Intelligent removing device and method for pomegranate sprout tillers

Abstract

The invention belongs to the technical field of pomegranate sprout tillering removal, and particularly relates to an intelligent pomegranate sprout tillering removal device and method.The intelligent pomegranate sprout tillering removal device comprises a trolley, a lifting table is arranged on the trolley, a self-adjusting horizontal platform is arranged on the lifting table, a main rack is arranged on the self-adjusting horizontal platform, and an upper cantilever and a lower cantilever are parallel to each other and fixed to the same side of the main rack; the telescopic cantilever is slidably connected with the upper cantilever in the length direction of the upper cantilever, and the driving mechanism B drives the telescopic cantilever to slide; the clamping mechanism is slidably connected to the suspension end of the telescopic cantilever in the vertical direction and used for clamping the trunk of the pomegranate tree. The driving mechanism C is used for lifting the clamping mechanism; the cutting mechanism is slidably connected with the lower cantilever in the length direction of the lower cantilever, and the driving mechanism D drives the cutting mechanism to slide; the cutting mechanism comprises a saw blade, the motor B is used for driving the saw blade to rotate, and the axial section of the saw blade coincides with the clamping symmetry plane of the clamping mechanism; and a distance measuring camera is fixedly arranged on the main frame. The technical scheme is high in intelligent degree and high in working efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of pomegranate tiller removal, and particularly relates to a pomegranate tiller intelligent removal device and method. Background Art

[0002] Pomegranate suckers refer to new branches growing from the base or branches of the pomegranate tree. These suckers grow rapidly and consume a large amount of nutrients in the soil. They compete fiercely with the main trunk and fruiting branches of the pomegranate tree for nutrient resources, seriously hindering the healthy growth of the pomegranate tree and the increase in fruit yield. In the large-scale pomegranate planting industry, regularly removing pomegranate suckers is a very time-consuming and labor-intensive farm work.

[0003] As for the removal of pomegranate suckers, there is currently no dedicated intelligent removal equipment, and it is mainly cleaned manually, which is labor-intensive, low in work efficiency, and high in operating costs for growers. Summary of the invention

[0004] The technical problem to be solved by the present invention is to make up for the deficiencies of the prior art and to provide a device and method for intelligently removing pomegranate suckers.

[0005] To solve the above technical problems, the technical solution of the present invention is: A pomegranate sucker intelligent removal device comprises a controller and a trolley, wherein the trolley comprises a steering system; a lifting platform is arranged on the trolley, a self-adjusting horizontal platform is arranged on the lifting platform surface of the lifting platform, the self-adjusting horizontal platform comprises a horizontal platform, a main frame is arranged on the horizontal platform, and the length directions of an upper cantilever and a lower cantilever are parallel to each other and are fixed on the same side of the main frame in an up-down order; The telescopic cantilever is slidably connected to the upper cantilever along the length direction of the upper cantilever, and the driving mechanism B is used to drive the telescopic cantilever to slide; the hanging end of the telescopic cantilever is slidably connected to a clamping mechanism along the vertical up and down direction, and the clamping mechanism is used to clamp the pomegranate tree trunk, and the clamping part of the clamping mechanism includes a roller that rolls in contact with the pomegranate tree trunk; the driving mechanism C is used to lift the clamping mechanism; The cutting mechanism is connected to the lower cantilever in a sliding manner along the length direction of the lower cantilever, and the driving mechanism D is used to drive the cutting mechanism to slide; the cutting mechanism includes a horizontally arranged saw blade, and the motor B is used to drive the saw blade to rotate, and the axial section of the saw blade coincides with the clamping symmetry plane of the clamping mechanism; A ranging camera is fixed on the main frame. The ranging camera is used to photograph and measure the distance of the pomegranate tree trunk. The ranging camera is electrically connected to the controller. The actions of the trolley, lifting platform, self-adjusting leveling platform, driving mechanism B, clamping mechanism, driving mechanism C, driving mechanism D and motor B are all controlled by the controller.

[0006] Furthermore, the self-adjusting horizontal platform includes four electric cylinders A, which are respectively arranged at the four corners of the bottom of the horizontal platform. The cylinder body A of the electric cylinder A is fixedly connected to the lifting table surface of the lifting platform, and the telescopic rod A of the electric cylinder A is hinged to the horizontal platform through a ball joint; a gyroscope sensor is provided at the center of the horizontal platform, and the gyroscope sensor is used to detect the inclination angle of the horizontal platform in real time; the gyroscope sensor is electrically connected to the controller, and the movement of the electric cylinder A is controlled by the controller.

