Orchard pruning robot based on fruit tree growth model

Abstract

The invention relates to the technical field of tree seedling raising, in particular to an orchard pruning robot based on a fruit tree growth model, comprising a base and a mechanical arm arranged on the base; a base plate is arranged at the end, away from the base, of the mechanical arm, two cutters capable of being opened and closed are hinged to the base plate, two rotating shafts are rotationally installed on the base plate, each rotating shaft is sleeved with an installation disc, a first fixing shaft is eccentrically arranged on each installation disc, a second fixing shaft is arranged on each cutter, and a connecting rod is hinged to the first fixing shaft of each installation disc. The two connecting rods are hinged to the second fixing shafts on the two cutters correspondingly. And a driving device for driving the two rotating shafts to rotate is arranged on the base plate. The fruit tree pruning device achieves the fruit tree pruning function of immediately resetting and separating from a pruning opening after branches are sheared, and solves the problems that branch tissues are pressed and necrotic and are difficult to heal due to obvious delay in resetting of a cutter of existing pruning equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tree seedling raising, in particular to a fruit orchard pruning robot based on a fruit tree growth model. BACKGROUND

[0002] During the seedling raising period of fruit trees, in order to avoid weak branches and ensure thick stems, it is necessary to remove excess sprouts and lateral branches, so as to concentrate nutrients for the main stem or target branches, and promote the growth of root systems and main stems. When pruning branches, the staff needs to fix the branches with one hand and prune with the other hand to improve the pruning accuracy and avoid damage to the retained branches. However, the fruit trees during the seedling raising period are usually about 1 meter high, and when there are many branches, the operator is easy to be scratched when his hand is inserted into the branches.

[0003] Therefore, a pruning device for ecological garden tree seedling is disclosed in Chinese Patent No. CN118104490B, which is configured to have a rotating mechanism. The operator holds the rear end of the installation rod, slowly extends the front end of the device between the staggered branches, and then drives the shearing mechanism and the clamping plate to rotate around the branch as the axis until the installation box moves above the cut bud, so that the shearing mechanism can freely rotate on the outside of the branch to find the cutting direction of the cut bud and the cut, the operator does not need to insert his arm into the staggered branches, avoiding the arm being scratched by the branches, solving the problem of inconvenience of the operator holding the scissors to twist his wrist to adjust the direction between the branches, and bringing convenience to the operator.

[0004] When using an automatic device to prune branches, in order to prevent the branch tissue from being pressed and causing the cut to die and heal difficultly, it is necessary to control the cutter to reset immediately after cutting the branch. However, the existing pruning device usually uses a linear actuator to drive a connecting rod, in order to prevent the instantaneous impact force from being too large, it is necessary to slow down and buffer before adjusting the driving direction, which causes obvious delay in cutter resetting, and cannot achieve the effect of immediately separating from the cut after cutting. SUMMARY

[0005] In view of the above problems, a fruit orchard pruning robot based on a fruit tree growth model is provided, which solves the problem of branch tissue being pressed and dying and healing difficultly due to the obvious delay in cutter resetting of the existing pruning device by the mechanism provided on the base, the mechanical arm and the substrate.

[0006] In order to solve the prior art problems, the present application provides a fruit tree growth model-based orchard pruning robot, comprising a base and a mechanical arm arranged on the base; the end of the mechanical arm away from the base is provided with a base plate, two openable and closable cutters are hingedly arranged on the base plate, two rotating shafts are rotatably arranged on the base plate, one mounting disc is sleeved on each rotating shaft, a first fixing shaft is eccentrically arranged on the mounting disc, a second fixing shaft is arranged on the cutter, one connecting rod is hingedly arranged on the first fixing shaft of each mounting disc, and the two connecting rods are hingedly connected with the second fixing shafts of the two cutters; the base plate is provided with a driving device for driving the two rotating shafts to rotate, and when the rotating shafts drive the mounting discs to rotate, the mounting discs drive the cutters to open and close through the connecting rods.

[0007] Preferably, the cutter comprises a mounting rod and a blade, one end of the mounting rod is hingedly connected with the base plate, and the mounting rod is provided with an adjusting bolt which is threadedly connected with the blade.

[0008] Preferably, the base plate is provided with a protective shell for protecting the rotating shafts, the mounting discs and the driving device.

