CN111837677B - Three-dimensional plant cluster trimming method with cambered surface modeling - Google Patents
Three-dimensional plant cluster trimming method with cambered surface modeling Download PDFInfo
- Publication number
- CN111837677B CN111837677B CN202010804131.0A CN202010804131A CN111837677B CN 111837677 B CN111837677 B CN 111837677B CN 202010804131 A CN202010804131 A CN 202010804131A CN 111837677 B CN111837677 B CN 111837677B
- Authority
- CN
- China
- Prior art keywords
- main arm
- supporting
- trimming
- crawler
- section
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000009966 trimming Methods 0.000 title claims abstract description 144
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000013138 pruning Methods 0.000 claims abstract description 76
- 230000007246 mechanism Effects 0.000 claims abstract description 61
- 241000196324 Embryophyta Species 0.000 claims description 23
- 230000000875 corresponding effect Effects 0.000 claims description 20
- 238000009434 installation Methods 0.000 claims description 15
- 230000000712 assembly Effects 0.000 claims description 10
- 238000000429 assembly Methods 0.000 claims description 10
- 244000141353 Prunus domestica Species 0.000 claims description 3
- 230000002079 cooperative effect Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 230000009471 action Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000002195 synergetic effect Effects 0.000 description 1
Images
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
- A01G3/0435—Machines specially adapted for shaping plants, e.g. topiaries
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Harvester Elements (AREA)
Abstract
The invention belongs to the technical field of intelligent control and discloses a three-dimensional plant cluster trimming method with an arc-shaped surface. The pruning robot is provided with two sets of telescopic variable-amplitude arm supports, namely a main arm support and an auxiliary arm support, so that the operation radius of the pruning robot is increased; meanwhile, the trimming robot is also provided with four groups of folding hydraulic support legs, and each group of folding hydraulic support legs can be quickly folded and unfolded so as to further improve the stability of the amplitude variation of the arm support, so that an arm support system consisting of a main arm support, an auxiliary arm support and the like can meet the attitude requirement of a larger working radius; in addition, the invention can realize the quick fine adjustment of the trimming angle of the trimming mechanism through the auxiliary arm support, thereby greatly improving the efficiency of trimming operation. The method well realizes the trimming work of the three-dimensional large-scale plant cluster with the cambered surface shape by intelligently controlling the trimming robot.
Description
Technical Field
The invention belongs to the technical field of intelligent control, and relates to a three-dimensional plant cluster trimming method with an arc-shaped surface.
Background
With the continuous development of urban environmental greening construction, various three-dimensional large-scale plant clusters with cambered surface shapes are widely applied. How to accurately and efficiently trim greening vegetation with different shapes and different spatial levels becomes a primary problem for sustainable development of each city. At present, domestic and foreign pruning machines are single in structural function, small in pruning range and large in pruning blind area, so that when the pruning machines are applied to pruning of three-dimensional large-scale plant clusters with arc-shaped surfaces, the requirements of the pruning range are difficult to meet, and the pruning machines have the defects of poor pruning effect, low pruning efficiency and the like. Therefore, how to provide an intelligent pruning method for a three-dimensional plant cluster with a cambered surface shape is particularly necessary.
Disclosure of Invention
The invention aims to provide a three-dimensional plant cluster trimming method with an arc-shaped surface.
