CN215774415U - Fruit tree trimming device - Google Patents

Abstract

The utility model discloses a fruit tree pruning device, which relates to the technical field of agricultural machinery, wherein a small arm is connected with the tail end of a mechanical arm, a rotating part is rotatably connected to one end of the small arm, which is far away from the mechanical arm, a first driving mechanism is used for driving the rotating part to rotate relative to the small arm, a shaft lever is rotatably connected to the rotating part, the axial direction of the shaft lever is perpendicular to the axial direction of the rotating part to rotate relative to the small arm, a cutting assembly is arranged on the shaft lever, the cutting assembly comprises a saw blade, a second driving mechanism is used for driving the shaft lever to rotate relative to the rotating part, an anti-sticking assembly comprises two parallel strip rods, the two strip rods are fixedly connected to the rotating part, and a cutting groove is formed between the two rod. According to the utility model, the second driving mechanism can drive the cutting assembly and the shaft lever to rotate on the rotating part, and the anti-adhesion assembly is matched, so that the branches can be completely cut off very conveniently, the cut branches are completely separated from the parent body and fall, and illumination, growth vigor and fruiting of fruit trees can be facilitated.

Description

Fruit tree trimming device

Technical Field

The utility model relates to the technical field of agricultural machinery, in particular to a fruit tree pruning device.

Background

The pruning of fruit trees is an important link in the production of various fruits, and relates to the growth vigor of trees, the yield of the fruits and the quality of the fruits, for example, in a shed-frame-shaped planting mode of pear trees, the back upper branches (bare-grown branches) of the pear trees need to be pruned, and the tops of secondary molecules and current-year branches need to be cut off, so that the aims of optimizing the structure of a tree body, improving the lighting, balancing the growth of the tree body and promoting the conversion from vegetative growth to reproductive growth can be achieved. At present, the mechanization level of an orchard in China is relatively low, the requirement of the development of the mode of the forest and fruit industry cannot be met, matched machines and tools in the links of fruit tree pruning, fertilization, pesticide spraying and the like are lacked, most of individual fruit growers still prune fruit branches manually, and the mode is high in labor intensity, low in efficiency, dangerous to a certain extent and inconvenient and practical.

For example, in a patent with publication No. CN211531936U, publication date of 2020, 9 and 22 and name of "a fruit tree pruning device for gardens", there are a cart and a connecting plate, both ends of the connecting plate are movably connected with fixed pipes, bottom ends of the fixed pipes are movably mounted on the surface of a chute, a hydraulic lifting rod is fixedly connected in the middle of the bottom surface of the chute, and the hydraulic lifting rod is fixedly mounted in the middle of the surface of the cart: the trolley comprises a slide rail, telescopic rods, a hydraulic lifting rod and a hydraulic push rod, wherein a layer of slide rail is embedded on the surface of the trolley, the telescopic rods are movably connected to the surface of the slide rail, the hydraulic push rod is fixedly connected to the surface of the telescopic rods, and the hydraulic push rods are fixedly installed at two ends of the trolley; the connecting plate includes fixed pipe, connecting rod, first reset spring, installation plate, connecting plate, cylinder, repaiies the shear blade, fixed cassette, second reset spring, first push rod, second push rod, supplementary scissors blade, electric motor. The fruit tree is efficiently pruned.

In the prior art, pruning is generally carried out through special pruning scissors, time and labor are wasted, a part of pruning is carried out by using an electric saw, although the efficiency is improved, on one hand, the electric saw is not flexible enough in movement among branches, on the other hand, the branch is generally not completely cut after being cut by the electric saw, namely, the branch to be cut falls down due to gravity after being cut, but is still connected to a parent body through branch skins and phloem of the branch, and research and comparison experiments show that the cut branches can not be completely separated from the parent body, and illumination, fruit tree growth and fruit result and the like are still influenced.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a fruit tree pruning device to solve the defects in the prior art.

