CN102870608A - Five-degree of freedom green fence pruning machine - Google Patents
Five-degree of freedom green fence pruning machine Download PDFInfo
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- CN102870608A CN102870608A CN2012103598817A CN201210359881A CN102870608A CN 102870608 A CN102870608 A CN 102870608A CN 2012103598817 A CN2012103598817 A CN 2012103598817A CN 201210359881 A CN201210359881 A CN 201210359881A CN 102870608 A CN102870608 A CN 102870608A
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Abstract
A five-degree of freedom green fence pruning machine comprises a pruning manipulator posture adjusting platform installed in front of a bearing cart, a rotation base which is installed on the pruning manipulator posture adjusting platform and is capable of revolving 360 degrees, an elevating mechanism which is fixedly installed on the rotation base, a telescoping mechanism which is fixed on an elevating rack of the elevating mechanism and is capable of ascending and descending along with the elevating rack, a pruning bit rotating device which is fixed at the front end of the telescoping mechanism and is capable of driving a pruning bit to rotate 360 degrees, a vertical lifting mechanism which is installed on the pruning bit rotating device, a pruning bit inclination-degree adjusting joint which is fixed at the lower end of the vertical lifting mechanism and is capable of ascending and descending along with the vertical lifting mechanism, and the pruning bit which is installed on an output shaft end of the pruning bit inclination-degree adjusting joint. By the pruning machine, the pruning of a plurality of mold modes of road green belts and garden sightseeing trees can be realized, a pruning process is completed automatically, the pruning machine is high in automation degree and simple in mechanical structure, the labor intensity of pruning green fences can be reduced, and work efficiency is improved.
Description
One, technical field
The present invention relates to a kind of trimmer for road green belt pruning, the moulding of view nursery stock, specifically a kind of five degree of freedom hedgerow pruning machine.
Two, technical background
At present, to the Urban Parks, road green belt, the pruning integer of green plants mainly is to rely on workman's operation experience and use various hedgeclippers on the moulding of view nursery stock and the highway, wherein use comparatively generally hand-push type or backpack trimmer, such machine weight is about 5-10 kilograms, the operator is in prudent state always during operation, when especially pruning low level or high-order hedgerow, the operator also must bend over or lift trimmer and carry out, labour intensity is larger, and when work the machine vibration and the noise that produce also larger, long-time operation is unfavorable for healthy; In addition, this type of machine relies on operator's pruning technique and sense of responsibility to guarantee flatness and the modeling effect of pruning fully, has not only increased work difficulty, prunes quality and also is difficult to guarantee.According to statistics, an experienced employee per hour can only prune approximately 50～60 squares and meet the hedgerow of pruning quality requirement, and prunes a semicircle or the ball moulding approximately needed just can finish in 20～30 minutes, and effort and efficient are low; The isolation greenbelt that particularly reaches tens kilometers even up to a hundred kilometers on urban road both sides or the highway, also be to adopt artificial mode of pruning mostly, each maintenance all needs to drop into a large amount of manpower and materials, and the pruning workload is large, and may endanger personal safety in the course of work.The automation trimmer function singleness that occurs on the market at present is mainly used in plane and the facade of highway isolation belt are pruned.Also do not occur on the market a kind of simple in structure, easy and simple to handle and can carry out to hedgerow trees, view nursery stock the automation trimmer of the modeling scissors of various shapes.
Chinese patent 200620130380 has been introduced a kind of vehicle mounted mechanical hand type cropper, comprise the Foldable lift mechanical arm that can be fixed on the towing vehicle, when work, the forearm of this mechanical arm launches to be the level of state, front end at forearm is fixed with the horizontal mechanical arm that can do at horizontal plane gyration that is ordered about by a horizontal rotation mechanism, this horizontal mechanical arm have one can telescopic moving on horizontal plane the horizontal shift arm, the front end of horizontal shift arm is provided with the pruning manipulator.The machine can be under the motor vehicles traction, sending each motion of order-driven by control system realizes the greenbelt of highway central and road both sides and the green plants that some have geometric modeling are pruned and shaping, job safety, automaticity is high, simple to operate, pruning efficient is high; The flatness on the horizontal plane of hedgerow, vertical plane and hedgerow surface and the geometric modeling of plant are controlled automatically by the machine, so the pruning quality is secure.
Chinese patent 201020219192.2 discloses a kind of on-vehicle hedge clipping machine, comprises carrying vehicle and the hedge trimming equipment that is installed on the carrying vehicle; Hedge trimming equipment comprise can the rotary table of 360 ° of rotations on the horizontal plane, can carry out simultaneously elastic telescopic arm, the cutterhead frame, the level that are fixedly mounted on the telescopic arm leading section with moving up and down be installed in a plurality of rotary cutters below the cutterhead frame, the cutter drives mechanism that rotary cutter is driven, carry out with the movable knife disc frame around cutterhead turnover driving mechanism, base drive unit, telescopic arm drive unit and the control system of rotary movement.The present invention is simple in structure, easy to operate, automaticity is high, operating efficiency is high, prune that the attitude conversion speed is fast and job area wide, prune that quality is high, job safety, can effectively overcome high pruninx that existing hedgeclipper exists and the low level defective such as need respectively two to overlap independent agency, complicated operations, production cost is high, automaticity is low, job area is little of beating the grass.
