Grape vine soil cleaning machine

Abstract

The invention belongs to the technical field of grape vine soil cleaning, and particularly discloses a grape vine soil cleaning machine which comprises a frame, a Y-shaped large arm and a first hydraulic cylinder are hinged to the frame, the first hydraulic cylinder is hinged to the Y-shaped large arm, a connecting base is hinged to the Y-shaped large arm, a second hydraulic cylinder is hinged between the connecting base and the Y-shaped large arm, the connecting base is connected with a supporting base, and the supporting base is connected with a middle arm head. A middle arm and a third hydraulic cylinder are hinged to the middle arm head, the third hydraulic cylinder is hinged to the middle arm, a small arm is hinged to one end of the middle arm, a fourth hydraulic cylinder is hinged between the small arm and the middle arm, a brush head frame is hinged to one end of the small arm, a fifth hydraulic cylinder is hinged between the brush head frame and the small arm, and the brush head frame is rotationally connected with a brush head. The invention aims to solve the problems that the labor intensity is high, the physical fatigue of workers is easily caused and the working efficiency is low in the existing artificial grape vine soil cleaning operation. Manual operation is replaced by mechanical operation, soil cleaning work of a large-area vineyard can be rapidly completed, and the operation requirement of the temporary farming window period in spring is effectively met.

Description

Technical Field

[0001] This invention relates to the field of grapevine soil removal technology, specifically to a grapevine soil removal machine. Background Technology

[0002] As a widely cultivated and important economic crop worldwide, grapes not only provide raw materials for industries such as fresh consumption, winemaking, and drying, but are also a pillar industry of the agricultural economy in many regions. Statistics show that my country's grape cultivation area and yield have ranked among the world's top for many consecutive years, forming several large-scale production areas in Xinjiang, Hebei, Shandong, and Shaanxi. Grape cultivation has become an important way to increase farmers' income and promote rural revitalization.

[0003] Because of the harsh winter, grapevines need to be buried in soil to overwinter, protecting their roots and trunks from frost damage. In spring, as temperatures rise, the soil covering the vines needs to be removed promptly to allow for normal budding and growth. This soil removal process is crucial to the grape's annual growth cycle; if it is not done in a timely or thorough manner, it will directly affect the grape's shoot and leaf development, and may even lead to vine rot or disease.

[0004] Currently, the clearing of grapevines is mainly done manually using tools such as shovels and rakes. However, this traditional manual clearing method has many drawbacks. First, it is extremely labor-intensive, and workers are prone to physical fatigue due to prolonged bending over. Second, each person can only complete the clearing work on a limited area per day, which is difficult to meet the needs of large-scale vineyards to quickly complete the clearing work during the short agricultural window in spring, resulting in low work efficiency. Summary of the Invention

[0005] The purpose of this invention is to provide a grapevine clearing machine to solve the problems of existing manual grapevine clearing operations, which are extremely labor-intensive, easily lead to worker fatigue, and have low work efficiency.

[0006] To achieve the above objectives, the basic solution provided by this invention is as follows: a grapevine clearing machine, comprising a frame, on which a Y-shaped boom and a hydraulic cylinder are hinged, the hydraulic cylinder being located directly below the Y-shaped boom, the telescopic end of the hydraulic cylinder being hinged to the Y-shaped boom, a connecting seat being hinged to the Y-shaped boom, a hydraulic cylinder being hinged between the connecting seat and the Y-shaped boom, a support seat being detachably connected to the connecting seat, a middle boom head being detachably connected to the support seat, and a middle boom and a hydraulic cylinder being hinged to the middle boom head. The telescopic end of the hydraulic cylinder three is hinged to the middle arm. The end of the middle arm away from the head of the middle arm is hinged to the forearm. The forearm and the middle arm are hinged to the hydraulic cylinder four. The end of the forearm away from the middle arm is hinged to the brush head frame. Two connecting parts one are hinged to both sides of the forearm. Connecting parts two are hinged to the brush head frame. Both connecting parts two are hinged to connecting parts one. The connecting parts two and the forearm are hinged to the hydraulic cylinder five. The brush head is rotatably connected to the brush head frame. The brush head frame is provided with a drive assembly for driving the brush head to rotate.

[0007] The working principle of this invention is as follows: When soil clearing is required, the vehicle frame is first driven to the beginning of the grapevine row that needs to be cleared. Then, the operator operates hydraulic cylinder one. When the piston rod of hydraulic cylinder one extends, it will lift the Y-shaped arm and raise the entire soil clearing robot arm to the working height. Since the grapevine row has undulations and the robot arm needs to extend towards the vine roots at a certain angle, the operator controls hydraulic cylinder two. The extension and retraction of hydraulic cylinder two will pull or push the connecting seat, causing the connecting seat to pitch and rotate relative to the Y-shaped arm, ensuring that the extension direction of the entire robot arm is in the working direction.