In order to achieve the purpose, the invention adopts the following technical scheme:
a three-dimensional plant cluster trimming method with an arc-shaped surface is realized based on a crawler-type trimming robot; the crawler-type trimming robot comprises a crawler-type carrying chassis, a main arm support, an auxiliary arm support, a trimming mechanism and folding hydraulic support legs;
the main arm support adopts a length telescopic structure, namely comprises a first-stage main arm, a second-stage main arm and a third-stage main arm; the first-stage main arm, the second-stage main arm and the third-stage main arm are sequentially nested;
a first telescopic mechanism for driving the second-stage main arm and the third-stage main arm to extend out and retract is arranged in the main arm frame;
a main arm rotary base is arranged above the crawler-type carrying chassis;
a main arm hinge hole is formed in the main arm rotary base, and the bottom of the first-stage main arm is hinged to the main arm rotary base;
a main arm amplitude-variable hydraulic cylinder is arranged between the main arm rotary base and the first-stage main arm;
one end of the main arm luffing hydraulic cylinder is hinged to the main arm rotary base, and the other end of the main arm luffing hydraulic cylinder is hinged to the first-stage main arm;
a main arm slewing bearing is arranged in the middle of the upper part of the crawler-type carrying chassis;
the main arm rotary base is connected with the upper part of the crawler-type carrying chassis through a main arm rotary bearing;
the auxiliary arm frame adopts a length telescopic structure, namely comprises a first-stage auxiliary arm and a second-stage auxiliary arm; the first-stage auxiliary arm and the second-stage auxiliary arm are sequentially nested;
a second telescopic mechanism for driving the second-stage auxiliary arm to extend and retract is arranged in the auxiliary arm frame;
the top of the third-stage main arm is provided with an auxiliary arm hinge hole, and the open end of the first-stage auxiliary arm is hinged to the third-stage main arm;
an auxiliary boom amplitude-variable hydraulic cylinder is arranged between the top of the third-stage main boom and the first-stage auxiliary boom;
one end of the auxiliary boom amplitude-variable hydraulic cylinder is hinged to the third-stage main boom, and the other end of the auxiliary boom amplitude-variable hydraulic cylinder is hinged to the middle position of the first-stage auxiliary boom;
the extending end part of the second-stage auxiliary arm is provided with a flange plate;
the pruning mechanism comprises a rotary driving seat, a pruning cutter and a hydraulic driving motor for driving the pruning cutter;
one end of the rotary driving seat is provided with a flange plate and is connected with the extending end part of the second-stage auxiliary arm through a bolt;
the other end of the rotary driving seat is vertically connected with the mounting end part of the trimming cutter and is configured to drive the trimming cutter to rotate in a plane vertical to the rotary driving seat;
the hydraulic driving motor is arranged on the pruning cutter and is positioned at the same end of the pruning cutter as the rotary driving seat;
the four groups of folding hydraulic support legs are respectively arranged on one position point on the outer side of the main arm rotary base; a square is formed by connecting lines of four position points, and each position point is positioned on one vertex of the square;
the main arm rotary base is positioned in the middle of the square inner part consisting of four position points;
the four groups of folding hydraulic support legs have the same structure;
each group of folding hydraulic support legs respectively comprises a supporting rotary base, a first section of support leg, a second section of support leg and an anti-skid support seat;
the supporting rotary base is arranged at a corresponding position of the crawler-type carrying chassis and can realize horizontal rotation;
positioning pin holes are respectively arranged at corresponding positions of the supporting rotary base and the crawler type carrying chassis, and when the two positioning pin holes are aligned in the vertical direction, the supporting rotary base is fixed at the position of the crawler type carrying chassis through a pin shaft;
a connecting frame is arranged between the first section of supporting leg and the second section of supporting leg;
a first section supporting leg hinging hole is respectively formed in the supporting rotary base and one end of the connecting frame;
one end of the first section of supporting leg is hinged on the supporting rotary base, and the other end of the first section of supporting leg is hinged on the connecting frame;
a first section of supporting leg variable-amplitude hydraulic cylinder is arranged between the supporting rotary base and the first section of supporting leg;
one end of the first section of supporting leg variable-amplitude hydraulic cylinder is hinged to the supporting rotary base, the other end of the first section of supporting leg variable-amplitude hydraulic cylinder is hinged to one end of the connecting frame, and the hinged positions of the first section of supporting leg and the first section of supporting leg variable-amplitude hydraulic cylinder on the connecting frame are located at the same end of the connecting frame;
the other end of the connecting frame is provided with a second section supporting leg hinging hole;
one end of the second section of supporting leg is hinged on the connecting frame, and the other end of the second section of supporting leg is provided with an anti-skidding supporting seat hinged seat;
the anti-skid supporting seat is hinged to the hinged seat end of the anti-skid supporting seat of the second section of supporting leg;
a second section of supporting leg amplitude-variable hydraulic cylinder is arranged between the second section of supporting leg and the other end of the connecting frame;