The trim mode of the above-mentioned open source literature report part that still comes with some shortcomings, the first complex structure, control system are difficult for realizing, cost is high, the second function singleness, narrow application range.
Three, summary of the invention
The purpose of this invention is to provide a kind of five degree of freedom hedgerow pruning machine, it can realize the multiple moulding pattern pruning of road green belt, garden landscape trees, the pruning process is finished automatically, automaticity is high, frame for movement is succinct, can reduce the hedgerow pruning labour intensity, increase work efficiency.
For achieving the above object, technical scheme of the present invention is: a kind of five degree of freedom hedgerow pruning machine, comprise the hand pose adjustment platform that is installed in carrying vehicle the place ahead, can be installed on the pruning manipulator pose adjustment platform by 360 ° of rotating rotating bases, elevating mechanism is fixedly mounted on the described rotating base, telescoping mechanism is fixedly mounted on the crane of described elevating mechanism and can rises or descend with crane, the pruning cutter head whirligig that energy driving pruning cutter head carries out 360 ° of rotations is fixed on the telescoping mechanism front end, vertically playing descending mechanism is installed on the pruning cutter head whirligig, pruning shear head tilt degree is adjusted arthrodesis and is vertically being played the descending mechanism lower end and rising or descend with vertically playing descending mechanism, prune cutter head and be installed in the output shaft end that pruning shear head tilt degree is adjusted the joint, camera is installed in and vertically plays the descending mechanism top, camera is connected with control system, before touch-screen is installed in the driver's seat of carrying vehicle, touch-screen is connected with control system, horizon sensor is installed in to be pruned on the manipulator pose adjustment platform, the elevating mechanism limit sensors is installed in the two ends of elevating mechanism, the telescoping mechanism limit sensors is installed in the telescoping mechanism two ends, vertically play the descending mechanism limit sensors and be installed in the two ends of vertically playing descending mechanism, the cutterhead speed probe is installed in prunes in the cutter head described horizon sensor, the elevating mechanism limit sensors, the telescoping mechanism limit sensors, vertically play the descending mechanism limit sensors, the cutterhead speed probe is connected with control system.
Described pruning manipulator pose is adjusted platform and is comprised left push rod, right push rod, installing rack and cross joint, left push rod, right push rod are hinged to installing rack by the upper end ball-joint, receive on the carrying vehicle by the intermediate hinge joints, installing rack is connected with carrying vehicle by the cross joint.
Described vertical descending mechanism comprises the urceolus bearing block that is fixedly mounted on the urceolus upper end, vertically landing power motor holder is fixed on the urceolus bearing block, vertically the landing power motor is fixedly mounted on vertical landing power motor holder upper end, vertically play a descending mechanism first order leading screw and interted the urceolus bearing block, described vertical descending mechanism first order lead screw machining has guide key groove, vertically playing descending mechanism first order leading screw is fixedly connected with vertical landing power motor by playing the descending mechanism shaft coupling, also comprise the middle cylinder that is sleeved on from the bottom to top urceolus inside, described middle cylinder has middle cylinder gathering sill, described middle cylinder upper end is equipped with middle cylinder guide finger, described middle cylinder guide finger cooperates with described urceolus gathering sill, middle cylinder bearing block is fixed on middle cylinder upper end, vertically rise in the installing hole that descending mechanism first order displacement nut is fixed on middle cylinder bearing block and by vertically playing descending mechanism first order leading screw and drive, the drive sleeve bearing is installed in the installing hole of middle cylinder bearing block, the vertical landing mechanism driving cover that is processed with scallop passes and vertically plays descending mechanism first order leading screw, lower end and the drive sleeve bearing fit of vertical landing mechanism driving cover, a vertical descending mechanism first order gear is fixed on vertical landing mechanism driving and puts, vertically the tooth in the scallop of landing mechanism driving cover cooperates with the keyway that vertically plays descending mechanism first order leading screw, and the rotary power that will vertically play descending mechanism first order leading screw passes to a vertically descending mechanism first order gear, middle cylinder upper end bearing and middle cylinder bottom end bearing are installed in the installing hole of middle cylinder bearing block, vertically play descending mechanism second level leading screw and pass described middle cylinder upper end bearing and middle cylinder bottom end bearing, vertically play descending mechanism second level gear and be fixed on a vertically leading screw upper end, the descending mechanism second level, described vertical descending mechanism second level gear and described vertical descending mechanism first order gear engagement, inner core is sleeved in the described middle cylinder from the bottom to top, described inner core upper end is equipped with the inner core guide finger, described inner core guide finger cooperates with described middle cylinder gathering sill, the inner core nut seat is fixed on the upper end of inner core, vertically plays descending mechanism second level displacement nut and cooperates and be fixed in the installing hole of described inner core nut seat with a vertical descending mechanism second level leading screw.