[0007] Furthermore, the main frame is rotatably connected to the horizontal platform around a vertical axis, and the steering mechanism is used to make the main frame reciprocate and turn 90 degrees.

[0008] Furthermore, the steering mechanism includes a turntable and an electric cylinder E, the turntable is rotatably connected to the horizontal platform, and the main frame is fixedly connected to the turntable; one end of the connecting rod is fixedly connected to the turntable, and the other end of the connecting rod is hinged to the telescopic rod E of the electric cylinder E, the cylinder body E of the electric cylinder E is hinged to the articulated block, and the junction is close to the overhanging end of the telescopic rod E, and the articulated block is fixedly connected to the horizontal platform.

[0009] Furthermore, a counterweight is provided on the main frame, and the counterweight and the upper cantilever are arranged on two opposite sides of the main frame, so as to keep the main frame balanced.

[0010] Furthermore, the clamping mechanism includes a clamping body A and a clamping body B that move in mirror-like manner with each other, and two guide grooves G are provided on the top and bottom of the clamping body A and the clamping body B, and a guide block is slidably connected in each guide groove G, and an axis is fixedly connected between each pair of upper and lower guide blocks, and the rollers are rotatably connected to the axis; when the guide block moves and changes its position along the guide groove G, the size of the cylindrical cavity surrounded by all the rollers changes accordingly; a spring is provided between the side of the guide block that is away from the roller and the guide groove G.

[0011] Furthermore, an end plate is fixedly provided at the overhanging end of the telescopic cantilever; the clamping mechanism includes a back plate, which is slidably connected to the end plate through a linear guide rail I and a slider I; the clamping body A and the clamping body B are slidably connected to the back plate through a guide structure A, and the clamping body A and the clamping body B are respectively fixedly connected with a screw nut A and a screw nut B, and the thread rotation directions of the screw nut A and the screw nut B are opposite; the screw nut A and the screw nut B are both matched with a bidirectional screw for screw transmission, and both ends of the bidirectional screw are rollingly connected to the bearing seat through rolling bearings, the bearing seat is fixedly connected to the back plate, and the bidirectional screw is driven to rotate by a motor A; the action of the motor A is controlled by the controller.

[0012] Furthermore, a pair of lifting columns are fixedly provided on the back plate; the driving mechanism C includes a lifting rod, which is located below the lifting column and is horizontally arranged; the telescopic rod C of the electric cylinder C is fixedly connected to the lifting rod, the cylinder body C of the electric cylinder C is fixedly connected to the bracket C, and the bracket C is fixedly connected to the end plate; the movement of the electric cylinder C is controlled by the controller.

[0013] Furthermore, the cutting mechanism includes a sliding plate, which is slidably connected to the lower cantilever through a linear guide rail II and a slider II; the upper end of the rod is fixedly connected to the sliding plate, and the lower end of the rod is fixedly provided with a mounting plate, the motor B is fixedly arranged on the mounting plate, and the saw blade is coaxially fixedly connected to the output shaft of the motor B; the side of the saw blade facing the main trunk of the pomegranate tree is protected by a protective shell, and the protective shell is fixedly connected to the mounting plate.

