A fruit tree branch disease spot scraping device and a patrol robot thereof

Abstract

The present application provides a kind of fruit tree branch disease spot scraping device and its inspection robot, including inspection robot and be set on the lifting rotating component of inspection robot, adjusting component and scraping component, adjusting component includes fixed frame, rotating seat, adjusting arm and drive mechanism, fixed frame is fixedly installed on the execution end of lifting platform, fixed frame has support column and symmetrically spaced installation frame being arranged at the both sides of support column, the both sides of support column upper end close to installation frame are symmetrically provided with mounting column, rotating seat is symmetrically arranged, is respectively installed on different mounting column by rolling bearing rotation, adjusting arm is slidably arranged outside rotating frame by linear slide rail module, drive mechanism is arranged on installation frame, drive mechanism drives rotating seat to rotate, drives adjusting arm to move on rotating frame.In use the present application, can control disease in time, work efficiency is high, reduces the labor amount of worker, avoids the risk of yield reduction caused by disease spread.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, and in particular relates to a fruit tree branch and trunk disease spot scraping device and its inspection robot. Background Technology

[0002] In recent years, significant progress has been made in the research of intelligent inspection technology for orchard diseases both domestically and internationally. Orchard inspection robots, as important tools for improving agricultural production efficiency and management, have become increasingly sophisticated with the continuous maturation of technologies such as autonomous navigation, visual recognition, and multimodal data acquisition in industrial inspection robots. They can now perform inter-orchard inspections, growth data collection, and pest and disease identification, adapting to inspection and monitoring work in complex environments. This allows fruit farmers to promptly identify and address issues related to fruit trees, adjust orchard management plans, and improve orchard production efficiency and fruit quality. However, most existing inspection equipment only has disease identification and monitoring / early warning functions, lacking on-site treatment mechanisms for lesions. After identifying lesions on branches and trunks, manual follow-up treatment is still required, making it impossible to achieve integrated disease prevention and control.

[0003] Pear tree branch and trunk diseases are key diseases that restrict the high-quality and stable yield of pear orchards. Common diseases include four categories: ring rot, dry rot, canker, and stem blight. All of these diseases have the characteristic of latent infection by pathogens. Most growers only start treatment work after the disease has broken out on a large scale, which increases the difficulty of disease control and the risk of reduced yield in the orchard.

[0004] Currently, the removal of branch and trunk lesions in pear orchards relies entirely on manual labor, which has some drawbacks: the process of manually scraping off lesions and collecting diseased bark is complicated, requires a large amount of manpower, and has low overall efficiency.

[0005] Therefore, to solve the above problems, a fruit tree branch disease spot scraping device is needed that can adjust the position of the scraper so that it can scrape disease spots in different locations, reduce the spread of disease and reduce the risk of yield reduction. Summary of the Invention

[0006] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide a fruit tree branch disease spot scraping device and its inspection robot, which can solve the technical problems of the inability to scrape fruit tree branch diseases in a timely manner and the large amount of labor and low efficiency of manual scraping.

[0007] To achieve the above and other related objectives, the present invention provides a fruit tree branch and trunk disease spot scraping device, mounted on an inspection robot, comprising: A lifting and rotating assembly, comprising an electric rotating platform and a lifting platform, wherein the electric rotating platform is mounted on the inspection robot and the lifting platform is mounted on the electric rotating platform; An adjustment assembly is disposed on the lifting platform. The adjustment assembly includes a fixed frame, a rotating seat, an adjusting arm, and a drive mechanism. The fixed frame is fixedly installed on the execution end of the lifting platform. The fixed frame is vertically arranged and has a support column and mounting frames symmetrically spaced on both sides of the support column. Mounting columns are symmetrically arranged on both sides of the upper end of the support column near the mounting frames. The axis of the mounting columns is horizontally arranged. The rotating seats are symmetrically arranged and are rotatably mounted on different mounting columns via rolling bearings. The adjusting arm is slidably disposed outside the rotating seat via a linear slide rail module. The drive mechanism is disposed on the mounting frame and drives the rotating seat to rotate and drives the adjusting arm to move on the rotating seat. A scraping assembly is disposed at one end of the adjusting arm.

[0008] In this way, by adjusting the position of the scraping component using the adjustment component, the scraping component can scrape off lesions in different locations.

[0009] Optionally, the driving mechanism includes a driving rotating part and a driving moving part, which are respectively disposed on different mounting brackets on both sides. The driving rotating part is used to drive the rotating seat to rotate around the mounting column on the support column, and the driving moving part is used to drive the adjusting arm to move on the rotating seat. The drive rotating part includes a first motor, a first fixed shaft, and a fixed sleeve. The first motor is fixedly installed on the outside of the mounting frame. One end of the fixed sleeve is fixedly connected to the rotating seat, and the other end is rotatably connected to the mounting frame through a rolling bearing. The axis of the fixed sleeve is collinear with the mounting column. The first fixed shaft is coaxially arranged inside the fixed sleeve through a rolling bearing, with one end fixedly connected to the mounting column and the other end fixedly connected to the mounting frame. The output end of the first motor is connected to the fixed sleeve through meshing gears, and the fixed sleeve is driven to rotate by the first motor, thereby causing the rotating seat to rotate.

