A device for controlling the branching angle of fruit trees

Abstract

The present invention discloses a device for controlling the branching angle of fruit trees, belonging to the field of fruit tree cultivation. A device for controlling the branching angle of fruit trees includes a clamp, and further includes: an angle and distance measuring member fixedly installed on one side of the clamp. Among them, the angle and distance measuring member includes a distance measuring member. There are two distance measuring members, corresponding to two branched branches of the fruit tree branch. The initial positions of the two distance measuring members are parallel to the clamp; a control board is arranged inside the clamp, and the control board is electrically connected to the distance measuring member. In the present invention, the clamp fixes the fruit tree branch through an automatic clamping mechanism, the distance measuring member starts to rotate around the clamp as an axis, the distance measuring member records the change of its distance from the branched branch in real time, and uses the relative position between the branched branch and the main branch. The control board constructs a three-dimensional space model of the branching point, the control board calculates the included angle between the two branched branches based on the three-dimensional model, and according to the measured length.

Description

Technical Field

[0001] The present invention relates to the technical field of fruit tree cultivation, and particularly to a device for controlling the branching angle of fruit trees. Background Art

[0002] The branching angle of fruit tree branches refers to the angle formed between the main trunk or main branch of the fruit tree and the branches, which is one of the important parameters of the morphological structure of fruit trees. During the fruit tree seedling cultivation process, a reasonable branching angle is crucial for the healthy growth of the tree body. An appropriate angle can not only improve the ventilation and light transmission conditions of the tree body, promote photosynthesis, but also enhance the bearing capacity of the branches, effectively improving the quality and yield of fruits.

[0003] In addition, a reasonable branching angle can also reduce the risk of branch breakage, laying a good foundation for the subsequent growth of fruit trees.

[0004] In actual fruit tree seedling cultivation, during the cultivation process, it is necessary to optimize the branching angle according to the characteristics of different tree species, and adjust the branch distribution to form an ideal tree shape structure. This process requires both precise measurement of the branching angle and timely adjustment of the growth direction of unreasonable branches.

[0005] Traditional seedling cultivation methods mainly rely on manual observation and measurement. The specific operations include using a protractor or measuring ruler to detect the branching angles of branches one by one, and bundling, supporting or pulling and adjusting the branches with unqualified angles. Although this method can achieve certain effects, due to the large number of fruit trees and complex branches, manual measurement and adjustment are time-consuming and laborious. Not only is the efficiency low, but also errors are likely to occur, making it difficult to meet the fruit tree planting requirements. Summary of the Invention

[0006] The purpose of the present invention is to solve the problem that in the prior art, there are many fruit trees and branches in the fruit forest, and it is troublesome to manually measure the branching angles of branches one by one with a measuring ruler, and to propose a device for controlling the branching angle of fruit trees.

[0007] In order to achieve the above purpose, the present invention adopts the following technical scheme:

[0008] A fruit tree branch angle control device includes a clamp for clamping and fixing fruit tree branches, and further includes: an angle distance measuring member fixedly installed on one side of the clamp. Among them, the angle distance measuring member includes a distance measuring member for measuring the distance between itself and the branched branches of the fruit tree branch. There are two of the distance measuring members, and the two distance measuring members correspond to the two branched branches of the fruit tree branch. The initial positions of the two distance measuring members are parallel to the clamp. When measuring the angle between the two branched branches of the fruit tree branch, the two distance measuring members perform a flipping distance measuring operation with the clamp as the axis; a control board arranged inside the clamp, the control board is electrically connected to the distance measuring members, and the control board completes the three-dimensional composition measurement of the fruit tree branch by the real-time angles of the two distance measuring members and the real-time measured distances of the two distance measuring members, and the control board calculates the angle between the two branched branches of the fruit tree branch.

