CN109673297A - A kind of trimming machine cuts people - Google Patents
A kind of trimming machine cuts people Download PDFInfo
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- CN109673297A CN109673297A CN201910013367.XA CN201910013367A CN109673297A CN 109673297 A CN109673297 A CN 109673297A CN 201910013367 A CN201910013367 A CN 201910013367A CN 109673297 A CN109673297 A CN 109673297A
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- cutter
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- chassis
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- 238000009966 trimming Methods 0.000 title claims abstract description 31
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 6
- 239000012530 fluid Substances 0.000 claims description 19
- 239000003921 oil Substances 0.000 claims description 18
- 239000003638 chemical reducing agent Substances 0.000 claims description 16
- 238000005096 rolling process Methods 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 10
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 239000000446 fuel Substances 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims description 3
- 238000005461 lubrication Methods 0.000 claims description 3
- 238000003786 synthesis reaction Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims 1
- 230000005611 electricity Effects 0.000 claims 1
- 230000003287 optical effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 9
- 230000000007 visual effect Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003709 image segmentation Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/04—Apparatus for trimming hedges, e.g. hedge shears
- A01G3/0426—Machines for pruning vegetation on embankments and road-sides
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/04—Apparatus for trimming hedges, e.g. hedge shears
- A01G3/0435—Machines specially adapted for shaping plants, e.g. topiaries
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/04—Apparatus for trimming hedges, e.g. hedge shears
- A01G2003/0443—Apparatus for trimming hedges, e.g. hedge shears with height-adjustable platforms
Landscapes
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Ecology (AREA)
- Biodiversity & Conservation Biology (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Retarders (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
本发明涉及一种修剪机器人，其包括底盘，位于底盘底部设置有车轮驱动装置，底盘顶部设置有液压转向盘和机箱壳；液压转向盘上设置有液压伸缩台，液压伸缩台通过液压输送管分别与机箱壳顶部的液压油进油口和出油口连接；位于机箱壳内设置有液压缸，液压转向盘与液压缸连接，并在液压缸顶部设置有液压泵，液压泵与安装在机箱壳内底部的控制器连接，由控制器控制其动作；位于液压伸缩台顶部设置有垂直支撑杆，垂直支撑杆端部与伺服电机的外壳活动连接，伺服电机的输出端与可伸缩的刀具支撑杆一端连接，伺服电机与控制器连接；刀具支撑杆另一端与刀具装置连接；液压伸缩台顶部与液压伸缩杆一端连接，液压伸缩杆另一端与刀具支撑杆下端面连接。
The invention relates to a trimming robot, which comprises a chassis, a wheel drive device is arranged at the bottom of the chassis, a hydraulic steering wheel and a chassis shell are arranged on the top of the chassis; It is connected with the hydraulic oil inlet and outlet on the top of the chassis shell; a hydraulic cylinder is arranged in the chassis shell, the hydraulic steering wheel is connected with the hydraulic cylinder, and a hydraulic pump is arranged on the top of the hydraulic cylinder, and the hydraulic pump is installed on the chassis shell. The controller at the inner bottom is connected, and its action is controlled by the controller; a vertical support rod is arranged on the top of the hydraulic telescopic table, the end of the vertical support rod is movably connected with the casing of the servo motor, and the output end of the servo motor is connected with the retractable tool support rod One end is connected, the servo motor is connected with the controller; the other end of the tool support rod is connected with the tool device; the top of the hydraulic telescopic table is connected with one end of the hydraulic telescopic rod, and the other end of the hydraulic telescopic rod is connected with the lower end surface of the tool support rod.
Description
Technical field
The present invention relates to a kind of robotic technology fields, especially with regard to a kind of trimming machine cuts people.
Background technique
Urban afforestation is increasingly paid attention to now, and various gardens also just occur therewith, and the trimming in gardens also just becomes
It is more and more important.Not only the time cannot hold current trimming machine cuts, but also the quality trimmed can not be guaranteed；And
It also requires manually to be participated in, and a kind of waste to labour.