[0010] Optionally, the driving moving part includes a second motor, a second fixed shaft, a rotating sleeve, and a rack. The second motor is fixedly installed on the outside of the mounting frame. The rotating sleeve is rotatably installed on the mounting frame via rolling bearings and is coaxially arranged with the mounting column. The second fixed shaft is coaxially arranged inside the rotating sleeve via rolling bearings, with one end fixedly connected to the mounting column and the other end rotatably arranged inside the rotating sleeve. The rack is fixedly installed on the adjusting arm and is arranged along the length direction of the adjusting arm. The output end of the second motor is connected to the rotating sleeve through a meshing gear, and the rotating sleeve is driven to rotate by the second motor; The rotating sleeve has a drive gear at one end near the adjusting arm that meshes with the rack. A second motor drives the rotating sleeve to rotate, thereby causing the gear on the rotating sleeve to drive the rack to move, thus moving the adjusting arm back and forth.

[0011] Optionally, the rotating mechanism includes a third motor and a mounting plate. The third motor is fixedly installed inside the adjusting arm, and the mounting plate is fixedly installed on the output shaft of the third motor. The axis of the output shaft of the third motor is arranged along the length direction of the adjusting arm.

[0012] Optionally, the scraping assembly includes a mounting rod and a scraping mechanism. One end of the mounting rod is mounted on the mounting plate via a connecting plate, and the other end of the mounting rod is bent to one side to form a mounting end, which is hollow. The scraping mechanism is mounted on the mounting end of the mounting rod. A third motor allows the angle of the mounting rod to be adjusted, enabling the scraping mechanism at the front end of the mounting rod to adapt to lesions in different locations. The scraping mechanism includes a scraper, a scraper seat, and a scraper driving mechanism. The scraper driving mechanism is mounted on the mounting rod, the scraper seat is mounted on the scraper driving mechanism, and the scraper is locked to the scraper seat by bolts. The scraper drive mechanism includes a fourth motor, an electric push rod, a splined shaft, and a splined shaft sleeve. The mounting end is hollow, and the electric push rod is fixedly installed inside the mounting end. The splined shaft sleeve is installed inside the mounting end via a rolling bearing. The splined shaft is splined into the splined shaft sleeve, with one end located inside the mounting end and having a coaxial connecting portion. This connecting portion is rotatably connected to the top of the actuating end of the electric push rod. The other end passes through the splined shaft sleeve and is located outside the mounting rod, fixedly connected to the scraper seat. The fourth motor is fixedly installed outside the mounting rod, and a meshing gear exists between the output end of the fourth motor and the splined shaft sleeve. The fourth motor drives the splined shaft sleeve to rotate. The fourth motor allows adjustment of the scraper angle, enabling the scraper to approach the branch at a suitable angle. The reciprocating motion of the electric push rod drives the scraper to move back and forth, thus scraping away lesions. The splined shaft allows for simultaneous reciprocating scraping while changing the scraper angle, improving scraping efficiency.

[0013] Optionally, the scraper holder includes a fixed base and a buffer arm. The fixed base is fixedly connected to one end of the spline shaft located outside the mounting rod. The fixed base has a buffer groove. A buffer rod is slidably fitted into one end of the buffer arm. The buffer rod is fixedly installed in the buffer groove. A spring is sleeved on the buffer rod, and both ends of the spring abut against the buffer arm and the buffer groove, respectively. Using the buffer arm and spring, the scraper can avoid protruding structures on the branch surface during scraping operations, adapting to the irregular outer contours formed by the natural growth of the branches, preventing damage to the branches caused by the scraper pressing hard against them. It also ensures that the scraper always adheres to the diseased area, improving the fit and completeness of the scraping.

[0014] The buffer arm has a continuous bend at one end away from the fixed base, and two parallel mounting grooves are provided at the end. The buffer arm also has two threaded holes that pass through the buffer arm, and the axis of the threaded holes passes through the two mounting grooves. The scraper is U-shaped, with parallel insertion plates at both ends. Each insertion plate has a coaxial mounting hole, which is inserted into a mounting groove. After the scraper and insertion plate are engaged, the mounting hole and the threaded hole are coaxial. The scraper is then secured in the mounting groove with bolts. The U-shaped scraper, with its curved tip, effectively removes diseased lesions and collects scraped diseased debris, preventing it from falling into the orchard soil and spreading disease. The bolt-locking mechanism allows for quick disassembly and replacement of the scraper.

[0015] Optionally, it also includes a spraying assembly, which includes a supply tank, a nozzle, and a connecting pipe. The supply tank is fixedly mounted on the adjusting arm, and the nozzle is disposed on the buffer arm. The supply tank and the nozzle are connected through the connecting pipe. The connecting pipeline includes a flow pipeline, a sealing rotary joint, and a connecting hose. The flow pipeline includes a connecting pipeline that is sequentially connected inside the connecting part, the splined shaft, and the fixed seat. The connecting part is provided with a plurality of radially penetrating liquid inlets, and the fixed seat has a liquid outlet pipe that communicates with the flow pipeline. The sealing rotary joint is installed on the connecting seat and is sealed to the outside of the connecting part; The pump body and the sealing rotary joint, as well as the outlet pipe and the nozzle, are all connected by the connecting hose.

