middle frame 112 is limited by driving the push rod 111 to extend and retract, so that the "C"-shaped structure composed of multiple adjustment blocks can ensure its fullness, so that multiple adjustment blocks can be connected. The sheet 212 connected to the adjustment block can change in shape, and the middle frame 112 is pushed to move by driving the push rod 111, and the fixed slider 219 in the middle section is driven to move by the middle frame 112, so that multiple fixed sliders 219 connected by the connecting sheet 212 can change in shape, so that the shape composed of multiple adjustment blocks can be changed into a "C"-shaped structure with different radii, so that the pruning shape can be changed by changing the shape composed of multiple adjustment blocks. At the same time, there is no need to stop the machine for installation when making structural changes, thereby improving the working efficiency of the crop pruning device to a certain extent.

[0056] Then, the third motor 209 drives the meshing driven wheel 208 to rotate, and the meshing driven wheel 208 drives the meshing rotating sleeve 207 to drive the limiting column 205 to rotate, so that the longitudinal arm assembly 1 can rotate around the limiting column 205, thereby realizing the pruning of the citrus tree.

[0057] When the user uses the trimming device, the user can drive two or four sixth motors 502 to rotate, so that the two or four groups of track shoes 511 can rotate, so that the device can move in a crawler-like manner, thereby improving the passability of the entire device to a certain extent. At the same time, by driving the two opposite groups of track shoes 511 to rotate, the lateral movement and oblique movement of the device can be achieved to a certain extent, so that the entire device can be greatly improved under the action of multiple fixed rollers 512. The convenience of movement of the entire device can be greatly improved, thereby greatly improving the use of the entire crop trimming device. Convenience, the meshing wheel 308 can also be driven by the fifth motor 309, and the rotating seat 305 can be driven to rotate by the meshing meshing wheel 308 and the meshing ring 306 that are meshed with each other, so as to drive the positioning column 302 to rotate through the rotating seat 305, so as to change the direction of the longitudinal arm assembly 1 and the cross arm assembly 2, and the connecting bracket 301 can also be driven by the hydraulic push rod 303 to adjust the height, so as to achieve the height adjustment of the longitudinal arm assembly 1 and the cross arm assembly 2, so that the pruning position can be quickly adjusted to a certain extent, thereby greatly improving the applicability of the entire crop pruning device.

[0058] Through the above steps, a special bilateral sliding structure is set to replace the original detachable cutter head, and the chain structure is supported by a cross structure, so that the chain structure can switch between "C"-shaped structures of different radii. At the same time, the middle section of the chain structure can also be supported to prevent it from deformation. This can to a certain extent solve the problem that during the pruning process of existing citrus trees, it takes a certain amount of time to disassemble the connection of the chain structure when switching between "C"-shaped structures of different radii of the pruning structure, and the chains are mostly connected by rotating shafts, which are prone to the phenomenon of sagging in the middle section after changing the shape.

[0059] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of those skilled in the art without departing from the spirit of the present invention.

