CN204157335U - A kind of orchard automatic target detection formula flower thinning machine - Google Patents

Abstract

A kind of orchard automatic target detection formula flower thinning machine comprises flower thinning device, rocker actuator, elevator, pendulous device, turning device and translating device.Described flower thinning device comprises flower thinning motor, shaft coupling, flower thinning axle, flower thinning cloth and flower thinning frame composition, rotates and drives flower thinning cloth to rotate, realize flower thinning function by flower thinning axle.Described remote control is made up of telecontrol antenna, controller, for controlling the adjustment that flower thinning machine carries out flower thinning machinery according to the different shape of fruit tree, reaches automatic target detection function.This tests novel advantage is reduce labourer's operation intensity, increases job area area, improves operating efficiency, and conveniently moving is flexible, safe and reliable.

Description

An orchard automatic target flower thinning machine

technical field

The utility model relates to an orchard flower and vegetable thinning machine, in particular to an orchard automatic target flower thinning machine, which belongs to the field of agricultural machinery. the

Background technique

In the orchard, after the fruit trees enter the flowering period, if there is no scientific and standardized management, the fruit trees will bloom in large numbers, which will cause the tree body to consume too much energy, resulting in large and small years of fruit trees. The long-term occurrence of this situation will not only cause premature aging of fruit trees and infect a large number of diseases, but also reduce economic benefits to a large extent. Therefore, to achieve standardized management of orchards, adopt effective flower and fruit thinning techniques, remove excess flowers and fruits in a timely manner, maintain a reasonable amount of fruit retention, and maintain a stable tree vigor, in order to achieve stable and high yields. the

At present, the commonly used methods of flower and fruit thinning in orchards are mainly artificial flower and fruit thinning, chemical flower and fruit thinning and mechanical flower and fruit thinning. Its main basic features are as follows:

Artificial flower thinning and fruit thinning refers to reducing "flowers but not fruit" in order to save stored nutrients on the basis of understanding the law of flower formation and fruiting habits. Artificial flower thinning and fruit thinning is generally carried out in three steps, that is, first thinning flower buds, then thinning flowers, and finally fruits and vegetables. The labor intensity and expense of the flower thinning method are very high, which cannot meet the operation requirements of modern large-scale orchards. the

Chemical flower thinning and fruit thinning is a method of spraying chemical thinners during the flowering stage or young fruit stage of fruit trees, so that some flowers or young fruits cannot bear fruit and fall off. This method has the advantages of time-saving, labor-saving, low cost, timely removal, etc., but it also has the phenomenon of insufficient or excessive removal, so that the practical application of this technology has certain limitations. Moreover, some chemical flower thinning and vegetable thinning agents are hormone drugs themselves, which will affect the hormone levels in fruit trees to a certain extent, thereby affecting the healthy growth of fruit trees. the

The mechanical flower thinning method refers to the interaction between the executive parts of the flower thinning equipment and the fruit trees to achieve the purpose of separating flowers and fruits. However, most of the mechanical flower thinning equipment is manual hand-held, and the development is not perfect, and the operating efficiency needs to be improved. my country's flower thinning machinery has been at a relatively backward level, and there is no systematic mechanical flower thinning equipment at present. the

The above-mentioned various flower thinning methods mainly have the following disadvantages: the labor force is high, the work efficiency is low, the technical level is relatively backward, and it is impossible to realize large-scale orchard operations; it causes pollution to the fruit trees or land in the orchard, and has limitations in the actual application process ; Affect the healthy growth and development of fruit trees. the

Contents of the invention

In order to overcome various deficiencies and defects existing in the prior art, the purpose of this utility model is to provide an orchard automatic target type flower thinning machine, the purpose of which is to realize the lifting, turning, Swing and translation functions, and then realize automatic target targeting of fruit trees, realize multi-directional flower thinning and fruit and vegetable functions of fruit trees, reduce labor costs, reduce labor intensity, and improve operating efficiency. the

