Grape branch pre-pruning device with automatic obstacle avoidance function

Abstract

The invention belongs to the technical field of agricultural machinery, and particularly relates to a grape branch pre-pruning device with an automatic obstacle avoidance function. Comprising a telescopic support, a pruning mechanism and an obstacle avoidance mechanism. The telescopic bracket is used for adjusting the pruning mechanism to a proper working position through a transverse adjusting oil cylinder, a vertical adjusting oil cylinder and a swinging oil cylinder which are arranged on the telescopic bracket; the pruning mechanism is used for pruning grape vines, and meanwhile, a mounting position is provided for an obstacle avoidance hydraulic oil cylinder of an execution element in the obstacle avoidance mechanism; the obstacle avoidance mechanism realizes the function of automatically avoiding a cutting cutterhead when the pruning mechanism encounters an obstacle through the combination of an electrical element and a hydraulic reversing loop; the autumn grape pruning machine solves the problem that an existing autumn grape pruning machine is high in operation requirement for a driver, the distance judgment process of the driver is reduced, and the pruning speed is increased to a certain degree; meanwhile, compared with a driver, the driver cannot feel tired through an automatic control system, and the safety of pruning work is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to a grape branch pre-pruning device with an automatic obstacle avoidance function. Background Art

[0002] According to statistics, my country's grape planting area is as high as 783,000 hectares, ranking third in the world. With the continuous increase in rural labor costs, agricultural mechanization and automation technology will inevitably be introduced into grape production. In autumn, in order to ensure the grape production in the next year, producers cut off the new branches that have just grown from the grape vines this year to ensure that more grapes will be produced on the grape vines next year.

[0003] Since the height of grapevines grows relatively steadily every year, according to the experience of fruit farmers, the grapevines above the second wire of the grapevine rack need to be cut off to achieve the purpose of increasing fruit yield. Therefore, it is very necessary to invent a machine for autumn pre-pruning. Existing pruning operations are mostly done manually, with high labor intensity and low operating efficiency; some pruning machines do not have obstacle avoidance functions, and the driver needs to pay attention to the distance from the stone pillars at all times. If the machine is too close to the stone pillars, the machine will be damaged. If the machine is too far away from the stone pillars, some grapevines will be missed, which requires high operating skills of the driver. Summary of the invention

[0004] In view of the above problems existing in the prior art, the purpose of the present invention is to provide a grape branch pre-pruning device with an automatic obstacle avoidance function, which improves the pruning efficiency through an automated machine and solves the problem of high operating skills requirements for the driver during pruning work.

[0005] In order to solve the above problems, the technical solution adopted by the present invention is as follows:

[0006] The grape branch pre-pruning device with automatic obstacle avoidance function of the present invention comprises a pruning mechanism connected to a driving device, and an obstacle avoidance mechanism installed on the pruning mechanism, wherein the relative height and relative angle between the pruning mechanism and the driving device are adjustable;

[0007] The pruning mechanism comprises a gantry, one side of which is provided with an obstacle avoidance hydraulic cylinder and a cutting disc for pruning operations, wherein the obstacle avoidance hydraulic cylinder can drive the cutting disc to move in a horizontal plane;

[0008] The obstacle avoidance mechanism comprises a horizontal mounting plate mounted on the other side of the gantry, a travel switch and a driven cam are provided on the front of the horizontal mounting plate, and an obstacle avoidance contact rod and a reset spring are provided on the back of the horizontal mounting plate. The travel switch remains in a normally open state under normal conditions, the travel switch is transmission-connected with the driven cam and can be changed from a normally open state to a closed state under the transmission action of the driven cam, and the travel switch is also communication-connected with the obstacle avoidance hydraulic cylinder through a solenoid valve;

[0009] The obstacle avoidance touch rod comprises an inner end and an outer end, the inner end of the obstacle avoidance touch rod is hinged to the return spring, and the outer end of the obstacle avoidance touch rod is close to the pruning mechanism.