The control method of described five degree of freedom hedgerow pruning machine comprises the steps:
Control is pruned the manipulator pose and is adjusted the pose method of adjustment that platform realizes that pose is adjusted, realize that trees are to the method for the heart, the hand operated control method that manipulator manually moves is pruned in control, and the method for controlling trajectory that manipulator is pruned automatically according to desired trajectory is pruned in control.
Described pose method of adjustment of pruning the adjustment of manipulator pose adjustment platform realization pose for control comprises the steps:
The pruning manipulator pose that A, control system extraction horizon sensor detect is adjusted the position and posture parameter of platform,
B, control system adjust the left push rod flexible equivalent required with right push rod of platform according to the described pruning manipulator of described position and posture calculation of parameter pose, and control it and stretch accordingly, finish the pose adjustment campaign of pruning manipulator pose adjustment platform.
Described realization trees comprise the steps: the method for the heart
A, carrying vehicle are opened near the hedgerow nursery stock of pruning to wish and whirligig is positioned at the tops of trees, by the touch-screen input to heart instruction,
B, camera are clapped and are got Tree image, the center that the Tree image that control system captures according to camera calculates trees, if the deviation of the center of Tree image and screen center position is in the allowed band of relative error, then no longer carry out the heart is controlled, if the deviation of trees center and screen center surpasses the error that allows, then judge the direction of rotation of direction of displacement and the rotating base of telescoping mechanism
C, control system transmitted, control telescoping mechanism and rotating base move by the direction of judging among the B,
D, return the B step,
E, finish trees to the heart.
The hand operated control method that manipulator manually moves is pruned in described control, comprises the steps:
A, at first set the manual speed of service of each axle by touch-screen, if do not set, will control by the speed parameter that the last time is set the operation of trimmer,
B, press rotating base, elevating mechanism, telescoping mechanism, pruning cutter head whirligig, vertically play descending mechanism and pruning shear head tilt degree and adjust the corresponding control button in joint by touch-screen, the control system transmitted, control rotating base, elevating mechanism, telescoping mechanism, pruning cutter head whirligig, vertically play descending mechanism and pruning shear head tilt degree and adjust the joint operation
C, control system gather the cutterhead rotating speed that the cutterhead speed probe detects, and judge whether the cutterhead rotating speed is lower than safe threshold values, judge simultaneously whether limit sensors is triggered, if the cutterhead rotating speed is in and is not less than safe threshold values and limit sensors is not triggered, the then not transmission of interference pulse, if the cutterhead rotating speed is lower than safe threshold values or limit sensors is triggered, the alarm signal that then shows overload or spacing triggering to touch-screen, and the transmission of interruption pulse signal, if receive the stop signal that touch-screen transmits, the then transmission of stop pulse.
The method for controlling trajectory that described pruning manipulator is pruned automatically according to desired trajectory comprises the steps:
A, by touch-screen input Modeling Types, prune diameter, cutter angle of inclination, cutting range, pruning speed parameter, if not input is then carried out ensuing control by the value of input last time,
Whether B, pruning diameter, cutter angle of inclination, cutting range, the pruning speed of judging input can be in the limit range that mechanism kinematic allows, if satisfy, then enter next step, if do not satisfy, then return the A step, and parameter is re-entered in prompting,
C, call the track operational model, calculate each axle at the pulse equivalency of each time period,
D, respectively to rotating base, elevating mechanism, telescoping mechanism, prune the cutter head whirligig, vertically play descending mechanism and pruning shear head tilt degree and adjust the joint transmitted, carry out six-axis linkage, and whether the limited location sensor is triggered to judge five degree of freedom hedgerow pruning manipulator, judge whether the cutterhead rotating speed is lower than the safe range threshold values, and judge whether touch-screen is inputted and cease and desist order, if spacing being triggered, service load surpasses safe range, the perhaps order that stops of touch-screen input, the then transmission of stop pulse
After E, transmitted finish, finish automatic pruning process.
Substantive distinguishing features and marked improvement that the present invention gives prominence to are: the present invention can reduce the labour intensity of hedgerow pruning, improve and will prune moulding efficient, and avoid hedgerow nursery stock surfaceman directly to prune existing traffic safety hidden danger at highway.The present invention adopts at pruning manipulator pose position adjustment platform the pruning manipulator is set, and can automatically adjust the postural position of pruning manipulator, avoids pavement roughness on the pruning quality of hedgerow nursery stock and the impact of aesthetic property.Prune mechanical hand getting with the tandem of five degree of freedom machinery hand structure, compactness simple for structure makes and prunes cutter head and can finish in the space track requirement that can satisfy multiple hedgerow nursery stock modeling scissors.The control method that the present invention adopts with improving the pruning efficient of trimmer, guarantees the security reliability in the course of work.
