CN110832998B

CN110832998B - Multi-section variable-amplitude pruning method

Info

Publication number: CN110832998B
Application number: CN201911128511.0A
Authority: CN
Inventors: 康峰; 仝思源; 李文彬; 于泳超
Original assignee: Beijing Forestry University
Current assignee: Beijing Forestry University
Priority date: 2019-11-18
Filing date: 2019-11-18
Publication date: 2023-02-03
Anticipated expiration: 2039-11-18
Also published as: CN110832998A

Abstract

The invention relates to the technical field of agriculture and forestry machinery, in particular to a multi-section variable-width pruning method for fruit trees in winter and summer. The invention aims to provide a multi-section variable-amplitude pruning method, and aims to solve the problem that the pruneable tree-shaped geometry is single in the prior art. The multi-section amplitude-variable pruning method provided by the invention has the beneficial effects that: the tree pruning device can meet the tree pruning requirements of different shapes in multiple sections. For example, the tree shape of the crown of the fruit tree can be pruned in a side wall type and a sphere-like manner by controlling the top-tip pruning component, the upper pruning component and the lower pruning component, and the tree shape of the crown of the fruit tree can be pruned in a trapezoidal shape by controlling the top-tip pruning component, the upper pruning component and the lower pruning component. In addition, the transverse and longitudinal distances between the pruning parts and the moving platform can be adjusted by controlling the transverse telescopic hydraulic cylinder and the longitudinal telescopic hydraulic cylinder so as to adapt to the distance and the height of the crown position of the fruit tree.

Description

Multi-section variable-amplitude pruning method

Technical Field

The invention relates to the technical field of agriculture and forestry machinery, in particular to a multi-section variable-width pruning method for fruit tree pruning in winter and summer.

Background

The fruit tree pruning has important significance in orchard production, can ensure that main branches and side branches of fruit trees are uniformly distributed, has good implantation positions and angles, and is favorable for firmness of a canopy framework of the fruit trees; the relation among fruit trees and between the fruit trees and the environment is improved, the fruit bearing area is enlarged, and the quality and the yield of fruits are improved; can also enhance the ventilation and light transmission of the canopy, enhance photosynthesis, increase the attachment area of the liquid medicine and branches and leaves when in application, and improve the utilization rate of the liquid medicine; also can artificially cultivate and design the shape of an unnatural fruit tree to meet the ornamental requirement.

Fruit tree pruning is generally divided into winter pruning and summer pruning. The pruning in winter is mainly carried out in the period from finger leaf falling to germination in the next year, and is mainly concentrated in 1-2 months, and the pruning is mainly used for removing or shortening some unnecessary branches and withered and diseased branches, selecting and remaining main branches, cultivating central branches, main branches, auxiliary main branches and the like, and laying a good physiological and tree-form foundation for realizing high yield of fruit trees and forest synergistic effect for a long time. Summer pruning refers to pruning in the growing period of fruit trees, and aims to inhibit the overgrowth of new branches, promote the formation of flower buds, improve the ventilation and light transmission conditions and improve the yield and the fruit quality of the fruit trees. In addition, there are two main ways of fruit tree pruning: fine shearing and rough shearing. The fine pruning is the selective pruning of single branches, namely the single branch pruning is carried out according to a certain principle according to the characteristics of local natural conditions, tree species and the like. The fine trimming has strong technical performance and complex operating conditions, can only be manually trimmed by using the pruning shears at present, and has low working efficiency and high labor intensity. With the continuous expansion of the planting scale of modern orchards (such as short-stock close-planting apples, pears, grapes and the like), the actual requirements cannot be met only by a manual fine pruning mode, and a mechanical device is urgently needed to replace manual work to complete large-area pruning operation, namely rough pruning operation. The rough pruning is the whole geometric pruning, an overhanging operation arm which can be lifted up and down and rotated left and right is installed on a tractor, and a hydraulically driven cutter is installed at the arm end to prune the crown according to a certain geometric shape. The existing rough shearing machine comprises two types of rotary cutters (circular cutters, straight cutters and dart cutters) and reciprocating cutters, wherein the cutters are arranged on a single-section or multi-section cutter frame in a staggered or uniform mode, and are driven to rotate or reciprocate linearly through a hydraulic system, and the pose of the cutter frame is adjusted, so that rough shearing operation is realized. However, these rough cutting machines all have the problem that the geometrical shape of the tree shape can be cut only singly, generally, the tree shape with a certain taper is cut only when the tree shape is perpendicular to the ground (or) and the tree shape cannot be cut into a complex tree shape.

