Abstract
Aiming at the current low degree of mechanization of pomegranate sprouting tiller pruning in China, all relying on manual pruning, this paper designs a PLC-based pomegranate sprouting tiller removal machine. This machine adopts the identification method of wireless map transmission, the sprouting tiller removal method of multi-cylinder cooperative operation, and the MCGS configuration to realize the interaction between the user and the system, which realizes the displacement and angle compensation of the end-effector under complex conditions to realize the all-around accurate removal of the pomegranate sprouting tiller. The performance test and finite element analysis showed that the device could remove up to 74.62% of sprouting tillers, and the damage rate was as low as 18%. This meets the requirements of pomegranate plantations for the removal of emergent tillers.