[0009] In order to realize the measurement of the angle change of the fruit tree branch from the intersection point to the distance, further, the angle distance measuring member 303 further includes a fixing plate, a rotating plate is rotatably installed on the upper part of the fixing plate, a flipping motor is fixedly installed on one side of the fixing plate, and the output end of the flipping motor electrically connected to the control board is fixedly connected to the rotating shaft of the rotating plate.

[0010] In order to realize the angle change of the distance measuring member, further, a slide rail is fixedly connected to the upper part of the rotating plate, two sliders are slidably installed on the upper part of the slide rail, and each slider is rotatably installed with one of the distance measuring members.

[0011] In order to realize changing the angle of the infrared distance measuring instrument by using the slider, further, the distance measuring member includes a support plate, the support plate is rotatably installed on the upper part of the slider, two limiting plates are fixedly connected to the lower part of the support plate, a limiting rod is fixedly connected to the upper part of the rotating plate, the head of the limiting rod is slidably inserted between the two limiting plates, and an infrared distance measuring instrument is fixedly installed on the upper part of the support plate.

[0012] In order to realize the synchronous swinging of the two distance measuring members to scan the fruit tree branch, further, two driven gears are rotatably installed on the upper part of the rotating plate, the two driven gears are meshed and connected, a fixing rod is fixedly connected to the upper part of each driven gear, a connecting rod is slidably sleeved outside the fixing rod, and the connecting rod is fixedly connected to the slider.

[0013] In order to realize the driving of the two driven gears, further, one of the driven gears is meshed and connected with a driving gear, and the driving gear is rotatably installed on the upper part of the rotating plate.

[0014] In order to realize the rotation of the rotating plate, the driving wheel can be driven to rotate at a variable speed. The lower part of the driving gear passes through the rotating plate and is fixedly connected to the first helical gear. The first helical gear is meshed with the second helical gear. The second helical gear is rotatably installed on the lower part of the rotating plate. One side of the second helical gear is fixedly connected to a rotating rod. The end of the rotating rod away from the second helical gear is fixedly connected to a contact gear. One side of the fixed plate is fixedly connected to an arc-shaped rack. The inner side of the arc-shaped rack is movably meshed with the contact gear.

[0015] In order to realize electric drive control and switch control based on the control board, the clamp further includes a handle, the control board is integrated and installed inside the handle, and the switch fixedly installed on one side of the handle is electrically connected to the control board.

[0016] In order to realize the clamping action of the first clamping plate and the second clamping plate, further, the first clamping plate is fixedly connected to one side of the handle, the second clamping plate is slidably installed on the side of the first clamping plate away from the handle, and the screw rod rotatably installed on one side of the handle is screwed to the second clamping plate.

[0017] In order to realize the electrically driven clamping action of the first and second clamping plates, further, a clamping motor fixedly mounted on one end of the handle is electrically connected to the control board, and a large pulley is fixedly connected to the output end of the clamping motor, and a small pulley rotatably mounted on the handle is connected to the large pulley through a transmission belt, one side of the small pulley is fixedly connected to the screw rod, a slide is screwed to the outside of the screw rod, one side of the slide is fixedly connected to the second clamping plate, and the slide is slidably connected to the first clamping plate.

[0018] Compared with the prior art, the present invention provides a device for controlling the angle of branching of fruit trees, which has the following beneficial effects:

[0019] 1. The fruit tree branch angle detection and control device clamps the main branch at the bifurcation point into a fixture, and the fixture fixes the fruit branch through an automatic clamping mechanism to ensure that the device is stable and avoid errors caused by looseness during the measurement process. The two distance measuring parts are initially parallel to the fixture to ensure that the reference for the initial measurement is unified. The two distance measuring parts begin to flip around the fixture as the axis, and the distance measuring parts record the distance changes between them and the bifurcation branches in real time. During the flipping of the distance measuring parts, the control board monitors the flipping angle of the distance measuring parts in real time and records the rotation position of each distance measuring part. The control board receives the angle information of the two distance measuring parts and the corresponding distance data, and uses the relative position of the bifurcation branch and the main branch to construct a three-dimensional spatial model of the bifurcation point. The control board calculates the angle between the two bifurcation branches based on the three-dimensional model, and further optimizes the measurement angle according to the measured length, avoiding the problem of inaccurate angle measurement when the traditional device is tilted for measurement;

