CN115349366A - Full-automatic pruner of self-adaptation fruit tree appearance - Google Patents
Full-automatic pruner of self-adaptation fruit tree appearance Download PDFInfo
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- CN115349366A CN115349366A CN202211089465.XA CN202211089465A CN115349366A CN 115349366 A CN115349366 A CN 115349366A CN 202211089465 A CN202211089465 A CN 202211089465A CN 115349366 A CN115349366 A CN 115349366A
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- support
- trimming
- pruner
- rod
- rotary table
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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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- 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
Abstract
The invention discloses a full-automatic pruner adaptive to the appearance of a fruit tree, which comprises a walking device, wherein the left end and the right end of the walking device are both connected with a pruning component, the pruning component comprises support frames connected with the two ends of a walking frame of the walking device, a pruning support is connected on the support frames, one outward side of the lower part of the pruning support is hinged with a driving rod which is downward inclined, extends out and can do reciprocating linear movement, the lower end of the driving rod is hinged with a lower support, the lower part of the lower support is rotatably connected with a lower rotary table, a plurality of lower pruning blades are distributed on the lower rotary table, the upper part of the pruning support is connected with an upper rotary table which moves along with the lower rotary table, and when the lower support swings upwards, the upper rotary table extends outwards; when the lower bracket swings downwards, the upper rotating disc moves inwards; a plurality of upper trimming blades are distributed on the upper rotary disc; the invention has compact and smart structure, can synchronously realize the position adjustment of the upper rotary table when the angle of the lower rotary table is adjusted, and has high trimming efficiency.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a full-automatic pruner adaptive to the appearance of a fruit tree.
Background
Branches of fruit trees need to be trimmed after the fruits are picked so that more fruits can be produced in the next year. In the traditional technology, people directly trim branches at low positions by using scissors, and trim branches at high positions by using the scissors or a handsaw while standing on a stool or a ladder, so that the labor intensity is high, and the trimming efficiency is low.
In the prior art, in order to solve the problems in the conventional technology, the invention discloses a mobile double-arm fruit tree pruning robot, which is published as CN 111149534A and 2020.05.15, and comprises two crawler driving devices, a supporting platform is mounted above the two crawler driving devices, the crawler driving devices can drive the supporting platform to move by rotating, a base is mounted at the top of the supporting platform, an organism is mounted at the top of the base, a stand column is mounted at the top of the organism, pruning systems are arranged on the left side and the right side of the stand column, each pruning system comprises a left mechanical arm and a right mechanical arm, each pruning clamp is mounted at the tail end of the left mechanical arm and comprises a movable blade, a fixed blade, a first laser sensor, a first trimming clamp shell, a bevel gear transmission mechanism, a deflector rod and a pruning clamp driving motor, each pruning clamp is mounted at the tail end of the left mechanical arm and comprises a movable blade, a fixed blade, a first laser sensor, a trimming clamp shell, a bevel gear transmission mechanism, a deflector rod and a pruning clamp driving motor, when the pruning clamp is operated, the left mechanical arm drives the deflector rod and the pruning clamp driving mechanism can drive the branch blade to move downwards by a ball, so that the branch cutting efficiency is reduced, and the branch pruning mechanism is reduced.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and title of the application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
The present invention has been made in view of the above and/or other problems occurring in the prior art of fruit tree pruning.
Therefore, the invention aims to provide the full-automatic pruner adaptive to the appearance of the fruit tree, which is reliable in structure and can improve pruning efficiency.
In order to solve the technical problems, the invention provides the following technical scheme: a full-automatic pruning machine adaptive to the appearance of a fruit tree comprises a walking device, wherein the left end and the right end of the walking device are both connected with a pruning assembly, the pruning assembly comprises support frames connected with the two ends of a walking frame of the walking device, a pruning support is connected onto the support frames, one outward side of the lower part of the pruning support is hinged with a driving rod which is downward inclined, extends out and can perform reciprocating linear movement, the lower end of the driving rod is hinged with a lower support, the lower part of the lower support is rotatably connected with a lower rotary table, a plurality of lower pruning blades are distributed on the lower rotary table, the upper part of the pruning support is connected with an upper rotary table which moves along with the lower rotary table, and when the lower support swings upwards, the upper rotary table extends outwards; when the lower bracket swings downwards, the upper rotating disc moves inwards; a plurality of upper trimming blades are distributed on the upper rotating disc.
