Intelligent agricultural pruning robot

Abstract

The application discloses an intelligent agricultural pruning robot, and relates to the technical field of agricultural robots.The robot comprises a ring-shaped support which can be locked and opened, and at least three groups of climbing pruning assemblies which are uniformly distributed in the circumferential direction of the ring-shaped support.Each group of assemblies is connected to the support through an electric push rod and comprises a climbing wheel which is arranged obliquely, a pruning wheel and a stabilizing mechanism which is symmetrically arranged on the upper side and the lower side of the climbing wheel.The stabilizing mechanism is composed of an extrusion spring and a damper, can be self-adapted to the trunks with different diameters and surface roughnesses, and guarantees stable climbing.A driving source provides power for the climbing wheel and the pruning wheel, realizes spiral climbing and cutting operation.The pruning wheel is provided with a spraying mechanism on the side, can spray repairing liquid to the wound immediately after cutting, and plays a disinfecting and protecting role.The application integrates the functions of climbing, pruning and wound treatment, improves the operation safety, adaptability and health guarantee for the subsequent growth of trees.

Description

Technical Field

[0001] This invention relates to the field of agricultural robot technology, specifically to an intelligent agricultural pruning robot. Background Technology

[0002] Regular pruning of fruit trees is a key agronomic measure to ensure their healthy growth and improve fruit quality. Currently, pruning of tall fruit trees mainly relies on manual labor using ladders or lifting platforms, which is not only inefficient and labor-intensive but also poses safety risks associated with working at heights. Current tree-climbing pruning robots mainly employ tracked ascent, drone flight, and spiral ascent methods. This application focuses on improving spiral-ascent tree-climbing pruning robots.

[0003] Existing pruning robots are ill-suited to tree trunks of varying diameters and surface roughness, and tend to slip or wobble during ascent. Furthermore, they can only perform cutting, leaving exposed wounds that are susceptible to pests and diseases, thus hindering tree healing.

[0004] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the above-mentioned defects and provide an intelligent agricultural pruning robot.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an intelligent agricultural pruning robot, comprising: a ring-shaped support, which is formed by two semi-circular supports connected by rotation, and a locking part is provided at the closed end; at least three sets of climbing pruning components, which are evenly distributed along the circumference of the ring-shaped support, each set of climbing pruning components is connected to the ring-shaped support through an electric push rod, each set of climbing pruning components includes a pruning wheel, a climbing wheel inclined relative to the trunk axis, and multiple sets of stabilizing mechanisms; wherein, the stabilizing mechanisms are symmetrically arranged on the upper and lower sides of the climbing wheel, and each set of stabilizing mechanisms includes a compression spring and a damper; a drive source, which is used to drive the climbing wheel and the pruning wheel respectively; and a spraying mechanism, which is disposed between the pruning wheel and the climbing wheel, the spraying mechanism including a storage tank for containing repair fluid and multiple nozzles connected to it through pipelines.

[0007] Furthermore, the climbing and pruning assembly also includes a mounting plate fixedly connected to the output end of the electric push rod, the climbing wheel is mounted on the side of the mounting plate away from the electric push rod, a connecting plate is fixedly connected to the top of the mounting plate, and the pruning wheel is mounted on the side of the connecting plate away from the electric push rod.

[0008] Furthermore, the climbing wheel is rotatably installed inside the mounting frame, and the upper and lower sides of the mounting frame are connected to the mounting plate through fixing blocks. The fixing blocks are fixedly connected to the mounting plate, and the mounting frame is slidably connected to the fixing blocks. The stabilizing mechanism is disposed between the fixing blocks and the mounting frame.

[0009] Furthermore, sliders are fixedly connected to both the upper and lower sides of the mounting bracket. A groove is provided on the fixed block to accommodate the sliding of the slider. The compression spring is configured to cooperate with the damper, and the compression spring and the damper are respectively connected between the ends of the slider and the groove.

[0010] Furthermore, the drive source includes a first motor for driving the climbing wheel, the first motor being fixedly mounted on the mounting bracket and connected to the climbing wheel in a transmission manner.

