Intelligent device and method for removing pomegranate suckers

Abstract

The present invention belongs to the technical field of pomegranate sucker removal, and specifically relates to an intelligent pomegranate sucker removal device and method. The device comprises a trolley equipped with a lifting platform, a self-leveling platform, a main frame, an upper cantilever and a lower cantilever parallel to each other and fixed on the same side of the main frame; a telescopic cantilever slidably connected to the upper cantilever along the length of the upper cantilever, and a drive mechanism B drives the telescopic cantilever to slide; a clamping mechanism slidably connected to the overhanging end of the telescopic cantilever in a vertical direction for clamping the pomegranate tree trunk; a drive mechanism C for lifting the clamping mechanism; a cutting mechanism slidably connected to the lower cantilever along the length of the lower cantilever, and a drive mechanism D drives the cutting mechanism to slide; the cutting mechanism includes a saw blade, a motor B for driving the saw blade to rotate, and the axial cross-section of the saw blade coincides with the clamping symmetry plane of the clamping mechanism; and a rangefinder camera fixed to the main frame. This technical solution has a high degree of intelligence and high work efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of pomegranate tiller removal, and in particular relates to an intelligent pomegranate tiller removal device and method. Background Art

[0002] Pomegranate suckers are new shoots that sprout from the base or trunk of a pomegranate tree. These suckers grow rapidly, consuming significant amounts of soil nutrients and competing fiercely with the main trunk and fruiting branches for nutrients. This severely hinders the tree's healthy growth and fruit yield. Regularly removing these suckers is a time-consuming and labor-intensive task in large-scale pomegranate cultivation.

[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 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 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:

[0006] A pomegranate sucker removal device includes a controller and a trolley, the trolley including a steering system; a lifting platform is provided on the trolley, a self-adjusting leveling platform is provided on the lifting platform surface of the lifting platform, the self-adjusting leveling platform includes a horizontal platform, a main frame is provided on the horizontal platform, and the length directions of the upper and lower cantilever arms are parallel to each other and fixed to the same side of the main frame in an upper and lower order;

[0007] 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 overhanging end of the telescopic cantilever is slidably connected to a clamping mechanism in the vertical up-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 is in rolling contact with the pomegranate tree trunk; the driving mechanism C is used to lift the clamping mechanism;

[0008] The cutting mechanism is slidably connected to the lower cantilever along the length 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 cross-section of the saw blade coincides with the clamping symmetry plane of the clamping mechanism;

[0009] 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, drive mechanism B, clamping mechanism, drive mechanism C, drive mechanism D and motor B are all controlled by the controller.

[0010] 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 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 in 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.

[0011] 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 rotate 90 degrees.

[0012] 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 intersection is close to the overhanging end of the telescopic rod E, and the articulated block is fixedly connected to the horizontal platform.

[0013] Furthermore, the main frame is provided with a counterweight, which is arranged on both sides of the main frame and the upper cantilever, so as to keep the main frame balanced.

[0014] Furthermore, the clamping mechanism includes a clamping body A and a clamping body B that move in mirror-image relation to 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 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 facing away from the roller and the guide groove G.

[0015] Furthermore, the overhanging end of the telescopic cantilever is fixedly provided with an end plate; 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 the bidirectional screw for screw transmission, and the two 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 the motor A; the action of the motor A is controlled by the controller.

[0016] 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.

[0017] 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 set 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.

[0018] A method for intelligently removing pomegranate tillers, using the pomegranate tiller intelligent removal device described above, comprises the following steps:

[0019] Step S1: The initial state of the driving mechanism C is to lift the clamping mechanism in the middle of the vertically slidable range; the height of the lifting platform on the lifting platform is adjusted according to the operation requirements of the tillering stubble height;

[0020] Step S2: The pomegranate sucker 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 leveling platform always remains horizontal. The controller uses a ranging camera to find the specific position of the pomegranate tree trunk and makes the clamping symmetric surface of the clamping mechanism face the pomegranate tree trunk.

