Unmanned aerial vehicle pruning device for tea tree crowns

Abstract

The utility model provides a tea tree crown unmanned aerial vehicle pruning device, and relates to the technical field of tea planting machinery, and the tea tree crown unmanned aerial vehicle pruning device comprises an unmanned aerial vehicle; the main body frame is detachably mounted on the unmanned aerial vehicle; the crown pruning mechanism comprises first blades and a reciprocating driving assembly which are arranged on the main body frame, the first blades are in a long strip shape and are arranged in the transverse direction, the number of the first blades is two, and first cutter teeth extending in the width direction are arranged on the first blades; the reciprocating driving assembly is used for driving the two first blades to reciprocate alternately in the length direction. Due to the fact that the first blade is in a long strip shape and is arranged in the transverse direction, a large trimming area can be covered on the premise that the weight is small, and the trimming efficiency can be effectively improved. When the crown pruning mechanism is used for pruning, the first blade only reciprocates in a small stroke, the impact force generated during pruning is small, the influence on the flight stability of the unmanned aerial vehicle is small, the pruning operation difficulty is low, and the safety risk is low.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tea planting machinery, in particular to a tea tree crown unmanned aerial vehicle pruning device. BACKGROUND

[0002] Tea trees may grow too high in a natural growth state, which is not conducive to picking and management. By pruning the crown, the tea tree can be controlled at an appropriate height, generally controlling the tree height at about 80-100 cm to facilitate the picking work of tea farmers, and at the same time, the tea tree forms a good crown shape, increases the ventilation and light transmission of the crown, and enables each part of the tea tree to fully receive sunlight and air flow, which is beneficial to the photosynthesis and respiration of the tea tree and promotes the improvement of tea quality.

[0003] At present, the pruning work of tea tree crown is usually performed by manual hedge trimmer, however, this pruning method not only has low pruning efficiency, but also has high labor intensity of the operator. In order to improve the pruning efficiency and reduce the labor intensity, the related technology replaces the manual pruning by installing a pruning device on an unmanned aerial vehicle. For example, the utility model patent with publication number CN213991780U discloses a plant pruning unmanned aerial vehicle, which comprises an unmanned aerial vehicle, a motor is arranged at the bottom of the unmanned aerial vehicle, a gear disc is connected to the output shaft of the motor, a second pruning device is connected to the center position of the gear disc through a connecting shaft, the second pruning device comprises a mounting disc and a plurality of blades, one end of each blade is hinged to the edge of the mounting disc, and the mounting disc is fixedly connected with the connecting shaft. When the tea tree crown needs to be pruned, the mounting disc and the plurality of blades are driven to rotate by the motor, and the tea tree crown is pruned by the blades.

[0004] However, when the above-mentioned plant pruning unmanned aerial vehicle prunes the tea tree crown, the blades rotating with the mounting disc are used to prune the tea tree crown. Since the weight of the mounting disc is relatively heavy, and the load capacity of the unmanned aerial vehicle is generally not too high, the size of the mounting disc is usually small. In addition, the pruning range is mainly limited to the circular area covered by the rotation of the blades, so that the coverage area of a single pruning is relatively small. In the pruning process, the unmanned aerial vehicle needs to be moved constantly to expand the pruning range, resulting in low pruning efficiency. In addition, since the blades are in a high-speed rotating state during pruning, if the blades collide with hard branches, the blades are likely to be damaged or fall off, and the reaction force generated by the collision will also affect the flight stability of the unmanned aerial vehicle, which has great pruning operation difficulty and safety risk. SUMMARY

[0005] The purpose of the present application is to provide a tea tree crown unmanned aerial vehicle pruning device, which solves the problems of low pruning efficiency and great pruning operation difficulty and safety risk caused by the plant pruning unmanned aerial vehicle pruning the tea tree crown by rotating blades in the related technology.

[0006] The tea tree crown unmanned aerial vehicle pruning device provided by the application adopts the technical scheme as follows:

[0007] A tea tree crown unmanned aerial vehicle pruning device, comprising an unmanned aerial vehicle, further comprising:

[0008] A main body frame which is detachably mounted on the unmanned aerial vehicle through a connecting piece;

[0009] A crown pruning mechanism comprising a first blade provided on the main body frame and a reciprocating driving assembly, the first blade being in a strip shape and arranged in a transverse direction, the first blade being provided with two pieces, the two pieces of the first blade being distributed in an up-down manner and being in close contact with each other, the first blade being provided with first blade teeth extending in a width direction, and the reciprocating driving assembly being used to drive the two pieces of the first blade to reciprocate alternately in a length direction.