[0020] 2. The fruit tree branch angle detection and control device is controlled by a turnover motor through a rotating plate. In the initial state, it is perpendicular to the fixed plate and parallel to the fixture to ensure the initial reference. The turnover motor drives the rotating plate to rotate, making it gradually unfold along the direction of the fruit tree branch bifurcation and adjusting it to a position parallel to the target branch in real time. The distance measuring component is installed at the end of the rotating plate and continuously records the real-time distance and angle changes between it and the bifurcated branch during the rotation of the rotating plate. During the turnover of the rotating plate, the angle sensor and the distance measuring component work together to record the rotation angle between the rotating plate and the fixed plate and the distance to the bifurcated branch. The turnover motor controls the rotation angle so that the rotating plate can cover the range from the intersection point to the distant target position.

[0021] The parts not involved in this device are the same as the prior art or can be implemented using the prior art. The present invention realizes the three-dimensional scanning and measurement operation of the fruit tree branch through the lateral movement of two rangefinders and the turnover based on the fixture. Brief Description of the Drawings

[0022] Figure 1 It is a schematic diagram of the overall structure of a fruit tree branch angle control device proposed by the present invention;

[0023] Figure 2 It is a schematic diagram of the arc-shaped rack structure of a fruit tree branch angle control device proposed by the present invention;

[0024] Figure 3 It is a schematic diagram of the slider structure of a fruit tree branch angle control device proposed by the present invention;

[0025] Figure 4 It is a schematic diagram of the distance measuring component structure of a fruit tree branch angle control device proposed by the present invention;

[0026] Figure 5 It is a schematic diagram of the fixed plate structure of a fruit tree branch angle control device proposed by the present invention;

[0027] Figure 6 It is a fruit tree branch angle control device proposed by the present invention Figure 5 Schematic diagram of part A structure;

[0028] Figure 7 It is a schematic diagram of the fixture structure of a fruit tree branch angle control device proposed by the present invention;

[0029] Figure 8 It is a schematic diagram of the clamping motor structure of a fruit tree branch angle control device proposed by the present invention.

[0030] In the figure: 1. Fixture; 2. Switch; 3. Angle and distance measuring component 303;

[0031] 101. Grip; 102. First clamping plate; 103. Second clamping plate; 104. Large pulley; 105. Transmission belt; 106. Small pulley; 107. Lead screw; 108. Slide plate; 109. Clamping motor

[0032] 301. Fixed plate; 302. Rotating plate; 303. Distance measuring member; 304. Flipping motor; 305. Driven gear; 306. Fixed rod; 307. Connecting rod; 308. Slide block; 309. Slide rail; 310. Limiting rod; 311. Driving gear; 312. First helical gear; 313. Second helical gear; 314. Rotating rod; 315. Contact gear; 316. Arc-shaped rack

[0033] 3031. Support plate; 3032. Limiting plate; 3033. Infrared distance measuring instrument Specific implementation mode

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments

[0035] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention

[0036] Embodiment

[0037] Refer to Figure 1 - Figure 8 , a fruit tree branch angle control device, including a fixture 1 for clamping and fixing fruit tree branches, and further including: an angle distance measuring member 3 fixedly installed on one side of the fixture 1, wherein the angle distance measuring member 3 includes a distance measuring member 303 for measuring the distance between itself and the branched branches of the fruit tree branches. There are two distance measuring members 303, and the two distance measuring members 303 correspond to the two branched branches of the fruit tree branches. The initial positions of the two distance measuring members 303 are parallel to the fixture 1. When measuring the angle between the two branched branches of the fruit tree branches, the two distance measuring members 303 perform a flipping distance measuring operation with the fixture 1 as the axis; a control board is arranged inside the fixture 1, and the control board is electrically connected to the distance measuring member 303. The control board completes the three-dimensional composition measurement of the fruit tree branches by the real-time angles of the two distance measuring members 303 in cooperation with the real-time measured distances of the two distance measuring members 303, and the control board calculates the angle between the two branched branches of the fruit tree branches