[0008] The operator then coordinates the operation of hydraulic cylinders three and four. Cylinder three is responsible for lifting and lowering the middle arm, while cylinder four controls the bending and extension of the forearm. Through the cooperation of these two, the robotic arm can flexibly extend or bend forward, thus accurately placing the brush head in the area where the roots of the grapevines are buried in soil. Just before the brush head touches the soil, the operator operates hydraulic cylinder five. Hydraulic cylinder five, through the linkage mechanism formed by connector one and connector two, adjusts the angle of the brush head frame relative to the forearm, adjusting the brush head to strike vertically downwards, ensuring that the bristles can contact the soil with maximum efficiency. Once all positions and postures are adjusted, the operator activates the drive assembly to rotate the entire brush head. The rotating brush head sweeps away the covered soil, while the vehicle slowly moves forward. Throughout the movement, the operator needs to continuously fine-tune all the aforementioned hydraulic cylinders and drive assemblies to ensure that the robotic arm, driving the rotating brush head, always follows the line of the grapevine roots, ensuring that the buried soil is completely removed.

[0009] The beneficial effects of this invention are as follows: by replacing manual labor with shovels and rakes for soil clearing, operators no longer need to bend over for extended periods. Furthermore, the speed of mechanized soil clearing far exceeds that of manual labor, enabling rapid completion of soil clearing work over large areas of vineyards and effectively meeting the operational needs during the short spring planting season. The device employs a multi-stage hydraulic cylinder-driven boom, mid-arm, forearm, and brush head frame, forming a multi-degree-of-freedom robotic arm structure. This allows the brush head to flexibly adjust its position and posture, extending into the root zone of the grapevines and adapting to vines with varying row spacing, achieving efficient and thorough soil clearing.

[0010] Option 2, a preferred embodiment of the basic option, includes a motor as the driving component. The motor is fixedly connected to one side of the brush head frame. The drive shaft of the motor is provided with a helical gear one, and one end of the rotating shaft of the brush head is provided with a helical gear two. The helical gear one and the helical gear two mesh. The motor is directly fixed to the brush head frame, which saves space and makes the end effector more compact, which is beneficial for operation under complex grapevine trellises.

[0011] Option 3, a preferred option of the basic option, features two slide rails on the connecting seat. The support seat is slidably connected to the slide rails, and a hydraulic cylinder six is ​​hinged between the support seat and the connecting seat. The extension and retraction direction of the hydraulic cylinder six is ​​parallel to the sliding direction of the support seat. Through the slide rails and the hydraulic cylinder six, the entire middle arm, forearm, and brush head assembly can slide laterally along the connecting seat, enhancing the equipment's adaptability to grapevine row spacing and easily handling vineyards of different sizes, achieving precise row-by-row operation.

[0012] Option 4, a preferred embodiment of the basic option, features a hollow inner wall for the support base. A rotating column is connected to the support base via a bearing. One end of the rotating column extends into the support base, while the other end is fixedly connected to the middle arm head. A gear is located at the end of the rotating column within the support base. A hydraulic cylinder seven is located on one side of the support base. The telescopic end of the hydraulic cylinder seven is fixedly connected to a rack for meshing with the gear to rotate the rotating column. By driving the rotating column through the gear, rack, and hydraulic cylinder seven, the middle arm head and its subsequent components can be finely adjusted as a whole, further enhancing the flexibility of the robotic arm.

[0013] Option 5, a preferred option of the basic option, features a roller-shaped brush head with several bristles made of plastic rods. The roller-shaped brush head, combined with the dense bristles, effectively disperses and removes the covering soil. At the same time, the plastic bristles have a certain degree of hardness and toughness, ensuring effective soil removal while being softer than metal tools, greatly reducing the risk of mechanical damage to the grapevine's surface and preventing harm to the grapevine. Attached Figure Description

[0014] Figure 1 This is a perspective view of a grapevine soil-removing machine according to the present invention; Figure 2 This is a perspective view of a grapevine soil clearing machine according to the present invention from another angle; Figure 3 This is a schematic diagram of the Y-shaped upper arm, middle arm, and lower arm in a grapevine clearing machine of the present invention; Figure 4 This is a cross-sectional view of the support frame in a grapevine clearing machine according to the present invention; Figure 5 This is a schematic diagram of the brush head frame in a grapevine soil clearing machine according to the present invention. Detailed Implementation

