CN113099875A - Equipment and method for pruning branches on back for pear tree planting - Google Patents
Equipment and method for pruning branches on back for pear tree planting Download PDFInfo
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- CN113099875A CN113099875A CN202110375258.XA CN202110375258A CN113099875A CN 113099875 A CN113099875 A CN 113099875A CN 202110375258 A CN202110375258 A CN 202110375258A CN 113099875 A CN113099875 A CN 113099875A
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- 238000013138 pruning Methods 0.000 title claims abstract description 44
- 240000001987 Pyrus communis Species 0.000 title claims abstract description 26
- 235000014443 Pyrus communis Nutrition 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 title claims abstract description 24
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 51
- 230000000007 visual effect Effects 0.000 claims abstract description 16
- 230000033001 locomotion Effects 0.000 claims abstract description 15
- 238000009966 trimming Methods 0.000 claims abstract description 4
- 230000008569 process Effects 0.000 claims description 14
- 238000012544 monitoring process Methods 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 3
- 241000220324 Pyrus Species 0.000 claims 1
- 235000021017 pears Nutrition 0.000 claims 1
- 230000008878 coupling Effects 0.000 abstract description 9
- 238000010168 coupling process Methods 0.000 abstract description 9
- 238000005859 coupling reaction Methods 0.000 abstract description 9
- 230000008859 change Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 244000298697 Actinidia deliciosa Species 0.000 description 1
- 235000009436 Actinidia deliciosa Nutrition 0.000 description 1
- 235000004789 Rosa xanthina Nutrition 0.000 description 1
- 241000220222 Rosaceae Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 230000035764 nutrition Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
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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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- 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
- A01G17/00—Cultivation of hops, vines, fruit trees, or like trees
- A01G17/005—Cultivation methods
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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
- A01G7/00—Botany in general
- A01G7/06—Treatment of growing trees or plants, e.g. for preventing decay of wood, for tingeing flowers or wood, for prolonging the life of plants
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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- Biodiversity & Conservation Biology (AREA)
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- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Botany (AREA)
- Wood Science & Technology (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention relates to the field of pear tree planting equipment, in particular to back upper branch pruning equipment and a pruning method for pear tree planting, which comprise a self-walking assembly; the image acquisition assembly is arranged on the self-walking assembly and is used for collecting the information of the growth of the branches and tendrils of the pear trees; the scissor type mechanical arm is arranged on the self-walking component and is used for pruning back branches and upper branches according to the branch and vine growth information; the first visual camera is arranged at the working end of the scissor type mechanical arm and used for identifying the back upper branch position during trimming; the self-walking assembly, the image acquisition assembly, the scissor type mechanical arm and the first vision camera are electrically connected with the controller; still including the location coupling assembling, the location coupling assembling sets up on the subassembly of walking certainly, under operating condition, location coupling assembling work end is connected with the fruit tree trunk along radial, and this equipment can carry out the pruning along circumferential motion in the fruit tree outside, and the precision is higher.
Description
Technical Field
The invention relates to the field of pear tree planting equipment, in particular to back upper branch pruning equipment and a back upper branch pruning method for pear tree planting.
Background
The pear tree is a perennial deciduous fruit tree of the genus Pyri of the family Rosaceae, the fruit tree has a top advantage and a back advantage, if branches on the back are too vigorous, a large amount of nutrition of the fruit tree is consumed, and the enlargement of young fruits is extremely unfavorable. In order to increase the fruit yield, the back upper branches are required to be pruned, and the back upper branches are branches which grow parallel to the main branches and are positioned above the main branches.
The existing branches on the back are generally trimmed manually, so that the labor intensity is high, and the labor cost is high.
Chinese patent CN201921526308.4 discloses a kiwi fruit tree pruning robot based on binocular vision, which is characterized by comprising a walking chassis assembly, wherein a scissor lift, a lift driving motor and a controller are arranged on the walking chassis assembly, a four-degree-of-freedom mechanical arm is arranged on a lifting platform of the scissor lift, a tail end pruner and a binocular vision module are arranged at the tail end of the four-degree-of-freedom mechanical arm, and the binocular vision module is positioned behind the tail end pruner; the elevator driving motor, the binocular vision module, the tail end pruning device and the four-degree-of-freedom mechanical arm are respectively connected with the controller, and the controller is in communication connection with a remote controller of the walking chassis assembly; the walking chassis assembly adopts a crawler-type chassis assembly.
In the pruning process, the robot cannot ensure that the robot does circumferential motion relative to the fruit trees, namely, the pruning sequence is inconvenient to control.
Disclosure of Invention
In order to solve the technical problems, the technical scheme solves the problem of orderly pruning along the circumferential direction of the pear trees.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
a device for pruning branches on the back for pear tree planting comprises a self-walking component; the image acquisition assembly is arranged on the self-walking assembly and is used for collecting the information of the growth of the branches and tendrils of the pear trees; the scissor type mechanical arm is arranged on the self-walking component and is used for pruning back branches and upper branches according to the branch and vine growth information; the first visual camera is arranged at the working end of the scissor type mechanical arm and used for identifying the back upper branch position during trimming; the self-walking assembly, the image acquisition assembly, the scissor type mechanical arm and the first vision camera are electrically connected with the controller; still including the location coupling assembling, the location coupling assembling sets up on from the walking subassembly, and under operating condition, location coupling assembling work end is connected with the fruit tree trunk along radial.
