Fruit tree pruning device capable of being installed on unmanned aerial vehicle
By installing fruit tree pruning devices on drones and using a turntable and robotic arm system for aerial pruning, the adaptability of existing devices in complex environments has been solved, achieving flexible and efficient fruit tree pruning results.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-12
- Publication Date
- 2026-03-20
AI Technical Summary
Existing fruit tree pruning devices are difficult to operate effectively in complex geographical environments and harsh weather conditions, and lack flexibility and adaptability.
Design a fruit tree pruning device that can be installed on a drone, including a double push rod with a turntable, a robotic arm and an end effector, to perform high-altitude pruning operations using a drone platform, and to achieve rapid pruning using a pneumatic system and linear guide rails.
The adaptability and pruning accuracy of the fruit tree pruning device in complex terrain and confined spaces have been improved, enabling flexible and efficient fruit tree pruning operations.
Smart Images
Figure CN224007253U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model belongs to pruning device design technical field, concretely relates to a kind of fruit tree pruning device that can be installed on unmanned aerial vehicle. BACKGROUND
[0002] Fruit tree pruning is essential in the growth process of fruit trees, and is extremely important for the development of fruit industry. The existing fruit tree pruning device relies on ground operation and is difficult to adapt to complex geographical environment and severe weather conditions. The device is small in size and flexible in operation, and can fly freely in complex terrain and narrow space, adapting to various orchard environments. SUMMARY
[0003] In view of the shortcomings of the existing fruit tree pruning device, the utility model provides a fruit tree pruning device that can be installed on unmanned aerial vehicle to solve the demand for pruning device in modern society.
[0004] The technical scheme adopted by the utility model is as follows:
[0005] The utility model provides a fruit tree pruning device that can be installed on unmanned aerial vehicle, comprising unmanned aerial vehicle, double push rod with rotating disc, mechanical arm and end effector.
[0006] The upper part of the double push rod with rotating disc is installed on the unmanned aerial vehicle, and the lower part of the double push rod with rotating disc is installed on the mechanical arm.
[0007] The double push rod with rotating disc comprises rotating disc provided on the upper part and two combined electric push rods; the double push rod with rotating disc has extended state and retracted state.
[0008] The mechanical arm comprises connecting arm and long arm; one end of the connecting arm is installed on the double push rod with rotating disc and can rotate around the double push rod with rotating disc; the other end of the connecting arm is installed on the long arm.
[0009] One end of the long arm is installed on the connecting arm and can rotate around the connecting arm; the other end of the long arm is installed on the end effector. The end effector comprises linear slide rail assembly, connecting rod, moving knife, fixed knife, cylinder connecting rod; one end of the end effector is installed on the long arm and can rotate around the long arm; the other end of the end effector is installed on the moving knife and fixed knife; one end of the linear slide rail assembly is installed on the cylinder connecting rod, and the cylinder connecting rod can drive the linear slide rail assembly to slide linearly; the other end of the linear slide rail assembly is installed on the connecting rod, and the linear slide rail assembly can drive the connecting rod to move; one end of the connecting rod is installed on the moving knife, and the connecting rod can drive the moving knife to move. BRIEF DESCRIPTION OF DRAWINGS
[0010] Figure 1 the three-dimensional view of the state when working of the utility model is provided;
[0011] Figure 2 the three-dimensional view of the state when landing of the utility model is provided;
[0012] Figure 3 the three-dimensional view of the state when the double push rod provided with the turntable is extended of the utility model is provided;
[0013] Figure 4 the three-dimensional view of the state when the double push rod provided with the turntable is retracted of the utility model is provided;
[0014] Figure 5 the front view of the double push rod provided with the turntable of the utility model is provided;
[0015] Figure 6 the left side view of the double push rod provided with the turntable of the utility model is provided;
[0016] Figure 7 the right side view of the double push rod provided with the turntable of the utility model is provided;
[0017] Figure 8 the three-dimensional view of the mechanical arm of the utility model is provided;
[0018] Figure 9 the front view of the mechanical arm of the utility model is provided;
[0019] Figure 10 the top view of the mechanical arm of the utility model is provided;
[0020] Figure 11 the three-dimensional view of the end effector of the utility model is provided;
[0021] Figure 12 the internal structure view of the end effector of the utility model is provided;
[0022] Figure 13 the top view of the end effector of the utility model is provided. DETAILED DESCRIPTION
[0023] In order to make the technical problems, technical schemes and beneficial effects solved by the utility model more clearly understood, the utility model is further described in detail below in combination with the drawings and embodiments.
[0024] In order to improve the adaptability of the orchard tree pruning device, the utility model provides a kind of orchard tree pruning device that can be installed on unmanned aerial vehicle, the pruning device can be pruned in complex terrain conditions and high altitude by unmanned aerial vehicle mobile platform, and the pruning range and recognition accuracy are improved;Its end effector uses pneumatic system and linear slide rail to have the advantages of fast operation and strong adaptability.