[0015] The present invention will be further described in detail below through specific embodiments: The reference numerals in the accompanying drawings of the instruction manual include: 1-frame; 2-Y-shaped boom; 3-hydraulic cylinder one; 4-connecting seat; 5-hydraulic cylinder two; 6-support seat; 7-middle boom head; 8-middle boom; 9-hydraulic cylinder three; 11-forearm; 12-hydraulic cylinder four; 13-brush head frame; 14-connector one; 15-connector two; 16-hydraulic cylinder five; 17-brush head; 18-motor; 19-slide rail; 20-hydraulic cylinder six; 21-rotating column; 22-gear; 23-hydraulic cylinder seven; 24-rack; 25-helical gear one; 26-helical gear two.

[0016] like Figures 1 to 5As shown: A grapevine clearing machine includes a frame 1, which resembles a tractor's cab. Control buttons for hydraulic cylinders 3, 5, 9, 12, 16, 20, 23, and a motor 18 are all located on the frame 1. A Y-shaped boom 2 and hydraulic cylinder 3 are hinged to the frame 1. Hydraulic cylinder 3 is located directly below the Y-shaped boom 2, and its extension end is hinged to the Y-shaped boom 2. A connecting seat 4 is hinged to the Y-shaped boom 2, and hydraulic cylinder 5 is hinged between the connecting seat 4 and the Y-shaped boom 2. The connecting seat 4 is provided with two slide rails 19, and a support seat 6 is slidably connected to the slide rails 19. A hydraulic cylinder 6 20 is hinged between the support seat 6 and the connecting seat 4. The extension and retraction direction of the hydraulic cylinder 6 20 is parallel to the sliding direction of the support seat 6. The inner wall of the support seat 6 is hollow. A rotating column 21 is connected to the support seat 6 by a bearing. One end of the rotating column 21 extends into the support seat 6, and the other end of the rotating column 21 is fixedly connected to the middle arm head 7. A gear 22 is provided at the end of the rotating column 21 located in the support seat 6. A hydraulic cylinder 7 23 is provided on one side of the support seat 6. The extension and retraction end of the hydraulic cylinder 7 23... A rack 24 is fixedly connected, meshing with a gear 22. Rotation of the gear 22 drives the rotating column 21 to rotate. A middle arm 8 and a hydraulic cylinder 9 are hinged to the middle arm head 7. The telescopic end of the hydraulic cylinder 9 is hinged to the middle arm 8. A forearm 11 is hinged to the end of the middle arm 8 away from the middle arm head 7. A hydraulic cylinder 12 is hinged between the forearm 11 and the middle arm 8. A brush head frame 13 is hinged to the end of the forearm 11 away from the middle arm 8. Two connecting parts 14 are hinged to both sides of the forearm 11. Connecting parts 25 are hinged to the brush head frame 13. Both connecting parts 25 are connected to connecting parts 14. A hydraulic cylinder 16 is hinged between the connecting piece 2 15 and the forearm 11. A brush head 17 is rotatably connected to the brush head frame 13. The brush head frame 13 is provided with a drive assembly for driving the brush head 17 to rotate. The drive assembly includes a motor 18, which is fixedly connected to one side of the brush head frame 13. A helical gear 25 is fixedly connected to the drive shaft of the motor 18. A helical gear 26 is fixedly connected to one end of the rotating shaft of the brush head 17. The helical gear 25 and the helical gear 26 mesh. The brush head 17 is roller-shaped and has several bristles made of plastic rods.

[0017] The implementation method of this embodiment is as follows: When soil clearing is required, the vehicle frame 1 is first driven to the beginning of the grapevine row that needs to be cleared. Then, the operator operates hydraulic cylinder 3. When the piston rod of hydraulic cylinder 3 extends, it will lift the Y-shaped arm 2, raising the entire soil clearing robotic arm to the working height. Since the grapevine row has undulations and the robotic arm needs to extend towards the vine roots at a certain angle, the operator controls hydraulic cylinder 5. The extension and retraction of hydraulic cylinder 5 will pull or push the connecting seat 4, causing the connecting seat 4 to pitch and rotate relative to the Y-shaped arm 2, ensuring that the extension direction of the entire robotic arm is in the working direction. In order to approach the grapevine at the best angle, the operator controls hydraulic cylinder 23. Hydraulic cylinder 23 pushes rack 24, which drives the gear 22 meshing with it to rotate, thereby driving the middle arm head 7 to rotate, so that the brush head 17 can face the grapevine at the exact angle.