In order to achieve the above purpose, the utility model provides the following technical scheme: a fruit tree pruning device comprises a walking mechanism, a mechanical arm arranged on the walking mechanism, a scanning device arranged on the mechanical arm and a pruning mechanism arranged at the tail end of the mechanical arm, wherein the pruning mechanism comprises a small arm, a rotating part, a first driving mechanism, a shaft lever, a cutting-off assembly, a second driving mechanism and an anti-adhesion assembly, the small arm is connected with the tail end of the mechanical arm, the rotating part is rotatably connected with one end of the small arm, which is far away from the mechanical arm, the first driving mechanism is used for driving the rotating part to rotate relative to the small arm, the shaft lever is rotatably connected onto the rotating part, the axial direction of the shaft lever is perpendicular to the axial direction of the rotating part, which rotates relative to the small arm, the cutting-off assembly is arranged on the shaft lever, the cutting-off assembly comprises a saw blade, the second driving mechanism is used for driving the shaft lever to rotate relative to the rotating part, and the anti-adhesion assembly comprises two bar levers which are arranged in parallel, the two bar rods are fixedly connected to the rotating part, a cutting groove is formed between the two bar rods, and the cutting groove is located on the rotating stroke of the saw blade rotating along with the shaft rod.

Further, the cutting assembly further comprises a connecting rod and a driving motor, one end of the connecting rod is fixedly connected with the shaft rod, the other end of the connecting rod is fixedly connected with the driving motor, and the driving motor is used for driving the saw blade to rotate.

Further, the first driving mechanism comprises a first hydraulic cylinder and a sliding rod, the first hydraulic cylinder is fixedly arranged on the rotating part, and the sliding rod is vertically connected with a hydraulic rod of the first hydraulic cylinder; the periphery of the rotating shaft between the small arm and the rotating part is provided with a spiral groove, and one end of the sliding rod departing from the first hydraulic cylinder is arranged in the spiral groove in a sliding mode.

Furthermore, the second driving mechanism comprises a second hydraulic cylinder, a first gear and a first rack, the second hydraulic cylinder is fixedly arranged on the rotating part, the first gear is coaxially and fixedly connected to the shaft rod, the first rack is driven by the first hydraulic cylinder to do linear reciprocating motion, and the first rack is meshed with the first gear.

Furthermore, one ends of the two bars, which are close to the rotating part, are respectively and fixedly provided with an arc-shaped baffle.

Further, the driven type blocking piece is further included and comprises an arc-shaped rod, a second rack, a second gear and a third rack, an arc-shaped groove is formed in one end, deviating from the rotating portion, of the rod, the arc-shaped rod is arranged in the arc-shaped groove in a sliding mode, a group of tooth-shaped structures are arranged on the side face of the arc-shaped periphery of the arc-shaped rod, the second rack is arranged in the sliding mode along the length direction of the rod and meshed with the tooth-shaped structures, the second gear is coaxially and fixedly arranged on the shaft rod, and the third rack is fixedly connected with the second rack through a connecting rod and meshed with the second gear.

Further, the passive stopper further includes an elastic unit fitted such that when the third rack is disengaged from the second gear, the elastic force of the elastic unit causes the teeth of the third rack to abut on the teeth of the second gear.

Further, the elastic unit is a spring.

In the technical scheme, the rotating part of the fruit tree pruning device is rotatably connected with the small arm, so that the cutting assembly can rotate for 360 degrees, and the cutting angle of the saw blade can be conveniently adjusted; can drive through second actuating mechanism and cut off subassembly and axostylus axostyle and rotate on the rotation part, anti-adhesion subassembly in the cooperation can thoroughly cut off the branch very conveniently, makes the branch of cutting off thoroughly follow the parent and separates and fall down, can be favorable to illumination, the growth vigor and the result of fruit tree.

Drawings

In order to more clearly illustrate the embodiments of the present application or technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.

