New energy intelligent tea tree pruning machine

Abstract

The utility model discloses a new energy intelligent tea tree pruning machine belongs to tea tree pruning technical field. New energy intelligent tea tree pruning machine, including two mobile frame and setting respectively in the adjusting assembly of two mobile frame surfaces, the adjusting assembly is used for adjusting the height of pruner, the pruner is located between two mobile frame, two mobile frame are fixedly connected through the connecting assembly, still include the automatic height control of pruner of electric control system for, the utility model discloses through setting two adjusting assemblies, the height of pruner two ends is adjusted respectively alone, when passing through the uneven road surface, if the left mobile frame is lower than the right mobile frame, makes the left adjusting assembly drive pruner left one end to lift, makes pruner restore to level again to reach the purpose of adjusting pruning height and keeping horizontal pruning.

Description

Technical Field

[0001] This utility model relates to the field of tea tree pruning technology, and in particular to a new energy intelligent tea tree pruning machine. Background Technology

[0002] The tea tree planting process is very complicated and involves multiple steps. One of these steps is pruning the tea tree. Pruning is a measure to artificially suppress the growth dominance of the apical main branches, which can stimulate the buds at lower growth points to sprout new branches, accelerate lateral expansion, and cultivate a high-yield and high-quality canopy.

[0003] Traditional tea garden pruning has long relied on manual hand-held pruning tools, resulting in high labor intensity, low efficiency (an average person prunes less than 0.2 hectares per day), and pruning accuracy heavily influenced by the operator's experience, making it difficult to meet the production needs of large-scale tea gardens. With the development of agricultural mechanization, various tea tree pruning equipment has gradually replaced manual labor, but existing equipment still has significant technical shortcomings in practical applications, especially in hilly tea gardens.

[0004] Most current mainstream pruning equipment is designed for flat tea gardens on plains and lacks the ability to adapt to terrain. In hilly areas, the slope of tea garden roads is mostly between 15° and 30°, and there are local bumps and depressions in the terrain. During the movement of the equipment, the pruning height of the hedge trimmer is fixed and cannot be adjusted in real time with changes in terrain. As a result, the height difference of the top of the tea tree after pruning can reach 15-25mm. In some areas, there are even cases of missed pruning or over-pruning, which require secondary manual correction, which not only increases the operating cost, but also damages the integrity of the tree crown.

[0005] Therefore, this application proposes an automatic tea tree pruning machine that facilitates adjustment of pruning height. Utility Model Content

[0006] The purpose of this utility model is to solve the problems in the existing technology by proposing a new energy intelligent tea tree pruning machine.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: The new energy intelligent tea tree pruning machine includes two movable frames and adjustment components respectively disposed on the surfaces of the two movable frames. The adjustment components are used to adjust the height of the pruner. The pruner is located between the two movable frames, and the two movable frames are fixedly connected by a connecting component. It also includes an electronic control system for controlling the automatic height adjustment of the trimmer, the electronic control system including an attitude detection module for detecting the tilt angles of the two moving frames respectively, an actuator and a controller.

[0008] In some embodiments, the mobile frame includes a base plate and side frames fixed to the upper surface of the base plate. One end of the base plate is provided with a drive wheel, and the lower surface of the base plate is provided with casters. The drive wheel and casters are arranged in a front-to-back configuration, and the drive wheel is driven to rotate by a servo motor.

[0009] In some embodiments, the connecting assembly includes a crossbar and inner rods respectively disposed on opposite sides of two side frames. Both the inner rods and the crossbar are square. The two ends of the crossbar are respectively inserted into one end of the two side frames. Both the crossbar and the inner rod are fixedly connected by a locking throttle and a hook plate.