Preferably, the positioning and connecting assembly comprises a jaw piece and a connecting rod assembly, the connecting rod assembly is arranged on the self-walking assembly along the trunk radial direction, the other end of the connecting rod assembly is fixedly connected with the jaw piece connecting portion, the connecting rod assembly clamping opening is arranged along the horizontal direction, a second visual camera used for monitoring the position of the trunk is arranged on the jaw piece, and the second visual camera is electrically connected with the controller.
Preferably, the clamping jaw further comprises a semicircular plate, the inner arc surfaces of the semicircular plate are symmetrically arranged on two sides of the clamping opening of the clamping jaw piece, and the axis of the semicircular plate is vertical in the working state.
Preferably, the intrados of semicircle board is at interval equipartition have with its coaxial and can the pivoted change the roller.
Preferably, the device also comprises a radial force detection piece capable of monitoring the radial clamping force of the semicircular plates on the two sides of the clamping opening of the clamping jaw piece, wherein the radial force detection piece comprises a fixing plate and a fixing pin, the fixing plate is fixedly arranged on the two sides of the clamping opening of the clamping jaw piece, and the semicircular plates are in sliding fit with the fixing plate along the horizontal direction through the fixing pin; the spring is coaxially sleeved on the fixing pin, and two ends of the spring are respectively abutted against the outer arc surface of the semi-circular plate and one side of the fixing plate; pressure sensor, pressure sensor are fixed to be set up on fixed plate or semicircle board extrados, and pressure sensor is located between fixed plate and the semicircle board, and under the non-state, pressure sensor work end and fixed plate or semicircle board extrados conflict cooperation, and pressure sensor is connected with the controller electricity.
Preferably, the connecting rod assembly is an electric push rod, a rod body of the electric push rod is fixedly connected with the self-walking assembly, and the end part of an output shaft of the electric push rod is fixedly connected with the clamping jaw piece.
Preferably, the wrench connecting piece is coaxially and flexibly connected with the jaw piece and the connecting rod component and comprises a fixed cylinder, wherein the fixed cylinder is fixedly arranged at the installation side of the jaw piece, a first rotating hole, a second rotating hole and a third rotating hole are sequentially and coaxially arranged in the fixed cylinder towards the outer end, and the inner diameters of the first rotating hole, the second rotating hole and the third rotating hole are sequentially increased; the rotating rod is coaxially and rotatably arranged in the first rotating hole; the mounting cylinder is coaxially and fixedly arranged at the outer end of the rotating rod and is coaxially and rotatably matched with the third rotating hole, and the connecting rod component is coaxially and fixedly connected with the mounting cylinder; the limiting ring is coaxially and fixedly arranged at the outer end of the third rotating hole, and the inner circumferential surface of the limiting ring is in coaxial clearance fit with the circumference of the connecting rod assembly; and the two ends of the torsion spring are respectively fixedly connected with the inner end of the second rotating hole and the inner end of the mounting cylinder.
Preferably, the self-walking device further comprises a rotating assembly used for deflecting and positioning the connecting assembly relative to the self-walking assembly along the vertical direction, wherein the rotating assembly comprises a rotating seat, and the rotating seat is fixedly arranged on the self-walking assembly; the mounting frame is fixedly connected with the positioning connecting assembly and is provided with a rotating shaft which is in rotating fit with the rotating seat along the vertical direction; first servo motor, first servo motor are fixed to be set up on from the walking subassembly, and its output shaft and the coaxial fixed connection of axis of rotation one end.
Preferably, the self-walking device further comprises a transverse and longitudinal moving assembly capable of moving the positioning and connecting assembly in the vertical and horizontal directions, the transverse and longitudinal moving assembly comprises a sliding plate and a guide rail, the sliding plate is arranged at the top of the self-walking assembly in a sliding mode in the vertical direction through the guide rail, and one side of the sliding plate is provided with an internal thread fixing lug with a vertical axis; the screw rod is rotatably arranged on the self-walking assembly along the vertical direction and is in rotary fit with the shaft; the second servo motor is fixedly arranged on the self-walking assembly, and an output shaft of the second servo motor is coaxially and fixedly connected with one end of the screw rod; the ball screw sliding table is arranged on one side of the sliding plate along the horizontal direction, the working end of the ball screw sliding table can move along the horizontal direction, and the positioning connecting assembly is fixedly connected with the working end of the ball screw sliding table.