Summary of the invention
In view of the above-mentioned problems, a variety of landform can be adapted to automatically the object of the present invention is to provide a kind of trimming machine cuts people, and
And cutter can automatically adjust different angle and height according to the height of plant, be fully able to adapt to various trimming demands.
To achieve the above object, the present invention takes following technical scheme: a kind of trimming machine cuts people comprising chassis is located at
The tray bottom is provided with wheel driver, is provided with fluid-link steering disk and chassis shell at the top of the chassis；It is described hydraulic
Be provided with hydraulically extensible platform on steering wheel, the hydraulically extensible platform by hydraulic delivery pipe respectively with the liquid at the top of the chassis shell
Pressure oil oil inlet is connected with oil outlet；Be provided with hydraulic cylinder in the chassis shell, the fluid-link steering disk with it is described hydraulic
Cylinder connection, and hydraulic pump is provided at the top of the hydraulic cylinder, the hydraulic pump and the control for being mounted on bottom in the chassis shell
Device connection processed, controls its movement by the controller；Vertical support rod is provided at the top of the hydraulically extensible platform, it is described to hang down
Support bars end is flexibly connected with the shell of servo motor, the output end of the servo motor and telescopic cutter support rod
One end connection, the servo motor are connect with the controller；The cutter support rod other end is connect with cutter arrangement；It is described
It is connect at the top of hydraulically extensible platform with hydraulic telescopic rod one end, the hydraulic telescopic rod other end and cutter support rod lower end surface connect
It connects.
Further, the wheel driver includes steered wheel, wheel supporting plate, spring damper and spherical hinge；Institute
State the front-rear position that steered wheel is mounted on the chassis lower end；The inside upper and lower ends of the steered wheel are separately installed with ball
The second end of hinge, the second end and the first end for the spherical hinge being mounted on the wheel supporting plate cooperate；Positioned at the vehicle
The spring damper is provided in wheel support plate, the spring damper is solid by screw bolt and nut and the wheel supporting plate
Fixed connection.
Further, the wheel driver further includes wheel drive motors, directional drive and planetary reducer；
The directional drive and planetary reducer are installed in the chassis lower end, the gear of the directional drive be located at
The rack gear of the steered wheel of front end cooperates, and controls the directional drive by the controller and turned to；The row
Star gear reduction unit is fixed by bolts in chassis middle position, the output end of the wheel drive motors and the row
The connection of star gear reduction unit, the wheel drive motors are controlled by the controller.
Further, the planetary reducer includes shell and is arranged in the intracorporal retarder main shaft of the shell, the sun
Wheel, planetary gear and gear ring；The planetary gear is pivotally supported by the fixation of planet carrier, allows the planetary gear in fixing axle
Rotation；The planetary gear and the adjacent sun gear, gear ring are in normal meshing state, realize movement synthesis and decompose；Institute
It states between the connecting rod on the inside of retarder main shaft and each steered wheel through flexural pivot chain link.
Further, the retarder spindle nose is provided with flat key；Positioned at the planetary gear, sun gear and gear ring top
The shell on be provided with lubrication oil valve.
Further, the hydraulically extensible platform includes cavity, hydraulic rotating bearing, oilhole C, telescopic platform, the first hydraulic fluid port and
Two hydraulic fluid ports；The cavity bottom is connect by the hydraulic rotating bearing with the fluid-link steering disk, and the cavity bottom is located at
Periphery two sides are respectively arranged with the oilhole C extended outward to form, and the two oilhole C are respectively as fuel feed hole and oil outlet；
The telescopic platform is provided in the cavity, the cavity wall upper and lower ends are respectively arranged with first hydraulic fluid port and the second oil
Mouthful, first hydraulic fluid port is connected to the space between the telescopic platform and cavity bottom, second hydraulic fluid port and the telescopic platform
Space connection between cavity top；It is gone up and down by telescopic platform described in the hydraulic pump control.