[0010] Optionally, the reciprocating driving assembly is located at a middle position of the main body frame, so as to maintain the balance of the weight distribution on the main body frame.

[0011] Optionally, further comprising a side branch pruning mechanism, the side branch pruning mechanism comprising pruning tools and pruning driving members, the pruning tools being provided with two groups, the two groups of the pruning tools being transversely and spacedly provided on the main body frame, and the pruning driving members being provided on the main body frame and connected with the two groups of the pruning tools, so as to drive the pruning tools to prune the side branches of the tea trees.

[0012] Optionally, further comprising a lifting adjusting member, the crown pruning mechanism further comprising a machine base which is provided on the main body frame in a liftable manner, the first blade and the reciprocating driving assembly being provided on the machine base, and the lifting adjusting member being used to drive the machine base to lift, so as to adjust the height of the first blade relative to the two groups of the pruning tools according to tea trees with different width-height ratios.

[0013] Optionally, further comprising a width adjusting mechanism provided on the main body frame, the width adjusting mechanism being connected with the two groups of the pruning tools and being used to adjust the width of the distance between the two groups of the pruning tools according to the requirements of tea rows.

[0014] Optionally, further comprising a remote controller, the reciprocating driving assembly comprising a power member and a transmission member, the power member being connected with the two pieces of the first blade through the transmission member, so as to drive the two pieces of the first blade to reciprocate alternately in the length direction, the power member being a first motor or a first gasoline engine, and the remote controller being used to remotely control the first motor or the first gasoline engine.

[0015] Optionally, the pruning driving member comprises a power source arranged on the main body frame and connected with the pruning cutter, and the power source is a second motor or a second gasoline engine, and the remote controller is used for remotely controlling the second motor or the second gasoline engine.

[0016] Optionally, the main body frame is telescopically connected with a suspension frame, and the main body frame is provided with a telescopic stand for vertically guiding the suspension frame, and the connecting member is arranged on the suspension frame, and the vertical adjusting member is used for adjusting the distance between the main body frame and the unmanned aerial vehicle according to the terrain.

[0017] Optionally, the main body frame is telescopically connected with a suspension frame, and the main body frame is provided with a telescopic stand for vertically guiding the suspension frame, and the connecting member is arranged on the suspension frame, and the vertical adjusting member is used for adjusting the distance between the main body frame and the unmanned aerial vehicle according to the terrain.

[0018] Optionally, the main body frame is provided with a cross arm, and the parking frame is provided with a limiting groove, and the main body frame can be placed on the limiting groove of the parking frame through the cross arm.

[0019] In summary, the present application at least has the following beneficial technical effects:

[0020] 1. Since the first blade is long strip-shaped and arranged in the transverse direction, a larger pruning area can be covered under the premise of smaller weight, and only the unmanned aerial vehicle needs to be controlled to move along the tea row during pruning, so that fast pruning can be realized, thereby effectively improving the pruning efficiency. Moreover, the tree crown pruning mechanism reciprocates in a small stroke during pruning, and the impact force generated during pruning is small, which has little effect on the flight stability of the unmanned aerial vehicle, and the pruning operation difficulty is small and the safety risk is low.

[0021] 2. The reciprocating driving assembly is arranged at the middle position of the main body frame, so that the balance of weight distribution on the main body frame can be maintained, thereby improving the flight stability of the unmanned aerial vehicle and reducing the pruning operation difficulty.

[0022] 3. The machine seat can be driven to ascend and descend by the lifting adjusting member, so that the height of the first blade relative to the two groups of pruning cutters can be adjusted according to tea trees with different width-height ratios, thereby the pruning needs of tea trees with different width-height ratios can be met, and the tree crown and lateral branches of the tea trees can be simultaneously well pruned.

[0023] 4. The width adjustment mechanism can adjust the width of the distance between the two groups of pruning tools according to the tea row requirements. Adjusting the pruning width according to the tea row can better adapt to the natural growth characteristics of tea trees, avoid excessive pruning or insufficient pruning, help tea trees maintain good growth posture, promote the germination and growth of new shoots, and ensure the yield and quality of tea. Reasonably adjusting the pruning width can keep the appropriate distance between the tea trees, make the tea garden well ventilated, and reduce the probability of disease and pest occurrence. According to the tea row, adjusting the pruning width can make the tea trees more orderly and standardized, which is convenient for various management operations in the tea garden, such as fertilization, watering, picking, etc. The staff can walk and operate more conveniently in the tea garden, improve the work efficiency, reduce the labor intensity, and also be beneficial to the development of mechanized operation, further improve the modernization level of tea garden management.