[0010] Further, the device includes an adjustable bracket, the adjustable bracket includes a vertically arranged vertical support rod, the top end of the vertical support rod is connected to a vertical adjustment rod through a moving pair, a first fixing plate is installed on the vertical support rod, a vertical adjustment cylinder is installed on the first fixing plate, and the vertical adjustment cylinder is connected to the vertical adjustment rod at the same time;

[0011] The vertical adjustment rod is simultaneously connected to a horizontally arranged transverse support rod through a moving pair, and a reinforcement stabilizing rod is connected between the transverse support rod and the vertical support rod;

[0012] One end of the transverse support rod is connected to a transverse adjustment rod through a damper connecting plate, a lifting lug connected to the gantry is installed on the transverse adjustment rod, a second fixing plate is also installed on the transverse support rod, a transverse adjustment cylinder is installed on the second fixing plate, and the front and rear ends of the transverse adjustment cylinder are respectively connected to the transverse support rod and the transverse adjustment rod;

[0013] The bottom end of the vertical support rod is connected to a third fixing plate through a rotating pair, the third fixing plate is connected to a horizontally arranged supporting beam, a fourth fixing plate is arranged on the supporting beam, a fifth fixing plate is arranged on the vertical support rod, and a swing cylinder is connected between the fourth fixing plate and the fifth fixing plate;

[0014] The supporting cross beam is connected with a supporting vertical beam, and the supporting vertical beam is connected with the counterweight frame of the tractor.

[0015] Furthermore, the gantry is provided with a connecting seat connected to the lifting ear through a rotating pair and an obstacle avoidance hydraulic cylinder support plate, the bottom of the gantry is provided with a knife shaft rotating support, the knife shaft rotating support is connected to a vertical knife shaft fixing piece through a rotating pair, the knife shaft fixing piece is connected to a knife shaft also vertically arranged through a rotating pair, and at the same time, an obstacle avoidance hydraulic cylinder push head fixing plate is fixedly connected to the top, a hydraulic motor placement plate is installed on the obstacle avoidance hydraulic cylinder push head fixing plate, a hydraulic motor is installed on the hydraulic motor placement plate, the hydraulic motor is connected to the knife shaft in driving connection, and the cutting knife disc is installed on the knife shaft;

[0016] A damper fixing plate is provided on the side of the gantry, and dampers are respectively connected between the damper fixing plate and the damper connecting plate via a rotating pair.

[0017] Furthermore, the knife shaft fixing piece is connected with a length-adjustable connecting rod.

[0018] Furthermore, there are two groups of cutting discs which are respectively fixedly connected to the left and right sides of the gantry, and the two groups of cutting discs are arranged in an up-and-down staggered manner.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] The present invention provides a pruning machine that can be used for pruning vineyards in autumn and has an automatic obstacle avoidance function. The structure adopts a rear-positioned cutting disc. Compared with a front-positioned cutting disc, this structure enables the machine to complete obstacle avoidance when it is close to obstacles. In addition, a set of automatic obstacle avoidance devices is designed on the pruning machine, which improves the intelligence of the pruning machine. The driver does not need to manually control obstacle avoidance. The driver only needs to control the direction of the vehicle through the steering wheel, which solves the problem of high driver operation requirements and slow working speed in the background technology of pruning work. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the device described in the present invention;

[0022] Figure 2 A front view of the device of the present invention;

[0023] Figure 3 is a front view of the retractable bracket;

[0024] Figure 4 It is an isometric view of the retractable bracket;

[0025] Figure 5 It is the front view of the pruning mechanism;

[0026] Figure 6 It is the isometric view of the pruning mechanism;

[0027] Figure 7 It is the isometric view of the obstacle avoidance mechanism;

[0028] Figure 8 It is the main view of the obstacle avoidance mechanism;

[0029] Fig. 9 It is a schematic diagram of the relative position of the pruning mechanism and the obstacle when the pruning mechanism does not encounter the obstacle;

[0030] Fig.10 It is a schematic diagram of the relative position of the pruning mechanism and the obstacle when the pruning mechanism encounters the obstacle;