[0010] In some embodiments, the adjustment assembly includes a slide rail vertically fixed to the surface of the side frame and a slide plate vertically sliding on the surface of the slide rail. The slide plate is driven to rise and fall by an electric push rod. The upper end of the electric push rod is fixed to the upper end of the slide plate, and the lower end of the electric push rod is fixed to the upper surface of the base plate. Both ends of the trimmer are mounted on the surfaces of the two slide plates by mounting components.

[0011] In some embodiments, the mounting assembly includes a first mounting assembly and a second mounting assembly for mounting the trimmer to both ends, the first mounting assembly and the second mounting assembly being disposed on two skateboard surfaces respectively.

[0012] In some embodiments, the first mounting assembly includes a housing for mounting a trimmer motor and a plug for mounting the housing, the housing being inserted into the surface of the plug via a first sleeve.

[0013] In some embodiments, the second mounting assembly includes a second sleeve fixed to the surface of the skateboard and a bent tube inserted inside the second sleeve. The bent tube is L-shaped, and the other end of the bent tube is connected to a pole through a fastening insert. The lower end of the pole is hinged to the end of the trimmer away from the motor, and the bent tube is fixed inside the second sleeve by a clamp.

[0014] In some embodiments, the attitude detection module includes two gyroscopes, which are respectively housed in control boxes above two mobile frames.

[0015] In some embodiments, the controller is integrated within a control box and is used to receive sensor signals and control commands.

[0016] In some embodiments, the controller is communicatively connected to an infrared remote controller.

[0017] Compared with the prior art, this utility model provides a new energy intelligent tea tree pruning machine, which has the following beneficial effects.

[0018] 1. This utility model, by setting two sets of adjustment components, allows for individual adjustment of the height of both ends of the trimmer. When traversing uneven road surfaces, if the left movable frame is lower than the right movable frame, the left adjustment component will raise one end of the trimmer on the left side, thus restoring the trimmer to a horizontal position. This achieves the purpose of adjusting the trimming height and maintaining horizontal trimming.

[0019] 2. This utility model uses two gyroscopes to detect the tilt angles of the two moving frames respectively. After the controller performs attitude calculation, it sends a signal to the electric push rod located at the lower position, so that the height of the two moving frames is adjusted to the same height, thereby achieving the purpose of intelligent adjustment of trimming height and angle.

[0020] 3. This utility model, by setting two movable frames and connecting components, enables the connecting components to quickly connect the two movable frames, and installs the trimmer through the first mounting component and the second mounting component, thereby achieving the purpose of quick assembly. The split structure facilitates transportation to tea gardens on hills and improves the flexibility of use.

[0021] Other advantages, objectives and features of this invention will be set forth in part in the description which follows; and in part will be apparent to those skilled in the art upon examination of the following description; or may be taught from practice of this invention. Attached Figure Description

[0022] Figure 1 This is a front view structural diagram of the present invention.

[0023] Figure 2 This is a schematic diagram of the rear view structure of this utility model.

[0024] Figure 3 This is a schematic diagram of the structure of the first movable frame in this utility model.

[0025] Figure 4 This is a schematic diagram of the structure of the second movable frame in this utility model.

[0026] Figure 5 This is a schematic diagram of the connecting component in this utility model.

[0027] Figure 6 This is a schematic diagram of the trimmer in this utility model.

[0028] Figure 7 This utility model Figure 4 Enlarged structural diagram at point A in the middle.

[0029] Figure 8 This is a flowchart of the control system in this utility model.