The walking device is the prior art; when the fruit tree pruning machine works, the walking device walks between two adjacent rows of fruit trees, the lower rotary table is adjusted to the angle for pruning the fruit trees, and if the lower rotary table swings upwards to a required angle, the upper rotary table stretches outwards along with the upward swing of the lower rotary table; when the lower rotating disc swings downwards to a required angle, the upper rotating disc retracts inwards along with the downward swing of the lower rotating disc, the lower rotating disc and the upper rotating disc rotate simultaneously, and the upper trimming blade and the lower trimming blade respectively trim upper fruit tree branches and lower fruit tree branches; the invention has compact and ingenious structure, and can adjust the angle of the lower rotary table and the extending distance of the upper rotary table in a self-adaptive way according to the angles of the branches; can be applied to the work of pruning the branches of fruit trees.
In order to further realize the angle adjustment of the lower bracket, a motor shell is connected to the inner side of the upper part of the trimming bracket in a sliding mode, the upper end of the lower bracket is rotatably connected to the supporting frame, a first linear driver is hinged to the trimming bracket below the lower bracket, the driving rod is connected to the first linear driver, and a self-adaptive adjusting assembly is connected between the lower bracket and the lower side of the motor shell.
In order to further realize the self-adaptive adjustment of the position of the upper rotating disc, the self-adaptive adjustment assembly comprises a connecting rod hinged to one side of the lower support in the front-back direction, the upper end of the connecting rod is connected with a connecting shaft capable of moving in the height direction, a lower swing rod is connected onto the connecting shaft, the upper end of the first swing rod is hinged with a middle swing rod, the upper end of the middle swing rod is hinged with an upper swing rod, the upper end of the upper swing rod is hinged below the motor shell, the inner wall of the trimming support above the connecting shaft is connected with an intermediate shaft, and the middle swing rod between the upper swing rod and the lower swing rod is rotatably connected onto the intermediate shaft; in the design, when the lower rotating disc needs to rotate upwards to a required angle, the first linear driver acts, the driving rod extends outwards, the driving rod pushes the lower support to swing upwards, the lower support drives the lower rotating disc and the connecting rod to swing upwards, the connecting rod pushes the connecting shaft to move upwards, the connecting shaft drives the middle swinging rod to swing downwards through the lower swinging rod, the middle swinging rod pulls the motor shell to move outwards through the upper swinging rod, and when the lower rotating disc rotates upwards to the required angle, the first linear driver stops acting; when the lower rotating disc needs to rotate downwards to a required angle, the first linear driver acts, the driving rod retracts, the driving rod pulls the lower support frame to swing downwards, the lower support frame drives the lower rotating disc and the connecting rod to swing downwards, the connecting rod pulls the connecting shaft to move downwards, the connecting shaft pulls the middle swinging rod to rotate upwards through the lower swinging rod, the middle swinging rod pushes the motor shell to move inwards through the upper swinging rod, and when the lower rotating disc rotates to the required angle, the first linear driver stops acting; the synchronous position adjustment of the lower rotary table and the upper rotary table is realized.
In order to further improve the reliability of the up-and-down movement of the connecting shaft, the inner sides of the trimming support in the front-and-back direction are fixedly connected with vertically arranged supporting rods, sliding sleeves are connected on the supporting rods in a sliding mode, and two ends of the connecting shaft are connected between the two sliding sleeves.
In order to further realize the rotation of the upper rotating disc, an upper trimming motor is fixedly connected to the motor shell, and the upper trimming motor is connected with the upper rotating disc.
In order to further realize the rotation of the lower rotary table, a lower trimming motor is fixedly connected to the lower part of the lower bracket, and the lower trimming motor is connected with the lower rotary table.
As a further improvement of the present invention, the trimming support is capable of reciprocating linear movement in the height direction along the support.
In order to further realize the adjustment of the trimming height, the upper end of the supporting frame is fixedly connected with a lifting motor, the lifting motor is connected with a lifting screw rod, one side of the two trimming supports, which is oppositely arranged, is fixedly provided with a lifting block, and the lifting block is in threaded connection with the lifting screw rod.
As a further improvement of the present invention, the position of the support frame in the left-right direction is adjustable.
