CN115316145A - Automatic trimming means of plant - Google Patents
Automatic trimming means of plant Download PDFInfo
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- CN115316145A CN115316145A CN202211046540.4A CN202211046540A CN115316145A CN 115316145 A CN115316145 A CN 115316145A CN 202211046540 A CN202211046540 A CN 202211046540A CN 115316145 A CN115316145 A CN 115316145A
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- 238000009966 trimming Methods 0.000 title claims abstract description 51
- 230000007246 mechanism Effects 0.000 claims abstract description 54
- 238000013138 pruning Methods 0.000 claims description 10
- 239000007921 spray Substances 0.000 claims description 8
- 239000007787 solid Substances 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 15
- 230000008569 process Effects 0.000 abstract description 9
- 239000000306 component Substances 0.000 description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 11
- 239000002420 orchard Substances 0.000 description 6
- 239000008358 core component Substances 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 239000003337 fertilizer Substances 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B2203/00—Details of cleaning machines or methods involving the use or presence of liquid or steam
- B08B2203/02—Details of machines or methods for cleaning by the force of jets or sprays
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- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Harvester Elements (AREA)
Abstract
The invention discloses an automatic plant trimming device, which comprises an adjusting mechanism and a driving mechanism, wherein the adjusting mechanism is arranged on the upper portion of the adjusting mechanism; the adjusting mechanism has two rotational degrees of freedom with different horizontal heights and is responsible for driving and adjusting the pitching angle and the telescopic position of the driving mechanism; the driving mechanism comprises a frame, a vector adjusting component arranged at the front part of the frame, a fixed shell and a trimming main shaft arranged at the front part of the fixed shell; the vector adjusting component is responsible for driving the fixed shell to dynamically adjust the spatial position of X, Y and the Z axial direction; the trimming main shaft is connected with a trimming cutter and is responsible for trimming trees; according to the invention, through mechanical linkage and mutual cooperation among the driving mechanisms, a single point can be used as a motion point of an initial motion pair in the actual use process, X, Y and Z triaxial linkage freedom degrees can be output externally, the operation angle and the operation position can be finely adjusted, unmanned and automatic trimming can be effectively carried out on the plant appearance, and the actual use requirement and the practical requirement can be effectively met.
Description
Technical Field
The invention relates to the technical field of forest trimming, in particular to an automatic plant trimming device.
Background
In order to promote high yield of fruits and agricultural efficiency improvement, the construction of an unmanned orchard is vigorously carried out in China at present, and through one machine provided with intelligent management equipment, technicians can remotely control the equipment to know the conditions in the orchard in real time and carry out a series of agricultural operations;
the orchard operation is intelligentized from mechanization, so that the time and labor are saved, the water and fertilizer are saved, the agricultural production cost is reduced again, the quality of agricultural products is improved, the problem that part of land is not managed by people is effectively solved, and the economic benefit and the social benefit are realized;
clumps of wood plants and forest plants are generally used as main materials in the unmanned orchard, the existing related devices of 'automatic unmanned operation' of the unmanned orchard mainly focus on the fields of water and fertilizer control, pesticide spraying and the like, and the trimming process necessary for agricultural operation still needs manual operation; for modern unmanned orchards, a large technical gap remains to be filled.
Therefore, an automatic plant trimming device is provided.
Disclosure of Invention
In view of the above, embodiments of the present invention provide an automatic plant trimming device to solve or alleviate the technical problems in the prior art, and at least provide a useful choice;
the technical scheme of the embodiment of the invention is realized as follows: an automatic plant trimming device comprises an adjusting mechanism and a driving mechanism;
the adjusting mechanism has two rotation degrees of freedom with different horizontal heights and is responsible for driving and adjusting the pitching angle and the telescopic position of the driving mechanism;
the driving mechanism comprises a frame, a vector adjusting component arranged at the front part of the frame, a fixed shell and a trimming main shaft arranged at the front part of the fixed shell;
the vector adjusting component is responsible for driving the fixed shell to dynamically adjust the spatial position of X, Y and the Z axial direction;
the trimming main shaft is connected with a trimming cutter and is responsible for trimming trees.
