CN108673464A - A kind of automatic pruning device of rose - Google Patents

Abstract

The invention relates to an automatic pruning device for roses, which belongs to the technical field of agricultural machinery. The invention includes a vehicle frame, an executive mechanism, a shearing mechanism, and a walking mechanism; when working, the height and distance of the rose plant are identified through the height measuring probe and the distance measuring probe, and the information is fed back to the controller, and the controller controls the executing mechanism The servo motor on the machine works, the servo motor drives the execution arm to move, and controls the scissors hand at the front end of the execution arm to perform shearing movement. The whole device straddles the ground ridge, and the two shearing mechanisms can simultaneously carry out For pruning operation, by setting the pruning parameters of the controller, the pruning operation of rose branches of different heights can be realized. The device of the present invention has a simple structure and small size, and can automatically identify rose plants and perform pruning operations on them. The structure of the whole machine The design is reasonable, the operation quality is good, the work efficiency is high, the labor intensity is reduced, the working environment is improved, and the production cost is reduced.

Description

A rose automatic pruning device

technical field

The invention relates to an automatic pruning device for roses, which belongs to the technical field of agricultural machinery.

Background technique

As a kind of economic crop, rose can be used for both ornamental and food processing, and brings considerable benefits to flower farmers. But every year roses are pruned after the flowers are picked, so as to achieve the purpose of rejuvenating and strengthening the plant in the coming year. In the past, pruning required workers to go into the field to pruning, which was not only inefficient, but also the dense rose branches often scratched the workers. Due to the complex terrain in which many roses grow, many commonly used pruning machines cannot adapt to the terrain and thus cannot work.

There are many kinds of existing pruning machines, but most of them require workers to carry the pruning machine into the field to perform cutting operations. For example, the pruning equipment of "a kind of electric pruning machine" disclosed in the invention patent of CN102334421A, although the operation is simple and convenient, The operation effect is good, but the workers need to hold the pruning machine to enter the rose field for pruning operation. Not only the working environment is poor but also the cutting efficiency is low, so it is not suitable for cutting rose branches with dense plant growth.

Contents of the invention

The technical problem to be solved by the present invention is: the present invention provides an automatic pruning device for roses, so as to realize automatic and better pruning of rose plants with complex terrain.

The technical solution of the present invention is: an automatic pruning device for roses, including a vehicle frame 17, an executive mechanism, a shearing mechanism, and a walking mechanism;

The shearing mechanism is installed on the front end of the executive mechanism, and the executive mechanism is mounted on the front and rear ends of the vehicle frame 17, and the walking mechanism is used for the rose automatic pruning device to walk;

The actuator includes a turret 1, a column 2, an execution arm I3, an execution arm II4, a servo motor I6, a servo motor II7, a servo motor III8, a servo motor IV9, a height measuring probe 12, a distance measuring probe 13, and a controller 14;

The column 2 is installed on the turret 1, a servo motor I6 is installed on one side of the column 2, the execution arm I3 is installed on the column 2 through the main shaft of the servo motor I6, and the servo motor I6 is used to control the rotation of the execution arm I3 around the main shaft of the servo motor I6 , the servo motor II7 is installed on the front end of the execution arm I3, and is used to drive the execution arm II4 connected with the servo motor III8 to rotate around the main shaft of the servo motor II7, and the servo motor III8 and servo motor IV9 are respectively installed on the execution arm II4 through the main shaft On both sides, the servo motor III8 is installed on the main shaft of the servo motor II7, and is used to drive the execution arm II4 to rotate around the main shaft of the servo motor III8. The shearing mechanism is fixed on the servo motor IV9, and the main shaft of the servo motor IV9 rotates to make The shearing mechanism rotates around the execution arm II4.

The height-measuring probe 12 and the distance-measuring probe 13 are installed above the controller 14, and the controller 14 is fixed on the execution arm I3. A turret motor is installed in the turret 1 to make the column 2 rotate around the turret.

