Accurate flexible flower thinning machine for fruit trees

Abstract

The utility model relates to a precise flexible flower thinning machine for fruit trees. The precise flexible flower thinning machine comprises a walking device, a connecting frame installed on the walking device and a flower thinning unit installed on the connecting frame through an adjusting device. The flower thinning unit comprises a flower thinning support and a plurality of flower thinning execution mechanisms installed on the flower thinning support. The adjusting device comprises a transverse adjusting mechanism installed on the connecting frame, a vertical adjusting mechanism and an inclined adjusting mechanism, wherein the vertical adjusting mechanism and the inclined adjusting mechanism are installed on the transverse adjusting mechanism. Flower thinning operation is achieved by beating flowers of fruit trees through the flower thinning rope, lateral movement, lateral dip angle adjustment, longitudinal lifting adjustment and front-back dip angle adjustment of the flower thinning support are achieved through the hydraulic adjusting system, and therefore the flower thinning arms are driven to complete lateral movement, longitudinal movement and lateral and front-back dip angle adjustment. The height and angle of the flower thinning arm can be adjusted according to the tree shape and height of the fruit tree to fit the thinned fruit tree, and the rotating speed of the flower thinning shaft is adjusted according to the flower density of the fruit tree flowers to improve the precision of flower thinning operation.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery and equipment technology, and in particular to the field of fruit tree flower thinning equipment, specifically referring to a fruit tree precision flexible flower thinning machine. Background Technology

[0002] During the flowering stage of fruit trees such as apple, peach, and pear, appropriate flower thinning should be carried out according to the flowering level of the trees. Flower thinning is an important means to maintain stable fruit production, overcome alternate bearing, improve fruit quality, and increase production efficiency.

[0003] Flower thinning helps reduce crop load, improve fruit tree disease resistance, reduce yield fluctuations, improve flower bud quality, and ultimately increase fruit yield and quality. Currently, orchard flower thinning mainly employs two methods: chemical and physical.

[0004] Chemical flower thinning involves spraying chemical agents during the flowering period of fruit trees to cause the flowers to fall off, thus achieving the effect of flower thinning. The effectiveness of chemical flower thinning is easily affected by factors such as the type of agent, the concentration of the preparation, the time of application, and the working environment. The application of pesticides can also cause environmental pollution and fruit safety issues.

[0005] Physical flower thinning involves removing excess flowers using external force. It can be done manually or mechanically. Manual flower thinning is labor-intensive, time-consuming, and inefficient. Mechanical flower thinning will be the main development direction for flower thinning operations in the future.

[0006] Mechanical flower thinning is highly efficient, saving significant labor costs and reducing the workload for workers. Compared to chemical flower thinning, mechanical thinning causes no environmental pollution and meets modern consumers' demand for pollution-free fruits and vegetables.

[0007] However, the field of thinning machinery is still in its early stages. Existing thinning machinery cannot adjust its working height and angle, resulting in poor adaptability and low precision in thinning operations. Utility Model Content

[0008] This utility model addresses the shortcomings of existing technologies by providing a precision flexible flower thinning machine for fruit trees. It uses a flower thinning rope to strike the fruit tree flowers to achieve the flower thinning operation, and the horizontal, vertical, and tilt angles are all adjustable, thus improving the accuracy of the flower thinning operation.

[0009] This utility model is achieved through the following technical solution: a precision flexible flower thinning machine for fruit trees is provided, including a walking device, a connecting frame installed on the walking device, and a flower thinning unit installed on the connecting frame via an adjustment device; the flower thinning unit includes a flower thinning bracket and a plurality of flower thinning actuators installed on the flower thinning bracket; the adjustment device includes a lateral adjustment mechanism installed on the connecting frame, and a vertical adjustment mechanism and a tilt adjustment mechanism installed on the lateral adjustment mechanism.