[0021] Step S3: The clamping portion of the clamping mechanism is opened, and the telescopic cantilever is driven to move by the driving mechanism B, thereby driving the clamping portion of the clamping mechanism to stay outside the pomegranate tree trunk; the clamping portion of the clamping mechanism is then clamped to the pomegranate tree trunk, and the roller presses the pomegranate tree trunk tightly;

[0022] Step S4: activating the driving mechanism C, and no longer supporting the clamping mechanism, so that the clamping mechanism can slide freely in the vertical up and down direction at the overhanging end of the telescopic cantilever;

[0023] Step S5: The cutting mechanism is driven by the driving mechanism D to move 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;

[0024] Step S6: controlling the steering angle of the trolley wheels according to the distance between the trolley and the pomegranate tree trunk to drive the trolley to circle around the pomegranate tree trunk, while simultaneously causing the motor B to drive the saw blade to rotate and cut the suckers on the outermost circle;

[0025] 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;

[0026] Step S8: Repeat step S7; when the distance between the saw blade and the trunk of the pomegranate tree is less than the safe distance, the motor B stops working, and the cutting mechanism is driven by the driving mechanism D 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 back to the middle of its vertically slidable range;

[0027] Step S9: Repeat steps S2 to S8.

[0028] The beneficial effects that can be achieved by the present invention are:

[0029] 1. It can realize automatic positioning and clamping of the clamping mechanism and the pomegranate tree trunk. Under the premise that the clamping mechanism rolls and clamps the pomegranate tree trunk, the trolley realizes a "donkey-pulling-a-mill"-like circular motion around the pomegranate tree trunk through the upper cantilever and the telescopic cantilever, thereby driving the cutting mechanism to thoroughly remove the suckers on the outside of the pomegranate tree trunk in circles. It has a high degree of intelligence, liberates manpower, and improves work efficiency.

[0030] 2. The height of the saw blade can be adjusted according to the height requirements of the tillering and stubble through the lifting platform.

[0031] 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 tiller, but also cooperates with the free sliding up and down of the clamping mechanism to adapt to the undulating ground.

[0032] 4. The drive mechanism C is configured to switch the clamping mechanism between two states: one in which the clamping mechanism is held in the middle of its vertically slidable range; and the other in which the clamping mechanism is released, allowing it to slide freely vertically up and down at the overhanging end of the telescopic cantilever. This ingenious structural design ensures that the clamping mechanism remains stationary relative to the telescopic cantilever in the unclamped state and can slide freely up and down relative to the telescopic cantilever in the clamped state. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a front view of an embodiment of the present invention.

[0034] Figure 2 2 is a top view of an embodiment of the present invention.

[0035] Figure 3 1 is a perspective view of an embodiment of the present invention.

[0036] Figure 42 is a perspective view of an embodiment of the present invention.

[0037] Figure 5 yes Figure 1 AA cross-sectional view.

[0038] Figure 6 2 is a perspective view of a clamping portion in an embodiment of the present invention.

[0039] Figure 7 2 is a top view of the clamping portion in an embodiment of the present invention.

[0040] Figure 8 yes Figure 3 A partial enlarged view of part B.

[0041] Figure 9 This is a usage state diagram (1) of an embodiment of the present invention.

[0042] Figure 10 This is the usage status diagram (2) of the embodiment of the present invention.

[0043] Figure 11 This is the usage state diagram (3) of the embodiment of the present invention.

[0044] Figure 12 This is a usage state diagram (IV) of an embodiment of the present invention.

[0045] 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-distance measuring camera, 11-electric cylinder B, 12-hinge 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 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-slider 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-slider III, 99-pomegranate tree trunk. DETAILED DESCRIPTION

[0046] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0047] like Figures 1-4 As shown, an intelligent pomegranate sucker 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.

[0048] 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.