The shearing mechanism includes a shearing arm 5, a servo motor V10, a servo motor VI11, an upper blade 15, and a lower blade 16;

The shearing arm 5 is fixed with the servo motor IV9, and the shearing arm 5 is driven to rotate through the rotation of the main shaft of the servo motor IV9 installed on the execution arm II4, and the servo motor V10 and the servo motor VI11 are fixed at the front end of the shearing arm 5, The servo motor V10 is above the servo motor VI11, and there is a gap, the upper blade 15 and the lower blade 16 are located in the gap between the servo motor V10 and the servo motor VI11, the upper blade 15 is installed on the main shaft of the servo motor V10, and the lower blade 16 is installed on the servo On the main shaft of the motor VI11, the blade is driven to rotate by the servo motor, and the upper blade 15 and the lower blade 16 are closely attached together to form a scissors-like cutting hand.

Described running gear comprises four wheels 18, storage battery 19, two driving motors 20;

The storage battery 19 is installed on the vehicle frame 17, and is used to supply power for the rose automatic pruning device. The four wheels 18 are installed on the vehicle frame 17 through the main shaft, and the two driving motors 20 main shafts are connected with the two front wheels 18 main shafts. , and drive it to rotate.

The beneficial effects of the present invention are:

(1) The device of the present invention is light in weight and small in volume, and can automatically identify rose plants and perform pruning operations on them.

(2) The device of the invention does not require workers to enter the rose field for pruning operations, avoiding workers being scratched by dense rose branches, improving the working environment, reducing labor intensity, and improving work efficiency.

(3) The device of the present invention is equipped with two sets of actuators and shearing mechanisms at the front and back, which can realize the pruning of rose branches in two ridges at one time.

(4) The structure design of the device of the present invention is reasonable, the operation quality is good, the work efficiency is high, the operation is reliable, the labor intensity is reduced, and the production cost is reduced at the same time. The battery is used for energy supply, and the green It can adapt to the pruning operation of rose branches with complex terrain.

Description of drawings

Fig. 1 is the structural representation of device of the present invention;

Fig. 2 is the front view of device of the present invention;

Fig. 3 is the side view of device of the present invention;

Fig. 4 is the top view of device of the present invention;

Fig. 5 is the schematic diagram I of the actuator and the shearing mechanism of the device of the present invention;

Fig. 6 is a schematic diagram II of the actuator and the shearing mechanism of the device of the present invention;

Fig. 7 is a schematic diagram III of the actuator and the shearing mechanism of the device of the present invention;

Fig. 8 is a structural schematic diagram of a turret and a column of the device of the present invention;

Fig. 9 is a structural schematic diagram of the execution arm I of the device of the present invention;

Fig. 10 is a schematic structural diagram of the execution arm II of the device of the present invention;

Fig. 11 is a schematic diagram of the connection structure between the probe and the controller of the device of the present invention.

The labels in Figure 1-11: 1-turret, 2-column, 3-execution arm Ⅰ, 4-execution arm Ⅱ, 5-shear arm, 6-servo motor Ⅰ, 7-servo motor Ⅱ, 8-servo Motor Ⅲ, 9-servo motor Ⅳ, 10-servo motor Ⅴ, 11-servo motor Ⅵ, 12-height measuring probe, 13-distance measuring probe, 14-controller, 15-upper blade, 16-lower blade, 17- Vehicle frame, 18-wheel, 19-battery, 20-drive motor.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

Embodiment 1: as shown in Figure 1-11, a kind of rose automatic pruning device, comprises vehicle frame 17, two actuators, two shearing mechanisms, walking mechanism; The structure of two actuators is identical, two shears The structure of all institutions is the same;

The shearing mechanism is installed on the front end of the executive mechanism, and the two executive mechanisms are carried on the front and rear ends of the vehicle frame 17, and the walking mechanism is used for the rose automatic pruning device to walk;

The actuator includes a turret 1, a column 2, an execution arm I3, an execution arm II4, a servo motor I6, a servo motor II7, a servo motor III8, a servo motor IV9, a height measuring probe 12, a distance measuring probe 13, and a controller 14;