FIGS. 1-2 are schematic diagrams of the overall structure provided by the embodiments of the present invention;

FIG. 3 is a schematic structural diagram of a trimming operation according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of the arm, the rotating part and the second driving mechanism according to the embodiment of the present invention;

FIG. 5 is a schematic structural diagram according to another embodiment of the present invention;

FIG. 6 is a schematic view of a trimming operation according to another embodiment of the present invention;

FIG. 7 is a schematic diagram of an overall structure of a passive barrier according to an embodiment of the present invention;

FIG. 8 is a schematic diagram illustrating a partial structure of a passive barrier according to an embodiment of the present invention;

FIG. 9 is a schematic diagram of an overall structure according to yet another embodiment of the present invention;

FIG. 10 is a schematic structural diagram of a passive barrier according to yet another embodiment of the present invention;

fig. 11 is a schematic structural diagram of a trimming operation according to still another embodiment of the present invention.

Description of reference numerals:

1. a small arm; 2. a rotating part; 3. a first drive mechanism; 3.1, a first hydraulic cylinder; 3.2, a slide bar; 3.3, spiral grooves; 4. a shaft lever; 5. cutting off the assembly; 5.1, a saw blade; 5.2, driving a motor; 5.3, connecting rods; 6. a second drive mechanism; 6.1, a second hydraulic cylinder; 6.2, a first gear; 6.3, a first rack; 7. an anti-stiction component; 7.1, bars; 8. an arc-shaped baffle plate; 9. a passive barrier; 9.1, an arc-shaped groove; 9.2, arc-shaped rods; 9.21, a tooth-shaped structure; 9.3, a second rack; 9.4, a second gear; 9.5, a third rack; 9.6, connecting rods; 10. an elastic unit.

Detailed Description

In order to make the technical solutions of the present invention better understood, those skilled in the art will now describe the present invention in further detail with reference to the accompanying drawings.

Referring to fig. 1-11, a fruit tree pruning device provided by an embodiment of the present invention includes a walking mechanism, a mechanical arm disposed on the walking mechanism, a scanning device disposed on the mechanical arm, and a pruning mechanism disposed at the end of the mechanical arm, where the pruning mechanism includes a small arm 1, a rotating part 2, a first driving mechanism 3, a shaft lever 4, a cutting-off component 5, a second driving mechanism 6, and an anti-sticking component 7, where the small arm 1 is connected to the end of the mechanical arm, the rotating part 2 is rotatably connected to one end of the small arm 1 away from the mechanical arm, the first driving mechanism 3 is configured to drive the rotating part 2 to rotate relative to the small arm 1, the shaft lever 4 is rotatably connected to the rotating part 2, an axial direction of the shaft lever 4 is perpendicular to an axial direction of the rotating part 2 rotating relative to the small arm 1, the cutting-off component 5 is disposed on the shaft lever 4, the cutting-off component 5 includes a saw blade 5.1, the second driving mechanism 6 is configured to drive the shaft lever 4 to rotate relative to the rotating part 2, the anti-sticking subassembly 7 includes two parallel arrangement's strip pole 7.1, and two equal fixed connection of strip pole 7.1 are on rotating portion 2, form the cutting groove between two poles 7.1, and the cutting groove is located the saw bit 5.1 and follows the pivoted rotation stroke of axostylus axostyle 4.

Specifically, the travelling mechanism is a wheeled vehicle or a tracked vehicle, the mechanical arm is mounted on the travelling mechanism, the mechanical arm has a certain degree of freedom, the trimming mechanism can be enabled to abut against a branch to be trimmed of a fruit tree, the scanning device is mounted on the mechanical arm and close to the trimming mechanism and used for scanning a trunk, a first-level branch, a second-level branch and a back upper branch of the fruit tree and determining the grade of the branch and the position of the branch to be trimmed, so that the trimming mechanism can accurately trim the branch, the travelling mechanism, the mechanical arm and the scanning device are the prior art, and are not described too much here, and are not shown in the attached drawings of the specification. In the trimming mechanism, one end of a small arm 1 is connected with a mechanical arm, the other end of the small arm is rotationally connected with a rotating part 2, and the rotating part 2 is driven to rotate through a first driving mechanism 3, so that parts except the rotating part 2 in the trimming mechanism rotate by 1360 degrees relative to the small arm, the cutting direction of a saw blade 5.1 is conveniently adjusted, and branches growing towards different directions can be conveniently cut. The shaft lever 4 is rotationally arranged on the rotating part 2, so that the cutting assembly arranged on the shaft lever 4 can integrally rotate relative to the rotating part 2, the trimming mechanism is moved to the position of a branch to be cut, the branch to be cut is positioned between the saw blade 5.1 and the bar 7.1, the shaft lever 4 is driven to rotate relative to the rotating part 2 through the second driving mechanism 6, the saw blade 5.1 rotating at a high speed moves to the cutting groove between the two bars 7.1, the branch is cut off by the saw blade 5.1 through the branch to be cut in the process, the branch is completely cut off and separated from a parent body after the saw blade 5.1 enters the cutting groove, the generally cut branch can directly fall on the ground, the illumination, the growth and the fruit bearing of a fruit tree can be facilitated, a small part of the cut branch can be blocked by the branch below and can not fall immediately after the branch falls off, but the situation is a small number, and the branch can fall off as soon as possible after the wind blows, the illumination, the growth vigor and the fruiting of the fruit tree are not greatly influenced.