[0038] For the above-mentioned fruit tree branch angle control device, the operator moves near the target fruit tree branch and clamps the main branch where the bifurcation point is located into fixture 1. Fixture 1 fixes the fruit tree branch through an automatic clamping mechanism to ensure the stability of the device and avoid errors caused by loosening during the measurement process. The two distance measuring components 303 are initially parallel to fixture 1 to ensure the unity of the starting measurement reference. The two distance measuring components 303 start to flip around fixture 1 as the axis. The distance measuring component 303 records the change in its distance from the bifurcated branch in real time. During the flipping process of the distance measuring component 303, the control board monitors the flipping angle of the distance measuring component 303 in real time and records the rotation position of each distance measuring component 303.

[0039] The control board receives the angle information and corresponding distance data of the two distance measuring components 303. Using the relative position between the bifurcated branch and the main branch, the control board constructs a three-dimensional space model of the bifurcation point. The control board calculates the included angle between the two bifurcated branches based on the three-dimensional model and further optimizes the measurement angle according to the measured length to avoid the problem of inaccurate measured included angle when the traditional device measures at an inclination.

[0040] Finally, the control board displays the measurement results, including the bifurcation angle and the three-dimensional structure diagram, through a display screen or other output devices. If the bifurcation angle exceeds the reasonable range, an alarm is issued. The user can also limit the bifurcation through fixture 1 and then bind and tie the cable ties for constraint correction. The measurement data can be stored in the internal storage unit or transmitted to the orchard management system through a wireless communication module to achieve long-term monitoring of the growth status of fruit trees. Thereby, the tediousness of manual measurement one by one is avoided, and the detection efficiency of the branch bifurcation angle of fruit trees is improved.

[0041] In order to measure the angle change of the fruit tree branch from the intersection point to the distance, further, the angle distance measuring component 3033 also includes a fixing plate 301. A rotating plate 302 is rotatably installed on the upper part of the fixing plate 301. A flipping motor 304 is fixedly installed on one side of the fixing plate 301. The output end of the flipping motor 304 electrically connected to the control board is fixedly connected to the rotating shaft of the rotating plate 302.

[0042] The rotating plate 302 is controlled by the flipping motor 304. In the initial state, it is perpendicular to the fixing plate 301 and parallel to fixture 1 to ensure the initial reference. The flipping motor 304 drives the rotating plate 302 to rotate, so that it gradually unfolds along the fruit tree branch bifurcation direction and is adjusted to a position parallel to the target branch in real time. The distance measuring component 303 is installed at the end of the rotating plate 302 and continuously records the real-time distance and angle change between it and the bifurcated branch as the rotating plate 302 rotates. During the flipping process of the rotating plate 302, the angle sensor and the distance measuring component 303 work together to record the rotation angle between the rotating plate 302 and the fixing plate 301 and the distance from the bifurcated branch. The flipping motor 304 controls the rotation angle so that the rotating plate 302 can cover the range from the intersection point to the distant target position.