[0024] 5. The telescopic connection of the suspension frame and the main body frame, and the telescopic column on the main body frame for vertical guiding of the suspension frame, can adjust the distance between the tree crown pruning mechanism and the side branch pruning mechanism and the unmanned aerial vehicle according to the terrain, so that the tree crown pruning mechanism and the side branch pruning mechanism can be relatively stably close to the tea tree at different heights, reduce shaking and swinging, and make the cutting edges of the first blade and the second blade closer to the surface of the tea tree, ensuring the flatness and consistency of pruning. The shape of the tree crown and the distribution of branches and leaves of tea trees in different terrains are also different. Higher tea trees may have some long branches stretching upwards, and shorter tea trees may have branches and leaves closer to the ground. By adjusting the distance between the tree crown pruning mechanism and the side branch pruning mechanism and the unmanned aerial vehicle, the tree crown pruning mechanism and the side branch pruning mechanism can be flexibly adjusted to the appropriate position according to the specific shape and branch distribution of the tea tree, avoiding the collision of the parts, and protecting the safety of the tea tree and the equipment.

[0025] 6. The power source adopts a first motor or a first gasoline engine, which can be remotely controlled by a remote controller. The power source adopts a second motor or a second gasoline engine, which can be remotely controlled by a remote controller. The operator only needs to operate on the ground through the remote controller or the intelligent system, without the need to walk in the tea garden for a long time, and the labor intensity is relatively small. Moreover, the unmanned aerial vehicle operates in the air, and the operator can clearly observe the overall situation of the tea garden through the display screen of the ground control terminal, which is convenient for timely finding problems and making adjustments to ensure the uniformity and completeness of pruning.

[0026] 7. The spacing adjustment assembly can adjust the spacing between the two groups of sliding blocks, so that the main body frame can be mounted on different size landing gears, thereby meeting the installation needs of different models of unmanned aerial vehicles. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of the tea tree crown unmanned aerial vehicle pruning device in the embodiments of the present application.

[0028] Figure 2 is Figure 1 a partial enlarged view of part A in the middle;

[0029] Figure 3 is a structural schematic view of the tea tree canopy unmanned aerial vehicle pruning device in the embodiment of the present application, omitting the unmanned aerial vehicle, the battery and the parking rack;

[0030] Figure 4 is Figure 3 a partial enlarged view of part B in the middle;

[0031] Figure 5 is a first perspective view of the tea tree canopy unmanned aerial vehicle pruning device in the embodiment of the present application, omitting the unmanned aerial vehicle, the battery and the parking rack;

[0032] Figure 6 is Figure 5 a partial enlarged view of part C in the middle;

[0033] Figure 7 is a structural schematic view of the first blade and the transmission member in the embodiment of the present application;

[0034] Figure 8 is Figure 7 a partial enlarged view of part F in the middle;

[0035] Figure 9 is a second perspective view of the tea tree canopy unmanned aerial vehicle pruning device in the embodiment of the present application, omitting the unmanned aerial vehicle, the battery and the parking rack;

[0036] Figure 10 is Figure 9 a partial enlarged view of part D in the middle;

[0037] Figure 11 is a third perspective view of the tea tree canopy unmanned aerial vehicle pruning device in the embodiment of the present application, omitting the unmanned aerial vehicle, the battery and the parking rack;

[0038] Figure 12 is Figure 11 a partial enlarged view of part E in the middle;

[0039] Figure 13 is a structural schematic view of the pruning tool in the embodiment of the present application.

[0040] Explanation of reference signs:

[0041] 10, unmanned aerial vehicle; 11, landing gear; 20, main body rack; 21, telescopic column; 22, guide rail; 23, cross arm; 30, spacing adjustment assembly; 31, sliding block; 311, screw sleeve; 32, screw rod; 40, connecting piece; 41, first clamping plate; 42, second clamping plate; 43, fastener;

[0042] 50, tree crown pruning mechanism; 51, first blade; 511, first blade tooth; 512, connecting column; 513, first avoiding slot; 514, first strip slot; 52, first machine shell; 521, vertical guide rod; 53, limiting plate; 531, connecting block; 532, support; 533, second avoiding slot; 534, first limiting rod; 54, power element; 55, driving gear; 56, first toothed disc; 561, first middle shaft; 562, first eccentric wheel; 57, first connecting rod; 571, first bearing; 58, reciprocating plate; 581, first pin shaft;

[0043] 60, pruning tool; 61, second blade; 611, second blade tooth; 612, second pin shaft; 613, second strip slot; 62, second toothed disc; 621, second middle shaft; 622, second eccentric wheel; 63, second connecting rod; 631, second bearing; 64, second machine shell; 641, side plate; 642, second limiting rod;