Disclosure of Invention

The invention aims to provide a multi-section variable amplitude pruning method, and aims to solve the problem that the pruned tree shape in the prior art is single in geometric shape. In order to achieve the purpose, the invention adopts the following technical scheme.

A multi-section variable-amplitude pruning method is provided, which utilizes a multi-section variable-amplitude pruning device, and the device comprises a mobile platform, a base, a pruning component and a control panel; the mobile platform is a motor vehicle capable of walking between the rows of the fruit trees; the base comprises a cross beam and a vertical beam; the pruning component is a multi-section pruning component and comprises a pruning top tip component, a pruning upper component and a pruning middle-lower component, the pruning middle-lower component comprises a middle component and a lower component, different geometric shapes are formed by adjusting the poses of the pruning components, the fruit trees are pruned in various tree shapes, and the transverse and longitudinal distances between the pruning components and the moving platform can be adjusted through respective drivers so as to adapt to the distance and the height of the crown positions of the fruit trees. The middle and lower parts of the pruning comprise middle and lower parts of the pruning, the middle and lower parts of the pruning share one power output device, namely, the same hydraulic motor drives the same four-connecting rod journal crankshaft to rotate, the four-connecting rod journal crankshaft comprises four journals, the pruning cutters of the middle and lower parts of the pruning are respectively composed of long and short movable cutters, the long movable cutters of the middle and lower parts of the pruning cutters are respectively hinged with a long connecting rod, the other ends of the long connecting rods are hinged with different journals in the four-connecting rod journal crankshaft, the short movable cutters of the middle and lower parts of the pruning cutters are respectively hinged with a short connecting rod, and the other ends of the short connecting rods are hinged with the other two different journals in the four-connecting rod journal crankshaft, so that four crank-rod mechanisms are formed; the method comprises the steps that the same hydraulic motor and a four-connecting-rod journal crankshaft rotate, so that the long moving blades and the short moving blades of the middle and lower pruning parts are driven to work simultaneously, the reciprocating movement of the four moving blades is realized through four crank-connecting-rod mechanisms, and the four cranks are hinged with the crankshaft journal; when the middle and lower pruning parts are controlled by the telescopic hydraulic cylinder to swing back and forth by taking the hinge as a center, the motion of the long and short moving blades is not interfered.

The upper pruning part and the middle pruning part and the lower pruning part in the upper pruning part and the middle pruning part in the multi-section pruning parts are adjusted to be parallel to each other and perpendicular to the ground, the top-tip pruning part is parallel to the ground, and the crown of the fruit tree can be pruned according to the side wall type shape.

The upper pruning part and the middle pruning part and the lower pruning part in the multi-section pruning part are adjusted to be parallel to each other and form a certain included angle with the ground, and the top-tip pruning part is parallel to the ground and can prune the crown of the fruit tree in a trapezoidal shape.

The top tip pruning part, the upper pruning part and the middle part and the lower part of the middle and lower pruning parts in the multi-section pruning parts are combined to form a polygonal shape, and the fruit tree crowns can be pruned according to the sphere-like polygonal shape.

The top tip pruning part, the upper pruning part and the lower pruning part in the multi-section pruning part are combined into different geometric shapes, and the fruit tree crowns can be pruned according to the geometric shapes.

Wherein, the action control of each hydraulic cylinder can be completed by controlling the corresponding hydraulic electromagnetic valve.

Wherein the entire hydraulic system is controlled by a single hydraulic pump station.

The multi-section variable-amplitude pruning method provided by the invention has the beneficial effects that: the tree pruning device can meet the tree pruning requirements of different shapes in multiple sections. If the tree form of the crown of the fruit tree can be pruned in a side wall type and a sphere-like manner by controlling the top-tip pruning component, the upper pruning component and the lower pruning component, the tree form of the crown of the fruit tree can be pruned in a trapezoidal shape by controlling the top-tip pruning component, the upper pruning component and the lower pruning component, and meanwhile, the pruning requirements of other multi-section profiling can be met by adjusting the swing angles of different pruning components. In addition, the transverse and longitudinal distances between the pruning parts and the moving platform can be adjusted by controlling the transverse telescopic hydraulic cylinder and the longitudinal telescopic hydraulic cylinder so as to adapt to the distance and the height of the crown position of the fruit tree.

