CN104335829A - End effector and method for trimming and grinding fruit tree branches - Google Patents
End effector and method for trimming and grinding fruit tree branches Download PDFInfo
- Publication number
- CN104335829A CN104335829A CN201410512579.XA CN201410512579A CN104335829A CN 104335829 A CN104335829 A CN 104335829A CN 201410512579 A CN201410512579 A CN 201410512579A CN 104335829 A CN104335829 A CN 104335829A
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- China
- Prior art keywords
- end effector
- branch
- discaling roll
- saw blade
- drive motors
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
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- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Crushing And Pulverization Processes (AREA)
Abstract
The invention discloses an end effector and a method for trimming and grinding fruit tree branches. A guiding device is mounted in front of the end effector; a saw blade is mounted below a saw blade fixing plate; the saw blade fixing plate is mounted on a linear guide rail and is in threaded fit with the linear guide rail; the saw blade fixing plate can do reciprocated motion in the axial direction of the linear guide rail and is used for shearing and crushing the branches; limit switches are mounted on the fixing plate, are positioned at two ends of the linear guide rail and are used for limiting the fixing plate in moving within the stroke range of the linear guide rail. The end effector disclosed by the invention is small in size and light in weight and meets the requirement on bearing of a mechanical arm; besides, the end effector can be used as an independent shearing and crushing tool. In addition, the trimming and the crushing of the branches are organically combined, and real-time crushing is realized, so that the labor intensity can be effectively reduced; pulverized branch as compost are returned to an orchard, so the utilization rate of biomass energy can be effectively improved; the utilization rate of the biomass energy is improved, the dependence on chemical synthetic fertilizer is reduced, the production cost is reduced, and the development of an organic gardening is promoted.
Description
Technical field
The present invention relates to fruit tree mechanization pruning technique field, particularly relate to a kind of fruit tree and prune pulverizing end effector and method.
Background technology
The quality of pruning to fruit tree growth and fruit of fruit tree is all significant.In recent years, the research that gardening plant automation is pruned is subject to extensive concern, but mainly for the research that ornamental plant automation is pruned.The pruning requirement of fruit tree and the different of ornamental plant, need optionally to prune the branch of tree body, and ornamental plant is generally prune tree body entirety.At present, less to the automation pruning research of fruit tree, the Study of intelligent that fruit tree in urgent need of strengthening is pruned and pulverized.
Summary of the invention
The object of the invention is to the shortcoming and defect overcoming above-mentioned prior art, provide a kind of fruit tree to prune and pulverize end effector and method.
The present invention is achieved through the following technical solutions:
A kind of fruit tree is pruned and is pulverized end effector, and guiding device 1 is arranged on the front of end effector; Saw blade 4 is arranged on below saw blade fixed head 2, and saw blade fixed head 2 is arranged on line slideway 9, saw blade fixed head 2 and line slideway 9 threaded engagement, and saw blade fixed head 2 can linearly guide rail 9 axially reciprocating, for shearing and pulverizing branch; Limit switch 5 is arranged on fixed head 2, and is positioned at the two ends of line slideway 9, moves in line slideway 9 stroke range for limiting fixed head 3;
One end of flexible axle 7 is arranged on the connector 18 of direct current generator 17, and the other end is connected with saw blade 4 by flexible-shafts coupling 6;
One end of line slideway 9 is connected with drive motors III 15, and the other end and guide rail fixer 8 are rotationally connected;
Gate controller 10 is arranged on end effector case top, the rear side of guiding device 1;
Top discaling roll 12 is arranged on below gate controller 10, and its two ends are connected with spring respectively;
Therebetween laminate 14 is in clamping transfer layer 13 and shear between crushing layer 16;
Wire spool 26 is arranged on the shaft coupling 25 of drive motors II 23; Steel wire rope 27 is separately fixed on wire spool 26 and retainer clip 33;
Motion roll shaft 28 passes retainer clip 33, for the distance between controlled motion discaling roll 28 and fixed teeth 32 roller; The two ends of motion discaling roll 28 are held respectively and are arranged on discaling roll fixture 29 and spring II 34, can move along steel wire rope 27 shrinkage direction, and motion discaling roll 28 clamps branch under the pulling force effect of spring 230 and spring II 34.