Further, it is provided with rotary shaft at fluid-link steering disk center position, for matching with the hydraulic rotating bearing
It closes；The first slot and the second slot and two oilholes, the hydraulic rotation are symmetrically arranged with positioned at the fluid-link steering Pan Zhoubianweizhichu
It is connected to two oilholes of disk with first slot and the second slot, and is connect by two oilhole with the hydraulic cylinder；Described first
Slot and the second slot cooperate with the two oilhole C of cavity bottom of the hydraulically extensible platform respectively；Utilize the input of the two oilhole C and defeated
Pressure difference is formed out, to control steering of the hydraulically extensible platform on the fluid-link steering disk.
Further, the cutter arrangement includes cutter protection cover, tool holder, transmission gear, cutter, cutter drives
Device, gear drive band and rolling bearing；Cutter protection cover one end is connect with the cutter support rod other end, the cutter
Retainer is arranged in the cutter protection cover, and described tool holder one end is mounted on the cutter protection cover and the knife
Have below support rod junction；It is arranged at intervals with several through-holes on the tool holder, is both provided in each through-hole
The rolling bearing, the upper end of the rolling bearing and the transmission gear are coaxially connected, the lower end inner hole of the rolling bearing
It is interference fitted with the cutter；The cutter drives connecting with the controller are provided with positioned at cutter support rod lower end
Device, the tool driver output shaft is sequentially connected by the gear drive band and each transmission gear, by the cutter
Driver drives each transmission gear to rotate by the gear drive band, provides power for each cutter.
Further, the cutter uses rotating cutting tool, the shape between adjacent two cutter on the tool holder
At different angles.
Further, laser radar is provided in front of the chassis upper；Before and after the chassis lower part steered wheel it
Between be provided with battery；Cutter support rod top is provided with binocular vision sensor；The laser radar, battery and double
Mesh visual sensor is all connect with the controller.
The invention adopts the above technical scheme, which has the following advantages: 1, the present invention installs on wheel supporting plate
There is spring damper, can effectively avoid from extraneous vibration.2, the present invention uses laser thunder during automatic running
The enough positions for accurately carrying out the barrier in detection road of Danone and distance.3, the present invention uses binocular during trimming
Visual sensor can identify some other objects during trimming in lop in real time while carry out the measurement of distance,
Cutter is adjusted by controller.4, the present invention is able to carry out the height adjustment of cutter using telescopic platform while utilizing installation
Servo motor on telescopic platform top carries out the angular adjustment of cutter, different lops can be trimmed or be trimmed
Different angle out.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is cutter arrangement scheme of installation；
Fig. 3 is wheel overall structure view；
Fig. 4 is wheel portion structural schematic diagram；
Fig. 5 is planetary gear construction schematic diagram；
Fig. 6 is planetary reducer structural schematic diagram；
Fig. 7 is hydraulically extensible platform schematic diagram of internal structure；
Fig. 8 is hydraulically extensible platform and fluid-link steering disk connection schematic diagram；
Fig. 9 is trimming tool apparatus structure schematic diagram；
Figure 10 is cutter kind of drive schematic diagram；
Figure 11 is blade structure schematic diagram.
Specific embodiment
The present invention is described in detail below with reference to the accompanying drawings and embodiments.
As shown in Figure 1 and Figure 2, the present invention provides a kind of trimming machine cuts people comprising chassis 1 is located at 1 bottom of chassis and is arranged
There is wheel driver, fluid-link steering disk 2 and chassis shell 3 are provided at the top of chassis 1.Hydraulic stretch is provided on fluid-link steering disk 2
Contracting platform 4, hydraulically extensible platform 4 are connect with the hydraulic oil oil inlet at 3 top of chassis shell and oil outlet respectively by hydraulic delivery pipe 5；
Hydraulic cylinder is provided in chassis shell 3, fluid-link steering disk 2 is connect with hydraulic cylinder, and hydraulic pump is provided at the top of hydraulic cylinder
6, hydraulic pump 6 is connect with the controller for being mounted on bottom in chassis shell 3, controls its movement by controller.Positioned at hydraulically extensible platform 4
Top is provided with vertical support rod 7, and 7 end of vertical support rod is flexibly connected with the shell of servo motor 8, servo motor 8 it is defeated
Outlet is connect with telescopic 9 one end of cutter support rod, and servo motor 8 is connect with controller, controls servo motor 8 by controller
Movement；9 other end of cutter support rod is connect with cutter arrangement 10, and then the angle of cutter arrangement 10 is adjusted by servo motor 8.Liquid
It is connected at the top of pressure 11 one end of telescopic rod and hydraulically extensible platform 4, the other end is connect with 9 lower end surface of cutter support rod；It is stretched by hydraulic
The flexible height that can control cutter arrangement 10 of contracting platform 4, flexible by hydraulic telescopic rod 11 can change and keep servo
The angle of motor 8, and then adjust and keep the horizontal extension length of cutter support rod 9 and height and the angle of cutter arrangement 10
Degree.