Drawings

FIG. 1 is a schematic view of the overall structure of a multi-section variable-width pruning device;

fig. 2a is a schematic structural view of a lower part in pruning in the multi-section variable-amplitude pruning device;

FIG. 2b is an enlarged view of portion A of FIG. 2a with the four link journal crankshaft brace hidden;

fig. 3a is a schematic structural view of an upper pruning component in the multi-section variable-amplitude pruning device;

FIG. 3B is an enlarged view of portion B of FIG. 3a with the two link journal crankshaft brace hidden;

FIG. 4 is a schematic structural view of a top-tip pruning component in the multi-section variable-amplitude pruning device;

fig. 5 shows the geometrical shape of the part of the crown that can be pruned by the multi-section variable-width pruning device.

Reference numerals:

1-a mobile platform; 2-L-shaped base; 3-a pruning part; 4-control panel; 21-a beam base; 22-transversely telescoping beam; 23-a transverse telescopic hydraulic cylinder; 24-vertical beam columns; 25-vertical beam base; 26-longitudinal movement hydraulic cylinder; 27-beam hinges; 28-lateral swing hydraulic cylinder; 31-pruning the middle and lower parts; 31-1 — middle part of pruning; 31-2-pruning the lower part; 32-pruning the upper part; 33-a tip pruning component; 34-a lower part swing driving hydraulic cylinder; 35-upper part swing drive hydraulic cylinder; 31 a-middle pruning cutter; 31 aa-middle and lower part long moving blade; 31 ab-middle lower part short moving knife; 31 ac-cutter bar; 31 ad-trapezoidal blade; 31 ae-middle and lower part pruning tool connecting rod; 31 b-a tool holder; 31c — middle part bottom plate; 31 d-lower part pruning tool; 31e — lower component floor; 31 f-middle lower part long link; 31 g-middle lower part short connecting rod; 31 h-middle lower part four-connecting rod journal crankshaft; 31 i-the middle lower part four-connecting rod journal crankshaft drives the hydraulic motor; 31 j-a mid-lower member four link journal crankshaft support; 32 a-upper pruning tool; 32aa — upper part long moving blade; 32ab — upper member short moving blade; 32ae — upper part pruning tool connecting rod; 32 b-upper pruning tool holder; 32c — upper component floor; 32f — upper member long link; 32 g-upper member short link; 32 h-upper part four-bar journal crankshaft; 32 i-upper part four connecting rod journal crankshaft drive hydraulic motor; 33 a-top tip pruning cutter; 33 aa-tip long moving blade; 33 ab-top tip short moving blade; 33 ae-top shoot pruning cutter connecting rod; 33c — top tip component bottom plate; 33 f-top tip member long link; 33 g-a tip part short connecting rod; 33 h-a top pin component four-bar journal crankshaft; 33 i-a top tip component four-connecting rod journal crankshaft driving hydraulic motor; 33 j-tip component pitch drive hydraulic motor.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are given by way of illustration only.

The preferred embodiment of the multi-segment variable-amplitude pruning method of the present invention is shown in fig. 1 to 5:

as shown in figure 1, the multi-section variable-amplitude pruning device comprises a mobile platform 1, an L-shaped base 2, a pruning component 3 and a control panel 4.

The mobile platform 1 in the multi-section variable amplitude pruning device is a wheeled tractor capable of walking between fruit tree rows, and can also be other mobile platforms with the same function, such as a crawler-type or self-propelled vehicle.