[0031] Fig.11 It is a schematic diagram of the working principle of the hydraulic control system of the obstacle avoidance mechanism;

[0032] In the figure: 1-retractable bracket; 2-pruning mechanism; 3-obstacle avoidance mechanism; 101-lifting ear; 102-lateral adjustment rod; 103-lateral adjustment cylinder; 104-lateral support rod; 105-damper connecting plate; 106-reinforcement stabilizing rod; 107-vertical support rod; 108-vertical adjustment rod; 109-vertical adjustment cylinder; 110-first fixed plate; 111-swinging cylinder; 112-fifth fixed plate; 113-fourth fixed plate; 114-third fixed plate; 115-supporting crossbeam; 116-supporting vertical beam; 117-second fixed plate; 201-gantry; 2 02-connecting seat; 203-hydraulic motor; 204-damper; 205-fixed plate at the lower end of the damper; 206-knife shaft fixing piece; 207-knife shaft; 208-cutting knife disc; 209-obstacle avoidance hydraulic cylinder; 210-knife shaft rotating support; 211-hydraulic motor placement plate; 21-obstacle avoidance hydraulic cylinder support plate; 213-position adjustment nut; 214-obstacle avoidance hydraulic cylinder push head fixing plate; 215-length adjustable connecting rod; 301-reinforcement rib; 302-reset spring; 303-travel switch; 304-driven cam; 305-obstacle avoidance touch rod; 306-horizontal mounting plate. DETAILED DESCRIPTION

[0033] The present invention is further described below in conjunction with specific embodiments.

[0034] like Figure 1 and Figure 2As shown, the grape branch pre-pruning device with automatic obstacle avoidance function of the present invention comprises an adjustable bracket 1, a pruning mechanism 2 connected to a driving device, usually a 90-horsepower tractor, through the adjustable bracket 1, and an obstacle avoidance mechanism 3 installed on the pruning mechanism 2. Under the action of the adjustable bracket 1, the relative height and relative angle between the pruning mechanism 2 and the tractor can be adjusted, thereby facilitating the operator to make corresponding adjustments according to the actual height of the grape vine rack before the device starts working. At the same time, the adjustable bracket 1 is located at the front end of the tractor, which can not only support the pruning mechanism 2 and the obstacle avoidance mechanism 3, but also adjust the pruning mechanism 2 and the obstacle avoidance mechanism 3 to a suitable working position before the pruning work starts.

[0035] The function of the pruning mechanism 2 includes pruning the grape branches above the second wire of the grape vine frame.

[0036] The function of the obstacle avoidance mechanism 3 includes controlling the pruning mechanism 2 to move away from the obstacle when the device encounters an obstacle.

[0037] Specifically, Figure 3 and Figure 4 As shown, the adjustable bracket 1 includes a lifting ear 101, which is installed at one end of a horizontal transverse adjustment rod 102, and the other end of the transverse adjustment rod 102 is connected to a transverse support rod 104 through a movable pair, and at the same end, a damper connecting plate 105 is also provided on the transverse adjustment rod 102, and correspondingly, a second fixed plate 117 is provided on the transverse support rod 104, and a transverse adjustment cylinder 103 is connected between the second fixed plate 117 and the damper connecting plate 105, thereby realizing the horizontal movement of the transverse adjustment rod 102 relative to the transverse support rod 104 under the action of the transverse adjustment cylinder 103, thereby achieving the effect of adjusting the horizontal position of the pruning mechanism 2 by the adjustable bracket 1.

[0038] Then, going downward, a vertical adjustment rod 108 is welded under the transverse support rod 104. After the top end of the vertical adjustment rod 108 is welded to the transverse support rod 104, the bottom end is connected to the vertical support rod 107 through a movable pair. A first fixed plate 110 is provided at the bottom of the vertical support rod 107. A vertical adjustment cylinder 109 is installed on the first fixed plate 110 and is also vertically arranged along the vertical support rod 107. The top end of the vertical adjustment cylinder 109 is fixedly connected to the vertical adjustment rod 108. Therefore, under the action of the vertical adjustment cylinder 109, the vertical adjustment rod 108 can be moved vertically relative to the vertical support rod 107, thereby achieving the effect of controlling the vertical position of the pruning mechanism 2 by the adjustable bracket 1.