Four, description of drawings
Fig. 1 is the structural representation of five degree of freedom hedgerow pruning machine of the present invention.
Fig. 2 is that the pruning manipulator pose of five degree of freedom hedgerow pruning machine of the present invention is adjusted the platform schematic diagram.
Fig. 3 is the pruning manipulator structural representation of five degree of freedom hedgerow pruning machine of the present invention.
Fig. 4 is the structural representation of the telescoping mechanism of five degree of freedom hedgerow pruning machine of the present invention.
Fig. 5 is pruning cutter head whirligig and the vertical landing structural scheme of mechanism of five degree of freedom hedgerow pruning machine of the present invention.
Fig. 6 is the partial enlarged drawing of A parts among Fig. 5.
Fig. 7 is that the pruning shear head tilt degree of five degree of freedom hedgerow pruning machine of the present invention is adjusted the joint and pruned the cutter head schematic diagram.
Five, embodiment
Below by drawings and Examples technical scheme of the present invention is further described.
Fig. 1 is five degree of freedom hedgerow pruning machine structural representation of the present invention, comprise the hand pose adjustment platform that is installed in carrying vehicle 1 the place ahead, can be installed on the pruning manipulator pose adjustment platform by 360 ° of rotating rotating bases 3, elevating mechanism is fixedly mounted on the described rotating base 3, telescoping mechanism is fixedly mounted on the crane 11 of described elevating mechanism and can rises or descend with crane 11, the pruning cutter head whirligig that energy driving pruning cutter head carries out 360 ° of rotations is fixed on the telescoping mechanism front end, vertically playing descending mechanism is installed on the pruning cutter head whirligig, pruning shear head tilt degree is adjusted joint 20 and is fixed on and vertically plays the descending mechanism lower end and raise or reduce with vertically playing a descending mechanism, prune cutter head 19 and be installed in pruning shear head tilt degree adjustment joint output shaft 53 ends, camera 15 is installed in and vertically plays the descending mechanism top, camera 15 is connected with control system, before touch-screen 22 is installed in the driver's seat of carrying vehicle 1, touch-screen 22 is connected with control system, horizon sensor is installed in to be pruned on the manipulator pose adjustment platform, the elevating mechanism limit sensors is installed in the two ends of elevating mechanism, the telescoping mechanism limit sensors is installed in the telescoping mechanism two ends, vertically play the descending mechanism limit sensors and be installed in the two ends of vertically playing descending mechanism, the cutterhead speed probe is installed in prunes in the cutter head 19 described horizon sensor, the elevating mechanism limit sensors, the telescoping mechanism limit sensors, vertically play the descending mechanism limit sensors, the cutterhead speed probe is connected with control system.
Fig. 2 adjusts the platform schematic diagram for pruning the manipulator pose.Comprise left push rod 2, right push rod 4, installing rack 5, cross joint 25.Left push rod 2 and right push rod 4 are hinged to installing rack 5 by upper end ball-joint 23, are hinged on the carrying vehicle 1 by intermediate joint 24.Installing rack 5 is connected with carrying vehicle 1 by cross joint 25.
Fig. 3 is five degree of freedom hedgerow pruning robot manipulator structure schematic diagram.Described five degree of freedom hedgerow pruning manipulator comprises rotating base 3, elevating mechanism, telescoping mechanism, pruning cutter head whirligig, vertically plays falling unit, pruning shear head tilt degree is adjusted joint 20 and pruned cutter head 19.
Described rotating base 3 is fixedly mounted on to be pruned the manipulator pose and adjusts on the installing rack of platform 5, and the base power motor 6 that rotating base 3 is driven is fixed on the rotating base 3.
Described elevating mechanism comprises the riser guide 8 that is fixed on the rotating base 3, be sleeved on the crane 11 of riser guide 8 inboard also energy oscilaltions, elevating screw 10 passes crane 11 and can order about crane 11 and rise or descend, lifting drive motor 9 is fixed on the riser guide 8, and lifting drive motor 9 output shafts are connected with elevating screw 10.
Fig. 4 is the telescoping mechanism schematic diagram, described telescoping mechanism comprises with crane 11 and being fixedly connected with and can be with the quiet arm 12 of its rise and fall, also comprise and be sleeved on from front to back described quiet arm 12 inside and the elastic swing arm 13 of energy, described quiet arm 12 rear ends are installed with flexible power motor fixed mount 32, described swing arm 13 rear ends are fixed with flexible displacement nut 34, flexible leading screw 33 interted telescopic displacement nut 34, flexible leading screw 33 is connected with the output shaft of flexible power motor 7, and flexible leading screw 33 promotes telescopic displacement nut 34 and swing arm 13 carries out elastic.
