CN115349366B - Full-automatic pruning machine of self-adaptation fruit tree appearance - Google Patents
Full-automatic pruning machine of self-adaptation fruit tree appearance Download PDFInfo
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- CN115349366B CN115349366B CN202211089465.XA CN202211089465A CN115349366B CN 115349366 B CN115349366 B CN 115349366B CN 202211089465 A CN202211089465 A CN 202211089465A CN 115349366 B CN115349366 B CN 115349366B
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- trimming
- rotating disc
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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 pruning machine capable of adapting to the appearance of fruit trees, which comprises a travelling device, wherein the left end and the right end of the travelling device are respectively connected with a pruning assembly, the pruning assemblies comprise supporting frames connected to the two ends of a travelling frame of the travelling device, the supporting frames are connected with pruning supports, one side of the lower part of each pruning support, which is outwards, is hinged with a driving rod which extends downwards in a tilting manner and can do reciprocating linear movement, the lower end of each driving rod is hinged with a lower support, the lower part of each lower support is rotatably connected with a lower rotating disc, a plurality of lower pruning blades are arranged on each lower rotating disc, the upper parts of the pruning supports are connected with an upper rotating disc which moves along with the lower rotating disc, and when the lower supports swing upwards, the upper rotating disc extends outwards; when the lower bracket swings downwards, the upper rotating disk moves inwards; a plurality of upper trimming blades are arranged on the upper rotating disc; the invention has compact and ingenious structure, can synchronously realize the position adjustment of the upper rotating disc during the angle adjustment of the lower rotating disc, and has high trimming efficiency.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a full-automatic pruning machine capable of adapting to the shape of fruit trees.
Background
The branches of the fruit trees need to be trimmed after the fruits are picked so that more fruits can be obtained in the next year. In the traditional technology, for branches at low positions, people use scissors to directly trim, for branches at high positions, people stand on a stool or a ladder to trim by using scissors or a handsaw, the labor intensity is high, and the trimming efficiency is low.
In the prior art, in order to solve the problem that exists in the conventional art, a movable double-arm fruit tree pruning robot is disclosed, publication number is CN 111149534A, publication number is 2020.05.15's chinese invention patent, it includes two caterpillar drive arrangement, two the supporting platform is installed to the top between the caterpillar drive arrangement, caterpillar drive arrangement rotation can drive supporting platform removes, the base is installed at the top of supporting platform, the organism is installed at the top of base, the stand is installed at the top of organism, the left and right sides of stand all is provided with the pruning system, the pruning system includes left side arm and right side arm, the pruning pincers are installed to the end of left side arm, the pruning pincers include moving blade, stationary blade, first laser sensor, the shell of pruning pincers, bevel gear drive mechanism, poking rod and pruning pincers driving motor, the pruning pincers include moving blade, stationary blade, first laser sensor, pruning pincers shell, bevel gear drive mechanism, poking rod and saw driving motor, during operation, bevel gear drive mechanism of left side arm promotes the arm to move towards the leading to the side, thereby the pruning screw is still can be realized to the lower the pruning efficiency, the pruning is still can be realized to the pruning the branch, the high-down, the pruning efficiency is still can be realized, the pruning screw is low, the pruning efficiency is realized, and the branch is low.
Disclosure of Invention
This section is intended to outline some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section as well as in the description summary and in the title of the application, to avoid obscuring the purpose of this section, the description summary and the title of the invention, which should not be used to limit the scope of the invention.
The present invention has been made in view of the above and/or existing problems associated with pruning of fruit trees.
Therefore, the invention aims to provide the full-automatic pruning machine which is self-adaptive to the appearance of the fruit tree, has a reliable structure and can improve the pruning efficiency.
In order to solve the technical problems, the invention provides the following technical scheme: the utility model provides a full-automatic pruner of self-adaptation fruit tree appearance, it includes running gear, running gear's left and right sides both ends are connected with the trimming subassembly, the trimming subassembly is including the support frame of connecting at running gear's running frame both ends, be connected with the trimming support on the support frame, the outside one side of trimming support lower part articulates has downward slope to stretch out and can do reciprocating rectilinear movement's actuating lever, the lower extreme of actuating lever articulates has the lower carriage, the lower part of lower carriage is rotatably connected with lower rotary disk, a plurality of lower trimming blades have been arranged on the lower rotary disk, the upper portion of trimming support is connected with the upper rotary disk of following lower rotary disk motion, when the lower carriage upwards swings, upper rotary disk outwards stretches out; when the lower bracket swings downwards, the upper rotating disk moves inwards; a plurality of upper trimming blades are arranged on the upper rotating disc.