In a preferred embodiment, shown in as shown in Figure 1, Figure 3 and Figure 4, wheel driver includes steered wheel 12, vehicle
Take turns support plate 13, spring damper 14 and spherical hinge.Steered wheel 12 is mounted on the front-rear position of 1 lower end of chassis；Steered wheel
12 inside upper and lower ends are separately installed with the second end II of spherical hinge, second end II and are mounted on wheel supporting plate 13
The first end I of spherical hinge cooperates, and steered wheel 12 is connect with wheel supporting plate 13.Bullet is provided on wheel supporting plate 13
Spring damper 14, spring damper 14 are fixedly connected by screw bolt and nut with wheel supporting plate 13, and road can be effectively prevented from
It is shaken caused by the injustice of face, guarantees that cutter steadily efficiently works.
In above-described embodiment, wheel driver further includes wheel drive motors, directional drive and planetary gear speed-reduction
Device.Directional drive and planetary reducer are installed in 1 lower end of chassis, the gear of directional drive and turn for being located at front end
Cooperated to the rack gear of wheel 12, and is turned to by controller control directional drive；Planetary reducer uses spiral shell
Bolt is fixed on 1 middle position of chassis, and the output end of wheel drive motors is connect with planetary reducer, wheel drive motors
It is controlled by controller, for driving planetary reducer to work.
As shown in Figure 5, Figure 6, planetary reducer is used to control the speed of steered wheel 12, avoids speed is too fast from causing
Trimming is uneven.Planetary reducer includes shell and is arranged in the intracorporal retarder main shaft 17 of shell, sun gear, planetary gear
15 and gear ring 16.Planetary gear 15 is pivotally supported by the fixation of planet carrier, and planetary gear 15 is allowed to rotate in fixing axle.Planet tooth
Wheel 15 and adjacent sun gear, gear ring 16 are in normal meshing state, realize movement synthesis and realize Kinematic Decomposition.Retarder main shaft
By flexural pivot chain link between 17 and the connecting rod of 12 inside of each steered wheel, and then drive steered wheel traveling, it is ensured that machine
Device people halts at work, guarantees that cutter arrangement 10 is able to maintain efficient working condition.
Wherein, it is additionally provided with flat key 18 positioned at 17 end of retarder main shaft, in the connecting rod with 12 inside of steered wheel
When connection, prevents connecting rod from playing the role of axial sliding and play axial restraint.On planetary gear 15, sun gear and gear ring 16
Lubrication oil valve 19 is provided on the shell in portion, as the oil transportation mouth to planetary reducer addition lubricating oil.
In a preferred embodiment, as shown in Figure 7, Figure 8, hydraulically extensible platform 4 includes cavity, hydraulic rotating bearing
20, oilhole C, telescopic platform, the first hydraulic fluid port I and the second hydraulic fluid port II.Cavity bottom passes through hydraulic rotating bearing 20 and fluid-link steering disk 2
Connection, the oilhole C extended outward to form is respectively arranged with positioned at cavity bottom periphery two sides, two oilhole C are respectively as fuel feed hole
And oil outlet.Telescopic platform is provided in cavity, cavity wall upper and lower ends are respectively arranged with the first hydraulic fluid port I and the second hydraulic fluid port II,
First hydraulic fluid port I is connected to the space between telescopic platform and cavity bottom, between the second hydraulic fluid port II and telescopic platform and cavity top
Space connection；Telescopic platform is controlled by hydraulic pump 6 to be gone up and down.