The L-shaped base 2 in the multi-section variable-amplitude pruning device is used for supporting the pruning component 3 and adjusting the relative position relation between the pruning component 3 and the mobile platform 1. The L-shaped base 2 is divided into a cross beam and a vertical beam, wherein the cross beam consists of a cross beam base 21, a transverse telescopic beam 22 and a transverse telescopic hydraulic cylinder 23, the transverse telescopic beam 22 is sleeved in a square groove of the cross beam base 21, two ends of one transverse telescopic hydraulic cylinder 23 are respectively hinged on the cross beam base 21 and the transverse telescopic beam 22, and the transverse telescopic beam 22 is driven by the transverse telescopic hydraulic cylinder 23 to transversely reciprocate in a straight line in the square groove of the cross beam base 21; the vertical beam is composed of a vertical beam upright column 24, a vertical beam base 25 and a longitudinal moving hydraulic cylinder 26, the vertical beam upright column 24 is sleeved in a square groove of the vertical beam base 25, the back surfaces of the vertical beam upright column 24 and the vertical beam base 25 are provided with the longitudinal moving hydraulic cylinder 26, as shown in figure 2a, two ends of the longitudinal telescopic hydraulic cylinder 26 are respectively hinged on the vertical beam upright column 24 and the vertical beam base 25, and the vertical beam base 25 can be driven by the longitudinal moving hydraulic cylinder 26 to do longitudinal reciprocating linear movement along the vertical beam upright column 24. The lower end of the vertical beam column 24 is connected with the extending end of the transverse telescopic beam 22 by a beam hinge 27, the two ends of a lateral swing hydraulic cylinder 28 are respectively hinged on the transverse telescopic beam 22 and the vertical beam column 24, and the vertical beam column 24 can be driven by the lateral swing hydraulic cylinder 28 to make lateral reciprocating swing relative to the transverse telescopic beam 22 by taking the beam hinge 27 as a center. The L-shaped base 2 is fixed at the front part of the movable platform 1 through a beam base 21.

The pruning component 3 in the multi-section variable amplitude pruning device is divided into three parts, namely a pruning middle-lower component 31, a pruning upper component 32 and a top-tip pruning component 33. The pruning part 3 is mounted on the vertical beam base 25 through the middle part bottom plate 31c and can move together with the vertical beam base 25.

As shown in fig. 2a, the lower-middle part 31 of the pruning is divided into a middle part and a lower part, wherein the middle part is composed of a middle pruning cutter 31a, a connecting rod 31ae, a cutter bracket 31b and a middle part bottom plate 31 c. As shown in fig. 2b, the middle pruning cutter 31a is formed by combining a long moving blade 31aa and a short moving blade 31ab side by side, and simultaneously, a certain gap is kept between the two moving blades, and the two moving blades do not touch and rub when moving mutually. The long moving blade 31aa and the short moving blade 31ab are basically the same in structure, and are all formed by uniformly arranging a plurality of trapezoidal blades 31ad on a cutter bar 31ac, wherein the total length of the blades is 80mm, the blade height is 54mm, the front axle width is 23mm, the blade bottom width is 58mm, the blade thickness is 4mm, the sliding cutting angle is 18 degrees, the blade wedge angle is 45 degrees, the distance between the trapezoidal blades 31ad is 80mm, and the distance between the bottom edges of two adjacent blades is 22mm. For pruning cutters with different cutting width requirements, the length of the cutter bar 31ac and the number of the trapezoidal blades 31ad are only required to be adjusted. The long moving blade 31aa and the short moving blade 31ab are respectively hinged on three blade holder brackets 31b through three connecting rods 31ae, and the three blade holder brackets 31b are fixed on the middle part bottom plate 31 c. The lower part consists of a lower part pruning cutter 31d, a connecting rod 31ae, a cutter bracket 31b and a lower part bottom plate 31e, wherein the lower part pruning cutter 31d and the middle pruning cutter 31a have basically the same mechanism, and the difference is that the lengths of the long moving blade 31aa and the short moving blade 31ab of the lower part pruning cutter 31d are shorter than that of the middle pruning cutter 31a, the long moving blade 31aa and the short moving blade 31ab are respectively hinged on the two cutter rest brackets 31b through the two connecting rods 31ae, and the two cutter rest brackets 31b are fixed on the lower part bottom plate 31 e.

The moving forms of the long moving blade 31aa and the short moving blade 31ab in the middle part pruning blade 31a and the lower part pruning blade 31d are completely the same, and the long moving blade 31aa and the short moving blade 31ab in the middle part pruning blade 31a are taken as an example for explanation. The long blade 31aa and the long connecting rod 31f in the middle part pruning cutter 31a and a four-bar journal crankshaft 31h form a biased slider-crank mechanism, and the long blade 31aa is hinged at the second connecting rod journal of the four-bar journal crankshaft 31h through the long connecting rod 31 f. The short moving blade 31ab and the short connecting rod 31g in the middle part pruning cutter 31a and the same four-connecting rod journal crankshaft 31h form a second offset slider-crank mechanism, and the short moving blade 31ab is hinged at the first connecting rod journal of the four-connecting rod journal crankshaft 31h through the short connecting rod 31 g.