[0010] This solution enables the entire machine to move by using a walking device, and completes the thinning operation through a thinning actuator. The horizontal adjustment mechanism, vertical adjustment mechanism, and tilt adjustment mechanism are used to adjust the horizontal position, vertical position, and tilt angle of the thinning actuator, respectively, making the working position of the thinning actuator more precise and improving the accuracy of the thinning operation.

[0011] As an optimization, the connecting frame is hinged to the traveling device via a first horizontal axis, and the traveling device is equipped with a pitch telescopic mechanism that drives the connecting frame to rotate around the axis of the first horizontal axis. This optimized solution drives the connecting frame to rotate through the pitch telescopic mechanism, thereby realizing the adjustment of the pitch angle of the sparse flower actuator and further improving the accuracy of the sparse flower actuator operation.

[0012] As an optimization, the lateral adjustment mechanism includes a lateral slide rail fixedly connected to the connecting frame, a sliding support frame slidably supported on the lateral slide rail, and a lateral telescopic mechanism that drives the sliding support frame to move in the left-right direction. The fixed part of the lateral telescopic mechanism is hinged to the seat plate I fixed on the lateral slide rail, and the extended end of the lateral telescopic mechanism is hinged to the sliding support frame. This optimized lateral adjustment mechanism adjusts the lateral position of the sparse flower actuator by moving the sliding support frame, thus ensuring the adjustability of the lateral working position.

[0013] As an optimization, the vertical adjustment mechanism includes a longitudinal slide rail mounted vertically on the sliding support frame, and a longitudinal sliding sleeve for mounting the thinning unit. The longitudinal sliding sleeve is slidably connected to the longitudinal slide rail, and a vertical telescopic mechanism for driving the longitudinal sliding sleeve to move vertically is mounted on the longitudinal slide rail. This optimized vertical adjustment mechanism, through the up-and-down movement of the longitudinal sliding sleeve, achieves adjustment of the height position of the thinning actuator, which is more conducive to improving the positional accuracy of the thinning operation. Furthermore, the vertical adjustment mechanism can move as a whole with the sliding support frame.

[0014] As an optimization, the tilt adjustment mechanism includes a lateral tilt angle adjustment telescopic mechanism with one end hinged to the longitudinal slide rail, and the other end of the lateral tilt angle adjustment telescopic mechanism hinged to a seat plate II fixed on a sliding support frame; the longitudinal slide rail is hinged to the sliding support frame via a second horizontal axis, the axis of which is consistent with the traveling direction of the traveling device. In this optimized scheme, the tilt adjustment mechanism drives the longitudinal slide rail to rotate through the lateral tilt angle adjustment telescopic mechanism, thereby adjusting the thinning operation angle, and the stability of the longitudinal slide rail is ensured by the lateral tilt angle adjustment telescopic mechanism.

[0015] As an optimization, the hinge point between the lateral tilt adjustment telescopic mechanism and the longitudinal slide rail is located below the second horizontal axis, and the longitudinal slide sleeve is located above the second horizontal axis. Furthermore, the distance from the hinge point of the lateral tilt adjustment telescopic mechanism to the second horizontal axis does not exceed 1 / 5 of the length of the longitudinal slide rail above the second horizontal axis. This optimized solution sets the hinge point of the lateral tilt adjustment telescopic mechanism below the second horizontal axis, facilitating the installation of the lateral tilt adjustment telescopic mechanism and the centralized arrangement of various telescopic mechanisms. By setting the distance from the hinge point of the lateral tilt adjustment telescopic mechanism to the second horizontal axis, the telescopic distance of the lateral tilt adjustment telescopic mechanism is reduced when adjusting the angle.

[0016] As an optimization, the longitudinal slide rail has a rectangular cross-section, and the inner hole of the longitudinal sleeve is a rectangular hole adapted to the cross-section of the longitudinal slide rail. This optimization avoids relative rotation between the longitudinal slide rail and the longitudinal sleeve.

