Unmanned aerial vehicle pruning device for tea tree crowns

Abstract

The invention provides a tea tree crown unmanned aerial vehicle pruning device, and relates to the technical field of tea planting machinery, and the tea tree crown unmanned aerial vehicle pruning device comprises an unmanned aerial vehicle; the main body frame is detachably mounted on the unmanned aerial vehicle; the crown pruning mechanism comprises first blades and a reciprocating driving assembly which are arranged on the main body frame, the first blades are in a long strip shape and are arranged in the transverse direction, the number of the first blades is two, and first cutter teeth extending in the width direction are arranged on the first blades; the reciprocating driving assembly is used for driving the two first blades to reciprocate alternately in the length direction. Due to the fact that the first blade is in a long strip shape and is arranged in the transverse direction, a large trimming area can be covered on the premise that the weight is small, and the trimming efficiency can be effectively improved. When the crown pruning mechanism is used for pruning, the first blade only reciprocates in a small stroke, the impact force generated during pruning is small, the influence on the flight stability of the unmanned aerial vehicle is small, the pruning operation difficulty is low, and the safety risk is low.

Description

Technical Field

[0001] This application relates to the technical field of tea tree planting machinery, and in particular to an unmanned aerial vehicle pruning device for tea tree crowns. Background Art

[0002] Under natural growth conditions, tea trees may grow too tall, which is not conducive to picking and management. By pruning the crown, the tea trees can be controlled at an appropriate height, generally controlling the tree height at about 80-100 cm, so as to facilitate the picking operation of tea farmers. At the same time, it enables the tea trees to form a good crown shape, increases the ventilation and light transmission of the crown, allows all parts of the tea tree to fully receive sunlight and air circulation, is conducive to the photosynthesis and respiration of the tea tree, and promotes the improvement of tea quality.

[0003] Currently, for the pruning operation of tea tree crowns, it is usually manually pruned with a hedge trimmer. However, using this pruning method not only has low pruning efficiency but also a large labor intensity for the operators. To improve the pruning efficiency and reduce the labor intensity, in related technologies, a pruning device is installed on an unmanned aerial vehicle to replace manual pruning. For example, the utility model patent with the publication number CN213991780U discloses a plant pruning unmanned aerial vehicle, which includes an unmanned aerial vehicle. A motor is arranged at the bottom of the unmanned aerial vehicle, and the output shaft of the motor is connected to a gear disc. The center position of the gear disc is connected to a second pruning device through a connecting shaft. The second pruning device includes a mounting disc and a plurality of blades. One end of the blade is hinged to the edge of the mounting disc, and the mounting disc is fixedly connected to the connecting shaft. When pruning the tea tree crown, the motor drives the mounting disc and the plurality of blades to rotate, and the blades are used to prune the tea tree crown.

[0004] However, when the above-mentioned plant pruning unmanned aerial vehicle prunes the tea tree crown, it prunes the tea tree crown through the blades rotating with the mounting disc. Since the weight of the mounting disc is relatively heavy and the load capacity of the unmanned aerial vehicle is generally not too high, the size of the mounting disc is usually set to be relatively small. In addition, its pruning range is mainly limited to the circular area covered by the rotation of the blades, resulting in a relatively small coverage area for a single pruning. When pruning, it is necessary to continuously move the unmanned aerial vehicle to expand the pruning range, resulting in low pruning efficiency. In addition, when pruning, the blades are in a high-speed rotating state. If the blades collide with a relatively hard branch, not only are the blades prone to damage or falling off, but the reaction force generated by the collision will also affect the flight stability of the unmanned aerial vehicle, presenting a relatively large pruning operation difficulty and safety risk. Summary of the Invention

[0005] The purpose of this application is to provide an unmanned aerial vehicle pruning device for tea tree crowns, which is used to solve the problems in related technologies that the plant pruning unmanned aerial vehicle prunes the tea tree crown through rotating blades, resulting in low pruning efficiency, as well as relatively large pruning operation difficulty and safety risk.

[0006] The tea tree canopy unmanned aerial vehicle pruning device provided by this application adopts the following technical solutions:

[0007] A tea tree canopy unmanned aerial vehicle pruning device, including an unmanned aerial vehicle, further includes:

[0008] A main frame, which is detachably mounted on the unmanned aerial vehicle through a connecting piece;

[0009] A canopy pruning mechanism, the canopy pruning mechanism includes a first blade and a reciprocating driving component arranged on the main frame, the first blade is strip-shaped and arranged horizontally, there are two first blades, the two first blades are distributed up and down and are mutually attached, the first blade is provided with first cutter teeth extending along the width direction, and the reciprocating driving component is used to drive the two first blades to reciprocate alternately along the length direction.