[0044] 70, pruning driving element; 71, power source; 711, first bevel gear pair; 72, rotating drum; 73, intermediate shaft; 731, transmission rod; 74, input shaft; 741, input gear; 80, width adjusting mechanism; 81, actuator; 82, shaft coupling; 821, second bevel gear pair; 822, third bevel gear pair; 83, rotating shaft; 831, adjusting gear; 832, worm gear; 84, transmission shaft; 841, worm;

[0045] 90, sliding table; 91, rack; 100, suspension frame; 101, transverse guide column; 110, vertical adjusting element; 120, lifting adjusting element; 130, stop frame; 131, limiting slot; 140, storage battery. DETAILED DESCRIPTION

[0046] The following will be described in detail with reference to the accompanying drawings. Figure 1 - the accompanying drawings Figure 13 The present application will be described in further detail.

[0047] Example 1

[0048] The present embodiment discloses a tea tree crown unmanned aerial vehicle pruning device.

[0049] A tea tree crown unmanned aerial vehicle pruning device comprises an unmanned aerial vehicle 10, a main body frame 20, a suspension frame 100, a vertical adjusting element 110, a distance adjusting assembly 30, a tree crown pruning mechanism 50, and a remote controller.

[0050] Reference will be made to Figure 1 and Figure 2, the main body frame 20 is detachably hung on the unmanned aerial vehicle 10 through the suspension frame 100, the vertical adjusting piece 110, the distance adjusting assembly 30 and the connecting piece 40, and in an optional embodiment, the specific connection relationship between the main body frame 20 and the unmanned aerial vehicle 10 is as follows:

[0051] The suspension frame 100 is telescopically connected with the main body frame 20, the main body frame 20 is provided with a telescopic column 21 for vertically guiding the suspension frame 100, and the telescopic column 21 is slidably arranged in the suspension frame 100. The vertical adjusting piece 110 is used for adjusting the distance between the main body frame 20 and the unmanned aerial vehicle 10 according to the terrain, and more specifically, the vertical adjusting piece 110 is a first electric push rod, the main body part of the first electric push rod is fixedly arranged on the suspension frame 100, and the first push-pull rod of the first electric push rod is fixedly connected with the main body frame 20. By controlling the first push-pull rod of the first electric push rod to be telescopically controlled, the distance between the main body frame 20 and the unmanned aerial vehicle 10 can be adjusted, and the first electric push rod can be remotely controlled by a remote controller.

[0052] The connecting piece 40 is arranged on the suspension frame 100 through the distance adjusting assembly 30, and more specifically, the distance adjusting assembly 30 comprises a sliding block 31 and a transverse driving piece, the connecting piece 40 is a clamp, two groups of sliding blocks 31 are arranged on the suspension frame 100, the transverse driving piece is used for adjusting the distance between the two groups of sliding blocks 31, and the clamp is arranged on the sliding block 31 respectively, and the clamp is used for detachably connecting with the landing gear 11 of the unmanned aerial vehicle 10.

[0053] Further, the transverse driving piece can adopt the following structure: the transverse driving piece comprises a lead screw 32, the suspension frame 100 is provided with a transverse guide column 101, the sliding block 31 is slidably arranged on the transverse guide column 101, a screw sleeve 311 is fixedly arranged on the sliding block 31, and the lead screw 32 is rotatably arranged on the suspension frame 100 and is screwed with the screw sleeve 311.

[0054] Further, the clamp can adopt the following structure: the clamp comprises a first clamping plate 41, a second clamping plate 42 and a fastener 43, the first clamping plate 41 is fixedly arranged on the sliding block 31, the second clamping plate 42 is detachably connected with the first clamping plate 41 through the fastener 43, the first clamping plate 41 and the second clamping plate 42 are used for clamping the outer side of the landing gear 11 of the unmanned aerial vehicle 10, the fastener 43 can adopt a bolt and a nut, the cross-sectional shape of the first clamping plate 41 is V-shaped, and the cross-sectional shape of the second clamping plate 42 is arc-shaped.

[0055] The rotating screw rod 32 can drive the sliding block 31 to move along the transverse guide column 101 to adjust the distance between the two groups of sliding blocks 31 and the distance between the hoops arranged on the sliding blocks 31, so as to adapt to the landing gear 11 of different sizes. At the same time, since the cross-sectional shape of the first clamping plate 41 is V-shaped and the cross-sectional shape of the second clamping plate 42 is circular arc-shaped, the first clamping plate 41 is always in linear contact with the landing gear 11, and the second clamping plate 42 is always in linear contact with the landing gear 11, so that the landing gear 11 of different diameters can be adapted, and the main body frame 20 can be hung on the unmanned aerial vehicle 10 of different models.