In order to further adjust the distance between the supporting frames according to the distance between the fruit trees, a second linear driver is fixedly connected to the walking frame, a push-pull rod capable of performing reciprocating linear movement in the front-rear direction is connected to the second linear driver, a first position adjusting rod and a second position adjusting rod which are arranged in a crossed mode are hinged to one end, extending backwards, of the push-pull rod, of the first position adjusting rod, one end, far away from the push-pull rod, of the first position adjusting rod extends leftwards and is hinged to the supporting frame on the left side, and one end, far away from the push-pull rod, of the second position adjusting rod extends rightwards and is hinged to the supporting frame on the right side.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a first perspective view of the present invention.
Fig. 2 is a partially enlarged view of a portion a in fig. 1.
Fig. 3 is a second perspective view of the present invention.
Fig. 4 is a perspective view of the cutting assembly of the present invention.
Fig. 5 is a first perspective view of the trimming assembly with the upper rotary disc hidden.
Fig. 6 is a partially enlarged view of fig. 5 at B.
Fig. 7 is a second perspective view of the trimming assembly with the upper rotary disc hidden.
Fig. 8 is a partial enlarged view at C in fig. 7.
In the figure, 100 a walking device, 101 a walking frame, 200 a trimming component, 201 a lower trimming blade, 202 a lower bracket, 203 a trimming bracket, 204a supporting frame, 204a sliding groove, 204b a hinged lug, 205 an upper rotating disc, 206 an upper trimming blade, 207 a lifting motor, 208 a lifting screw rod, 209 a lifting block, 210 a lower rotating disc, 211 a lower trimming motor, 212 a sliding block, 213 a guide rail, 214 a driving rod, 215 a first linear driver, 216 an upper trimming motor, 217a self-adaptive adjusting component, 217a connecting rod, 217b a connecting shaft, 217c a sliding sleeve, 217d a supporting rod, 217e an intermediate shaft, 217f an upper swinging rod, 217g a middle swinging rod, 217h a lower swinging rod, 217i a hinged shaft, 218a motor shell, 218a connecting lug, 219 a sliding rail, 300 a push-pull rod, 400 a second linear driver, 500 a first position adjusting rod and 600 a second position adjusting rod.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanying figures of the present invention are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
Example 1
Referring to fig. 1, 3 to 8, for the first embodiment of the present invention, this embodiment provides a full-automatic pruner adaptive to the shape of a fruit tree, which has a compact and smart structure, and can adjust the heights of the upper pruning blade 206 and the lower pruning blade 201 according to the height of a branch to be pruned, and can also adjust the angle of the lower rotary disk 210 according to the angle of the branch to be pruned, and at the same time, adaptively adjust the position of the upper pruning blade 206.
A full-automatic pruner adaptive to the appearance of a fruit tree comprises a walking device 100, wherein both the left end and the right end of a walking frame 101 of the walking device 100 are connected with a pruning component 200, the pruning component 200 comprises support frames 204 connected to both ends of the walking frame 101 of the walking device 100, the support frames 204 are connected with pruning supports 203, one outward side of the lower parts of the pruning supports 203 are hinged with driving rods 214 which incline downwards and extend out and can do reciprocating linear movement, the lower ends of the driving rods 214 are hinged with lower supports 202, the lower parts of the lower supports 202 are rotatably connected with lower rotary discs 210, a plurality of lower pruning blades 201 are distributed on the lower rotary discs 210, the upper parts of the pruning supports 203 are connected with upper rotary discs 205 which move along with the lower rotary discs 210, and when the lower supports 202 swing upwards, the upper rotary discs 205 extend outwards; when the lower bracket 202 swings downward, the upper rotating disc 205 moves inward; a number of upper trimming blades 206 are arranged on the upper spinning disc 205.
In order to further realize the angle adjustment of the lower bracket 202 and the synchronous position adjustment of the upper rotating disc 205, the inner side of the upper part of the trimming bracket 203 is fixedly connected with a sliding rail 219, a motor shell 218 is slidably connected between the two sliding rails 219, the upper end of the lower bracket 202 is rotatably connected to the supporting frame 204, the trimming bracket 203 below the lower bracket 202 is hinged with a first linear driver 215, a driving rod 214 is connected to the first linear driver 215, an adaptive adjustment assembly 217 is connected between the lower bracket 202 and the lower side of the motor shell 218, the adaptive adjustment assembly 217 comprises a connecting rod 217a hinged on one side of the lower bracket 202 in the front-back direction, the upper end of the connecting rod 217a is connected with a connecting shaft 217b capable of moving in the height direction, a lower swing rod 217h is connected to the connecting shaft 217b, the upper end of the first swing rod is hinged with an intermediate swing rod 217g, the upper end of the intermediate swing rod 217g is hinged with an upper swing rod 217f, the lower side of the motor shell 218 is fixed with two connecting lugs 218a, a hinge shaft 217i is connected between the two connecting lugs 218a, the upper end of the upper swing rod 217f is rotatably connected to the intermediate shaft 217i, the inner wall of the trimming bracket 203 above the intermediate shaft 217b is connected with the upper swing rod 217e, and the lower swing rod 217e connected between the lower swing rod 217 h.
