Eggplant branch and leaf pruning machine and eggplant door pruning machine

Abstract

The utility model discloses a pruning machine for pruning branches and leaves of eggplants and eggplants, which is characterized by comprising a main body, a walking mechanism arranged on the main body, a transfer module arranged on the main body, a branch and leaf pruning mechanism arranged at the transfer end of the transfer module, an eggplant pruning mechanism arranged at the transfer end of the transfer module, and a visual mechanism arranged on the main body. And the visual mechanism is used for identifying a target object so as to control the transfer module to execute a corresponding transfer action. Eggplant branches and leaves and eggplants are identified through the visual mechanism, then the transplanting module can control the branch and leaf pruning mechanism and the eggplant pruning mechanism to perform transplanting, and finally pruning of the eggplant branches and leaves and the eggplants is completed. Compared with the prior art, the automatic eggplant pruning device has the advantages that eggplant branches and leaves and door eggplants can be automatically searched, identified and pruned, so that the labor cost is greatly reduced, and the problems of low safety, high labor intensity and the like caused by manual pruning are more difficult to occur.

Description

Technical Field

[0001] The utility model relates to the field of agricultural machinery, in particular to a machine for pruning eggplant branches and leaves and an eggplant door pruning machine. Background Art

[0002] Eggplant is a very important economic crop. Pruning is an extremely important part of the eggplant growth process. Since eggplant is a summer crop and the temperature is high in summer, the plant grows and germinates quickly, so the leaves also grow quickly. If the branches and leaves are not pruned in time, the excess branches and leaves will block the photosynthesis of the eggplant plants and affect underground ventilation and light transmission, which is very likely to cause diseases and pests to be detrimental to the growth of eggplant.

[0003] Although pruning branches and leaves and leaflets can reduce nutrient loss during the growth of eggplants and reduce symptoms such as eggplant stunting, the prior art still relies on manual pruning for pruning branches and leaves and leaflets, which increases a lot of labor costs. In addition, manual pruning has problems such as low safety and high labor intensity. Utility Model Content

[0004] The utility model aims to overcome the deficiencies of the prior art and provides a machine for pruning eggplant branches and leaves and an eggplant door pruning machine.

[0005] The purpose of this utility model is achieved through the following technical solutions:

[0006] A machine for trimming eggplant branches and leaves and eggplant leaf trimmers, comprising a main body, the main body being provided with a walking mechanism, the main body being further provided with a transfer module, the transfer end of the transfer module being provided with a branch and leaf trimming mechanism and a leaf trimming mechanism, the main body being further provided with a visual mechanism for identifying a target object, thereby controlling the transfer module to perform a corresponding transfer action.

[0007] Preferably, the traveling mechanism is a crawler-type traveling mechanism.

[0008] Preferably, the transfer module comprises a first transfer mechanism and a second transfer mechanism, and the branch and leaf pruning mechanism and the tomato pruning mechanism are respectively arranged on the transfer end of the first transfer mechanism and the transfer end of the second transfer mechanism.

[0009] Preferably, the transfer mechanism comprises a transverse transfer unit and a vertical transfer unit provided on a transfer end of the transverse transfer unit, and the vertical transfer unit is provided with a transfer end capable of vertical transfer.

[0010] Preferably, the branch and leaf trimming mechanism comprises a connecting rod and a cutting ring arranged at the end of the connecting rod, the cutting ring has a notch in the circumferential direction, and a cutting edge is configured at the top of the cutting ring.

[0011] Preferably, the tomato trimming mechanism includes a connecting rod and blades disposed opposite to each other at the ends of the connecting rod, the two blades are adapted to be able to move toward or away from each other, and a driving unit for driving the two blades to move is also provided on the connecting rod of the tomato trimming mechanism.

[0012] Preferably, two surrounding plates are arranged opposite to each other on the notch, and the surrounding plates are hinged to the cutting ring via elastic hinges, and the two surrounding plates can rotate in opposite directions as the main stem is inserted.

[0013] Preferably, a guide plate is obliquely provided at the end of the surrounding plate away from the cutting ring, and a joining space for the main stem to be inserted is formed between the two guide plates.

[0014] Preferably, a mounting seat is provided at the end of the connecting rod, and the blade is slidably adapted to the mounting seat. The driving unit includes a driving plate rotatably driven by a rotating member and a connecting rod connected between the driving plate and the corresponding blade.

