CN110786172A

CN110786172A - Garden trimming robot

Info

Publication number: CN110786172A
Application number: CN201911313149.4A
Authority: CN
Inventors: 杨剑乐
Original assignee: Shaanxi Zhongjianle Intelligent Robot Co Ltd
Current assignee: Shaanxi Zhongjianle Intelligent Robot Co Ltd
Priority date: 2019-12-18
Filing date: 2019-12-18
Publication date: 2020-02-14

Abstract

The application discloses machine people is pruned in gardens, including the robot, the robot front end is provided with the arm and turns to the base, the arm turns to the arm that is provided with a plurality of sections interconnect on the base, through the swing joint connection that can do 360 degrees rotary motion between arm and the arm, its end arm of a plurality of sections interconnect's arm is connected with the arm and turns to the base, and its head end arm is connected with the pruning wheel, be provided with pruning wheel driving motor on the pruning wheel to traditional manual work is pruned the gardens and is the basis, has designed portable and steerable mode to it is rotatable to organize the arm, goes up and down can freely adjust the height in order to adapt to the gardens pruning demand of co-altitude, can realize under the complex environment pruning of bush in the gardens.

Description

Garden trimming robot

Technical Field

The application relates to the technical field of robots, in particular to a garden trimming robot.

Background

People pay more and more attention to greening at present, various gardens appear along with the greening, garden pruning has very important significance for landscaping and appreciation, and pruning gardens not only can enable trees to have good tree shapes, but also are beneficial to the growth of the trees, so that branches of the trees are uniformly distributed and grow luxuriantly. However, although many auxiliary pruning tools have been proposed for pruning gardens, the pruning process still needs to be finished manually, which is time-consuming and labor-consuming, and sometimes the pruning effect is not very good.

Disclosure of Invention

The utility model aims at providing a prune garden robot to traditional manual work is pruned gardens and is the basis, has designed portable and steerable mode to rotatable with arm group, go up and down can freely adjust the height in order to adapt to not garden pruning demand of co-altitude, can realize under the complex environment pruning of bush in the gardens.

The garden trimming robot comprises a robot body, wherein a mechanical arm steering base is arranged at the front end of the robot body, a plurality of sections of mechanical arms which are connected with each other are arranged on the mechanical arm steering base, the mechanical arms are connected with the mechanical arms through movable joints which can rotate 360 degrees, the tail end mechanical arms of the plurality of sections of mechanical arms which are connected with each other are connected with the mechanical arm steering base, the head end mechanical arms of the mechanical arms are connected with a trimming wheel, and a trimming wheel driving motor is arranged on the trimming wheel; the trimming wheel comprises an upper wheel sheet and a lower wheel sheet, wherein the upper wheel sheet and the lower wheel sheet are concentrically arranged, a large gear is arranged between the upper wheel sheet and the lower wheel sheet, a driving gear meshed with a motor driving shaft is arranged on one side of the large gear, two small gears are meshed and connected with the other side of the large gear, the lower wheel sheet is driven to rotate by the motion of the two small gears, the driving gear drives the upper wheel sheet to rotate, and the rotating directions of the upper wheel sheet and the lower wheel sheet of the trimming wheel are opposite.

In a further improvement, a direct current stepping motor and gears which are vertically meshed with each other are arranged in the mechanical arm steering base, one gear of each gear which is vertically meshed with each other is connected with the direct current stepping motor, the other gear of each gear is connected with the mechanical arm steering base, and the direct current stepping motor drives the mechanical arm steering base to rotate through the gears which are vertically meshed with each other.

In a further improvement, a robot console is further arranged at the rear end of the mechanical arm steering base, and a manual driving steering wheel is arranged on the robot console.

In a further improvement, the front end of the mechanical arm steering base is also provided with an ultrasonic sensor and a camera.

In a further improvement, two sides of the robot console are provided with walking tracks.

In a further improvement, the robot console is provided with operating buttons.

The application has the following beneficial effects:

1. the robot is used for trimming gardens, can trim gardens in complex environments such as gentle and inclined environments and has remarkable functions;

2. the pruning part is provided with a mechanical arm group which can rotate, the height can be freely adjusted by lifting to meet the requirements of pruning gardens with different heights, and the pruning of shrubs in gardens under complex environments can be realized;

3. the large-capacity storage battery is used, so that the emission can be reduced, the environment is protected, and the storage battery can be conveniently used in gardens.

Drawings

FIG. 1 is an overall structure of a robot;

FIG. 2 is an internal structure view of a robot cutting wheel;

fig. 3 is a view showing a steering control structure of the robot arm steering base.

Detailed Description

The technical solutions in the embodiments of the present application are described in detail below with reference to the drawings and the embodiments, but the embodiments are only a part of the embodiments of the present application and are not limited to the scope.

The garden trimming robot comprises a robot body, wherein a mechanical arm steering base 121 is arranged at the front end of the robot body, a plurality of sections of mechanical arms which are connected with each other are arranged on the mechanical arm steering base 121, the mechanical arms are connected with the mechanical arms through movable joints which can rotate 360 degrees, the tail end mechanical arms of the plurality of sections of mechanical arms which are connected with each other are connected with the mechanical arm steering base, the head end mechanical arms of the mechanical arms are connected with a trimming wheel, and a trimming wheel driving motor is arranged on the trimming wheel; the trimming wheel comprises an upper wheel sheet and a lower wheel sheet, wherein the upper wheel sheet and the lower wheel sheet are concentrically arranged, a large gear is arranged between the upper wheel sheet and the lower wheel sheet, a driving gear meshed with a motor driving shaft is arranged on one side of the large gear, two small gears are meshed and connected with the other side of the large gear, the lower wheel sheet is driven to rotate by the motion of the two small gears, the driving gear drives the upper wheel sheet to rotate, and the rotating directions of the upper wheel sheet and the lower wheel sheet of the trimming wheel are opposite.