When the lower rotary plate 210 needs to be rotated upwards to a required angle, the first linear driver 215 acts, the driving rod 214 extends outwards, the driving rod 214 pushes the lower support 202 to swing upwards, the lower support 202 drives the lower rotary plate 210 and the connecting rod 217a to swing upwards, the connecting rod 217a pushes the connecting shaft 217b to move upwards, the connecting shaft 217b drives the middle swinging rod 217g to swing downwards through the lower swinging rod 217h, the middle swinging rod 217g pulls the motor shell 218 to move outwards through the upper swinging rod 217f, and when the lower rotary plate 210 rotates upwards to the required angle, the first linear driver 215 stops acting; when the lower rotary disc 210 needs to rotate downwards to a required angle, the first linear actuator 215 acts, the driving rod 214 retracts, the driving rod 214 pulls the lower support 202 to swing downwards, the lower support 202 drives the lower rotary disc 210 and the connecting rod 217a to swing downwards, the connecting rod 217a pulls the connecting shaft 217b to move downwards, the connecting shaft 217b pulls the middle swinging rod 217g to rotate upwards through the lower swinging rod 217h, the middle swinging rod 217g pushes the motor shell 218 to move inwards through the upper swinging rod 217f, and when the lower rotary disc 210 rotates to the required angle, the first linear actuator 215 stops acting; synchronous position adjustment of the lower rotary table 210 and the upper rotary table 205 is achieved.
In order to further improve the reliability of the up-and-down movement of the connecting shaft 217b, a vertically arranged support rod 217d is fixedly connected to the inner side of the trimming bracket 203 in the front-and-back direction, a sliding sleeve 217c is slidably connected to the support rod 217d, and two ends of the connecting shaft 217b are connected between the two sliding sleeves 217 c.
In order to further realize the rotation of the upper rotating disc 205 and the lower rotating disc 210, an upper trimming motor 216 is fixedly connected to the motor housing 218, and the upper trimming motor 216 is connected with the upper rotating disc 205; a lower trimming motor 211 is fixedly connected to the lower portion of the lower frame 202, and the lower trimming motor 211 is connected to the lower rotary plate 210.
In order to further realize the position adjustment of the trimming support 203 in the height direction, the trimming support 203 can make reciprocating linear movement in the height direction along the support frame 204, the support frame 204 is provided with a sliding groove 204a, the support frame 204 at two sides of the sliding groove 204a is fixedly connected with a guide rail 213, the trimming support 203 at two sides of the sliding groove 204a is fixedly connected with a plurality of sliding blocks 212, the sliding blocks 212 are slidably connected on the guide rail 213, the upper end of the support frame 204 is fixedly connected with a lifting motor 207, the lifting motor 207 is connected with a lifting screw 208, one side of the two trimming supports 203 which is arranged oppositely is fixed with a lifting block 209, and the lifting block 209 is in threaded connection with the lifting screw 208.