[0030] In the picture: 1. Mobile frame; 101. Side frame; 102. Base plate; 103. Drive wheel; 104. Caster wheel; 2. Connecting assembly; 201. Crossbar; 202. Inner rod; 203. Locking handle; 204. Hook plate; 3. Trimmer; 4. Adjusting assembly; 401. Slide rail; 402. Slide plate; 403. Electric push rod; 5. Mounting assembly; 501. First mounting assembly; 5011. Box body; 5012. First sleeve; 5013. Insert rod; 502. Second mounting assembly; 5021. Second sleeve; 5022. Bend; 5023. Upright pole; 5024. Fastening insert; 5025. Clamp; 6. Control box; 7. Battery. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0032] Reference Figure 1-8 The new energy intelligent tea tree pruning machine includes two movable frames 1 and adjustment components 4 respectively set on the surface of the two movable frames 1. The adjustment components 4 are used to adjust the height of the pruner 3. The pruner 3 is located between the two movable frames 1. The two movable frames 1 are fixedly connected by a connecting component 2. The pruner 3 is located below the connecting component 2. The mobile frame 1 includes a base plate 102 and side frames 101 fixed to the upper surface of the base plate 102. A drive wheel 103 is provided at one end of the base plate 102, and a caster wheel 104 is provided on the lower surface of the base plate 102. The drive wheel 103 and the caster wheel 104 are arranged in a front-to-back manner. The drive wheel 103 is driven to rotate by a servo motor. A handle for pushing the base plate 102 to move is obliquely fixed on the upper surface of the base plate 102. The handle is located at the end of the base plate 102 away from the drive wheel 103. A control box 6 is provided on the top of the two side frames 101 respectively. The side frames 101 are square. A battery 7 that provides power to the servo motor and the control box 6 is provided on the surface of the two handles respectively. The battery 7 is installed in the battery box, and the battery box is fixed to the surface of the handle. Prior to this, the two batteries 7 are DC24V30AH and DC48V60AH respectively, and the trimmer 3 is a dual-person trimmer 3, which is existing technology, so it will not be described in detail.

[0033] It is understandable that by setting up two sets of movable frames 1, when pruning tea trees, the two movable frames 1 are located on both sides of the tea tree, and the drive wheels 103 and universal wheels 104 are set in front and behind, so as to adapt to uneven road surfaces and drive the pruner 3 to prune the top of the tea tree. By setting up handles, the movable frames can be manually pushed to move when necessary.

[0034] Specifically, the connecting component 2 includes a crossbar 201 and inner rods 202 respectively disposed on opposite sides of the two side frames 101. Both the inner rods 202 and the crossbar 201 are square. The two ends of the crossbar 201 are respectively inserted into one end of the two inner rods 202. The surfaces of the two inner rods 202 are respectively provided with retaining rings for limiting the insertion depth of the crossbar 201. The crossbar 201 and the inner rods 202 are fixedly connected by locking handles 203 and hook plates 204. The locking handles 203 are fixed to the end of the crossbar 201, and the hook plates 204 are fixed to the surface of the inner rods 202. There are multiple sets of locking handles 203 and hook plates 204. Multiple locking handles 203 are respectively fixed to both ends of the crossbar 201, and multiple hook plates 204 are respectively fixed to the surface of the two inner rods 202.

[0035] It is understandable that by setting a crossbar 201 and two inner rods 202, the two ends of the crossbar 201 are respectively inserted into the surfaces of the two inner rods 202 and abut against the surface of the retaining ring. The crossbar 201 and the inner rods 202 are fixedly connected by the locking handle 203 and the hook plate 204 to prevent the inner rods 202 from separating from the crossbar 201. The two moving frames 1 are connected by the connecting component 2 to form a stable moving vehicle, which drives the trimmer 3 to perform trimming work. The square crossbar 201 and inner rods 202 make it easy to limit the angle of the two moving frames 1, further improving stability. At the same time, the separate crossbar 201 and moving frame 1 are convenient to transport, and can be transported to the tea garden on the hills for assembly and use.

[0036] Specifically, the adjustment component 4 includes a slide rail 401 vertically fixed to the surface of the side frame 101 and a slide plate 402 vertically sliding on the surface of the slide rail 401. The slide plate 402 is driven to rise and fall by an electric push rod 403. The upper end of the electric push rod 403 is fixed to the upper end of the slide plate 402, and the lower end of the electric push rod 403 is fixed to the upper surface of the base plate 102. The two slide rails 401 and the two slide plates 402 are respectively set on opposite sides of the two side frames 101. The inner rod 202 is fixed to the surface of the slide plate 402. The two inner rods 202 are set opposite to each other. Both ends of the trimmer 3 are set on the surface of the two slide plates 402 through the mounting component 5.