[0010] Optionally, the reciprocating driving component is located at the middle position of the main frame to maintain the balance of the weight distribution on the main frame.

[0011] Optionally, it further includes a side branch pruning mechanism, the side branch pruning mechanism includes pruning cutters and a pruning driving member, there are two groups of pruning cutters, the two groups of pruning cutters are horizontally spaced on the main frame, the pruning driving member is arranged on the main frame and is connected to the two groups of pruning cutters to drive the pruning cutters to prune the side branches of the tea tree.

[0012] Optionally, it further includes a lifting and adjusting member, the canopy pruning mechanism further includes a machine base that can be lifted and arranged on the main frame, the first blade and the reciprocating driving component are arranged on the machine base, and the lifting and adjusting member is used to drive the machine base to lift, so as to adjust the height of the first blade relative to the two groups of pruning cutters according to tea trees with different width-to-height ratios.

[0013] Optionally, it further includes a width adjusting mechanism arranged on the main frame, the width adjusting mechanism is connected to the two groups of pruning cutters and is used to adjust the width of the distance between the two groups of pruning cutters according to the requirements of the tea row.

[0014] Optionally, it further includes a remote controller, the reciprocating driving component includes a power component and a transmission component, the power component is connected to the two first blades through the transmission component to drive the two first blades to reciprocate alternately along the length direction, the power component is a first motor or a first gasoline engine, and the remote controller is used to electronically control the first motor or the first gasoline engine.

[0015] Optionally, the trimming driving member includes a power source disposed on the main frame and connected to the trimming cutter. The power source is a second motor or a second gasoline engine, and the remote controller is used for electronically controlling the second motor or the second gasoline engine.

[0016] Optionally, it further includes a suspension frame and a vertical adjustment member. The suspension frame is telescopically connected to the main frame. A telescopic column for vertically guiding the suspension frame is provided on the main frame. The connecting member is disposed on the suspension frame, and the vertical adjustment member is used to adjust the distance between the main frame and the drone according to the terrain.

[0017] Optionally, it further includes a spacing adjustment assembly. The spacing adjustment assembly includes a slider and a transverse driving member. The connecting member is a hoop. There are two groups of sliders, and the two groups of sliders are disposed on the suspension frame. The transverse driving member is used to adjust the spacing between the two groups of sliders. The hoops are respectively disposed on the sliders and are used for detachably connecting with the landing gear of the drone.

[0018] Optionally, it further includes a parking rack. A crossbar is provided on the main frame, and a limiting groove is provided on the parking rack. The main frame can be placed on the limiting groove of the parking rack through the crossbar in an overhead manner.

[0019] In summary, the present application at least includes the following beneficial technical effects:

[0020] 1. Since the first blade is strip-shaped and arranged transversely, a larger trimming area can be covered under the premise of a smaller weight. During trimming, only by controlling the drone to move along the tea row, rapid trimming can be achieved, thereby effectively improving the trimming efficiency. And when the tree crown trimming mechanism is trimming, the first blade only reciprocates within a smaller stroke, the impact force generated during trimming is smaller, the influence on the flight stability of the drone is small, the trimming operation difficulty is small, and the safety risk is low.

[0021] 2. The reciprocating driving assembly is arranged at the middle position of the main frame, so as to maintain the balance of the weight distribution on the main frame, thereby improving the flight stability of the drone and reducing the trimming operation difficulty.

[0022] 3. The lifting adjustment member can drive the machine base to lift, so as to adjust the height of the first blade relative to the two groups of trimming cutters according to tea trees with different width-to-height ratios, and further can adapt to the trimming requirements of tea trees with different width-to-height ratios, and achieve a better trimming effect on the tree crown and side branches of the tea trees at the same time.

[0023] 4. The distance between the two groups of pruning cutters can be adjusted according to the requirements of the tea row through the width adjustment mechanism. Adjusting the pruning width according to the tea row can better adapt to the natural growth characteristics of tea trees, avoid over-pruning or under-pruning, help tea trees maintain a good growth trend, promote the germination and growth of new shoots, and ensure the yield and quality of tea leaves. Reasonably adjusting the pruning width can keep an appropriate spacing between tea trees, ensure good ventilation in the tea garden, and reduce the occurrence probability of diseases and pests. Adjusting the pruning width according to the tea row can make the arrangement of tea trees more neat and standardized, facilitating various management operations in the tea garden, such as fertilization, watering, picking, etc. It is more convenient for workers to walk and operate in the tea garden, improving work efficiency, reducing labor intensity, and also facilitating the development of mechanized operations, further enhancing the modernization level of tea garden management.