Fig. 5 is for pruning cutter head whirligig and vertical landing structural scheme of mechanism, described pruning cutter head whirligig comprises the holder 18 that is fixedly mounted on swing arm 13 front ends, interting holder 18 also can be around the urceolus 16 of holder 18 rotations, described urceolus 16 is fixedly connected with gear wheel 26, also be installed with rotary power motor fixed mount 27 on the holder 18, rotary power motor 17 is fixed on the rotary power motor fixed mount 27, rotary power motor 17 output shaft ends are fixed with pinion 28, described pinion 28 is delivered to urceolus 16 with described gear wheel 26 engagements and with rotatablely moving of rotary power motor 17, and described urceolus is provided with urceolus gathering sill 44.
Described vertical descending mechanism comprises the urceolus bearing block 36 that is fixedly mounted on urceolus 16 upper ends, vertically landing power motor holder 27 is fixed on the urceolus bearing block 36, vertically landing power motor 14 is fixedly mounted on vertical landing power motor holder 27 upper ends, vertically play a descending mechanism first order leading screw 37 and interted urceolus bearing block 36, described vertical descending mechanism first order leading screw 37 is processed with guide key groove, vertically playing descending mechanism first order leading screw 37 is fixedly connected with vertical landing power motor 14 by playing descending mechanism shaft coupling 35, also comprise the middle cylinder 30 that is sleeved on from the bottom to top urceolus 16 inside, described middle cylinder 30 has middle cylinder gathering sill 46, described middle cylinder 30 upper ends are equipped with middle cylinder guide finger 45, described middle cylinder guide finger 45 cooperates with described urceolus gathering sill 44, middle cylinder bearing block 38 is fixed on middle cylinder 30 upper ends, vertically rise in the installing hole that descending mechanism first order displacement nut 39 is fixed on middle cylinder bearing block 38 and by vertically playing descending mechanism first order leading screw 37 and drive, drive sleeve bearing 51 is installed in the installing hole of middle cylinder bearing block 38, the vertical landing mechanism driving cover 50 that is processed with scallop passes and vertically plays descending mechanism first order leading screw 37, vertically the lower end of landing mechanism driving cover 50 cooperates with drive sleeve bearing 51, vertically playing descending mechanism first order gear 48 is fixed on the vertical landing mechanism driving cover 50, vertically the tooth in the scallop of landing mechanism driving cover 50 cooperates with the keyway that vertically plays descending mechanism first order leading screw 37, and the rotary power that will vertically play descending mechanism first order leading screw 37 passes to a vertically descending mechanism first order gear 48, middle cylinder upper end bearing 52 and middle cylinder bottom end bearing 40 are installed in the installing hole of middle cylinder bearing block 38, vertically play descending mechanism second level leading screw 41 and pass described middle cylinder upper end bearing 52 and middle cylinder bottom end bearing 40, vertically play descending mechanism second level gear 49 and be fixed on vertically leading screw 41 upper end, the descending mechanism second level, described vertical descending mechanism second level gear 49 and described vertical descending mechanism first order gear 48 engagements, inner core 31 is sleeved in the described middle cylinder 30 from the bottom to top, described inner core 31 upper ends are equipped with inner core guide finger 47, described inner core guide finger 47 cooperates with described middle cylinder gathering sill 46, inner core nut seat 43 is fixed on the upper end of inner core 31, vertically plays descending mechanism second level displacement nut 42 and cooperates and be fixed in the installing hole of described inner core nut seat 43 with a vertical descending mechanism second level leading screw 41.
Fig. 6 is that pruning shear head tilt degree is adjusted joint 20 and pruned cutter head 19 schematic diagrames, described pruning shear head tilt degree is adjusted joint 20 and is fixed on inner core 31 lower ends, Slope angle adjustment power motor 21 is fixed on pruning shear head tilt degree and adjusts joint 20 1 ends, prunes cutter head 19 and is fixed on pruning shear head tilt degree adjustment joint output shaft 53 ends.
Described base power motor 6, described lifting drive motor 9, described flexible power motor 7, rotary power motor 17, described vertical landing power motor 14, described Slope angle adjustment power motor 21 are connected with described control system by cable.
Described control system is take ARM or DSP as core, the realtime graphic that photographs from described camera collection, and be shown on the touch-screen, the signal of described control system pick-up transducers, and receive the control command that touch-screen is inputted, and call corresponding control method, transmit control signal.
Operation principle and the process of five degree of freedom hedgerow pruning machine of the present invention are:
1. prune the preparation of operation
Carrying vehicle is opened to hedgerow or greenbelt next door, if carry out modeling scissors, then controls rotating base, prunes cutter head and moves to the trees top; Prune if carry out horizontal plane, then will prune cutter head and move to the greenbelt top; If the pruning perpendicular then moves to pruning shear the greenbelt side.
