CN115067099A

CN115067099A - Apple flower thinning machine

Info

Publication number: CN115067099A
Application number: CN202110278099.1A
Authority: CN
Inventors: 杨福增; 曹亚州; 郭惠萍
Original assignee: Northwest A&F University
Current assignee: Northwest A&F University
Priority date: 2021-03-15
Filing date: 2021-03-15
Publication date: 2022-09-20

Abstract

The invention provides an apple flower thinning machine which can solve the technical problems of high labor intensity, more medicine residues and the like of the existing apple flower thinning on the premise of meeting the requirement of apple flower thinning. The flower thinning machine is provided with a center cover, the center cover is fixedly installed on a clamping device through a bolt, and a fixing ring, a laser transmitter and a laser transmitter which are installed outside the center cover are installed on the fixing ring.

Description

Apple flower thinning machine

Technical Field

The invention relates to the field of flower thinning by agricultural robots, in particular to an apple flower thinning machine.

Background

The apple fruit trees need flower thinning and fruit thinning in the production management process, and the aims of adjusting the fruit yield, improving the fruit quality, regulating and controlling the fruit trees to grow in large and small years and strengthening the tree vigor are fulfilled so as to obtain high yield, stable yield, high quality and high benefit. The current flower thinning mode mainly comprises two modes of artificial flower thinning and chemical flower thinning. The artificial flower thinning is to adjust the flower amount from the re-shearing before the flower, so that the flowers with excessive density, excessive weakness and poor development can be thinned out when the flower buds sprout, more flowers formed by the secondary tips of the fruit stands and more flowers on the medium-long fruit branches are reserved, and the drooping high-stump fruits can be grown. The chemical flower thinning is to spray flower thinning medicaments such as intelligent flower relaxing for the 1 st time in the early stage of full flower blooming (namely 75% -85% of the central flowers are bloomed), spray flower thinning medicaments such as intelligent flower relaxing for the 2 nd time in the full flower blooming period (namely 75% of the flowers in the whole tree are bloomed), and spray flowers with more axillary buds for one time in the last stage of full flower blooming (namely more than 95% of the flowers in the whole tree are bloomed). The labor intensity of manual flower thinning is high, and the working efficiency is low; chemical thinning has drug residues and has requirements on weather, temperature and pollination conditions.

Disclosure of Invention

The invention aims to solve the technical problems that in the prior art, apple flower thinning labor intensity is high, production cost is high, medicine residue is large and the like, and provides an apple flower thinning machine which is driven by a motor and conducts laser flower thinning to inactivate apple side flowers while ensuring that central flowers are not affected, and in addition, a plurality of laser transmitters 3 can be provided with a laser generator 12, so that the structure is simplified, and the cost is reduced.

In order to achieve the purpose, the invention is realized by adopting the following technical scheme.

A tail end executing mechanism of an apple flower thinning mechanical device comprises a central cover 1, a fixing ring 2 and a laser emitter 3, wherein six clamping grooves 4 are distributed on the fixing ring 2, an included angle between the two grooves is 60 degrees, fillets are formed in notches, and bolt holes are distributed among the clamping grooves 4; the bottom of the central cover 1 is internally and externally chamfered with round corners; the tail part of the central cover 1 is provided with two bolt holes and a positioning hole, and the bolt holes are distributed on two sides of the positioning hole; positioning grooves are formed in two side edges of the tail portion of the center cover 1, a round angle is formed in the top portion of the center cover, the center cover 1 can cover the center flower during working, the center flower is protected, and meanwhile the position of the laser emitter 3 is positioned.

Furthermore, the clamping device consists of a clamping claw 9, a side rod group, a fixed connecting rod 10 and a rotating base 6. The front end of the clamping claw 9 is provided with a bolt hole and a positioning hole, the side edge is provided with a positioning groove, the front end of the fixed connecting rod 10 is connected with the clamping claw, and the rear end of the fixed connecting rod is connected with the rotating base 6 to form a four-bar mechanism for fixing. The side pole group comprises rocker 7 and connecting rod 8, and connecting rod 8 front end and gripper jaw 9 are connected, and the rear end links to each other with

rocker

7, and 7 tail ends of rocker and rotating base 6 are connected, and the during operation can arrange the fixed connecting rod 10 of different length, satisfies actual demand, can share the moment when rotating base 6 rotates simultaneously. The rotary base 6 can drive the side rod group and the fixed connecting rod 10 to rotate, so as to drive the clamping claws 9 to enable the central cover 1 and the laser emitter 3 to rotate.