[0024] 5. The suspension frame is telescopically connected to the main frame, and telescopic columns for vertically guiding the suspension frame are provided on the main frame, so that the distance between the crown pruning mechanism and the side branch pruning mechanism and the drone can be adjusted according to the terrain, enabling the crown pruning mechanism and the side branch pruning mechanism to approach the tea trees relatively stably at different heights, reducing shaking and swinging, making the cutting edges of the first blade and the second blade closer to the surface of the tea trees, and ensuring the flatness and consistency of pruning. The crown shapes and branch and leaf distributions of tea trees in different terrains are also different. Taller tea trees may have some long branches stretching upwards, and shorter tea trees may have branches and leaves closer to the ground. By adjusting the distance between the crown pruning mechanism and the side branch pruning mechanism and the drone, the crown pruning mechanism and the side branch pruning mechanism can be flexibly adjusted to appropriate positions according to the specific shape and branch and leaf distribution of the tea trees, avoiding possible collision parts, and protecting the safety of tea trees and equipment.

[0025] 6. The power component uses the first motor or the first gasoline engine, and the first motor or the first gasoline engine can be electronically remotely controlled through a remote controller. The power source uses the second motor or the second gasoline engine, and the second motor or the second gasoline engine can be electronically remotely controlled through a remote controller. Operators only need to operate on the ground through the remote controller or the intelligent system, without having to walk in the tea garden for a long time, and the labor intensity is relatively small. Moreover, when the drone is operating in the air, operators can clearly observe the overall situation of the tea garden through the display screen of the ground control terminal, facilitating timely discovery of problems and adjustments, and ensuring the uniformity and integrity of pruning.

[0026] 7. The distance between the clamps on the two groups of sliders can be adjusted through the spacing adjustment component, so that the main frame can be mounted on landing gears of different sizes, thus adapting to the installation requirements of different models of drones. Description of the Drawings

[0027] Figure 1 It is a schematic structural diagram of the tea tree crown drone pruning device in the embodiment of the present application;

[0028] Figure 2 is Figure 1 A partial enlarged schematic view of part A in

[0029] Figure 3 is the structural schematic diagram of the tea tree crown drone pruning device in the embodiment of the present application after omitting the drone, battery and parking rack;

[0030] Figure 4 is Figure 3 A partial enlarged schematic view of part B in

[0031] Figure 5 is the sectional view of the tea tree crown drone pruning device in the embodiment of the present application from the first perspective after omitting the drone, battery and parking rack;

[0032] Figure 6 is Figure 5 A partial enlarged schematic view of part C in

[0033] Figure 7 is the structural schematic diagram of the first blade and the transmission part in the embodiment of the present application;

[0034] Figure 8 is Figure 7 A partial enlarged schematic view of part F in

[0035] Figure 9 is the sectional view of the tea tree crown drone pruning device in the embodiment of the present application from the second perspective after omitting the drone, battery and parking rack;

[0036] Figure 10 is Figure 9 A partial enlarged schematic view of part D in

[0037] Figure 11 is the sectional view of the tea tree crown drone pruning device in the embodiment of the present application from the third perspective after omitting the drone, battery and parking rack;

[0038] Figure 12 is Figure 11 A partial enlarged schematic view of part E in

[0039] Figure 13 is the structural schematic diagram of the pruning tool in the embodiment of the present application.

[0040] Explanation of reference numerals:

[0041] 10, drone; 11, landing gear; 20, main frame; 21, telescopic column; 22, guide rail; 23, cross arm; 30, spacing adjustment component; 31, slider; 311, screw sleeve; 32, lead screw; 40, connecting piece; 41, first clamping plate; 42, second clamping plate; 43, fastener;

[0042] 50. Canopy trimming mechanism; 51. First blade; 511. First cutter tooth; 512. Connecting column; 513. First avoidance groove; 514. First strip-shaped groove; 52. First housing; 521. Vertical guide rod; 53. Limiting plate; 531. Connecting block; 532. Bracket; 533. Second avoidance groove; 534. First limiting rod; 54. Power component; 55. Driving gear; 56. First toothed disc; 561. First central shaft; 562. First eccentric wheel; 57. First connecting rod; 571. First bearing; 58. Reciprocating plate; 581. First pin shaft;

[0043] 60. Pruning cutter; 61. Second blade; 611. Second cutter tooth; 612. Second pin shaft; 613. Second strip-shaped groove; 62. Second toothed disc; 621. Second central shaft; 622. Second eccentric wheel; 63. Second connecting rod; 631. Second bearing; 64. Second housing; 641. Side plate; 642. Second limiting rod;