[0017] As an optimization, the flower thinning actuator includes a flower thinning arm fixedly connected to the flower thinning support, and a flower thinning shaft rotatably connected to the flower thinning arm. A flower thinning drive device is mounted on the flower thinning arm to drive the rotation of the flower thinning shaft, and several flower thinning ropes distributed circumferentially are fixed on the flower thinning shaft. In this optimized scheme, the flower thinning actuator is powered by the flower thinning drive device, causing the flower thinning shaft to rotate. When the flower thinning shaft rotates, it drives the flower thinning ropes to rotate. Under centrifugal force, the flower thinning ropes automatically return to a taut state after striking the fruit tree flowers, and flexible flower thinning is achieved through the flower thinning ropes.

[0018] As an optimization, two opposing fixed pressure plates are fixed on the basting shaft. One end of the basting rope is located between the two fixed pressure plates and is clamped and fixed by the two fixed pressure plates, which are connected by bolts. This optimized solution clamps and fixes the basting rope using fixed pressure plates, resulting in a simple structure that is easy to disassemble and replace.

[0019] As an optimization, the flower thinning drive device includes a hydraulic motor mounted on the flower thinning arm. The output shaft of the hydraulic motor is connected to the flower thinning shaft via a transmission belt, and the flower thinning arm has an inner cavity for the transmission belt to pass through. This optimized flower thinning drive device uses a hydraulic motor for power, utilizing the hydraulic system of the traveling equipment without requiring an additional power source. The inner cavity within the flower thinning arm facilitates the passage of the conveyor belt, and the housing of the flower thinning arm protects the conveyor belt from getting caught in leaves, debris, or other foreign objects.

[0020] As an optimization, a fixed frame is fixed to the flower thinning support. The end of the flower thinning arm away from the flower thinning axis is hinged to the fixed frame via a vertical shaft. A return spring with one end connected to the flower thinning arm is provided on the front and / or rear side of the vertical shaft. The end of the return spring away from the flower thinning arm is connected to the fixed frame. In this optimized solution, the flower thinning arm is hinged to the fixed frame via a vertical shaft, allowing the flower thinning arm to rotate around the vertical shaft when it encounters a branch obstruction, thus avoiding damage to the fruit tree branches. By setting a return spring, the flower thinning arm can automatically return to its original position after rotating upon encountering an obstacle, thereby achieving obstacle avoidance.

[0021] The beneficial effects of this utility model are as follows:

[0022] 1. The adjustable device allows the thinning arm to perform thinning operations at a suitable position and angle, making it adaptable to orchards with different tree shapes. It also has a simple structure and is easy and convenient to adjust.

[0023] 2. A hydraulic motor is used as the drive. The amount of basting can be adjusted by adjusting the speed of the hydraulic motor. At the same time, the basting rope is easy to replace.

[0024] 3. The flower thinning arm self-resetting mechanism enables the flower thinning arm to self-reset, allowing it to penetrate deep into the main trunk of the fruit tree branch and automatically avoid the branches, thus achieving the best flower thinning effect.

[0025] 4. Using a walking device to drive the whole machine can improve the efficiency of fruit tree flower thinning, reduce labor costs, and reduce labor intensity. Attached Figure Description

[0026] To more clearly illustrate the specific embodiments or technical solutions of this utility model, the accompanying drawings used in the specific embodiments or technical solutions will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. The elements or parts in the drawings are not necessarily drawn to scale.

[0027] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 This is a schematic diagram of the adjustment device and the flower-opening unit.

[0029] Figure 3 This is a schematic diagram of the structure of the flower-sparse actuator;

[0030] Figure 4 Enlarged view of the installation structure of the openwork arm;

[0031] As shown in the figure:

[0032] 1. Hydraulic valve assembly; 2. Lateral slide rail; 3. Lateral telescopic mechanism; 4. Sliding support frame; 5. Lateral tilt angle adjustment telescopic mechanism; 6. Longitudinal slide rail; 7. Loosening bracket; 8. Loosening actuator; 9. Longitudinal sleeve; 10. Vertical telescopic mechanism; 11. Hydraulic oil pipe; 12. Pitch telescopic mechanism; 13. Traveling equipment; 14. Hydraulic station; 15. Vertical shaft; 16. Fixed frame; 17. U-bolt; 18. Return spring; 19. Connecting frame; 20. Loosening drive device; 21. Tensioning bolt; 22. Loosening arm; 23. Loosening shaft mounting seat; 24. Loosening rope; 25. Fixed pressure plate; 26. Loosening shaft. Detailed Implementation

[0033] To clearly illustrate the technical features of this solution, the following detailed implementation method will be used to explain the solution.