[0056] With reference to Figures 3 to 8 The tree crown pruning mechanism 50 includes a first blade 51, a reciprocating driving assembly and a machine base. The first blade 51 and the reciprocating driving assembly are arranged on the main body frame 20 through the machine base. More specifically, the machine base is arranged on the main body frame 20, and the first blade 51 and the reciprocating driving assembly are arranged on the machine base. The reciprocating driving assembly is used to drive the two first blades 51 to reciprocate alternately along the length direction. The reciprocating driving assembly is located at the middle position of the main body frame 20 to maintain the balance of the weight distribution on the main body frame 20.

[0057] In an optional embodiment, the specific structure of the machine base and the reciprocating driving assembly, and the specific connection relationship between the first blade 51 and the reciprocating driving assembly and the machine base are as follows:

[0058] The machine base includes a first machine shell 52 and two limiting plates 53. The first machine shell 52 is arranged on the main body frame 20. The two limiting plates 53 are arranged in an upper and lower spaced manner. The end portions of the two limiting plates 53 are fixedly connected through a connecting block 531. The upper limiting plate 53 is fixedly connected with the first machine shell 52 through a support 532.

[0059] The reciprocating driving assembly includes a power member 54 and a transmission member. The power member 54 is connected with the two first blades 51 through the transmission member to drive the two first blades 51 to reciprocate alternately along the length direction. The power member 54 is a first electric motor or a first gasoline engine. The first electric motor or the first gasoline engine can be remotely controlled by an electronic remote controller.

[0060] The transmission member comprises a driving gear 55, a first toothed disc 56, a first connecting rod 57 and two reciprocating plates 58, the two reciprocating plates 58 are arranged at the two ends of the first casing 52 in a retractable and sliding manner along the transverse direction. The first blade 51 comprises two pieces, which are arranged between the two limiting plates 53. The first blade 51 is long and narrow and arranged along the transverse direction. The two first blades 51 are arranged in an upper and lower manner and abut against each other. The first blade 51 is provided with a first blade tooth 511 extending along the width direction. The upper side of each of the two first blades 51 is fixedly provided with a connecting column 512 extending upward. The upper first blade 51 is provided with a first avoiding groove 513 for avoiding the connecting column 512. The upper limiting plate 53 is provided with a second avoiding groove 533 for avoiding the connecting column 512. The connecting column 512 of each of the two first blades 51 is fixedly connected with the two reciprocating plates 58.

[0061] The first toothed disc 56 is arranged in the first casing 52 in a rotating manner through a first middle shaft 561. The driving gear 55 is arranged in the first casing 52 in a rotating manner and is engaged with the first toothed disc 56. The power member 54 is fixedly arranged on the first casing 52 and is connected with the driving gear 55. The two sides of the first toothed disc 56 are respectively provided with a first eccentric wheel 562. One end of the first connecting rod 57 is sleeved outside the first eccentric wheel 562 through a first bearing 571. The other end of the first connecting rod 57 is hingedly connected with the reciprocating plate 58 through a first pin shaft 581. The first blade 51 is provided with a first strip-shaped groove 514. The first limiting rod 534 is fixedly arranged between the two limiting plates 53 and passes through the first strip-shaped groove 514 of the two first blades 51.

[0062] The implementation principle of the tea tree crown unmanned aerial vehicle pruning device is as follows: when the pruning operation is performed, the unmanned aerial vehicle 10 carries the crown pruning mechanism 50 and flies above the tea trees in the tea garden. Then, the power member 54 is started through the electronic remote control of the remote controller. The power member 54 drives the first toothed disc 56 to rotate through the driving gear 55. The two reciprocating plates 58 are driven to reciprocate and slide along the transverse direction through the first eccentric wheel 562 and the first connecting rod 57. Then, the two first blades 51 are driven to reciprocate and move alternately through the connecting column 512. The first blade tooth 511 of the two first blades 51 is used to prune the crown of the tea tree.

[0063] Since the first blade 51 is long and narrow and arranged along the transverse direction, a larger pruning area can be covered under the premise of smaller weight. When pruning, the unmanned aerial vehicle 10 only needs to be controlled to move along the tea row, so that the pruning can be quickly realized. Therefore, the pruning efficiency can be effectively improved. When the crown pruning mechanism 50 prunes, the first blade 51 only reciprocates in a small stroke. The impact force generated during pruning is small, the flight stability of the unmanned aerial vehicle 10 is slightly affected, the pruning operation is difficult, and the safety risk is low.