2 center position of fluid-link steering disk is provided with rotary shaft, for cooperating with hydraulic rotating bearing 20；Positioned at hydraulic rotation
The first slot A and the second slot B and two oilholes, two oilholes of fluid-link steering disk 2 and first are symmetrically arranged with to 2 peripheral position of disk
Slot A and the second slot B connection, and connect by two oilhole with hydraulic cylinder.Also, the first slot A and the second slot B are stretched with hydraulic respectively
The two oilhole C of cavity bottom of contracting platform 4 cooperates；Pressure difference is formed using two outputting and inputting for oilhole C, to control hydraulically extensible
Steering of the platform 4 on fluid-link steering disk 2.
In use, hydraulically extensible platform 4 and hydraulic rotating bearing 20, when being worked, hydraulic oil can be defeated from the first hydraulic fluid port I
Enter, exported from the second hydraulic fluid port II, hydraulically extensible platform 4 increases at this time.Angular adjustment is carried out if necessary to hydraulically extensible platform 4 to need
The oilhole C of 4 lower end of hydraulically extensible platform carries out angular adjustment using outputting and inputting hydraulic oil, and the of oilhole C and fluid-link steering disk 2
One slot A is cooperated, when hydraulically extensible platform 4 rotates clockwise in oilhole C meeting input hydraulic pressure oil to the first slot A, and the second slot B
Interior hydraulic oil is withdrawn into hydraulic cylinder by the oilhole on fluid-link steering disk 2, while hydraulic rotating bearing 20 carries out up time
Needle rotation；It is opposite that with upper one kind situation is rotated clockwise when rotating counterclockwise.
In a preferred embodiment, as shown in Fig. 9~Figure 11, cutter arrangement 10 includes cutter protection cover, cutter guarantor
Hold frame 21, transmission gear 22, cutter 23, tool driver 24, gear drive band 25 and rolling bearing.Cutter protection cover one end with
The connection of 9 other end of cutter support rod can be effectively prevented the lop when being trimmed of cutter 23 by cutter protection cover and disorderly fly
The case where；Tool holder 21 is arranged in cutter protection cover, and 21 one end of tool holder is mounted on cutter protection cover and knife
Have below 9 junction of support rod.It is arranged at intervals with several through-holes on tool holder 21, is both provided with the axis of rolling in each through-hole
It holds, the upper end of rolling bearing and transmission gear 22 are coaxially connected, and the lower end inner hole and cutter 23 of rolling bearing are interference fitted.It is located at
9 lower end of cutter support rod is provided with tool driver 24 connected to the controller, and 24 output shaft of tool driver is passed by gear
Dynamic band 25 is sequentially connected with each transmission gear 22, drives 22 turns of each transmission gear by gear drive band 25 by tool driver 24
It is dynamic, and then power is provided for each cutter 23.
In above-described embodiment, as shown in figure 11, cutter 23 uses rotating cutting tool, adjacent two knife on tool holder 21
Different angles is formed between tool 23, comprehensive trimming efficiently can be carried out to the object being trimmed to about, guarantees working efficiency, section
It saves time.
In the various embodiments described above, it is additionally provided with laser radar 26 as shown in Figure 1, being located in front of 1 top of chassis, prevents from colliding
Generation, it can be achieved that contactless telemeasurement distance, and the data surveyed are transferred to controller, when reach it is preset away from
From when, controller control in time steered wheel 12 carry out avoidance processing.
In the various embodiments described above, battery is provided between steered wheel 12 as shown in Figure 1, being located at before and after 1 lower part of chassis
27, it is connect with controller, for powering for trimming machine cuts people.