[0034] like Figure 1 The invention relates to a precision flexible flower thinning machine for fruit trees, comprising a walking device 13, a connecting frame 19 mounted on the walking device, and a flower thinning unit mounted on the connecting frame 19 via an adjustment device; the flower thinning unit comprises a flower thinning support 7 and a plurality of flower thinning actuators 8 mounted on the flower thinning support 7, wherein each flower thinning actuator is distributed vertically at intervals.

[0035] The adjustment device includes a lateral adjustment mechanism mounted on the connecting frame 19, and a vertical adjustment mechanism and a tilt adjustment mechanism mounted on the lateral adjustment mechanism.

[0036] The connecting frame 19 is hinged to the traveling device 13 via a first horizontal axis. The traveling device is equipped with a pitch telescopic mechanism 12 that drives the connecting frame to rotate around the axis of the first horizontal axis. In this embodiment, the fixed part of the pitch telescopic mechanism 12 is hinged to the body of the traveling device via a horizontal hinge shaft, and the extended end of the pitch telescopic mechanism is hinged to the connecting frame. The pitch telescopic mechanism adjusts the angle between the sparse flower execution mechanism and the ground, thereby adjusting the working angle to adapt to different tree shapes.

[0037] The lateral adjustment mechanism includes a lateral slide rail 2 fixedly connected to the connecting frame 19, a sliding support frame 4 slidably supported on the lateral slide rail 2, and a lateral telescopic mechanism 3 that drives the sliding support frame 4 to move in the left-right direction. The fixed part of the lateral telescopic mechanism is hinged to the seat plate I fixedly connected to the lateral slide rail, and the extended end of the lateral telescopic mechanism is hinged to the sliding support frame 4. The lateral telescopic mechanism adjusts the lateral movement distance of the sliding support frame. In this embodiment, the lateral slide rail consists of two parallel pieces distributed vertically, which are also fixedly connected by the seat plate I. The lateral telescopic mechanism is installed between the upper and lower lateral slide rails to ensure the stability of the lateral adjustment. The length direction of the lateral slide rail is perpendicular to the movement direction of the traveling device. A sliding sleeve is fixedly provided on the sliding support frame and sleeved on the lateral slide rail. The sliding support frame is slidably connected to the lateral slide rail through the sliding sleeve, and the upper and lower sliding sleeves are fixedly connected by the seat plate II.

[0038] The vertical adjustment mechanism includes a longitudinal slide rail 6 mounted vertically on the sliding support frame, and a longitudinal sliding sleeve 9 for mounting the arranging unit. A connecting seat for mounting the arranging unit is fixed on the longitudinal sliding sleeve. The longitudinal sliding sleeve 9 is slidably connected to the longitudinal slide rail 6. A vertical telescopic mechanism 10 is mounted on the longitudinal slide rail to drive the longitudinal sliding sleeve to move vertically. The vertical telescopic mechanism 10 adjusts the vertical movement distance of the longitudinal sliding sleeve. The longitudinal slide rail 6 has a rectangular cross-section, and the inner hole of the longitudinal sliding sleeve 9 is a rectangular hole adapted to the cross-section of the longitudinal slide rail, preventing relative rotation between the longitudinal sliding sleeve and the longitudinal slide rail.

[0039] The tilt adjustment mechanism includes a lateral tilt angle adjustment telescopic mechanism 5, one end of which is hinged to the longitudinal slide rail 6, and the other end of the lateral tilt angle adjustment telescopic mechanism 5 is hinged to a seat plate II fixed on a sliding support frame. The longitudinal slide rail 6 is hinged to the sliding support frame 4 via a second horizontal axis, the axis of which is consistent with the traveling direction of the traveling device. The lateral tilt angle adjustment telescopic mechanism 5 drives the longitudinal slide rail to rotate around the second horizontal axis, thereby achieving tilt angle adjustment in the left and right directions.