In the technical scheme, the rotating part 2 is rotatably connected with the small arm 1, so that the cutting assembly 5360 degrees rotates, and the cutting angle of the saw blade 5.1 can be conveniently adjusted; can drive through second actuating mechanism 6 and cut off subassembly 5 and axostylus axostyle 4 and rotate on rotation portion 2, anti-adhesion subassembly 7 is gone up in the cooperation, can thoroughly cut off the branch very conveniently, makes the branch of cutting off thoroughly follow the parent and separates and fall down, can be favorable to illumination, the growth vigor and the result of fruit tree.

As a preferred technical solution of this embodiment, the cutting assembly 5 further includes a connecting rod 5.3 and a driving motor 5.2, one end of the connecting rod 5.3 is fixedly connected to the shaft rod 4, the driving motor 5.2 is fixedly mounted on the connecting rod 5.3, a rotating shaft of the driving motor 5.2 is coaxially and fixedly connected to the saw blade 5.1, and the driving motor 5.2 is used for driving the saw blade 5.1 to rotate, so that the saw blade 5.1 can cut branches. Further, the rotating shaft of the driving motor 5.2 is rotatably connected with the connecting rod 5.3, so that the saw blade 5.1 is more stable when cutting branches, and the cuts are more tidy.

As a preferable technical solution of this embodiment, referring to fig. 2, the first driving mechanism 3 includes a first hydraulic cylinder 3.1 and a sliding rod 3.2, the first hydraulic cylinder 3.1 is fixedly disposed on the rotating portion 2, the sliding rod 3.2 is vertically connected to an open end of a hydraulic rod of the first hydraulic cylinder 3.1, and the open end of the hydraulic rod is an end away from the cylinder body; the small arm 1 is rotatably connected with the rotating part 2 through a rotating shaft, the telescopic direction of the first hydraulic cylinder 3.1 is consistent with the axial direction of the rotating shaft, the rotating shaft is fixed relative to the small arm 1, the rotating shaft rotates relative to the rotating part 2, the peripheral side of the rotating shaft is provided with a spiral groove 3.3, the spiral central axis of the spiral groove 3.3 is the axial direction of the rotating shaft, the spiral groove 3.3 is not less than one circle, one end of the sliding rod 3.2 departing from the first hydraulic cylinder 3.1 is slidably arranged in the spiral groove 3.3, namely, the end part of the sliding rod 3.2 is in a shape matched with the spiral groove 3.3, the sliding rod 3.2 is driven to slide along the axial direction of the rotating shaft through the first hydraulic cylinder 3.1, the sliding rod 3.2 is matched with the spiral groove 3.3 to enable the sliding rod 3.2 to rotate relative to the rotating shaft, as shown in figures 1-3, in order to enable components except the small arm 1 in the trimming mechanism to synchronously rotate by 1360 degrees relative to the small arm, thereby realizing the rotation of the cutting-off assembly 5, and further adjusting the angle of the saw blade 5.1 and the bar 7.1, the pruning mechanism is convenient to align and prune branches. And the first actuating mechanism 3 arrangement mode in this scheme can be that the pruning mechanism is more slim, is convenient for move between the branch.