A pruning device and a pruning method for the branches on the back of pear trees are disclosed, which comprises the following steps,
step one, driving the clamping jaw piece to move to one side of the fruit tree;
step two, starting a first servo motor to enable the electric push rod to deflect in the vertical direction until the electric push rod is horizontal;
starting a second visual camera to observe whether the clamping jaw piece is radial along the trunk of the fruit tree or not, and starting a second servo motor and a ball screw sliding table to enable the positioning connecting assembly to move in the vertical and horizontal directions;
step four, starting the electric push rod to enable an output shaft of the electric push rod to drive the clamping jaw piece clamping opening to move to the outer side of the trunk;
step five, starting the clamping jaw piece to enable the clamping opening of the clamping jaw piece to be coaxially clamped outside the trunk through the semicircular plate;
starting the self-walking assembly to enable the self-walking assembly to move on the outer side of the trunk along the circumferential direction through the connecting rod assembly, and starting the image acquisition assembly in the circumferential moving process so as to identify the growth condition of branches and tendrils of the fruit tree;
and step seven, when the self-walking assembly completes circumferential motion outside the fruit tree and information collection of the image acquisition assembly is completed, the scissor type mechanical arm is started, so that the scissor type mechanical arm can move along a circumferential track, and the working end of the scissor type mechanical arm trims the back branches in the process.
Compared with the prior art, the invention has the beneficial effects that:
the device can cut branches on the outer side of the fruit tree along the circumferential motion, the precision is high, and specifically, the clamping jaw piece is driven to move to one side of the fruit tree; starting a first servo motor to enable the electric push rod to deflect along the vertical direction until the electric push rod is horizontal, namely enabling the clamping opening of the clamping jaw piece to be horizontal; observing whether the clamping jaw piece is radial along the trunk of the fruit tree or not through a second visual camera, and starting a second servo motor and a ball screw sliding table to enable the positioning and connecting assembly to move in the vertical and horizontal directions; the clamping opening of the clamping jaw piece is aligned to the trunk along the radial direction, and the electric push rod is started, so that the output shaft of the electric push rod drives the clamping jaw piece to move to the outer side of the trunk; starting the clamping jaw piece to enable the clamping opening to drive the semi-circular plates to move close to each other, namely the rotating roller and the semi-circular plates are in coaxial abutting connection with the outer side of the trunk, in the process, if the trunk is in a non-upright state, the rotating rod is enabled to rotate coaxially relative to the fixed cylinder, the fixed cylinder and the mounting cylinder are enabled to overcome torsion of a torsion spring, the clamping jaw piece is enabled to clamp the trunk in the same axial direction all the time, and when the pressure sensor detects that the pressure is too high, the clamping opening of the clamping jaw piece stops being folded, so that the clamping jaw piece is prevented from excessively clamping the trunk; starting the self-walking assembly to enable the self-walking assembly to move along the circumferential direction on the outer side of the trunk through the connecting rod assembly, and starting the image acquisition assembly in the circumferential moving process so as to identify the growth condition of the branches and tendrils of the fruit tree; when accomplishing circumferential motion in the fruit tree outside from the walking subassembly, and when image acquisition subassembly information collection was accomplished, start scissors formula arm, make its working end prune the back of the body branches of shang, make scissors formula arm can move along the circumference orbit, carry out circumference pruning to the fruit tree through positioning connection subassembly promptly, and at the pruning in-process, relative position between first vision camera can real-time supervision scissors formula arm working end and the back of the body branches of shang, thereby be convenient for accurate pruning, compare current artifical or other pruning equipment, accurate pruning when this equipment can be followed circumferential motion in the fruit tree outside, can adapt to the fruit tree of different growth gestures.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is a cross-sectional view at section E-E of FIG. 2;
FIG. 4 is an enlarged view of a portion of FIG. 3 at F;
FIG. 5 is an enlarged view of a portion of FIG. 3 at G;
FIG. 6 is a perspective view of the positioning connection assembly of the present invention;
FIG. 7 is an enlarged view of a portion of FIG. 6 at H;
FIG. 8 is a top view of the positioning connection assembly of the present invention;
FIG. 9 is an enlarged view of a portion of FIG. 8 at I;
fig. 10 is a front view of the jaw member of the present invention.
The reference numbers in the figures are:
a-a self-walking assembly;
b-an image acquisition component;
c-a scissor-type mechanical arm;
d-a first vision camera;
1-a jaw member; 1 a-a second vision camera;
2-a link bar assembly;
3-a semicircular plate;
4-rolling;
5-a radial force detection member; 5 a-a fixing plate; 5 b-a fixed pin; 5 c-a spring; 5 d-pressure sensor;
6-twist connection; 6 a-a fixed cylinder; 6a 1-first rotation aperture; 6a2 — second rotation hole; 6a 3-third rotation hole; 6 b-rotating rod; 6 c-mounting the cylinder; 6 d-a spacing ring; 6 e-torsion spring;
7-a rotating assembly; 7 a-a rotating seat; 7 b-a mounting frame; 7b 1-rotating shaft; 7 c-a first servomotor;
8-transverse and longitudinal movement component; 8 a-a sliding plate; 8a 1-internal thread fixing lug; 8 b-a guide rail; 8 c-a screw rod; 8 d-a second servo motor; 8 e-ball screw sliding table.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.