[0040] The hinge point between the lateral tilt adjustment telescopic mechanism and the longitudinal slide rail is located below the second horizontal axis, and the longitudinal slide sleeve is located above the second horizontal axis. The distance from the hinge point between the lateral tilt adjustment telescopic mechanism and the longitudinal slide rail to the second horizontal axis does not exceed 1 / 5 of the length of the longitudinal slide rail above the second horizontal axis.

[0041] A support beam extending to a connecting seat on the longitudinal sliding sleeve is fixedly mounted on the basting bracket. The support beam and the connecting seat are two pieces distributed vertically to improve stability. The support beam is fixedly connected to the connecting seat by bolts. The basting actuator 8 includes a basting arm 22 fixedly mounted to the basting bracket 7, and a basting shaft 26 rotatably connected to the basting arm. A basting drive device 20 for driving the basting shaft to rotate is mounted on the basting arm. Several basting ropes 24 distributed circumferentially are fixedly mounted on the basting shaft.

[0042] Two fixed pressure plates 25 are fixedly arranged opposite each other on the basting shaft. One end of the basting rope 24 is located between the two fixed pressure plates 25 and is clamped and fixed by the two fixed pressure plates. The two fixed pressure plates are connected by bolts, which makes it convenient to replace the basting rope after the fixed pressure plates are loosened.

[0043] A fixed frame 16 is fixedly mounted on the flower thinning support. The end of the flower thinning arm away from the flower thinning axis is hinged to the fixed frame 16 via a vertical shaft 15. A return spring 18 is provided on the front and / or rear side of the vertical shaft, with one end connected to the flower thinning arm. The end of the return spring 18 away from the flower thinning arm is connected to the fixed frame. The fixed frame is fixed to the flower thinning support via U-bolts 17. The return spring 18 allows the flower thinning arm to rotate back and forth around the vertical shaft 15. After the flower thinning arm is obstructed by fruit tree branches and rotates, it can automatically return to its original position under the action of the return spring, realizing the automatic obstacle avoidance flower thinning function of the flower thinning arm and avoiding damage to the fruit tree branches.

[0044] The flower thinning drive device includes a hydraulic motor mounted on the flower thinning arm. The output shaft of the hydraulic motor is connected to the flower thinning shaft via a transmission belt. The flower thinning arm has an inner cavity through which the transmission belt passes. The rotational speed of the hydraulic motor can be adjusted according to the flower density of the fruit tree. Each flower thinning arm is equipped with a hydraulic motor.

[0045] Specifically, a hydraulic motor is installed at the end of the thinning arm 22 near the thinning support 7, improving the stability of the thinning arm. The thinning shaft is located at the end of the thinning arm away from the thinning support to prevent the thinning support from colliding with the fruit tree branches. To facilitate the installation of the thinning shaft, a thinning shaft mounting seat 23 is fixed at the end of the thinning arm 22 away from the thinning support. The thinning shaft is rotatably mounted on the thinning shaft mounting seat 23. Mounting seats extend from both ends of the thinning shaft, and thinning ropes are fixed at both ends of the thinning shaft. To facilitate belt tensioning, an adjusting base plate is fixed to the basting arm in this embodiment via a set bolt. A hydraulic motor is mounted on the adjusting base plate. The adjusting base plate has an elongated hole for the set bolt to pass through, extending along the length of the belt. A fixing block is provided on the side of the adjusting base plate near the basting shaft, which is fixed to the basting arm. A tensioning bolt 21 is threaded onto the fixing block and extends to the adjusting base plate. The tensioning bolt 21 is threaded to the fixing block, and its axial direction is aligned with the length of the belt. By rotating the tensioning bolt, the adjusting base plate can be pushed away from the basting shaft, thus tensioning the belt. After tensioning, the set bolt is tightened.

