Disc type flower thinning mechanism and flower thinning machine

Abstract

A disc type flower thinning mechanism comprises an upper disc, a lower disc and a driver. The upper disc is rotationally installed on the lower disc through an arranged rotating shaft, and the driver is connected with the rotating shaft. A plurality of flower thinning columns are vertically arranged on the upper surface of the lower disc and are positioned on the same circumference coaxial with the upper disc; a plurality of shifting pieces are arranged on the upper disc and are arranged at intervals in the circumferential direction; the radius of the circumference where the poking pieces are located is smaller than that of the circumference where the flower thinning columns are located. The utility model further discloses a flower thinning machine which comprises the disc type flower thinning mechanism. According to the embodiment of the utility model, the rotating dial pushes the flowers to move, so that the flower thinning columns scrape and sweep the flowers along the stalks of the flowers, the flowers are thinned, the structure is compact, the appearance size is small, the disc type flower thinning mechanism is attached to the flowers, the flowers can be accurately scraped and swept, the scraping and sweeping of the flowers are relatively gentle, the flowers are prevented from being damaged, and the flower thinning efficiency is improved. The influence on the growth and quality of fruits is avoided.

Description

Technical Field

[0001] The utility model belongs to the technical field of agricultural machinery, and particularly relates to a disc type flower thinning mechanism and a flower thinning machine. Background Art

[0002] Flower thinning is a key technology in fruit tree management. By reasonably thinning out redundant flowers, it can ensure the uniform distribution of fruits, improve ventilation and light transmission conditions, reduce the occurrence of pests and diseases, and ultimately improve the quality and yield of fruits. Traditional flower thinning methods mainly rely on manual operation. Although good results can be achieved, it is time-consuming and laborious, and has a high demand for labor, which is not conducive to the management of large-scale orchards.

[0003] Mechanical flower thinning is an important trend in the future development of orchards, which can significantly improve the flower thinning efficiency and reduce the excessive waste of labor. Most of the existing flower thinning machines adopt a striking mechanical structure, and its working mode is similar to that of a rotary brush, and flower thinning is carried out through large-range sweeping and striking. Although this method can improve the flower thinning efficiency to a certain extent, there are also obvious deficiencies.

[0004] Firstly, the striking mechanical structure is large in size and not flexible enough to operate, making it difficult to carry out precise flower thinning operations in complex fruit tree environments. Secondly, the accuracy of this structure is low, and it is easy to cause damage to flowers, affecting the growth and quality of fruits. In addition, due to the low flower thinning accuracy, manual rechecking and adjustment of the flower thinning results are often required during the operation, increasing the workload and cost. Summary of the Utility Model

[0005] Aiming at the deficiencies existing in the related technologies, the utility model provides a disc type flower thinning mechanism and a flower thinning machine to solve the problems of large external dimensions, low accuracy, and easy damage to flowers of the current striking type flower thinning structure.

[0006] The utility model provides a disc type flower thinning mechanism, which includes an upper disc, a lower disc, and a driver

[0007] The upper disc is rotatably installed on the lower disc through a set rotating shaft, and the driver is connected to the rotating shaft to drive the upper disc to rotate;

[0008] A plurality of flower thinning columns are vertically arranged on the upper surface of the lower disc. The plurality of flower thinning columns are located on the same circumference coaxial with the upper disc and are spaced apart in the circumferential direction;

[0009] A plurality of paddles are installed on the upper disc. The plurality of paddles are located on the same circumference coaxial with the upper disc and are spaced apart in the circumferential direction;

[0010] The radius of the circumference where the paddles are located is smaller than the radius of the circumference where the flower thinning columns are located.

[0011] In some of these embodiments, the upper disk includes a disk body and a plurality of support arms connected to the disk body. The support arms are all arranged radially and are spaced apart along the circumferential direction. Each paddle is mounted on the outer end of a corresponding support arm.

[0012] In some of these embodiments, the support arms are all hinged to the corresponding mounting seats provided on the disk body, and a return spring is installed between the inner end of one support arm and the corresponding mounting seat of an adjacent other support arm.

[0013] In some of these embodiments, a plurality of return springs are arranged one by one along the circumferential direction.