one end of the second section of supporting leg variable-amplitude hydraulic cylinder is hinged to the second section of supporting leg, the other end of the second section of supporting leg variable-amplitude hydraulic cylinder is hinged to the other end of the connecting frame, and the hinged positions of the second section of supporting leg and the second section of supporting leg variable-amplitude hydraulic cylinder on the connecting frame are located at the same end of the connecting frame;
the lower surface of the antiskid supporting seat is provided with a plurality of triangular bulges which protrude downwards; the crawler-type carrying chassis, the main arm support, the auxiliary arm support, the trimming mechanism, the folding hydraulic support legs and the main arm rotary base are all driven by hydraulic pressure;
the three-dimensional plant cluster trimming method with the cambered surface modeling comprises the following steps:
I. the crawler-type trimming robot firstly runs to a three-dimensional plant cluster with an arc-shaped surface to be trimmed and then stops;
manually screwing out each folding hydraulic support leg horizontally and outwards;
after a positioning pin hole on a supporting rotary base of each folding hydraulic support leg is vertically aligned with a positioning pin hole on a corresponding position of the crawler-type carrying chassis, each folding hydraulic support leg is fixed at the corresponding position of the crawler-type carrying chassis by using a pin shaft;
the first section of leg amplitude-variable hydraulic cylinder and the second section of leg amplitude-variable hydraulic cylinder of each folding hydraulic leg act cooperatively, and the amplitude angle of the first section of leg and the second section of leg changes, so that the folding hydraulic legs are unfolded and supported on the ground;
III, the main arm amplitude-variable hydraulic cylinder acts to enable the main arm frame to be lifted and inclined to the Mth working angle; under the drive of the rotary driving seat, the pruning cutter rotates in a plane vertical to the rotary driving seat, and then is screwed out from the lower part of the main arm frame and inclines upwards;
wherein M is a natural number greater than or equal to 1;
IV, the main arm rotary base drives the main arm support, the auxiliary arm support and the trimming mechanism to form a whole, and the whole rotates to an initial trimming position from a state of facing the front of the crawler-type trimming robot;
each level of main arm of the main arm support extends out in sequence, so that the auxiliary arm support and the trimming mechanism reach the Nth trimming height position;
v, judging a pruning mode of the Nth pruning height position, if the greening vegetation at the Nth pruning height position needs to be pruned in an inclined mode, executing the step VI, and if the greening vegetation at the Nth pruning height position needs to be pruned vertically, executing the step VII;
wherein N is a natural number greater than or equal to 1;
VI, the hydraulic drive motor drives the pruning cutter to work, the pruning cutter runs along an arc-shaped track under the rotation drive of the main arm rotary base, and greening vegetation at the Nth pruning height position is pruned in an inclined mode until the pruning end position;
the main arm rotary base rotates reversely and drives the main arm support, the auxiliary arm support and the trimming mechanism to return to the initial trimming position;
step VIII is executed;
VII, extending a second-stage auxiliary arm of the auxiliary arm frame from the inside of the first-stage auxiliary arm, and then driving the auxiliary arm frame to change the inclination angle under the driving of an auxiliary arm amplitude-variable hydraulic cylinder and simultaneously driving a trimming cutter to move to a vertically upward state;
the hydraulic drive motor drives the pruning tool to work, the pruning tool runs along an arc-shaped track under the rotation drive of the main arm rotary base, and vertically prunes the greening vegetation at the Nth pruning height position until the pruning end position;
the main arm rotary base rotates reversely and drives the main arm support, the auxiliary arm support and the trimming mechanism to return to the initial trimming position;
then, the sub-arm amplitude-variable hydraulic cylinder acts, and the second-stage sub-arm retracts, so that the trimming cutter is restored to the initial inclined state;
step VIII is executed;
the main arm amplitude-variable hydraulic cylinder acts to enable the main arm frame to incline to the next working angle, and meanwhile, the telescopic lengths of all levels of main arms of the main arm frame are changed, so that the auxiliary arm frame and the trimming mechanism reach the next trimming height position;
repeating the steps V to VII until the pruning of the greening vegetation at all the pruning height positions is finished;
IX. the main arms of the main arm support at all levels are completely retracted, and the main arm rotary base drives the main arm support, the auxiliary arm support and the trimming mechanism to integrally return to the state towards the front of the crawler-type trimming robot from the initial trimming position state;
the rotary driving seat drives the pruning tool to rotate reversely, so that the pruning tool rotates to the lower part of the main arm frame to be stored;
the main arm amplitude-variable hydraulic cylinder acts to restore the main arm frame to the original horizontal state from the last working angle;
manually detaching the pin shaft of each folding hydraulic support leg, and restoring each folding hydraulic support leg to an initial accommodating state under the cooperative action of the amplitude-variable hydraulic cylinder of the first section of support leg and the amplitude-variable hydraulic cylinder of the second section of support leg;
and finishing the trimming operation once, and finishing the trimming operation of the three-dimensional plant cluster with the cambered surface shape.