[0039] A reinforcing stabilizing rod 106 is installed on one side of the transverse supporting rod 104 close to the transverse adjusting rod 102 , and the other end of the reinforcing stabilizing rod 106 is installed on the vertical adjusting rod 108 , thereby improving the overall stability of the adjustable bracket 1 .

[0040] A third fixing plate 114 is connected to the bottom end of the vertical support rod 107 through a rotating pair. The third fixing plate 114 is welded to a horizontally arranged supporting beam 115. A fourth fixing plate 113 is also provided on the supporting beam 115. Correspondingly, a fifth fixing plate 112 is provided on the vertical support rod 107. A swing cylinder 111 is connected between the fourth fixing plate 113 and the fifth fixing plate 112. Under the action of the swing cylinder 111, the vertical support rod 107 can be rotated relative to the supporting beam 115 in a vertical plane, thereby achieving the effect of adjusting the rotation angle of the pruning mechanism 2 by the adjustable bracket 1 to adapt to different ground undulations.

[0041] The supporting cross beam 115 is connected to a supporting vertical beam 116 by welding, and the supporting vertical beam 116 is finally welded to the counterweight frame at the front end of the tractor.

[0042] like Figures 5 to 11 As shown, the pruning mechanism 2 includes a gantry 201 , on which a connecting seat 202 connected to the lifting lug 101 via a revolute pair is mounted.

[0043] An obstacle avoidance hydraulic cylinder support plate 212 is installed on the top of the gantry 201, a knife shaft rotating support 210 is installed on both sides of the bottom, and a damper lower end fixing plate 205 is installed on one side. An obstacle avoidance hydraulic cylinder 209 is installed on the obstacle avoidance hydraulic cylinder support plate 212, and a damper 204 is connected between the damper lower end fixing plate 205 and the damper connecting plate 105 through a rotating pair, so that the pruning mechanism 2 can continue to work smoothly when encountering external forces during operation, and will not produce large shaking to affect the quality of the pruning operation. The two knife shaft rotating supports 210 are respectively installed with knife shaft fixing parts 206 through a rotating pair, and the knife shaft fixing parts 206 are connected to a vertically arranged knife shaft 207 through a rotating pair. In addition, it can be seen that a position adjustment nut 213 is installed on the knife shaft 207, so that the position can be adjusted to meet the height requirements of cutting. The knife shaft fixing part 206 is also fixedly connected to an obstacle avoidance hydraulic cylinder push head fixing plate 214 at the top, and the obstacle avoidance hydraulic cylinder push head fixing plate 214 is fixedly connected to a hydraulic motor placement plate 211, and a hydraulic motor 203 is installed on the hydraulic motor placement plate 211. The hydraulic motor 203 is transmission-connected to the knife shaft 207, and provides power for cutting to the knife shaft 207 through a coupling. A cutting disc 208 is installed on the knife shaft 207 by a key connection. It can be seen from the figure that in this embodiment, there are two groups of cutting discs 208, which are respectively fixedly connected to the left and right sides of the gantry 201, and the two groups of cutting discs 208 are staggered and gathered up and down.

[0044] A length-adjustable connecting rod 215 is connected between the knife shaft fixing members 206 on both sides of the gantry 201 via a revolute pair.

[0045] The obstacle avoidance mechanism 3 includes a horizontal mounting plate 306 mounted on the gantry 201 on the other side of the pruning mechanism 2. A travel switch 303 and a driven cam 304 are provided on the front of the horizontal mounting plate 306, and an obstacle avoidance contact rod 305 and a reset spring 302 connected by a rotating pair are provided on the back. The travel switch 303 maintains a normally open state under normal conditions. It is transmission-connected with the driven cam 304 and can be changed from a normally open state to a closed state under the action of the driven cam 304. The travel switch 303 is also connected to the obstacle avoidance hydraulic cylinder 209 through a solenoid valve. The driven cam 304 is connected to the obstacle avoidance contact rod 305 by a key connection, thereby realizing synchronous rotation. The obstacle avoidance contact rod 305 includes an inner end and an outer end. The inner end is hinged to the reset spring 302, and the outer end is relatively close to the pruning mechanism 2.