[0044] 70. Pruning driving component; 71. Power source; 711. First bevel gear pair; 72. Rotating cylinder; 73. Intermediate shaft; 731. Transmission rod; 74. Input shaft; 741. Input gear; 80. Width adjusting mechanism; 81. Actuator; 82. Coupling; 821. Second bevel gear pair; 822. Third bevel gear pair; 83. Rotating shaft; 831. Adjusting gear; 832. Worm gear; 84. Transmission shaft; 841. Worm;

[0045] 90. Slide table; 91. Rack; 100. Suspension bracket; 101. Horizontal guide post; 110. Vertical adjusting component; 120. Lifting adjusting component; 130. Stop frame; 131. Limiting groove; 140. Storage battery. Detailed implementation mode

[0046] The following will further elaborate on this application in conjunction with the attached Figure 1 - attached Figure 13 drawings for a more detailed description.

[0047] Embodiment 1

[0048] This embodiment discloses an unmanned aerial vehicle trimming device for tea tree canopies.

[0049] An unmanned aerial vehicle trimming device for tea tree canopies includes an unmanned aerial vehicle 10, a main body frame 20, a suspension bracket 100, a vertical adjusting component 110, a spacing adjusting assembly 30, a canopy trimming mechanism 50, and a remote controller.

[0050] Refer to Figure 1 and Figure 2, the main body frame 20 is detachably mounted on the drone 10 through the suspension frame 100, the vertical adjustment member 110, the spacing adjustment assembly 30 and the connecting member 40. In an alternative embodiment, the specific connection relationship between the main body frame 20 and the drone 10 is as follows:

[0051] The suspension frame 100 is telescopically connected to the main body frame 20. The main body frame 20 is provided with a telescopic column 21 for vertically guiding the suspension frame 100, and the telescopic column 21 slidably passes through the suspension frame 100. The vertical adjustment member 110 is used to adjust the distance between the main body frame 20 and the drone 10 according to the terrain. More specifically, the vertical adjustment member 110 is a first electric push rod. The main body part of the first electric push rod is fixed on the suspension frame 100, and the first push rod of the first electric push rod is fixedly connected to the main body frame 20. By controlling the telescopic movement of the first push rod of the first electric push rod, the distance between the main body frame 20 and the drone 10 can be adjusted, and the first electric push rod can be electronically remotely controlled through a remote controller.

[0052] The connecting member 40 is arranged on the suspension frame 100 through the spacing adjustment assembly 30. More specifically, the spacing adjustment assembly 30 includes a slider 31 and a lateral driving member. The connecting member 40 is a hoop. There are two groups of sliders 31, and the two groups of sliders 31 are arranged on the suspension frame 100. The lateral driving member is used to adjust the spacing between the two groups of sliders 31, and the hoops are respectively arranged on the sliders 31. The hoops are used for detachably connecting with the landing gear 11 of the drone 10.

[0053] Furthermore, the lateral driving member can adopt the following structure: the lateral driving member includes a lead screw 32. The suspension frame 100 is provided with a lateral guide post 101. The slider 31 is slidably arranged on the lateral guide post 101. A screw sleeve 311 is fixedly arranged on the slider 31. The lead screw 32 is rotatably arranged on the suspension frame 100 and is screwed with the screw sleeve 311.

[0054] Furthermore, the hoop can adopt the following structure: the hoop includes a first clamping plate 41, a second clamping plate 42 and a fastener 43. The first clamping plate 41 is fixedly arranged on the slider 31. The second clamping plate 42 is detachably connected to the first clamping plate 41 through the fastener 43. The first clamping plate 41 and the second clamping plate 42 are used for clamping the outside of the landing gear 11 of the drone 10. The fastener 43 can adopt a bolt and a nut. The cross-sectional shape of the first clamping plate 41 is V-shaped, and the cross-sectional shape of the second clamping plate 42 is arc-shaped.

[0055] The rotating lead screw 32 can drive the slider 31 to move along the transverse guide post 101 to adjust the distance between the two sets of sliders 31 and between the clamps provided on the sliders 31, so as to adapt to landing gears 11 of different sizes. At the same time, since the cross-sectional shape of the first clamping plate 41 is V-shaped and the cross-sectional shape of the second clamping plate 42 is arc-shaped, the first clamping plate 41 and the landing gear 11 are always in two linear contacts, and the second clamping plate 42 and the landing gear 11 are always in one linear contact, so as to adapt to landing gears 11 of different diameters, and then the main frame 20 can be mounted on different models of unmanned aerial vehicles 10.