Further, the mechanical arm 11 has a three-section structure, the front end of the mechanical arm 11 is connected with the rotating base 6, and the rotating base 6 can be driven to rotate during working; the mechanical arm 11 can rotate between each stage, so that the center flower can be positioned conveniently by matching with the tail end executing mechanism.

Further, the robot arm 11 is fixed to a base 13.

Further, the laser generator 12 is fixed on the base 13.

Compared with the prior art, the invention has the advantages and positive effects that:

the utility model provides an apple flower thinning machine device, has simplified the device structure, utilizes mechanical structure to carry out the apple flower thinning, has reduced intensity of labour, utilizes laser to handle the flower simultaneously, has avoided the use to the medicine, and structural design is ingenious, control is nimble, low in production cost.

Drawings

FIG. 1 is a schematic view of an end effector mechanism of the present invention.

FIG. 2 is a schematic view of a clamping device of the present invention.

Fig. 3 is a side view of the present invention.

Shown in the figure: 1-a central shield; 2-fixing the ring; 3-a laser emitter; 4-clamping the groove; 5-bolt holes; 6-rotating the base; 7-a rocker; 8-a connecting rod; 9-a gripper jaw; 10-a fixed link; 11-a mechanical arm; 12-a laser generator; 13-base.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be described in further detail with reference to the accompanying drawings.

Fig. 1, during operation, the central cover 1 can be aligned with the central flower of the apple to position the flower thinning position. When the distance between the central flower and the side flower of the apple is short, the side flower and the central flower can be separated to a certain degree by the central cover 1; when the distance between the central flower and the side flower of the apple is far, the flower stem of the side flower is in the range of the laser emitter 3. Simultaneously, in the course of the work, the solid fixed ring 2 of center cover 1 rotation drive, it is rotatory to drive laser emitter through centre gripping recess 4, flower thinning in-process, center cover 1 is rotatory 65, six laser emitter 3 are rotatory 65 simultaneously, when the center flower is nearer with the side flower distance, the laser beam that laser emitter 3 sent can destroy the side flower, when the center flower is far away with the side flower distance, the laser beam that laser emitter 3 sent can burn off the side flower stem of flower, in order to reach flower thinning's purpose. After the flower thinning is finished, the central cover 1 drives the fixing ring 2 and the laser emitter 3 to rotate reversely and reset so as to facilitate the next flower thinning work.

In the schematic view of fig. 2, the positioning holes and the positioning grooves of the clamping device of the apple flower thinning machine can ensure that the clamping claws 9 and the center cover 1 are accurately positioned, and the clamping claws 9 and the bolts can transmit torque to the center cover 1 to ensure that the center cover 1 normally works. In the working process, the side rod group and the fixed connecting rod 10 drive the clamping claws 9 to rotate under the action of the rotating base 6, the side rod group can ensure that the clamping claws 9 are stressed stably, and small disturbance is reduced in the working process.

Fig. 3 is a side view of the apple flower thinning machine, and a small-sized motor is arranged in the front end of the mechanical arm 11, so that the requirement of rotating and resetting the rotating base 6 during work is met. Before thinning out flowers, can control arm 11 and drive 1 location apple center flowers of center shield, can 360 rotations between 11 every grades of arm, the requirement to 1 angle of center shield when satisfying the apple and thinning out flowers. Meanwhile, the laser generator 12 can provide gas, power and the like in the working process, is connected with the laser emitter 3 through a cable and a pipeline and is fixed on the mechanical arm 11, and the reserved length meets the rotation requirement of the mechanical arm 11. When the laser emitter 12 is reset, the laser generator stops working.

From the above description, the worker can make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the content of the specification, and any modifications and equivalents made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. An apple flower thinning machine is characterized in that: the laser generator comprises a central cover (1), a fixing ring (2), a laser emitter (3), a clamping groove (4), a clamping claw (9), a fixing connecting rod (10), a rotating base (6), a mechanical arm (11), a laser generator (12) and a base (13); six clamping grooves (4) are distributed on the fixing ring (2), the included angle between the two grooves is 60 degrees, the notches are all chamfered with fillets, and bolt holes are distributed between the clamping grooves (4).

2. The apple thinning machine of claim 1, wherein: the front end of the clamping jaw (9) is provided with a bolt hole and a positioning hole, the side edge of the clamping jaw is provided with a positioning groove, the front end of the fixed connecting rod (10) is connected with the clamping jaw (9), and the rear end of the fixed connecting rod is connected with the rotating base (6) to form a four-bar mechanism for fixation; the front end of the connecting rod (8) is connected with the clamping claw (9), the rear end of the connecting rod is connected with the rocker (7), the tail end of the rocker (7) is connected with the rotating base (6), and the connecting rod (10) with different lengths can be matched during working.