[0049] A lifting platform 2 is provided on the trolley 1. The lifting platform 2 in this embodiment is an electric scissor-type lifting platform (which belongs to the prior art and 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.

[0050] A self-adjusting leveling platform is provided on the lifting surface of the lifting platform 2. The self-adjusting leveling platform in this embodiment includes a leveling 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 via 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 movement of the electric cylinder A5 is controlled by the controller.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] The telescopic boom 14 is slidably connected to the upper boom 13 along the length of the upper boom 13 via a linear guide rail III 34 and a slider III 35 . A drive mechanism B is used to drive the telescopic boom 14. In this embodiment, the drive mechanism B is specifically an electric cylinder B11. The cylinder body B of the electric cylinder B11 is fixedly connected to the upper boom 13. The telescopic rod B of the electric cylinder B11 is hingedly connected to the hinge lug 12, which is fixedly connected to the telescopic boom 14. The movement of the electric cylinder B11 is controlled by a controller.

[0055] The cantilevered end of the telescopic cantilever 14 is fixed with an end plate 16; a clamping mechanism 19 is slidably connected to the end plate 16 in the vertical up and 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 Ⅰ 17 and a slider Ⅰ 18; 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 to a screw nut A1903 and a screw nut B1911, and the screw nut A1903 and the screw nut B1911 have opposite thread rotation directions; the screw nut A1904 and the screw nut B1911 are respectively fixed to the back plate 1901 and the guide structure A. 3 and the screw nut B1911 are both matched with the bidirectional screw 1909 for screw transmission. The two ends of the bidirectional 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. The bidirectional screw 1909 is coaxially fixedly connected to 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. The top and bottom of the clamping body A1904 and the clamping body B1910 are each provided with two guide grooves G, 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 the 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 faces away from the roller 1908 and the guide groove G.

[0056] A pair of supporting columns 21 are fixed 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 8As 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.

[0057] The cutting mechanism is slidably connected to the lower cantilever 23 along its length, and a drive mechanism D is used to drive the cutting mechanism. The cutting mechanism includes a sliding plate 25, which is slidably connected to the lower cantilever 23 via a linear guide rail II 24 and a slider II 26. In this embodiment, the drive mechanism D is specifically an electric cylinder D33, whose movements are 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 hingedly connected 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 mounted to the mounting plate 30. The motor B29 is fixedly mounted on the mounting plate 30. The saw blade 28 is coaxially fixedly connected to the output shaft of the motor B29. The saw blade 28 is positioned horizontally, with its axial cross-section coinciding 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 housing 27, which is fixedly connected to the mounting plate 30.

[0058] The method for removing pomegranate tillers using this embodiment comprises the following steps:

[0059] Step S1: The initial state of the driving mechanism C is to lift the clamping mechanism 19 in the middle of the vertical sliding range. According to the operation requirements of the tillering stubble height, adjust the height of the lifting platform 2. Figure 9 As shown, the clamping mechanism 19 is positioned in front of the trolley 1 through the steering mechanism 7, which is beneficial for the trolley 1 to move smoothly.

[0060] Step S2: The pomegranate sucker intelligent removal device is driven by the trolley 1 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 remains in 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. Figure 10 shown.

[0061] 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 outside the pomegranate tree trunk 99; then the clamping part of the clamping mechanism 19 is clamped to the pomegranate tree trunk 99, and at this time, the roller 1908 presses the pomegranate tree trunk 99. Figure 11 shown.

[0062] Step S4 : The driving mechanism C is activated, and the clamping mechanism 19 is no longer supported, so that the clamping mechanism 19 can slide freely in the vertical up and down direction at the overhanging end of the telescopic cantilever 14 .

[0063] 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 shoots to be cleaned, and a safe distance is maintained between the saw blade 28 and the pomegranate tree trunk 99.

[0064] 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 and cut the suckers on the outermost circle.

[0065] 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. Figure 12 shown.