Of course, in this scheme, the axis of rotation also can be fixed relative to rotation portion 2, and the forearm 1 rotates relatively, so need with first pneumatic cylinder 3.1 from rotation portion 2 disconnection, and then with first pneumatic cylinder 3.1 fixed mounting on the forearm 1, so can also realize cutting off 360 degrees rotations of subassembly 5 and anti-sticking subassembly 7.

Referring to fig. 4, as a preferable technical solution of this embodiment, the second driving mechanism 6 includes a second hydraulic cylinder 6.1, a first gear 6.2 and a first rack 6.3, the second hydraulic cylinder 6.1 is fixedly disposed on the rotating portion 2, the first gear 6.2 is coaxially and fixedly connected to the shaft rod 4, the first rack 6.3 is driven by the first hydraulic cylinder 3.1 to perform a linear reciprocating motion, and the first rack 6.3 is engaged with the first gear 6.2. The first rack 6.3 can be driven to do linear reciprocating motion through the second hydraulic cylinder 6.1, the first rack 6.3 drives the first gear 6.2 meshed with the first rack to rotate, the first gear 6.2 drives the shaft lever 4 and the cutting component 5 fixedly connected to the shaft lever 4 to rotate, so that the saw blade 5.1 enters the cutting groove or leaves from the cutting groove, and branches between the cutting groove and the saw blade 5.1 can be completely cut off.

As a preferred technical solution of this embodiment, an arc-shaped baffle 8 is fixedly disposed at one end of each of the two rods 7.1 close to the rotating portion 2. The arc-shaped baffle 8 can prevent branches from excessively entering between the saw blade 5.1 and the bar 7.1, so that the branches are separated from the cutting range of the saw blade 5.1.

In another embodiment provided by the present invention, referring to fig. 5-8, the passive blocking member 9 further includes an arc-shaped bar 9.2, a second rack 9.3, a second gear 9.4 and a third rack 9.5, the side of the bar 7.1 that is away from the end of the rotating portion 2 is provided with an arc-shaped groove 9.1, the arc-shaped bar 9.2 is slidably disposed in the arc-shaped groove 9.1, the arc-shaped bar 9.2 and the arc-shaped groove 9.1 are both approximately a quarter of an arc, the arc-shaped outer peripheral side of the arc-shaped bar 9.2 is provided with a set of tooth-shaped structures 9.21, the set of tooth-shaped structures 9.21 is equal to a continuous gear tooth, the second rack 9.3 is slidably disposed along the length direction of the bar 7.1, the second rack 9.3 is engaged with the tooth-shaped structures 9.21, the second gear 9.4 is coaxially and fixedly disposed on the shaft rod 4, the third rack 9.5 is fixedly connected with the second rack 9.3 through a connecting rod 9.6, the third rack 9.5 is parallel to the length direction of the third rack 9.3, and the third rack 9.5 meshes with the second gear 9.4. In this embodiment, when the saw blade 5.1 rotates away from the rod 7.1, the arc rod 9.2 is completely located in the arc groove 9.1 (as shown in fig. 5), the position of the cutting assembly 5 and the anti-sticking assembly 7 is adjusted by the mechanical arm and the first driving mechanism 3, so that the branch to be cut is located between the saw blade 5.1 and the rod 7.1, the second driving mechanism 6 drives the shaft rod 4 and the cutting assembly 5 to rotate, so that the shaft rod 4 drives the second gear 9.4 to rotate in the process of moving the saw blade 5.1 to the cutting groove, the second gear 9.4 drives the third rack 9.5 engaged therewith to translate, the third rack 9.5 drives the second rack 9.3 to translate in the direction away from the small arm 1 through the connecting rod 9.6, so that the second rack 9.3 drives the arc rod 9.2 to slide along the arc groove 9.1 through the tooth-shaped structure 9.21 engaged therewith, so that the arc rod 9.2 slides out of the arc groove 9.1 (as to be able to block the branch in the arc groove 9.1), the situation that the branches are separated from the space between the saw blade 5.1 and the bar 7.1 and the saw blade 5.1 does not cut the branches is prevented.