[0014] A method for intelligently removing pomegranate tillers, using the pomegranate tiller intelligent removal device as described above, comprises the following steps: Step S1: The initial state of the driving mechanism C is to lift the clamping mechanism in the middle of the sliding range in the up-down direction; according to the operation requirements of the tillering stubble height, the height of the lifting table on the lifting platform is adjusted; Step S2: The pomegranate sucker intelligent removal device is driven to move between the rows of the pomegranate orchard. During the movement of the trolley, the horizontal platform of the self-adjusting horizontal platform always maintains a horizontal state; the controller finds the specific position of the pomegranate tree trunk through the ranging camera, and makes the clamping symmetric surface of the clamping mechanism face the pomegranate tree trunk; Step S3: the clamping part of the clamping mechanism is in an open state, and the telescopic cantilever is driven to move by the driving mechanism B, thereby driving the clamping part of the clamping mechanism to stay at the periphery of the pomegranate tree trunk; then the clamping part of the clamping mechanism is clamped to the pomegranate tree trunk, and the roller presses the pomegranate tree trunk tightly; Step S4: The driving mechanism C is activated, and the clamping mechanism is no longer lifted, so that the clamping mechanism slides freely in the vertical up and down direction at the overhanging end of the telescopic cantilever; Step S5: driving the cutting mechanism to move by the driving mechanism D, so that the saw blade stays on the outermost circle of the tillers to be cleaned, and a safe distance is maintained between the saw blade and the main trunk of the pomegranate tree; Step S6: controlling the steering angle of the wheels of the trolley according to the distance between the trolley and the trunk of the pomegranate tree, driving the trolley to circle around the trunk of the pomegranate tree, and at the same time making the motor B drive the saw blade to rotate, so as to cut the suckers on the outermost circle; Step S7: After the trolley walks around the trunk of the pomegranate tree, the driving mechanism D drives the cutting mechanism to move, so that the saw blade stays on the new outermost circle of the suckers to be cleaned, and a safe distance is maintained between the saw blade and the trunk of the pomegranate tree; Step S8: repeating step S7; when the distance between the saw blade and the trunk of the pomegranate tree is less than the safety distance, the motor B stops working, and the driving mechanism D drives the cutting mechanism to move in the reverse direction and reset; the clamping mechanism is reset to the open state, and the telescopic cantilever is driven by the driving mechanism B to move in the reverse direction and reset; then the driving mechanism C is activated to lift the clamping mechanism to the middle of its vertically slidable range; Step S9: Repeat steps S2 to S8.

[0015] The beneficial effects that can be achieved by the present invention are: 1. It can realize automatic positioning and clamping of the clamping mechanism and the trunk of the pomegranate tree. On the premise that the clamping mechanism rolls and clamps the trunk of the pomegranate tree, the trolley realizes the "donkey-pulling-mill" type circling motion around the trunk of the pomegranate tree through the upper cantilever and the telescopic cantilever, thereby driving the cutting mechanism to completely remove the suckers on the outside of the trunk of the pomegranate tree in circles. It has a high degree of intelligence, liberates manpower, and has high work efficiency.

[0016] 2. The height of the saw blade can be adjusted by the lifting platform according to the requirements of the tillering stubble height.

[0017] 3. The setting of the self-adjusting level platform not only keeps the saw blade in a horizontal state at all times, ensuring the tip-free cutting of the tillers, but also cooperates with the free sliding up and down of the clamping mechanism to adapt to the undulating ground.

[0018] 4. The setting of the driving mechanism C can make the clamping mechanism switch between the following two states: one is to lift the clamping mechanism in the middle of the sliding range in the up and down direction; the other is to release the lifting of the clamping mechanism so that the clamping mechanism can slide freely in the vertical up and down direction at the hanging end of the telescopic cantilever. The clever structural design ensures that the clamping mechanism is stationary relative to the telescopic cantilever in the non-clamping state, and can slide freely up and down relative to the telescopic cantilever in the clamping state. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a front view of an embodiment of the present invention.

[0020] Figure 2 2 is a top view of an embodiment of the present invention.

[0021] Figure 3 1 is a perspective view of an embodiment of the present invention.

[0022] Figure 4 It is a three-dimensional diagram (two) of an embodiment of the present invention.

[0023] Figure 5 yes Figure 1 AA section view.

[0024] Figure 6 2 is a three-dimensional diagram of a clamping portion in an embodiment of the present invention.

[0025] Figure 7 2 is a top view of the clamping portion in an embodiment of the present invention.

[0026] Figure 8 yes Figure 3 A partial enlarged view of part B.

[0027] Fig. 9 1 is a usage status diagram of an embodiment of the present invention (I).

[0028] Fig.10 This is a usage status diagram (II) of an embodiment of the present invention.

[0029] Fig.11 This is a usage status diagram (III) of an embodiment of the present invention.

[0030] Fig.12 This is a usage status diagram (IV) of an embodiment of the present invention.