The technical solution adopted by the utility model to solve the technical problems is an automatic target flower thinning machine for orchards, including an ultrasonic sensor 1, a flower thinning frame 2, a coupling 3, a flower thinning motor 4, a turning hydraulic cylinder 5, a swing Hydraulic cylinder 6, lifting upper platform 7, buffer block 8, lifting lower platform 9, base 10, lifting bracket 11, lifting hydraulic cylinder 12, power supply 13, controller 14, rocker antenna 15, lifting height sensor 16, swing angle sensor 17. Flip angle sensor 18, swing frame 19, horizontal motor push rod 20, push rod motor 21, pin shaft 22, translation distance sensor 23, fixed sliding seat 24, infrared sensor 25, flower thinning cloth strip 26, flower thinning shaft 27. Its basic feature is that: the ultrasonic sensor 1 and the infrared sensor 25 are respectively fixed on both sides of the flower thinning frame 2 to accurately measure the distance between the fruit tree and the flower thinning machine; the flower thinning motor 4 is fixed on the flower thinning frame 2, and is connected on the flower thinning shaft 27 by a coupling 3, and drives the flower thinning shaft 27 to rotate; the upper part of the flower thinning shaft 27 is connected with the flower thinning frame 2, and the flower thinning cloth is fixed by screws on the shaft body Bar 26; the upper end of the turning hydraulic cylinder 5 is connected with the flower thinning frame 2, the lower end and the lifting upper platform 7 through pins respectively; the swing hydraulic cylinder 6 is fixed on the lifting upper platform 7 by screws; the buffer block 8 is fixed on the lifting lower platform 9, which plays a buffering role when the lifting upper platform 7 descends, and can protect the lifting mechanism when it is not lifted; the lifting lower platform 9 is connected with the base 10 through a fixed sliding seat 24, And the lifting lower platform 9 can translate on the base 10; the fixed sliding seat 24 is welded with the base 10; one end of the lifting bracket 11 is connected with the lifting upper platform 7, and the other end is connected with the lifting lower platform 9 The upper end of the lifting hydraulic cylinder 12 is connected with the lifting bracket 11 through a pin, and the lower end is connected with the lifting lower platform 9 through a pin; the lifting height sensor 16 is fixed on the lifting lower platform 9 to measure the lifting height of the lifting mechanism; Angle sensor 17, overturn angle sensor 18 are respectively fixed on the swing frame 19 lower end and the upper end by screw, respectively detect the swing angle of swing frame 19 and the flip angle of flower thinning frame 2; The flower frame 2 is connected by pins, the lower end is connected with the swing hydraulic cylinder 6 by pins, and the middle part is connected with the lifting upper platform 7 through the swing shaft; the horizontal motor push rod 20 is fixedly connected with the push rod motor 21, and Fixed on the base 10 by screws, the front end of the horizontal motor push rod 20 is connected together with the lifting platform 9 through the pin shaft 22; the push rod motor 21 is connected with the power supply 13, and is powered by the power supply 13; the translation distance The sensor 23 is fixed on the lower platform 9 of the lifting, and detects the translation distance of the flower thinning machine; the ultrasonic sensor 1, the lifting height sensor 16, the swing angle sensor 17, the flip angle sensor 18, the translation distance sensor 23 and the infrared sensor 25 and the controller 14 is connected to transmit the collected information to the controller 14; the controller 14 is connected to the power supply 13 and powered by the power supply 13; the power supply 13, controller 14 and rocker antenna 15 are respectively fixed on the base 10 by screws. the

The above flower thinning machine device can collect fruit tree information, and accurately perform the functions of turning, swinging, lifting and translation of the flower thinning machine according to the fruit tree information, so as to realize the automatic targeting feature. the

The working principle of an automatic target flower thinning machine for orchards of the utility model is:

During the flower thinning work process, switch on the power supply 13 to make the flower thinning machine in working condition. Through the joint action of the ultrasonic sensor 1 and the infrared sensor 25, the distance between the fruit tree and the flower thinning machine, the height of the fruit tree, the shape of the fruit tree and other information are accurately measured, and these information are transmitted to the controller 14. , Calculate and feed back the information to the executive mechanism of the flower thinning machine, which includes the turning hydraulic cylinder 5, the swing hydraulic cylinder 6, the lifting hydraulic cylinder 12 and the horizontal motor push rod 20. Stretching and shrinking of the extension rod of the overturning hydraulic cylinder 5 can realize the overturning of the flower thinning frame 2, and the extension and contraction of the extension rod of the swing hydraulic cylinder 6 can realize the swing of the flower thinning frame 2. The common function of the two functions The function can adjust the flower thinning frame according to the shape of the fruit tree, and can perform horizontal flower thinning on the upper part of the fruit tree. The lifting hydraulic cylinder 12 can realize the rising and falling functions of the flower thinning machine by acting on the lifting support 11, so as to comb the high places of fruit trees. The horizontal motor push rod 20 lifts the lower platform 9 through the action, so that the flower thinning machine realizes translation function. The lift height sensor 16, the swing angle sensor 17, the flip angle sensor 18 and the translation distance sensor 23 detect the target state of the flower thinning machine, that is, the functional information of the flower thinning machine, and feed back the collected information to the controller 13 to carry out the flower thinning machine. Precise control. The flower-thinning motor 4 drives the rotation of the flower-thinning shaft 27 through the coupling 3, thereby driving the high-speed rotation of the flower-thinning cloth strip 26, and when approaching the flowers and fruits of the fruit tree, the excess flowers and fruits are removed by the rotational force of the flower-thinning cloth strip 26 . When the flower thinning work ends, the flower thinning machine is adjusted to a suitable state, the controller 14 is closed, the power supply 13 is turned off, and the flower thinning machine is stored in storage. the