2. horizontal plane is pruned, prune on the inclined plane or vertical plane is pruned
Control pruning shear head tilt degree is adjusted the joint, to prune cutter head and transfer to level, inclination or vertical position, the cutter head whirligig is pruned in control, makes to prune cutter head and move ahead perpendicular direction, vehicle moves ahead, and roadside greenbelt, central partition etc. are trimmed to horizontal plane, inclined plane, vertical plane.
4. wavy surface is pruned
To prune cutter head and be adjusted to level, and move ahead behind the perpendicular direction position with vehicle, style and parameter at touch display input wave, with moving ahead of car, control system reaches style and the parameter of default wave according to the speed of a motor vehicle, control vertically plays a descending mechanism and will prune cutter head and raise or reduce, and finishes the wavy surface pruning.
5. ball moulding
At first carry out horizontal adjusting, carrying vehicle is opened to the view trees next door of wanting to carry out moulding, press pose by touch-screen and adjust button, control system will be controlled and prune left push rod and the right push rod that the manipulator pose is adjusted platform, will prune manipulator pose adjustment platform and be adjusted to level.
Carry out trees to the heart, manually control rotating base and telescoping mechanism, the axis of knife rest whirligig is moved near the view trees center that wish prunes, pressing by touch-screen heart button, control system is by control rotating base and telescoping mechanism, automatically the axis that will prune the cutter head whirligig be adjusted to the view trees that wish prunes the centre of form directly over, finish trees to the heart.
Carry out modeling scissors, by touch-screen input radius value, control system is controlled swivel base, telescoping mechanism, pruning cutter head whirligig, is vertically played descending mechanism, pruning shear head tilt degree adjustment joint, and the track that makes pruning shear carry out spherical helix in the space moves, and finishes spherical the pruning.
6. cylinder moulding
At first carry out horizontal adjusting, carrying vehicle is opened to the view trees next door of wanting to carry out moulding, press pose by touch-screen and adjust button, control system will be controlled and prune left push rod and the right push rod that the manipulator pose is adjusted platform, will prune manipulator pose adjustment platform and be adjusted to level.
Carry out trees to the heart, manually control rotating base and telescoping mechanism, the axis of knife rest whirligig is moved near the view trees center that wish prunes, pressing by touch-screen heart button, control system is by control rotating base and telescoping mechanism, automatically the axis that will prune the cutter head whirligig be adjusted to the view trees that wish prunes the centre of form directly over, finish trees to the heart.
Beginning to carry out cylinder prunes, the input radius value, and cylinder height value, control system is at first controlled the distance that telescoping mechanism shrinks a radius, then controlling pruning shear head tilt degree adjusts the joint and will prune cutter head and be adjusted to vertical direction, control at last that rotating base swings, telescoping mechanism is flexible, and control prunes the cutter head whirligig and be rotated, make and prune the movement that cutter head carries out circular trace and finish the pruning on the face of cylinder.
7. circular cone is pruned
At first carry out horizontal adjusting, carrying vehicle is opened to the view trees next door of wanting to carry out moulding, press pose by touch-screen and adjust button, control system will be controlled and prune left push rod and the right push rod that the manipulator pose is adjusted platform, will prune manipulator pose adjustment platform and be adjusted to level.
Carry out trees to the heart, manually control rotating base and telescoping mechanism, the axis of knife rest whirligig is moved near the view trees center that wish prunes, pressing by touch-screen heart button, control system is by control rotating base and telescoping mechanism, automatically the axis that will prune the cutter head whirligig be adjusted to the view trees that wish prunes the centre of form directly over, finish trees to the heart.
Beginning to carry out circular cone prunes, input radius value, taper value, reach the cone height value, control system control is at first controlled pruning shear head tilt degree and is adjusted the joint and will prune cutter head and be adjusted to the tapering of having established, then control that rotating base swings, the control telescoping mechanism is flexible, control vertically plays descending mechanism stretch out, control pruned the cutter head whirligig and rotated, make the pruning cutter head carry out the taper seat screw in space, finish the circular cone modeling scissors.
Claims (8)
1. five degree of freedom hedgerow pruning machine, it is characterized in that: the pruning manipulator pose of this trimmer is adjusted platform and is installed in carrying vehicle the place ahead, rotating base is installed in to be pruned on the manipulator pose adjustment platform, elevating mechanism is fixedly mounted on the described rotating base, telescoping mechanism is fixedly mounted on the crane of described elevating mechanism and can rises or descend with crane, the pruning cutter head whirligig that energy driving pruning cutter head carries out 360 ° of rotations is fixed on the telescoping mechanism front end, vertically playing descending mechanism is installed on the pruning cutter head whirligig, pruning shear head tilt degree is adjusted arthrodesis and is vertically being played the descending mechanism lower end and rising or descend with vertically playing descending mechanism, prune cutter head and be installed in pruning shear head tilt degree adjustment joint output shaft end, camera is installed in and vertically plays the descending mechanism top, camera is connected with control system, before touch-screen is installed in the driver's seat of carrying vehicle, touch-screen is connected with control system, horizon sensor is installed in to be pruned on the manipulator pose adjustment platform, the elevating mechanism limit sensors is installed in the two ends of elevating mechanism, the telescoping mechanism limit sensors is installed in the telescoping mechanism two ends, vertically play the descending mechanism limit sensors and be installed in the two ends of vertically playing descending mechanism, the cutterhead speed probe is installed in the pruning cutter head, described horizon sensor, the elevating mechanism limit sensors, the telescoping mechanism limit sensors, vertically play the descending mechanism limit sensors, the cutterhead speed probe is connected with control system.
