CN-224205784-U - Flower and fruit thinning robot with telescopic picking heads

CN224205784UCN 224205784 UCN224205784 UCN 224205784UCN-224205784-U

Abstract

The utility model discloses a flower and fruit thinning robot with a telescopic picking head, relates to the technical field of fruit tree planting, and aims to solve the technical problem that excessive flowers at the lower part of a pear tree fall easily at present, and too few flowers fall on the upper part and the top of the pear tree, wherein the flower and fruit thinning robot comprises a vehicle body, a rotating mechanism arranged on the vehicle body and a thinning mechanism arranged on the rotating mechanism, the rotating mechanism comprises a second mounting frame arranged at the tail end of a fixed rod, a rotating rod is rotatably arranged on the second mounting frame, the thinning mechanism comprises telescopic adjusting rods and telescopic tension rods, the telescopic adjusting rods and the telescopic tension rods are arranged on the rotating rod in an array mode, and picking plates are arranged at the tail ends of the telescopic adjusting rods and the telescopic tension rods. The utility model has the advantages that the positions of the picking plates can be adjusted according to the form that the volume of the pear tree is gradually reduced from bottom to top, so that the picking plates are distributed in an inclined plane, the uniform whipping range and strength of the soft whip strip on different height parts of the pear tree are ensured, and the flower and fruit thinning accuracy is greatly improved.

Inventors

WANG YAXUAN
LU HONGFEI
AN HONGLI
LIU ZHANSHUO
XIA BINGYU
ZHOU HAO
DAI CHENXIN
ZHAO JIN
Zhao Zhangyue
LIU MEI

Assignees

江苏农林职业技术学院

Dates

Publication Date: 20260508
Application Date: 20250418

Claims (6)

1. Flower and fruit thinning robot with telescopic picking heads is characterized by comprising a vehicle body (101) and a rotating mechanism (200) arranged on the vehicle body (101) and a thinning mechanism (300) arranged on the rotating mechanism (200), wherein a first mounting frame (102) is arranged at the upper end of the vehicle body (101), a rotating shaft (103) is symmetrically arranged at the lower end of the first mounting frame (102) in a rotating mode, a first motor (104) for driving the rotating shaft (103) is symmetrically arranged at the upper end of the first mounting frame (102), a fixing rod (105) is welded on the rotating shaft (103), the rotating mechanism (200) comprises a second mounting frame (201) arranged at the tail end of the fixing rod (105), the second mounting frame (201) is arranged in a C-shaped mode, a rotating rod (202) is arranged in the second mounting frame (201), the thinning mechanism (300) comprises a telescopic adjusting rod (301) and a telescopic pulling rod (302) which are arranged on the rotating rod (202) in an array mode, and a picking plate (306) is arranged at the tail end of the telescopic adjusting rod (301).
2. The flower and fruit thinning robot with the telescopic picking head according to claim 1, wherein a second motor (203) is arranged at the upper end of the second mounting frame (201), an output shaft of the second motor (203) is connected with an axle center of a rotating rod (202), and the rotating rod (202) is polygonal.
3. The flower and fruit thinning robot with the telescopic picking head according to claim 2, wherein a plurality of telescopic tension rods (302) are arranged from top to bottom, the telescopic adjusting rods (301) are located at the uppermost positions, and linkage rods (304) are rotatably arranged between the telescopic adjusting rods (301) and the telescopic tension rods (302) and between the telescopic tension rods (302).
4. A flower and fruit thinning robot with a telescopic picking head according to claim 3, wherein the outer surface of the picking plate (306) is provided with flexible whip strips (307) with consistent length, the picking plate (306) is arranged in an arc shape along the long axis direction, and the arc diameter of the picking plate (306) is gradually reduced from top to bottom.
5. The flower and fruit thinning robot with the telescopic picking head according to claim 4, wherein the telescopic adjusting rod (301) and the telescopic tension rod (302) comprise telescopic rods (3021), hydraulic equipment (204) is arranged on the rotating rod (202), the hydraulic equipment (204) is connected with the telescopic rods (3021) of the telescopic adjusting rod (301), springs (303) are arranged in the telescopic tension rod (302), and the springs (303) are connected with the telescopic rods (3021) of the telescopic tension rod (302).
6. The flower and fruit thinning robot with the telescopic picking head according to claim 5, wherein the linkage rod (304) is rotatably connected between the telescopic rods (3021), the linkage rod (304) comprises a positioning sleeve rod (3041) and a connecting rod (3042) which is arranged in the positioning sleeve rod (3041) in a telescopic manner, corresponding adjusting ports (3043) are formed in the positioning sleeve rod (3041) and the connecting rod (3042), bolts (305) are inserted into the adjusting ports (3043), and adjusting knobs are installed at tail ends of the bolts (305) in a threaded manner.

