Grape branch shearing and crushing device

Abstract

A grape branch shearing and smashing device comprises a moving trolley, a control terminal, a cutting mechanism, a visual sensor and a branch smashing mechanism. A supporting frame is arranged on the moving trolley, and the visual sensor is installed on the supporting frame and can move up and down along the supporting frame. The cutting and grabbing mechanism comprises a mechanical arm, a cutting assembly and a grabbing part, the mechanical arm is fixed to the moving trolley, the cutting assembly is installed at the tail end of the mechanical arm, and the grabbing part and the cutting assembly can be replaced; the branch crushing mechanism is mounted on the moving trolley; the control terminal is installed on the moving trolley and electrically connected with the visual sensor, the mechanical arm, the cutting assembly, the grabbing part, the branch smashing mechanism and the moving trolley through wires. In the using process, the mechanical arm can move the cutting assembly to the point position, fixed-point accurate cutting of grape branches is achieved, and the cutting efficiency is improved. And the sheared branches are clamped by the grabbing part and put into the smashing mechanism to be directly smashed, the branches do not need to be manually cleaned, and the labor intensity is reduced.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery and equipment technology, and in particular to a grape branch shearing and crushing device. Background Technology

[0002] Grapes, as a fruit with high nutritional and economic value, are widely cultivated. Grape cultivation usually requires careful management, including fertilization, watering, and pruning. During grape production, some dry branches and leaves will be generated. If these dry branches and leaves are not pruned in time, the lower leaves will not receive enough sunlight, thus indirectly affecting the quality of the grapes.

[0003] Grape pruning primarily involves removing excess branches and leaves to concentrate nutrients, shape the vine, limit its size, and better control yield and quality. Pruning is divided into winter pruning and summer pruning. Summer pruning is carried out during the summer growing season and removes young branches or bunches with immature grapes to control foliage growth and promote sugar production. Currently, grape pruning mainly relies on manual pruning, which is not only inefficient but also requires a large amount of manpower. To reduce manual labor, some grape pruning machines have emerged. However, current grape pruning machines on the market can only trim branches, and the trimmed branches usually still need to be collected and cleaned manually. Summary of the Invention

[0004] In order to solve the technical problems existing in the above-mentioned technology, it is necessary to provide a grape branch cutting and crushing device.

[0005] A grape vine cutting and shredding device includes a mobile trolley, a control terminal, a cutting and gripping mechanism, a vision sensor, and a vine shredding mechanism. The mobile trolley is equipped with a support frame, and the vision sensor is mounted on the support frame and can move up and down along the support frame. The cutting and gripping mechanism includes a robotic arm, a cutting component, and a gripping part. The robotic arm is fixed to the mobile trolley, the cutting component is mounted at the end of the robotic arm, and the gripping part is interchangeable with the cutting component to grip the cut vines. The vine shredding mechanism is mounted on the mobile trolley and is used to shred the cut vines. The control terminal is mounted on the mobile trolley and is connected to the vision sensor, robotic arm, cutting component, gripping part, vine shredding mechanism, and mobile trolley via wires to control the vision sensor, robotic arm, cutting component, gripping part, vine shredding mechanism, and mobile trolley to perform corresponding actions.

[0006] Preferably, the branch crushing mechanism includes a receiving hopper and crushing rollers; the receiving hopper is fixed on a moving trolley, and there are two crushing rollers, which are installed side by side and rotate in the lower part of the receiving hopper, and are located above the bottom outlet end of the receiving hopper, with the two crushing rollers rotating in opposite directions.

[0007] Preferably, shearing teeth are provided at equal intervals along the axial direction of the outer wall of the crushing roller, and the shearing teeth on the two crushing rollers are arranged in an alternating pattern.

[0008] Preferably, the outlet end of the receiving hopper is inclinedly equipped with a chute for discharging crushed slag.

[0009] Preferably, the cutting assembly includes a power unit, a cutting disc, and a connecting part; the connecting part is fixed to the end of the robotic arm, the power unit is mounted on the connecting part, and the cutting disc is mounted on the output end of the power unit, so that the power unit can drive the cutting disc to rotate.

[0010] Preferably, the power unit includes a motor and a transmission end; the transmission end is mounted on the connecting part, the output end of the transmission end is connected to the cutting disc, and the input end of the transmission end is connected to the motor.

[0011] Preferably, the transmission end includes a housing and a transmission shaft; the housing is fixed to the output end of the motor, the transmission shaft is rotatably installed inside the housing, a gear that meshes with the output end of the motor is installed at one end of the transmission shaft, and a clamping plate for clamping and fixing the cutting disc is installed at the other end of the transmission shaft.