Claims

1. A method for pruning crops, the method for pruning crops using the following device, the device comprising a trailing arm assembly (1), characterized in that: A transverse arm assembly (2) is installed on one side of the longitudinal arm assembly (1); the longitudinal arm assembly (1) comprises a longitudinal arm frame (101); a connecting slider (104) is slidably connected to the inner side of the longitudinal arm frame (101); the transverse arm assembly (2) comprises a transverse arm frame (201); a connecting plate (203) is installed on the upper end of the transverse arm frame (201); a connecting rod plate (204) is provided on the upper end of the connecting rod plate (203); a limiting column (205) is installed on the upper end of the connecting rod plate (204); the outer side of the limiting column (205) A meshing rotating sleeve (207) is slidably connected; a meshing driven wheel (208) is provided on one side of the meshing rotating sleeve (207); the upper end of the meshing driven wheel (208) is rotatably connected to a third motor (209) via a rotating shaft; a screw slider (202) is slidably connected to the inner side of the cross arm frame (201); a plurality of fixed sliders (219) are provided on one side of the screw slider (202); a plurality of fixed sliders (219) are provided, and only one fixed slider (219) is connected to the screw slider (202) via bolts; A connecting piece (212) is provided between two adjacent fixed sliders (219); the connecting piece (212) and the fixed slider (219) are configured to be rotatably connected; a positioning rod (213) is fixedly connected to the fixed slider (219) fixedly connected to the screw slider (202) and the fixed slider (219) fixedly connected to the connecting slider (104); a fourth motor (210) is installed at the upper end of each fixed slider (219); the lower end of the fourth motor (210) is rotatably connected to a fixing motor (210) via a rotating shaft. The cross arm frame (201) is provided with a swivel seat (114) at the front and rear ends thereof; the swivel seat (114) is rotatably connected to a driving push rod (111); the driving push rod (111) is rotatably connected to a connecting plate (110) via a rotating shaft; a middle frame (112) is mounted on the connecting plate (110); a combination piece (113) is mounted on the middle frame (112); the combination piece (113) and the middle fixed slider (219) are rotatably connected via a rotating shaft. A bilateral infrared distance measuring sensor (115) is arranged on one side of the driving push rod (111) at the front end; a sensor bracket (117) is arranged at the upper and lower ends of the bilateral infrared distance measuring sensor (115); an infrared distance measuring receiver (116) is installed on the sensor bracket (117); a first motor (102) is installed at the upper end of the longitudinal arm frame (101); the lower end of the first motor (102) is rotatably connected to a first screw rod (103) via a coupling; the longitudinal arm frame (101 ) is fixedly connected to one side of the motor; a meshing wheel (108) is meshed on one side of the meshing wheel (108), and the two meshing wheels (108) are connected via a rotating shaft; a fixing frame (107) is arranged outside the meshing wheel (108); a second motor (109) is mounted on the fixing frame (107); the second motor (109) and the rotating shaft on the meshing wheel (108) are arranged to be rotatably connected via a coupling; a connecting sleeve (106) is mounted on one side of the fixing frame (107). ; The crop pruning method comprises the following steps: S1. First, the device is moved to the citrus tree by the crawler structure, and the required pruning height is determined according to the growth of the citrus tree. The shape of the pruning structure is adjusted by the driving motor structure. After confirming that the adjustment is completed, the pruning structure is moved to the citrus tree by the adjustment structure, and the support structure is inserted obliquely into the soil to achieve positioning and fixing of the device; S2, then the device is moved by the crawler structure, and the pruning of the citrus tree is realized by setting a rotating pruning structure, so that the pruning device can rotate in a circle with the top of the citrus tree as the center, and the redundant branches of the citrus tree can be pruned. During the pruning process of the citrus tree, the pruning structure can be changed to prune the citrus trees of different heights and sizes in real time; S3. When the trimming structure needs to be adjusted, the local shape of the trimming structure can be positioned and adjusted by controlling the extension length of the vertical structure and the horizontal structure, and the infrared structure is used to limit the position. After the limiting is completed, the middle section of the trimming structure is lifted by the push rod structure so that the middle section of the trimming structure can always be in a "C" shape, and the user does not need to stop the machine for installation, thereby realizing rapid adjustment of the trimming structure by controlling the position of the trimming device formed inside the vertical structure and the horizontal structure.

2. A crop pruning method according to claim 1, characterized in that: A first electric push rod (206) is provided on both sides of the limit column (205); the first electric push rod (206) is connected to the connecting plate (203) by bolts; a rotating ring (220) is installed at the upper end of the first electric push rod (206); and a support frame (215) is rotatably connected to the upper end of the rotating ring (220).

3. A crop pruning method according to claim 2, characterized in that: A sliding groove (214) is provided on the inner side of the cross arm frame (201); a limit strip (216) is slidably connected to the support frame (215); a fixed support plate (217) is fixed to the lower end of the limit strip (216); and a plurality of second electric push rods (218) are mounted on the fixed support plate (217).