The walking device is in the prior art; when the device works, the walking device walks between two adjacent columns of fruit trees, the lower rotating disc is adjusted to a fruit tree pruning angle, and if the lower rotating disc swings upwards to a required angle, the upper rotating disc extends outwards along with the upward swing of the lower rotating disc; when the lower rotary disk swings downwards to a required angle, the upper rotary disk retracts inwards along with the downward swing of the lower rotary disk, the lower rotary disk and the upper rotary disk rotate simultaneously, and the upper trimming blade and the lower trimming blade trim branches of the upper and lower fruit trees respectively; the invention has compact and ingenious structure, and can adjust the angle of the lower rotating disc and the extending distance of the upper rotating disc in a self-adaptive manner according to the angle of the branch; 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, the inner side of the upper part of the trimming bracket is slidably connected with a motor shell, 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 component 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 bracket in the front-rear direction, the upper end of the connecting rod is connected with a connecting shaft capable of moving in the height direction, the connecting shaft is connected with a lower swinging rod, the upper end of the first swinging rod is hinged with a middle swinging rod, the upper end of the middle swinging rod is hinged with an upper swinging rod, the upper end of the upper swinging rod is hinged below the motor shell, the inner wall of the trimming bracket above the connecting shaft is connected with a middle shaft, and the middle swinging rod between the upper swinging rod and the lower swinging rod is rotatably connected on the middle shaft; in the design, when the lower rotating disc is required to rotate upwards to a required angle, the first linear driver acts, the driving rod extends outwards, the driving rod pushes the lower bracket to swing upwards, the lower bracket 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 is required to rotate downwards to a required angle, the driving rod is retracted, the driving rod pulls the lower bracket to swing downwards, the lower bracket 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 rotating disc and the upper rotating disc is realized.
In order to further improve the reliability of the vertical movement of the connecting shaft, the inner sides of the trimming support in the front-rear direction are fixedly connected with support rods which are vertically arranged, the support rods are connected with sliding sleeves 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 rotary disk, an upper trimming motor is fixedly connected to the motor shell, and the upper trimming motor is connected with the upper rotary disk.
In order to further realize the rotation of the lower rotary disk, the lower part of the lower bracket is fixedly connected with a lower trimming motor, and the lower trimming motor is connected with the lower rotary disk.
As a further improvement of the invention, the trimming stand can be moved linearly back and forth in the height direction along the supporting frame.
In order to further realize adjustment of pruning height, the upper end fixedly connected with elevator motor of support frame, be connected with elevator lead screw on the elevator motor, two pruning support are fixed with the elevating block in one side that sets up relatively, elevating block and elevator lead screw threaded connection.
As a further improvement of the invention, the position of the supporting frame in the left-right direction is adjustable.
In order to further adjust the distance between the support frames according to the spacing 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-back direction is connected to the second linear driver, one end of the push-pull rod extending backwards is hinged with a first position adjusting rod and a second position adjusting rod which are arranged in a crossing mode, one end of the first position adjusting rod, far away from the push-pull rod, extends leftwards and is hinged with a left support frame, and one end of the second position adjusting rod, far away from the push-pull rod, extends rightwards and is hinged with a right support frame.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a perspective view of a first embodiment of the present invention.
Fig. 2 is a partial enlarged view at a in fig. 1.
Fig. 3 is a perspective view of a second embodiment of the present invention.
Fig. 4 is a perspective view of a clipper assembly according to the present invention.
Fig. 5 is a perspective view of the first embodiment of the trimming assembly with the upper rotating disc hidden.
Fig. 6 is a partial enlarged view at B in fig. 5.
Fig. 7 is a second perspective view of the trimming assembly with the upper rotating disc hidden.
Fig. 8 is a partial enlarged view at C in fig. 7.