[0012] Preferably, there are two clamping discs, which are respectively mounted on the drive shaft and located above and below the cutting disc.

[0013] Preferably, the outer edge of the cutting disc is evenly distributed with cutting teeth in the circumferential direction. The cutting teeth include a front cutting part with an L-shaped structure and a rear cutting part with a U-shaped structure that is integrally connected to the front cutting part. The bottom of the front cutting part has an arc-shaped notch.

[0014] Preferably, the housing is provided with a protective plate to protect the wires.

[0015] Compared with the prior art, the grape branch cutting and crushing device provided by this utility model includes a mobile trolley, a control terminal, a cutting mechanism, a vision sensor, and a branch crushing mechanism. A support frame is provided on the mobile trolley, and the vision sensor is mounted on the support frame and can move up and down along the support frame. The cutting and gripping mechanism includes a robotic arm, a cutting component, and a gripping part. The robotic arm is fixed on the mobile trolley, the cutting component is installed at the end of the robotic arm, and the gripping part can be replaced with the cutting component to grip the cut branches. The branch crushing mechanism is mounted on the mobile trolley and is used to crush the cut branches. The control terminal is mounted on the mobile trolley and is connected to the vision sensor, robotic arm, cutting component, gripping part, branch crushing mechanism, and mobile trolley via wires to control the vision sensor, robotic arm, cutting component, gripping part, branch crushing mechanism, and mobile trolley to perform corresponding actions. In use, a mobile trolley moves along the grape support frame. A vision sensor captures images of the grapevines, and the control terminal selects the cutting point from the image. The robotic arm moves the cutting component to that point, and the control terminal then controls the cutting component to cut the grapevine at that point. This allows for precise, targeted cutting of the grapevines, reducing labor costs and improving cutting efficiency. The cut branches can then be replaced with a gripper, which picks them up and places them into a crushing mechanism for direct crushing. No further manual cleaning of the branches is required, significantly reducing labor intensity. The crushed residue can be spread on the field as fertilizer and for moisture retention. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a front view structural diagram of the present invention.

[0018] Figure 2 This utility model Figure 1 A schematic diagram of the left-side view structure.

[0019] Figure 3 This utility model Figure 1 A schematic diagram of the right-side structure.

[0020] Figure 4 This utility model Figure 1 A structural diagram from another angle.

[0021] Figure 5This is a schematic diagram of the branch shredding mechanism of this utility model.

[0022] Figure 6 This utility model Figure 5 A cross-sectional structural diagram.

[0023] Figure 7 This is a schematic diagram of the cutting component of this utility model.

[0024] Figure 8 This utility model Figure 7 A cross-sectional structural diagram.

[0025] Figure 9 This utility model Figure 7 A magnified view of a portion of point A in the middle.

[0026] In the diagram: 01 mobile trolley, 11 trolley body, 12 drive unit, 02 control terminal, 03 cutting and gripping mechanism, 31 robotic arm, 32 cutting assembly, 321 power unit, 3211 motor, 3212 transmission end, 3212 housing, 32121 transmission shaft, 32122 gear, 32123 clamping plate, 32124 cutting plate, 322 connecting part, 323 vision sensor, 04 support frame, 05 semi-circular protective cover, 06 battery, 07 branch crushing mechanism, 08 receiving hopper, 81 crushing roller, 82 shearing teeth, 83 chute, 84 cutting teeth, 09 front cutting part, 91 rear cutting part, 92 arc-shaped notch, 93 guard plate. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0028] In the description of this utility model, it should be understood that the terms "upper", "middle", "outer", "inner", "lower", etc., which indicate orientation or positional relationship, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0029] Please refer to Figures 1 to 9This utility model provides a grape branch cutting and shredding device, including a mobile trolley 01, a control terminal 02, a cutting and gripping mechanism 03, and a vision sensor 04. The mobile trolley 01 is equipped with a support frame 05, and the vision sensor 04 is mounted on the support frame 05 and can move up and down along the support frame 05 to adjust the position of the vision sensor 04, enabling it to collect images of grapevines at different heights, thus improving its applicability. The cutting and gripping mechanism 03 includes a robotic arm 31, a cutting component 32, and a gripping part. The robotic arm 31 is fixed to the mobile trolley 01, the cutting component 32 is installed at the end of the robotic arm 31, and the gripping part can be interchanged with the cutting component to grip the cut branches. That is, when grape branches need to be cut, the cutting component 32 can be installed on the robotic arm 31; when the cut branches need to be gripped, the cutting component 32 can be disassembled, and the gripping part can be installed on the robotic arm 31. As for the gripping unit, the form described in the utility model patent with announcement number CN217453953U can be adopted. Its installation and usage methods can be found in the utility model patent with announcement number CN220173836U. The above technology is prior art and will not be elaborated upon here. The control terminal 02 is installed on the mobile trolley 01. The control terminal 02 is connected to the vision sensor 04, robotic arm 31, cutting assembly 32, gripping unit, branch crushing mechanism 08, and mobile trolley 01 via wires, so that the control terminal 02 can control the vision sensor 04, robotic arm 31, cutting assembly 32, gripping unit, branch crushing mechanism 08, and mobile trolley 01 to perform corresponding actions.