Guiding device 1 is arranged on the front of end effector, becomes splayed separately, for applying pressure to branch, guides branch to enter in actuator.
The below of top discaling roll 12 is provided with holding sheet dividing plate 11.
The middle part of flexible axle 7 is provided with flexible axle fixture 20, and flexible axle fixture 20 is fixed on to be pulverized on baffle plate 19.
Fixing discaling roll 32 connects drive motors I 22, and motion discaling roll 28 side is provided with feed inlet baffle 31.
Shaft coupling 25 is connected with the rotating shaft of drive motors II 23 by motor fixing device 24.
End effector also comprises a shell 21.
The method adopting above-mentioned end actuator to prune pulverizing to fruit tree is as follows:
1) preproduction phase: start drive motors II 23, the wire spool 26 be fixed on drive motors II 23 axle starts to rotate and lay winding wire ropes 27, motion discaling roll 28 is moved along steel wire rope 27 shrinkage direction by the movable passageway of both sides before and after feed inlet baffle 31, strengthens the distance between fixing discaling roll 32 gradually;
Spring I 30 and the spring II 34 of motion discaling roll 28 both sides are stretched, when two discaling rolls in a distance time, stop drive motors II 23;
2) branch enters the stage: regulation and control mechanical arm, and make end effector to treating that beta pruning bar moves, branch is subject to the pressure effect of guiding device 1 and enters in end effector along predefined paths, and by the extruding to gate controller 10, opens gate; After gate, promotion top discaling roll 12 is continued motion by branch, until stop the movement of end effector when the control spring of top discaling roll 12 is stretched to certain length;
3) branch accommodates the stage: reverse starting drive motors II 23, until steel wire rope 27 returns to original length; Motion discaling roll 28 clamps branch under the pulling force effect of spring I 30 and spring II 34;
4) branch and tree body separation phase: start direct current generator 17 and drive motors III 15, the saw blade 4 of High Rotation Speed is linearly moved in guide rail 9 direction by saw blade fixed head 3, and cuts off branch simultaneously, makes branch depart from tree body;
5) branch delivery phase: start drive motors I 22, fixing discaling roll 32 starts to rotate and the branch pruned is transported to fixed panel 2 place pulverizes;
6) branch shredding stage: the sense of current that regulation and control drive motors III 15 inputs, makes the saw blade 4 of High Rotation Speed linearly move back and forth pulverizing branch in guide rail 9 direction, and end effector is discharged by pulverizing baffle plate 19 in the broken end of branch, then is discharged in orchard.
The present invention, relative to prior art, has following advantage and effect:
Volume of the present invention is little, lightweight, adaptation mechanical hand arm load bearing requirements, also can be used as independent shearing pulverizing tool simultaneously and uses.In addition, branch is pruned and pulverized and organically combines, pulverize in real time, effectively can reduce labour intensity, the broken end of branch is restored in orchard as compost, effectively can improve the utilization of biomass energy, improve biomass utilization rate, reduce the dependence to chemosynthesis fertilizer, reduce production cost, promote organic agriculture development.
Accompanying drawing explanation
Fig. 1 is that fruit tree of the present invention prunes the upward view pulverizing end effector
Fig. 2 is the profile of Fig. 1 along A-A face.
Fig. 3 is that fruit tree of the present invention prunes the front view pulverizing end effector
Fig. 4 is the profile of Fig. 3 along B-B face
Embodiment
Below in conjunction with specific embodiment, the present invention is more specifically described in detail.