Referring to fig. 1, the device for cutting branches on the back of a pear tree for planting comprises a self-walking assembly A;
the image acquisition component B is arranged on the self-walking component A and is used for collecting the information of the growth of the branches and tendrils of the pear trees;
the scissor type mechanical arm C is arranged on the self-walking assembly A and is used for pruning back branches and upper branches according to the branch and vine growth information;
the first visual camera D is arranged at the working end of the scissor type mechanical arm C and is used for identifying the back upper branch position during pruning;
the self-walking component A, the image acquisition component B, the scissor type mechanical arm C and the first vision camera D are electrically connected with the controller;
still including the location coupling assembling, the location coupling assembling sets up on from walking subassembly A, and under operating condition, location coupling assembling work end is connected with the fruit tree trunk along radial.
When pruning, the clamping jaw piece 1 is moved to one side of a pear tree, the clamping jaw piece 1 can be controlled by a wired or wireless mode, the positioning connection assembly is started, the working end of the positioning connection assembly is connected with the bottom of the trunk of the fruit tree along the radial direction, and the self-walking assembly A only can move circumferentially relative to the fruit tree due to the positioning connection effect, so that the self-walking assembly A can be prevented from deviating from the fruit tree relatively in the pruning process, and back and upper branches cannot be pruned orderly and accurately;
when the self-walking component A moves circumferentially on the outer side of the fruit tree through the positioning connecting component, the image acquisition component B can collect the growth condition of branches and tendrils of the fruit tree in real time, so that the back branches and the upper branches can be conveniently identified;
when the self-walking component A completes circumferential motion outside a fruit tree and the information collection of the image acquisition component B is completed, the scissor type mechanical arm C is started, the working end of the scissor type mechanical arm C is enabled to trim an upper back branch, the scissor type mechanical arm C can move along a circumferential track, namely circumferential pruning is conducted on the fruit tree through the positioning and connecting component, and in the pruning process, the first visual camera D can monitor the relative position between the working end of the scissor type mechanical arm C and the upper back branch in real time, so that accurate pruning is facilitated;
the top end of the self-walking component A can be provided with a jacking frame for jacking the scissor type mechanical arm C along the vertical direction, so that the self-walking component A can be adapted to shear branches on the back with different heights.
As shown in fig. 1 and 5, the positioning connection assembly comprises a jaw member 1 and a connecting rod assembly 2, the connecting rod assembly 2 is fixedly arranged on the self-walking assembly a along the radial direction of the trunk, the other end of the connecting rod assembly 2 is fixedly connected with a connecting part of the jaw member 1, a clamping opening of the connecting rod assembly 2 is arranged along the horizontal direction, a second visual camera 1a used for monitoring the position of the trunk is arranged on the jaw member 1, and the second visual camera 1a is electrically connected with the controller.
As shown in fig. 10, the clamping jaw further comprises a semicircular plate 3, the inner arc surfaces of the semicircular plate 3 are symmetrically arranged at two sides of the clamping opening of the clamping jaw member 1, and the axis of the semicircular plate 3 is vertical in the working state.
Thereby when 2 centre gripping mouths of connecting rod subassembly are along radially drawing close the centre gripping trunk, semicircle board 3 can be with axial centre gripping trunk, prevent from walking subassembly A at the removal in-process, connecting rod subassembly 2 along radially breaking away from the trunk to improve the trunk and from walking subassembly A's the stability of being connected, guarantee to be able to do circumferential motion in the trunk outside from walking subassembly A.
As shown in fig. 7, rollers 4 which are coaxial with the semicircular plate 3 and can rotate are uniformly distributed at intervals on the inner arc surface of the semicircular plate.
The interior cambered surface interval equipartition of semicircle board 3 has rather than coaxial direction and can pivoted change roller 4, when semicircle board 3 along radial centre gripping trunk, change roller 4 can be with the axial butt in the trunk outside, when the relative trunk of semicircle board 3 makes circular motion, because of change roller 4 with the axial roll setting at the 3 interior cambered surfaces of semicircle board, and can reduce the frictional force between 3 interior cambered surfaces of semicircle board and the trunk, thereby be convenient for semicircle board 3 to take place to rotate, prevent because of semicircle board 3 at trunk outside centre gripping and rotation, and the bark that wears out, influence the growth of fruit tree.
