Classification of machines for tillage in fruit nurseries

When reviewing the existing technical solutions in the field of mechanization and automation of tillage in fruit nurseries conducted from February 2023 through January 2025, a classification of machines for tillage in fruit nurseries was made. The development trends of the research target were identified: automation of processes, distancing the machine operator from the working area, and simplification of the machine design. The search for technical solutions which included tillage techniques and technical means for their implementation was carried out on the Internet by entering a request in information systems. A mounted machine with an automated control system for working bodies (ACS) is proposed consisting of a frame with a mounted device, support wheels and modules. A guide, a screw of ball screw drive with the ability to rotate, weeding knives, a control board, a driver, a valve block, and fittings are installed on the frame. The module contains two rotary frames capable of rotation around a vertical axis with non-powered rotary working bodies. Non-powered rotary working body is a disk with fingers located along the perimeter, and the disk can rotate around an inclined axis on which it is installed. A carriage connected to a guide, two photo sensors, a hydraulic cylinder, two limiters for the movement of the hydraulic cylinder rod, and a nut of ball screw drive are installed on the module body. The module can move transversely using a stepper motor the output shaft of which is connected to the screw of the ball screw drive. Near-trunk tillage is performed by non-powered rotary working bodies, and inter-row tillage is performed by weeding knives. The operating principle of the ACS is to recognize a crop plant by detecting a color marker previously applied to the crop plant with photo sensors, calculating the distance to the crop plant, and transmitting the corresponding signals to the executive mechanism. The video sequence from the photo sensors is transmitted to the operator’s display. Increased productivity, improvement of conditions and simplification of the operator’s work whose task is reduced to monitoring the operation of the ACS was achieved.