2. five degree of freedom hedgerow pruning machine according to claim 1, it is characterized in that: described pruning manipulator pose is adjusted platform and is comprised left push rod, right push rod, installing rack and cross joint, left push rod, right push rod are hinged to installing rack by the upper end ball-joint, receive on the carrying vehicle by the intermediate hinge joints, installing rack is connected with carrying vehicle by the cross joint.
3. five degree of freedom hedgerow pruning machine according to claim 1, it is characterized in that: described vertical descending mechanism comprises the urceolus bearing block that is fixedly mounted on the urceolus upper end, vertically landing power motor holder is fixed on the urceolus bearing block, vertically the landing power motor is fixedly mounted on vertical landing power motor holder upper end, vertically play a descending mechanism first order leading screw and interted the urceolus bearing block, described vertical descending mechanism first order lead screw machining has guide key groove, vertically playing descending mechanism first order leading screw is fixedly connected with vertical landing power motor by playing the descending mechanism shaft coupling, also comprise the middle cylinder that is sleeved on from the bottom to top urceolus inside, described middle cylinder has middle cylinder gathering sill, described middle cylinder upper end is equipped with middle cylinder guide finger, described middle cylinder guide finger cooperates with described urceolus gathering sill, middle cylinder bearing block is fixed on middle cylinder upper end, vertically rise in the installing hole that descending mechanism first order displacement nut is fixed on middle cylinder bearing block and by vertically playing descending mechanism first order leading screw and drive, the drive sleeve bearing is installed in the installing hole of middle cylinder bearing block, the vertical landing mechanism driving cover that is processed with scallop passes and vertically plays descending mechanism first order leading screw, lower end and the drive sleeve bearing fit of vertical landing mechanism driving cover, a vertical descending mechanism first order gear is fixed on vertical landing mechanism driving and puts, vertically the tooth in the scallop of landing mechanism driving cover cooperates with the keyway that vertically plays descending mechanism first order leading screw, and the rotary power that will vertically play descending mechanism first order leading screw passes to a vertically descending mechanism first order gear, middle cylinder upper end bearing and middle cylinder bottom end bearing are installed in the installing hole of middle cylinder bearing block, vertically play descending mechanism second level leading screw and pass described middle cylinder upper end bearing and middle cylinder bottom end bearing, vertically play descending mechanism second level gear and be fixed on a vertically leading screw upper end, the descending mechanism second level, described vertical descending mechanism second level gear and described vertical descending mechanism first order gear engagement, inner core is sleeved in the described middle cylinder from the bottom to top, described inner core upper end is equipped with the inner core guide finger, described inner core guide finger cooperates with described middle cylinder gathering sill, the inner core nut seat is fixed on the upper end of inner core, vertically plays descending mechanism second level displacement nut and cooperates and be fixed in the installing hole of described inner core nut seat with a vertical descending mechanism second level leading screw.
4. a control method that is applicable to five degree of freedom hedgerow pruning machine claimed in claim 1 is characterized in that, comprises following four kinds of methods:
(1) prune the manipulator pose and adjust the method that platform realizes that pose is adjusted,
(2) realize trees to the method for the heart,
(3) hand operated control method of pruning manipulator,
(4) prune the method for controlling trajectory that manipulator is pruned automatically according to desired trajectory.
5. the control method of five degree of freedom hedgerow pruning machine according to claim 4 is characterized in that, described pruning manipulator pose is adjusted the method that platform realizes that pose is adjusted, and comprises the steps:
The pruning manipulator pose that A, control system extraction horizon sensor detect is adjusted the position and posture parameter of platform,
B, control system adjust the left push rod flexible equivalent required with right push rod of platform according to the described pruning manipulator of described position and posture calculation of parameter pose, and control it and stretch accordingly, finish the pose adjustment campaign of pruning manipulator pose adjustment platform.
6. the control method of five degree of freedom hedgerow pruning machine according to claim 4 is characterized by: described realization trees comprise the steps: the method for the heart
A, carrying vehicle are opened near the hedgerow nursery stock of wish pruning, whirligig are moved to the top of trees, input heart instruction by touch-screen,
B, camera are clapped and are got Tree image, the center that the Tree image that control system captures according to camera calculates trees, if the deviation of the center of Tree image and screen center position is in the allowed band of relative error, then no longer carry out the heart is controlled, if the deviation of trees center and screen center surpasses the error that allows, by control system control telescoping mechanism and the direction of displacement of rotating base and the direction of rotation of rotating base, finish trees to the heart.