As shown in fig. 8 and 9, the clamping jaw further comprises a radial force detecting member 5 capable of monitoring the radial clamping force of the semicircular plates 3 at two sides of the clamping opening of the clamping jaw member 1, the radial force detecting member 5 comprises,
the fixing plate 5a is fixedly arranged on two sides of a clamping opening of the clamping jaw piece 1, and the semicircular plate 3 is in sliding fit with the fixing plate 5a in the horizontal direction through the fixing pin 5 b;
the spring 5c is coaxially sleeved on the fixing pin 5b, and two ends of the spring 5c are respectively abutted against the outer arc surface of the semicircular plate 3 and one side of the fixing plate 5 a;
When the clamping jaw piece 1 clamps the trunk through the semicircular plate 3 along the radial direction, because the thickness degree of the trunk of each fruit tree is different, so that the clamping force of the jaw member 1 cannot be effectively controlled, and the semicircular plate 3 is slidably disposed at one side of the fixed plate 5a in the horizontal direction by the fixing pin 5b, and the pressure sensor 5d is arranged between the fixed plate 5a and the fixed pin 5b, and the working end of the pressure sensor 5d is in interference fit with the fixed plate 5a or the fixed pin 5b, when the clamping openings of the clamping jaw members 1 are folded, the semi-circular plates 3 clamp the trunk along the radial direction, so that the semi-circular plates 3 compress the springs 5c along the radial direction of the trunk, namely, the distance between the fixed plate 5a and the outer cambered surface of the semicircular plate 3 is a clearance, so that the pressure sensor 5d can detect the pressure value of the working end in real time, a signal is generated to the controller, the controller controls the opening and closing of the clamping jaw member 1 in real time, thereby preventing the jaw members 1 from holding too much or too little to effectively connect the connector rod assembly 2 to the trunk.
As shown in fig. 3, the connecting rod assembly 2 is an electric push rod, a rod body of the electric push rod is fixedly connected with the self-walking assembly a, and an end part of an output shaft of the electric push rod is fixedly connected with the jaw piece 1.
As shown in fig. 2 and 4, the wrench connecting piece 6 for coaxially and flexibly connecting the jaw member 1 and the connecting rod assembly 2 is further included, the wrench connecting piece 6 includes,
the fixed cylinder 6a is fixedly arranged at the mounting side of the jaw piece 1, a first rotating hole 6a1, a second rotating hole 6a2 and a third rotating hole 6a3 are coaxially arranged in sequence from the inner side to the outer side, and the inner diameters of the first rotating hole 6a1, the second rotating hole 6a2 and the third rotating hole 6a3 are sequentially increased;
a rotating rod 6b, the rotating rod 6b being coaxially rotatably provided in the first rotating hole 6a 1;
the mounting cylinder 6c is coaxially and fixedly arranged at the outer end of the rotating rod 6b and is coaxially and rotatably matched with the third rotating hole 6a3, and the connecting rod assembly 2 is coaxially and fixedly connected with the mounting cylinder 6 c;
the limiting ring 6d is coaxially and fixedly arranged at the outer end of the third rotating hole 6a3, and the inner circumferential surface of the limiting ring is in coaxial clearance fit with the circumference of the connecting rod component 2;
and the torsion spring 6e is coaxially sleeved on the rotating rod 6b, and two ends of the torsion spring 6e are respectively and fixedly connected with the inner end of the second rotating hole 6a2 and the inner end of the mounting cylinder 6 c.
The trunk growth conditions of different fruit trees are different, the vertical degree of the trunk is different, when the connecting rod assembly 2 clamps the trunk deviating from the vertical direction along the horizontal radial direction, the connecting rod assembly 2 cannot move in the circumferential direction under the influence of the torque force, when the fixing cylinder 6a is fixedly arranged at the mounting side of the clamping jaw piece 1, the rotating rod 6b and the mounting cylinder 6c are coaxially and rotatably arranged in the first rotating hole 6a1 and the second rotating hole 6a2, and the limiting ring 6d can prevent the limiting ring 6d from axially separating from the fixing cylinder 6a, namely, the clamping jaw piece 1 and the connecting rod assembly 2 can be coaxially and rotatably connected, and the fixing cylinder 6a and the mounting cylinder 6c are coaxially and elastically connected, namely, when the trunk deviates from the vertical direction, the clamping jaw piece 1 clamps the trunk along the horizontal radial direction, the torsional spring 6e can eliminate the axial torque force thereof, thereby the connecting rod assembly 2 can move in the circumferential direction along the horizontal direction, and when the connecting rod assembly 2 stops clamping, the torsional spring 6e restores to deform for the connecting rod assembly 2 centre gripping mouth can resume to the horizontality, thereby is convenient for the trunk of the different upright degree of centre gripping.
As shown in fig. 5 and 6, a rotating assembly 7 for deflecting the positioning connecting assembly in a vertical direction with respect to the self-walking assembly a is further included, the rotating assembly 7 includes,
the rotating seat 7a is fixedly arranged on the self-walking assembly A;
the mounting rack 7b is fixedly connected with the positioning connecting assembly, and a rotating shaft 7b1 which is in rotating fit with the rotating seat 7a along the vertical direction is arranged on the mounting rack 7 b;
the first servo motor 7c is fixedly arranged on the self-walking assembly A, and an output shaft of the first servo motor 7c is coaxially and fixedly connected with one end of the rotating shaft 7b 1.