[0066] 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 vertical sliding range; and rotate the clamping mechanism 19 in the reverse direction 90° through the steering mechanism 7 to reset it in front of the trolley 1.

[0067] Step S9: Repeat steps S2 to S8.

[0068] 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 concept of the present invention are all within the protection scope of the present invention.

Claims

1. An intelligent device for removing pomegranate suckers, characterized by: 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 upper and lower order; The telescopic cantilever (14) is connected to the upper cantilever (13) in a sliding manner 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 connected to a clamping mechanism (19) in a vertical up-down direction in a sliding manner, 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) in rolling contact with the pomegranate tree trunk (99); the driving mechanism C is used to switch the clamping mechanism (19) between two states: one is to lift the clamping mechanism (19) in the middle of the vertically slidable range; the other is to release the lifting of the clamping mechanism (19), so that the clamping mechanism (19) can slide freely in the vertical up-down direction at the overhanging end of the telescopic cantilever (14), and can adapt to the uneven ground; 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 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) coincide with 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; The clamping mechanism (19) includes a back plate (1901), and a pair of lifting columns (21) are fixedly provided on the back plate (1901); the driving mechanism C includes 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; The trolley (1) realizes a "donkey-pulling-a-mill" type circular motion around the pomegranate tree trunk (99) through the upper cantilever (13) and the telescopic cantilever (14), thereby driving the cutting mechanism to completely remove the sprouts on the outside of the pomegranate tree trunk (99) in circles.

2. The pomegranate tiller intelligent removal device according to claim 1, 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), and 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 connected to the horizontal platform (4) in a rotational manner 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, characterized in that: The steering mechanism (7) includes 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 the connecting rod (704) is fixedly connected to the turntable (703); the other end of the connecting rod (704) is hinged to the telescopic rod E of the electric cylinder E (701); the cylinder body E of the electric cylinder E (701) is hinged to the hinge block (702); 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).

5. The intelligent pomegranate tiller removal device according to claim 1, characterized in that: The main frame (9) is further provided with a counterweight (8), and the counterweight (8) and the upper cantilever (13) are respectively arranged on two opposite sides of the main frame (9) for keeping the main frame (9) balanced.

6. The intelligent pomegranate sucker removal device according to claim 1, characterized in that: The clamping mechanism (19) comprises a clamping body A (1904) and a clamping body B (1910) that move in mirror-image relation to 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 rollers (1908) are rotatably connected to the shaft (1907). When the guide blocks (1906) move and change their positions along the guide grooves G, the size of the cylindrical cavity enclosed by all the rollers (1908) changes accordingly. A spring (1905) is provided between the side of the guide blocks (1906) that faces away from the rollers (1908) and the guide grooves G.

7. The intelligent pomegranate tiller removal device according to claim 6, characterized in that: The overhanging end of the telescopic cantilever (14) is fixedly provided with an end plate (16); 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 screw nut A (1903) and a screw nut B (1911), and the screw nut A 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 screw 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 pomegranate sucker removal device according to claim 1, characterized in that: The cutting mechanism includes a sliding plate (25), which is slidably connected to the lower cantilever (23) through a linear guide rail II (24) and a slider II (26); 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), the motor B (29) is fixedly set on the mounting plate (30), and 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).

9. A method for intelligently removing pomegranate suckers, characterized by: The pomegranate sucker intelligent removal device according to 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 vertically slidable range; according to the operation requirements of the tillering stubble height, the height of the upper lifting platform (2) 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 (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 portion 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 portion of the clamping mechanism (19) to stay outside the pomegranate tree trunk (99); the clamping portion 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: activating the driving mechanism C, and no longer supporting the clamping mechanism (19), so that the clamping mechanism (19) can 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, thereby cutting the suckers on the outermost circle; Step S7: After the trolley (1) travels 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); 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, the motor B (29) stops working, and the cutting mechanism is driven by the driving mechanism D 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.

Images