In the various embodiments described above, as shown in Figure 1,9 top of cutter support rod is additionally provided with binocular vision sensor 28, it is used for
The object being trimmed to about is detected, prevents from adulterating other objects in the plant being trimmed to about and cutter 23 is caused to damage.Binocular
Visual sensor 28 includes 2 CCD cameras and 1 semiconductor laser, and CCD camera can carry out the plant being trimmed to about
Real-time information collection is transmitted to controller；Controller adjusts hydraulic pump 6 to the output stream of hydraulically extensible platform 4 according to the information received
Amount, the height and angle that can find the suitable trimming of cutter 23 are trimmed, while captured image is carried out image segmentation,
Other objects adulterated in plant are analyzed, tool driver 24 and directional drive are controlled.
In the various embodiments described above, GPS module and communication module are additionally provided in controller, by GPS module location navigation energy
It is enough that GPS positioning is carried out to trimming machine cuts people.Controller is transmitted according to the laser radar 26 and binocular vision sensor 28 received
Data information extremely controls lifting and the adjusting of angle, cutter arrangement 10 flexible, the trimming machine cuts people of hydraulically extensible platform 4
The movement such as avoidance.Meanwhile controller can be connected to mobile phone by communication module, be controlled using mobile phone to trimming machine cuts people
System can use mobile phone and carry out operation control, guarantee occurring when unexpected trimming machine cuts people, which occurs, timely to be handled
It is shut down in time when unexpected.
The various embodiments described above are merely to illustrate the present invention, and structure and size, setting position and the shape of each component are all can be with
It is varied, based on the technical solution of the present invention, the improvement and wait that all principles according to the present invention carry out individual part
With transformation, should not exclude except protection scope of the present invention.
Claims (10)
1. a kind of trimming machine cuts people, it is characterised in that: including chassis, the tray bottom is provided with wheel driver,
Fluid-link steering disk and chassis shell are provided at the top of the chassis；Hydraulically extensible platform, the liquid are provided on the fluid-link steering disk
Pressure telescopic platform by hydraulic delivery pipe respectively at the top of the chassis shell hydraulic oil oil inlet and oil outlet connect；Positioned at described
Hydraulic cylinder is provided in chassis shell, the fluid-link steering disk is connect with the hydraulic cylinder, and is provided at the top of the hydraulic cylinder
Hydraulic pump, the hydraulic pump are connect with the controller for being mounted on bottom in the chassis shell, control its movement by the controller；
Vertical support rod, the shell activity of the vertical support boom end and servo motor are provided at the top of the hydraulically extensible platform
Connection, the output end of the servo motor are connect with telescopic cutter support rod one end, the servo motor and the control
Device connection；The cutter support rod other end is connect with cutter arrangement；At the top of the hydraulically extensible platform and hydraulic telescopic rod one end
Connection, the hydraulic telescopic rod other end are connect with cutter support rod lower end surface.
2. trimming machine cuts people as described in claim 1, it is characterised in that: the wheel driver includes steered wheel, wheel
Support plate, spring damper and spherical hinge；The steered wheel is mounted on the front-rear position of the chassis lower end；The bogie car
The inside upper and lower ends of wheel are separately installed with the second end of spherical hinge, the second end and the ball being mounted on the wheel supporting plate
The first end of hinge cooperates；The spring damper is provided on the wheel supporting plate, the spring damper passes through
Screw bolt and nut is fixedly connected with the wheel supporting plate.
3. trimming machine cuts people as claimed in claim 2, it is characterised in that: the wheel driver further includes wheel driving electricity
Machine, directional drive and planetary reducer；The directional drive and planetary reducer are installed in the chassis
Lower end, the gear of the directional drive and the rack gear for the steered wheel for being located at front end cooperate, and by the controller control
The directional drive is made to be turned to；The planetary reducer is fixed by bolts in chassis middle position,
The output end of the wheel drive motors is connect with the planetary reducer, and the wheel drive motors are by the controller
Control.