[0043] To achieve the angular variation of the distance measuring member 303, further, a slide rail 309 is fixedly connected to the upper part of the rotating plate 302. Two sliders 308 are slidably mounted on the upper part of the slide rail 309. A distance measuring member 303 is rotatably mounted on the upper part of each slider 308. To achieve changing the angle of the infrared distance measuring instrument 3033 by using the slider 308, furthermore, the distance measuring member 303 includes a support plate 3031. The support plate 3031 is rotatably mounted on the upper part of the slider 308. Two limiting plates 3032 are fixedly connected to the lower part of the support plate 3031. A limiting rod 310 is fixedly connected to the upper part of the rotating plate 302. The head of the limiting rod 310 is slidably inserted between the two limiting plates 3032. An infrared distance measuring instrument 3033 is fixedly mounted on the upper part of the support plate 3031. To achieve the synchronous swinging and scanning of the fruit tree branches by the two distance measuring members 303, further, two driven gears 305 are rotatably mounted on the upper part of the rotating plate 302. The two driven gears 305 are meshed and connected. A fixing rod 306 is fixedly connected to the upper part of each driven gear 305. A connecting rod 307 is slidably sleeved outside the fixing rod 306. The connecting rod 307 is fixedly connected to the slider 308. To achieve the driving of the two driven gears 305, furthermore, one of the driven gears 305 is meshed and connected with a driving gear 311. The driving gear 311 is rotatably mounted on the upper part of the rotating plate 302.

[0044] To achieve the angular variation and synchronous swinging of the distance measuring member 303, a slide rail 309, sliders 308, a limiting structure and a gear linkage mechanism are introduced in the design, enabling the infrared distance measuring member 303 to reciprocally swing along the forking direction of the fruit tree branches and complete efficient scanning operations.

[0045] The driving gear 311 is meshed with one of the driven gears 305; the two driven gears 305 are meshed and connected to form a linkage mechanism. A fixing rod 306 is fixedly connected to each driven gear 305. A connecting rod 307 is slidably sleeved outside the fixing rod 306. The connecting rod 307 is fixedly connected to the slider 308 to form a driving structure for the slider 308. The fixing rod 306 of each driven gear 305 drives the slider 308 to slide left and right on the slide rail 309 through the connecting rod 307. The two sliders 308 always remain synchronized but move in opposite directions, ensuring the symmetrical swinging of the infrared distance measuring instrument 3033.

[0046] When the slider 308 slides along the slide rail 309, the infrared distance measuring instrument 3033 swings left and right synchronously with the support plate 3031. The infrared distance measuring instruments 3033 maintain synchronous swinging through the gear linkage, covering both sides of the forking of the fruit tree branches and completing the comprehensive scanning of the target area. The infrared distance measuring instrument 3033 real-time obtains the distance data of the target branches and records the measured values of each swinging angle through the control board.

[0047] In order to realize the rotation of the rotating plate 302, the driving wheel can be driven to rotate at a variable speed. The lower part of the driving gear 311 passes through the rotating plate 302 and is fixedly connected to the first bevel gear 312. The first bevel gear 312 is meshed with the second bevel gear 313. The second bevel gear 313 is rotatably installed at the lower part of the rotating plate 302. One side of the second bevel gear 313 is fixedly connected to a rotating rod 314. The end of the rotating rod 314 away from the second bevel gear 313 is fixedly connected to a contact gear 315. One side of the fixed plate 301 is fixedly connected to an arc-shaped rack 316. The inner side of the arc-shaped rack 316 is movably meshed with the contact gear 315.

[0048] After receiving the command from the control board, the flip motor 304 starts and drives its output shaft to rotate with the shaft fixedly connected to the rotating plate 302. The rotating plate 302 rotates around the fixed plate 301 to achieve angle adjustment. When the rotating plate 302 rotates, the contact gear 315 rotates around its own axis and engages with the inner side of the arc-shaped rack 316 fixedly installed on one side of the fixed plate 301, thereby driving the second bevel gear 313 to drive the first bevel gear 312 to rotate, completing the drive of the driving gear 311, and realizing the control of the swing scanning of the two ranging components 303 while flipping the rotating plate 302.