Preferably, the crawler-type trimming robot further comprises a hydraulic station for supplying oil to the crawler-type carrying chassis, the main arm support, the auxiliary arm support, the trimming mechanism, the folding hydraulic support legs and the executing mechanism of the main arm rotary base, and the hydraulic station is installed on the crawler-type carrying chassis.
Preferably, the crawler-type carrying chassis is provided with a folding hydraulic support leg mounting seat corresponding to the mounting position of the folding hydraulic support leg;
the folding hydraulic support leg mounting seat comprises a vertical mounting shaft; and a mounting hole is formed in the supporting rotary base of each folding hydraulic support leg, and the mounting hole for supporting the rotary base is mounted on the vertical mounting shaft.
Preferably, the tracked carrier chassis comprises a chassis frame and a set of track assemblies mounted on the left and right sides of the chassis frame respectively; wherein the two groups of track assemblies are symmetrical in structure;
each group of crawler assemblies comprises a crawler, a driving wheel, a driven wheel, a supporting beam, a bearing wheel and a supporting belt wheel;
wherein, a plurality of spur racks which are arranged in parallel at equal intervals are arranged on the circumference of the inner side surface of the crawler; each spur rack extends along a direction perpendicular to the circumference of the inner side surface of the track;
the supporting cross beams are positioned on the inner sides of the tracks and are arranged on the corresponding side parts of the chassis framework;
the supporting cross beams are arranged along the front and back directions of the crawler-type carrying chassis;
the driving wheel is arranged at the front end of the supporting beam, and teeth meshed with the spur rack are arranged on the outer circumference of the driving wheel;
the driven wheel is arranged at the rear end of the supporting beam and is provided with a driven wheel front-back adjusting mechanism;
two rows of bearing wheels are arranged below the supporting beam; one row of bearing wheels are positioned on the outer side of the installation position of the straight rack, and the other row of bearing wheels are positioned on the inner side of the installation position of the straight rack; the two rows of bearing wheels have the same structure;
each row of bearing wheels comprises a plurality of bearing wheels which are arranged along the front-back direction; wherein:
the bearing wheels positioned at the front lower part and the rear lower part of the supporting cross beam are respectively arranged at the lower part of the supporting cross beam through bearing wheel brackets;
the middle lower part of the supporting cross beam is provided with at least two bearing wheel obstacle avoidance guide plates;
each bearing wheel obstacle avoidance guide plate is in an inverted V shape, wherein the upper end of each bearing wheel obstacle avoidance guide plate is connected to the support cross beam through a shaft, and the front lower end and the rear lower end of each bearing wheel obstacle avoidance guide plate are respectively provided with a shaft hole;
a plurality of bearing wheels positioned in the middle of the supporting cross beam are respectively connected to the front lower end and the rear lower end of each bearing wheel obstacle avoidance guide plate;
two groups of supporting belt wheels are arranged and are respectively positioned above the front side and the rear side of the supporting beam;
an upward belt supporting wheel bracket is arranged at the position, corresponding to each group of belt supporting wheels, of the upper part of the supporting beam; the belt supporting wheel bracket is provided with a mounting shaft hole; each group of carrier rollers comprises two carrier rollers which are coaxially arranged on the carrier roller bracket;
one of the belt supporting wheels is positioned on the inner side of the installation position of the spur rack, and the other belt supporting wheel is positioned on the outer side of the installation position of the spur rack.
Preferably, the driven wheel front-rear adjusting mechanism comprises a mounting sleeve and a driven wheel supporting frame;
the mounting sleeve is connected to the upper part of the rear end of the supporting beam and arranged along the front-back direction of the crawler-type carrying chassis;
a locking screw hole is formed in the side part of the mounting sleeve;
the driven wheel support frame comprises a mounting rod and an annular shaft sleeve connected with the mounting rod;
wherein, the mounting rod extends into the mounting sleeve and is fastened by a locking bolt inserted into the locking screw hole;
the driven wheels are two and are coaxially arranged at the inner side and the outer side of the annular shaft sleeve;
the inner driven wheel is located on the inner side of the installation position of the spur rack, and the outer driven wheel is located on the outer side of the installation position of the spur rack.