[0056] Referring to Figures 3 to 8 , the tree crown pruning mechanism 50 includes a first blade 51, a reciprocating drive assembly and a machine base. The first blade 51 and the reciprocating drive assembly are provided on the main frame 20 through the machine base. More specifically, the machine base is provided on the main frame 20, and the first blade 51 and the reciprocating drive assembly are provided on the machine base. The reciprocating drive assembly is used to drive the two first blades 51 to reciprocate alternately in the length direction. The reciprocating drive assembly is located at the middle position of the main frame 20 to maintain the balance of the weight distribution on the main frame 20.

[0057] In an alternative embodiment, the specific structures of the machine base and the reciprocating drive assembly, and the specific connection relationships between the first blade 51, the reciprocating drive assembly and the machine base are as follows:

[0058] The machine base includes a first housing 52 and a limiting plate 53. The first housing 52 is provided on the main frame 20. There are two limiting plates 53, which are distributed at intervals up and down. The ends of the two limiting plates 53 are fixedly connected through a connecting block 531, and the upper limiting plate 53 is fixedly connected to the first housing 52 through a bracket 532.

[0059] The reciprocating drive assembly includes a power member 54 and a transmission member. The power member 54 is connected to the two first blades 51 through the transmission member to drive the two first blades 51 to reciprocate alternately in the length direction. The power member 54 is a first motor or a first gasoline engine, and the first motor or the first gasoline engine can be electronically remotely controlled through a remote controller.

[0060] The transmission components include a driving gear 55, a first toothed disc 56, a first connecting rod 57 and a reciprocating plate 58. There are two reciprocating plates 58, and the two reciprocating plates 58 are slidably and telescopically arranged at both ends of the first housing 52 along the transverse direction. There are two first blades 51, and the two first blades 51 are arranged between the two limiting plates 53. The first blades 51 are strip-shaped and arranged along the transverse direction. The two first blades 51 are distributed up and down and are in mutual contact. The first blades 51 are provided with first cutter teeth 511 extending along the width direction. Connecting columns 512 extending upward are respectively fixed on the upper side surfaces of the two first blades 51. The upper first blade 51 is provided with a first avoidance groove 513 for avoiding the connecting column 512, and the upper limiting plate 53 is provided with a second avoidance groove 533 for avoiding the connecting column 512. The connecting columns 512 on the two first blades 51 are respectively fixedly connected to the two reciprocating plates 58.

[0061] The first toothed disc 56 is rotatably arranged in the first housing 52 through a first central shaft 561. The driving gear 55 is rotatably arranged in the first housing 52 and meshes with the first toothed disc 56. The power component 54 is fixedly arranged on the first housing 52 and is connected to the driving gear 55. First eccentric wheels 562 are respectively arranged on both sides of the first toothed disc 56. One end of the first connecting rod 57 is sleeved outside the first eccentric wheel 562 through a first bearing 571, and the other end of the first connecting rod 57 is hinged to the reciprocating plate 58 through a first pin shaft 581. The first blade 51 is provided with a first strip-shaped groove 514. A first limiting rod 534 is fixedly arranged between the two limiting plates 53, and the first limiting rod 534 passes through the first strip-shaped grooves 514 of the two first blades 51.

[0062] The implementation principle of the tea tree crown unmanned aerial vehicle pruning device in this embodiment is as follows: When pruning operations are carried out, the unmanned aerial vehicle 10 hangs the crown pruning mechanism 50 and flies above the tea trees in the tea garden. Then, the power component 54 is started by electronic remote control through the remote control. The power component 54 drives the first toothed disc 56 to rotate through the driving gear 55, and then drives the two reciprocating plates 58 to reciprocate and telescopically slide along the transverse direction through the first eccentric wheels 562 and the first connecting rod 57. Then, the two first blades 51 are driven to reciprocate alternately through the connecting columns 512, and the crowns of the tea trees are pruned by the first cutter teeth 511 on the two first blades 51.

[0063] Since the first blade 51 is strip-shaped and arranged along the transverse direction, a larger pruning area can be covered under the premise of a smaller weight. During pruning, only by controlling the unmanned aerial vehicle 10 to move along the tea row can rapid pruning be achieved, thereby effectively improving the pruning efficiency. And when the crown pruning mechanism 50 is pruning, the first blade 51 only reciprocates within a smaller stroke, the impact force generated during pruning is smaller, the influence on the flight stability of the unmanned aerial vehicle 10 is small, the pruning operation difficulty is small, and the safety risk is low.

[0064] Embodiment 2

[0065] This embodiment discloses a tea tree crown unmanned aerial vehicle pruning device.

[0066] The difference between the tea tree crown unmanned aerial vehicle pruning device of this embodiment and that of Embodiment 1 is that it further includes a lifting adjustment member 120, a side branch pruning mechanism, a sliding table 90, a width adjustment mechanism 80, a parking rack 130, and a storage battery 140.