The column 2 is installed on the turret 1, a servo motor I6 is installed on one side of the column 2, the execution arm I3 is installed on the column 2 through the main shaft of the servo motor I6, and the servo motor I6 is used to control the rotation of the execution arm I3 around the main shaft of the servo motor I6 , the servo motor II7 is installed on the front end of the execution arm I3, and is used to drive the execution arm II4 connected with the servo motor III8 to rotate around the main shaft of the servo motor II7, and the servo motor III8 and servo motor IV9 are respectively installed on the execution arm II4 through the main shaft On both sides, the servo motor III8 is installed on the main shaft of the servo motor II7, and is used to drive the execution arm II4 to rotate around the main shaft of the servo motor III8. The shearing mechanism is fixed on the servo motor IV9, and the main shaft of the servo motor IV9 rotates to make The shearing mechanism rotates around the execution arm II4.

Further, the height-measuring probe 12 and the distance-measuring probe 13 are installed above the controller 14, the controller 14 is fixed on the execution arm I3, and a turret motor is installed in the turret 1 for making the column 2 revolve The tower turns.

Further, the shearing mechanism includes a shearing arm 5, a servo motor V10, a servo motor VI11, an upper blade 15, and a lower blade 16;

The shearing arm 5 is fixed with the servo motor IV9, and the shearing arm 5 is driven to rotate through the rotation of the main shaft of the servo motor IV9 installed on the execution arm II4, and the servo motor V10 and the servo motor VI11 are fixed at the front end of the shearing arm 5, The servo motor V10 is above the servo motor VI11, and there is a gap, the upper blade 15 and the lower blade 16 are located in the gap between the servo motor V10 and the servo motor VI11, the upper blade 15 is installed on the main shaft of the servo motor V10, and the lower blade 16 is installed on the servo On the main shaft of the motor VI11, the blade is driven to rotate by the servo motor, and the upper blade 15 and the lower blade 16 are closely attached together to form a scissors-like cutting hand.

Further, the traveling mechanism includes four wheels 18, a storage battery 19, and two drive motors 20;

The storage battery 19 is installed on the vehicle frame 17, and is used to supply power for the rose automatic pruning device. The four wheels 18 are installed on the vehicle frame 17 through the main shaft, and the two driving motors 20 main shafts are connected with the two front wheels 18 main shafts. , and drive it to rotate.

The working principle of the present invention is:

When the device was working, the battery 19 was used to supply energy for the whole machine, and the front wheel 18 was driven by the driving motor 20, so that the whole machine was advanced. The height-measuring probe 12 and the distance-measuring probe 13 on the actuator collect information (including the picture information of the height of the rose plant and the distance between the rose plant and the device) and feed it back to the controller 14, and the controller 14 sends a pulse signal to control the servo motor on the actuator The operation of the actuator drives the actuator to the designated position, and drives the cutting mechanism at the front end to trim the rose plants.

When the actuator is working, a turret motor is installed in the turret 1, which can make the column 2 rotate around the turret, and the servo motor Ⅰ6 on the column can drive the actuator arm Ⅰ3 to rotate, so that the actuator arm Ⅰ3 is relative to the column 2 and rotates around the main shaft of the servo motor Ⅰ6 Turning at a certain angle, the servo motor Ⅱ7 is installed on the front end of the execution arm Ⅰ3, and the servo motor Ⅱ7 is connected to the servo motor Ⅲ8 at the end of the execution arm Ⅱ4 through the main shaft of the servo motor Ⅱ7, so that the servo motor Ⅱ7 main shaft drives the execution arm Ⅱ4 on the servo motor Ⅲ8 relative to the execution arm Ⅰ3 performs axial rotation, the main shafts of servo motor Ⅲ8 and servo motor Ⅳ9 are connected to both ends of the execution arm Ⅱ4, and the servo motor Ⅲ8 drives the execution arm Ⅱ4 to rotate around the main shaft of the servo motor Ⅲ8 relative to the execution arm Ⅰ3 on the servo motor Ⅱ7. The shearing arm 5 on the shearing mechanism realizes the connection between the shearing mechanism and the actuator by being fixed on the servo motor Ⅳ9. By rotating the servo motor Ⅳ9, the shearing arm 5 can rotate around the main shaft of the motor Ⅳ9 relative to the execution arm Ⅱ4. When the cutting mechanism is working, the servo motor V10 and the servo motor VI11 are fixed on the front end of the cutting arm 5, the servo motor V10 is above the servo motor VI11, and there is a certain gap between them for installing the upper and lower blades, and the upper blade 15 is installed on the servo motor. On the main shaft of the motor V10, the lower blade 16 is installed on the main shaft of the servo motor VI11. The two blades are located in the gap and fit closely. The main shaft on the servo motor V10 and the servo motor VI11 performs reciprocating relative rotation at a certain angle, thereby driving the up and down Two blades perform a shearing motion.