The beneficial effect of the utility model is that it can automatically adjust the shape of the flower thinning machine for flower thinning operations according to different shapes, sizes and types of fruit trees; it can avoid repeated lifting and lowering of the flower thinning machine when performing flower thinning work for fruit trees at high places. Reduce the labor intensity of workers; the function of automatic target alignment can increase the flower thinning operation area and improve work efficiency; the hydraulic system makes the overall structure simple and reliable, and the maintenance is easy; the utility model adopts electric drive to save labor, reduce costs, and protect the orchard environment. the

Description of drawings

Fig. 1 is the structure diagram of a kind of orchard automatic targeting type flower thinning machine of the utility model. the

Fig. 2 is an oblique axis diagram of the assembly of the raised lower platform and the base of the utility model. the

Fig. 3 is an oblique axis diagram of the assembly of the flower thinning frame and related accessories of the present invention. the

Detailed ways

Below in conjunction with accompanying drawing 1, accompanying drawing 2 and accompanying drawing 3, the utility model is further described:

An automatic target flower thinning machine for orchards, comprising an ultrasonic sensor 1, a flower thinning frame 2, a coupling 3, a flower thinning motor 4, a turning hydraulic cylinder 5, a swinging hydraulic cylinder 6, a lifting upper platform 7, a buffer block 8, Lifting lower platform 9, base 10, lifting bracket 11, lifting hydraulic cylinder 12, power supply 13, controller 14, rocker antenna 15, lifting height sensor 16, swing angle sensor 17, flip angle sensor 18, swing frame 19, level Motor push rod 20, push rod motor 21, pin shaft 22, translational distance sensor 23, fixed sliding seat 24, infrared sensor 25, thinning cloth strip 26, thinning shaft 27. Its basic feature is that: the ultrasonic sensor 1 and the infrared sensor 25 are respectively fixed on both sides of the flower thinning frame 2 to accurately measure the distance between the fruit tree and the flower thinning machine; the flower thinning motor 4 is fixed on the flower thinning frame 2, and is connected on the flower thinning shaft 27 by a coupling 3, and drives the flower thinning shaft 27 to rotate; the upper part of the flower thinning shaft 27 is connected with the flower thinning frame 2, and the flower thinning cloth is fixed by screws on the shaft body Bar 26; the upper end of the turning hydraulic cylinder 5 is connected with the flower thinning frame 2, the lower end and the lifting upper platform 7 through pins respectively; the swing hydraulic cylinder 6 is fixed on the lifting upper platform 7 by screws; the buffer block 8 is fixed on the lifting lower platform 9, which plays a buffering role when the lifting upper platform 7 descends, and can protect the lifting mechanism when it is not lifted; the lifting lower platform 9 is connected with the base 10 through a fixed sliding seat 24, And lift lower platform 9 can translate on base 10; Described fixed sliding seat 24 is welded together with base 10; Together; the upper end of the lifting hydraulic cylinder 12 is connected with the lifting bracket 11 through a pin, and the lower end is connected with the lifting platform 9 through a pin; the lifting height sensor 16 is fixed on the lifting lower platform 9 to measure the lifting height of the lifting mechanism; Swing angle sensor 17, overturn angle sensor 18 are fixed on the swing frame 19 lower end and the upper end by screw respectively, detect the swing angle of swing frame 19 and the turnover angle of thinning flower frame 2 respectively; The flower thinning frame 2 is connected by pins, the lower end is connected with the swing hydraulic cylinder 6 by pins, and the middle part is connected with the lifting upper platform 7 through the swing shaft; the horizontal motor push rod 20 is fixedly connected with the push rod motor 21, And be fixed on the base 10 by screws, the front end of the horizontal motor push rod 20 is connected together with the lifting lower platform 9 through the pin shaft 22; the push rod motor 21 is connected with the power supply 13, and is powered by the power supply 13; The distance sensor 23 is fixed on the lifting lower platform 9, and detects the translation distance of the flower thinning machine; The controller 14 is connected to transmit the collected information to the controller 14; the controller 14 is connected to the power supply 13 and powered by the power supply 13; the power supply 13, the controller 14 and the rocker antenna 15 are respectively fixed on the base 10 by screws . the