[0009] Preferably, the base plate is provided with an elastic damping mechanism, the elastic damping mechanism comprises a movable block, a fixed block, a first elastic member and a first transmission assembly; the movable block is movably arranged on the base plate, and the movable block is in transmission connection with the rotating shaft through the first transmission assembly; the fixed block is fixedly connected with the base plate, and the two ends of the first elastic member are connected with the movable block and the fixed block respectively; when the rotating shaft rotates, the movable block is driven by the first transmission assembly to move towards the fixed block.

[0010] Preferably, the first transmission assembly comprises a first rotary gear and a rack; the first rotary gear is sleeved on the rotating shaft; the rack is slidably arranged on the base plate, the movable block is connected with the rack, and the first rotary gear is in meshing connection with the rack.

[0011] Preferably, the end of the protective shell away from the movable block is provided with an end plate, the end of the rack away from the movable block is provided with an abutting block, the side of the end plate close to the movable block is provided with a contact sensor, when the cutter is closed, the first elastic member is compressed, and the abutting block on the rack just contacts the contact sensor.

[0012] Preferably, the mounting disc is provided with a locking groove, and the base plate is provided with a locking assembly for clamping the locking groove to limit the rotation of the mounting disc.

[0013] Preferably, the locking assembly comprises a support and an arc-shaped telescopic block; the support is arranged on the base plate, the arc-shaped telescopic block is slidably arranged on the support, the support is provided with a second elastic member, the two ends of the second elastic member are connected with the support and the arc-shaped telescopic block respectively, and the support is built-in with a linear driver for controlling the contraction of the arc-shaped telescopic block, and when the arc-shaped telescopic block clamps the locking groove, the rotation of the mounting disc is limited.

[0014] Preferably, the driving device comprises a rotary driver and a second transmission assembly; the rotary driver is arranged on the base plate and is used to drive one of the rotating shafts to rotate; the two rotating shafts are drivingly connected through the second transmission assembly.

[0015] Preferably, the second transmission assembly comprises a gear ring, a second rotary gear and a transmission gear; the gear ring, the second rotary gear and the transmission gear are all arranged on the bottom of the base plate, the gear ring is sleeved on the mounting disc, the second rotary gear is sleeved on the rotating shaft, and the transmission gear is in meshing connection with the gear ring and the second rotary gear.

[0016] The present application has the following beneficial effects compared with the prior art:

[0017] 1. The fruit tree pruning function of the present application is realized by the base, the mechanical arm and the mechanism arranged on the base plate, which can reset and separate from the pruning mouth immediately after the branch is cut, so as to avoid the pressure necrosis of the branch pruning mouth and ensure the healing effect of the branch, thereby solving the problem of the obvious delay of the cutter reset of the existing pruning equipment, which leads to the pressure necrosis of the branch tissue and the difficult healing. Since the driving device directly synchronously drives the rotating shaft and forms a short link transmission through the mounting disc and the connecting rod, the driving device does not need an additional deceleration and buffering step during the cutting and resetting, and the cutter can immediately separate from the pruning mouth after the cutting action is completed, so as to avoid the continuous compression of the pruning mouth and prevent the pruning mouth from being damaged by pressure, better adapt to the pruning demand based on the growth model of fruit trees, and improve the pruning quality and the healing effect of the branch.

[0018] 2. The flexible adjustment function of the gap between the two cutters is realized by the mounting rod, the cutter and the adjusting bolt, so as to adapt to different thicknesses of branches, ensure the smoothness of the pruning mouth, further improve the quality of the pruning mouth, and avoid the problems of incomplete cutting of the branch and excessive compression of the pruning mouth due to the small gap.

[0019] 3. The impact force buffering function of the cutter during closing is realized. During the pruning process, the damping sensor of the driving device detects the cutting resistance of the cutter in real time, and when the resistance exceeds the set threshold, the driving device immediately stops driving to prevent the cutter from being damaged due to excessive force, and the driving device has no self-locking ability to avoid the continuous stress compression of the cutter or the branch after the driving is stopped. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a three-dimensional schematic view of a fruit orchard pruning robot based on a growth model of fruit trees.

[0021] Figure 2 is a three-dimensional schematic view of a fruit orchard pruning robot based on a growth model of fruit trees.