Positioning connection subassembly sets up on from walking subassembly A, make positioning connection subassembly can radially connect the trunk, and when from walking subassembly A when moving, the level sets up the stability that can't guarantee to move from walking subassembly A at positioning connection subassembly, and can receive positioning connection subassembly and in from walking subassembly A one side through runner assembly 7, thereby guarantee from walking subassembly A's stability, when needs use positioning connection subassembly promptly, start first servo motor 7c, make its output shaft drive axis of rotation 7b1 coaxial rotation ninety degrees on rotating seat 7a, even make mounting bracket 7b drive positioning connection subassembly and rotate seat 7a relatively and rotate ninety degrees, make positioning connection subassembly can connect the trunk along the horizontal direction and from walking subassembly A.
As shown in fig. 2, 3 and 5, a transverse and longitudinal moving assembly 8 capable of moving the positioning and connecting assembly in the vertical and horizontal directions is further included, the transverse and longitudinal moving assembly 8 includes,
the sliding plate 8a is arranged at the top of the self-walking assembly A in a sliding mode along the vertical direction through the guide rail 8b, and one side of the sliding plate 8a is provided with an internal thread fixing lug 8a1 with a vertical axis;
the screw rod 8c is rotationally arranged on the self-walking assembly A along the vertical direction, and the screw rod 8c is coaxially and rotationally matched with the screw rod 8e 1;
the second servo motor 8d is fixedly arranged on the self-walking assembly A, and an output shaft of the second servo motor 8d is coaxially and fixedly connected with one end of the screw rod 8 c;
ball screw slip table 8e, ball screw slip table 8e set up in sliding plate 8a one side along the horizontal direction, and ball screw slip table 8e working end can remove along the horizontal direction, and positioning connection subassembly and ball screw slip table 8 e's working end fixed connection.
The trunk bottom can be by the position height difference of radial centre gripping of clamping jaw spare 1, start second servo motor 8d, can make its output shaft drive lead screw 8c rotate along vertical direction on from walking subassembly A, and the coaxial screw of internal thread fixing ear 8a1 and lead screw 8c connects, and sliding plate 8a slides the setting at from walking subassembly A top along vertical direction through guide rail 8b, even make second servo motor 8d can follow vertical direction and go up and down, thereby can adjust the vertical height of positioning connection subassembly's work end, thereby be convenient for adapt to the not trunk of co-altitude of centre gripping, and start second servo motor 8d, can make its end drive positioning connection subassembly remove along the horizontal direction, thereby finely tune the horizontal position between trunk and the self-walking subassembly A.
A pruning device and a pruning method for the branches on the back of pear trees are disclosed, which comprises the following steps,
step one, driving the clamping jaw piece 1 to move to one side of a fruit tree;
step two, starting a first servo motor 7c to enable the electric push rod to deflect in the vertical direction until the electric push rod is horizontal;
step three, starting a second visual camera 1a to observe whether the clamping jaw piece 1 is radial along the trunk of the fruit tree or not, and starting a second servo motor 8d and a ball screw sliding table 8e to enable the positioning and connecting assembly to move in the vertical and horizontal directions;
step four, starting the electric push rod to enable an output shaft of the electric push rod to drive the clamping opening of the clamping jaw piece 1 to move to the outer side of the trunk;
step five, starting the clamping jaw piece 1 to enable a clamping opening of the clamping jaw piece to be coaxially clamped outside the trunk through the semicircular plate 3;
starting the self-walking component A to enable the self-walking component A to move on the outer side of the trunk along the circumferential direction through the connecting rod component 2, and starting the image acquisition component B in the circumferential moving process, so that the growth condition of branches and tendrils of the fruit tree is identified;
and seventhly, when the self-walking assembly A completes circumferential motion outside the fruit tree and the information collection of the image acquisition assembly B is completed, starting the scissor type mechanical arm C, enabling the scissor type mechanical arm C to move along a circumferential track, and enabling the working end of the scissor type mechanical arm C to trim back branches and upper branches in the process.