[0015] Preferably, the connecting rod of the door trimming mechanism is rotatably connected to the corresponding transfer end of the transfer module, a first gear is provided on the connecting rod of the door trimming mechanism, and a rotatable second gear is also provided on the corresponding transfer end of the transfer module, and the second gear is meshed with the first gear.

[0016] The beneficial effect of the utility model is that the branches and leaves of eggplants and the inner eggplants are identified by the visual mechanism, and then the transfer module can control the branch and leaf pruning mechanism and the inner eggplant pruning mechanism to transfer, and finally the pruning of the branches and leaves of eggplants and the inner eggplants is completed. Compared with the prior art, the utility model can realize automatic search, identification and pruning of the branches and leaves of eggplants and the inner eggplants, thereby greatly reducing the labor cost, and it is less likely to have the problems of low safety and high labor intensity in manual pruning. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A perspective structural diagram of an embodiment;

[0018] Figure 2 A structural schematic diagram of another perspective of the embodiment;

[0019] Figure 3 It is a three-dimensional structural schematic diagram of the branch and leaf pruning mechanism;

[0020] Figure 4 It is a schematic diagram of the top view of the structure of the branch and leaf pruning mechanism;

[0021] Figure 5 It is a three-dimensional structural diagram of the eggplant pruning mechanism.

[0022] Figure numerals: 1. main body; 2. walking mechanism; 3. transfer module; 4. branch and leaf pruning mechanism; 5. tomato pruning mechanism; 6. visual mechanism; 7. first transfer mechanism; 8. second transfer mechanism; 9. lateral transfer unit; 10. vertical transfer unit; 11. connecting rod; 12. cutting ring; 13. notch; 14. cutting edge; 15. blade; 16. driving unit; 17. surrounding plate; 18. elastic hinge; 19. guide plate; 20. mounting seat; 21. driving plate; 22. connecting rod; 23. first gear; 24. second gear. DETAILED DESCRIPTION

[0023] The following will be combined with the embodiments to clearly and completely describe the technical solution of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the utility model.

[0024] like Figures 1 to 5 As shown, a machine for trimming eggplant branches and leaves and eggplant leaf trimmers includes a main body 1, on which a walking mechanism 2 is provided, and the walking mechanism 2 can drive the main body 1 to move in an eggplant forest. Specifically, a transfer module 3 is provided on the main body 1, and a branch and leaf trimming mechanism 4 and an eggplant leaf trimming mechanism 5 are provided on the transfer end of the transfer module 3. In addition, a visual mechanism 6 is also provided on the main body 1, for example, the visual mechanism 6 can be a camera, and by photographing the eggplant tree with the camera, it can be identified whether there are branches and leaves and leaf trimmers on the eggplant tree that need to be trimmed.

[0025] When the visual mechanism 6 identifies the branches and leaves that need to be pruned, the transfer module 3 can be controlled to transfer the branch and leaf pruning mechanism 4, and then the branch and leaf pruning mechanism 4 can approach the branches and leaves and achieve pruning; when the visual mechanism 6 identifies the eggplant that needs to be pruned, the transfer module 3 can be controlled to transfer the eggplant pruning mechanism 5, and then the eggplant pruning mechanism 5 can approach the eggplant and achieve pruning.

[0026] In some embodiments, the walking mechanism 2 may be a crawler-type walking mechanism 2, or of course, a conventional wheel-type walking mechanism (not shown). The crawler-type movement mode can make the machine adapt to different working environments. For example, it is preferred that the crawler is 268.4 mm long and 41 mm wide, the actual ground contact length is 150 mm, the width is 40 mm, the ground contact area is 0.006 square meters, the actual area is 0.012 square meters, and the total weight of the machine is 5.5 kg. In this example, the pressure of the machine on the ground is calculated to be 4375 Pa, and it is verified that the crawler-type movement mode will not have a compacting effect on the soil.

[0027] For example, the forward inclination angle of the crawler can be preferably set to 20° to be suitable for walking on relatively rugged terrain. In particular, such a forward inclination angle design can reduce the friction resistance between the crawler and the ground while ensuring sufficient contact area, thereby improving the working efficiency of the machine walking. In addition, the backward inclination angle of the crawler can be preferably set to 30°, which is a relatively moderate angle among crawlers, and can ensure that the rear of the crawler maintains a sufficient contact area with the ground, thereby providing sufficient grip and stability, and reducing the resistance of the crawler during travel.

[0028] In some embodiments, the transfer module 3 may include two separate transfer parts consisting of a first transfer mechanism 7 and a second transfer mechanism 8, and the branch and leaf pruning mechanism 4 and the tomato pruning mechanism 5 are respectively arranged on the transfer end of the first transfer mechanism 7 and the transfer end of the second transfer mechanism 8.