[0022] Figure 3It is a kind of based on the base plate, driving device and elastic damping mechanism of the pruning robot of orchard of fruit tree growth model of the application, the stereogram schematic diagram when the cutter is closed.

[0023] Figure 4 It is a kind of based on the base plate, driving device and elastic damping mechanism of the pruning robot of orchard of fruit tree growth model of the application, the stereogram schematic diagram when the cutter is opened.

[0024] Figure 5 It is the Figure 4 The local enlarged schematic diagram in A of the figure.

[0025] Figure 6 It is the Figure 4 The local enlarged schematic diagram in B of the figure.

[0026] Figure 7 It is a kind of elastic damping assembly of the pruning robot of orchard of fruit tree growth model of the application.

[0027] Figure 8 It is a kind of mounting disc and locking assembly of the pruning robot of orchard of fruit tree growth model of the application, the stereogram schematic diagram when the rotation restriction is released.

[0028] Figure 9 It is a kind of mounting disc and locking assembly of the pruning robot of orchard of fruit tree growth model of the application, the stereogram schematic diagram when the rotation of mounting disc is limited.

[0029] Figure 10 It is a kind of base plate and second transmission assembly of the pruning robot of orchard of fruit tree growth model of the application, the stereogram schematic diagram.

[0030] The figure mark is: 1, base;11, mechanical arm;2, base plate;21, cutter;211, second fixed shaft;212, mounting rod;2121, adjusting bolt;213, blade;22, rotating shaft;221, mounting disc;2211, first fixed shaft;2212, lock slot;222, connecting rod;23, protective shell;231, end plate;232, contact sensor;24, locking assembly;241, support;2411, second elastic member;242, arc-shaped telescopic block;3, driving device;31, rotary driver;311, third rotary gear;32, second transmission assembly;321, gear ring;322, second rotary gear;323, transmission gear;4, elastic damping mechanism;41, movable block;42, fixed block;43, first elastic member;44, first transmission assembly;441, first rotary gear;442, rack;4421, abutment block. DETAILED DESCRIPTION

[0031] In order to further understand the features, technical means and specific purposes and functions achieved by the present application, the present application will be further described in detail below in combination with the drawings and specific embodiments.

[0032] With reference to Figures 1-4 The fruit tree pruning robot based on a fruit tree growth model comprises a base 1 and a mechanical arm 11 arranged on the base 1; the end of the mechanical arm 11 away from the base 1 is provided with a base plate 2, two openable and closable cutters 21 are hinged on the base plate 2, two rotating shafts 22 are rotatably arranged on the base plate 2, one mounting disc 221 is sleeved on each rotating shaft 22, a first fixing shaft 2211 is eccentrically arranged on the mounting disc 221, a second fixing shaft 211 is arranged on the cutter 21, one connecting rod 222 is hinged on the first fixing shaft 2211 of each mounting disc 221, and the two connecting rods 222 are respectively hinged with the second fixing shafts 211 on the two cutters 21; the base plate 2 is provided with a driving device 3 for driving the two rotating shafts 22 to rotate, and when the rotating shaft 22 drives the mounting disc 221 to rotate, the mounting disc 221 drives the cutter 21 to open and close through the connecting rod 222.

[0033] The present application realizes the fruit tree pruning function of resetting and separating from the cutting opening immediately after cutting branches, achieves the purpose of avoiding the cutting opening of the branches from being damaged by pressure and ensuring the healing effect of the branches, and solves the problem of obvious delay of the cutter 21 of the existing pruning equipment in resetting, which causes the tissue of the branches to be damaged by pressure and difficult to heal. During work, the driving device 3 drives the two rotating shafts 22 to rotate synchronously after being started, each rotating shaft 22 drives the corresponding mounting disc 221 to rotate, the first fixing shaft 2211 eccentrically arranged on the mounting disc 221 performs circular motion when the mounting disc 221 rotates, the second fixing shaft 211 on the cutter 21 is pushed and pulled through the hinged connecting rod 222, the two cutters 21 are synchronously closed around the hinge point with the base plate 2 to complete the cutting of the branches, the driving device 3 continues to drive the rotating shaft 22 to rotate after the cutting is completed, the mounting disc 221 reversely pulls the second fixing shaft 211 through the connecting rod 222, and the two cutters 21 are quickly and synchronously opened and reset. Since the driving device 3 directly and synchronously drives the rotating shaft 22, a short link transmission is formed through the mounting disc 221 and the connecting rod 222, the driving device 3 does not need an additional deceleration and buffering step during cutting and resetting, the cutter 21 can immediately separate from the cutting opening after the cutting action is completed, the cutting opening of the branches is not continuously pressed to avoid damage, the pruning demand based on the fruit tree growth model is better adapted, and the pruning quality and the healing effect of the branches are improved.