[0011] Furthermore, the drive source includes a second motor for driving the pruning wheel, the second motor being fixedly mounted on the connecting plate and connected to the pruning wheel in a transmission manner.

[0012] Furthermore, the storage tank is fixedly installed on the side of the connecting plate away from the pruning wheel, and the plurality of nozzles are fixedly installed on the side of the connecting plate close to the pruning wheel. The spraying mechanism also includes a diversion pipe and a liquid pump. The plurality of nozzles are connected to the diversion pipe. The liquid pump is installed on the connecting plate. The inlet of the liquid pump is connected to the storage tank through a liquid extraction pipe, and the outlet of the liquid pump is connected to the diversion pipe through a liquid discharge pipe.

[0013] Furthermore, the connecting plate is equipped with a rangefinder for detecting distance.

[0014] Furthermore, a guide rod that is fixedly connected to the annular bracket is slidably connected to the mounting plate.

[0015] The advantages of this invention compared to the prior art are: 1. The robot can automatically hug the tree trunk, spiral up, identify and cut branches, eliminating the need for human intervention at heights and greatly improving the safety, continuity and overall efficiency of pruning operations.

[0016] 2. Through the coordination of the electric push rod and the stabilizing mechanism, it can automatically adapt to tree trunks of different diameters and uneven surfaces, maintaining a close fit and smooth ascent, ensuring the stability and accuracy of the cutting operation.

[0017] 3. Immediately after cutting, spray the wound with a protective agent to effectively prevent the invasion of pathogens, promote healing, and enhance the health of the tree for later growth. Attached Figure Description

[0018] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses consistent with some aspects of this disclosure as detailed in the appended claims.

[0019] Figure 1 This is a three-dimensional schematic diagram of the robot provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the climbing and pruning component provided in an embodiment of the present invention; Figure 3 This is a schematic cross-sectional view of the climbing wheel and stabilizing mechanism provided in an embodiment of the present invention; Figure 4 This is a schematic cross-sectional view of the spraying mechanism provided in an embodiment of the present invention; Figure 5 This is an enlarged view of area A provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of robot motion provided in an embodiment of the present invention; As shown in the figure: 1. Ring bracket; 11. Locking part; 2. Climbing pruning assembly; 21. Mounting plate; 22. Connecting plate; 3. Electric push rod; 4. Pruning wheel; 5. Climbing wheel; 51. Mounting frame; 511. Slider; 52. Fixing block; 521. Slide groove; 6. Stabilizing mechanism; 61. Compression spring; 62. Damper; 7. Drive source; 71. First motor; 72. Second motor; 8. Spraying mechanism; 81. Storage tank; 82. Nozzle; 83. Diverter pipe; 84. Liquid pump; 85. Liquid extraction pipe; 86. Liquid discharge pipe; 9. Rangefinder; 10. Guide rod. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0021] First embodiment: Combined with appendix Figures 1 to 6 As shown, the present invention provides an intelligent agricultural pruning robot, which mainly includes a ring support 1, at least three sets of climbing and pruning components 2, an electric push rod 3 for driving the movement of each set of climbing and pruning components 2, a drive source 7, and a spraying mechanism 8.

[0022] The following section will elaborate on the composition, assembly relationship, and collaborative working method of each part.

[0023] The ring support 1 is used to hold the tree trunk to be pruned, providing the installation base for the entire robot. The climbing and pruning assembly 2 is used to perform climbing and pruning functions. It is connected to the ring support 1 through the electric push rod 3. The extension and retraction of the electric push rod 3 can drive the assembly to move radially to adapt to changes in the trunk diameter and maintain a close fit. Each climbing and pruning assembly 2 includes a pruning wheel 4, a climbing wheel 5 and multiple sets of stabilizing mechanisms 6. The drive source 7 provides rotational power to the pruning wheel 4 and the climbing wheel 5. The spraying mechanism 8 is used to spray repair fluid onto the wound in time after pruning to promote healing and prevent disease invasion.