[0037] It is understandable that by setting the adjustment component 4, the electric push rod 403 drives the slide plate 402 to slide on the surface of the slide rail 401, thereby adjusting the height of the trimmer 3. By setting two sets of adjustment components 4, the height of both ends of the trimmer 3 can be adjusted separately. When passing over uneven road surfaces, if the left movable frame 1 is lower than the right movable frame 1, the left adjustment component 4 will raise one end of the trimmer 3 on the left side (which can also be understood as using the height of the right movable frame 1 and the crossbar 201 as a reference, the left movable frame 1 slides down into the uneven road surface to compensate for the height on the left side), and then the trimmer 3 returns to the horizontal position, thereby achieving... The purpose of adjusting the trimming height and maintaining horizontal trimming is as follows: the drive wheels 103 and casters 104 at the front and rear can tilt the side frame 101, so that when passing over uneven road surfaces, the trimmer as a whole tilts with the road surface and is adjusted to be horizontal by the electric push rod 403, avoiding the phenomenon of jamming when adjusting the angle of the trimmer; by setting the connecting component 2 and the trimmer 3 on the surface of the two slide plates 402, the two moving frames 1 can slide vertically respectively, and the connecting component 2 bears the force generated by the sliding process of the moving frame 1, avoiding the force from being transmitted to the surface of the trimmer 3, causing the trimmer 3 to twist and deform, affecting its service life.

[0038] Specifically, the mounting component 5 includes a first mounting component 501 and a second mounting component 502 for mounting the two ends of the trimmer 3 respectively. The first mounting component 501 and the second mounting component 502 are respectively disposed on the surfaces of the two slide plates 402. The first mounting assembly 501 includes a housing 5011 for mounting the motor of the trimmer 3 and a plug rod 5013 for mounting the housing 5011. The housing 5011 is inserted into the surface of the plug rod 5013 through a first sleeve 5012. The plug rod 5013 is fixed to the surface of the slide plate 402. The first sleeve 5012 is fixed to the upper surface of the housing 5011. The motor of the trimmer 3 is fixed inside the housing 5011. The second mounting assembly 502 includes a second sleeve 5021 fixed to the surface of the slide plate 402 and a bent tube 5022 inserted inside the second sleeve 5021. The bent tube 5022 is L-shaped, and the other end of the bent tube 5022 is connected to a vertical rod 5023 via a fastening insert 5024. The lower end of the vertical rod 5023 is hinged to the end of the trimmer 3 away from the motor. The second sleeve 5021 is vertically arranged, and the bent tube 5022 is fixed to the second sleeve 5021 by a clamp 5025. Inside, clamp 5025 is fixed to the surface of slide plate 402 and is located above second sleeve 5021. Bolts are provided on the surface of clamp 5025. Two perpendicular insertion holes are provided on the surface of fastening tube 5024. Bend 5022 is inserted into the horizontally set insertion hole, and upright 5023 is inserted into the vertically set insertion hole. Fastening bolts for fixing upright 5023 and bend 5022 are provided on the surface of fastening tube 5024.