Description

Flower and fruit thinning robot with telescopic picking heads Technical Field The utility model relates to the technical field of fruit tree planting, in particular to a flower and fruit thinning robot with a telescopic picking head. Background Flower thinning and fruit thinning are key measures for improving the quality and the yield of crops in agricultural production. And in the flowering stage or the young fruit stage, part of redundant flowers and young fruits are manually removed according to the bearing capacity of the tree body and the distribution condition of the fruits. The flower thinning can reduce the ineffective consumption of nutrients, intensively supply the reserved flowers and improve the fruit setting rate, and the fruit thinning can ensure that reserved fruits have sufficient space, nutrients and illumination, are full in development, uniform in fruit size and excellent in quality, can prevent the phenomenon of the fruit trees in years and maintain the balance of tree vigor. Various fruit trees such as apples, pears, grapes and the like, and some vegetables are planted, the flower and fruit thinning technology is widely applied, and a solid foundation is laid for harvest. The flower thinning and fruit thinning robot is mainly a movable trolley, the picking head of the flower thinning and fruit thinning robot is of a rotatable whip structure, flowers are whipped, and part of flowers fall off, so that the flower thinning aim is achieved, the pear tree is required to be trimmed in order to be managed in pear tree planting, the volume of the pear tree is usually gradually reduced from bottom to top, the picking head of the current flower thinning and fruit thinning robot is aligned, when the flowers are thinned and removed on the whole of the pear tree, the situation that the flowers at the lower part of the pear tree fall too much, the flowers at the upper part and the top are not whipped or whip to fall too little is avoided, and the flower thinning and fruit thinning work of the pear tree is not facilitated. In view of this, we propose a flower and fruit thinning robot with a telescopic picking head. Disclosure of utility model The utility model aims to overcome the defects of the prior art, adapt to the actual needs, and provide a flower and fruit thinning robot with a telescopic picking head, so as to solve the technical problems that the flowers at the lower part of a pear tree fall too much, and the flowers at the upper part and the top are not whipped or whipped to fall too little at present. In order to solve the technical problems, the utility model provides the technical scheme that the flower and fruit thinning robot with the telescopic picking head comprises a vehicle body, a rotating mechanism arranged on the vehicle body and a thinning mechanism arranged on the rotating mechanism, wherein a first mounting frame is arranged at the upper end of the vehicle body, a rotating shaft is symmetrically arranged at the lower end of the first mounting frame in a rotating mode, a first motor for driving the rotating shaft is symmetrically arranged at the upper end of the first mounting frame, a fixed rod is welded on the rotating shaft, the rotating mechanism comprises a second mounting frame arranged at the tail end of the fixed rod, the second mounting frame is in a C-shaped arrangement, a rotating rod is rotatably arranged in the second mounting frame, the thinning mechanism comprises a telescopic adjusting rod and a telescopic pulling rod which are arranged on the rotating rod in an array mode, and picking plates are arranged at the tail ends of the telescopic adjusting rod and the telescopic pulling rod. Preferably, the upper end of the second mounting frame is provided with a second motor, an output shaft of the second motor is connected with the axle center of the rotating rod, and the rotating rod is polygonal. Preferably, the telescopic tension rod is provided with a plurality of from top to bottom, the telescopic adjustment rod is located the position of top, all rotate between telescopic adjustment rod and the telescopic tension rod and between the telescopic tension rod and install the gangbar. Preferably, the outer surface of picking plate is provided with the consistent flexible whip strip of length, picking plate is the arc setting along major axis direction, picking plate's circular arc diameter from top to bottom diminishes gradually. Preferably, the telescopic adjusting rod and the telescopic tension rod comprise telescopic rods, hydraulic equipment is arranged on the rotating rod, the hydraulic equipment is connected with the telescopic rods of the telescopic adjusting rod, springs are arranged in the telescopic tension rods, and the springs are connected with the telescopic rods of the telescopic tension rods. Preferably, the linkage rod is rotationally connected between the telescopic rods, the linkage rod comprises a positioning sleeve rod and a connecting rod which