Flower and fruit thinning robot with telescopic picking head

Abstract

The utility model discloses a flower and fruit thinning robot with a telescopic picking head, relates to the technical field of fruit tree planting, and aims to solve the technical problems that at present, too many flowers on the lower portion of a pear tree fall off, and the upper portion and the top of the pear tree are not whipped or whipped and fallen flowers are too few. Comprising a vehicle body, a rotating mechanism arranged on the vehicle body and a dredging mechanism arranged on the rotating mechanism, the rotating mechanism comprises a second mounting frame installed at the tail end of a fixing rod, a rotating rod is rotatably installed in the second mounting frame, and the dredging mechanism comprises a telescopic adjusting rod and a telescopic tension rod which are installed on the rotating rod in an array mode; and picking plates are arranged at the tail ends of the telescopic adjusting rod and the telescopic tension rod. The flower and fruit thinning device has the advantages that the positions of the picking plates can be adjusted according to the shape that the size of the pear tree is gradually reduced from bottom to top, so that the picking plates are distributed in an inclined plane, the whipping range and force of the soft whip strips to different height parts of the pear tree are uniform, and the flower and fruit thinning precision is greatly improved.

Description

Technical Field

[0001] This utility model relates to the field of fruit tree planting technology, and more specifically, to a flower and fruit thinning robot with a telescopic picking head. Background Technology

[0002] Flower and fruit thinning is a key measure in agricultural production to improve crop quality and yield. During the flowering or young fruit stage, some excess flowers and young fruits are manually removed based on the tree's load-bearing capacity and fruit distribution. Flower thinning reduces ineffective nutrient consumption, concentrating nutrients on the remaining flowers and increasing fruit set rate; fruit thinning ensures that the remaining fruits have sufficient space, nutrients, and light, resulting in fuller development, more uniform fruit size, and better quality. It also prevents alternate bearing in fruit trees and maintains tree vigor balance. Flower and fruit thinning techniques are widely used in the cultivation of many fruit trees such as apples, pears, and grapes, as well as some vegetables, laying a solid foundation for a bumper harvest.

[0003] The flower and fruit thinning robot is mainly a mobile cart with a rotating whip-like picking head. It whips the flowers, causing some to fall, thus achieving the purpose of flower thinning. In pear tree cultivation, pruning is necessary for management. The volume of pear trees typically decreases from bottom to top. Currently, the picking heads of flower and fruit thinning robots are aligned, which easily leads to too many flowers falling from the lower part of the pear tree, while the upper and top parts are either not whipped or have too few flowers removed, which is detrimental to the flower and fruit thinning work of pear trees. Therefore, we propose a flower and fruit thinning robot with a telescopic picking head. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology, adapt to the needs of reality, and provide a flower and fruit thinning robot with a telescopic picking head to solve the current technical problem that too many flowers fall from the lower part of the pear tree, while the upper and top parts are not whipped or too few flowers fall.

[0005] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a flower and fruit thinning robot with a telescopic picking head, including a vehicle body, a rotating mechanism mounted on the vehicle body, and a thinning mechanism mounted on the rotating mechanism. A first mounting frame is provided at the upper end of the vehicle body. A rotating shaft is symmetrically mounted on the lower end of the first mounting frame. A first motor for driving the rotating shaft is symmetrically provided at the upper end of the first mounting frame. A fixed rod is welded on the rotating shaft. The rotating mechanism includes a second mounting frame mounted at the end of the fixed rod. The second mounting frame is C-shaped. A rotating rod is rotatably mounted inside the second mounting frame. The thinning mechanism includes telescopic adjusting rods and telescopic tension rods arrayed on the rotating rods. A picking plate is provided at the end of both the telescopic adjusting rods and the telescopic tension rods.

[0006] Preferably, a second motor is provided at the upper end of the second mounting bracket, and the output shaft of the second motor is connected to the axis of the rotating rod, wherein the rotating rod is polygonal.

[0007] Preferably, there are several telescopic tension rods arranged from top to bottom, with the telescopic adjustment rod located at the topmost position. Linkage rods are rotatably installed between the telescopic adjustment rod and the telescopic tension rod, as well as between the telescopic tension rods.

[0008] Preferably, the outer surface of the picking board is provided with soft whips of uniform length, the picking board is arc-shaped along its long axis, and the arc diameter of the picking board gradually decreases from top to bottom.