The long knife 31aa and the long connecting rod 31f, the long connecting rod 31f and the second and fourth connecting rod journals of the four-connecting rod journal crankshaft 31h are hinged; the short moving blade 31ab and the short connecting rod 31g, the short connecting rod 31g and the first and third connecting rod journals of the four-connecting rod journal crankshaft 31h are also hinged. The middle pruning cutter 31a and the long moving cutter 31aa and the short moving cutter 31ab in the lower pruning cutter 31d are respectively hinged with one end of a long connecting rod 31f and one end of a short connecting rod 31g by the same journal of a four-connecting-rod journal crankshaft, and the other ends of the long connecting rod 31f and the short connecting rod 31g are respectively hinged with the long moving cutter 31aa and the short moving cutter 31 ab.

Two long connecting rods 31f and two short connecting rods 31g are respectively arranged and respectively belong to a middle pruning cutter and a lower pruning cutter. The offset crank link mechanism is a driving mechanism of a cutter of the cutter. 31i is a hydraulic motor that drives the crankshaft 31 h.

The movable blade is riveted on the cutter bar firmly and tightly, and the movable blade riveted on the cutter bar is on the same plane. For cutter components with different cutting width requirements, the length of the cutter rod and the number of the movable blades are only required to be adjusted. The pitch of the blades is 80mm, the distance between the bottom edges of the cutting edges of two adjacent blades is 22mm, the stroke of the cutting knife is 80mm, and the diameter of the maximum branch which can be trimmed is 30mm.

Because the cutter motion relations of the upper cutter component, the middle cutter component and the lower cutter component are the same, in order to improve the interchangeability and uniformity of parts of the device, the lengths of the crankshafts and the connecting rods of the upper cutter component, the middle cutter component and the lower cutter component are the same.

Since the connecting rods 31ae are connected to the cutter holder 31b and the middle pruning cutter 31a, respectively, in an articulated manner, the actual movement path of the cutters is a circular arc. A space design allowance of 8 mm-10 mm is reserved during machining so as to meet the requirement of movement of a cutter.

As shown in fig. 3a, the upper pruning part 32 is similar to the lower and middle pruning parts and is composed of an upper pruning cutter 32a, a connecting rod 32ae, a cutter holder 32b and an upper part bottom plate 32 c. As shown in fig. 3b, the upper pruning cutter 32a is also composed of a long moving blade 32aa and a short moving blade 32ab, which are combined side by side, and a certain gap is ensured between the two moving blades, and the structures of the long moving blade 32aa and the short moving blade 32ab are similar to those of the long moving blade 31aa and the short moving blade 31ab respectively. The long moving blade 32aa and the short moving blade 32ab are respectively hinged to two blade holder brackets 32b through two connecting rods 32ae, and the two blade holder brackets 32b are fixed to the middle member bottom plate 32 c. The long moving blade 32aa and the short moving blade 32ab of the upper pruning blade 32a are equal in length to the long moving blade 31aa and the short moving blade 31ab of the lower pruning blade 31 d. The long moving blade 32aa in the upper pruning blade 32a, a long connecting rod 32f and a two-connecting rod journal crankshaft 32h form a biased slider-crank mechanism, and the long moving blade 32aa is hinged to the connecting rod journal of the crankshaft 32h through the long connecting rod 32 f. The short moving blade 32ab and the short connecting rod 32g of the upper pruning blade 32a, together with the crankshaft 32h, form a second offset slider-crank mechanism. The long knife 32aa and the long connecting rod 32f, the long connecting rod 32f and the connecting rod journal of the crankshaft 32h are hinged, and the short knife 32ab and the short connecting rod 32g, and the short connecting rod 32g and the connecting rod journal of the crankshaft 32h are hinged. The long moving blade and the short moving blade in the upper pruning cutter 32a are hinged with a long connecting rod 32f and a short connecting rod 32g respectively through two shaft necks of the same crankshaft, and the other ends of the long connecting rod 32f and the short connecting rod 32g are hinged with the long moving blade 32aa and the short moving blade 32ab respectively. 32i is a hydraulic motor that drives the crankshaft 32 h.