[0064] Embodiment 2

[0065] The embodiment discloses a tea tree crown unmanned aerial vehicle pruning device.

[0066] The tea tree crown unmanned aerial vehicle pruning device of the embodiment is different from that of the embodiment 1 in further comprising a lifting adjusting member 120, a lateral branch pruning mechanism, a sliding table 90, a width adjusting mechanism 80, a parking rack 130 and a storage battery 140.

[0067] With reference to Figures 9 to 12 The lateral branch pruning mechanism comprises pruning cutters 60 and pruning driving members 70. The pruning cutters 60 are provided in two groups and are horizontally and spaced apart on the main body rack 20. The width adjusting mechanism 80 is arranged on the main body rack 20 and is connected with the two groups of pruning cutters 60 and used for adjusting the width of the distance between the two groups of pruning cutters 60 according to the requirements of tea rows. In an optional embodiment, the width adjusting mechanism 80 and the two groups of pruning cutters 60 can adopt the following connection mode:

[0068] The sliding table 90 is provided in two groups, the main body rack 20 is provided with guide rails 22, and the two groups of sliding tables 90 are slidingly arranged on the guide rails 22 of the main body rack 20. The width adjusting mechanism 80 is used for adjusting the distance between the two groups of sliding tables 90. More specifically, the specific structure of the width adjusting mechanism 80 and the specific connection relationship with the sliding table 90 are as follows: the width adjusting mechanism 80 comprises an actuator 81, a shaft coupling 82, a rotating shaft 83 and a transmission shaft 84, the shaft coupling 82, the transmission shaft 84 and the rotating shaft 83 are rotationally arranged on the main body rack 20, the actuator 81 is fixedly arranged on the middle part of the main body rack 20 and connected with the shaft coupling 82 through a second bevel gear pair 821, the actuator 81 can adopt an electric motor, and the actuator 81 is arranged on the middle part of the main body rack 20, so that the balance of the weight distribution on the main body rack 20 can be maintained. The transmission shaft 84 is connected with the shaft coupling 82 through a third bevel gear pair 822, the rotating shaft 83 is provided with an adjusting gear 831 and a worm wheel 832, the sliding table 90 is provided with a rack 91 engaged with the adjusting gear 831, and the transmission shaft 84 is provided with a worm 841 engaged with the worm wheel 832. The actuator 81 can be remotely controlled by an electronic remote controller.

[0069] With reference to Figure 4 , Figure 9 , Figure 10 and Figure 13, two groups of trimming tools 60 are respectively arranged on the two groups of sliding tables 90, in an optional embodiment, the specific structure of the trimming tool 60 and the specific connection relationship with the sliding table 90 are as follows: the trimming tool 60 comprises a second blade 61, a second tooth disc 62, a second connecting rod 63 and a second machine shell 64, and the second machine shell 64 is fixedly connected with the sliding table 90. The trimming tool 60 is arranged on the second machine shell 64, and more specifically, two side plates 641 are arranged on the second machine shell 64, and the second blade 61 is arranged between the two side plates 641. The side surfaces of the two second blades 61 are in close contact with each other, and the second blade 61 is provided with second blade teeth 611. The second tooth disc 62 is rotatably arranged in the second machine shell 64 through a second shaft 621, and the two sides of the second tooth disc 62 are respectively provided with a second eccentric wheel 622. One end of the second connecting rod 63 is sleeved outside the second eccentric wheel 622 through a second bearing 631, and the other end of the second connecting rod 63 is hingedly connected with the second blade 61 through a second pin shaft 612. The second blade 61 is provided with a second slot 613, and a second limiting rod 642 is fixedly arranged between the two side plates 641 and passes through the second slot 613 of the two second blades 61.

[0070] The width adjusting mechanism 80 can adjust the transverse spacing between the two groups of trimming tools 60, so as to adapt to the trimming needs of tea trees of different widths.

[0071] Referring to Figures 9 to 12 The trimming driving member 70 is arranged on the main body frame 20 and connected with the two groups of trimming tools 60 to drive the trimming tools 60 to trim the side branches of tea trees. In an optional embodiment, the specific structure of the trimming driving member 70 and the specific connection relationship with the trimming tool 60 are as follows:

[0072] The trimming driving member 70 comprises a power source 71, a rotating drum 72, an intermediate shaft 73 and an input shaft 74. The power source 71 is fixedly arranged on the middle part of the main body frame 20. Arranging the power source 71 on the middle part of the main body frame 20 can keep the balance of the weight distribution on the main body frame 20. The power source 71 is a second motor or a second gasoline engine, which can be remotely controlled by a remote controller. The power source 71 is connected with the trimming tool 60, and more specifically, the rotating drum 72 is rotatably arranged on the main body frame 20, the power source 71 is connected with the rotating drum 72 through a first bevel gear pair 711, the intermediate shaft 73 is rotatably arranged on the sliding table 90, and the intermediate shaft 73 is provided with a transmission rod 731 which is slidingly connected with the rotating drum 72. The cross-sectional shape of the transmission rod 731 can be a regular hexagon.