[0039] Understandably, when installing the trimmer 3, the housing 5011 is fixed to the surface of the motor of the trimmer 3 to protect the motor. At the same time, the bent pipe 5022 is fixed to the surface of the bent pipe 5022 by fastening the insertion tube 5024, and the first sleeve 5012 is inserted into the surface of the insertion rod 5013 to initially fix one end of the trimmer 3. Meanwhile, the cooperation between the first sleeve 5012 and the insertion rod 5013 allows the trimmer 3 to be angled. The second mounting component 502 fixes the position of the trimmer 3 to prevent the trimmer 3 from falling off the surface of the insertion rod 5013. By setting a first sleeve 5012 and a plug rod 5013, the first sleeve 5012 is inserted into the surface of the plug rod 5013, and the other end of the bent pipe 5022 is inserted into the surface of the second sleeve 5021 and the clamp 5025. The bent pipe 5022 is fixed by the clamp 5025 and bolts. The lower end of the upright 5023 is hinged to the surface of the trimmer 3, so that the horizontal angle when installing the trimmer 3 can be adjusted. By setting a fastening plug 5024, the angle of the bent pipe 5022 can be adjusted, making it convenient to insert the bent pipe 5022 into the inside of the second sleeve 5021. By detachably installing the trimmer 3 on the surface of the slide plate 402, it is easy to disassemble and transport it to the tea garden in the hilly area.

[0040] Specifically, it also includes an electronic control system for automatically adjusting the height of the trimmer 3. The electronic control system includes an attitude detection module for detecting the tilt angle of the two moving frames 1, an actuator, and a controller. The attitude detection module includes two gyroscopes, which are respectively installed in the control box 6 above the two moving frames 1. The controller is integrated in the control box 6 and is used to receive sensor signals and control commands. The actuator consists of two servo motors for driving the drive wheel 103 to rotate and two electric push rods 403. The gyroscopes are electrically connected to the controller, the servo motors for driving the drive wheel 103 are electrically connected to the controller, the two electric push rods 403 are electrically connected to the controller, and the controller is connected to an infrared remote controller for communication. The controller is preferably an STM32F103, and the gyroscope is preferably an MPU6050.

[0041] It is understandable that by setting an infrared remote control, users can manually set working parameters or intervene in the control process within a certain distance, thereby improving the system's operational flexibility and adaptability. By setting a gyroscope, the attitude of the two moving frames 1 can be monitored in real time. When the drive wheel 103 of one of the moving frames 1 enters the pit, the gyroscope detects that the moving frame 1 is tilted. When the tilt angle is greater than 2 degrees, the gyroscope sends a signal to the controller, which then performs attitude calculation and sends a signal to the electric push rod 403 located at the lower position to adjust the tilt angle of the trimmer 3 to the horizontal. The controller sends a signal to make the servo motor work, thereby driving the drive wheel 103 to rotate and making the moving frame 1 move. By having two servo motors drive the two drive wheels 103 to rotate independently, differential rotation between the two drive wheels 103 can be achieved, realizing the forward, backward, left and right turns of the trimmer.

[0042] In this invention, the pruning machine is disassembled and transported to a tea garden in a hilly area for reassembly. During assembly, the two ends of the crossbar 201 are respectively inserted into the surfaces of the two inner rods 202, and the crossbar 201 and the inner rods 202 are fixedly connected by the locking handle 203 and the hook plate 204 to prevent the inner rods 202 from detaching from the crossbar 201. Then, the bent pipe 5022 is fixed to the surface of the bent pipe 5022 by tightening the insertion tube 5024. After the first sleeve 5012 is inserted into the surface of the insertion rod 5013, the other end of the bent pipe 5022 is inserted into the surface of the second sleeve 5021 and the clamp 5025. The bent pipe 5022 is fixed by the clamp 5025 and bolts, completing the rapid assembly of the pruning machine; for the tea trees... During pruning, the two mobile frames 1 are moved to both sides of the tea tree. The pruning parameters are set via infrared remote control, and the height of the pruner 3 is adjusted to the required height. The servo motor is activated, driving the drive wheel 103 to rotate, which moves the mobile frames 1 and the pruner 3 to prune the tea tree. When passing over uneven surfaces, the drive wheel 103 of one of the mobile frames 1 enters a pit. The gyroscope detects the tilt of the mobile frame 1. When the tilt angle is greater than 2 degrees, the gyroscope sends a signal to the controller, which calculates the attitude and sends a signal to the electric push rod 403 located at the lower position to adjust the tilt angle of the pruner 3 to the horizontal, thus achieving the purpose of intelligently adjusting the pruning height and angle.