[0016] Optionally, the sealing rotary joint is provided with O-ring sealing structures at intervals inside. The O-ring sealing structures are sealed to the outer wall of the connecting part, and a sealing cavity is formed between the O-ring sealing structures and the connecting arm. The liquid inlet is located between the O-ring sealing structures, and the flow pipeline is connected to the sealing cavity through the liquid inlet. One side of the mounting end has a recessed groove, and one side of the sealing rotary joint has a branch pipe. The branch pipe communicates with the sealing cavity, passes through the recessed groove, and is connected to the liquid supply tank via the connecting hose. The O-ring sealing structure ensures that the sealing cavity remains sealed during rotation, preventing liquid leakage.

[0017] Optionally, a collection assembly is also included, comprising a negative pressure fan, a collection box, and a collection pipe. The collection box is fixedly installed at the end of the adjusting arm near the third motor. The negative pressure fan is fixedly installed outside the collection box. The collection box has a collection chamber inside, and the air intake of the negative pressure fan communicates with the collection chamber. The collection pipe is fixedly installed on the mounting base, with its suction port facing the scraper. The collection chamber and the collection pipe are connected by a retractable flexible hose. Using a collection pipe facing the scraper allows for timely collection of lesions after the scraper has removed them, preventing lesions from falling into the orchard soil and causing disease residue and spread.

[0018] An inspection robot is provided, wherein the inspection robot is equipped with a device for scraping disease spots on the branches and trunks of fruit trees.

[0019] The beneficial effects of this invention are as follows: 1. Through the coordinated operation of the lifting and rotating components and the adjusting components, the scraping component achieves multi-degree-of-freedom position adjustment in space. The electric rotary table drives the lifting platform to achieve horizontal rotation adjustment, while the lifting platform achieves vertical lifting adjustment. Simultaneously, the rotating seat in the adjusting component can rotate around the mounting column under the drive of the rotating part, and the adjusting arm can move linearly back and forth along the rotating seat under the drive of the moving part. Through the above multi-dimensional adjustment, the scraping component can flexibly adapt to the location of lesions at different heights, orientations, and distances on fruit tree branches, significantly improving the applicability and operational flexibility of the device.

[0020] 2. The third motor drives the mounting rod to rotate as a whole via the mounting plate, enabling a wide range of posture adjustments to the scraping mechanism. The fourth motor drives the splined shaft sleeve to rotate via meshing gears, thereby driving the scraper holder and scraper to perform fine-tuning of their angles. The two levels of angle adjustment work together to allow the scraper to adaptively adjust according to the specific location and orientation of the branch lesions, ensuring that the scraper's working surface fully contacts the lesion area, providing posture assurance for efficient and thorough scraping operations.

[0021] 3. By utilizing the transmission structure of the splined shaft and splined shaft sleeve, a clever combination of scraper rotation angle adjustment and reciprocating linear scraping motion is achieved. When the fourth motor drives the splined shaft sleeve to rotate, the splined shaft and scraper seat rotate synchronously through the spline engagement, thus adjusting the scraper angle. Simultaneously, the actuating end of the electric push rod is rotatably connected to the end of the splined shaft through the connecting part, which can drive the splined shaft and scraper to perform reciprocating linear motion along the axial direction. The above two motions do not interfere with each other and can be executed simultaneously, allowing the scraper to perform reciprocating scraping while being adjusted to the appropriate angle, greatly improving the work efficiency of lesion removal.

[0022] 4. By combining the U-shaped scraper structure with the negative pressure collection component, effective collection of lesions and prevention of disease transmission at the source are achieved. The arc-shaped structure at the front end of the U-shaped scraper acts as a buffer to catch the scraped diseased plant debris during the scraping process, preventing it from falling directly. At the same time, the negative pressure fan creates negative pressure near the scraper through the collection pipe, promptly sucking the scraped lesions into the collection box for storage. This dual collection mechanism ensures that diseased plant debris does not scatter into the orchard soil, eliminating the risk of secondary transmission due to disease residue and improving the environmental friendliness and thoroughness of orchard disease management.

[0023] 5. After scraping away the lesions, the spraying assembly is used to apply the medication, allowing for immediate treatment of the wound after scraping, forming an integrated "scraping-spraying" workflow. The medication tank is connected to the nozzle via a connecting hose, a sealed rotary joint, and a flow pipe built into the connecting part, spline shaft, and fixing seat. The medication can be directly delivered to the nozzle near the scraper, allowing for precise spraying of the exposed wound immediately after the lesions are scraped away. This design not only shortens the time interval between scraping and application, improving the prevention and control effect, but also makes the overall structure more compact by integrating the flow pipe into the transmission components, avoiding the problems of tangling and damage to exposed pipes during operation.