As a further preferred aspect of the present invention: the trimming main shaft is arranged at the central point of the outer surface of the fixed shell;
and the central point is taken as an axial point, and the nozzles are arranged on the outer surface of the fixed shell in an annular array manner.
As further preferable in the present technical solution: and a third servo motor is arranged at the front part of the rack, and an output shaft of the third servo motor is connected with the vector adjusting assembly.
As further preferable in the present technical solution: the vector adjusting assembly comprises an even number of hinge barrels, and each hinge barrel is correspondingly provided with a fourth servo motor, an inner gear ring and a gear;
each two groups of the hinge cylinders are paired, and the hinge cylinders are cylindrical when in a combined state;
in the separated state, the single hinge cylinder is in a bevel shape taking the side turning angle of the axis vertical plane of the cylinder as a tangent plane and forms a solid tangent plane;
the inner side wall of the hinge barrel is fixedly connected with the fourth servo motor, the inner side wall of the gear is fixedly connected with an output shaft of the fourth servo motor, and the inner gear ring is meshed with the gear;
in each pair of hinge barrels, the inner gear ring in the hinge barrel positioned at the front part is fixedly connected with the outer surface of the hinge barrel positioned at the rear part; and the outer surface of the inner gear ring of the last hinge cylinder in the integral vector adjusting assembly is fixedly connected with the outer surface of the fixed shell.
As further preferable in the present technical solution: the number of the hinge barrels is two, and the hinge barrels are arranged in two pairs.
As a further preferred aspect of the present invention: the adjusting mechanism comprises a base, a first servo motor arranged on the lower side in the base, a frame body and a second servo motor arranged on the upper side in the frame body;
an output shaft of the first servo motor is fixedly connected with the lower side of the outer surface of the frame body;
and an output shaft of the second servo motor is fixedly connected with the outer surface of the rack.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, through mechanical linkage and mutual cooperation among the driving mechanisms, a single point can be used as a motion point of an initial motion pair in the actual use process, X, Y and Z triaxial linkage freedom degrees can be output externally, the operation angle and the operation position can be finely adjusted, unmanned and automatic trimming can be effectively carried out on the plant appearance, and the actual use requirement and the practical requirement can be effectively met.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the embodiments or technical descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of the adjustment mechanism and the drive mechanism of the present invention;
FIG. 3 is a schematic perspective view of the driving mechanism of the present invention;
FIG. 4 is a schematic view of the vector adjustment assembly of the drive mechanism of the present invention;
FIG. 5 is a schematic view of the change in the mutual adjustment positions of a pair of hinge barrels of the present invention;
fig. 6 is a schematic view of the internal structure of the hinge barrel of the present invention.
Reference numerals: 1. an adjustment mechanism; 101. a base; 102. a first servo motor; 103. a frame body; 104. a second servo motor; 2. a drive mechanism; 201. a frame; 202. a third servo motor; 203. a hinge cylinder; 2031. a fourth servo motor; 2032. an inner gear ring; 2033. a gear; 204. a stationary housing; 205. a spray head; 206. repairing and cutting the main shaft; 3. a carrier vehicle.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
It should be noted that the terms "first", "second", "symmetrical", "array", and the like are used for descriptive and positional purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "symmetrical," etc., may explicitly or implicitly include one or more of that feature; similarly, where a feature is not limited in number to "two," "three," etc., it is noted that the feature likewise explicitly or implicitly includes one or more feature numbers;
in the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly; for example, the connection can be fixed, detachable or integrated; the connection may be mechanical, direct, welded, indirect via an intermediate medium, communication between two elements, or interaction between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art from the specification and drawings in combination with the specific situation.