[0046] In this embodiment, the traveling device is a tractor. The connecting frame is installed at the front end of the tractor and hinged to the three-point suspension device at the front end of the tractor. The sparse flower unit is located on the right side of the tractor's traveling direction. The lateral telescopic mechanism 3, the vertical telescopic mechanism 10, the lateral tilt angle adjustment telescopic mechanism 5, and the pitch telescopic mechanism 12 all use hydraulic cylinders. The working position and angle are adjusted by the hydraulic cylinders. The tractor is equipped with a hydraulic system connected to each hydraulic cylinder and hydraulic motor. The hydraulic system includes a hydraulic station 14, a hydraulic valve group 1, and hydraulic oil pipes 11. The hydraulic cylinders and hydraulic motors are controlled by the hydraulic valve group 1 and connected to the hydraulic oil pipes 11. The hydraulic station 14 is used for oil supply, and the inlet and outlet of the hydraulic station 14 are connected to the hydraulic valve group 1 through hydraulic oil pipes. The hydraulic system and its pipeline connections are prior art and will not be described in detail. There are 10 flower thinning actuators in total, divided into 2 groups of 5. Each group uses a set of electromagnetic proportional valves on hydraulic valve group 1 to adjust the speed of each group of flower thinning shafts 26. Hall sensors are used to detect the speed of each group of flower thinning shafts 26, and the speed is displayed on the display screen or dial on the tractor. The speed value of the flower thinning shaft 26 is set by the knob, and the automatic speed controller can automatically adjust the speed of the flower thinning shaft according to the set speed.

[0047] In this embodiment, the flower thinning machine operates by using a hydraulic motor to rotate the flower thinning shaft, which in turn rotates the flower thinning rope 24. The flower thinning rope 24 then strikes the fruit tree flowers to perform the flower thinning operation. The horizontal telescopic mechanism 3 allows adjustment of the left-right position of the flower thinning actuator, while the vertical telescopic mechanism 10 allows adjustment of its height, ensuring the flower thinning support is at a certain distance from the ground. The lateral tilt adjustment mechanism 5 allows adjustment of the left-right tilt angle of the flower thinning actuator, and the pitch adjustment mechanism 12 allows adjustment of its front-back tilt angle. This allows the flower thinning arm to operate at a suitable angle, adapting to different tree shapes in various orchards.

[0048] The fruit tree precision flexible flower thinning machine of this embodiment achieves flower thinning by striking the fruit tree flowers with a flower thinning rope on the flower thinning shaft of the rotatable self-resetting flower thinning arm. The hydraulic adjustment system realizes the lateral movement, lateral tilt angle adjustment, longitudinal lifting adjustment, and front and rear tilt angle adjustment of the flower thinning bracket on the sliding support frame, thereby driving the flower thinning arm to complete the lateral movement, longitudinal movement, and lateral and front and rear tilt angle adjustment. Therefore, this precision flexible flower thinning machine can adjust the height and angle of the flower thinning arm to fit the fruit tree to be thinned according to the shape and height of the fruit tree, and adjust the speed of the flower thinning shaft according to the flower density of the fruit tree to improve the accuracy of the flower thinning operation.

[0049] This invention can improve the mechanization level, efficiency and precision of fruit tree flower thinning, enhance the adaptability of flower thinning machinery to various orchards, reduce labor costs and labor intensity.

[0050] Of course, the above description is not limited to the examples above. Technical features of this utility model not described can be implemented by or using existing technology, and will not be repeated here. The above embodiments and drawings are only used to illustrate the technical solution of this utility model and are not intended to limit this utility model. This utility model has been described in detail with reference to preferred embodiments. Those skilled in the art should understand that any changes, modifications, additions or substitutions made by those skilled in the art within the scope of this utility model do not depart from the spirit of this utility model and should also fall within the protection scope of the claims of this utility model.