The working principle of the invention is as follows:
the device realizes the functions of the invention through the following steps, thereby solving the technical problems provided by the invention:
step one, driving the clamping jaw piece 1 to move to one side of a fruit tree;
step two, starting the first servo motor 7c to enable the electric push rod to deflect along the vertical direction until the electric push rod is horizontal, namely enabling the clamping opening of the clamping jaw piece 1 to be horizontal;
thirdly, observing whether the clamping jaw piece 1 is radial along the trunk of the fruit tree or not through the second visual camera 1a, and starting the second servo motor 8d and the ball screw sliding table 8e to enable the positioning and connecting assembly to move in the vertical and horizontal directions;
step four, enabling the clamping opening of the clamping jaw piece 1 to be aligned to the trunk along the radial direction, and starting the electric push rod to enable the output shaft of the electric push rod to drive the clamping jaw piece 1 to move to the outer side of the trunk;
step five, starting the clamping jaw piece 1 to enable the clamping opening to drive the semi-circular plates 3 to approach towards each other, namely the rotating roller 4 and the semi-circular plates 3 are abutted against the outer side of the trunk in the same axial direction, in the process, if the trunk is in a non-upright state, the rotating rod 6b is enabled to rotate coaxially relative to the fixed cylinder 6a, namely the fixed cylinder 6a and the installation cylinder 6c overcome the torsion of the torsion spring 6e, the clamping jaw piece 1 is enabled to clamp the trunk in the same axial direction all the time, and when the pressure sensor 5d detects that the pressure is too high, the clamping opening of the clamping jaw piece 1 stops being folded, so that the clamping jaw piece 1 is prevented from excessively clamping the;
starting the self-walking component A to enable the self-walking component A to move on the outer side of the trunk along the circumferential direction through the connecting rod component 2, and starting the image acquisition component B in the circumferential moving process, so that the growth condition of branches and tendrils of the fruit tree is identified;
seventhly, when the self-walking assembly A completes circumferential motion outside the fruit tree and the information collection of the image acquisition assembly B is completed, the scissor type mechanical arm C is started, the working end of the scissor type mechanical arm C is enabled to trim the back upper branches, the scissor type mechanical arm C can move along a circumferential track, circumferential pruning is conducted on the fruit tree through the positioning connection assembly, in addition, in the pruning process, the relative position between the working end of the scissor type mechanical arm C and the back upper branches can be monitored in real time through the first vision camera D, and therefore accurate pruning is facilitated.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A device for pruning branches on the back for pear tree planting, which comprises,
a self-walking assembly (A);
the image acquisition assembly (B) is arranged on the self-walking assembly (A) and is used for collecting the information of the growth of the branches and tendrils of the pear trees;
the scissor type mechanical arm (C) is arranged on the self-walking component (A) and is used for trimming back branches and upper branches according to the branch and vine growth information;
the first visual camera (D) is arranged at the working end of the scissor type mechanical arm (C) and used for identifying the back-to-upper branch position during trimming;
the self-walking assembly (A), the image acquisition assembly (B), the scissor type mechanical arm (C) and the first vision camera (D) are electrically connected with the controller;
the fruit tree self-walking device is characterized by further comprising a positioning connecting assembly, wherein the positioning connecting assembly is arranged on the self-walking assembly (A), and the working end of the positioning connecting assembly is connected with a fruit tree trunk along the radial direction in a working state.
2. The device for pruning the upper back of the tree for pear tree planting according to claim 1, wherein the positioning and connecting assembly comprises a clamping jaw piece (1) and a connecting rod assembly (2), the connecting rod assembly (2) is fixedly arranged on the self-walking assembly (A) along the radial direction of the tree trunk, the other end of the connecting rod assembly (2) is fixedly connected with a connecting part of the clamping jaw piece (1), a clamping opening of the connecting rod assembly (2) is arranged along the horizontal direction, a second visual camera (1a) for monitoring the position of the tree trunk is arranged on the clamping jaw piece (1), and the second visual camera (1a) is electrically connected with the controller.
3. The back upper branch pruning device for pear tree planting according to claim 2, characterized by further comprising a semicircular plate (3), wherein the inner arc surfaces of the semicircular plate (3) are symmetrically arranged at two sides of the clamping opening of the clamping jaw member (1), and the axis of the semicircular plate (3) is vertical in the working state.
4. The pruning device for the pear tree planting according to the claim 3, characterized in that the inner arc surfaces of the semicircular plates (3) are uniformly distributed with rotating rollers (4) which are coaxial and can rotate.
5. The device for pruning branches on the back for pear tree planting according to the claim 3, characterized in that, the device also comprises a radial force detecting piece (5) which can monitor the radial clamping force of the semicircular plates (3) at the two sides of the clamping opening of the clamping jaw piece (1), the radial force detecting piece (5) comprises,
the clamping jaw comprises a fixing plate (5a) and fixing pins (5b), wherein the fixing plate (5a) is fixedly arranged on two sides of a clamping opening of the clamping jaw piece (1), and the semicircular plate (3) is in sliding fit with the fixing plate (5a) along the horizontal direction through the fixing pins (5 b);
the spring (5c) is coaxially sleeved on the fixing pin (5b), and two ends of the spring (5c) are respectively abutted against the outer arc surface of the semicircular plate (3) and one side of the fixing plate (5 a);
pressure sensor (5d), pressure sensor (5d) are fixed to be set up on fixed plate (5a) or semicircle board (3) extrados, and pressure sensor (5d) are located between fixed plate (5a) and semicircle board (3), and under the non-state, pressure sensor (5d) work end contradicts the cooperation with fixed plate (5a) or semicircle board (3) extrados, and pressure sensor (5d) are connected with the controller electricity.
6. The device for pruning upper back branches for pear tree planting according to claim 2, characterized in that the connecting rod assembly (2) is an electric push rod, the rod body of the electric push rod is fixedly connected with the self-walking assembly (A), and the end part of the output shaft of the electric push rod is fixedly connected with the clamping jaw member (1).