[0024] The overall working principle is as follows: Before operation, the ring bracket 1 is opened and placed on the outside of the tree trunk, then closed and locked. After starting, the drive source 7 drives each climbing wheel 5 to rotate. Since the axis of the climbing wheel 5 is set at an inclination relative to the axis of the tree trunk, it generates a component force along the axis of the tree trunk when rotating, thereby driving the entire robot to spiral up or down along the tree trunk. During the movement, the stabilizing mechanism 6 continuously provides radial elastic clamping force and buffers vibration to ensure smooth climbing. When it reaches the branch to be pruned, the drive source 7 drives the pruning wheel 4 to rotate at high speed to perform the cutting operation. After the pruning is completed, the spraying mechanism 8 is started to spray repair fluid onto the cut wound. Through the coordinated adjustment of the electric push rod 3, it can ensure stable fit and operation effect on tree trunks of different diameters.

[0025] The technical solution of the present invention will be described in detail below with reference to specific embodiments.

[0026] Second embodiment: To clearly illustrate the technical solution of the present invention, the following detailed description is provided in conjunction with specific embodiments. The second embodiment is a basic implementation of the annular support 1, as detailed below:

[0027] The main body of the ring bracket 1 is formed by two semi-circular arcs hinged at the connecting end through a pivot, forming an openable and closable ring structure. A locking part 11 is provided at the closed end of the ring bracket 1. The locking part 11 can be a mechanical locking device such as a pin, buckle, electromagnetic lock or bolt and nut. In this embodiment, the bolt and nut locking method is used to firmly fix the two semi-circular brackets to form a rigid closed ring to hug the tree trunk. The ring bracket 1 provides a stable base platform for the subsequent installation of various components and can adapt to tree trunks of different thicknesses through the adaptive adjustment of each component.

[0028] Third embodiment: Based on the above-described basic implementation method, the present invention also provides a third embodiment, corresponding to the basic implementation method of the climbing and pruning component 2, as follows: The climbing and pruning assembly 2 is connected to the annular bracket 1 via an electric push rod 3. Specifically, the cylinder end of the electric push rod 3 is fixedly connected to the outer side of the annular bracket 1. The climbing and pruning assembly 2 includes a mounting plate 21, which is fixedly connected to the output rod end of the electric push rod 3. Thus, the extension or retraction movement of the electric push rod 3 can be directly converted into the movement of the mounting plate 21. A guide rod 10 is slidably connected to the mounting plate 21, and the other end of the guide rod 10 is fixedly connected to the annular bracket 1. This guide rod 10 provides auxiliary guidance and support for the radial movement of the mounting plate 21 driven by the electric push rod 3, preventing the assembly from twisting or jamming, thereby enhancing the stability of the movement.

[0029] A climbing wheel 5 is installed on the side of the mounting plate 21 away from the electric push rod 3 (i.e. the side facing the trunk). Furthermore, a connecting plate 22 is fixedly connected to the top of the mounting plate 21, and a pruning wheel 4 is installed on the side of the connecting plate 22 away from the electric push rod 3. This structure allows the pruning wheel 4 and the climbing wheel 5 to be arranged in a staggered manner in space, without interfering with each other, and to perform cutting and climbing functions respectively.

[0030] Fourth embodiment: Based on the above embodiments, the present invention also provides a fourth embodiment, corresponding to the basic implementation of the stabilizing mechanism 6, as follows: The stabilizing mechanism 6 is used to provide continuous clamping force to the climbing wheel 5 during climbing and operation, and to absorb vibrations caused by uneven tree trunk surface, robot movement and cutting, ensuring stable contact. In the specific structure, the climbing wheel 5 is rotatably mounted in a mounting frame 51 through bearings. The upper and lower sides of the mounting frame 51 are connected to the mounting plate 21 through fixing blocks 52. The fixing blocks 52 are fixedly connected to the mounting plate 21, while the mounting frame 51 and the fixing blocks 52 form a sliding fit. The stabilizing mechanism 6 is set between the mounting frame 51 and the fixing blocks 52, and it includes multiple compression springs 61 and dampers 62.