The above flower thinning machine device can collect fruit tree information, and accurately perform the functions of turning, swinging, lifting and translation of the flower thinning machine according to the fruit tree information, so as to realize the automatic targeting feature. the

Claims (2)

1. An automatic target flower thinning machine for orchards, including an ultrasonic sensor (1), a flower thinning frame (2), a coupling (3), a flower thinning motor (4), a turning hydraulic cylinder (5), a swing hydraulic Cylinder (6), lifting upper platform (7), buffer block (8), lifting lower platform (9), base (10), lifting bracket (11), lifting hydraulic cylinder (12), power supply (13), controller (14), rocker antenna (15), lift height sensor (16), swing angle sensor (17), flip angle sensor (18), swing frame (19), horizontal motor push rod (20), push rod motor (21), bearing pin (22), translational distance sensor (23), fixed sliding seat (24), infrared sensor (25), thinning cloth strip (26), thinning shaft (27); it is characterized in that: The ultrasonic sensor (1) and the infrared sensor (25) are respectively fixed on both sides of the flower thinning frame (2) to accurately measure the distance between the fruit tree and the flower thinning machine; the flower thinning motor (4) is fixed on the flower thinning machine on the frame (2), and be connected on the flower thinning shaft (27) by a coupling (3), and drive the flower thinning shaft (27) to rotate; the flower thinning shaft (27) top and the flower thinning frame (2 ) is connected, and the thinning cloth strip (26) is fixed by screws on its shaft body; together; the swing hydraulic cylinder (6) is fixed on the lifting upper platform (7) by screws; the buffer block (8) is fixed on the lifting lower platform (9), and plays a role in lifting the upper platform (7) when it descends. cushioning effect, and can protect the lifting mechanism in the unlifted state; the lifting lower platform (9) is connected with the base (10) through the fixed sliding seat (24), and the lifting lower platform (9) can be placed on the base (10 ) above translation; the fixed sliding seat (24) is welded together with the base (10); one end of the lifting bracket (11) is connected with the lifting upper platform (7), and the other end is connected with the lifting lower platform (9) together; the upper end of the lifting hydraulic cylinder (12) is connected with the lifting bracket (11) through a pin, and the lower end is connected with the lifting lower platform (9) through a pin; the lifting height sensor (16) is fixed on the lifting lower platform (9) Above, the lifting height of the lifting mechanism is measured; the swing angle sensor (17) and the flip angle sensor (18) are fixed on the lower end and the upper end of the swing frame (19) by screws respectively, and detect the swing of the swing frame (19) respectively. angle and the turnover angle of the flower thinning frame (2); the upper end of the swing frame (19) is connected with the flower thinning frame (2) by pins, the lower end is connected with the swing hydraulic cylinder (6) by pins, and the middle part is connected by a swing The shaft is connected with the lifting upper platform (7); the horizontal motor push rod (20) is fixedly connected with the push rod motor (21), and is fixed on the base (10) by screws, and its horizontal motor push rod ( 20) the front end is connected together with the lower platform (9) through the pin shaft (22); the push rod motor (21) and The power supply (13) is connected and powered to it by the power supply (13); the translation distance sensor (23) is fixed on the lifting lower platform (9) to detect the translation distance of the flower thinning machine; the ultrasonic sensor (1), lifting The height sensor (16), the swing angle sensor (17), the flip angle sensor (18), the translation distance sensor (23) and the infrared sensor (25) are connected with the controller (14), and the collected information is transmitted to the controller (14) In; the controller (14) is connected to the power supply (13), powered by the power supply (13); the power supply (13), the controller (14) and the rocking rod antenna (15) are fixed on the base (10) by screws respectively )superior. the 2. According to a kind of orchard automatic target flower thinning machine described in claim 1, it is characterized in that: the flower thinning machine collects the relevant information of fruit trees by the sensor, integrates and analyzes the collected information through the controller, and executes the signal It acts on the actuator of flower thinning machinery, so that the flower thinning machine can realize the functions of turning, swinging, lifting and translation, and then realizes the function of automatic target alignment. the