[0043] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

[0044] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0045] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A new energy intelligent tea tree pruning machine, characterized in that, It includes two movable frames (1) and adjustment components (4) respectively disposed on the surfaces of the two movable frames (1). The adjustment components (4) are used to adjust the height of the trimmer (3). The trimmer (3) is located between the two movable frames (1). The two movable frames (1) are fixedly connected by a connecting component (2). It also includes an electronic control system for controlling the automatic height adjustment of the trimmer (3), the electronic control system including an attitude detection module for detecting the tilt angles of the two moving frames (1) respectively, an actuator and a controller.

2. The new energy intelligent tea tree pruning machine according to claim 1, characterized in that, The mobile frame (1) includes a base plate (102) and a side frame (101) fixed on the upper surface of the base plate (102). A drive wheel (103) is provided at one end of the base plate (102), and a caster wheel (104) is provided on the lower surface of the base plate (102). The drive wheel (103) and the caster wheel (104) are arranged in a front-to-back manner, and the drive wheel (103) is driven to rotate by a servo motor.

3. The new energy intelligent tea tree pruning machine according to claim 1, characterized in that, The connecting assembly (2) includes a crossbar (201) and inner bars (202) respectively disposed on opposite sides of the two side frames (101). Both the inner bars (202) and the crossbar (201) are square. The two ends of the crossbar (201) are respectively inserted into one end of the two side frames (101). The crossbar (201) and the inner bars (202) are fixedly connected by a locking handle (203) and a hook plate (204).

4. The new energy intelligent tea tree pruning machine according to claim 1, characterized in that, The adjustment component (4) includes a slide rail (401) vertically fixed to the surface of the side frame (101) and a slide plate (402) vertically sliding on the surface of the slide rail (401). The slide plate (402) is driven to rise and fall by an electric push rod (403). The upper end of the electric push rod (403) is fixed to the upper end of the slide plate (402), and the lower end of the electric push rod (403) is fixed to the upper surface of the base plate (102). Both ends of the trimmer (3) are mounted on the surfaces of the two slide plates (402) by mounting components (5).

5. The new energy intelligent tea tree pruning machine according to claim 4, characterized in that, The mounting assembly (5) includes a first mounting assembly (501) and a second mounting assembly (502) for mounting the two ends of the trimmer (3) respectively. The first mounting assembly (501) and the second mounting assembly (502) are respectively disposed on the surfaces of the two slide plates (402).

6. The new energy intelligent tea tree pruning machine according to claim 5, characterized in that, The first mounting assembly (501) includes a housing (5011) for mounting the motor of the trimmer (3) and a plug (5013) for mounting the housing (5011), the housing (5011) being inserted into the surface of the plug (5013) via a first sleeve (5012).

7. The new energy intelligent tea tree pruning machine according to claim 5, characterized in that, The second mounting assembly (502) includes a second sleeve (5021) fixed to the surface of the slide plate (402) and a bent tube (5022) inserted inside the second sleeve (5021). The bent tube (5022) is L-shaped. The other end of the bent tube (5022) is connected to a pole (5023) through a fastening insert (5024). The lower end of the pole (5023) is hinged to the end of the trimmer (3) away from the motor. The bent tube (5022) is fixed inside the second sleeve (5021) by a clamp (5025).

8. The new energy intelligent tea tree pruning machine according to claim 1, characterized in that, The attitude detection module includes two gyroscopes, which are respectively installed in the control box (6) above the two mobile frames (1).

9. The new energy intelligent tea tree pruning machine according to claim 1, characterized in that, The controller is integrated in the control box (6) and is used to receive sensor signals and control commands.

10. The new energy intelligent tea tree pruning machine according to claim 1, characterized in that, The controller is connected to an infrared remote control.

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