[0014] In some of these embodiments, the return spring is a compression spring.

[0015] In some of these embodiments, an installation groove is radially formed at the outer end of the support arm. The inner end of the installation groove is T-shaped. A connection portion is provided at the inner end of the paddle. The connection portion is T-shaped and is matched with the inner end of the installation groove. The paddle is axially inserted and fixed in the installation groove, and the outer end of the paddle radially protrudes out of the installation groove.

[0016] In some of these embodiments, the paddle is a rubber part, and the port at the outer end of the installation groove is V-shaped.

[0017] In some of these embodiments, both sides of the flower thinning column are arc surfaces.

[0018] In some of these embodiments, a plurality of balls are installed on the upper surface of the lower disk along the circumferential direction. The balls are all in rolling contact with the lower surface of the upper disk.

[0019] The present utility model also provides a flower thinning machine, which includes a vehicle body, a lidar, a controller, a robotic arm, and the above-mentioned disk-type flower thinning mechanism;

[0020] The vehicle body has four wheels and four driving motors. The four driving motors respectively drive the four wheels. The lidar, the controller, and the robotic arm are all installed on the vehicle body, and the disk-type flower thinning mechanism is installed on the robotic arm;

[0021] The lidar, the driving motors, the robotic arm, and the drivers of the disk-type flower thinning mechanism are all electrically connected to the controller.

[0022] Based on the above technical solutions, in the embodiments of the present utility model, the rotating paddle pushes the flower to move, so that the flower thinning column sweeps the flower along the flower stalk of the flower, thereby realizing flower thinning for the flower. The structure is compact and the overall dimension is small. By attaching the disk-type flower thinning mechanism to the flower, precise sweeping of the flower can be achieved, and the sweeping of the flower is relatively gentle, avoiding damage to the flower and avoiding affecting the growth and quality of the fruit, and solving the problems of large overall dimension, low precision, and easy damage to the flower of the current impact-type flower thinning structure. Description of the Drawings

[0023] The accompanying drawings described herein are used to provide a further understanding of the present utility model and form a part of this application. The schematic embodiments of the present utility model and their descriptions are used to explain the present utility model and shall not constitute an undue limitation to the present utility model. In the drawings:

[0024] Figure 1 It is a schematic structural diagram of the disc flower thinning mechanism of the present utility model;

[0025] Figure 2 It is a partially enlarged view of the disc flower thinning mechanism of the present utility model;

[0026] Figure 3 It is a schematic structural diagram of the flower thinning machine of the present utility model;

[0027] In the figure:

[0028] 1. Upper disc; 11. Pusher; 12. Disc body; 13. Support arm; 14. Mounting seat; 15. Return spring; 16. Mounting groove; 17. Connecting part.

[0029] 2. Lower disc; 21. Flower thinning column; 22. Ball.

[0030] 3. Vehicle body; 31. Wheel; 4. Lidar; 5. Controller; 6. Manipulator. Detailed implementation manners

[0031] Next, the technical solutions in the embodiments will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0032] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "transverse", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model.

[0033] The terms "first", "second", "third" are only used for descriptive purposes and shall not be construed as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first", "second", "third" may explicitly or implicitly include one or more of such features.

[0034] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0035] As Figures 1 to 2 Shown in the figure, in a schematic embodiment of the disk flower thinning mechanism of the present utility model, the disk flower thinning mechanism includes an upper disk 1, a lower disk 2, and a driver (not shown in the drawings). The upper disk 1 and the lower disk 2 are stacked one above the other, and the driver is fixedly installed on the lower surface of the lower disk 2. The upper disk 1 is rotatably installed on the lower disk 2 through a provided rotating shaft, and the driver is connected to the rotating shaft to drive the upper disk 1 to rotate.

[0036] A plurality of flower thinning columns 21 are vertically arranged on the upper surface of the lower disk 2. The plurality of flower thinning columns 21 are located on the same circumference coaxial with the upper disk 1 and are spaced apart in the circumferential direction. A plurality of paddles 11 are installed on the upper disk 1. The plurality of paddles 11 are located on the same circumference coaxial with the upper disk 1 and are spaced apart in the circumferential direction. The radius of the circumference where the paddles 11 are located is smaller than the radius of the circumference where the flower thinning columns 21 are located.