[0034] With reference to Figure 4 And Figure 6 The cutter 21 comprises a mounting rod 212 and a blade 213, one end of the mounting rod 212 is hinged with the base plate 2, the mounting rod 212 is provided with an adjusting bolt 2121, and the adjusting bolt 2121 is threadedly connected with the blade 213.

[0035] The flexible adjustment function of the gap between the two cutters 21 is realized by the mounting rod 212, the blade 213 and the adjusting bolt 2121, the effect of adapting to different thick and thin branches, ensuring that the cut is smooth and smooth, further improving the cut quality is achieved, avoiding the problem of incomplete cutting of branches, additional compression of the cut when the gap is too small. When the gap is too large, the branches are not cut completely and are easily pulled and torn, resulting in uneven cuts and enlarged wound area, and when the gap is too small, the cut is additionally compressed, and the superimposed reset delay problem aggravates the damage to the branches, which ultimately affects the healing of the cut. When working, the adjusting bolt 2121 can be rotated according to the thickness of the branches to be pruned, since the adjusting bolt 2121 is threadedly connected with the blade 213, the blade 213 is driven to approach or move away from the blade 213 of the other cutter 21 during the rotation process, thereby adjusting the gap between the two blades 213. For thicker branches, the gap can be appropriately increased to avoid excessive compression, and for thinner branches, the gap can be reduced to avoid excessive gap, so that the gap is adapted to the thickness of the branches.

[0036] With reference to Figure 1 And Figure 2 The base plate 2 is provided with a protective shell 23 for protecting the rotating shaft 22, the mounting disc 221 and the driving device 3.

[0037] The protective function of the rotating shaft 22, the mounting disc 221 and the driving device 3 is realized, the effect of avoiding the interference of impurities and ensuring the stability of transmission is achieved, the problem of impurities such as dust, branches and leaves in the orchard environment adhering to or entering the transmission components is avoided, which causes the problem of wear and tear and transmission failure. The protective shell 23 can block the contact of impurities such as dust, cut branches and leaves and other impurities in the orchard with the internal transmission components, avoid the interference of impurities to the components, and improve the service life of the equipment.

[0038] With reference to Figures 3-5 The base plate 2 is provided with an elastic damping mechanism 4, the elastic damping mechanism 4 includes a movable block 41, a fixed block 42, a first elastic member 43 and a first transmission assembly 44; the movable block 41 is movably arranged on the base plate 2, and the movable block 41 is drivingly connected with the rotating shaft 22 through the first transmission assembly 44; the fixed block 42 is fixedly connected with the base plate 2, and the two ends of the first elastic member 43 are connected with the movable block 41 and the fixed block 42 respectively; when the rotating shaft 22 rotates, the movable block 41 is driven to move towards the fixed block 42 through the first transmission assembly 44.

[0039] The impact force buffering function when the cutter 21 is closed is realized. The driving device 3 is internally provided with a damping sensor and does not have a self-locking capability. During work, the rotating shaft 22 rotates to drive the cutter 21 to close, at the same time, the movable block 41 is driven by the first transmission assembly 44 to move towards the fixed block 42, the first elastic member 43 is compressed and generates a reverse elastic force, the rotating impact force of the rotating shaft 22 is buffered, the cutter 21 is stably closed to shear branches, and damage of a shear opening caused by excessive impact force is avoided. During pruning, the damping sensor of the driving device 3 detects the shear resistance of the cutter 21 in real time, when the resistance exceeds a set threshold value, the driving device 3 immediately stops driving, the cutter 21 is prevented from being damaged due to excessive force, and the driving device 3 does not have a self-locking capability, so that continuous stress pressing the cutter 21 or the branches after stopping driving is avoided; after shearing is completed, the elastic force of the first elastic member 43 can assist the driving device 3 to drive the cutter 21 to quickly reset, and the disengagement effect after shearing is not affected.