The mechanical arm steering base is internally provided with a direct current stepping motor and gears which are vertically meshed with each other, one gear of each gear which is vertically meshed with each other is connected with the direct current stepping motor, the other gear of each gear is connected with the mechanical arm steering base, and the direct current stepping motor drives the mechanical arm steering base to rotate through the gears which are vertically meshed with each other.

The mechanical arm steering base is characterized in that a robot console is further arranged at the rear end of the mechanical arm steering base, and a manual driving steering wheel is arranged on the robot console.

The front end of the mechanical arm steering base is also provided with an ultrasonic sensor and a camera.

And walking tracks are arranged on two sides of the robot console.

The robot console is provided with an operation button.

Referring to fig. 1, member 101 is a cutting wheel and member 111 is a cutting wheel drive motor which moves relative to the two saw-toothed wheels of the cutting wheel by driving the internal gear train of the cutting wheel.

The parts 103, 105, 108 and 110 are internally provided with micro motors which can drive the machine to rotate for 360 degrees. The micro-motors inside the parts 104, 106, 109, 111 can control the mechanical arm to make 180-degree rotation.

The part 112 is an ultrasonic sensor, and 16 ultrasonic sensors are arranged in the front, back, left and right directions of the robot to realize the obstacle avoidance function of the robot.

Component 113 is a camera, respectively an RGB camera, a depth camera and an infrared camera.

Part 117 is a robot system lock, part 116 is a robot start button, part 120 is a robot manual automatic mode switching button, part 115 is an emergency stop button, part 114 is a touch screen, and an operator can view and select a green pruning model through the touch screen.

Part 117 is a hand steering wheel.

The member 120 is a handrail, providing protection for the operator.

The part 121 is a robot steering base that controls the robot to make 330 degree turns.

As shown in fig. 2, in the internal structure of the trimming wheel, a component 201 is a motor driving shaft, components 202, 203, 205 and 207 are gears, and components 204, 206 and 208 are bearings; the driving motor drives the gear 201 to rotate, the gear 201 drives the upper wheel sheet and the gear 203 to rotate, the gear 203 drives the gear 207 to rotate, the gear 207 drives the lower wheel sheet to rotate through the gear 205, so that the upper wheel sheet and the lower wheel sheet of the pruning wheel do relative reverse rotation, and the purpose of pruning green plants is achieved.

As shown in fig. 3, it is a structure diagram of the steering control of the steering base of the mechanical arm of the robot body; part 301 is a direct current stepping motor, part 121 is a mechanical arm steering base, and part 302 is a gear; the motor 301 rotates the member 302 to rotate the arm turn base 121.

This application is based on traditional artifical pruning gardens, has designed portable and steerable mode to rotatable with arm group, go up and down can freely adjust the height in order to adapt to not the gardens of co-altitude and prune the demand, can realize under the complex environment pruning of bush in the gardens.

Claims

1. A garden trimming robot comprises a robot body and is characterized in that a mechanical arm steering base is arranged at the front end of the robot body, a plurality of sections of mechanical arms which are connected with each other are arranged on the mechanical arm steering base, the mechanical arms are connected with the mechanical arms through movable joints which can rotate 360 degrees, the mechanical arms at the tail ends of the plurality of sections of mechanical arms which are connected with each other are connected with the mechanical arm steering base, the mechanical arms at the head ends of the plurality of sections of mechanical arms are connected with a trimming wheel, and a trimming wheel driving motor is arranged on the trimming wheel; the trimming wheel comprises an upper wheel sheet and a lower wheel sheet, wherein the upper wheel sheet and the lower wheel sheet are concentrically arranged, a large gear is arranged between the upper wheel sheet and the lower wheel sheet, a driving gear meshed with a motor driving shaft is arranged on one side of the large gear, two small gears are meshed and connected with the other side of the large gear, the lower wheel sheet is driven to rotate by the motion of the two small gears, the driving gear drives the upper wheel sheet to rotate, and the rotating directions of the upper wheel sheet and the lower wheel sheet of the trimming wheel are opposite.

2. The garden pruning robot of claim 1, wherein the mechanical arm steering base is provided with a dc stepping motor and mutually vertically meshed gears, one of the mutually vertically meshed gears is connected with the dc stepping motor, the other is connected with the mechanical arm steering base, and the dc stepping motor drives the mechanical arm steering base to rotate through the mutually vertically meshed gears.

3. The garden trimming robot as claimed in claim 1, wherein a robot console is further provided at a rear end of the mechanical arm steering base, and a manual steering wheel is provided on the robot console.

4. The garden trimming robot as claimed in claim 1, wherein the mechanical arm turning base is further provided with an ultrasonic sensor and a camera at a front end thereof.

5. The garden trimming robot as claimed in claim 3, wherein the robot console is provided with walking tracks at both sides.

6. The garden trimming robot according to claim 3, wherein the robot console is provided with an operation button.