[0024] In summary, when using this invention, the scraper can approach the location of the diseased spots on the fruit tree branches at a suitable angle and scrape off the spots. After scraping, the spots can be collected in time, effectively preventing the spread of disease residue caused by the spots falling into the orchard soil. It can also spray pesticides in time to sterilize and disinfect the wounds on the branches, further preventing and controlling the disease, greatly reducing the risk of reduced fruit tree yield, with high work efficiency and reduced workload for workers. Attached Figure Description

[0025] Figure 1 The diagram shown is a schematic representation of the overall structure of the present invention.

[0026] Figure 2 Displayed as Figure 1 A schematic diagram of the structure after removing some components.

[0027] Figure 3 Displayed as Figure 2 A structural diagram from another location.

[0028] Figure 4 The diagram shows the structure of the adjustment component.

[0029] Figure 5 The diagram shown is a cross-sectional view of the mounting structure of the adjustment components.

[0030] Figure 6 Displayed as Figure 1 A magnified structural diagram of point A in the middle.

[0031] Figure 7 The diagram shown is a cross-sectional view of the scraping assembly.

[0032] Figure 8 The diagram shown is a cross-sectional view of the fourth motor mounting structure.

[0033] Figure 9 This diagram shows the installation structure of the scraper from another angle.

[0034] Figure 10 This is a schematic diagram of one of the working states of the present invention. Detailed Implementation

[0035] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0036] Please see Figures 1 to 10 It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, the terms "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0037] like Figures 1-10As shown, the inspection robot 1 is equipped with a lifting and rotating component 2, an adjusting component 3, a scraping component 4, a collecting component 5, and a spraying component 7. The inspection robot 1 is existing technology and has a vision camera that can identify lesions. After the vision camera identifies lesions on the fruit tree branches, the inspection robot 1 controls the lifting and rotating component 2 and the adjusting component 3 to adjust the position and height of the scraping component 4. Then, the scraping component 4 scrapes away the lesions. While the lesions are being scraped away, the collecting component 5 collects the scraped lesions simultaneously. After the scraping is completed, the spraying component 7 sprays pesticides on the wounds for sterilization and disinfection, which can reduce the spread of diseases and avoid the risk of yield reduction.

[0038] In this embodiment, the lifting and rotating component 2 is installed on the inspection robot 1, the adjusting component 3 is set on the lifting and rotating component 2, and the scraping component 4 and the collecting component 5 are set on the adjusting component 3. By using the lifting and rotating component 2 and the adjusting component 3, the height and angle of the scraping component 4 can be adjusted so that the scraping component 4 is close to the diseased location on the fruit tree branch. Then, the diseased spots are scraped and collected by the scraping component 4 and the collecting component 5.

[0039] In this embodiment, the lifting and rotating assembly 2 includes an electric rotating platform 21 and a lifting platform 22 disposed on the electric rotating platform 21. The electric rotating platform 21 is fixedly installed on the inspection robot 1. The turntable of the electric rotating platform 21 is horizontally rotatable. The lifting platform 22 is vertically fixedly installed on the turntable of the electric rotating platform 21. The adjusting assembly 3 is installed at the top of the execution end of the lifting platform 22.

[0040] Specifically, the lifting platform 22 is an electric telescopic rod, which can be a multi-stage electric telescopic rod, such as the multi-stage telescopic technology solutions mentioned in Chinese patents CN204514963U and CN224214646U. In addition, the multi-stage electric telescopic rod is only one embodiment of the present invention, and other equivalent telescopic mechanisms can also be used to replace it, such as a lead screw slide module, a pneumatic multi-stage telescopic push rod, a hydraulic multi-stage telescopic cylinder, a gear and rack lifting assembly, a chain lifting telescopic mechanism, etc.

[0041] In this embodiment, the adjustment assembly 3 includes a fixed frame 31, a rotating seat 32, an adjusting arm 33, and a drive mechanism 34. The fixed frame 31 is arranged in a mountain shape, with a support column 311 and mounting frames 312 symmetrically spaced on both sides of the support column 311. It is vertically fixedly installed at the top of the execution end of the lifting platform 22. The upper end of the support column 311 is symmetrically provided with mounting columns 313 facing the mounting frames 312. The axis of the mounting columns 313 is horizontally arranged. The rotating seats 32 are rotatably mounted on both mounting columns 313 through rolling bearings. The articulated arm 33 engages with two rotating seats 32 simultaneously via a linear slide rail module 35. The slider of the linear slide rail module 35 is fixedly mounted on the rotating seat 32, and the slide rail of the linear slide rail module 35 is fixedly mounted on the adjusting arm 33 along the length of the adjusting arm 33. Through the linear slide rail module 35, the adjusting arm 33 can move on the rotating seat 32. The drive mechanism 34 is mounted on the mounting bracket 312. Through the drive mechanism 34, the rotating seat 32 is driven to rotate on the mounting column 313, and the adjusting arm 33 is driven to move on the rotating seat 32.