[0040] With reference to Figures 3-5 The first transmission assembly 44 comprises a first rotating gear 441 and a rack 442; the first rotating gear 441 is sleeved on the rotating shaft 22; the rack 442 is slidingly installed on the base plate 2, the movable block 41 is connected with the rack 442, and the first rotating gear 441 is meshingly connected with the rack 442.

[0041] The stable transmission function of the elastic damping mechanism 4 and the rotating shaft 22 is realized, and the effects of stable buffering and overload protection are achieved. During work, the rotating shaft 22 rotates to drive the first rotating gear 441 on it to synchronously rotate, the gear and the rack 442 are meshingly transmitted, the rack 442 is driven to slide along the base plate 2, the rack 442 drives the connected movable block 41 to move towards the fixed block 42, the first elastic member 43 is compressed to generate a reverse elastic force, the rotating impact force of the rotating shaft 22 is buffered, the cutter 21 is stably closed to shear branches; during pruning, the damping sensor of the driving device 3 detects the shear resistance of the cutter 21 in real time, the driving device 3 is immediately stopped when the resistance exceeds a threshold value, the cutter 21 is prevented from being damaged, and the driving device 3 does not have a self-locking capability, so that continuous stress pressing is prevented; after shearing is completed, the elastic force generated by the compression of the first elastic member 43 drives the movable block 41, the rack 442, the first rotating gear 441 and the rotating shaft 22 to reset, and drives the cutter 21 to quickly disengage from the shear opening.

[0042] With reference to Figure 2 And Figure 7 The end plate 231 is installed on one side of the movable block 41 close to the fixed block 42, and the contact sensor 232 is installed on the other side of the end plate 231 away from the movable block 41.

[0043] The present application realizes the accurate detection function of the cutter 21 closing to the position, achieves the effect of ensuring the complete shearing action and avoiding excessive driving, solves the technical problems that the traditional equipment cannot accurately judge the cutter 21 closing state, and may damage the components or shear incompletely due to excessive driving. When working, the rotating shaft 22 drives the first rotating gear 441 to drive the rack 442 to slide, the movable block 41 compresses the first elastic member 43, and the cutter 21 is synchronously closed. When the cutter 21 is closed to the position, the first elastic member 43 is compressed to the set state, the rack 442 drives the abutting block 4421 to just contact the contact sensor 232, and the contact sensor 232 feeds back the signal to judge the closing state of the cutter 21. In order to protect the cutter 21, the damping sensor is built in the driving device 3, and the cutter 21 is automatically recovered when the cutter 21 is blocked. Therefore, in order to judge whether the cutter 21 completes the shearing action, the abutting block 4421 and the contact sensor 232 are arranged, and the stability of the shearing work is ensured.

[0044] With reference to Figure 3 , Figure 8 and Figure 9 : The mounting disc 221 is provided with a lock slot 2212, and the base plate 2 is provided with a locking assembly 24 used for clamping the lock slot 2212 to limit the rotation of the mounting disc 221.

[0045] The present application realizes the function of improving the opening and closing precision of the cutter 21 through the lock slot 2212 and the locking assembly 24. The rotation angle of the mounting disc 221 is accurately controlled through the cooperation of the lock slot 2212 and the locking assembly 24, and the rotation of the mounting disc 221 is limited by the locking assembly 24 after one rotation. In the working state, the cooperation of the locking assembly 24 and the lock slot 2212 is released first, the mounting disc 221 is driven to rotate by the driving device 3, the lock slot 2212 is rotated to the locking assembly 24 again after one rotation of the mounting disc 221, the locking assembly 24 cooperates with the lock slot 2212 again, the rotation limitation of the mounting disc 221 is completed, and the rotation precision of the mounting disc 221 is improved.

[0046] With reference to Figure 8 and Figure 9 : The locking assembly 24 comprises a support 241 and an arc-shaped telescopic block 242. The support 241 is installed on the base plate 2, the arc-shaped telescopic block 242 is slidably installed on the support 241, the support 241 is provided with a second elastic member 2411, the two ends of the second elastic member 2411 are connected with the support 241 and the arc-shaped telescopic block 242 respectively, and the support 241 is built in a linear driver used for controlling the contraction of the arc-shaped telescopic block 242. When the arc-shaped telescopic block 242 is clamped with the lock slot 2212, the rotation of the mounting disc 221 is limited.