[0029] For example, the first transfer mechanism 7 and the second transfer mechanism 8 may have the same structure, and of course they are not limited to having different structures. In the preferred example, the transfer mechanism may include a lateral transfer unit 9 and a vertical transfer unit 10 disposed on the transfer end of the lateral transfer unit 9, and the vertical transfer unit 10 is configured with a transfer end that can be transferred vertically. Accordingly, the branch and leaf pruning mechanism 4 and the leaf pruning mechanism 5 are respectively installed on the transfer ends of the two vertical transfer units 10.

[0030] Specifically, the lateral transfer unit 9 can be a linear motor transfer module, and the vertical transfer unit 10 can be a chain transfer module 3. When the visual mechanism 6 recognizes the target object (i.e., branches or leaves or tomato), the first transfer mechanism 7 and the second transfer mechanism 8 can respond to the transfer action separately, and then drive the required trimming mechanism in the branch and leaf trimming mechanism 4 and the tomato trimming mechanism 5 to approach the target object to complete the trimming action.

[0031] In a possible example, the transfer module 3 may also be a robotic arm or other transfer structures with more transfer degrees of freedom.

[0032] In some embodiments, the branch and leaf trimming mechanism 4 includes a connecting rod 11 and a cutting ring 12 disposed at the end of the connecting rod 11 . The cutting ring 12 has a notch 13 in the circumferential direction, and a cutting edge 14 is configured at the top of the cutting ring 12 .

[0033] When the identification mechanism identifies that the branches and leaves need to be pruned, the cutting ring 12 can be first inserted into the main stem of the eggplant tree under the transfer of the first transfer mechanism 7, and then the cutting ring 12 can be driven to move upward, during which the cutting blade 14 can prune the branches and leaves on the main stem.

[0034] In a preferred example, two enclosing plates 17 are arranged opposite to each other at the notch 13, and the enclosing plates 17 are hinged to the cutting ring 12 via an elastic hinge 18, for example, the elastic hinge 18 can be a torsion spring or other elastic reset member. In addition, a guide plate 19 is obliquely arranged at the end of the enclosing plate 17 away from the cutting ring 12, and a joint space for the main stem to be inserted is formed between the two guide plates 19. The so-called oblique arrangement can be understood as: an angle is formed between the guide plate 19 and the enclosing plate 17, or an angle is formed between the guide plate 19 and the axis of the connecting rod 11.

[0035] When the first transfer mechanism 7 transfers the cutting ring 12 close to the main stem of the eggplant tree, the main stem will first be inserted into the joint space, and then the two surrounding plates 17 will be pushed to rotate and open in opposite directions until they are inserted into the cutting ring 12, and the surrounding plates 17 will be covered on the side of the main stem away from the connecting rod 11 under the action of the elastic hinge 18. For example, the top of the surrounding plate 17 can also be configured with a cutting blade 14, so that the branches and leaves of the main stem can be trimmed to the greatest extent in the circumference.

[0036] In some embodiments, the tomato trimming mechanism 5 includes a connecting rod 11 and blades 15 disposed at the ends of the connecting rod 11, and the two blades 15 are adapted to move toward or away from each other. In addition, a driving unit 16 for driving the two blades 15 to move is also provided on the connecting rod 11 of the tomato trimming mechanism 5.

[0037] When the identification mechanism determines that the leaflet needs to be trimmed, the two blades 15 can be first moved close to the leaflet under the transfer of the second transfer mechanism 8, and the leaflet is positioned between the two blades 15. Then the drive unit 16 drives the two blades 15 to close to trim the leaflet.

[0038] For example, a mounting seat 20 is provided at the end of the connecting rod 11 of the tomato trimming mechanism 5, and both blades 15 are slidably adapted to the mounting seat 20, and the driving unit 16 includes a driving plate 21 that is rotatable and driven by a rotating member, and a connecting rod 22 connected between the driving plate 21 and the corresponding blade 15. The rotating member can be a motor. The driving plate 21 will rotate under the drive of the rotating member, and then the connecting rod 22 will push the blade 15 to slide accordingly. It can be understood that the driving plate 21, the connecting rod 22 and the blade 15 constitute a connecting rod 22 mechanism in the prior art, and the specific connection method and operation principle of the three will not be repeated in this example.