The walking device 100 is the prior art, and the detailed structure thereof is not described; when the fruit tree pruning machine works, the walking device 100 walks between two adjacent rows of fruit trees, the pruning support 203 is lifted to the height to be pruned according to the height of the trunk of the fruit tree and the height of a branch to be pruned, the lifting motor 207 acts, the lifting screw 208 rotates, the lifting screw 208 drives the pruning support 203 to move through the lifting block 209, and when the pruning support 203 moves to the required height, the lifting motor 207 stops acting; the lower rotary table 210 is adjusted to the angle for trimming the fruit tree, and if the lower rotary table 210 swings upwards to a required angle, the upper rotary table 205 extends outwards along with the upward swing of the lower rotary table 210; when the lower rotary disc 210 swings downwards to a required angle, the upper rotary disc 205 retracts inwards along with the downward swing of the lower rotary disc 210, the specific process is described above, and details are not repeated herein, the upper trimming motor 216 acts, the upper rotary disc 205 rotates, the upper rotary disc 205 drives the upper trimming blade 206 to rotate, the lower trimming motor 211 acts, the lower rotary disc 210 rotates, the lower rotary disc 210 drives the lower trimming blade 201 to rotate, the upper trimming blade 206 and the lower trimming blade 201 trim fruit tree branches above and below respectively, the walking and branch trimming are realized, and the trimming efficiency is high; the invention has compact and smart structure, and can adjust the angle of the lower rotary disc 210 and the extending distance of the upper rotary disc 205 in a self-adaptive way according to the angles of the branches; the trimming bracket 203 can be lifted to the required height according to the trimming requirement, and the application range is wide; can be applied to the work of pruning the branches of fruit trees.
Example 2
Referring to fig. 2, a second embodiment of the present invention provides a full-automatic pruning machine adaptive to the shape of fruit trees, which can adjust the distance between two pruning supports 203 according to the distance between fruit trees, so as to improve the application range.
A full-automatic pruner capable of adapting to the shape of a fruit tree is disclosed, wherein a support frame 204 is adjustable in position in the left-right direction.
In order to further adjust the distance between the support frames 204 according to the distance between the fruit trees, a second linear actuator 400 is fixedly connected to the walking frame 101, a push-pull rod 300 capable of performing reciprocating linear movement in the front-back direction is connected to the second linear actuator 400, a first position adjusting rod 500 and a second position adjusting rod 600 which are arranged in a crossed manner are hinged to one end, extending backwards, of the push-pull rod 300, a hinge lug 204b is fixed to one side, opposite to the two support frames 204, of the first position adjusting rod 500, one end, far away from the push-pull rod 300, of the first position adjusting rod 500 extends leftwards and is hinged to the hinge lug 204b on the left, and one end, far away from the push-pull rod 300, of the second position adjusting rod 600 extends rightwards and is hinged to the hinge lug 204b on the right.
In this embodiment, the second linear actuator 400 is preferably a hydraulic cylinder; before work, the positions of the two support frames 204 in the left-right direction are adjusted according to the distance between two rows of fruit trees; the adjusting process is specifically that the second linear actuator 400 acts, the push-pull rod 300 extends backwards, the push-pull rod 300 pushes the first position adjusting rod 500 and the second position adjusting rod 600 to swing outwards, the first position adjusting rod 500 and the second position adjusting rod 600 respectively push the two support frames 204 to move outwards, and when the two support frames 204 move to corresponding positions, the second linear actuator 400 stops acting; the distance between the two trimming brackets 203 can be adjusted according to the fruit tree spacing, and the application range of the invention is further improved.
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (10)
1. The utility model provides a full-automatic pruner of self-adaptation fruit tree appearance which includes running gear (100), its characterized in that: the left end and the right end of the walking device (100) are both connected with a trimming component (200), the trimming component (200) comprises support frames (204) connected to two ends of a walking frame (101) of the walking device (100), a trimming support (203) is connected to the support frames (204), one outward side of the lower portion of the trimming support (203) is hinged with a driving rod (214) which inclines downwards and extends out and can do reciprocating linear movement, the lower end of the driving rod (214) is hinged with a lower support (202), the lower portion of the lower support (202) is rotatably connected with a lower rotary table (210), the upper portion of the trimming support (203) is connected with an upper rotary table (205) which moves along with the lower rotary table (210), and when the lower support (202) swings upwards, the upper rotary table (205) extends outwards; when the lower bracket (202) swings downwards, the upper rotating disc (205) moves inwards; a plurality of upper trimming blades (206) are arranged on the upper rotary disc (205).
2. The full-automatic pruner of claim 1, wherein: the inner side of the upper part of the trimming support (203) is slidably connected with a motor shell (218), the upper end of the lower support (202) is rotatably connected to the support frame (204), the trimming support (203) below the lower support (202) is hinged with a first linear driver (215), the driving rod (214) is connected to the first linear driver (215), and an adaptive adjusting assembly (217) is connected between the lower support (202) and the lower side of the motor shell (218).