In this embodiment, the two bars 7.1 may be respectively provided with one passive blocking member 9, and each parameter of the two passive blocking members 9 may be adjusted to be consistent, or only one of the bars 7.1 may be provided with the passive blocking member 9, and the other bar 7.1 is correspondingly provided with the arc-shaped groove 9.1, the arc-shaped rod 9.2, the tooth-shaped structure 9.21, and the second rack 9.3, and then the two second racks 9.3 are fixedly connected by a connecting member, which needs to be noticed not to block the saw blade 5.1, so that the two second racks 9.3 can share one third rack 9.5 and one second gear 9.4, as shown in fig. 7.

In a further embodiment of the present invention, referring to fig. 9-11, the passive blocking member 9 further includes an elastic unit 10, the elastic unit 10 is configured such that when the third rack 9.5 is disengaged from the second gear 9.4, the elastic force of the elastic unit 10 causes the teeth of the third rack 9.5 to abut against the teeth of the second gear 9.4, the diameter of the second gear 9.4 is greater than the diameter of the first gear 6.2, i.e. the first rack 6.3 drives the first gear 6.2 to rotate, the first gear 6.2 rotates at the same angle as the second gear 9.4, and the second gear 9.4 drives the third rack 9.5 to translate by a distance greater than the distance the first rack 6.3 translates when the first rack 6.2 is driven to rotate by the first rack 6.3, such that when the saw blade 5.1 rotates away from the cut-off slot, the arc-shaped rod 9.2 completely locates in the arc-shaped slot 9.1 (see fig. 9), the first rack 6.1 is driven to translate by the second hydraulic cylinder 6.1, and the first rack 6.3.2 is driven to translate by the first gear 6.2, The shaft 4, the cutting assembly 5 and the second gear 9.4 are rotated to move the saw blade 5.1 into the cutting slot, before the saw blade 5.1 reaches the cutting slot, the second gear 9.4 slides the arc-shaped rod 9.2 out of the arc-shaped slot 9.1 by about half through the third rack 9.5, the connecting rod 9.6, the second rack 9.3 and the tooth-shaped structure 9.21 (as shown in fig. 10), at which time the third rack 9.5 is translated to the state that the first end thereof is disengaged from the second gear 9.4, at which time the elastic force of the elastic unit 10 makes the teeth of the third rack 9.5 abut against the teeth of the second gear 9.4, at which time the arc-shaped rod 9.2 plays a role when the branch to be cut is blocked between the saw blade 5.1 and the rod 7.1, preventing the cutting assembly 5 from being pressed to the branch to be cut (the saw blade 5.1, the driving motor 5.2, the connecting rod 5.3) to cause the branch to be disengaged from the saw blade 5.1 and the rod 7.1, when the saw blade 5.1 cuts the branch and the saw blade 5.1 is close to the branch before cutting the branch for a certain distance, the passive blocking piece 9 is already triggered, about half of the arc-shaped rod 9.2 slides out of the arc-shaped groove 9.1, and the to-be-cut is limited between the saw blade 5.1 and the bar 7.1, so that the saw blade 5.1 can successfully cut the branch completely (as shown in fig. 11); then the second hydraulic cylinder 6.1 drives the first rack 6.3 to reversely translate, the first rack 6.3 drives the first gear 6.2, the shaft rod 4, the cutting component 5 and the second gear 9.4 to reversely rotate, so that the saw blade 5.1 is separated from the cutting groove, in the process, as the elastic unit 10 abuts the teeth of the third rack 9.5 on the teeth of the second gear 9.4, the second gear 9.4 at the beginning of the reverse rotation, the third rack 9.5 is re-engaged with the second gear 9.4 under the elastic force of the elastic unit 10, so that the second gear 9.4 completely slides the arc-shaped rod 9.2 into the arc-shaped groove 9.1 through the third rack 9.5, the connecting rod 9.6, the second rack 9.3 and the tooth-shaped structure 9.21, at the second end of the third rack 9.5 is just disengaged from the second gear 9.4, but the elastic unit 10 generates reverse elastic force, and the reverse elastic force still makes the teeth of the third rack 9.5 abut on the teeth of the second gear 9.4, then, during the further rotation of the saw blade 5.1 away from the cutting slot, the second gear 9.4 no longer drives the third rack 9.5 in translation.