[0031] In the figure: 1-trolley, 2-lifting platform, 3-gyro sensor, 4-horizontal platform, 5-electric cylinder A, 6-ball joint, 7-steering mechanism, 701-electric cylinder E, 702-hinge block, 703-turntable, 704-connecting rod, 8-counterweight, 9-main frame, 10-range camera, 11-electric cylinder B, 12-hinged ear, 13-upper cantilever, 14-telescopic cantilever, 15-bracket C, 16-end plate, 17-linear guide rail I, 18-slider I, 19-clamping mechanism, 1901-back plate, 1902-bearing seat, 1903-screw nut A, 1904-clamping body A, 1905 -spring, 1906-guide block, 1907-shaft, 1908-roller, 1909-bidirectional lead screw, 1910-clamping body B, 1911-screw nut B, 1912-coupling, 1913-motor frame, 1914-motor A, 20-electric cylinder C, 21-lifting column, 22-lifting rod, 23-lower cantilever, 24-linear guide rail II, 25-sliding plate, 26-sliding block II, 27-protective shell, 28-saw blade, 29-motor B, 30-mounting plate, 31-mounting frame, 32-rod, 33-electric cylinder D, 34-linear guide rail III, 35-sliding block III, 99-pomegranate tree trunk. DETAILED DESCRIPTION

[0032] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0033] like Figure 1-Figure 4 As shown, a pomegranate sucker intelligent removal device includes a trolley 1, a lifting platform 2, a self-adjusting leveling platform, a main frame 9, an upper cantilever 13, a telescopic cantilever 14, a lower cantilever 23, a cutting mechanism, a ranging camera 10 and a controller.

[0034] The vehicle 1 is a four-wheel drive vehicle including a steering system, which belongs to the prior art and will not be described in detail here.

[0035] A lifting platform 2 is provided on the trolley 1. The lifting platform 2 in this embodiment is an electric scissor-type lifting platform (it belongs to the prior art, so it will not be described here in detail. Of course, it can also be other forms of electric lifting platforms or hydraulic lifting platforms). The lifting platform 2 includes a lifting table surface.

[0036] A self-adjusting horizontal platform is provided on the lifting surface of the lifting platform 2. The self-adjusting horizontal platform in this embodiment includes a horizontal platform 4, a gyroscope sensor and four electric cylinders A5. The four electric cylinders A5 are respectively arranged at the four corners of the bottom of the horizontal platform 4, the cylinder body A of the electric cylinder A5 is fixedly connected to the lifting surface of the lifting platform 2, and the telescopic rod A of the electric cylinder A5 is hinged to the horizontal platform 4 through a ball joint 6; a gyroscope sensor is provided at the center of the horizontal platform 4, and the gyroscope sensor is used to detect the inclination angle of the horizontal platform 4 in real time; the gyroscope sensor is electrically connected to the controller, and the action of the electric cylinder A5 is controlled by the controller.

[0037] A main frame 9 is provided on the horizontal platform 4, and the main frame 9 is connected to the horizontal platform 4 for rotation around a vertical axis, and a steering mechanism 7 is used to make the main frame 9 reciprocate and turn 90 degrees. Figure 5 As shown, the steering mechanism 7 includes a turntable 703 and an electric cylinder E701. The turntable 703 is rotatably connected to the horizontal platform 4, and the main frame 9 is fixedly connected to the turntable 703. One end of the connecting rod 704 is fixedly connected to the turntable 703, and the other end of the connecting rod 704 is hinged to the telescopic rod E of the electric cylinder E701. The cylinder body E of the electric cylinder E701 is hinged to the hinge block 702, and the intersection is close to the overhanging end of the telescopic rod E. The hinge block 702 is fixedly connected to the horizontal platform 4. The movements of the electric cylinder E701 are all controlled by the controller.

[0038] A distance measuring camera 10 is fixedly provided on the main frame 9. The distance measuring camera 10 is used to photograph and measure the distance of the pomegranate tree trunk 99. The distance measuring camera 10 is electrically connected to the controller.

[0039] The length directions of the upper cantilever 13 and the lower cantilever 23 are parallel to each other and are fixed on the same side of the main frame 9 in an up-down order. A counterweight 8 is provided on the other side of the main frame 9 to keep the main frame 9 balanced.

[0040] The telescopic cantilever 14 is slidably connected to the upper cantilever 13 along the length direction of the upper cantilever 13 through the linear guide rail III34 and the slider III35, and the driving mechanism B is used to drive the telescopic cantilever 14 to slide. The driving mechanism B in this embodiment is specifically an electric cylinder B11, the cylinder body B of the electric cylinder B11 is fixedly connected to the upper cantilever 13, the telescopic rod B of the electric cylinder B11 is hinged to the hinge ear 12, the hinge ear 12 is fixedly connected to the telescopic cantilever 14, and the actions of the electric cylinder B11 are all controlled by the controller.