Example one
Referring to fig. 1-6, the present invention provides a technical solution: an automatic plant trimming device comprises an adjusting mechanism 1 and a driving mechanism 2;
the adjusting mechanism 1 and the driving mechanism 2 are core components of the device, and a carrying vehicle 3 can be installed in a matching way under the actual condition; the carrier loader 3 is responsible for carrying the whole device, is responsible for supplying power to the whole electrical element, and is responsible for controlling the controller of the whole electrical element;
the carrying vehicle 3 can be a manual cart, a self-sustaining power vehicle or an AGV with an unmanned cruising function;
the adjusting mechanism 1 has two rotational degrees of freedom with different horizontal heights and is responsible for driving and adjusting the pitching angle and the telescopic position of the driving mechanism 2;
the method specifically comprises the following steps: the adjusting mechanism 1 comprises a base 101, a first servo motor 102 arranged on the lower side in the base 101, a frame body 103 and a second servo motor 104 arranged on the upper side in the frame body 103;
an output shaft of the first servo motor 102 is fixedly connected with the lower side of the outer surface of the frame body 103;
the output shaft of the second servo motor 104 is fixedly connected with the outer surface of the frame 201;
the first servo motor 102 and the second servo motor 104 output different rotation amounts, so that the driving mechanism 2 can be controlled to perform pitching and position adjustment;
the driving mechanism 2 comprises a frame 201, a vector adjusting component arranged at the front part of the frame, a fixed shell 204 and a trimming main shaft 206 arranged at the front part of the fixed shell;
the vector adjusting component is responsible for driving the fixed shell 204 to dynamically adjust the space position of X, Y and the Z axial direction;
the method specifically comprises the following steps: referring to fig. 4 and 6, the vector adjusting assembly includes an even number of hinge barrels 203, and each hinge barrel 203 is correspondingly provided with a fourth servo motor 2031, an internal gear 2032 and a gear 2033;
each two groups of hinge barrels 203 are a pair, and the pair of hinge barrels 203 is cylindrical when in a combined state;
the device adopts 2 pairs of hinge barrels 203 with 4 hinge barrels;
the single hinge barrel 203 in the separated state is in a beveled shape taking the vertical side of the axis of the cylinder at 45 degrees as a tangent plane and forms a solid tangent plane;
the inner side wall of the hinge barrel 203 is fixedly connected with a fourth servo motor 2031, the inner side wall of the gear 2033 is fixedly connected with an output shaft of the fourth servo motor 2031, and the inner gear ring 2032 is meshed with the gear 2033;
in each pair of hinge cylinders 203, the inner gear ring 2032 in the front hinge cylinder 203 is fixedly connected with the outer surface of the rear hinge cylinder 203; the outer surface of the inner ring gear 2032 of the last hinge cylinder 203 in the integral vector adjustment assembly is fixedly connected with the outer surface of the fixed housing 204
When the fourth servo motor 2031 rotates, the gear 2033 can be driven to engage the ring gear 2032 and drive the next hinge barrel 203 to rotate; due to the inclined characteristic of the tangent plane, the rotation will only rotate along the tangent plane direction in the rotating process (see fig. 5), i.e. the number of rotation turns of the inner gear ring 2032 can control the X and Y axial adjustment of the hinge barrel 203; when the plurality of groups of hinge barrels 203 output the actions, the Z-axis adjustment can be realized;
in the actual use process, the rotation number and torque parameters of each group of the fourth servo motors 2031 are recorded in advance by the controller and are set as preset parameters; that is, the predetermined parameters can control the overall vector adjusting assembly to operate along the designated spatial motion trajectory, in other words, control the fixed housing 204 and the trimming spindle 206 to operate along the designated spatial motion trajectory;
the preset parameters are set for the purpose of aiming at specific actual requirements such as the corrected shape of the plant, namely, the device can control the whole vector adjusting component to move along a space motion track required by the corrected shape of the plant through the preset parameters;
the trimming main shaft 206 is connected with a trimming cutter which is responsible for trimming trees (the trimming cutter is not installed in the attached drawings of the specification);
in this embodiment, specifically: the trimming spindle 206 is arranged at the central point of the outer surface of the fixed shell 204;
the spray head 205 is communicated with a water tank of the carrier loader 3 through a water pump; when the device is used for pruning plants, the water is sprayed by the spray head 205 to clean the scraps generated by pruning.
A third servo motor 202 is installed at the front part of the frame 201, and an output shaft of the third servo motor 202 is connected with a vector adjusting assembly;
the third servo motor 202 is responsible for providing a rotation function for the vector adjusting assembly, and the operation flexibility of the vector adjusting assembly is improved.