4. trimming machine cuts people as claimed in claim 3, it is characterised in that: the planetary reducer includes that shell and setting exist
The intracorporal retarder main shaft of the shell, sun gear, planetary gear and gear ring；The planetary gear by planet carrier fixing axle branch
It holds, the planetary gear is allowed to rotate in fixing axle；The planetary gear and the adjacent sun gear, gear ring are in and often nibble
Conjunction state is realized movement synthesis and is decomposed；Pass through ball between connecting rod on the inside of the retarder main shaft and each steered wheel
Hinge connection.
5. trimming machine cuts people as claimed in claim 4, it is characterised in that: the retarder spindle nose is provided with flat key；It is located at
Lubrication oil valve is provided on the planetary gear, sun gear and the shell on gear ring top.
6. trimming machine cuts people as described in claim 1, it is characterised in that: the hydraulically extensible platform includes cavity, hydraulic swing shaft
It holds, oilhole C, telescopic platform, the first hydraulic fluid port and the second hydraulic fluid port；The cavity bottom by the hydraulic rotating bearing with it is described hydraulic
Steering wheel connection, the oilhole C extended outward to form, two oil are respectively arranged with positioned at cavity bottom periphery two sides
Hole C is respectively as fuel feed hole and oil outlet；The telescopic platform, the cavity wall upper and lower ends difference are provided in the cavity
It is provided with first hydraulic fluid port and the second hydraulic fluid port, the space between first hydraulic fluid port and the telescopic platform and cavity bottom connects
Logical, the space between second hydraulic fluid port and the telescopic platform and cavity top is connected to；By being stretched described in the hydraulic pump control
Contracting platform is gone up and down.
7. trimming machine cuts people as claimed in claim 6, it is characterised in that: the fluid-link steering disk center is provided with rotation at position
Axis is used for and the hydraulic rotating bearing fit；Positioned at the fluid-link steering Pan Zhoubianweizhichu be symmetrically arranged with the first slot and
Second slot and two oilholes, two oilholes of the fluid-link steering disk are connected to first slot and the second slot, and pass through two oil
Hole is connect with the hydraulic cylinder；First slot and the second slot are matched with the two oilhole C of cavity bottom of the hydraulically extensible platform respectively
It closes；Pressure difference is formed using two the outputting and inputting for oilhole C, to control the hydraulically extensible platform in the fluid-link steering
Steering on disk.
8. the trimming machine cuts people as described in any one of claim 1 to 7, it is characterised in that: the cutter arrangement includes cutter protection
Cover, tool holder, transmission gear, cutter, tool driver, gear drive band and rolling bearing；The cutter protection cover one
End is connect with the cutter support rod other end, and the tool holder is arranged in the cutter protection cover, and the cutter
Retainer one end is mounted below the cutter protection cover and cutter support rod junction；It is spaced on the tool holder
Several through-holes are provided with, the rolling bearing, the upper end of the rolling bearing and the biography are both provided in each through-hole
Moving gear is coaxially connected, and the lower end inner hole and the cutter of the rolling bearing are interference fitted；Under the cutter support rod
End is provided with the tool driver connecting with the controller, and the tool driver output shaft passes through the gear drive
Band is sequentially connected with each transmission gear, drives each driving cog by the gear drive band by the tool driver
Wheel rotation, provides power for each cutter.
9. the trimming machine cuts people as described in any one of claim 1 to 7, it is characterised in that: the cutter uses rotating cutting tool,
Different angles is formed between adjacent two cutter on the tool holder.
10. the trimming machine cuts people as described in any one of claim 1 to 7, it is characterised in that: be provided in front of the chassis upper sharp
Optical radar；Battery is provided between the steered wheel before and after the chassis lower part；Cutter support rod top is provided with
Binocular vision sensor；The laser radar, battery and binocular vision sensor are all connect with the controller.
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| CN201910013367.XA CN109673297B (en) | 2019-01-07 | 2019-01-07 | Pruning robot |
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| CN201910013367.XA CN109673297B (en) | 2019-01-07 | 2019-01-07 | Pruning robot |
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| CN109673297A true CN109673297A (en) | 2019-04-26 |
| CN109673297B CN109673297B (en) | 2024-02-27 |
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| CN109673297B (en) | 2024-02-27 |
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