7. the control method of five degree of freedom hedgerow pruning machine according to claim 4, it is characterized by: the hand operated control method of described pruning manipulator comprises the steps:
A, at first set the manual speed of service of each axle by touch-screen,
B, press rotating base, elevating mechanism, telescoping mechanism, pruning cutter head whirligig, vertically play descending mechanism and pruning shear head tilt degree and adjust the corresponding control button in joint by touch-screen, the control system transmitted, control rotating base, elevating mechanism, telescoping mechanism, pruning cutter head whirligig, vertically play descending mechanism and pruning shear head tilt degree and adjust the joint operation
C, control system gather the cutterhead rotating speed that the cutterhead speed probe detects, and judge whether the cutterhead rotating speed is lower than safe threshold values, judge simultaneously whether limit sensors is triggered, if the cutterhead rotating speed is in and is not less than safe threshold values and limit sensors is not triggered, the then not transmission of interference pulse, if the cutterhead rotating speed is lower than safe threshold values or limit sensors is triggered, the alarm signal that then shows overload or spacing triggering to touch-screen, and the transmission of interruption pulse signal, if receive the stop signal that touch-screen transmits, the then transmission of stop pulse.
8. the control method of five degree of freedom hedgerow pruning machine according to claim 4, it is characterized by: the method for controlling trajectory that described pruning manipulator is pruned automatically according to desired trajectory comprises the steps:
A, by touch-screen input Modeling Types, prune diameter, cutter angle of inclination, cutting range, pruning speed parameter,
Whether B, pruning diameter, cutter angle of inclination, cutting range, the pruning speed of judging input are in the limit range that mechanism kinematic allows, if satisfy, then enter next step, if do not satisfy, then return the A step, and parameter is re-entered in prompting,
C, call the track operational model, calculate each axle at the pulse equivalency of each time period,
D, respectively to rotating base, elevating mechanism, telescoping mechanism, prune the cutter head whirligig, vertically play descending mechanism and pruning shear head tilt degree and adjust the joint transmitted, carry out six-axis linkage, and whether the limited location sensor is triggered to judge five degree of freedom hedgerow pruning manipulator, judge whether the cutterhead rotating speed is lower than the safe range threshold values, and judge whether touch-screen is inputted and cease and desist order, if spacing being triggered, service load surpasses safe range, the perhaps order that stops of touch-screen input, the then transmission of stop pulse
After E, transmitted finish, finish automatic pruning process.
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| CN201210359881.7A CN102870608B (en) | 2012-09-25 | 2012-09-25 | Five-degree of freedom green fence pruning machine |
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| CN201210359881.7A CN102870608B (en) | 2012-09-25 | 2012-09-25 | Five-degree of freedom green fence pruning machine |
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| CN113678655A (en) * | 2021-08-20 | 2021-11-23 | 刘蕉杨 | Artistic shrub shape trimming device |
| CN114342681A (en) * | 2021-11-25 | 2022-04-15 | 王婧 | A trimming means for gardens nursery stock |
| CN113977551A (en) * | 2021-11-30 | 2022-01-28 | 福建省特种设备检验研究院泉州分院 | Elevator running performance detection robot |
| CN114766226A (en) * | 2022-04-23 | 2022-07-22 | 吕仲逸 | Be used for afforestation trimming means |
| CN114766226B (en) * | 2022-04-23 | 2024-05-24 | 珠海市绿怡居园艺工程有限公司 | Be used for afforestation trimming means |
| CN114793663A (en) * | 2022-05-07 | 2022-07-29 | 中国农业大学 | Side-mounted portal type hedgerow trimming robot |
| CN115399154A (en) * | 2022-08-17 | 2022-11-29 | 四川依贝智能装备有限公司 | Vehicle-mounted road greening trimmer |
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| CN102870608B (en) | 2014-04-02 |
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Inventor after: Wei Jin Inventor after: Wang Tian Inventor after: Hu Wei Inventor after: Qin Chunwa Inventor after: District Binghua Inventor after: Meng Yanmei Inventor after: Dong Zhen Inventor after: Wang Xiaochun Inventor after: Chen Yuanling Inventor after: Liang Jianzhi Inventor after: Huang Xuemin Inventor after: Han Xu Inventor after: Lu Yongqiang Inventor before: Meng Yanmei Inventor before: Wang Tian Inventor before: Hu Wei Inventor before: Qin Chunwa Inventor before: District Binghua Inventor before: Wei Jin Inventor before: Dong Zhen Inventor before: Wang Xiaochun Inventor before: Chen Yuanling Inventor before: Liang Jianzhi Inventor before: Huang Xuemin Inventor before: Han Xu Inventor before: Lu Yongqiang |
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