In the figure, the walking device 100, the walking frame 101, the trimming assembly 200, the trimming blade 201, the lower bracket 202, the trimming bracket 203, the supporting frame 204, the sliding groove 204a, the hinge lug 204b, the upper rotary disk 205, the trimming blade 206, the lifting motor 207, the lifting screw 208, the lifting block 209, the lower rotary disk 210, the lower trimming motor 211, the sliding block 212, the guide rail 213, the driving rod 214, the first linear driver 215, the upper trimming motor 216, the self-adaptive adjusting assembly 217a connecting rod 217b connecting shaft 217c sliding sleeve 217d supporting rod 217e intermediate shaft 217f upper swing rod 217g intermediate swing rod 217h lower swing rod 217i hinge shaft 218 motor housing 218a connecting lug 218a sliding rail 219, the sliding rod 300 sliding rod 400 second linear driver 500 first position adjusting rod 600 second position adjusting rod.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
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 other than those described herein, and persons skilled in the art will readily appreciate that the present invention is not limited to the specific embodiments disclosed below.
Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic can be 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, in a first embodiment of the present invention, a full-automatic pruning machine adaptive to the shape of fruit trees is provided, which has a compact and smart structure, and can adjust the heights of an upper pruning blade 206 and a lower pruning blade 201 according to the height of branches to be pruned, adjust the angle of a lower rotating disc 210 according to the angle of branches to be pruned, and adaptively adjust the position of the upper pruning blade 206.
The utility model provides a full-automatic pruner of self-adaptation fruit tree appearance, it includes running gear 100, the left and right sides both ends of running gear 100's running gear 101 are connected with prune subassembly 200, prune subassembly 200 includes the support frame 204 of connecting at running gear 100's running gear 101 both ends, be connected with on the support frame 204 prune support 203, prune support 203 lower part outwards one side articulated have downward slope stretch out and can do reciprocating rectilinear movement's actuating lever 214, actuating lever 214's lower extreme is articulated with lower carriage 202, lower part of lower carriage 202 rotationally is connected with lower rotary disk 210, lower rotary disk 210 has arranged a plurality of lower pruning blades 201 on, prune support 203's upper portion and be connected with the upper rotary disk 205 that moves along with lower rotary disk 210, when lower carriage 202 upwards swings, upper rotary disk 205 outwards stretches out; when the lower bracket 202 swings downward, the upper rotating disk 205 moves inward; a plurality of upper trimming blades 206 are arranged on the upper rotating 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 housing 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, a first linear driver 215 is hinged to the trimming bracket 203 below the lower bracket 202, 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 housing 218, the adaptive adjustment assembly 217 comprises a connecting rod 217a hinged to one side of the lower bracket 202 in the front-rear 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 swinging rod 217h is connected to the connecting shaft 217b, the upper end of the first swinging rod is hinged to a middle swinging rod 217g, the upper end of the middle swinging rod 217g is hinged to the upper swinging rod 217f, the lower side of the motor housing 218 is fixedly connected to two connecting lugs 218a, a hinge shaft 217i is connected between the two connecting lugs 217a, the upper end of the upper swinging rod 217f is rotatably connected to the middle swinging rod 217e, and the middle swinging rod 217e is rotatably connected to the middle shaft and the middle shaft 217e is rotatably connected to the middle shaft between the upper shaft and the middle rod 217 g.
When the lower rotating disc 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 bracket 202 to swing upwards, the lower bracket 202 drives the lower rotating disc 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 rotating disc 210 rotates upwards to the required angle, the first linear driver 215 stops acting; when the lower rotating disk 210 is required to rotate downwards to a required angle, the first linear driver 215 acts, the driving rod 214 retracts, the driving rod 214 pulls the lower bracket 202 to swing downwards, the lower bracket 202 drives the lower rotating disk 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 rotating disk 210 rotates to the required angle, the first linear driver 215 stops acting; synchronous position adjustment of the lower rotating disk 210 and the upper rotating disk 205 is achieved.
In order to further improve the reliability of the vertical movement of the connecting shaft 217b, the inner sides of the trimming bracket 203 in the front-rear direction are fixedly connected with vertically arranged supporting rods 217d, the supporting rods 217d are slidably connected with sliding sleeves 217c, and two ends of the connecting shaft 217b are connected between the two sliding sleeves 217 c.
To further achieve rotation of the upper and lower rotating disks 205, 210, an upper trimming motor 216 is fixedly connected to the motor housing 218, and the upper trimming motor 216 is connected to the upper rotating disk 205; the lower part of the lower bracket 202 is fixedly connected with a lower trimming motor 211, and the lower trimming motor 211 is connected with a lower rotating disk 210.