Example two
Referring to fig. 1-6, the present invention provides a technical solution: an automatic plant trimming device comprises an adjusting mechanism 1 and a driving mechanism 2;
the adjusting mechanism 1 and the driving mechanism 2 are core components of the device, and a carrying vehicle 3 can be installed in a matching way under the actual condition; the carrier loader 3 is responsible for carrying the whole device, is responsible for supplying power to the whole electrical element, and is responsible for controlling the controller of the whole electrical element;
the carrying vehicle 3 can be a manual cart, a self-supporting power vehicle or an AGV with an unmanned cruising function;
the adjusting mechanism 1 has two rotational degrees of freedom with different horizontal heights and is responsible for driving and adjusting the pitching angle and the telescopic position of the driving mechanism 2;
the method specifically comprises the following steps: the adjusting mechanism 1 comprises a base 101, a first servo motor 102 arranged on the lower side in the base 101, a frame body 103 and a second servo motor 104 arranged on the upper side in the frame body 103;
an output shaft of the first servo motor 102 is fixedly connected with the lower side of the outer surface of the frame body 103;
the output shaft of the second servo motor 104 is fixedly connected with the outer surface of the frame 201;
the first servo motor 102 and the second servo motor 104 output different rotation amounts, so that the driving mechanism 2 can be controlled to perform pitching and position adjustment;
the driving mechanism 2 comprises a frame 201, a vector adjusting component arranged at the front part of the frame, a fixed shell 204 and a trimming main shaft 206 arranged at the front part of the fixed shell;
the vector adjusting component is responsible for driving the fixed shell 204 to dynamically adjust the spatial position of X, Y and the Z axial direction;
the method specifically comprises the following steps: referring to fig. 4 and 6, the vector adjusting assembly includes an even number of hinge barrels 203, and each hinge barrel 203 is correspondingly provided with a fourth servo motor 2031, an internal gear 2032 and a gear 2033;
each two groups of hinge barrels 203 are a pair, and the pair of hinge barrels 203 is cylindrical when in a combined state;
the device adopts 4 pairs of hinge barrels 203 for 8 hinge barrels;
the single hinge barrel 203 in the separated state is in a bevel shape taking the vertical side of the axis of the cylinder at 45 degrees as a tangent plane and forms a solid tangent plane;
the inner side wall of the hinge cylinder 203 is fixedly connected with a fourth servo motor 2031, the inner side wall of the gear 2033 is fixedly connected with an output shaft of the fourth servo motor 2031, and the inner gear ring 2032 is meshed with the gear 2033;
in each pair of hinge cylinders 203, the inner gear ring 2032 in the front hinge cylinder 203 is fixedly connected with the outer surface of the rear hinge cylinder 203; the outer surface of the inner ring gear 2032 of the last hinge cylinder 203 in the integral vector adjustment assembly is fixedly connected with the outer surface of the fixed housing 204
When the fourth servo motor 2031 rotates, the gear 2033 can be driven to engage the ring gear 2032 and drive the next hinge barrel 203 to rotate; due to the inclined characteristic of the tangent plane, the rotation process can be only rotated along the tangent plane direction (see fig. 5), that is, the number of rotation turns of the inner gear ring 2032 can control the X and Y axial adjustment of the hinge barrel 203; when the plurality of groups of hinge barrels 203 output the actions, the Z-axis adjustment can be realized;
in the actual use process, the rotation number and torque parameters of each group of the fourth servo motors 2031 are recorded in advance by the controller and are set as preset parameters; that is, the predetermined parameters can control the overall vector adjusting assembly to run along the designated spatial motion trajectory, in other words, control the fixed housing 204 and the trimming spindle 206 to run along the designated spatial motion trajectory;
the preset parameters are set for the purpose of aiming at specific actual requirements of the plant such as the corrected shape and the like, namely, the device can control the whole vector adjusting component to run along a space motion track required by the corrected shape aiming at the plant through the preset parameters;
the trimming main shaft 206 is connected with a trimming cutter which is responsible for trimming trees (the trimming cutter is not installed in the attached drawings of the specification);
in this embodiment, specifically: the trimming spindle 206 is arranged at the central point of the outer surface of the fixed shell 204;
the central point is taken as an axis point, and the nozzles 205 are arranged on the outer surface of the fixed shell 204 in a circular array manner;
the spray head 205 is communicated with a water tank of the carrier loader 3 through a water pump; when the device is used for pruning plants, the water is sprayed by the spray head 205 to clean the scraps generated by pruning.