As shown in fig. 4, the top tip pruning part 33 is composed of a top tip pruning cutter 33a, a connecting rod 33ae, and a top tip part bottom plate 33c, similarly to the middle and lower parts of the pruning and the upper part of the pruning. The top-tip pruning cutter 33a is also formed by combining a long moving blade 33aa and a short moving blade 33ab side by side respectively, a certain gap is ensured to be left between the two moving blades, and the structures of the long moving blade 33aa and the short moving blade 33ab are respectively similar to those of the long moving blade 31aa and the short moving blade 31 ab. For pruning cutters with different cutting width requirements, the length of the cutter bar and the number of the trapezoidal blades are only required to be adjusted. The long moving blade 33aa and the short moving blade 33ab are respectively hinged to the top tip member bottom plate 33c by three connecting rods 33 ae. The long moving blade 33aa and a long connecting rod 33f in the top tip part pruning blade 33a, a two-connecting rod journal crankshaft 33h constitute an offset slider-crank mechanism, the short moving blade 33ab and a short connecting rod 33g in the top tip part pruning blade 33a, and the crankshaft 33h constitute a second offset slider-crank mechanism. The long knife 33aa and the long connecting rod 33f are hinged with each other at the connecting rod journal of the crankshaft 33h, and the short knife 33ab and the short connecting rod 33g are hinged with each other at the connecting rod journal of the crankshaft 33h, and the short connecting rod 33g and the connecting rod 33ab are hinged with each other at the connecting rod journal of the crankshaft 33 h. The long moving blade and the short moving blade in the top tip part pruning cutter 33a are hinged with a long connecting rod 33f and a short connecting rod 33g respectively through the shaft necks of the same crankshaft, and the other ends of the long connecting rod 33f and the short connecting rod 33g are hinged with the long moving blade 33aa and the short moving blade 33ab respectively. 33i is a hydraulic motor that drives the crankshaft 33 h.

An operator can control the corresponding hydraulic electromagnetic valves through the control panel to realize the action control of each hydraulic cylinder. The transverse telescopic beam 22 is driven by the transverse telescopic hydraulic cylinder 23 to do transverse reciprocating linear movement in the square groove of the cross beam base 21; the vertical beam base 25 is driven by a longitudinal moving hydraulic cylinder 26 to do longitudinal reciprocating linear movement along the vertical beam upright 24; the vertical beam upright post 24 is driven by a lateral swing hydraulic cylinder 28 to do lateral reciprocating swing relative to the transverse telescopic beam 22 by taking a transverse beam hinge 27 as a center; the lateral swing hydraulic cylinder 34 drives the lower pruning part to swing laterally and reciprocally relative to the middle pruning part by taking a four-connecting-rod journal crankshaft 31h as a center; the upper pruning part is driven by the lateral swing hydraulic cylinder 35 to do lateral reciprocating swing with the two connecting rod journal crankshafts 32h as the center and the middle tree pruning part; the hydraulic motor 33j drives the top-tip pruning component to swing in a reciprocating way in the lateral direction relative to the pruning upper component by taking the two-connecting-rod journal crankshaft 33h as the center, and the swing amplitude is 100 degrees. Control panel 4 adsorbs on driver's cabin glass through the sucking disc, makes things convenient for the driver to control. The hydraulic system of the whole device is controlled by a single hydraulic pump station.

Next, tree pruning with different geometries by the multi-segment variable width pruning device will be described, and the traveling direction of the mobile platform is perpendicular to the paper surface and outward as shown in fig. 5.

Side wall type shape: as shown in fig. 1, 4 and 5 (a), the swinging of the top-tip pruning part 33, the upper pruning part 32 and the lower pruning part 31-2 is controlled by the hydraulic motor 33j, the lateral swing hydraulic cylinder 34 and the lateral swing hydraulic cylinder 35 to form a vertical structure, so that the crown of the fruit tree can be pruned in a side wall type shape;

trapezoidal shape: as shown in fig. 1, 4 and 5 (b), the top-tip pruning part 33, the upper pruning part 32 and the lower pruning part 31 are controlled to swing to form a trapezoidal structure by the hydraulic motor 33j, the lateral swing hydraulic cylinder 34, the lateral swing hydraulic cylinder 35 and the lateral swing hydraulic cylinder 28, so that the crown of the fruit tree can be pruned in a trapezoidal shape;

spheroidal polygonal shape: referring to fig. 1, 4 and 5 (c), the swing of the top-tip pruning part 33, the upper pruning part 32 and the lower pruning part 31-2 is controlled by the hydraulic motor 33j, the lateral swing hydraulic cylinder 34 and the lateral swing hydraulic cylinder 35 to form a quasi-spherical structure, so that the fruit tree crown can be pruned according to the quasi-spherical polygonal shape.