[0073] The input shaft 74 is rotatably arranged on the second machine shell 64, and the input shaft 74 is provided with an input gear 741 which is engaged with the second tooth disc 62. The intermediate shaft 73 is connected with the input shaft 74.

[0074] Referring to Figures 1 to 4The machine base is arranged on the main body frame 20 in a liftable manner, a vertical guide rod 521 is arranged on the first casing 52, and the vertical guide rod 521 is slidably arranged on the main body frame 20. The lifting adjusting member 120 is arranged on the main body frame 20 and connected with the machine base. More specifically, the lifting adjusting member 120 is a second electric push rod, the main body part of the second electric push rod is fixedly arranged on the main body frame 20, and the second push-pull rod of the second electric push rod is fixedly connected with the first casing 52. The second electric push rod can be remotely controlled by the remote controller.

[0075] The lifting adjusting member 120 is used to drive the machine base to lift, so as to adjust the height of the first blade 51 relative to the two groups of pruning cutters 60 according to different width-height ratios of tea trees.

[0076] In an optional embodiment, the remote controller can remotely control the power member 54, the power source 71, the actuator 81, the first electric push rod and the second electric push rod through a control module and a communication module. More specifically, the control module and the communication module are arranged on the main body frame 20, the control module is electrically connected with the power member 54, the power source 71, the actuator 81, the first electric push rod and the second electric push rod, the communication module is electrically connected with the control module, and the remote controller is wirelessly connected with the communication module.

[0077] The battery 140 is arranged on the unmanned aerial vehicle 10 or the main body frame 20, and the power member 54, the power source 71, the actuator 81, the first electric push rod and the second electric push rod are electrically connected with the battery 140. The power member 54, the power source 71, the actuator 81, the first electric push rod and the second electric push rod can be powered by the battery 140.

[0078] The main body frame 20 is provided with a cross arm 23, and the parking frame 130 is provided with a limiting groove 131. The main body frame 20 can be arranged on the limiting groove 131 of the parking frame 130 through the cross arm 23 in an overhead manner. Therefore, the tea tree crown unmanned aerial vehicle pruning device of the embodiment can be parked on the parking frame 130 before and after the pruning operation is carried out.

[0079] The implementation principle of the tea tree crown unmanned aerial vehicle pruning device of the embodiment is as follows:

[0080] Before pruning operation, the distance between the main frame 20 and the unmanned aerial vehicle 10 is adjusted by the vertical adjusting member 110 to adjust the distance between the tree crown pruning mechanism 50 and the side branch pruning mechanism and the unmanned aerial vehicle 10, so that the distance between the tree crown pruning mechanism 50 and the side branch pruning mechanism and the unmanned aerial vehicle 10 is adjusted to a proper value, so that the tea tree crown unmanned aerial vehicle pruning device of the embodiment can obtain better pruning operation convenience under different terrains. Then the coupling 82 is driven to rotate by the executor 81, the worm 841 is driven to rotate by the transmission shaft 84, the worm wheel 832, the rotating shaft 83 and the adjusting gear 831 are driven to rotate by the worm 841, and the sliding table 90 is driven to move relative to the main frame 20 under the interaction of the adjusting gear 831 and the rack 91, so that the distance between the two groups of pruning cutters 60 is adjusted according to the width of the tea tree to be pruned. Then the machine seat is driven to ascend and descend by the lifting adjusting member 120, so that the height of the first blade 51 relative to the second blade 61 of the two groups of pruning cutters 60 is adjusted according to the width-height ratio of the tea tree.

[0081] When pruning operation is performed, the unmanned aerial vehicle 10 is flown above the tea garden, and the second blades 61 of the two groups of pruning cutters 60 are located on the two sides of the tea tree, and the first blade 51 is located above the tea tree. Then the control signal is sent to the communication module by the remote controller, and then the control signal is transmitted to the control module, and the power member 54 and the power source 71 are started by the control module. The two first blades 51 are driven to reciprocate alternately by the power member 54, and the tea tree crown is pruned by the first blade teeth 511 on the two first blades 51. At the same time, the rotating drum 72 is driven to rotate by the power source 71, the input shaft 74 is driven to rotate by the transmission rod 731 and the intermediate shaft 73, the second tooth disc 62 is driven to rotate by the input gear 741, and the two second blades 61 are driven to reciprocate by the second eccentric wheel 622 and the second connecting rod 63, and the tea tree side branches are pruned by the second blade teeth 611 on the two second blades 61.