[0042] Specifically, in order to make the movement of the adjusting arm 33 more stable, the linear slide rail module 35 is symmetrically arranged on the upper and lower sides of the rotating seat 32, and a total of 4 linear slide rail modules 35 are arranged on the two rotating seats 32.

[0043] Specifically, the adjustment assembly 3 also includes a rotation mechanism 36, which includes a third motor 361 and a mounting plate 362. The third motor 361 is fixedly mounted on the adjustment arm 33, and the mounting plate 362 is fixedly mounted on the output end of the third motor 361. The output shaft axis of the third motor 361 is set along the length direction of the adjustment arm 33. The mounting surface of the mounting plate 362 is perpendicular to the output shaft axis of the third motor 361. The scraping assembly 4 is mounted on the mounting plate 362.

[0044] In this embodiment, the driving mechanism 34 includes a driving rotating part 341 that drives the rotating seat 32 to rotate and a driving moving part 342 that drives the adjusting arm 33 to move. The driving rotating part 341 and the driving moving part 342 are respectively mounted on different mounting brackets 312 on both sides.

[0045] Specifically, the drive rotating part 341 includes a first motor 3411, a first fixed shaft 3412, and a fixed sleeve 3413. The first motor 3411 is fixedly mounted on the outside of the mounting bracket 312. One end of the fixed sleeve 3413 is fixedly connected to the rotating seat 32, and the other end is rotatably connected to the mounting bracket 312 through a rolling bearing. The axis of the fixed sleeve 3413 and the axis of the mounting column 313 are collinear. The first fixed shaft 3412 is coaxially arranged inside the fixed sleeve 3413 through a rolling bearing. One end of the first fixed shaft 3412 is fixedly connected to the mounting column 313, and the other end is connected to the mounting bracket 312. The output end of the first motor 3411 and the fixed sleeve 3413 are engaged by meshing gears. When the first motor 3411 starts, the meshing gears can drive the fixed sleeve 3413 to rotate, thereby causing the rotating seat 32 to rotate.

[0046] Specifically, the drive moving part 342 includes a second motor 3421, a second fixed shaft 3422, a rotating sleeve 3423, and a rack 3424. The second motor 3421 is fixedly mounted on the outside of the mounting bracket 312. The rotating sleeve 3423 is mounted on the mounting bracket 312 via rolling bearings, and the axis of the rotating sleeve 3423 is collinear with the axis of the mounting post 313. The second fixed shaft 3422 is coaxially disposed inside the rotating sleeve 3423 via rolling bearings, with one end fixedly connected to the mounting post 313 and the other end rotatably disposed inside the rotating sleeve 3423. The rack... 3424 is fixedly installed on the adjusting arm 33 along the length of the adjusting arm 33. The end of the rotating sleeve 3423 near the rack 3424 is provided with a gear that can mesh with the rack 3424. There is also a meshing gear between the output end of the second motor 3421 and the rotating sleeve 3423. When the second motor 3421 is started, the meshing gear can drive the rotating sleeve 3423 to rotate. When the rotating sleeve 3423 rotates, through the cooperation with the rack and pinion gear, the adjusting arm 33 can move on the rotating seat 32 through the linear slide rail module 35.

[0047] In this embodiment, the scraping assembly 4 includes a mounting rod 42 and a scraping mechanism 43. The mounting rod 42 is fixedly mounted on the mounting plate 362 of the rotating mechanism 36. The axis of the mounting rod is perpendicular to the mounting surface of the mounting plate. The scraping mechanism 43 is mounted on the mounting rod 42. The rotating mechanism 36 is used to adjust the angle of the scraping mechanism 43 on the mounting rod 42 so that the scraping mechanism 43 can better approach the lesion and scrape it.

[0048] Specifically, in order to facilitate the scraping mechanism 43 to better scrape the lesion, the end of the mounting rod 42 away from the mounting plate 362 is bent to one side to form the mounting end 421, with a bending angle of 30° to 60°, and the scraping mechanism 43 is mounted on the mounting end 421.

[0049] Specifically, one end of the mounting rod 42 has a connecting plate 422, which is fixedly mounted on the mounting plate 362.

[0050] In this embodiment, the scraping mechanism 43 includes a scraper driving mechanism 431, a scraper seat 432, and a scraper 433. The scraper driving mechanism 431 is mounted on the mounting end 421, the scraper seat 432 is fixedly mounted on the scraper driving mechanism 431, and the scraper 433 is mounted on the scraper seat 432. The scraper driving mechanism 431 is used to drive the scraper 433 to move, thereby scraping away the lesions.