Embodiment
As shown in Figures 1 to 4.The invention discloses a kind of fruit tree and prune pulverizing end effector, guiding device 1 is arranged on the front of end effector; Saw blade 4 (circular saw bit) is arranged on below saw blade fixed head 2, saw blade fixed head 2 is arranged on line slideway 9, saw blade fixed head 2 and line slideway 9 threaded engagement, saw blade fixed head 2 can linearly guide rail 9 axially reciprocating, for shearing and pulverizing branch; Limit switch 5 is arranged on fixed head 2, and is positioned at the two ends of line slideway 9, moves in line slideway 9 stroke range for limiting fixed head 3;
One end of flexible axle 7 is arranged on the connector 18 of direct current generator 17, and the other end is connected with saw blade 4 by flexible-shafts coupling 6, rotates for controlling circular saw bit.
One end of line slideway 9 is connected with drive motors III 15, and the other end and guide rail fixer 8 are rotationally connected;
Gate controller 10 is arranged on end effector case top, the rear side of guiding device 1, for isolating branch.
Top discaling roll 12 is arranged on below gate controller 10, and its two ends are connected with spring respectively, can move under branch thrust, fixing to branch when pulverizing for branch.
Therebetween laminate 14 is in clamping transfer layer 13 and shear between crushing layer 16, as two-layer support and connecting plate;
Wire spool 26 is arranged on the shaft coupling 25 of drive motors II 23, for controlling the length of steel wire rope.Steel wire rope 27 is separately fixed on wire spool 26 and retainer clip 33;
Motion roll shaft 28 can rotate freely, for the distance between controlled motion discaling roll 28 and fixed teeth 32 roller through retainer clip 33; The two ends of motion discaling roll 28 are held respectively and are arranged on discaling roll fixture 29 and spring II 34, can move along steel wire rope 27 shrinkage direction, and motion discaling roll 28 clamps branch under the pulling force effect of spring 430 and spring II 34.
Guiding device 1 is arranged on the front of end effector, becomes splayed separately, for applying pressure to branch, guides branch to enter in actuator.
The below of top discaling roll 12 is provided with holding sheet dividing plate 11.
The middle part of flexible axle 7 is provided with flexible axle fixture 20, and flexible axle fixture 20 is fixed on to be pulverized on baffle plate 19.
Fixing discaling roll 32 connects drive motors I 22, and motion discaling roll 28 side is provided with feed inlet baffle 31.
Shaft coupling 25 is connected with the rotating shaft of drive motors II 23 by motor fixing device 24.
End effector also comprises a shell 21.
Adopt end effector of the present invention fruit tree to be pruned to the method pulverized, realize by several stage:
1) preproduction phase: start drive motors II 23, the wire spool 26 be fixed on drive motors II 23 axle starts to rotate and lay winding wire ropes 27, motion discaling roll 28 is moved along steel wire rope 27 shrinkage direction by the movable passageway of both sides before and after feed inlet baffle 31, strengthens the distance between fixing discaling roll 32 gradually;
Spring I 30 and the spring II 34 of motion discaling roll 28 both sides are stretched, when two discaling rolls in a distance time, stop drive motors II 23;
2) branch enters the stage: regulation and control mechanical arm, and make end effector to treating that beta pruning bar moves, branch is subject to the pressure effect of guiding device 1 and enters in end effector along predefined paths, and by the extruding to gate controller 10, opens gate; After gate, promotion top discaling roll 12 is continued motion by branch, until stop the movement of end effector when the control spring of top discaling roll 12 is stretched to certain length;
3) branch accommodates the stage: reverse starting drive motors II 23, until steel wire rope 27 returns to original length; Motion discaling roll 28 clamps branch under the pulling force effect of spring I 30 and spring II 34;
4) branch and tree body separation phase: start direct current generator 17 and drive motors III 15, the saw blade 4 of High Rotation Speed is linearly moved in guide rail 9 direction by saw blade fixed head 3, and cuts off branch simultaneously, makes branch depart from tree body;
5) branch delivery phase: start drive motors I 22, fixing discaling roll 32 starts to rotate and the branch pruned is transported to fixed panel 2 place pulverizes;
6) branch shredding stage: the sense of current that regulation and control drive motors III 15 inputs, makes the saw blade 4 of High Rotation Speed linearly move back and forth pulverizing branch in guide rail 9 direction, and end effector is discharged by pulverizing baffle plate 19 in the broken end of branch, then is discharged in orchard.