[0037] The driver can be an existing power device such as a motor or a hydraulic motor that can achieve shaft rotation.

[0038] Attach the disk flower thinning mechanism to the flower. The driving motor drives the upper disk 1 to rotate through the rotating shaft, and the paddles 11 all rotate accordingly. During the rotation of the fragments, the flower stalk of the flower is pushed, causing the flower to swing and stick to the flower thinning column 21; the flower stalk further swings under the push of the paddle 11, causing the flower to slide along the surface of the flower thinning column 21, so that the flower thinning column 21 sweeps the moving flower, realizing flower thinning for the flower. Compared with hitting, the sweeping action is gentler, avoiding damage to the flower.

[0039] In addition, when thinning the flower, the flower thinning column 21 sweeps the flower along the flower stalk from the inner end to the outer end. The flower thinning column 21 can fully cover all the flower corollas on the flower stalk and precisely comb each flower comprehensively, thus having a good flower thinning effect. During the process of the flower thinning column 21 sweeping the flower, the flower stalk is a flexible structure and can deform under the reaction force of the flower thinning column 21, reducing the pressure exerted on the flower thinning column 21, so that the flower thinning column 21 sweeps the flower relatively gently, avoiding damage to the flower.

[0040] During the rotation of multiple paddles 11, they respectively push the flower stalks of the corresponding flowers on one side, causing the flowers to stick to the corresponding thinning columns 21, so that the multiple thinning columns 21 synchronously sweep multiple flowers, improving the efficiency of the flower thinning operation.

[0041] Both the upper and lower disk plates 2 are of thin structure and are stacked. The overall thickness of the mechanism is small, and the external dimensions are the same as those of the lower disk plate 2 in terms of length and width. The structure is compact, the weight is light, and it is convenient to move and use flexibly.

[0042] The disk-type flower thinning mechanism only needs to be attached to the flowers that need to be thinned, and then it can sweep and comb each flower in the covered area along the direction of its flower stalk, so as to accurately thin the flowers that need to be combed.

[0043] In the above-mentioned exemplary embodiment, the rotating paddles of the disk-type flower thinning mechanism push the flowers to move, so that the thinning columns 21 sweep the flowers along the flower stalks of the flowers, thereby realizing flower thinning. The structure is compact, the external dimensions are small. By attaching the disk-type flower thinning mechanism to the flowers, accurate sweeping of the flowers can be carried out, and the sweeping of the flowers is relatively gentle, avoiding damage to the flowers and affecting the growth and quality of the fruits, solving the problems of large external dimensions, low precision, and easy damage to flowers of the current impact-type flower thinning structure.

[0044] In some embodiments, the upper disk plate 1 includes a disk plate body 12 and a plurality of support arms 13 connected to the disk plate body 12. The support arms 13 are all radially arranged and are spaced along the circumferential direction. Each paddle 11 is installed at the outer end of a corresponding support arm 13.

[0045] The upper disk plate 1 is divided into a disk plate body 12 with a relatively small central area and size and a plurality of support arms 13 with relatively long lengths. Compared with the overall disk structure, the structural weight of the upper disk plate 1 is reduced, enabling it to rotate more flexibly under drive and the rotational speed control to be more sensitive, facilitating the control of the combing intensity of the flower thinning operation.

[0046] In some embodiments, the support arms 13 are all hinged to the corresponding mounting seats 14 provided on the disk plate body 12, and a return spring 15 is installed between the inner end of one support arm 13 and the corresponding mounting seat 14 of the adjacent other support arm 13.

[0047] When the pick 11 contacts the flower stalk, it can swing along with the swing of the support arm 13, serving as a buffer structure to avoid the pick 11 hitting the flower stalk and protecting the flower; when the pick 11 pushes the flower stalk of the flower, it can float along with the swing of the support arm 13, thus avoiding damage to the flower caused by excessive contact pressure between the pick 11 and the flower. When the support arm 13 is in the radial direction, the return spring 15 is in its natural state; when the support arm 13 swings to one side of the radial direction, the return spring 15 deforms accordingly, and the generated elastic force acts on the support arm 13, causing the pick 11 to maintain contact with and push against the flower stalk, and after the pick 11 leaves the contact with the flower stalk, it pushes the support arm 13 back to the radial position.