[0047] The application realizes the function of limiting the rotation of the mounting disc 221 through the support 241, the second elastic member 2411 and the arc-shaped telescopic block 242. When trimming, the arc-shaped telescopic block 242 is first driven to shrink through the linear driver built in the support 241, and then the mounting disc 221 is driven to rotate through the driving device 3. The driving of the arc-shaped telescopic block 242 by the linear driver is released in the process of the rotation of the mounting disc 221, at this time, the arc-shaped telescopic block 242 has a tendency to stretch under the elastic force of the second elastic member 2411. When the locking slot 2212 of the mounting disc 221 rotates to the arc-shaped telescopic block 242 again, the arc-shaped telescopic block 242 stretches again to be inserted and matched with the locking slot 2212, thereby limiting the rotation of the mounting disc 221. By adjusting the driving stroke of the driving device 3, the driving of the mounting disc 221 is stopped when the mounting disc 221 rotates to nearly one circle, the subsequent driving of the mounting disc 221 is controlled through the elastic force of the first elastic member 43, and the rotation limitation of the mounting disc 221 is completed through the matching of the arc-shaped telescopic block 242 and the locking slot 2212.

[0048] With reference to Figure 1 , Figure 2 and Figure 4 : the driving device 3 comprises a rotary driver 31 and a second transmission assembly 32; the rotary driver 31 is arranged on the base plate 2, and the rotary driver 31 is used to drive one of the rotating shafts 22 to rotate; the two rotating shafts 22 are drivingly connected through the second transmission assembly 32.

[0049] The application realizes the function of synchronously driving the rotation of the two rotating shafts 22 through the rotary driver 31 and the second transmission assembly 32, and then realizes the effect of driving the synchronous opening and closing of the two cutters 21 through the two mounting discs 221 and the two connecting rods 222. In the working state, the rotary driver 31 is started, the rotary driver 31 drives one of the rotating shafts 22 to rotate, then the rotating shaft 22 drives the other rotating shaft 22 to synchronously rotate through the second transmission assembly 32, the two rotating shafts 22 drive the two mounting discs 221 to rotate, and then the mounting discs 221 and the connecting rods 222 drive the cutter 21 to rotate, thereby performing the shearing action.

[0050] With reference to Figure 4 and Figure 10 : the second transmission assembly 32 comprises a gear ring 321, a second rotary gear 322 and a transmission gear 323; the gear ring 321, the second rotary gear 322 and the transmission gear 323 are all arranged on the bottom of the base plate 2, the gear ring 321 is sleeved on the mounting disc 221, the second rotary gear 322 is sleeved on the rotating shaft 22, and the transmission gear 323 is in meshing connection with the gear ring 321 and the second rotary gear 322.

[0051] The application realizes the function of controlling the synchronous rotation of the two rotating shafts 22 through the gear ring 321, the second rotating gear 322 and the transmission gear 323. The driving end of the rotating driver 31 is sleeved with the third rotating gear 311, and the third rotating gear 311 is in meshing connection with the second rotating gear 322. After starting the rotating driver 31, the rotating driver 31 drives the third rotating gear 311 to rotate, the third rotating gear 311 drives the second rotating gear 322 in meshing connection therewith to rotate, the second rotating gear 322 drives the gear ring 321 to rotate through the transmission gear 323, and then the rotation driving of the two rotating shafts 22 is completed.

[0052] The above embodiments only express one or several embodiments of the application, the description is more specific and detailed, but it cannot be understood as the limitation of the scope of the application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the application, a number of modifications and improvements can be made, which belong to the protection scope of the application. Therefore, the protection scope of the application should be subject to the appended claims.

Claims

1. An orchard pruning robot based on a fruit tree growth model, characterized in that, Includes a base (1) and a robotic arm (11) mounted on the base (1); The robotic arm (11) has a base plate (2) at one end away from the base (1). Two openable and closable cutters (21) are hinged on the base plate (2). Two rotating shafts (22) are rotatably mounted on the base plate (2). A mounting plate (221) is sleeved on each rotating shaft (22). A first fixed shaft (2211) is eccentrically set on the mounting plate (221). A second fixed shaft (211) is provided on the cutter (21). A connecting rod (222) is hinged on the first fixed shaft (2211) of each mounting plate (221). The two connecting rods (222) are respectively hinged to the second fixed shaft (211) on the two cutters (21). The substrate (2) is provided with a drive device (3) for driving two rotating shafts (22) to rotate. When the rotating shaft (22) drives the mounting plate (221) to rotate, the mounting plate (221) drives the cutter (21) to open and close through the connecting rod (222).