[0041] The end of the telescopic cantilever 14 is fixed with an end plate 16; the end plate 16 is slidably connected to a clamping mechanism 19 in the vertical up-down direction, and the clamping mechanism 19 is used to clamp the pomegranate tree trunk 99. Figure 7 As shown, the clamping mechanism 19 includes a back plate 1901, which is slidably connected to the end plate 16 through a linear guide rail Ⅰ17 and a slider Ⅰ18; a clamping body A1904 and a clamping body B1910 are slidably connected to the back plate 1901 through a guide structure A, and the clamping body A1904 and the clamping body B1910 are respectively fixedly connected with a lead screw nut A1903 and a lead screw nut B1911, and the thread rotation directions of the lead screw nut A1903 and the lead screw nut B1911 are opposite; 3 and the lead screw nut B1911 are both matched with the bidirectional lead screw 1909 for screw transmission. The two ends of the bidirectional lead screw 1909 are rollingly connected with the bearing seat 1902 through rolling bearings. The bearing seat 1902 is fixedly connected to the back plate 1901. The bidirectional lead screw 1909 is coaxially fixedly connected with the output shaft of the motor A1914 through the coupling 1912; the motor A1914 is fixedly connected to the motor frame 1913, and the motor frame 1913 is fixedly connected to the back plate 1901; the action of the motor A1914 is controlled by the controller. Two guide grooves G are provided at the top and bottom of the clamping body A1904 and the clamping body B1910, and a guide block 1906 is slidably connected in each guide groove G. A shaft 1907 is fixedly connected between each pair of upper and lower guide blocks 1906, and a roller 1908 is rotatably connected to the shaft 1907; the roller 1908 is used for rolling contact with the pomegranate tree trunk 99; when the guide block 1906 moves and changes position along the guide groove G, the size of the cylindrical cavity surrounded by all the rollers 1908 changes accordingly (for adapting to tree trunks of different thicknesses and uneven trunk shapes); a spring 1905 is provided between the side of the guide block 1906 that is away from the roller 1908 and the guide groove G.

[0042] A pair of supporting columns 21 are fixedly disposed on the back plate 1901 of the clamping mechanism 19. Figure 6 The driving mechanism C is used to lift the clamping mechanism 19, as shown. Figure 8 As shown, the driving mechanism C includes a lifting rod 22, which is located below the lifting column 21 and is horizontally arranged. The telescopic rod C of the electric cylinder C20 is fixedly connected to the lifting rod 22, the cylinder body C of the electric cylinder C20 is fixedly connected to the bracket C15, and the bracket C15 is fixedly connected to the end plate 16; the movement of the electric cylinder C20 is controlled by the controller.

[0043] The cutting mechanism is connected to the lower cantilever 23 in a sliding manner along the length direction of the lower cantilever 23, and the driving mechanism D is used to drive the cutting mechanism to slide. The cutting mechanism includes a sliding plate 25, which is connected to the lower cantilever 23 in a sliding manner through a linear guide rail II 24 and a slider II 26; in this embodiment, the driving mechanism D is specifically an electric cylinder D33, and the actions of the electric cylinder D33 are all controlled by a controller. The cylinder body D of the electric cylinder D33 is fixedly connected to the mounting frame 31, and the telescopic rod D of the electric cylinder D33 is hinged to the sliding plate 25; the upper end of the rod 32 is fixedly connected to the sliding plate 25, and the lower end of the rod 32 is fixedly provided with a mounting plate 30, and the motor B29 is fixedly arranged on the mounting plate 30, and the saw blade 28 is coaxially fixedly connected to the output shaft of the motor B29, and the saw blade 28 is arranged horizontally, and the axial section of the saw blade 28 coincides with the clamping symmetry plane of the clamping mechanism 19. The side of the saw blade 28 facing the pomegranate tree trunk 99 is protected by a protective shell 27, and the protective shell 27 is fixedly connected to the mounting plate 30.

[0044] The method for removing pomegranate tillers using this embodiment comprises the following steps: Step S1: The initial state of the driving mechanism C is to lift the clamping mechanism 19 in the middle of the vertically slidable range. According to the operation requirements of the tillering stubble height, adjust the height of the lifting table on the lifting platform 2. Fig. 9 As shown, the clamping mechanism 19 is located in front of the trolley 1 through the steering mechanism 7, which is beneficial for the trolley 1 to move smoothly.