[0025] Specifically, the utility model provides a kind of orchard tree pruning device that can be installed on unmanned aerial vehicle, including unmanned aerial vehicle, double push rod equipped with turntable, mechanical arm, end effector;
[0026] The upper portion of the double push rod equipped with turntable is installed with the unmanned aerial vehicle;The lower portion of the double push rod equipped with turntable is installed with the mechanical arm;The lower portion of the mechanical arm is installed with the end effector.
[0027] The double push rod equipped with turntable includes a rotating turntable arranged on the upper portion and two combined electric push rods;The double push rod equipped with turntable has an extended state and a retracted state.
[0028] The mechanical arm includes a connecting arm and a long arm;One end of the connecting arm is installed with the double push rod equipped with turntable, which can rotate around the double push rod equipped with turntable;The other end of the connecting arm is installed with the long arm.
[0029] One end of the long arm is installed with the connecting arm, which can rotate around the connecting arm;The other end of the long arm is installed with the end effector.The end effector includes a linear slide rail assembly, a connecting rod, a moving knife, a fixed knife, a cylinder connecting rod;One end of the end effector is installed with the long arm, which can rotate around the long arm;The other end of the end effector is installed with the moving knife and the fixed knife;One end of the linear slide rail assembly is installed with the cylinder connecting rod, which can drive the linear slide rail assembly to slide linearly;The other end of the linear slide rail assembly is installed with the connecting rod, which can be driven by the linear slide rail assembly to move;One end of the connecting rod is installed with the moving knife, which can be driven by the connecting rod to move.
[0030] The structure of the utility model will be described in detail below with reference to the drawings:
[0031] Reference Figure 1 And Figure 2 The design scheme of the orchard tree pruning device is composed of unmanned aerial vehicle, double push rod equipped with turntable, mechanical arm and end effector.
[0032] The double push rod equipped with turntable is described:
[0033] Reference Figures 3 to 7 The double push rod equipped with turntable is composed of turntable 1, motor 2 and 3, double push rod first section 4, double push rod second section 6 and connecting shaft 5.
[0034] Referring to Figures 8 to 10 , the mechanical arm is composed of connecting arm 8 and long arm 10, wherein joint 7 is connected with connecting shaft 5, joint 11 is connected with end effector, motor 12 provides power for joint 9, and motor 13 provides power for joint 11.
[0035] Referring to Figures 11 to 13 , the end effector is composed of cylinder 14, moving knife 15, fixed knife 16, connecting rods 17 and 21, cylinder connecting rod 18, linear slide rail 19 and sliding block 20; wherein cylinder connecting rod 18, sliding block 20, connecting rods 17 and 21, moving knife 15 are connected in sequence, and connecting rods 17 and 21 are symmetrical.
[0036] The above only is the preferred embodiment of the present application, it should be pointed out, for ordinary skilled in the art, without departing from the principles of the present application, on the premise of, can make a number of improvements and refinements, these improvements and refinements also should be regarded as the protection scope of the present application.
Claims
1. A fruit tree pruning device that can be installed on a drone, characterized in that, This includes drones, dual push rods with turntables, robotic arms, and end effectors; The drone is mounted on the upper part of the double push rod with the turntable; the robotic arm is mounted on the lower part of the double push rod with the turntable; and the end effector is mounted on the lower part of the robotic arm.
2. The fruit tree pruning device that can be installed on a drone according to claim 1, characterized in that, The dual push rod equipped with a turntable includes a rotating turntable at the top and two electric push rods combined together; the dual push rod equipped with the turntable has an extended state and a retracted state.
3. A fruit tree pruning device that can be installed on a drone according to claim 1, characterized in that, The robotic arm includes a connecting arm and a long arm; one end of the connecting arm is equipped with a double push rod with a turntable, which can rotate around the double push rod with the turntable; the other end of the connecting arm is equipped with the long arm.
4. A fruit tree pruning device that can be installed on a drone according to claim 3, characterized in that, The connecting arm is mounted at one end of the long arm and can rotate around the connecting arm; the end effector is mounted at the other end of the long arm.
5. A fruit tree pruning device that can be installed on a drone according to claim 4, characterized in that, The end effector includes a linear guide assembly, a connecting rod, a moving cutter, a stationary cutter, and a cylinder connecting rod; The end effector has a long arm mounted on one end, which can rotate around the long arm; the other end of the end effector has a moving blade and a fixed blade mounted on it; the linear slide rail assembly has a cylinder connecting rod mounted on one end, which can drive the linear slide rail assembly to slide linearly; the other end of the linear slide rail assembly has a connecting rod mounted on it, which can drive the connecting rod to move; the moving blade is mounted on one end of the connecting rod, which can drive the moving blade to move.