[0009] Preferably, both the telescopic adjusting rod and the telescopic tension rod include a telescopic rod, a hydraulic device is provided on the rotating rod, the hydraulic rod of the hydraulic device is connected to the telescopic rod of the telescopic adjusting rod, and a spring is provided inside the telescopic tension rod, the spring being connected to the telescopic rod of the telescopic tension rod.

[0010] Preferably, the linkage rod is rotatably connected between the telescopic rods. The linkage rod includes a positioning sleeve rod and a connecting rod telescopically disposed within the positioning sleeve rod. The positioning sleeve rod and the connecting rod are provided with corresponding adjustment ports. A bolt is inserted into the adjustment port, and an adjustment knob is threaded onto the end of the bolt.

[0011] Compared with the prior art, the beneficial effects of this utility model are:

[0012] 1. This utility model, through the design of a telescopic adjustment rod and a telescopic tension rod structure, combined with a linkage rod and hydraulic equipment, can automatically adjust the position of the picking board according to the gradually decreasing volume of the pear tree from bottom to top, so that each picking board is distributed at an angle. This ensures that the whipping range and force of the soft whip are uniform at different heights of the pear tree, effectively solving the problem of too many flowers falling from the lower part of the pear tree and insufficient removal of flowers from the upper and top parts. It greatly improves the accuracy of flower and fruit thinning, ensures a balanced improvement in fruit quality and yield, and solves the current problem of too many flowers falling from the lower part of the pear tree and too few flowers being whipped off or falling off the upper and top parts.

[0013] 2. This utility model also designs a picking board structure. The picking board is arc-shaped along its long axis and the diameter of the arc gradually decreases from top to bottom. This design can better fit the shape of the branches and leaves of the pear tree. Furthermore, it makes the whipping range and force of the soft whip more uniform at different heights of the pear tree during rotation, ensuring the uniformity of flower and fruit removal, preventing excessive flower removal due to excessive action of the soft whip, and enhancing the robot's adaptability to different tree shapes.

[0014] 3. This utility model also designs a linkage rod structure, which includes a positioning sleeve rod and a telescopic connecting rod. By adjusting the position of the bolt in the adjustment port, the extension length of the connecting rod can be precisely controlled, thereby flexibly adjusting the position of the picking plate to meet the personalized needs of pear trees in different growth conditions for the force and range of thinning flowers and fruits, and improving the flexibility and versatility of the equipment. Attached Figure Description

[0015] Figure 1 This is a front view structural diagram of the present utility model;

[0016] Figure 2 This is a schematic diagram of the evacuation mechanism of this utility model;

[0017] Figure 3 This is a schematic diagram of the structure of the partial removal mechanism of this utility model;

[0018] Figure 4 This is a cross-sectional view of the telescopic tension rod of this utility model;

[0019] Figure 5 This is a cross-sectional view of the linkage structure of this utility model.

[0020] Explanation of the numbers in the diagram: 101, vehicle body; 102, first mounting bracket; 103, rotating shaft; 104, first motor; 105, fixed rod; 200, rotating mechanism; 201, second mounting bracket; 202, rotating rod; 203, second motor; 204, hydraulic equipment; 300, dredging mechanism; 301, telescopic adjusting rod; 302, telescopic tension rod; 3021, telescopic rod; 303, spring; 304, linkage rod; 3041, positioning sleeve rod; 3042, connecting rod; 3043, adjusting port; 305, bolt; 306, picking plate; 307, soft whip. Detailed Implementation

[0021] like Figures 1 to 5As shown, this utility model relates to a flower and fruit thinning robot with a telescopic picking head, including a vehicle body 101, a rotating mechanism 200 mounted on the vehicle body 101, and a thinning mechanism 300 mounted on the rotating mechanism 200. A first mounting frame 102 is provided at the upper end of the vehicle body 101, and a rotating shaft 103 is symmetrically rotatably mounted at the lower end of the first mounting frame 102. A first motor 104 for driving the rotating shaft 103 is symmetrically provided at the upper end of the first mounting frame 102. A fixed rod 105 is welded to the rotating shaft 103. The rotating mechanism 200 includes a second mounting frame 201 mounted at the end of the fixed rod 105. The second mounting frame 201 is C-shaped, and a rotating rod 202 is rotatably mounted inside the second mounting frame 201. The thinning mechanism 300 includes a telescopic adjusting rod 301 and a telescopic tension rod 302 arrayed on the rotating rod 202. A picking plate 306 is provided at the end of both the telescopic adjusting rod 301 and the telescopic tension rod 302. This invention can automatically adjust the position of the picking boards according to the shape of the pear tree, which gradually decreases in size from bottom to top, so that each picking board is distributed at an angle. This ensures that the whipping range and force of the soft whip are uniform at different heights of the pear tree, effectively solving the problem of too many flowers falling from the lower part of the pear tree and insufficient removal of flowers from the upper and top parts. It greatly improves the accuracy of flower and fruit thinning and ensures a balanced improvement in fruit quality and yield.