[0051] Specifically, the scraper drive mechanism 431 includes a fourth motor 4311, an electric push rod 4312, a splined shaft 4313, and a splined shaft sleeve 4314. The mounting end 421 is hollow. The electric push rod 4312 is fixedly installed inside the mounting end 421. The splined shaft sleeve 4314 is coaxially rotatably installed inside the mounting end 421 via rolling bearings. The splined shaft 4313 is splined within the splined shaft sleeve 4314. The actuating end of the electric push rod 4312 has a connecting seat 4315. One end of the splined shaft 4313 has a coaxially arranged connecting part 4316. 6 is rotatably connected to the connecting seat 4315 via a rolling bearing. One end is set on the outside of the mounting end 421 and fixedly connected to the scraper seat 432. The fourth motor 4311 is fixedly installed on the outside of the mounting end 421. The mounting end 421 has a radially penetrating mounting groove 4318 to facilitate the meshing of internal and external gears. The spline shaft sleeve 4314 and the output end of the fourth motor 4311 are engaged by meshing gears at the mounting groove 4318. The fourth motor 4311 can drive the spline shaft sleeve 4314 to rotate, and the electric push rod 4312 can make the spline shaft 4313 move axially.

[0052] Specifically, the end of the mounting end 421 has an external thread, and a protective sleeve 434 is screwed onto it through the external thread. The protective sleeve has a through hole in the middle for the spline shaft to pass through.

[0053] Specifically, the scraper holder 432 includes a fixed base 4321 and a buffer arm 4322. A splined shaft 4313 is fixedly connected to the fixed base 4321. The fixed base 4321 has a buffer groove 4323. One end of the buffer arm 4322 is slidably fitted with a buffer rod 4324, and the other end is bolted to the scraper 433. The buffer rod 4324 is fixedly installed within the buffer groove 4323. The buffer arm 4322 can move within the buffer groove 4323 along the axis of the buffer rod 4324. A spring 4325 is also fitted on top. The two ends of the spring 4325 abut against the side walls of the buffer arm 4322 and the buffer groove 4323, respectively. When the scraper 433 comes into contact with the branch, the spring 4325 plays a buffering role, which allows the scraper 433 to avoid the protruding structure on the surface of the branch during the scraping operation, adapt to the irregular outer contour formed by the natural growth of the branch, and avoid the scraper 433 hitting the branch hard and causing damage to the branch. At the same time, it can also ensure that the scraper 433 always fits the diseased area, improving the fit and integrity of the scraping.

[0054] Specifically, the end of the buffer arm 4322 away from the buffer rod 4324 has a bend towards the side away from the spring 4325, and the end has two parallel mounting slots 4326. The buffer arm 4322 also has two threaded holes with axes perpendicular to the mounting slots 4326. The threaded holes penetrate the buffer arm 4322. The scraper 433 is U-shaped and has parallel insertion plates 4331 at both ends. The insertion plates 4331 have mounting holes and can be inserted into the mounting slots 4326. After insertion, the scraper 433 is locked onto the buffer arm 4322 by bolts. The bolts enter the mounting slots 4326 from one side of the buffer arm 4322 and then enter the mounting holes of the insertion plates 4331. After passing through the buffer arm 4322, they enter the other mounting slot 4326 and the insertion plate 4331 and then exit. The bolt locking method facilitates quick disassembly and assembly of the scraper 433 and makes it easy to replace.

[0055] In this embodiment, the collection component 5 includes a negative pressure fan, a collection box 52, and a collection pipe 53. The collection box 52 is fixedly installed on the adjusting arm 33, near one end of the third motor 411. The collection box 52 has a collection cavity 521. The negative pressure fan is installed on one side of the collection box, and the suction pipe 51 of the negative pressure fan is connected to the collection cavity 521. The collection pipe 53 is fixedly installed on the outside of the fixing base 4321 and is located on the side near the spring 4325. The collection pipe 53 has a bend towards the scraper 433. The collection pipe 53 is connected to the collection cavity 521 through a retractable hose 54. The U-shaped scraper 433 has an arc at the front end, which can better scrape off the lesions. After the lesions are scraped off, they can be sucked in by the collection pipe 53 in time, preventing the lesions from falling into the orchard soil and causing disease residue and spread.

[0056] Specifically, the suction pipe 51 of the negative pressure fan is covered with a protective cover 512 to prevent lesions from being sucked out of the collection chamber 521. The negative pressure fan and the retractable hose are existing technologies and are not fully shown in the figure. The model of the negative pressure fan can be selected according to actual needs.

[0057] Specifically, a gear pair protective cover 6 is also provided to protect the meshing gears and prevent them from being disturbed during rotation.

[0058] In this embodiment, the spraying assembly 7 includes a supply tank 71, a nozzle 72, and a connecting pipe 73. The supply tank 71 and the nozzle 72 are connected through the connecting pipe 73. The supply tank 71 pumps the liquid medicine out from the outlet 732 through the pump body and then sprays it out from the nozzle 72 through the connecting pipe 73. The nozzle 72 adopts a fan-shaped nozzle so that the liquid medicine can be easily applied to the branches when sprayed. The supply tank 71 is fixedly installed on the adjusting arm 33, and the nozzle 72 is fixedly installed on the buffer arm 4322 and is set facing downwards on the scraper 433.