[0067] Refer to Figures 9 to 12 , the side branch pruning mechanism includes pruning cutters 60 and a pruning driving member 70. There are two groups of pruning cutters 60, and the two groups of pruning cutters 60 are respectively arranged on the main body frame 20 at a horizontal interval. The width adjustment mechanism 80 is arranged on the main body frame 20. The width adjustment mechanism 80 is connected to the two groups of pruning cutters 60 and is used to adjust the width of the distance between the two groups of pruning cutters 60 according to the requirements of the tea row. In an optional embodiment, the following connection method can be adopted between the width adjustment mechanism 80 and the two groups of pruning cutters 60:

[0068] There are two groups of sliding tables 90. A guide rail 22 is provided on the main body frame 20, and the two groups of sliding tables 90 are slidably arranged on the guide rail 22 of the main body frame 20. The width adjustment mechanism 80 is used to adjust the distance between the two groups of sliding tables 90. More specifically, the specific structure of the width adjustment mechanism 80 and the specific connection relationship with the sliding table 90 are as follows: The width adjustment mechanism 80 includes an actuator 81, a coupling 82, a rotating shaft 83, and a transmission shaft 84. The coupling 82, the transmission shaft 84, and the rotating shaft 83 are rotatably arranged on the main body frame 20. The actuator 81 is fixedly arranged in the middle of the main body frame 20 and is connected to the coupling 82 through a second bevel gear pair 821. The actuator 81 can adopt a motor. Arranging the actuator 81 in the middle of the main body frame 20 can maintain the balance of the weight distribution on the main body frame 20. The transmission shaft 84 is connected to the coupling 82 through a third bevel gear pair 822. An adjustment gear 831 and a worm gear 832 are provided on the rotating shaft 83. A rack 91 meshing with the adjustment gear 831 is provided on the sliding table 90. A worm 841 meshing with the worm gear 832 is provided on the transmission shaft 84. The actuator 81 can be electronically remotely controlled through a remote controller.

[0069] Refer to Figure 4 , Figure 9 , Figure 10 and Figure 13, two sets of pruning cutters 60 are respectively arranged on two sets of sliding tables 90. In an optional embodiment, the specific structure of the pruning cutter 60 and the specific connection relationship with the sliding table 90 are as follows: The pruning cutter 60 includes a second blade 61, a second tooth disc 62, a second connecting rod 63 and a second housing 64. The second housing 64 is fixedly connected to the sliding table 90. The pruning cutter 60 is arranged on the second housing 64. More specifically, two spaced side plates 641 are provided on the second housing 64. There are two second blades 61. The two second blades 61 are arranged between the two side plates 641. The sides of the two second blades 61 are in mutual contact. Second cutter teeth 611 are provided on the second blade 61. The second tooth disc 62 is rotatably arranged in the second housing 64 through a second central shaft 621. Second eccentric wheels 622 are respectively provided on both sides of the second tooth disc 62. One end of the second connecting rod 63 is sleeved outside the second eccentric wheel 622 through a second bearing 631. The other end of the second connecting rod 63 is hinged to the second blade 61 through a second pin shaft 612. A second strip-shaped groove 613 is provided on the second blade 61. A second limiting rod 642 is fixedly arranged between the two side plates 641. The second limiting rod 642 passes through the second strip-shaped grooves 613 of the two second blades 61.

[0070] The lateral distance between the two sets of pruning cutters 60 can be adjusted by the width adjustment mechanism 80, so as to adapt to the pruning needs of tea trees with different widths.

[0071] Refer to Figures 9 to 12 , the pruning driving member 70 is arranged on the main body frame 20 and is connected to the two sets of pruning cutters 60 to drive the pruning cutters 60 to prune the lateral branches of the tea tree. In an optional embodiment, the specific structure of the pruning driving member 70 and the specific connection relationship with the pruning cutter 60 are as follows:

[0072] The pruning driving member 70 includes a power source 71, a rotating cylinder 72, an intermediate shaft 73 and an input shaft 74. The power source 71 is fixedly arranged in the middle of the main body frame 20. Arranging the power source 71 in the middle of the main body frame 20 can keep the weight distribution on the main body frame 20 balanced. The power source 71 is a second motor or a second gasoline engine, and the second motor or the second gasoline engine can be electronically remotely controlled through a remote controller. The power source 71 is connected to the pruning cutter 60. More specifically, the rotating cylinder 72 is rotatably arranged on the main body frame 20. The power source 71 is connected to the rotating cylinder 72 through a first bevel gear pair 711. The intermediate shaft 73 is rotatably arranged on the sliding table 90. A transmission rod 731 that is slidably inserted into the rotating cylinder 72 is provided on the intermediate shaft 73. The cross-sectional shape of the transmission rod 731 can be set as a regular hexagon.