[0048] In some embodiments, a plurality of return springs 15 are arranged one by one along the circumferential direction, that is, there is only one return spring 15 between adjacent support arms 13, making full use of the space between the support arms 13 and ensuring that each support arm 13 can be connected with a return spring 15 to achieve buffering of the contact between the pick 11 and the flower and resetting of the support arm 13.

[0049] In some embodiments, the return spring 15 is a compression spring. When the pick 11 moves towards the flower and contacts the flower stalk, the flower stalk reacts on the pick 11, causing the support arm 13 to swing in the direction opposite to the rotation direction, buffering the contact between the pick 11 and the flower stalk, stretching the compression spring, and generating an elastic force to push the support arm 13 back to the radial position when the pick 11 leaves the flower stalk.

[0050] Since the compression spring cannot be further compressed in its natural state, it limits the swing of the support arm 13, making it only swing in the direction opposite to the rotation direction. Thus, when a greater combing force needs to be applied to the flower, the inner disk can be driven to rotate in the reverse direction, that is, the support arm 13 swings towards the direction away from the compression spring it is connected to. At this time, the pick 11 contacts the flower stalk, and the flower stalk reversely pushes and moves the support arm 13 towards the compression spring it is connected to. The compression spring forms a support for the support arm 13, keeping it fixed in the radial position differently, so that the pick 11 can push the flower stalk more powerfully, achieving the purpose of increasing the combing force.

[0051] In some embodiments, an installation groove 16 is radially formed at the outer end of the support arm 13. The inner end of the installation groove 16 is T-shaped. A connecting portion 17 is provided at the inner end of the pick 11. The connecting portion 17 is T-shaped and matches the inner end of the installation groove 16. The pick 11 is axially inserted and fixed in the installation groove 16, and the outer end of the pick 11 radially extends out of the installation groove 16.

[0052] The paddle 11 is installed on the support arm 13 by plugging. The connecting portion 17 is in interference fit with the inner end of the installation groove 16, which is convenient for assembly. The T-shaped structure of the connecting portion 17 cooperates with the inner end of the installation groove 16, so as to form a radial limit on the paddle 11, avoid the paddle 11 detaching from the support arm 13 under the action of centrifugal force, and increase the friction force between the two under the action of centrifugal force, thereby improving the fixing firmness of the paddle 11.

[0053] In some embodiments, the paddle 11 is a rubber part, which makes it flexible and can deform when contacting the flower handle, so that the paddle 11 contacts the flower handle surface, avoiding scratching the flower handle by the edge of the paddle 11.

[0054] The port at the outer end of the installation groove 16 is V-shaped, which provides a moving space for the paddle 11 to swing, and avoids damaging the paddle 11 by the sharp edge of the port of the installation groove 16 when the paddle 11 swings.

[0055] In some embodiments, both sides of the flower thinning column 21 are arc surfaces, avoiding scratching the flower by the sharp edge of the flower thinning column 21.

[0056] In some embodiments, a plurality of ball bearings 22 are installed on the upper surface of the lower disk 2 along the circumferential direction, and the ball bearings 22 are all in rolling contact with the lower surface of the upper disk 1. The ball bearings 22 can axially support the upper disk 1, avoid the upper disk 1 from tilting, and even contacting the lower disk 2 resulting in wear, so that its rotation is stable.

[0057] Based on the above-mentioned disk-type flower thinning mechanism, as Figure 3 shown, the present invention also provides a flower thinning machine, which includes a vehicle body 3, a lidar 4, a controller 5, a robotic arm 6 and the above-mentioned disk-type flower thinning mechanism.

[0058] The vehicle body 3 has four wheels 31 and four driving motors. The four driving motors respectively drive the four wheels 31. The lidar 4, the controller 5 and the robotic arm 6 are all installed on the vehicle body 3, and the disk-type flower thinning mechanism is installed on the robotic arm 6. The lidar 4, the driving motor, the robotic arm 6 and the driver of the disk-type flower thinning mechanism are all electrically connected to the controller 5.