The specific embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned embodiments, and can also be made without departing from the gist of the present invention within the scope of knowledge possessed by those of ordinary skill in the art. Variations.

Claims (4)

1. An automatic pruning device for roses, characterized in that: it comprises a vehicle frame (17), an executive mechanism, a shearing mechanism, and a walking mechanism; The shearing mechanism is installed at the front end of the executive mechanism, the executive mechanism is mounted on the front and rear ends of the vehicle frame (17), and the walking mechanism is used for the rose automatic pruning device to walk; The actuator includes a turret (1), a column (2), an actuator arm I (3), an actuator arm II (4), a servo motor I (6), a servo motor II (7), and a servo motor III (8) , Servo motor IV (9), height measuring probe (12), distance measuring probe (13), controller (14); The column (2) is installed on the turret (1), and the servo motor I (6) is installed on one side of the column (2), and the execution arm I (3) is installed on the column (2) through the main shaft of the servo motor I (6). Above, the servo motor I (6) is used to control the rotation of the execution arm I (3) around the main shaft of the servo motor I (6), and the servo motor II (7) is installed at the front end of the execution arm I (3) to drive and The execution arm II (4) connected to the servo motor III (8) rotates around the main shaft of the servo motor II (7). The servo motor III (8) and the servo motor IV (9) are respectively installed on the execution arm II (4) through the main shaft. On both sides, the servo motor III (8) is installed on the main shaft of the servo motor II (7), and is used to drive the execution arm II (4) to rotate around the main shaft of the servo motor III (8), and the shearing mechanism is fixed on the servo motor On IV (9), the shearing mechanism can be rotated around the execution arm II (4) through the rotation of the main shaft of servo motor IV (9). 2. The rose automatic pruning device according to claim 1, characterized in that: the height measuring probe (12) and the distance measuring probe (13) are installed above the controller (14), and the controller (14) is fixed on On the execution arm I (3), a turret motor is installed in the turret (1) to make the column (2) rotate around the turret. 3. The rose automatic pruning device according to claim 1, characterized in that: the shearing mechanism includes a shearing arm (5), a servo motor V (10), a servo motor VI (11), an upper blade (15 ), the lower blade (16); The shearing arm (5) is fixed to the servo motor IV (9), and the shearing arm (5) is driven to rotate through the rotation of the main shaft of the servo motor IV (9) installed on the execution arm II (4), and the servo motor Ⅴ (10) and the servo motor Ⅵ (11) are fixed on the front end of the cutting arm (5), the servo motor Ⅴ (10) is above the servo motor Ⅵ (11), and there is a gap, the upper blade (15) and the lower blade (16) Located in the gap between the servo motor Ⅴ (10) and the servo motor Ⅵ (11), the upper blade (15) is installed on the main shaft of the servo motor Ⅴ (10), and the lower blade (16) is installed on the main shaft of the servo motor Ⅵ (11) On the top, the blade is driven to rotate by the servo motor, and the upper blade (15) and the lower blade (16) are closely attached together to form a scissors-like cutting hand. 4. The rose automatic pruning device according to claim 1, characterized in that: the traveling mechanism includes four wheels (18), a battery (19), and two drive motors (20); The battery (19) is installed on the frame (17) for powering the rose automatic pruning device, the four wheels (18) are mounted on the frame (17) through the main shaft, and the two drive motors (20 ) main shaft is connected with two front wheel (18) main shafts, and drives its rotation.