[0022] Specifically, a second motor 203 is provided at the upper end of the second mounting bracket 201. The output shaft of the second motor 203 is connected to the axis of the rotating rod 202, which is polygonal in shape. The second motor 203 is used to drive the rotating rod 202 to rotate.

[0023] Furthermore, several telescopic tension rods 302 are arranged from top to bottom, with the telescopic adjustment rod 301 located at the top. Linkage rods 304 are rotatably installed between the telescopic adjustment rod 301 and the telescopic tension rods 302, as well as between the telescopic tension rods 302 themselves. The linkage rods 304 are used to pull the telescopic rod 3021 of the telescopic tension rod 302. The longer the telescopic length of the linkage rod 304, the shorter the length of the telescopic rod 3021 that can be pulled.

[0024] It is worth noting that the outer surface of the picking board 306 is provided with flexible whips 307 of uniform length. The picking board 306 is arc-shaped along its long axis, and the diameter of the arc gradually decreases from top to bottom. The arc shape of the picking board 306 and the gradually decreasing diameter from bottom to bottom can adapt to the shape of the branches and leaves of the pear tree. When the rotating rod 202 rotates, the length of the flexible whips 307 striking the pear tree is kept relatively consistent, preventing the flexible whips 307 from being too long and causing too many flowers to be removed.

[0025] It is worth mentioning that both the telescopic adjusting rod 301 and the telescopic tension rod 302 include a telescopic rod 3021. A hydraulic device 204 is provided on the rotating rod 202. The hydraulic rod of the hydraulic device 204 is connected to the telescopic rod 3021 of the telescopic adjusting rod 301. A spring 303 is provided inside the telescopic tension rod 302. The spring 303 is connected to the telescopic rod 3021 of the telescopic tension rod 302. The operation of the hydraulic device 204 can extend the telescopic rod 3021 of the telescopic adjustment rod 301. Under the action of the linkage rod 304, the telescopic rod 3021 of the telescopic tension rod 302 can be pulled to extend, thereby correspondingly pulling the telescopic rod 3021 of the lower telescopic tension rod 302, thereby adjusting the position of the picking board 306 so that the picking board 306 forms an inclined plane from top to bottom, which can adapt to the shape of the pear tree where the volume gradually decreases from bottom to top, ensuring the uniformity of flower thinning and preventing too many or too few flowers from being thinned. The spring 303 can prevent the telescopic rod 3021 of the telescopic tension rod 302 from extending on its own when rotating.

[0026] It is worth noting that the linkage rod 304 is rotatably connected between the telescopic rods 3021. The linkage rod 304 includes a positioning sleeve rod 3041 and a connecting rod 3042 telescopically disposed within the positioning sleeve rod 3041. The positioning sleeve rod 3041 and the connecting rod 3042 have corresponding adjustment ports 3043. A bolt 305 is inserted into the adjustment port 3043, and an adjustment knob is threaded onto the end of the bolt 305. The adjustment knob can fix the bolt 305, and the bolt 305 can limit the position of the connecting rod 3042. By changing the position of the bolt 305 within the adjustment port 3043, the extendable length of the connecting rod 3042 can be adjusted, thereby adjusting the position of the pulling picking plate 306.