[0059] Specifically, the connecting pipe 73 includes a sealed rotary joint 731, a connecting hose 7321, and a flow pipe 733. To reduce the impact of tree branches on the flow pipe 733 during the movement of the adjusting arm 33, the spline shaft 4313 is hollow. The flow pipe 733 is placed inside the connecting part 4316, the spline shaft 4313, and the fixed seat 4321, and connected in sequence. The connecting part 4316 is circumferentially provided with an inlet 4317 that radially penetrates into the flow pipe 733. The sealed rotary joint 731 is fixedly installed on the connecting seat 4316. 15 is sealed and rotated with the connecting part 4316, and is covered outside the liquid inlet 4317. A branch pipe 7313 is provided on one side of the sealing rotary joint 731. The branch pipe 7313 is connected to the flow pipeline 733 through the sealing rotary joint. The mounting end 421 has a through clearance groove 4211. After one end of the branch pipe 7313 passes through the clearance groove 4211, it is connected to the liquid outlet 732 of the medicine supply box 71 through the connecting hose 7321. When the electric push rod 4312 is activated, the branch pipe 7313 can move in the clearance groove 4211.

[0060] Specifically, the sealing rotary joint 731 is provided with O-ring sealing structures 7311 at intervals. A sealing cavity 7312 is formed between the spaced O-ring sealing structures 7311 and the outer wall of the connecting part 4315. The branch pipe 7313 is connected to the sealing cavity 7312. The flow pipe 733 is connected to the sealing cavity 7312 through the liquid inlet 4317. The sealing rotary joint is sealed and rotated with the connecting part through the O-ring sealing structures.

[0061] Specifically, a liquid outlet pipe 734 is provided outside the fixed base 4321. The liquid outlet pipe 734 is connected to the flow pipe 733. The liquid outlet pipe 734 is connected to the nozzle 72 through the second connecting hose 7322. In order to facilitate the movement of the buffer arm 4322, a through hose groove 7332 is provided on the buffer arm 4322. After the connecting hose is connected to the liquid outlet pipe, it passes through the hose groove 7332 and connects to the nozzle 72. The connecting hose can move in the hose groove.

[0062] Specifically, the connecting hose 7321 and the second connecting hose 7322 are not fully shown in the figures. The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A device for scraping diseased spots on fruit tree branches, mounted on an inspection robot, characterized in that, include: A lifting and rotating assembly, comprising an electric rotating platform and a lifting platform, wherein the electric rotating platform is mounted on the inspection robot and the lifting platform is mounted on the electric rotating platform; An adjustment assembly is disposed on the lifting platform. The adjustment assembly includes a fixed frame, a rotating seat, an adjusting arm, a drive mechanism, and a rotating mechanism. The fixed frame is fixedly installed on the execution end of the lifting platform. The fixed frame is vertically arranged and has a support column and mounting frames symmetrically spaced on both sides of the support column. Mounting columns are symmetrically arranged on both sides of the upper end of the support column near the mounting frames. The axis of the mounting columns is horizontally arranged. The rotating seats are symmetrically arranged and are rotatably mounted on different mounting columns via rolling bearings. The adjusting arm is slidably disposed outside the rotating frame via a linear slide rail module. The drive mechanism is disposed on the mounting frame and drives the rotating seat to rotate and drives the adjusting arm to move on the rotating frame. The rotating mechanism is located at one end of the adjusting arm; A scraping assembly is disposed on the rotating mechanism.

2. The fruit tree branch and trunk disease spot scraping device according to claim 1, characterized in that: The driving mechanism includes a driving rotating part and a driving moving part, which are respectively mounted on different mounting brackets on both sides. The driving rotating part is used to drive the rotating seat to rotate around the mounting column on the support column, and the driving moving part is used to drive the adjusting arm to move on the rotating seat. The drive rotating part includes a first motor, a first fixed shaft, and a fixed sleeve. The first motor is fixedly installed on the outside of the mounting frame. One end of the fixed sleeve is fixedly connected to the rotating seat, and the other end is rotatably connected to the mounting frame through a rolling bearing. The axis of the fixed sleeve is collinear with the mounting column. The first fixed shaft is coaxially arranged inside the fixed sleeve through a rolling bearing, with one end fixedly connected to the mounting column and the other end fixedly connected to the mounting frame. The output end of the first motor is connected to the fixed sleeve through meshing gears, and the fixed sleeve is driven to rotate by the first motor, thereby causing the rotating seat to rotate.

3. The fruit tree branch and trunk disease spot scraping device according to claim 2, characterized in that: The driving moving part includes a second motor, a second fixed shaft, a rotating sleeve, and a rack. The second motor is fixedly installed on the outside of the mounting frame. The rotating sleeve is rotatably installed on the mounting frame via rolling bearings and is coaxially arranged with the mounting column. The second fixed shaft is coaxially arranged inside the rotating sleeve via rolling bearings, with one end fixedly connected to the mounting column and the other end rotatably arranged inside the rotating sleeve. The rack is fixedly installed on the adjusting arm and is arranged along the length direction of the adjusting arm. The output end of the second motor is connected to the rotating sleeve through a meshing gear, and the rotating sleeve is driven to rotate by the second motor; The rotating sleeve has a drive gear that meshes with the rack at one end near the adjusting arm.