7. The device for pruning upper back branches for pear tree plantation according to the claim 1, characterized in that, it also includes a torsion connector (6) coaxially and flexibly connecting the clamping jaw member (1) and the connecting rod assembly (2), the torsion connector (6) includes,
the fixing cylinder (6a) is fixedly arranged on the mounting side of the clamping jaw piece (1), a first rotating hole (6a1), a second rotating hole (6a2) and a third rotating hole (6a3) are sequentially and coaxially arranged in the fixing cylinder (6a) from the inner end to the outer end, and the inner diameters of the first rotating hole (6a1), the second rotating hole (6a2) and the third rotating hole (6a3) are sequentially increased;
a rotating rod (6b), wherein the rotating rod (6b) is coaxially and rotatably arranged in the first rotating hole (6a 1);
the mounting cylinder (6c) is coaxially and fixedly arranged at the outer end of the rotating rod (6b) and is coaxially and rotatably matched with the third rotating hole (6a3), and the connecting rod assembly (2) is coaxially and fixedly connected with the mounting cylinder (6 c);
the limiting ring (6d) is coaxially and fixedly arranged at the outer end of the third rotating hole (6a3), and the inner circumferential surface of the limiting ring is in coaxial clearance fit with the circumference of the connecting rod assembly (2);
and the torsion spring (6e), the torsion spring (6e) is coaxially sleeved on the rotating rod (6b), and two ends of the torsion spring (6e) are respectively fixedly connected with the inner end of the second rotating hole (6a2) and the inner end of the mounting cylinder (6 c).
8. A pruning apparatus for pear tree plantation according to claim 1, further comprising a rotating assembly (7) for deflecting and positioning the connecting assembly in vertical direction with respect to the self-walking assembly (A), the rotating assembly (7) comprising,
the rotating seat (7a), the rotating seat (7a) is fixedly arranged on the self-walking assembly (A);
the mounting rack (7b) is fixedly connected with the positioning connecting assembly, and a rotating shaft (7b1) which is in rotating fit with the rotating seat (7a) along the vertical direction is arranged on the mounting rack (7 b);
the first servo motor (7c), the first servo motor (7c) is fixedly arranged on the self-walking assembly (A), and the output shaft of the first servo motor is coaxially and fixedly connected with one end of the rotating shaft (7b 1).
9. The device for pruning the branches of the backs of the pears for planting according to the claim 1, characterized in that it further comprises a transverse and longitudinal moving assembly (8) capable of moving the positioning and connecting assembly in the vertical and horizontal directions, the transverse and longitudinal moving assembly (8) comprises,
the self-walking assembly comprises a sliding plate (8a) and a guide rail (8b), wherein the sliding plate (8a) is arranged at the top of the self-walking assembly (A) in a sliding mode along the vertical direction through the guide rail (8b), and one side of the sliding plate (8a) is provided with an internal thread fixing lug (8a1) with a vertical axis;
the screw rod (8c) is rotationally arranged on the self-walking assembly (A) along the vertical direction, and the screw rod (8c) is coaxially and rotationally matched with the 8e 1;
the second servo motor (8d) is fixedly arranged on the self-walking assembly (A), and an output shaft of the second servo motor (8d) is coaxially and fixedly connected with one end of the screw rod (8 c);
ball screw slip table (8e), ball screw slip table (8e) set up in sliding plate (8a) one side along the horizontal direction, and ball screw slip table (8e) working end can remove along the horizontal direction, and the positioning connection subassembly is connected with the working end fixed connection of ball screw slip table (8 e).
10. The pruning device and method for the upper back branches for pear tree planting according to any one of claims 1 to 9, characterized by comprising the following steps,
step one, driving the clamping jaw piece (1) to move to one side of a fruit tree;
step two, starting a first servo motor (7c) to enable the electric push rod to deflect along the vertical direction until the electric push rod is horizontal;
starting a second visual camera (1a) to observe whether the jaw piece (1) is radial along the trunk of the fruit tree or not, and starting a second servo motor (8d) and a ball screw sliding table (8e) to enable the positioning connection assembly to move in the vertical and horizontal directions;
step four, starting the electric push rod to enable an output shaft of the electric push rod to drive the clamping mouth of the clamping jaw piece (1) to move to the outer side of the trunk;
step five, starting the clamping jaw piece (1) to enable the clamping opening to be coaxially clamped outside the trunk through the semicircular plate (3);
starting the self-walking assembly (A) to enable the self-walking assembly (A) to move on the outer side of the trunk along the circumferential direction through the connecting rod assembly (2), and starting the image acquisition assembly (B) in the circumferential moving process so as to identify the growth condition of branches and tendrils of the fruit tree;
and seventhly, when the self-walking component (A) completes circumferential motion outside the fruit tree and the information collection of the image acquisition component (B) is completed, the scissor type mechanical arm (C) is started, so that the scissor type mechanical arm (C) can move along a circumferential track, and the working end of the scissor type mechanical arm (C) trims the back branches and the upper branches in the process.
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| CN113099875B (en) | 2023-10-10 |
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