[0027] Working Principle: This embodiment provides a flower and fruit thinning robot with a telescopic picking head. In use, the vehicle body 101 is activated and moved to the walkway between pear trees in the pear orchard. The vehicle body 101 can be a standard agricultural cart. The first motor 104 is turned on, driving the rotating shaft 103 to rotate. This, in turn, causes the fixed rod 105 and the second mounting bracket 201 at the end of the fixed rod to adjust their angle and position, allowing the thinning mechanism 300 to unfold to both sides and align with the areas of the pear tree requiring flower and fruit thinning. The hydraulic device 204 on the rear rotating rod 202 starts working. The hydraulic rod pushes the telescopic rod 3021 of the telescopic adjusting rod 301 to extend. Since the telescopic adjusting rod 301 and the telescopic tension rod 302, as well as the telescopic tension rods 302, are rotatably connected by the linkage rod 304, when the telescopic rod 3021 of the telescopic adjusting rod 301 extends, the linkage rod 304 is pulled, which in turn pulls the telescopic rod 3021 of the telescopic tension rod 302 to extend. Before this, the bolts on the linkage rod 304 can be adjusted as needed. The position of 305 within the adjustment port 3043 changes the extendable length of the linkage rod 304, thereby precisely controlling the extension length of the telescopic rod 3021 of the telescopic tension rod 302. After each telescopic adjustment rod 301 is pulled, each picking plate 306 forms an inclined plane from top to bottom, adapting to the shape of the pear tree where the volume gradually decreases from bottom to top. Then, the second motor 203 is started, driving the rotating rod 202 to rotate. As the rotating rod 202 continues to rotate, the soft whip strips set on the outer surface of the picking plate 306... The 307 continuously whips the pear tree's flowers and fruits. During this process, the vehicle body 101 moves within the walkway. Because the picking plate 306 is arc-shaped along its long axis and the diameter of the arc gradually decreases from top to bottom, the soft whip 307 can be used to whip different height parts of the pear tree with a relatively uniform range and force during rotation. This ensures the uniformity of flower and fruit removal and avoids situations where too many flowers fall from the lower part of the pear tree, while the upper and top parts are not whipped or too few flowers fall. This efficiently completes the flower and fruit thinning work.

[0028] The embodiments disclosed herein are preferred embodiments, but are not limited thereto. Those skilled in the art can readily grasp the spirit of this utility model based on the above embodiments and make different extensions and variations. However, as long as they do not depart from the spirit of this utility model, they are all within the protection scope of this utility model.

Claims

1. A flower and fruit thinning robot with a telescopic picking head, characterized in that, The system includes a vehicle body (101), a rotating mechanism (200) mounted on the vehicle body (101), and a scavenging mechanism (300) mounted on the rotating mechanism (200). A first mounting bracket (102) is mounted on the upper end of the vehicle body (101). A rotating shaft (103) is symmetrically mounted on the lower end of the first mounting bracket (102). A first motor (104) driving the rotating shaft (103) is symmetrically mounted on the upper end of the first mounting bracket (102). A fixing rod (105) is welded onto the rotating shaft (103). The rotating mechanism (200) includes a second mounting bracket (201) installed at the end of the fixed rod (105). The second mounting bracket (201) is C-shaped. A rotating rod (202) is rotatably installed inside the second mounting bracket (201). The dredging mechanism (300) includes an array of telescopic adjusting rods (301) and telescopic tension rods (302) installed on the rotating rod (202). A picking plate (306) is provided at the end of both the telescopic adjusting rod (301) and the telescopic tension rod (302).

2. The flower and fruit thinning robot with a telescopic picking head according to claim 1, characterized in that, The upper end of the second mounting bracket (201) is provided with a second motor (203), the output shaft of the second motor (203) is connected to the axis of the rotating rod (202), and the rotating rod (202) is polygonal.

3. A flower and fruit thinning robot with a telescopic picking head according to claim 2, characterized in that, The telescopic tension rod (302) is arranged in several parts from top to bottom, and the telescopic adjustment rod (301) is located at the topmost position. The telescopic adjustment rod (301) and the telescopic tension rod (302) are rotatably installed with linkage rods (304) between each other and between each other.

4. A flower and fruit thinning robot with a telescopic picking head according to claim 3, characterized in that, The outer surface of the picking board (306) is provided with soft whips (307) of the same length. The picking board (306) is arc-shaped along its long axis, and the arc diameter of the picking board (306) gradually decreases from top to bottom.

5. A flower and fruit thinning robot with a telescopic picking head according to claim 4, characterized in that, Both the telescopic adjusting rod (301) and the telescopic tension rod (302) include a telescopic rod (3021). A hydraulic device (204) is provided on the rotating rod (202). The hydraulic rod of the hydraulic device (204) is connected to the telescopic rod (3021) of the telescopic adjusting rod (301). A spring (303) is provided inside the telescopic tension rod (302). The spring (303) is connected to the telescopic rod (3021) of the telescopic tension rod (302).

6. A flower and fruit thinning robot with a telescopic picking head according to claim 5, characterized in that, The linkage rod (304) is rotatably connected between the telescopic rod (3021). The linkage rod (304) includes a positioning sleeve rod (3041) and a connecting rod (3042) telescopically disposed inside the positioning sleeve rod (3041). The positioning sleeve rod (3041) and the connecting rod (3042) are provided with corresponding adjustment ports (3043). A bolt (305) is inserted into the adjustment port (3043), and an adjustment knob is threaded onto the end of the bolt (305).

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