A third servo motor 202 is installed at the front part of the frame 201, and an output shaft of the third servo motor 202 is connected with a vector adjusting assembly;
the third servo motor 202 is responsible for providing a rotation function for the vector adjusting assembly, and the operation flexibility of the vector adjusting assembly is improved.
EXAMPLE III
Referring to fig. 1-6, the present invention provides a technical solution: an automatic plant trimming device comprises an adjusting mechanism 1 and a driving mechanism 2;
the adjusting mechanism 1 and the driving mechanism 2 are core components of the device, and a carrying vehicle 3 can be installed in a matching way under the actual condition; the carrier loader 3 is responsible for carrying the integral device, a storage battery for supplying power to the integral electrical appliance element and a controller for controlling the integral electrical appliance element;
the carrying vehicle 3 can be a manual cart, a self-supporting power vehicle or an AGV with an unmanned cruising function;
the adjusting mechanism 1 has two rotational degrees of freedom with different horizontal heights and is responsible for driving and adjusting the pitching angle and the telescopic position of the driving mechanism 2;
the method specifically comprises the following steps: the adjusting mechanism 1 comprises a base 101, a first servo motor 102 arranged on the lower side in the base 101, a frame body 103 and a second servo motor 104 arranged on the upper side in the frame body 103;
an output shaft of the first servo motor 102 is fixedly connected with the lower side of the outer surface of the frame body 103;
the output shaft of the second servo motor 104 is fixedly connected with the outer surface of the frame 201;
the first servo motor 102 and the second servo motor 104 output different rotation amounts, so that the driving mechanism 2 can be controlled to perform pitching and position adjustment;
the driving mechanism 2 comprises a frame 201, a vector adjusting component arranged at the front part of the frame, a fixed shell 204 and a trimming main shaft 206 arranged at the front part of the fixed shell;
the vector adjusting component is responsible for driving the fixed shell 204 to dynamically adjust the spatial position of X, Y and the Z axial direction;
the method specifically comprises the following steps: referring to fig. 4 and 6, the vector adjusting assembly includes an even number of hinge barrels 203, and each hinge barrel 203 is correspondingly provided with a fourth servo motor 2031, an internal gear 2032 and a gear 2033;
each two groups of hinge barrels 203 are a pair, and the pair of hinge barrels 203 is cylindrical when in a combined state;
the device adopts 6 pairs for 12 hinge barrels 203;
the single hinge barrel 203 in the separated state is in a bevel shape taking the vertical side of the axis of the cylinder at 45 degrees as a tangent plane and forms a solid tangent plane;
the inner side wall of the hinge cylinder 203 is fixedly connected with a fourth servo motor 2031, the inner side wall of the gear 2033 is fixedly connected with an output shaft of the fourth servo motor 2031, and the inner gear ring 2032 is meshed with the gear 2033;
in each pair of hinge barrels 203, the inner ring gear 2032 in the front hinge barrel 203 is fixedly connected with the outer surface of the rear hinge barrel 203; the outer surface of the inner ring gear 2032 of the last hinge cylinder 203 in the integral vector adjustment assembly is fixedly connected with the outer surface of the fixed housing 204
When the fourth servo motor 2031 rotates, the gear 2033 can be driven to engage the ring gear 2032 and drive the next hinge barrel 203 to rotate; due to the inclined characteristic of the tangent plane, the rotation will only rotate along the tangent plane direction in the rotating process (see fig. 5), i.e. the number of rotation turns of the inner gear ring 2032 can control the X and Y axial adjustment of the hinge barrel 203; when the plurality of groups of hinge barrels 203 output the actions, the Z-axis adjustment can be realized;
in the actual use process, the rotation number and the torque parameter of each group of the fourth servo motors 2031 are recorded in advance by the controller and are set as the preset parameters; that is, the predetermined parameters can control the overall vector adjusting assembly to run along the designated spatial motion trajectory, in other words, control the fixed housing 204 and the trimming spindle 206 to run along the designated spatial motion trajectory;
the preset parameters are set for the purpose of aiming at specific actual requirements of the plant such as the corrected shape and the like, namely, the device can control the whole vector adjusting component to run along a space motion track required by the corrected shape aiming at the plant through the preset parameters;
the trimming main shaft 206 is connected with a trimming cutter which is responsible for trimming trees (the trimming cutter is not installed in the attached drawings of the specification);
in this embodiment, specifically: the trimming spindle 206 is arranged at the central point of the outer surface of the fixed shell 204;
the spray head 205 is communicated with a water tank of the carrier loader 3 through a water pump; when the device is used for pruning plants, the water is sprayed by the spray head 205 to clean the scraps generated by pruning.