As mentioned above, just the present invention can be realized preferably.
Embodiments of the present invention are not restricted to the described embodiments; other are any do not deviate from Spirit Essence of the present invention and principle under do change, modification, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (8)
1. fruit tree is pruned and is pulverized an end effector, it is characterized in that: guiding device (1) is arranged on the front of end effector; Saw blade (4) is arranged on saw blade fixed head (2) below, saw blade fixed head (2) is arranged on line slideway (9), saw blade fixed head (2) and line slideway (9) threaded engagement, saw blade fixed head (2) can linearly guide rail (9) axially reciprocating, for shearing and pulverizing branch; Limit switch (5) is arranged on fixed head (2), and is positioned at the two ends of line slideway (9), mobile in line slideway (9) stroke range for limiting fixed head (3);
One end of flexible axle (7) is arranged on the connector (18) of direct current generator (17), and the other end is connected with saw blade (4) by flexible-shafts coupling (6);
One end of line slideway (9) is connected with drive motors III (15), and the other end and guide rail fixer (8) are rotationally connected;
Gate controller (10) is arranged on end effector case top, and the rear side of guiding device (1), for isolating branch;
Top discaling roll (12) is arranged on gate controller (10) below, and its two ends are connected with spring respectively;
Therebetween laminate (14) is positioned at clamping transfer layer (13) and shears between crushing layer (16);
Wire spool (26) is arranged on the shaft coupling (25) of drive motors II (23);
Steel wire rope (27) is separately fixed on wire spool (26) and retainer clip (33);
Motion roll shaft (28) through retainer clip (33), for the distance between controlled motion discaling roll (28) and fixed teeth (32) roller; The two ends of motion discaling roll (28) are held respectively and are arranged on discaling roll fixture (29) and spring II (34), can move along steel wire rope (27) shrinkage direction, motion discaling roll (28) clamps branch under the pulling force effect of spring 1 (30) and spring II (34).
2. fruit tree according to claim 1 is pruned and is pulverized end effector, it is characterized in that: guiding device (1) is arranged on the front of end effector, becomes splayed separately, for applying pressure to branch, guides branch to enter in actuator.
3. fruit tree according to claim 2 is pruned and is pulverized end effector, it is characterized in that: the below of top discaling roll (12) is provided with holding sheet dividing plate (11).
4. fruit tree according to claim 3 is pruned and is pulverized end effector, it is characterized in that: the middle part of flexible axle (7) is provided with flexible axle fixture (20), flexible axle fixture (20) is fixed on to be pulverized on baffle plate (19).
5. fruit tree according to any one of claim 1 to 4 is pruned and is pulverized end effector, it is characterized in that: fixing discaling roll (32) connects drive motors I (22), and motion discaling roll (28) side is provided with feed inlet baffle (31).
6. fruit tree according to claim 5 is pruned and is pulverized end effector, it is characterized in that: shaft coupling (25) is connected by the rotating shaft of motor fixing device (24) with drive motors II (23).
7. fruit tree according to claim 5 is pruned and is pulverized end effector, it is characterized in that: end effector also comprises a shell (21).