2. The orchard pruning robot based on a fruit tree growth model according to claim 1, characterized in that, The cutting tool (21) includes a mounting rod (212) and a blade (213). One end of the mounting rod (212) is hinged to the base plate (2). An adjusting bolt (2121) is provided on the mounting rod (212), and the adjusting bolt (2121) is threadedly connected to the blade (213).

3. The orchard pruning robot based on a fruit tree growth model according to claim 1, characterized in that, The base plate (2) is provided with a protective shell (23) for protecting the rotating shaft (22), the mounting plate (221) and the drive device (3).

4. The orchard pruning robot based on a fruit tree growth model according to claim 1, characterized in that, The substrate (2) is provided with an elastic damping mechanism (4), which includes a movable block (41), a fixed block (42), a first elastic element (43), and a first transmission assembly (44). The movable block (41) is movably disposed on the base plate (2), and the movable block (41) is connected to the rotating shaft (22) via the first transmission assembly (44); The fixed block (42) is fixedly connected to the base plate (2), and the two ends of the first elastic member (43) are respectively connected to the movable block (41) and the fixed block (42); When the shaft (22) rotates, the movable block (41) is driven to move toward the fixed block (42) via the first transmission assembly (44).

5. The orchard pruning robot based on a fruit tree growth model according to claim 4, characterized in that, The first transmission assembly (44) includes a first rotating gear (441) and a rack (442). The first rotating gear (441) is sleeved on the rotating shaft (22); The rack (442) is slidably mounted on the base plate (2), the movable block (41) is connected to the rack (442), and the first rotating gear (441) is meshed with the rack (442).

6. The orchard pruning robot based on a fruit tree growth model according to claim 3, characterized in that, The protective shell (23) has an end plate (231) at the end away from the movable block (41), and the rack (442) has an abutment block (4421) at the end away from the movable block (41). A contact sensor (232) is installed on the side of the end plate (231) close to the movable block (41). When the cutter (21) is closed, the first elastic element (43) is compressed, and the abutment block (4421) on the rack (442) just contacts the contact sensor (232).

7. The orchard pruning robot based on a fruit tree growth model according to claim 1, characterized in that, The mounting plate (221) has a locking groove (2212), and the base plate (2) has a locking component (24) for engaging with the locking groove (2212) to limit the rotation of the mounting plate (221).

8. The orchard pruning robot based on a fruit tree growth model according to claim 7, characterized in that, The locking assembly (24) includes a support (241) and an arc-shaped telescopic block (242). The support (241) is mounted on the base plate (2), and the arc-shaped telescopic block (242) is slidably mounted on the support (241). The support (241) is provided with a second elastic element (2411). The two ends of the second elastic element (2411) are respectively connected to the support (241) and the arc-shaped telescopic block (242). The support (241) has a built-in linear driver for controlling the contraction of the arc-shaped telescopic block (242). When the arc-shaped telescopic block (242) is engaged with the locking groove (2212), the rotation of the mounting plate (221) is restricted.

9. The orchard pruning robot based on a fruit tree growth model according to claim 1, characterized in that, The drive unit (3) includes a rotary driver (31) and a second transmission assembly (32); A rotary driver (31) is mounted on the substrate (2), and the rotary driver (31) is used to drive one of the rotating shafts (22) to rotate; The two rotating shafts (22) are connected by a second transmission assembly (32).

10. An orchard pruning robot based on a fruit tree growth model according to claim 9, characterized in that, The second transmission assembly (32) includes a gear ring (321), a second rotating gear (322), and a transmission gear (323). The gear ring (321), the second rotating gear (322) and the transmission gear (323) are all disposed at the bottom of the base plate (2). The gear ring (321) is sleeved on the mounting plate (221), the second rotating gear (322) is sleeved on the rotating shaft (22), and the transmission gear (323) is meshed with the gear ring (321) and the second rotating gear (322).

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