[0073] The input shaft 74 is rotatably arranged on the second housing 64. An input gear 741 is provided on the input shaft 74. The input gear 741 meshes with the second tooth disc 62. The intermediate shaft 73 is connected to the input shaft 74.

[0074] Refer to Figures 1 to 4, the machine base is vertically adjustable and installed on the main frame 20. A vertical guide rod 521 is provided on the first housing 52, and the vertical guide rod 521 is slidably inserted through the main frame 20. The lifting adjustment member 120 is installed on the main frame 20 and is connected to the machine base. More specifically, the lifting adjustment member 120 is a second electric push rod. The main body part of the second electric push rod is fixedly installed on the main frame 20, and the second push rod of the second electric push rod is fixedly connected to the first housing 52. The second electric push rod can be electronically remotely controlled through a remote controller.

[0075] The lifting adjustment member 120 is used to drive the machine base to lift, so as to adjust the height of the first blade 51 relative to the two groups of pruning tools 60 according to tea trees with different aspect ratios.

[0076] In an optional embodiment, the remote controller can electronically remotely control the power member 54, the power source 71, the actuator 81, the first electric push rod and the second electric push rod through the control module and the communication module. More specifically, the control module and the communication module are installed on the main frame 20. The control module is electrically connected to the power member 54, the power source 71, the actuator 81, the first electric push rod and the second electric push rod. The communication module is electrically connected to the control module, and the remote controller is wirelessly communicatively connected to the communication module.

[0077] The storage battery 140 is installed on the unmanned aerial vehicle 10 or the main frame 20. The power member 54, the power source 71, the actuator 81, the first electric push rod and the second electric push rod are electrically connected to the storage battery 140, and the power member 54, the power source 71, the actuator 81, the first electric push rod and the second electric push rod can be powered by the storage battery 140.

[0078] A cross arm 23 is provided on the main frame 20, and a limiting groove 131 is provided on the parking frame 130. The main frame 20 can be placed on the limiting groove 131 of the parking frame 130 through the cross arm 23 in an overhead manner, so that before and after the pruning operation, the tea tree crown unmanned aerial vehicle pruning device of this embodiment can be parked on the parking frame 130.

[0079] The implementation principle of the tea tree crown unmanned aerial vehicle pruning device in this embodiment is as follows:

[0080] Before performing the pruning operation, adjust the distance between the main frame 20 and the UAV 10 through the vertical adjusting member 110 to adjust the distances between the tree crown pruning mechanism 50 and the side branch pruning mechanism and the UAV 10, so as to adjust the distances between the tree crown pruning mechanism 50 and the side branch pruning mechanism and the UAV 10 to appropriate values, so that the tea tree crown UAV pruning device of this embodiment can obtain better pruning operation convenience under different terrains. Then drive the coupling 82 to rotate through the actuator 81, then drive the worm 841 to rotate through the transmission shaft 84, then drive the worm gear 832, the rotating shaft 83 and the adjusting gear 831 to rotate through the worm 841, and drive the slide 90 to move relative to the main frame 20 under the interaction between the adjusting gear 831 and the rack 91, so as to adjust the distance between the two groups of pruning cutters 60 according to the width of the tea tree to be pruned. Then drive the machine base to lift through the lifting adjusting member 120, so as to adjust the height of the first blade 51 relative to the second blade 61 of the two groups of pruning cutters 60 according to the tea trees with different width-to-height ratios.

[0081] When performing the pruning operation, fly the UAV 10 above the tea garden, and make the second blades 61 of the two groups of pruning cutters 60 located on both sides of the tea tree, and make the first blade 51 located above the tea tree. Then send a control signal to the communication module through the remote controller, and then transmit the control signal to the control module, and start the power member 54 and the power source 71 through the control module. Drive the two first blades 51 to reciprocate alternately through the power member 54, and prune the tea tree crown through the first cutter teeth 511 on the two first blades 51. At the same time, drive the rotating cylinder 72 to rotate through the power source 71, then drive the input shaft 74 to rotate through the transmission rod 731 and the intermediate shaft 73, then drive the second toothed disc 62 to rotate through the input gear 741, and then drive the two second blades 61 to reciprocate through the second eccentric wheel 622 and the second connecting rod 63, and prune the tea tree side branches through the second cutter teeth 611 on the two second blades 61.