[0018] Subsequently, the operator coordinates the operation of hydraulic cylinders 9 and 12. Hydraulic cylinder 9 is responsible for lifting and lowering the middle arm 8, while hydraulic cylinder 12 controls the bending and extension of the forearm 11. With their cooperation, the robotic arm can extend or bend forward, thereby accurately placing the brush head 17 in the buried soil area. Before the brush head 17 contacts the buried soil, the operator operates hydraulic cylinder 16. Hydraulic cylinder 16 adjusts the angle of the brush head frame 13 relative to the forearm 11 through the linkage mechanism formed by connector 14 and connector 2 15, which can adjust the brush head 17 to strike vertically downwards. After all positions and postures are adjusted, the operator starts motor 18. Motor 18 drives helical gear 25 to rotate, and helical gear 25 drives helical gear 26, thereby driving the entire brush head 17 to rotate. The rotating bristles sweep away the covered soil. At the same time, the vehicle frame 1 moves forward slowly. During the entire process, the operator needs to continuously fine-tune all the above-mentioned hydraulic cylinders so that the rotating brush head 17 can clean the buried soil.

[0019] When there is a deviation between the robotic arm and the grapevine row, the operator activates hydraulic cylinder 6 20, which pushes the entire support 6 to slide laterally along the slide rail 19 on the connecting seat 4, so that the end brush head 17 is facing the soil.

[0020] The above descriptions are merely embodiments of the present invention, and common knowledge regarding specific structures and characteristics is not elaborated upon here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the structure of the present invention, and these should also be considered within the scope of protection of the present invention. These modifications and improvements will not affect the effectiveness of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A vine cleaner, characterized by, The utility model provides a kind of cleaning robot, including frame (1), Y-shaped arm (2) and hydraulic cylinder one (3) are hinged on the frame (1), the hydraulic cylinder one (3) is located directly below Y-shaped arm (2), the telescopic end of the hydraulic cylinder one (3) is hinged with Y-shaped arm (2), connecting seat (4) is hinged on the Y-shaped arm (2), hydraulic cylinder two (5) is hinged between connecting seat (4) and Y-shaped arm (2), detachably connected with support seat (6) on the connecting seat (4), detachably connected with middle arm head (7) on the support seat (6), middle arm (8) and hydraulic cylinder three (9) are hinged on the middle arm head (7), the telescopic end of the hydraulic cylinder three (9) is hinged with middle arm (8), the end of middle arm (8) away from middle arm head (7) is hinged with small arm (11), hydraulic cylinder four (12) is hinged between small arm (11) and middle arm (8), the end of small arm (11) away from middle arm (8) is hinged with brush head frame (13), two connecting pieces one (14) are hinged on the both sides of small arm (11), connecting piece two (15) is hinged on the brush head frame (13), two connecting piece two (15) are hinged with connecting piece one (14), hydraulic cylinder five (16) is hinged between connecting piece two (15) and small arm (11), brush head (17) is rotatably connected on the brush head frame (13), driving assembly for driving brush head (17) to rotate is equipped on the brush head frame (13).

2. A vineyard cleaner according to claim 1, characterised in that, The driving assembly includes motor (18), the motor (18) is fixedly connected with one side of brush head frame (13), the drive shaft of the motor (18) is equipped with helical gear one (25), the one end of the rotating shaft of the brush head (17) is equipped with helical gear two (26), the helical gear one (25) and the helical gear two (26) are engaged.

3. A vineyard cultivator according to claim 1, characterised in that, Two slide rails (19) are equipped on the connecting seat (4), the support seat (6) is slidably connected with slide rail (19), hydraulic cylinder six (20) is hinged between the support seat (6) and connecting seat (4), the telescopic direction of the hydraulic cylinder six (20) is parallel with the sliding direction of the support seat (6).

4. A vineyard cultivator according to claim 1, characterised in that, The inner wall of the support seat (6) is cavity, rotating column (21) is connected with the support seat (6) by bearing, one end of the rotating column (21) extends into the support seat (6), the other end of the rotating column (21) is fixedly connected with middle arm head (7), gear (22) is equipped on the one end of the rotating column (21) in the support seat (6), hydraulic cylinder seven (23) is equipped on one side of the support seat (6), the telescopic end of the hydraulic cylinder seven (23) is fixedly connected with rack (24) for engaging gear (22) to make rotating column (21) rotate.

5. A vineyard cultivator according to claim 1, characterised in that, The brush head (17) is in the shape of a roller, a plurality of bristles are equipped on the brush head (17), the bristles are made of plastic rod.

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