In order to further realize the position adjustment of the trimming support 203 in the height direction, the trimming support 203 can reciprocate in the height direction along the supporting frame 204, the supporting frame 204 is provided with a sliding groove 204a, the supporting frames 204 on two sides of the sliding groove 204a are fixedly connected with a guide rail 213, the trimming supports 203 on two sides of the sliding groove 204a are fixedly connected with a plurality of sliding blocks 212, the sliding blocks 212 are slidably connected onto the guide rail 213, 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 208, and one side of the two trimming supports 203, which is oppositely arranged, is fixedly provided with a lifting block 209, and the lifting block 209 is in threaded connection with the lifting screw 208.
The walking device 100 is a prior art, and the specific structure thereof is not repeated; when the device works, the walking device 100 walks between two adjacent columns of fruit trees, the pruning support 203 is lifted to the height required to be pruned according to the height of the trunk of the fruit tree and the height of branches 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 rotating disc 210 is adjusted to an angle for pruning fruit trees, and if the lower rotating disc 210 swings upwards to a required angle, the upper rotating disc 205 extends outwards along with the upward swing of the lower rotating disc 210; when the lower rotating disc 210 swings downwards to a required angle, the upper rotating disc 205 retracts inwards along with the downward swing of the lower rotating disc 210, the specific process is described above, and the detailed description is omitted here, the upper trimming motor 216 acts, the upper rotating disc 205 rotates, the upper trimming blade 206 is driven to rotate by the upper rotating disc 205, the lower trimming motor 211 acts, the lower rotating disc 210 rotates, the lower trimming blade 201 is driven to rotate by the lower rotating disc 210, the upper trimming blade 206 and the lower trimming blade 201 respectively trim branches of fruit trees above and below, and the branches are trimmed while walking, so that the trimming efficiency is high; the invention has compact and ingenious structure, and can adjust the angle of the lower rotating disk 210 and the extending distance of the upper rotating disk 205 in a self-adaptive manner according to the angle of the branches; the trimming bracket 203 can be lifted to the required height according to the trimming requirement, so that the application range is wide; can be applied to the work of pruning the branches of fruit trees.
Example 2
Referring to fig. 2, in order to provide a second embodiment of the present invention, the present embodiment provides a full-automatic pruning machine with a self-adaptive fruit tree profile, which can adjust the distance between two pruning supports 203 according to the distance between fruit trees, thereby improving the application range.
A full-automatic pruning machine adaptive to the appearance of fruit trees, wherein the position of a supporting frame 204 in the left-right direction is adjustable.
In order to further adjust the distance between the supporting frames 204 according to the spacing between fruit trees, a second linear driver 400 is fixedly connected to the walking frame 101, a push-pull rod 300 capable of performing reciprocating linear movement in the front-rear direction is connected to the second linear driver 400, one end of the push-pull rod 300 extending backwards is hinged with a first position adjusting rod 500 and a second position adjusting rod 600 which are arranged in a crossed mode, one side of the two supporting frames 204, which is arranged oppositely, is fixed with a hinge lug 204b, one end of the first position adjusting rod 500, which is far away from the push-pull rod 300, is hinged with the left hinge lug 204b, and one end of the second position adjusting rod 600, which is far away from the push-pull rod 300, is hinged with the right hinge lug 204 b.
In this embodiment, the second linear actuator 400 is preferably a hydraulic cylinder; before working, the positions of the two support frames 204 in the left-right direction are adjusted according to the distance between the two rows of fruit trees; the adjusting process is that the second linear driver 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 supporting frames 204 to move outwards, and when the two supporting frames 204 move to corresponding positions, the second linear driver 400 stops acting; the distance between the two pruning supports 203 can be adjusted according to the distance between the fruit trees, so that the application range of the invention is further improved.
It should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, 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 the technical solution of the present invention may be modified or substituted without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered in the scope of the claims of the present invention.