[0082] The embodiments of this specific implementation manner are all preferred embodiments of this application, and do not limit the protection scope of this application accordingly. The same components are denoted by the same reference numerals. Therefore, all equivalent changes made according to the structure, shape, and principle of this application should be covered within the protection scope of this application.

Claims

1. A tea tree crown pruning device using a drone, comprising a drone (10), characterized in that: Also includes: A main frame (20), wherein the main frame (20) is detachably mounted on the drone (10) via a connecting piece (40); A crown pruning mechanism (50) comprises a first blade (51) and a reciprocating drive assembly arranged on the main frame (20), wherein the first blade (51) is in the shape of an elongated strip and is arranged in the transverse direction, the first blade (51) is provided with two pieces, the two pieces of the first blade (51) are distributed up and down and fit each other, the first blade (51) is provided with a first blade tooth (511) extending in the width direction, and the reciprocating drive assembly is used to drive the two pieces of the first blade (51) to reciprocate and alternately move in the length direction.

2. The tea tree crown pruning device according to claim 1 is characterized in that: The reciprocating drive assembly is located in the middle of the main frame (20) to maintain the balance of weight distribution on the main frame (20).

3. The tea tree crown pruning device by drone according to claim 1, characterized in that: The invention also comprises a side branch pruning mechanism, wherein the side branch pruning mechanism comprises a pruning tool (60) and a pruning drive (70), wherein the pruning tool (60) is provided in two groups, and the two groups of pruning tools (60) are arranged on the main frame (20) at a laterally spaced interval, and the pruning drive (70) is arranged on the main frame (20) and connected to the two groups of pruning tools (60) so as to drive the pruning tools (60) to prune the side branches of the tea tree.

4. The tea tree crown pruning device by drone according to claim 1, characterized in that: The invention also comprises a lifting and adjusting member (120), wherein the crown pruning mechanism (50) further comprises a machine base which is liftably arranged on the main frame (20), the first blade (51) and the reciprocating drive assembly are arranged on the machine base, and the lifting and adjusting member (120) is used to drive the machine base to be lifted and lowered, so as to adjust the height of the first blade (51) relative to the two groups of pruning tools (60) according to tea trees with different aspect ratios.

5. The tea tree crown pruning device by drone according to claim 3, characterized in that: It also includes a width adjustment mechanism (80) disposed on the main frame (20), wherein the width adjustment mechanism (80) is connected to the two groups of trimming knives (60) and is used to adjust the width of the distance between the two groups of trimming knives (60) according to the requirements of the tea business.

6. The tea tree crown pruning device by drone according to claim 3, characterized in that: It also includes a remote controller, wherein the reciprocating drive assembly includes a power member (54) and a transmission member, wherein the power member (54) is connected to the two first blades (51) via the transmission member to drive the two first blades (51) to reciprocate and alternately move along the length direction, the power member (54) is a first motor or a first gasoline engine, and the remote controller is used for electronically remotely controlling the first motor or the first gasoline engine.

7. The tea tree crown pruning device according to claim 6, characterized in that: The trimming drive member (70) comprises a power source (71), the power source (71) is arranged on the main frame (20) and connected to the trimming tool (60), the power source (71) is a second motor or a second gasoline engine, and the remote controller is used for electronically remotely controlling the second motor or the second gasoline engine.

8. The tea tree crown pruning device by drone according to claim 1, characterized in that: The invention also comprises a suspension frame (100) and a vertical adjustment member (110), wherein the suspension frame (100) is telescopically connected to the main frame (20), the main frame (20) is provided with a telescopic column (21) for vertically guiding the suspension frame (100), the connecting member (40) is provided on the suspension frame (100), and the vertical adjustment member (110) is used to adjust the distance between the main frame (20) and the unmanned aerial vehicle (10) according to the terrain.

9. The tea tree crown pruning device by drone according to claim 8, characterized in that: The invention also comprises a spacing adjustment component (30), wherein the spacing adjustment component (30) comprises a slider (31) and a transverse driving member, wherein the connecting member (40) is a clamp, wherein two groups of sliders (31) are provided, and the two groups of sliders (31) are provided on the suspension frame (100), and the transverse driving member is used to adjust the spacing between the two groups of sliders (31), and the clamps are respectively provided on the sliders (31), and the clamps are used to be detachably connected to the landing gear (11) of the unmanned aerial vehicle (10).

10. The tea tree crown pruning device by drone according to claim 1, characterized in that: The machine also comprises a parking frame (130), wherein a cross arm (23) is provided on the main frame (20), and a limiting groove (131) is provided on the parking frame (130), and the main frame (20) can be suspended and placed in the limiting groove (131) of the parking frame (130) through the cross arm (23).

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