As a preferred technical solution of this embodiment, the elastic unit 10 is preferably a spring, the axial direction of the spring is arranged along the length direction of the third rack 9.5, one end of the spring is fixedly connected with the arc-shaped baffle plate 8, and the other end of the spring is fixedly connected with the third rack 9.5 through a fixing block.

It should be noted that the embodiments other than the first embodiment are all based on the previous embodiment.

While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that the described embodiments may be modified in various different ways without departing from the spirit and scope of the utility model. Accordingly, the drawings and description are illustrative in nature and should not be construed as limiting the scope of the utility model.

Claims (8)

1. The utility model provides a fruit tree trimming means, includes running gear, sets up the arm on running gear and sets up the scanning device on the arm, its characterized in that still includes the trimming mechanism who sets up in the arm end, trimming mechanism includes:

a small arm connected to a distal end of the robot arm;

the rotating part is rotatably connected to one end, away from the mechanical arm, of the small arm;

the first driving mechanism is used for driving the rotating part to rotate relative to the small arm;

the shaft lever is rotationally connected to the rotating part, and the axial direction of the shaft lever is vertical to the axial direction of the rotating part rotating relative to the small arm;

a severing assembly disposed on the shaft, the severing assembly including a saw blade;

the second driving mechanism is used for driving the shaft lever to rotate relative to the rotating part;

the anti-adhesion assembly comprises two parallel bars, the two bars are fixedly connected to the rotating part, a cutting groove is formed between the two bars, and the cutting groove is located on the rotating stroke of the saw blade along with the rotation of the shaft lever.

2. The fruit tree pruning device of claim 1, wherein the cutting assembly further comprises a connecting rod and a driving motor, wherein one end of the connecting rod is fixedly connected with the shaft rod, and the other end of the connecting rod is fixedly connected with the driving motor, and the driving motor is used for driving the saw blade to rotate.

3. The fruit tree pruning device according to claim 1, wherein the first driving mechanism comprises a first hydraulic cylinder fixedly disposed on the rotating portion, and a slide rod vertically connected to a hydraulic rod of the first hydraulic cylinder; the periphery of the rotating shaft between the small arm and the rotating part is provided with a spiral groove, and one end of the sliding rod departing from the first hydraulic cylinder is arranged in the spiral groove in a sliding mode.

4. The fruit tree pruning device according to claim 1, wherein the second driving mechanism comprises a second hydraulic cylinder, a first gear and a first rack, the second hydraulic cylinder is fixedly arranged on the rotating portion, the first gear is coaxially and fixedly connected to the shaft rod, the first rack is driven by the first hydraulic cylinder to reciprocate linearly, and the first rack is engaged with the first gear.

5. The fruit tree pruning device according to claim 1, wherein an arc-shaped baffle is fixedly arranged at one end of each of the two rods close to the rotating portion.

6. The fruit tree pruning device of claim 1, further comprising a passive stop, the passive stop comprising:

the arc-shaped groove is formed in one end, away from the rotating part, of the bar;

the arc-shaped rod is arranged in the arc-shaped groove in a sliding manner, and a group of tooth-shaped structures are arranged on the arc-shaped peripheral side surface of the arc-shaped rod;

the second rack is arranged in a sliding manner along the length direction of the rack and is meshed with the tooth-shaped structure;

a second gear coaxially and fixedly disposed on the shaft;

and the third rack is fixedly connected with the second rack through a connecting rod and meshed with the second gear.

7. The fruit tree pruning device of claim 6, wherein the passive stop further comprises a resilient unit configured such that when the third rack is disengaged from the second gear, the resilient force of the resilient unit causes the teeth of the third rack to abut against the teeth of the second gear.

8. The fruit tree pruning device of claim 7, wherein the resilient unit is a spring.

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