[0039] In a preferred example, the connecting rod 11 of the tomato trimming mechanism 5 is rotatably connected to the transfer end of the vertical transfer unit 10 of the second transfer mechanism 8, and the transfer end of the vertical transfer unit 10 of the second transfer mechanism 8 is also provided with a second gear 24 that can be rotated, for example, by a motor, and the connecting rod 11 of the tomato trimming mechanism 5 is correspondingly provided with a first gear 23, and the first gear 23 is in a meshing relationship with the second gear 24.

[0040] Therefore, in the specific trimming of the tomato, the first gear 23 and the second gear 24 can be used to drive the two blades 15 to change the trimming angle, thereby achieving the trimming of the tomato without dead angles to the greatest extent.

[0041] The above is only a preferred embodiment of the utility model. It should be understood that the utility model is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art do not deviate from the spirit and scope of the utility model, and should be within the scope of protection of the claims attached to the utility model.

Claims

1. A machine for trimming eggplant branches and leaves and eggplant pruning, characterized by: The invention comprises a main body (1), wherein a walking mechanism (2) is arranged on the main body (1), a transfer module (3) is also arranged on the main body (1), a branch and leaf pruning mechanism (4) and a tomato pruning mechanism (5) are arranged on the transfer end of the transfer module (3), and a visual mechanism (6) is also arranged on the main body (1), wherein the visual mechanism (6) is used to identify a target object, thereby controlling the transfer module (3) to perform a corresponding transfer action.

2. The eggplant branch and leaf trimming and eggplant door trimming machine according to claim 1 is characterized in that: The walking mechanism (2) is a crawler-type walking mechanism (2).

3. The eggplant branch and leaf trimming and eggplant door trimming machine according to claim 1 is characterized by: The transfer module (3) comprises a first transfer mechanism (7) and a second transfer mechanism (8); the branch and leaf pruning mechanism (4) and the tomato pruning mechanism (5) are respectively arranged on the transfer end of the first transfer mechanism (7) and the transfer end of the second transfer mechanism (8).

4. The eggplant branch and leaf trimming and eggplant door trimming machine according to claim 3 is characterized by: The transfer mechanism comprises a transverse transfer unit (9) and a vertical transfer unit (10) arranged on the transfer end of the transverse transfer unit (9), and the vertical transfer unit (10) is configured with a transfer end capable of vertical transfer.

5. The eggplant branch and leaf trimming and eggplant door trimming machine according to any one of claims 1 to 3, characterized in that: The branch and leaf trimming mechanism (4) comprises a connecting rod (11) and a cutting ring (12) arranged at the end of the connecting rod (11); the cutting ring (12) has a notch (13) in the circumferential direction, and a cutting blade (14) is configured at the top of the cutting ring (12).

6. The eggplant branch and leaf trimming and eggplant door trimming machine according to any one of claims 1 to 3, characterized in that: The tomato trimming mechanism (5) comprises a connecting rod (11) and blades (15) arranged at opposite ends of the connecting rod (11); the two blades (15) are adapted to move toward or away from each other; and a driving unit (16) for driving the two blades (15) to move is also provided on the connecting rod (11) of the tomato trimming mechanism (5).

7. The eggplant branch and leaf trimming and eggplant door trimming machine according to claim 5 is characterized by: Two surrounding plates (17) are arranged opposite to each other on the notch (13), and the surrounding plates (17) are hinged to the cutting ring (12) via an elastic hinge (18). The two surrounding plates (17) can rotate in opposite directions as the main stem is inserted.

8. The eggplant branch and leaf trimming and eggplant door trimming machine according to claim 7, characterized in that: A guide plate (19) is obliquely arranged at the end of the surrounding plate (17) away from the cutting ring (12), and a joint space for the main stem to be inserted is formed between the two guide plates (19).

9. The eggplant branch and leaf trimming and eggplant door trimming machine according to claim 6, characterized in that: The end of the connecting rod (11) is provided with a mounting seat (20), the blade (15) is slidably adapted to the mounting seat (20), and the driving unit (16) comprises a driving plate (21) rotatably driven by a rotating member and a connecting rod (22) connected between the driving plate (21) and the corresponding blade (15).

10. The eggplant branch and leaf trimming and eggplant door trimming machine according to claim 6, characterized in that: The connecting rod (11) of the tomato trimming mechanism (5) is rotatably connected to the corresponding transfer end of the transfer module (3); a first gear (23) is provided on the connecting rod (11) of the tomato trimming mechanism (5); a rotatable second gear (24) is also provided on the corresponding transfer end of the transfer module (3); the second gear (24) is meshed with the first gear (23).

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