[0031] More specifically, sliders 511 are fixedly connected to both the upper and lower sides of the mounting frame 51, and grooves 521 matching the sliders 511 are provided on the corresponding fixed blocks 52. The sliders 511 can slide in the grooves 521 in a direction perpendicular to the tree trunk surface. The compression spring 61 and the damper 62 are coaxially sleeved, and their ends are respectively connected between the ends of the sliders 511 and the grooves 521. When the diameter of the tree trunk changes or encounters a protrusion, the climbing wheel 5 and the mounting frame 51 are pressed back, compressing the compression spring 61 and causing the damper 62 to act, thereby buffering the impact. When the pressure decreases, the rebound force of the compression spring 61 pushes the climbing wheel 5 to press against the tree trunk.

[0032] The damper 62 can be a hydraulic damper, which is connected in parallel with the compression spring 61. When subjected to impact, the two work together to quickly dissipate vibration energy, prevent the climbing wheel 5 from detaching from the tree trunk or from violently bouncing, and ensure continuous and stable traction.

[0033] Fifth embodiment: Based on the above embodiments, the present invention also provides a fifth embodiment, corresponding to the basic implementation of the driver source 7, as follows:

[0034] The drive source 7 provides independent rotational power for the pruning wheel 4 and the climbing wheel 5. For the driving of the climbing wheel 5, a first motor 71 is used. The first motor 71 is fixedly mounted on the mounting bracket 51. Its output shaft is connected to the rotating shaft of the climbing wheel 5 through a coupling, driving the climbing wheel 5 to rotate. Due to the inclined axis of the climbing wheel 5, the robot as a whole spirals upward along the tree trunk. For the driving of the pruning wheel 4, a second motor 72 is used. The second motor 72 is fixedly mounted on the connecting plate 22. Its output shaft is also connected to the rotating shaft of the pruning wheel 4 through a coupling, driving the pruning wheel 4 to rotate at high speed for cutting operations. The first motor 71 and the second motor 72 are preferably servo motors with self-locking function.

[0035] Sixth embodiment: Based on the above embodiments, the present invention also provides a sixth embodiment, corresponding to the basic embodiment of the spraying mechanism 8, as follows: The spraying mechanism 8 is installed on the climbing pruning assembly 2 and is used to spray the wound immediately after pruning. It mainly includes a storage tank 81, multiple nozzles 82, a diversion pipe 83, a liquid pump 84, and connecting pipes. The storage tank 81 is fixedly installed on the side of the connecting plate 22 away from the pruning wheel 4 and is used to store tree wound repair liquid. Multiple nozzles 82 are fixedly installed on the side of the connecting plate 22 close to the pruning wheel 4, and their spray direction is towards the cutting area of ​​the pruning wheel 4. All nozzles 82 are connected through the diversion pipe 83 to ensure uniform spraying. The liquid pump 84 is installed on the connecting plate 22. Its inlet is connected to the bottom of the storage tank 81 through the liquid extraction pipe 85, and its outlet is connected to the diversion pipe 83 through the liquid discharge pipe 86. When working, the liquid pump 84 is started to pump the repair liquid out of the storage tank 81, which is then transported to the diversion pipe 83 through the liquid discharge pipe 86 and finally atomized and sprayed out by multiple nozzles 82 to cover the newly cut branch section.

[0036] Seventh embodiment: Based on the above embodiments, the present invention also provides a seventh embodiment, which corresponds to the basic implementation of the auxiliary functional components, as follows: To further improve the robot's intelligence and operational accuracy, a rangefinder 9 (such as a laser rangefinder sensor) can be installed on the connecting plate 22 to detect the distance between the pruning wheel 4 and the tree trunk surface and the target branches in real time. This signal can be fed back to the control system to control the extension and retraction of the electric push rod 3, thereby achieving adaptive distance adjustment or obstacle avoidance.

[0037] Those skilled in the art will understand that the electric actuator 3, the first motor 71, the second motor 72, the liquid pump 84, the rangefinder 9, and the control system (not shown in the figure) are all electrically connected to the control system via wires. All of the above components are mature electrical and standard components in the field and can be selected and integrated according to specific design parameters. The control system can be implemented based on a programmable logic controller (PLC) or a microcontroller.