[0030] In use, the mobile trolley 01 moves along the grape support frame 05. The vision sensor 04 captures photos of the grape branches, and the control terminal 02 selects the cutting point on the photo. The robotic arm 31 moves the cutting component 32 to that point, and the control terminal 02 controls the cutting component 32 to cut the grape branch at that point, thus achieving precise, fixed-point cutting of the grape branches. This not only reduces manpower consumption but also improves cutting efficiency. After the branches are cut, the cutting component 32 is replaced with a gripper. The vision sensor 04 locates the pick-up point of the cut branches, and the gripper feeds the cut branches into the crushing mechanism. After crushing, the residue is spread on the field for use as fertilizer and to retain moisture.

[0031] In one embodiment, the branch shredding mechanism 08 includes a receiving hopper 81 and shredding rollers 82. The receiving hopper 81 is fixed on a moving trolley 01. There are two shredding rollers 82, which are rotatably mounted side-by-side inside the lower part of the receiving hopper 81 and located above the bottom outlet end of the receiving hopper 81. The two shredding rollers 82 rotate in opposite directions. When a branch is placed into the receiving hopper 81, the two shredding rollers 82 rotate synchronously, bringing the branch between the two shredding rollers 82, and then shredding the branch by the interlocking shearing force formed between the two shredding rollers 82.

[0032] Specifically, shearing teeth 83 are evenly spaced along the axial direction of the outer wall of the crushing roller 82. The shearing teeth 83 on the two crushing rollers 82 are staggered, so that the shearing teeth 83 on the two crushing rollers 82 can form a biting force to improve the crushing effect of branches.

[0033] Of course, in order to facilitate the smooth discharge of the crushed residue from the receiving hopper 81 without affecting the movement of the mobile trolley 01, a chute 84 for discharging the crushed residue is installed at an angle at the outlet end of the receiving hopper 81, and the outlet end of the chute 84 faces one side of the mobile trolley 01, which can disperse the residue to the ground.

[0034] The control terminal 02 can be installed in a housing on the mobile trolley 01; ventilation holes are provided on the housing to facilitate heat dissipation and ventilation. A PLC controller can be selected for the control terminal 02.

[0035] In one embodiment, the cutting assembly 32 includes a power unit 321, a cutting disc 322, and a connecting part 323; the connecting part 323 is fixed to the end of the robotic arm 31, the power unit 321 is mounted on the connecting part 323, and the cutting disc 322 is mounted on the output end of the power unit 321, so that the power unit 321 can drive the cutting disc 322 to rotate.

[0036] Specifically, the power unit 321 includes a motor 3211 and a transmission end 3212. The transmission end 3212 is mounted on the connecting part 323, and its output end is connected to the cutting disc 322, while its input end is connected to the motor 3211. Of course, the motor 3211 can be a DC motor 3211 to facilitate use with the rechargeable battery 07, improving ease of use.

[0037] The transmission end 3212 includes a housing 32121 and a transmission shaft 32122. The housing 32121 is fixed to the output end of the motor 3211, and the transmission shaft 32122 is rotatably mounted inside the housing 32121. A gear 32123 that meshes with the output end of the motor 3211 is installed at one end of the transmission shaft 32122, and a clamping plate 32124 for holding and fixing the cutting disc 322 is installed at the other end of the transmission shaft 32122. Alternatively, two clamping plates 32124 can be selected, and each clamping plate 32124 is respectively mounted on the transmission shaft 32122, positioned above and below the cutting disc 322, thereby fixing the cutting disc 322 to the transmission shaft 32122. When cutting grapevines, the motor 3211 drives the gear 32123 to rotate, which in turn causes the transmission shaft 32122 to rotate synchronously, transmitting power to the cutting disc 322 for cutting the grapevines.

[0038] Of course, to prevent the wires from being damaged or tangled on the grape trellis, a protective plate 10 for the wires is provided on the housing 32121.

[0039] In one embodiment, a semi-circular protective cover 06 is installed on the outside of the cutting disc 322 to prevent the other side of the cutting disc 322 from accidentally damaging other grape branches.