[0045] Step S2: The pomegranate sucker intelligent removal device is driven to move between the rows of the pomegranate orchard by driving the trolley 1. During the movement of the trolley 1, the horizontal platform 4 of the self-adjusting horizontal platform always maintains a horizontal state; the controller finds the specific position of the pomegranate tree trunk 99 through the ranging camera 10; and then the clamping mechanism 19 is turned 90 degrees through the steering mechanism 7, and the clamping symmetric surface of the clamping mechanism 19 faces the pomegranate tree trunk 99. Fig.10 shown.

[0046] Step S3: The clamping part of the clamping mechanism 19 is opened, and the telescopic cantilever 14 is driven to move by the driving mechanism B, so that the clamping part of the clamping mechanism 19 stays on the periphery of the pomegranate tree trunk 99; then the clamping part of the clamping mechanism 19 is clamped tightly against the pomegranate tree trunk 99, and the roller 1908 presses the pomegranate tree trunk 99, as shown in FIG. Fig.11 shown.

[0047] Step S4: The driving mechanism C is activated to stop lifting the clamping mechanism 19 and allow the clamping mechanism 19 to slide freely in the vertical up-and-down direction at the overhanging end of the telescopic cantilever 14 .

[0048] Step S5: The driving mechanism D drives the cutting mechanism to move, so that the saw blade 28 stays on the outermost circle of the suckers to be cleaned, and a safe distance is maintained between the saw blade 28 and the pomegranate tree trunk 99.

[0049] Step S6: According to the distance between the trolley 1 and the trunk 99 of the pomegranate tree, the steering angle of the wheels of the trolley 1 is controlled to drive the trolley 1 to circle around the trunk 99 of the pomegranate tree. At the same time, the motor B29 is used to drive the saw blade 28 to rotate to cut the suckers on the outermost circle.

[0050] Step S7: After the trolley 1 walks around the pomegranate tree trunk 99, the driving mechanism D drives the cutting mechanism to move, so that the saw blade 28 stays on the new outermost circle of the suckers to be cleaned, and a safe distance is maintained between the saw blade 28 and the pomegranate tree trunk 99. Fig.12 shown.

[0051] Step S8: Repeat step S7; when the distance between the saw blade 28 and the pomegranate tree trunk 99 is less than the safety distance, stop the motor B29, and drive the cutting mechanism to move in the reverse direction and reset through the driving mechanism D; reset the clamping mechanism 19 to the open state, and drive the telescopic cantilever 14 to move in the reverse direction and reset through the driving mechanism B; then activate the driving mechanism C to lift the clamping mechanism 19 to the middle of its upward and downward sliding range; and use the steering mechanism 7 to rotate the clamping mechanism 19 90° in the reverse direction and reset it in front of the trolley 1.

[0052] Step S9: Repeat steps S2 to S8.

[0053] The above is only one embodiment of the present invention. The protection scope of the present invention is not limited to the above embodiment. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications made without departing from the idea of ​​the present invention are all within the protection scope of the present invention.

Claims

1. A pomegranate tiller intelligent removal device, characterized in that: The invention comprises a controller and a trolley (1), wherein the trolley (1) comprises a steering system; a lifting platform (2) is provided on the trolley (1), a self-adjusting horizontal platform is provided on the lifting platform surface of the lifting platform (2), the self-adjusting horizontal platform comprises a horizontal platform (4), a main frame (9) is provided on the horizontal platform (4), and the length directions of the upper cantilever (13) and the lower cantilever (23) are parallel to each other and are fixed on the same side of the main frame (9) in an up-down order; The telescopic cantilever (14) is slidably connected to the upper cantilever (13) along the length direction of the upper cantilever (13), and the driving mechanism B is used to drive the telescopic cantilever (14) to slide; the overhanging end of the telescopic cantilever (14) is slidably connected to a clamping mechanism (19) along the vertical up-down direction, and the clamping mechanism (19) is used to clamp the pomegranate tree trunk (99), and the clamping part of the clamping mechanism (19) includes a roller (1908) that is in rolling contact with the pomegranate tree trunk (99); the driving mechanism C is used to lift the clamping mechanism (19); The cutting mechanism is slidably connected to the lower cantilever (23) along the length direction of the lower cantilever (23), and the driving mechanism D is used to drive the cutting mechanism to slide; the cutting mechanism includes a horizontally arranged saw blade (28), and the motor B (29) is used to drive the saw blade (28) to rotate, and the axial cross section of the saw blade (28) and the clamping symmetry plane of the clamping mechanism (19) overlap each other; A distance measuring camera (10) is fixedly provided on the main frame (9), and the distance measuring camera (10) is used to photograph and measure the distance of the pomegranate tree trunk (99). The distance measuring camera (10) is electrically connected to the controller; the actions of the trolley (1), the lifting platform (2), the self-adjusting leveling platform, the driving mechanism B, the clamping mechanism (19), the driving mechanism C, the driving mechanism D and the motor B (29) are all controlled by the controller.