[0046] A reinforcing rib 301 fixedly connected to the gantry 201 is also provided on the horizontal mounting plate 306 .

[0047] from Figure 7 and Figure 8As can be seen in FIG. 1 , under the action of the return spring 302, the obstacle avoidance touch rod 305 can always be in the initial position when it does not encounter an obstacle. Fig. 9 and Fig.10 As shown, after the obstacle avoidance contact rod 305 touches the obstacle, it can be closely attached to the surface of the obstacle, so that the rotation of the obstacle avoidance contact rod 305 will drive the driven cam 304 to rotate, thereby closing the travel switch 303 in the normally open state, causing the electromagnetic reversing valve to operate so that the hydraulic rod of the obstacle avoidance hydraulic cylinder 209 extends, and the extended hydraulic rod can open the knife shaft fixing parts 206 on the left and right sides of the gantry 201 to Fig.10 After the obstacle avoidance contact rod 305 leaves the obstacle, the return spring 302 will push the obstacle avoidance contact rod 305 to rotate back to the original position, thereby driving the driven cam 304 to rotate, the travel switch is turned on, the electromagnetic reversing valve is powered off, the hydraulic rod of the obstacle avoidance hydraulic cylinder 209 is retracted, and the knife shaft fixing member 206 is closed again and returned to Figure 8 Status shown.

[0048] The working process of the pre-trimming device of the present invention is as follows:

[0049] Before starting pruning, the position adjustment curtain 213 should be adjusted according to the distance between the wires in the specific vineyard so that the eight cutting discs 208 are in the appropriate position, and then the lateral adjustment cylinder 103, the vertical adjustment cylinder 109 and the swing cylinder 111 are adjusted according to the height of the pillars in the vineyard, the flatness of the ground, the actual working tractor height and width to ensure that the pruning mechanism 2 is in the appropriate position.

[0050] After adjustment, the hydraulic motor 203 is turned on to drive eight cutting discs 208 to rotate, and the blades rotating at high speed will prune the grape branches. During the tractor's travel, the pruning mechanism 2 will automatically avoid obstacles when it encounters the columns in the vineyard.

[0051] After the obstacle avoidance contact rod 305 hits an obstacle such as a column, it will rotate around the rotating pair on the horizontal mounting plate 306. As the tractor continues to move forward, the rotation angle of the obstacle avoidance contact rod 305 will continue to increase, thereby driving the driven cam 304 to rotate continuously. The rotation of the driven cam 304 closes the normally open travel switch 303, causing the electromagnetic reversing valve to operate as follows: Fig.11 Calculated at a speed of 2 km / h, the obstacle avoidance hydraulic cylinder 209 will open the high-speed rotating cutting disc 208 within 0.5 seconds to prevent the cutting disc 208 from contacting obstacles such as pillars. As the tractor continues to move forward, the relative position of the obstacle avoidance contact rod 305 and the pillar is as shown in FIG. Fig.10As shown, since the obstacle avoidance contact rod 305 is always in a rotating state, the obstacle avoidance hydraulic cylinder 209 will remain in an open state until the cutting disc 208 passes the column. Since the length of the obstacle avoidance contact rod 305 is fixed, when the tractor continues to move forward, the obstacle avoidance contact rod 305 will no longer contact the column, and the obstacle avoidance contact rod 305 will return to its original position under the action of the return spring 302, and the driven cam 304 will also return to its original position, the travel switch 303 will become open, the obstacle avoidance hydraulic cylinder 209 will retract, and the cutting disc 208 will return to the working state to continue pruning the grapevine.