4. A crop pruning method according to claim 2, characterized in that: An adjustment assembly (3) is installed on one side of the cross arm assembly (2); the adjustment assembly (3) comprises a connecting bracket (301); the connecting bracket (301) is connected to the cross arm frame (201) by bolts; a positioning column (302) is slidably connected to the connecting bracket (301); two hydraulic push rods (303) are installed at the lower end of the connecting bracket (301); a rotating arm (304) is installed at the lower end of the hydraulic push rod (303); a rotating seat (305) is installed at the lower end of the rotating arm (304); an engagement ring (306) is fixedly connected to the outer side of the rotating seat (305); a fixed seat (307) is rotatably connected to the lower end of the rotating seat (305); an engagement rotating wheel (308) is provided at the rear end of the engagement rotating wheel (308); the lower end of the engagement rotating wheel (308) is rotatably connected to a fifth motor (309) via a rotating shaft; and a rotating ring (310) is installed at the outer side of the fifth motor (309).

5. A crop pruning method according to claim 4, characterized in that: A chassis component (4) is installed at the lower end of the adjustment component (3); the chassis component (4) comprises a support plate (401); the support plate (401) and the rotating ring (310) are arranged to be rotatably connected; a control box (407) is installed on the support plate (401); a flip plate (408) is rotatably connected to the control box (407) via a hinge; a main control module (409) is arranged on the inner side of the control box (407); and a wifi transmission module (410) is electrically connected to one side of the main control module (409).

6. A crop pruning method according to claim 5, characterized in that: The front end of the wifi transmission module (410) is electrically connected to a data storage device (411); the lower end of the support plate (401) is fixedly connected to two assembly frames (406); a damper (405) is installed at the lower end of the assembly frame (406); a connecting base plate (412) is installed at the lower end of the damper (405); a plurality of mounting plates (404) are installed at the upper end of the connecting base plate (412); a plurality of limit rods (403) are respectively arranged at the front and rear ends of the damper (405); and a return spring (402) is arranged on the outer side of the limit rod (403).

7. A crop pruning method according to claim 6, characterized in that: A plurality of drive assemblies (5) are installed on both sides of the chassis assembly (4); the drive assemblies (5) include a motor support (501); the motor support (501) is connected to the connecting bottom plate (412) by bolts; a sixth motor (502) is installed on the upper end of the motor support (501); an edge sealing plate (503) is provided on one side of the sixth motor (502); a driving wheel (504) is provided on one side of the edge sealing plate (503); a connecting strip (505) is provided on one side of the driving wheel (504); a connecting roller (506) is rotatably connected to the connecting strip (505); fixed bearings are provided at the front and rear ends of the connecting roller (506). A fixed roller (508); a side baffle (507) is rotatably connected to the fixed roller (508); a wheel connecting frame (509) is installed at the lower end of the connecting strip (505); a plurality of negative matching wheels (510) are rotatably connected to the wheel connecting frame (509); a plurality of track shoes (511) are arranged on the outer side of the driving wheel (504); a plurality of fixed rotating rollers (512) are installed on the inner side of the track shoes (511); a connecting plate (514) is arranged between two adjacent track shoes (511); the connecting plate (514) and the track shoes (511) are rotatably connected via a rotating shaft; and a plurality of guide strips (513) are fixedly connected to the track shoes (511).

8. A crop pruning method according to claim 4, characterized in that: A support assembly (6) is fixedly connected to one side of the adjustment assembly (3); the support assembly (6) comprises a push rod bracket (605); the push rod bracket (605) and the rotating arm (304) are welded by manual arc welding; a third electric push rod (604) is rotatably connected to the push rod bracket (605) via a rotating shaft; a rotating head (603) is mounted on one side of the third electric push rod (604); an adjustment slider (602) is rotatably connected to the rotating head (603) via a rotating shaft; an adjustment screw guide rail (601) is mounted on the outer side of the adjustment slider (602); a plurality of adjustment slots (606) are formed on the third electric push rod (604); an adjustment frame (607) is mounted on the outer side of the third electric push rod (604) via the adjustment slots (606); and an entrenching rod (608) is mounted on the adjustment frame (607).

Images