4. The fruit tree branch and trunk disease spot scraping device according to claim 1, characterized in that: The rotating mechanism includes a third motor and a mounting plate. The third motor is fixedly installed inside the adjusting arm, and the mounting plate is fixedly installed on the output shaft of the third motor. The axis of the output shaft of the third motor is arranged along the length direction of the adjusting arm.

5. The fruit tree branch and trunk disease spot scraping device according to claim 4, characterized in that: The scraping assembly includes a mounting rod and a scraping mechanism. One end of the mounting rod is mounted on the mounting plate via a connecting plate, and the other end of the mounting rod is bent to one side to form a mounting end. The mounting end is hollow, and the scraping mechanism is mounted on the mounting end. The scraping mechanism includes a scraper, a scraper seat, and a scraper driving mechanism. The scraper driving mechanism is mounted on the mounting rod, the scraper seat is mounted on the scraper driving mechanism, and the scraper is locked to the scraper seat by bolts. The scraper drive mechanism includes a fourth motor, an electric push rod, a splined shaft, and a splined shaft sleeve. The mounting end is hollow, and the electric push rod is fixedly installed inside the mounting end. The actuating end of the electric push rod has a connecting seat. The splined shaft sleeve is installed inside the mounting end via a rolling bearing. The splined shaft is splined into the splined shaft sleeve. One end of the splined shaft is located inside the mounting end and has a coaxially arranged connecting part at the end, which is rotatably connected to the connecting seat. The other end of the splined shaft passes through the splined shaft sleeve and is located outside the mounting rod, and is fixedly connected to the scraper seat. The fourth motor is fixedly installed outside the mounting rod, and there is a meshing gear between the output end of the fourth motor and the splined shaft sleeve, which drives the splined shaft sleeve to rotate.

6. The fruit tree branch and trunk disease spot scraping device according to claim 5, characterized in that: The scraper holder includes a fixed seat and a buffer arm. The fixed seat is fixedly connected to one end of the spline shaft located outside the mounting rod. The fixed seat has a buffer groove. One end of the buffer arm is slidably fitted with a buffer rod. The buffer rod is fixedly installed in the buffer groove. A spring is sleeved on the buffer rod. The two ends of the spring abut against the buffer arm and the buffer groove, respectively. The buffer arm has a continuous bend at one end away from the fixed base, and two parallel mounting slots are provided at the end. The buffer arm also has two threaded holes that pass through the buffer arm, and the axis of the threaded holes passes through the two mounting slots. The scraper is U-shaped, with parallel insertion plates at both ends. The insertion plates have coaxial mounting holes. The insertion plates are inserted into the mounting groove. After the scraper is inserted into the mounting groove, the mounting holes and the threaded holes are coaxial. The scraper is locked in the mounting groove by bolts.

7. The fruit tree branch and trunk disease spot scraping device according to claim 6, characterized in that: It also includes a spraying assembly, which includes a supply tank, a nozzle, and a connecting pipe. The supply tank is fixedly mounted on the adjusting arm, the nozzle is mounted on the buffer arm, and the supply tank and the nozzle are connected through the connecting pipe. The connecting pipeline includes a flow pipeline, a sealing rotary joint, and a connecting hose. The flow pipeline is a flow path that is sequentially connected inside the connecting part, the spline shaft, and the fixed seat. The connecting part is provided with a plurality of radially penetrating liquid inlets, and the fixed seat has a liquid outlet pipe that communicates with the flow pipeline. The sealing rotary joint is mounted on the connecting seat and is sealed and rotatably connected to the connecting part; The medicine supply tank pumps out the medicine liquid through the pump body. The liquid outlet of the supply tank and the sealing rotary joint are connected by the connecting hose. The liquid outlet pipe is connected to the nozzle by the second connecting hose.

8. The fruit tree branch and trunk disease spot scraping device according to claim 7, characterized in that: The sealing rotary joint is provided with O-ring sealing structures at intervals inside. The O-ring sealing structures are rotatably connected to the outer wall of the connecting part through sealing. A sealing cavity is formed between the O-ring sealing structures and the connecting part. The liquid inlet is located between the O-ring sealing structures. The flow pipeline is connected to the sealing cavity through the liquid inlet. One side of the mounting end has a clearance groove, and one side of the sealing rotary joint has a branch pipe. The branch pipe communicates with the sealing cavity, passes through the clearance groove, and is connected to the liquid supply tank through the connecting hose.

9. The fruit tree branch and trunk disease spot scraping device according to claim 8, characterized in that: It also includes a collection assembly, which includes a negative pressure fan, a collection box, and a collection pipe. The collection box is fixedly installed at one end of the adjusting arm near the third motor. The negative pressure fan is fixedly installed outside the collection box. The collection box has a collection chamber inside. The suction pipe of the negative pressure fan is connected to the collection chamber. The collection pipe is fixedly installed on the fixed base. The suction port of the collection pipe is set towards the scraper. The collection chamber and the collection pipe are connected by a retractable hose.

10. An inspection robot, characterized in that: The inspection robot is equipped with a fruit tree branch disease spot scraping device as described in any one of claims 1-9.

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