[0038] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.

Claims

1. An intelligent agricultural pruning robot, characterized in that, include: The ring bracket (1) is formed by two semicircular brackets connected by rotation, and a locking part (11) is provided at the closed end. At least three sets of climbing pruning components (2) are evenly distributed along the circumference of the ring support (1). Each set of climbing pruning components (2) is connected to the ring support (1) via an electric push rod (3). Each set of climbing pruning components (2) includes a pruning wheel (4), a climbing wheel (5) inclined relative to the trunk axis, and multiple sets of stabilizing mechanisms (6). The stabilizing mechanism (6) is symmetrically arranged on the upper and lower sides of the climbing wheel (5), and each set of the stabilizing mechanism (6) includes a compression spring (61) and a damper (62). A drive source (7) is used to drive the climbing wheel (5) and the pruning wheel (4) respectively. The spraying mechanism (8) is located between the pruning wheel (4) and the climbing wheel (5). The spraying mechanism (8) includes a storage tank (81) for containing repair fluid and a plurality of nozzles (82) connected to it via pipelines.

2. The intelligent agricultural pruning robot according to claim 1, characterized in that: The climbing and pruning assembly (2) also includes a mounting plate (21) fixedly connected to the output end of the electric push rod (3). The climbing wheel (5) is installed on the side of the mounting plate (21) away from the electric push rod (3). A connecting plate (22) is fixedly connected to the top of the mounting plate (21). The pruning wheel (4) is installed on the side of the connecting plate (22) away from the electric push rod (3).

3. The intelligent agricultural pruning robot according to claim 2, characterized in that: The climbing wheel (5) is rotatably installed in the mounting frame (51). The upper and lower sides of the mounting frame (51) are connected to the mounting plate (21) by fixing blocks (52). The fixing blocks (52) are fixedly connected to the mounting plate (21). The mounting frame (51) is slidably connected to the fixing blocks (52). The stabilizing mechanism (6) is located between the fixing blocks (52) and the mounting frame (51).

4. The intelligent agricultural pruning robot according to claim 3, characterized in that: The mounting bracket (51) has sliders (511) fixedly connected to both the upper and lower sides. The fixing block (52) has a groove (521) for accommodating the sliding of the slider (511). The compression spring (61) is configured to cooperate with the damper (62), and the compression spring (61) and the damper (62) are respectively connected between the ends of the slider (511) and the groove (521).

5. The intelligent agricultural pruning robot according to claim 3 or 4, characterized in that: The drive source (7) includes a first motor (71) for driving the climbing wheel (5), the first motor (71) being fixedly mounted on the mounting bracket (51) and connected to the climbing wheel (5) in a transmission connection.

6. The intelligent agricultural pruning robot according to claim 2, characterized in that: The drive source (7) includes a second motor (72) for driving the pruning wheel (4), the second motor (72) is fixedly installed on the connecting plate (22) and is connected to the pruning wheel (4) for transmission.

7. The intelligent agricultural pruning robot according to claim 2, characterized in that: The storage tank (81) is fixedly installed on the side of the connecting plate (22) away from the pruning wheel (4). The multiple nozzles (82) are fixedly installed on the side of the connecting plate (22) close to the pruning wheel (4). The spraying mechanism (8) also includes a diversion pipe (83) and a liquid pump (84). The multiple nozzles (82) are connected to the diversion pipe (83). The liquid pump (84) is installed on the connecting plate (22). The inlet of the liquid pump (84) is connected to the storage tank (81) through the liquid extraction pipe (85). The outlet of the liquid pump (84) is connected to the diversion pipe (83) through the liquid discharge pipe (86).

8. The intelligent agricultural pruning robot according to claim 2, characterized in that: The connecting plate (22) is equipped with a rangefinder (9) for detecting distance.

9. The intelligent agricultural pruning robot according to claim 2, characterized in that: The mounting plate (21) is slidably connected to a guide rod (10) which is fixedly connected to the annular bracket (1).

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