[0049] To achieve control of the electric drive and switch 2 based on the control board, the clamp 1 further includes a handle 101, the control board is integrated into the handle 101, and the switch 2 is fixedly mounted on one side of the handle 101 and electrically connected to the control board. To achieve the clamping action of the first clamping plate 102 and the second clamping plate 103, the first clamping plate 102 is fixedly connected to one side of the handle 101, and the second clamping plate 103 is slidably mounted on the side of the first clamping plate 102 away from the handle 101. The screw rod 107 is rotatably mounted on the side of the handle 101 and is screwed to the second clamping plate 103. In order to realize the electrically driven clamping action of the first clamping plate 102 and the second clamping plate 103, further, the clamping motor 109 fixedly installed at one end of the handle 101 is electrically connected to the control board, and the output end of the clamping motor 109 is fixedly connected to the large pulley 104, and the small pulley 106 rotatably installed on the handle 101 is connected to the large pulley 104 through the transmission belt 105. One side of the small pulley 106 is fixedly connected to the screw rod 107, and the outside of the screw rod 107 is screwed with a slide plate 108, one side of the slide plate 108 is fixedly connected to the second clamping plate 103, and the slide plate 108 is slidably connected to the first clamping plate 102.

[0050] For the electric drive clamping mechanism of the fixture 1, through the control board, the clamping motor 109 and the mechanical transmission device, the clamping action of the first clamping plate 102 and the second clamping plate 103 is realized. The user triggers a control signal through the switch 2 installed on one side of the grip 101, and the switch 2 transmits the instruction to the control board inside the grip 101. The control board controls the start, stop and rotation direction of the clamping motor 109 according to the signal. The control board receives and processes the instruction of the switch 2, and drives the clamping motor 109 to operate according to a preset mode, such as a clamping or loosening action. After the clamping motor 109 is started, its output end drives the large pulley 104 to rotate through the transmission shaft. The large pulley 104 is connected to the small pulley 106 through the transmission belt 105, and transmits the power to the small pulley 106. The small pulley 106 is fixedly connected to the lead screw 107. When the small pulley 106 rotates, it drives the lead screw 107 to rotate synchronously. The external thread of the lead screw 107 is screwed with the slide plate 108, and the slide plate 108 slides axially during the rotation of the lead screw 107 to realize a linear motion. The slide plate 108 is fixedly connected to the second clamping plate 103. During the sliding process of the slide plate 108, the second clamping plate 103 is driven to approach or move away from the first clamping plate 102. The slide plate 108 is slidably connected to the first clamping plate 102 to ensure the smooth movement of the second clamping plate 103 for clamping or loosening actions.

[0051] In the present invention, the operator moves to near the target fruit tree branch and clamps the main branch where the bifurcation point is located into the fixture 1. The fixture 1 fixes the fruit tree branch through the automatic clamping mechanism to ensure the stability of the device and avoid errors caused by loosening during the measurement process. The two distance measuring parts 303 are initially parallel to the fixture 1 to ensure the unity of the starting measurement reference. The two distance measuring parts 303 start to flip around the fixture 1 as the axis. The distance measuring part 303 records the change in its distance from the bifurcated branch in real time. During the flipping process of the distance measuring part 303, the control board monitors the flipping angle of the distance measuring part 303 in real time and records the rotation position of each distance measuring part 303. The control board receives the angle information and the corresponding distance data of the two distance measuring parts 303, and uses the relative position between the bifurcated branch and the main branch to construct a three-dimensional space model of the bifurcation point. The control board calculates the included angle between the two bifurcated branches based on the three-dimensional model, and further optimizes the measurement angle according to the measured length to avoid the problem of inaccurate measurement of the included angle when the traditional device measures at an inclination.