A third servo motor 202 is installed at the front part of the frame 201, and an output shaft of the third servo motor 202 is connected with a vector adjusting assembly;
the third servo motor 202 is responsible for providing a rotation function for the vector adjusting assembly, and the operation flexibility of the vector adjusting assembly is improved.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. An automatic plant trimming device is characterized by comprising an adjusting mechanism (1) and a driving mechanism (2);
the adjusting mechanism (1) has two rotational degrees of freedom with different horizontal heights and is responsible for driving and adjusting the pitching angle and the telescopic position of the driving mechanism (2);
the driving mechanism (2) comprises a frame (201), a vector adjusting assembly arranged at the front part of the frame, a fixed shell (204) and a trimming main shaft (206) arranged at the front part of the fixed shell;
the vector adjusting component is responsible for driving the fixed shell (204) to dynamically adjust the spatial position of X, Y and the Z axial direction;
the trimming main shaft (206) is connected with a trimming cutter and is responsible for trimming trees.
2. The automated vegetation pruning device of claim 1, wherein: the trimming spindle (206) is arranged at the central point of the outer surface of the fixed shell (204);
and the central point is taken as an axial point, and the spray heads (205) are arranged on the outer surface of the fixed shell (204) in an annular array manner.
3. The automated vegetation pruning device of claim 2, wherein: the front part of the frame (201) is provided with a third servo motor (202), and an output shaft of the third servo motor (202) is connected with the vector adjusting assembly.
4. An automated plant trimming apparatus according to any one of claims 1 to 3, wherein: the vector adjusting assembly comprises an even number of hinge barrels (203), and each hinge barrel (203) is correspondingly provided with a fourth servo motor (2031), an inner gear ring (2032) and a gear (2033);
each two groups of hinge barrels (203) are paired, and the pair of hinge barrels (203) are cylindrical when in a combined state;
in the separated state, a single hinge cylinder (203) is in a chamfered shape taking the vertical side of the axis of the cylinder to be 45 degrees as a tangent plane and forms a solid tangent plane;
the inner side wall of the hinge cylinder (203) is fixedly connected with the fourth servo motor (2031), the inner side wall of the gear (2033) is fixedly connected with an output shaft of the fourth servo motor (2031), and the inner gear ring (2032) is meshed with the gear (2033);
in each pair of hinge barrels (203), the inner gear ring (2032) in the front hinge barrel (203) is fixedly connected with the outer surface of the rear hinge barrel (203); the outer surface of the inner gear ring (2032) of the last hinge cylinder (203) in the integral vector adjusting assembly is fixedly connected with the outer surface of the fixed shell (204).
5. The automated vegetation pruning device of claim 4, wherein: the number of the hinge barrels (203) is 4, and the hinge barrels are two pairs.
6. The automated vegetation pruning device of claim 1, wherein: the adjusting mechanism (1) comprises a base (101), a first servo motor (102) arranged on the lower side in the base (101), a frame body (103) and a second servo motor (104) arranged on the upper side in the frame body (103);
an output shaft of the first servo motor (102) is fixedly connected with the lower side of the outer surface of the frame body (103);
and an output shaft of the second servo motor (104) is fixedly connected with the outer surface of the frame (201).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211046540.4A CN115316145A (en) | 2022-08-30 | 2022-08-30 | Automatic trimming means of plant |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211046540.4A CN115316145A (en) | 2022-08-30 | 2022-08-30 | Automatic trimming means of plant |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116609125A (en) * | 2023-04-11 | 2023-08-18 | 盐池县怡健生物工程有限公司 | Multi-degree-of-freedom linkage algae sampling device for optical algae and fishing carbon neutralization integrated operation |
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