[0059] The controller 5 drives the four wheels 31 by controlling the operation of the four drive motors, enabling the vehicle body 3 to move forward in the orchard. Additionally, the controller 5 controls the rotational speeds of the four drive motors to create a speed difference in the rotation of the wheels 31 on both sides, achieving the steering of the vehicle body 3 during movement. The controller 5 measures the position of the flowers to be combed using the lidar 4 and controls the drive motors to move the vehicle body 3 to one side of the flowers. The controller 5 controls the robotic arm 6 to attach the disc-type flower thinning mechanism to the flowers and starts the driver of the disc-type flower thinning mechanism to achieve the thinning of the flowers. The flower thinner can identify the flowers and uses the disc-type flower thinning mechanism to thin the flowers, improving the automation of the operation. How the controller 5 steers by controlling the speed difference time, how it identifies the flowers and controls the vehicle movement, and how it controls the robotic arm 6 to attach the disc-type flower thinning mechanism to the flowers are all prior arts, and the robotic arm 6 is an existing six-axis manipulator.

[0060] Finally, it should be noted that the embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other.

[0061] The above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them; although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that: modifications can still be made to the specific implementation manners of the present invention or equivalent replacements can be made to some technical features; without departing from the spirit of the technical solutions of the present invention, they should all be covered within the scope of the technical solutions claimed by the present invention.

Claims

1. A disc-type flower thinning mechanism, characterized in that: Includes upper platter, lower platter and drive The upper disc is rotatably mounted on the lower disc via a rotating shaft, and the driver is connected to the rotating shaft to drive the upper disc to rotate; A plurality of flower thinning columns are vertically arranged on the upper surface of the lower disc, and the plurality of flower thinning columns are located on the same circumference coaxial with the upper disc and are arranged at intervals in the circumferential direction; A plurality of paddles are mounted on the upper disc, and the plurality of paddles are located on the same circumference coaxial with the upper disc and are spaced apart in the circumferential direction; The radius of the circle on which the plectrum is located is smaller than the radius of the circle on which the thinning column is located.

2. The disc-type flower thinning mechanism according to claim 1, characterized in that: The upper disc comprises a disc body and a plurality of arms connected to the disc body, the arms are radially arranged and spaced apart along the circumferential direction, and each of the paddles is mounted on the outer end of a corresponding arm.

3. The disc-type flower thinning mechanism according to claim 2, characterized in that: The support arms are all hinged on the mounting seats corresponding to the disc body, and a return spring is installed between the inner end of one support arm and the mounting seat corresponding to another adjacent support arm.

4. The disc-type flower thinning mechanism according to claim 3, characterized in that: The plurality of return springs are arranged one by one along the circumferential direction.

5. The disc-type flower thinning mechanism according to claim 4, characterized in that: The return spring is a compression spring.

6. The disc-type flower thinning mechanism according to claim 2, characterized in that: A mounting groove is radially opened at the outer end of the support arm, and the inner end of the mounting groove is T-shaped. A connecting portion is provided at the inner end of the paddle, and the connecting portion is T-shaped and matches the inner end of the mounting groove. The paddle is axially inserted and fixed in the mounting groove, and the outer end of the paddle radially extends out of the mounting groove.

7. The disc-type flower thinning mechanism according to claim 6, characterized in that: The paddle is a rubber piece, and the port at the outer end of the mounting groove is V-shaped.

8. The disc-type flower thinning mechanism according to claim 1, characterized in that: Both sides of the sparse flower column are arc surfaces.

9. The disc-type flower thinning mechanism according to claim 1, characterized in that: A plurality of balls are mounted on the upper surface of the lower disc along a circumferential direction, and the balls are in rolling contact with the lower surface of the upper disc.

10. A flower thinning machine, characterized in that: It comprises a vehicle body, a laser radar, a controller, a mechanical arm and the disc-type flower thinning mechanism according to any one of claims 1 to 9; The vehicle body has four wheels and four driving motors, the four driving motors drive the four wheels respectively, the laser radar, the controller and the mechanical arm are all installed on the vehicle body, and the disc-type flower thinning mechanism is installed on the mechanical arm; The laser radar, the driving motor, the mechanical arm and the driver of the disc-type flower thinning mechanism are all electrically connected to the controller.

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