[0082] The embodiments of the specific implementation are the preferred embodiments of the application, and are not limited to the protection scope of the application, wherein the same parts are indicated by the same reference numerals. Therefore, any equivalent changes made according to the structure, shape and principle of the application should be covered by the protection scope of the application.

Claims

1. A tea tree canopy drone pruning apparatus comprising a drone (10) characterised in that, Also include: The main body frame (20) is detachably mounted on the unmanned aerial vehicle (10) through the connecting piece (40); The tree pruning mechanism (50) includes a first blade (51) provided on the main body frame (20) and a reciprocating driving assembly. The first blade (51) is long strip-shaped and arranged transversely. Two first blades (51) are arranged in an upper and lower distribution and are in close contact with each other. The first blade (51) is provided with a first blade tooth (511) extending in the width direction. The reciprocating driving assembly is used to drive the two first blades (51) to reciprocate alternately along the length direction.

2. A tea tree canopy pruning drone device as claimed in claim 1, wherein, The reciprocating driving assembly is located at the middle position of the main body frame (20) to maintain the balance of the weight distribution on the main body frame (20).

3. A tea tree pruning apparatus as claimed in claim 1, wherein, The side branch pruning mechanism includes pruning cutters (60) and pruning driving members (70). Two groups of pruning cutters (60) are transversely and spaced apart on the main body frame (20). The pruning driving members (70) are provided on the main body frame (20) and connected with the two groups of pruning cutters (60) to drive the pruning cutters (60) to prune the side branches of tea trees.

4. A tea tree canopy pruning drone device as claimed in claim 3, wherein, The lifting adjusting member (120) is further provided on the main body frame (20). The tree pruning mechanism (50) further includes a machine base which is provided on the main body frame (20) and is liftable. The first blade (51) and the reciprocating driving assembly are provided on the machine base. The lifting adjusting member (120) is used to drive the machine base to lift or lower to adjust the height of the first blade (51) relative to the two groups of pruning cutters (60) according to tea trees with different width-height ratios.

5. A tea tree pruning apparatus as claimed in claim 3, wherein, The width adjusting mechanism (80) is further provided on the main body frame (20). The width adjusting mechanism (80) is connected with the two groups of pruning cutters (60) and is used to adjust the width of the distance between the two groups of pruning cutters (60) according to the requirements of tea rows.

6. A tea tree canopy pruning drone device as claimed in claim 3, wherein, The remote controller is further provided. The reciprocating driving assembly includes a power member (54) and a transmission member. The power member (54) is connected with the two first blades (51) through the transmission member to drive the two first blades (51) to reciprocate alternately along the length direction. The power member (54) is a first motor or a first gasoline engine. The remote controller is used to remotely control the first motor or the first gasoline engine.

7. A tea tree canopy pruning drone apparatus as claimed in claim 6, characterised in that, The pruning driving member (70) includes a power source (71). The power source (71) is provided on the main body frame (20) and is connected with the pruning cutters (60). The power source (71) is a second motor or a second gasoline engine. The remote controller is used to remotely control the second motor or the second gasoline engine.

8. A tea tree pruning apparatus as claimed in claim 1, wherein, The suspension frame (100) is telescopically connected with the main frame (20), the main frame (20) is provided with a telescopic column (21) for vertically guiding the suspension frame (100), the connecting piece (40) is arranged on the suspension frame (100), and the vertical adjusting piece (110) is used for adjusting the distance between the main frame (20) and the unmanned aerial vehicle (10) according to the terrain.

9. A tea tree canopy pruning drone apparatus as claimed in claim 8, characterised in that, The distance adjusting assembly (30) comprises a sliding block (31) and a transverse driving piece, the connecting piece (40) is a clamp, two groups of the sliding blocks (31) are arranged on the suspension frame (100), the transverse driving piece is used for adjusting the distance between the two groups of the sliding blocks (31), the clamp is arranged on the sliding block (31), and the clamp is used for being detachably connected with the landing gear (11) of the unmanned aerial vehicle (10).

10. A tea tree pruning apparatus as claimed in claim 1, wherein, The main frame (20) is provided with a cross arm (23), the parking frame (130) is provided with a limiting groove (131), and the main frame (20) can be overheadly arranged on the limiting groove (131) of the parking frame (130) through the cross arm (23).

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