2. The pomegranate tiller intelligent removal device according to claim 1 is characterized in that: The self-adjusting horizontal platform comprises four electric cylinders A (5), which are respectively arranged at the four corners of the bottom of the horizontal platform (4); the cylinder body A of the electric cylinder A (5) is fixedly connected to the lifting table surface of the lifting platform (2); the telescopic rod A of the electric cylinder A (5) is hinged to the horizontal platform (4) through a ball joint (6); a gyroscope sensor is provided at the center of the horizontal platform (4), and the gyroscope sensor is used to detect the inclination angle of the horizontal platform (4) in real time; the gyroscope sensor is electrically connected to the controller, and the action of the electric cylinder A (5) is controlled by the controller.

3. The pomegranate tiller intelligent removal device according to claim 1, characterized in that: The main frame (9) is rotatably connected to the horizontal platform (4) around a vertical axis, and the steering mechanism (7) is used to make the main frame (9) reciprocate and turn 90 degrees.

4. The pomegranate tiller intelligent removal device according to claim 3 is characterized in that: The steering mechanism (7) comprises a turntable (703) and an electric cylinder E (701); the turntable (703) is rotatably connected to the horizontal platform (4); the main frame (9) is fixedly connected to the turntable (703); one end of a connecting rod (704) is fixedly connected to the turntable (703); the other end of the connecting rod (704) is hinged to a telescopic rod E of the electric cylinder E (701); a cylinder body E of the electric cylinder E (701) is hinged to a hinge block (702); the junction is close to the overhanging end of the telescopic rod E; and the hinge block (702) is fixedly connected to the horizontal platform (4).

5. The pomegranate sucker intelligent removal device according to claim 1, characterized in that: A counterweight (8) is also provided on the main frame (9), and the counterweight (8) and the upper cantilever (13) are arranged on two opposite sides of the main frame (9) to keep the main frame (9) balanced.

6. The intelligent device for removing pomegranate tillers according to claim 1, characterized in that: The clamping mechanism (19) comprises a clamping body A (1904) and a clamping body B (1910) which move in mirror image with each other. Two guide grooves G are provided at the top and bottom of the clamping body A (1904) and the clamping body B (1910). A guide block (1906) is slidably connected in each guide groove G. A shaft (1907) is fixedly connected between each pair of upper and lower guide blocks (1906). The roller (1908) is rotatably connected to the shaft (1907). When the guide block (1906) moves and changes position along the guide groove G, the size of the cylindrical cavity surrounded by all the rollers (1908) changes accordingly. A spring (1905) is provided between the side of the guide block (1906) which is away from the roller (1908) and the guide groove G.

7. The intelligent device for removing pomegranate tillers according to claim 6 is characterized in that: The overhanging end of the telescopic cantilever (14) is fixedly provided with an end plate (16); the clamping mechanism (19) comprises a back plate (1901), and the back plate (1901) is slidably connected to the end plate (16) via a linear guide rail I (17) and a slider I (18); the clamping body A (1904) and the clamping body B (1910) are slidably connected to the back plate (1901) via a guide structure A, and the clamping body A (1904) and the clamping body B (1910) are respectively fixedly connected with a lead screw nut A (1903) and a lead screw nut B (1904). 911), the thread rotation directions of the lead screw nut A (1903) and the lead screw nut B (1911) are opposite; the lead screw nut A (1903) and the lead screw nut B (1911) are both matched with the bidirectional lead screw (1909) for threaded transmission, the two ends of the bidirectional lead screw (1909) are rollingly connected to the bearing seat (1902) through rolling bearings, the bearing seat (1902) is fixedly connected to the back plate (1901), and the bidirectional lead screw (1909) is driven to rotate by the motor A (1914); the action of the motor A (1914) is controlled by the controller.