The tree-shaped pruning modes of the three listed geometric shapes are only typical modes, and other geometric shapes can be formed by controlling the movement of different pruning parts so as to complete multi-section profile modeling pruning with different requirements. In addition, the transverse distance between the pruning part 3 and the moving platform is adjusted by controlling the transverse telescopic hydraulic cylinder 23 to adapt to the distance of the position of the crown of the fruit tree, and the longitudinal distance between the pruning part 3 and the moving platform is adjusted by controlling the longitudinal moving hydraulic cylinder 26 to adapt to the height of the position of the crown of the fruit tree.

In the description of the present invention, it should be noted that the terms "upper", "middle", "lower", "horizontal", "vertical", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally put in use of products of the present invention, and are only used for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A multi-section variable-amplitude pruning method is characterized by comprising the following steps: the method utilizes a multi-section variable-amplitude pruning device, and the device comprises a mobile platform, a base, a pruning component and a control panel; the mobile platform is a motor vehicle which walks among the fruit tree rows; the base comprises a cross beam and a vertical beam; the pruning component is a multi-section pruning component and comprises a pruning top tip component, a pruning upper component and a pruning middle-lower component, the pruning middle-lower component comprises a middle component and a lower component, different geometric shapes are formed by adjusting the poses of the pruning components, the fruit trees are pruned in various tree forms, and the transverse and longitudinal distances between the pruning components and the moving platform are adjusted through respective drivers so as to adapt to the distance and the height of the crown positions of the fruit trees; the middle and lower parts of the pruning comprise middle and lower parts of the pruning, the middle and lower parts of the pruning share one power output device, namely, the same hydraulic motor drives the same four-connecting rod journal crankshaft to rotate, the four-connecting rod journal crankshaft comprises four journals, the pruning cutters of the middle and lower parts of the pruning are respectively composed of long and short movable cutters, the long movable cutters of the middle and lower parts of the pruning cutters are respectively hinged with a long connecting rod, the other ends of the long connecting rods are hinged with different journals in the four-connecting rod journal crankshaft, the short movable cutters of the middle and lower parts of the pruning cutters are respectively hinged with a short connecting rod, and the other ends of the short connecting rods are hinged with the other two different journals in the four-connecting rod journal crankshaft, so that four crank-rod mechanisms are formed; the method comprises the steps that the same hydraulic motor and a four-connecting-rod journal crankshaft rotate, so that the long moving blades and the short moving blades of the middle and lower pruning parts are driven to work simultaneously, the reciprocating movement of the four moving blades is realized through four crank-connecting-rod mechanisms, and the four cranks are hinged with the crankshaft journal; when the telescopic hydraulic cylinder controls the middle and lower pruning parts to swing back and forth by taking the hinge as a center, the motion of the long and short moving blades is not interfered.

2. The multi-segment variable amplitude pruning method according to claim 1, wherein the upper pruning component, the middle pruning component and the lower pruning component of the multi-segment pruning component are adjusted to be parallel to each other and perpendicular to the ground, the top-tip pruning component is parallel to the ground, and the crown of the fruit tree is pruned in a side wall type shape.

3. The multi-segment variable-amplitude pruning method according to claim 1, wherein the upper pruning part, the middle pruning part and the lower pruning part of the multi-segment pruning part are adjusted to be parallel to each other and form a certain included angle with the ground, the top-tip pruning part is parallel to the ground, and the crown of the fruit tree is pruned in a trapezoidal shape.

4. The multi-section variable-amplitude pruning method according to claim 1, wherein a top-tip pruning component, an upper pruning component, a middle pruning component and a lower pruning component of the multi-section pruning components are combined to form a polygonal shape, and the crown of the fruit tree is pruned according to the spherical-like polygonal shape.

5. The multi-segment variable-amplitude pruning method according to claim 1, wherein the top-tip pruning component, the upper pruning component and the lower pruning component of the multi-segment pruning component are combined into different geometric shapes, and the crown of the fruit tree is pruned according to the geometric shapes.

6. The multi-segment variable amplitude pruning method according to claim 1: the action control of each hydraulic cylinder is completed by controlling the corresponding hydraulic electromagnetic valve.

7. The method of claim 1: the whole hydraulic system is controlled by a single hydraulic pump station.