[0040] In one embodiment, the mobile vehicle 01 includes a vehicle body 11 and a drive unit 12 for moving the vehicle body 11; the drive unit 12 is mounted on the vehicle body 11 and is connected to a control terminal 02 via a wire. For the vehicle body 11, since the grape growing area is rugged, a tracked type can be used to adapt to the uneven ground.

[0041] Specifically, a battery 07 is installed on the vehicle body 11, and the battery 07 is electrically connected to the control terminal 02, the power unit 321, the cutting disc 322, and the drive unit 12 via wires. The battery 07 is rechargeable.

[0042] In one embodiment, the outer edge of the cutting disc 322 is circumferentially distributed with cutting teeth 09. Each cutting tooth 09 includes an L-shaped front cutting portion 91 and a U-shaped rear cutting portion 92 integrally connected to the front cutting portion 91. The bottom of the front cutting portion 92 has an arc-shaped notch 93. This unique structural design can increase the shearing force on the branches, thereby improving the cutting efficiency.

[0043] The above-disclosed embodiments are merely preferred embodiments of the present utility model and should not be construed as limiting the scope of the present utility model. Those skilled in the art can understand that implementing all or part of the above-described embodiments and making equivalent changes in accordance with the claims of the present utility model are still within the scope of the utility model.

Claims

1. A grape vine cutting and shredding device, characterized in that: The system includes a mobile trolley, a control terminal, a cutting and gripping mechanism, a vision sensor, and a branch shredding mechanism. The mobile trolley is equipped with a support frame, and the vision sensor is mounted on the support frame and can move up and down along it. The cutting and gripping mechanism includes a robotic arm, a cutting component, and a gripping part. The robotic arm is fixed to the mobile trolley, the cutting component is mounted at the end of the robotic arm, and the gripping part is interchangeable with the cutting component to grip the cut branches. The branch shredding mechanism is mounted on the mobile trolley and is used to shred the cut branches. The control terminal is mounted on the mobile trolley and is connected to the vision sensor, robotic arm, cutting component, gripping part, branch shredding mechanism, and mobile trolley via wires to control the vision sensor, robotic arm, cutting component, gripping part, branch shredding mechanism, and mobile trolley to perform corresponding actions.

2. The grape vine shearing and shredding device according to claim 1, characterized in that: The branch shredding mechanism includes a receiving hopper and shredding rollers; the receiving hopper is fixed on a moving trolley, and there are two shredding rollers, which are installed side by side and rotate in the lower part of the receiving hopper, and are located above the bottom outlet end of the receiving hopper, with the two shredding rollers rotating in opposite directions.

3. The grape branch shearing and shredding device according to claim 2, characterized in that: Shearing teeth are provided at equal intervals along the axial direction of the outer wall of the crushing roller, and the shearing teeth on the two crushing rollers are arranged in an alternating pattern.

4. The grape branch shearing and shredding device according to claim 3, characterized in that: The outlet end of the receiving hopper is inclined and equipped with a chute for discharging crushed slag.

5. The grape vine shearing and shredding device according to claim 1, characterized in that: The cutting assembly includes a power unit, a cutting disc, and a connecting part; the connecting part is fixed to the end of the robotic arm, the power unit is mounted on the connecting part, and the cutting disc is mounted on the output end of the power unit, enabling the power unit to drive the cutting disc to rotate.

6. The grape vine shearing and shredding device according to claim 5, characterized in that: The power unit includes a motor and a transmission end; the transmission end is mounted on the connecting part, the output end of the transmission end is connected to the cutting disc, and the input end of the transmission end is connected to the motor.

7. The grape vine shearing and shredding device according to claim 6, characterized in that: The transmission end includes a housing and a transmission shaft; the housing is fixed to the output end of the motor, the transmission shaft is rotatably installed inside the housing, a gear that meshes with the output end of the motor is installed at one end of the transmission shaft, and a clamping plate for clamping and fixing the cutting disc is installed at the other end of the transmission shaft.

8. The grape branch shearing and shredding device according to claim 7, characterized in that: There are two clamping discs, which are respectively mounted on the drive shaft and located above and below the cutting disc.

9. The grape branch shearing and shredding device according to claim 7, characterized in that: The outer edge of the cutting disc is evenly distributed with cutting teeth. The cutting teeth include a front cutting part with an L-shaped structure and a rear cutting part with a U-shaped structure that is integrated with the front cutting part. The bottom of the front cutting part has an arc-shaped notch.

10. The grape vine shearing and shredding device according to claim 7, characterized in that: The housing is equipped with a protective plate to protect the electrical wires.

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