Claims (4)
1. The utility model provides a full-automatic pruner of self-adaptation fruit tree appearance, its characterized in that includes running gear (100): the left end and the right end of the travelling device (100) are both connected with a trimming assembly (200), the trimming assembly (200) comprises a supporting frame (204) connected to the two ends of the travelling frame (101) of the travelling device (100), the supporting frame (204) is connected with a trimming bracket (203), one side, which is outwards towards the lower part, of the trimming bracket (203) is hinged with a driving rod (214) which extends downwards in a tilting way and can do reciprocating linear movement, the lower end of the driving rod (214) is hinged with a lower bracket (202), the lower part of the lower bracket (202) is rotatably connected with a lower rotating disc (210), a plurality of lower trimming blades (201) are arranged on the lower rotating disc (210), the upper part of the trimming bracket (203) is connected with an upper rotating disc (205) which moves along with the lower rotating disc (210), and when the lower bracket (202) swings upwards, the upper rotating disc (205) extends outwards; when the lower bracket (202) swings downwards, the upper rotating disc (205) moves inwards, 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), a first linear driver (215) is hinged on the trimming bracket (203) below the lower bracket (202), the driving rod (214) is connected to the first linear driver (215), an adaptive adjusting component (217) is connected between the lower bracket (202) and the lower side of the motor shell (218), the adaptive adjusting component (217) comprises a connecting rod (217 a) hinged on one side of the lower bracket (202) in the front-rear direction, the upper end of the connecting rod (217 a) is connected with a connecting shaft (217 b) capable of moving in the height direction, the connecting shaft (217 b) is connected with a lower swinging rod (217 h), the upper end of the lower swinging rod (217 h) is hinged with an intermediate swinging rod (217 g), the upper end of the lower swinging rod (217 g) is connected with a motor (217 a), the upper ends of the upper ends (218) are hinged on the two lugs (218) are connected with one another, and the upper ends (218) are hinged on the two sides of the connecting rod (218 a) are hinged, the inner wall of a trimming bracket (203) above a connecting shaft (217 b) is connected with a middle shaft (217 e), a middle swinging rod (217 g) between an upper swinging rod (217 f) and a lower swinging rod (217 h) is rotatably connected to the middle shaft (217 e), the inner sides of the trimming bracket (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 manner, and two ends of the connecting shaft (217 b) are connected between the two sliding sleeves (217 c); a plurality of upper trimming blades (206) are arranged on the upper rotating disc (205); the utility model discloses a trimming support, including support frame (204), trimming support (203) can be along reciprocating rectilinear movement in the direction of height, the upper end fixedly connected with elevator motor (207) of support frame (204), be connected with elevator lead screw (208) on elevator motor (207), one side that two trimming support (203) set up relatively is fixed with elevator piece (209), elevator piece (209) and elevator lead screw (208) threaded connection, the position of support frame (204) in the left and right directions is adjustable.
2. The fully automatic pruner of self-adapting fruit tree profile as claimed in claim 1, 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).
3. The fully automatic pruner of the self-adaptive fruit tree profile as claimed in claim 1 or 2, characterized in that: the lower part of the lower bracket (202) is fixedly connected with a lower trimming motor (211), and the lower trimming motor (211) is connected with a lower rotating disc (210).
4. The fully automatic pruner of the self-adaptive fruit tree profile as claimed in claim 1 or 2, characterized in that: 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 of the push-pull rod (300) extending backwards 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 of the first position adjusting rod (500) away from the push-pull rod (300) extends leftwards and is hinged with a left supporting frame (204), and one end of the second position adjusting rod (600) away from the push-pull rod (300) extends rightwards and is hinged with a right supporting frame (204).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211089465.XA CN115349366B (en) | 2022-09-07 | 2022-09-07 | Full-automatic pruning machine of self-adaptation fruit tree appearance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211089465.XA CN115349366B (en) | 2022-09-07 | 2022-09-07 | Full-automatic pruning machine of self-adaptation fruit tree appearance |
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| Publication Number | Publication Date |
|---|---|
| CN115349366A CN115349366A (en) | 2022-11-18 |
| CN115349366B true CN115349366B (en) | 2023-06-16 |
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Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4421923B2 (en) * | 2004-03-22 | 2010-02-24 | 本田技研工業株式会社 | Power working machine |
| DE102010037792B4 (en) * | 2009-12-04 | 2016-12-01 | Stefan Wegener | Heck cutting aid |
| CN206866127U (en) * | 2017-06-19 | 2018-01-12 | 宾川林丰商贸有限公司 | A kind of grape clipping device |
| CN107996179B (en) * | 2018-01-23 | 2023-07-21 | 华中农业大学 | Whole-row and cut-type fruit tree pruning machine |
| 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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