Claims

1. A precision flexible flower thinning machine for fruit trees, characterized in that: It includes a walking device (13), a connecting frame (19) mounted on the walking device, and a flower thinning unit mounted on the connecting frame (19) by an adjustment device; the flower thinning unit includes a flower thinning bracket (7) and a plurality of flower thinning actuators (8) mounted on the flower thinning bracket (7); The adjustment device includes a lateral adjustment mechanism mounted on the connecting frame (19), and a vertical adjustment mechanism and a tilt adjustment mechanism mounted on the lateral adjustment mechanism; The lateral adjustment mechanism includes a lateral slide rail (2) fixed to the connecting frame (19), a sliding support frame (4) slidably supported on the lateral slide rail (2), and a lateral telescopic mechanism (3) that drives the sliding support frame (4) to move in the left and right directions. The fixed part of the lateral telescopic mechanism is hinged to the seat plate I fixed on the lateral slide rail, and the extended end of the lateral telescopic mechanism is hinged to the sliding support frame (4). The vertical adjustment mechanism includes a longitudinal slide rail (6) mounted vertically on the sliding support frame, and a longitudinal slide sleeve (9) on which the openwork unit is mounted. The longitudinal slide sleeve (9) is slidably connected to the longitudinal slide rail (6), and a vertical telescopic mechanism (10) for driving the longitudinal slide sleeve to move vertically is mounted on the longitudinal slide rail. The tilt adjustment mechanism includes a lateral tilt angle adjustment telescopic mechanism (5) with one end hinged to the longitudinal slide rail (6), and the other end of the lateral tilt angle adjustment telescopic mechanism (5) is hinged to the seat plate II fixed on the sliding support frame; the longitudinal slide rail (6) is hinged to the sliding support frame (4) through a second horizontal axis, and the axial direction of the second horizontal axis is consistent with the walking direction of the walking device.

2. The precision flexible flower thinning machine for fruit trees according to claim 1, characterized in that: The connecting frame (19) is hinged to the walking device (13) via the first horizontal axis. The walking device is equipped with a pitch telescopic mechanism (12) that drives the connecting frame to rotate around the axis of the first horizontal axis.

3. The flexible precision fruit thinning machine of claim 1, wherein: The hinge point between the lateral tilt adjustment telescopic mechanism and the longitudinal slide rail is located below the second horizontal axis, and the longitudinal slide sleeve is located above the second horizontal axis. The distance from the hinge point between the lateral tilt adjustment telescopic mechanism and the longitudinal slide rail to the second horizontal axis does not exceed 1 / 5 of the length of the longitudinal slide rail above the second horizontal axis.

4. The flexible precision thinning machine for fruit trees according to claim 1, characterized in that: The longitudinal slide rail (6) has a rectangular cross-section, and the inner hole of the longitudinal slide sleeve (9) is a rectangular hole that matches the cross-section of the longitudinal slide rail.

5. The precision flexible flower thinning machine for fruit trees according to claim 1, characterized in that: The flower sparse actuator (8) includes a flower sparse arm (22) fixedly connected to the flower sparse bracket (7) and a flower sparse shaft (26) rotatably connected to the flower sparse arm. A flower sparse drive device (20) for driving the flower sparse shaft to rotate is installed on the flower sparse arm. Several flower sparse ropes (24) distributed circumferentially are fixed on the flower sparse shaft.

6. The precision flexible fruit thinning machine of claim 5, wherein: Two fixed pressure plates (25) are fixedly arranged opposite each other on the basting shaft. One end of the basting rope (24) is located between the two fixed pressure plates (25) and is clamped and fixed by the two fixed pressure plates. The two fixed pressure plates are connected by bolts.

7. The precision flexible fruit thinning machine of claim 5, wherein: The fixed frame (16) is fixed on the flower repelling support, and the flower repelling arm is hinged to the fixed frame (16) through the vertical shaft (15) at the end away from the flower repelling shaft. The front side and / or the rear side of the vertical shaft is provided with the reset spring (18) connected to the flower repelling arm at one end, and the end of the reset spring (18) away from the flower repelling arm is connected to the fixed frame.

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