Claims

1. A grape branch pre-pruning device with automatic obstacle avoidance function, characterized in that: It comprises a pruning mechanism connected to a driving device, and an obstacle avoidance mechanism installed on the pruning mechanism, wherein the relative height and relative angle between the pruning mechanism and the driving device are adjustable; The pruning mechanism comprises a gantry, one side of which is provided with an obstacle avoidance hydraulic cylinder and a cutting disc for pruning operations, wherein the obstacle avoidance hydraulic cylinder can drive the cutting disc to move in a horizontal plane; The obstacle avoidance mechanism comprises a horizontal mounting plate mounted on the other side of the gantry, a travel switch and a driven cam are provided on the front of the horizontal mounting plate, and an obstacle avoidance contact rod and a reset spring are provided on the back of the horizontal mounting plate. The travel switch remains in a normally open state under normal conditions, the travel switch is transmission-connected with the driven cam and can be changed from a normally open state to a closed state under the transmission action of the driven cam, and the travel switch is also communication-connected with the obstacle avoidance hydraulic cylinder through a solenoid valve; The obstacle avoidance touch rod comprises an inner end and an outer end, the inner end of the obstacle avoidance touch rod is hinged to the return spring, and the outer end of the obstacle avoidance touch rod is close to the pruning mechanism.

2. The grape branch pre-pruning device with automatic obstacle avoidance function according to claim 1, characterized in that: The device comprises an adjustable bracket, the adjustable bracket comprises a vertically arranged vertical support rod, the top end of the vertical support rod is connected to a vertical adjustment rod through a moving pair, a first fixing plate is mounted on the vertical support rod, a vertical adjustment oil cylinder is mounted on the first fixing plate, and the vertical adjustment oil cylinder is simultaneously connected to the vertical adjustment rod; The vertical adjustment rod is simultaneously connected to a horizontally arranged transverse support rod through a moving pair, and a reinforcement stabilizing rod is connected between the transverse support rod and the vertical support rod; One end of the transverse support rod is connected to a transverse adjustment rod through a damper connecting plate, a lifting lug connected to the gantry is installed on the transverse adjustment rod, a second fixing plate is also installed on the transverse support rod, a transverse adjustment cylinder is installed on the second fixing plate, and the front and rear ends of the transverse adjustment cylinder are respectively connected to the transverse support rod and the transverse adjustment rod; The bottom end of the vertical support rod is connected to a third fixing plate through a rotating pair, the third fixing plate is connected to a horizontally arranged supporting beam, a fourth fixing plate is arranged on the supporting beam, a fifth fixing plate is arranged on the vertical support rod, and a swing cylinder is connected between the fourth fixing plate and the fifth fixing plate; The supporting cross beam is connected with a supporting vertical beam, and the supporting vertical beam is connected with the counterweight frame of the tractor.

3. The grape branch pre-pruning device with automatic obstacle avoidance function according to claim 2, characterized in that: The gantry is provided with a connecting seat connected to the lifting ear through a rotating pair and an obstacle avoidance hydraulic cylinder support plate, the bottom of the gantry is provided with a knife shaft rotating support, the knife shaft rotating support is connected to a vertical knife shaft fixing piece through a rotating pair, the knife shaft fixing piece is connected to a knife shaft which is also vertically arranged through a rotating pair, and at the same time, an obstacle avoidance hydraulic cylinder push head fixing plate is fixedly connected to the top, a hydraulic motor placement plate is installed on the obstacle avoidance hydraulic cylinder push head fixing plate, a hydraulic motor is installed on the hydraulic motor placement plate, the hydraulic motor is connected to the knife shaft in driving connection, and the cutting knife disc is installed on the knife shaft; A damper fixing plate is provided on the side of the gantry, and dampers are respectively connected between the damper fixing plate and the damper connecting plate via a rotating pair.

4. The grape branch pre-pruning device with automatic obstacle avoidance function according to claim 3, characterized in that: The knife shaft fixing piece is connected with a length-adjustable connecting rod.

5. The grape branch pre-pruning device with automatic obstacle avoidance function according to claim 3, characterized in that: There are two groups of cutting discs which are respectively fixedly connected to the left and right sides of the gantry, and the two groups of cutting discs are staggered and gathered up and down.

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