[0052] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A fruit tree branch angle control device, comprising a clamp (1) for clamping and fixing the fruit tree branch, characterized in that, It also includes: An angle distance measuring member (3) fixedly installed on one side of the fixture (1), wherein the angle distance measuring member (3) includes a distance measuring member (303) for measuring the distance between itself and the branched branches of the fruit tree branch. There are two distance measuring members (303), and the two distance measuring members (303) correspond to the two branched branches of the fruit tree branch. The initial positions of the two distance measuring members (303) are parallel to the fixture (1). When measuring the angle between the two branched branches of the fruit tree branch, the two distance measuring members (303) perform a flipping distance measuring operation with the fixture (1) as the axis; A control board arranged inside the fixture (1), the control board is electrically connected to the distance measuring member (303). The control board completes the three-dimensional composition measurement of the fruit tree branch by combining the real-time angles of the two distance measuring members (303) with the real-time measured distances of the two distance measuring members (303), and the control board calculates the angle between the two branched branches of the fruit tree branch; The angle distance measuring member (3) further includes a fixing plate (301), a rotating plate (302) is rotatably installed on the upper part of the fixing plate (301), a flipping motor (304) is fixedly installed on one side of the fixing plate (301), and the output end of the flipping motor (304) electrically connected to the control board is fixedly connected to the rotating shaft of the rotating plate (302); A slide rail (309) is fixedly connected to the upper part of the rotating plate (302), two sliders (308) are slidably installed on the upper part of the slide rail (309), and one distance measuring member (303) is rotatably installed on the upper part of each slider (308).

2. The fruit tree branch angle control device according to claim 1, wherein, The distance measuring member (3) includes a support plate (3031), the support plate (3031) is rotatably installed on the upper part of the slider (308), two limiting plates (3032) are fixedly connected to the lower part of the support plate (3031), a limiting rod (310) is fixedly connected to the upper part of the rotating plate (302), the head of the limiting rod (310) is slidably inserted between the two limiting plates (3032), and an infrared distance measuring instrument (3033) is fixedly installed on the upper part of the support plate (3031).

3. The fruit tree branch angle control device according to claim 1, characterized in that A driven gear (305) is rotatably installed on the upper part of the rotating plate (302), there are two driven gears (305), the two driven gears (305) are meshed and connected, a fixing rod (306) is fixedly connected to the upper part of each driven gear (305), a connecting rod (307) is slidably sleeved outside the fixing rod (306), and the connecting rod (307) is fixedly connected to the slider (308).

4. The fruit tree branch angle control device according to claim 3, characterized in that, One of the driven gears (305) is meshed and connected with a driving gear (311), and the driving gear (311) is rotatably installed on the upper part of the rotating plate (302).

5. The fruit tree branch angle control device according to claim 4, characterized in that, The lower part of the driving gear (311) passes through the rotating plate (302) and is fixedly connected with a first helical gear (312). The first helical gear (312) is meshed and connected with a second helical gear (313). The second helical gear (313) is rotatably installed at the lower part of the rotating plate (302). One side of the second helical gear (313) is fixedly connected with a rotating rod (314). The end of the rotating rod (314) far away from the second helical gear (313) is fixedly connected with a contact gear (315). One side of the fixing plate (301) is fixedly connected with an arc-shaped rack (316). The inner side of the arc-shaped rack (316) is movably meshed with the contact gear (315).

6. The fruit tree branch angle control device according to claim 1, characterized in that The fixture (1) includes a grip (101). The control board is integrally installed inside the grip (101). A switch (2) fixedly installed on one side of the grip (101) is electrically connected to the control board.

7. The fruit tree branch angle control device according to claim 6, wherein, One side of the grip (101) is fixedly connected with a first clamping plate (102). A second clamping plate (103) is slidably installed on the side of the first clamping plate (102) far away from the grip (101). A lead screw (107) rotatably installed on one side of the grip (101) is screwed with the second clamping plate (103).

8. The fruit tree branch angle control device according to claim 7, wherein, A clamping motor (109) fixedly installed at one end of the grip (101) is electrically connected to the control board. The output end of the clamping motor (109) is fixedly connected with a large pulley (104). A small pulley (106) rotatably installed on the grip (101) is in transmission connection with the large pulley (104) through a transmission belt (105). One side of the small pulley (106) is fixedly connected with the lead screw (107). The outside of the lead screw (107) is screwed with a sliding plate (108). One side of the sliding plate (108) is fixedly connected with the second clamping plate (103). The sliding plate (108) is slidably connected with the first clamping plate (102).

Images