8. adopt end effector described in any one of claim 1 to 7 fruit tree to be pruned to the method pulverized, it is characterized in that following steps:
1) preproduction phase: start drive motors II (23), the wire spool (26) be fixed on drive motors II (23) axle starts to rotate and lay winding wire ropes (27), motion discaling roll (28) is moved along steel wire rope (27) shrinkage direction by the movable passageway of both sides before and after feed inlet baffle (31), strengthens the distance between fixing discaling roll (32) gradually;
Spring I (30) and the spring II (34) of motion discaling roll (28) both sides are stretched, when two discaling rolls in a distance time, stop drive motors II (23);
2) branch enters the stage: regulation and control mechanical arm, make end effector to treating that beta pruning bar moves, branch is subject to the pressure effect of guiding device (1) and enters in end effector along predefined paths, and by the extruding to gate controller (10), opens gate; After gate, branch will promote top discaling roll (12) and continue motion, until stop the movement of end effector when the control spring of top discaling roll (12) is stretched to certain length;
3) branch accommodates the stage: reverse starting drive motors II (23), until steel wire rope (27) returns to original length; Motion discaling roll (28) clamps branch under the pulling force effect of spring I (30) and spring II (34);
4) branch and tree body separation phase: simultaneously start direct current generator (17) and drive motors III (15), the saw blade (4) of High Rotation Speed is linearly moved in guide rail (9) direction by saw blade fixed head (3), and cut off branch, make branch depart from tree body;
5) branch delivery phase: start drive motors I (22), fixing discaling roll (32) starts to rotate and the branch pruned is transported to fixed panel (2) place pulverizes;
6) branch shredding stage: the sense of current that regulation and control drive motors III (15) inputs, the saw blade of High Rotation Speed (4) is made linearly to move back and forth pulverizing branch in guide rail (9) direction, end effector is discharged by pulverizing baffle plate (19) in the broken end of branch, then is discharged in orchard.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410512579.XA CN104335829B (en) | 2014-09-29 | 2014-09-29 | End effector and method for trimming and grinding fruit tree branches |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410512579.XA CN104335829B (en) | 2014-09-29 | 2014-09-29 | End effector and method for trimming and grinding fruit tree branches |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104335829A true CN104335829A (en) | 2015-02-11 |
| CN104335829B CN104335829B (en) | 2017-01-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410512579.XA Expired - Fee Related CN104335829B (en) | 2014-09-29 | 2014-09-29 | End effector and method for trimming and grinding fruit tree branches |
Country Status (1)
| Country | Link |
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| CN (1) | CN104335829B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113767768A (en) * | 2021-08-20 | 2021-12-10 | 蒋丰 | Small-size horticulture flowers trimming means |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2141173Y (en) * | 1992-11-14 | 1993-09-01 | 周文清 | Crasher for stalk type plant |
| CN1717979A (en) * | 2005-05-19 | 2006-01-11 | 孔钊 | Machine for cutting branches of trees or plant into fragments |
| JP2007320004A (en) * | 2006-06-02 | 2007-12-13 | Zenoah:Kk | Portable work machine |
| CN202212238U (en) * | 2011-07-20 | 2012-05-09 | 刘永年 | Wood slicing crusher |
| JP2013227918A (en) * | 2012-04-25 | 2013-11-07 | Hitachi Koki Co Ltd | Portable engine work machine |
-
2014
- 2014-09-29 CN CN201410512579.XA patent/CN104335829B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2141173Y (en) * | 1992-11-14 | 1993-09-01 | 周文清 | Crasher for stalk type plant |
| CN1717979A (en) * | 2005-05-19 | 2006-01-11 | 孔钊 | Machine for cutting branches of trees or plant into fragments |
| JP2007320004A (en) * | 2006-06-02 | 2007-12-13 | Zenoah:Kk | Portable work machine |
| CN202212238U (en) * | 2011-07-20 | 2012-05-09 | 刘永年 | Wood slicing crusher |
| JP2013227918A (en) * | 2012-04-25 | 2013-11-07 | Hitachi Koki Co Ltd | Portable engine work machine |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113767768A (en) * | 2021-08-20 | 2021-12-10 | 蒋丰 | Small-size horticulture flowers trimming means |
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| Publication number | Publication date |
|---|---|
| CN104335829B (en) | 2017-01-11 |
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Granted publication date: 20170111 Termination date: 20210929 |