3. The full-automatic pruner of claim 2, characterized in that: self-adaptation adjusting part (217) is including articulating connecting rod (217 a) in one side of fore-and-aft direction at lower carriage (202), the upper end of connecting rod (217 a) is connected with connecting axle (217 b) that can remove on the direction of height, be connected with down rocking lever (217 h) on connecting axle (217 b), the upper end of first rocking lever articulates there is middle rocking lever (217 g), the upper end of middle rocking lever (217 g) articulates there is last rocking lever (217 f), the upper end of going up rocking lever (217 f) articulates the below at motor casing (218).
4. The full-automatic pruner of claim 3, wherein said pruner is adapted to the shape of fruit tree, and comprises: the inner sides of the trimming support (203) in the front-back direction are fixedly connected with vertically arranged supporting rods (217 d), the supporting rods (217 d) are connected with sliding sleeves (217 c) in a sliding mode, and two ends of the connecting shaft (217 b) are connected between the two sliding sleeves (217 c).
5. The full-automatic pruner of any one of claims 2-4, wherein: an upper trimming motor (216) is fixedly connected to the motor shell (218), and the upper trimming motor (216) is connected with the upper rotating disc (205).
6. The full-automatic pruner of any one of claims 1-4, wherein: the lower portion of the lower support (202) is fixedly connected with a lower trimming motor (211), and the lower trimming motor (211) is connected with a lower rotary table (210).
7. The full-automatic pruner capable of adapting to the shape of a fruit tree as defined in any one of claims 1 to 4, wherein: the trimming bracket (203) can do reciprocating linear movement along the supporting frame (204) in the height direction.
8. The full-automatic pruner of claim 7, wherein said pruner is adapted to the shape of a fruit tree, and comprises: the upper end of the supporting frame (204) is fixedly connected with a lifting motor (207), the lifting motor (207) is connected with a lifting screw rod (208), a lifting block (209) is fixed on one side, opposite to the two trimming supports (203), of each trimming support, and the lifting block (209) is in threaded connection with the lifting screw rod (208).
9. The full-automatic pruner of any one of claims 1-4, wherein: the position of the support frame (204) in the left-right direction is adjustable.
10. The full-automatic pruner of claim 9, wherein said pruner is adapted to the shape of a fruit tree, and comprises: the walking frame (101) is fixedly connected with a second linear driver (400), the second linear driver (400) is connected with a push-pull rod (300) capable of performing reciprocating linear movement in the front-back direction, one end, extending backwards, of the push-pull rod (300) is hinged with a first position adjusting rod (500) and a second position adjusting rod (600) which are arranged in a crossed mode, one end, far away from the push-pull rod (300), of the first position adjusting rod (500) extends leftwards and is hinged with a left supporting frame (204), and one end, far away from the push-pull rod (300), of the second position adjusting rod (600) extends rightwards and is hinged with a right supporting frame (204).
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| CN202211089465.XA CN115349366B (en) | 2022-09-07 | 2022-09-07 | Full-automatic pruning machine of self-adaptation fruit tree appearance |
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| CN202211089465.XA CN115349366B (en) | 2022-09-07 | 2022-09-07 | Full-automatic pruning machine of self-adaptation fruit tree appearance |
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| CN115349366A true CN115349366A (en) | 2022-11-18 |
| CN115349366B CN115349366B (en) | 2023-06-16 |
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| US20050204568A1 (en) * | 2004-03-22 | 2005-09-22 | Honda Motor Co., Ltd. | Power working machine |
| DE102010037792A1 (en) * | 2009-12-04 | 2011-06-09 | Stefan Wegener | Device for constant guiding of cutting tool, particularly motorized hedge trimmer or power saw, for side cut or elevator cut of hedges, bushes, shrubs, has mobile base frame and cross beam held at its end of cutting tool |
| CN206866127U (en) * | 2017-06-19 | 2018-01-12 | 宾川林丰商贸有限公司 | A kind of grape clipping device |
| CN107996179A (en) * | 2018-01-23 | 2018-05-08 | 华中农业大学 | A kind of neat cut type fruit tree pruning machine of full line |
| CN208462458U (en) * | 2018-07-10 | 2019-02-05 | 东营职业学院 | Gardens pruning device |
| CN111149534A (en) * | 2020-02-24 | 2020-05-15 | 茂名职业技术学院 | Movable double-arm fruit tree pruning robot |
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| CN115349366B (en) | 2023-06-16 |
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