8. The intelligent device for removing pomegranate tillers according to claim 7, characterized in that: A pair of lifting columns (21) are fixedly provided on the back plate (1901); the driving mechanism C comprises a lifting rod (22), the lifting rod (22) is located below the lifting column (21), the lifting rod (22) is arranged horizontally, the telescopic rod C of the electric cylinder C (20) is fixedly connected to the lifting rod (22), the cylinder body C of the electric cylinder C (20) is fixedly connected to the bracket C (15), and the bracket C (15) is fixedly connected to the end plate (16); the movement of the electric cylinder C (20) is controlled by the controller.

9. The intelligent device for removing pomegranate tillers according to claim 1, characterized in that: The cutting mechanism comprises a sliding plate (25), the sliding plate (25) being slidably connected to the lower cantilever (23) via a linear guide rail II (24) and a slider II (26); the upper end of a rod (32) is fixedly connected to the sliding plate (25), the lower end of the rod (32) is fixedly provided with a mounting plate (30), the motor B (29) is fixedly arranged on the mounting plate (30), the saw blade (28) is coaxially fixedly connected to the output shaft of the motor B (29); the side of the saw blade (28) facing the pomegranate tree trunk (99) is protected by a protective shell (27), and the protective shell (27) is fixedly connected to the mounting plate (30).

10. A method for intelligently removing pomegranate tillers, characterized in that: The pomegranate sucker intelligent removal device as claimed in claim 1 comprises the following steps: Step S1: the initial state of the driving mechanism C is to lift the clamping mechanism (19) in the middle of the sliding range in the up-down direction; the height of the lifting table surface on the lifting platform (2) is adjusted according to the operation requirements of the tillering stubble height; Step S2: The pomegranate sucker intelligent removal device is driven to move between the rows of the pomegranate orchard. During the movement of the trolley (1), the horizontal platform (4) of the self-adjusting horizontal platform always maintains a horizontal state; the controller finds the specific position of the pomegranate tree trunk (99) through the ranging camera (10), and makes the clamping symmetric surface of the clamping mechanism (19) face the pomegranate tree trunk (99); Step S3: the clamping part of the clamping mechanism (19) is opened, and the telescopic cantilever (14) is driven to move by the driving mechanism B, thereby driving the clamping part of the clamping mechanism (19) to stay on the periphery of the pomegranate tree trunk (99); the clamping part of the clamping mechanism (19) is then clamped to the pomegranate tree trunk (99), and at this time, the roller (1908) presses the pomegranate tree trunk (99); Step S4: the driving mechanism C is activated, the clamping mechanism (19) is no longer supported, and the clamping mechanism (19) is allowed to slide freely in the vertical up and down direction at the overhanging end of the telescopic cantilever (14); Step S5: driving the cutting mechanism to move by the driving mechanism D, so that the saw blade (28) stays on the outermost circle of the tillers to be cleaned, and a safe distance is maintained between the saw blade (28) and the pomegranate tree trunk (99); Step S6: controlling the steering angle of the wheels of the trolley (1) according to the distance between the trolley (1) and the trunk (99) of the pomegranate tree, driving the trolley (1) to circle around the trunk (99) of the pomegranate tree, and at the same time causing the motor B (29) to drive the saw blade (28) to rotate, so as to cut the suckers on the outermost circle; Step S7: After the trolley (1) travels around the pomegranate tree trunk (99) for one circle, the driving mechanism D drives the cutting mechanism to move, so that the saw blade (28) stays on the new outermost circle of the suckers to be cleaned, and a safe distance is maintained between the saw blade (28) and the pomegranate tree trunk (99); Step S8: repeating step S7; when the distance between the saw blade (28) and the pomegranate tree trunk (99) is less than the safety distance, the motor B (29) stops working, and the driving mechanism D drives the cutting mechanism to move in the reverse direction and reset; the clamping mechanism (19) is reset to the open state, and the telescopic cantilever (14) is driven by the driving mechanism B to move in the reverse direction and reset; then the driving mechanism C is activated to lift the clamping mechanism (19) to the middle of its vertically slidable range; Step S9: Repeat steps S2 to S8.

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