The invention has the following advantages:
the invention provides a three-dimensional plant cluster trimming method with an arc-shaped surface, which is realized based on an intelligent trimming robot, wherein the intelligent trimming robot adopts an intelligent control and pure hydraulic driving mode. The pruning robot is provided with two sets of telescopic variable-amplitude arm supports, namely a main arm support and an auxiliary arm support, so that the operation radius of the pruning robot is greatly improved, and the operation capacity is enhanced; meanwhile, the pruning robot is also provided with four groups of folding hydraulic support legs, and each group of folding hydraulic support legs can be quickly folded and unfolded so as to further improve the stability of the amplitude variation of the arm support, so that an arm support system consisting of a main arm support, an auxiliary arm support and the like can meet the attitude requirement of a larger working radius; in addition, the auxiliary arm support with the telescopic amplitude structure can realize the quick fine adjustment of the trimming angle of the trimming mechanism, greatly improve the efficiency of trimming operation and ensure the trimming effect. The method can well realize the accurate and efficient pruning work of the greening vegetation with different shapes and different spatial levels in the three-dimensional large-scale plant cluster with the cambered surface shape by intelligently controlling the pruning robot.
Drawings
Fig. 1 is a schematic structural diagram of a crawler type trimming robot in embodiment 1 of the present invention;
FIG. 2 is a side view of a track type trimming robot in an extended state according to embodiment 1 of the present invention;
FIG. 3 is a front view of a track type trimming robot in an extended state in accordance with embodiment 1 of the present invention;
FIG. 4 is a top view of a track type trimming robot in an extended state according to embodiment 1 of the present invention;
fig. 5 is a side view of the track type trimming robot in the storage state according to the embodiment 1 of the present invention;
fig. 6 is a front view of the track type trimming robot in the storage state according to embodiment 1 of the present invention;
fig. 7 is a plan view of the crawler type trimming robot according to embodiment 1 of the present invention in a storage state;
FIG. 8 is a schematic structural view of a trimming mechanism according to embodiment 1 of the present invention;
FIG. 9 is a schematic structural view of a tracked carrier chassis according to embodiment 1 of the present invention;
FIG. 10 is a side view of a tracked carrier chassis according to embodiment 1 of the present invention;
fig. 11 is a schematic flow chart of a three-dimensional plant cluster trimming method with an arc-shaped surface in embodiment 2 of the present invention.
The crawler-type carrying device comprises a crawler-type carrying chassis, a main arm support 2, an auxiliary arm support 3, a trimming mechanism 4, a folding hydraulic support leg 5, a first-stage main arm 6, a second-stage main arm 7, a third-stage main arm 8, a main arm rotary base 9 and a main arm hinge hole 10;
11-a main arm amplitude-variable hydraulic cylinder, 12-a hinged base, 13-a first-stage auxiliary arm, 14-a second-stage auxiliary arm, 15-an auxiliary arm hinged hole, 16-an auxiliary arm amplitude-variable hydraulic cylinder, 17-a flange plate, 18-a rotary driving base, 19-a trimming cutter and 20-a hydraulic driving motor;
21-a flange plate, 22-a trimming blade, 23-a trimming blade mounting seat, 24-a supporting rotary base, 25-a first section of supporting leg, 26-a second section of supporting leg, 27-an anti-skidding supporting seat, 28-a vertical mounting shaft, 29-a positioning pin hole and 30-a positioning pin hole;
31-a connecting frame, 32-a first section of supporting leg hinging hole, 33-a first section of supporting leg amplitude-changing hydraulic cylinder, 34-a second section of supporting leg hinging hole, 35-an antiskid supporting seat hinging seat, 36-a second section of supporting leg amplitude-changing hydraulic cylinder and 37-a bulge;
38-control panel, 39-chassis framework, 40-crawler belt, 41-driving wheel, 42-driven wheel, 43-supporting beam, 44-bearing wheel, 45-riding wheel, 46-spur rack, 47-mounting sleeve and 48-driven wheel support frame;
49-mounting rods, 50-bearing wheel brackets, 51-bearing wheel obstacle avoidance guide plates and 52-riding wheel brackets.
Detailed Description
Example 1
This embodiment 1 has mentioned an intelligent pruning robot.
As shown in fig. 1, the intelligent trimming robot adopts a crawler type structure, wherein the crawler type trimming robot comprises a crawler type carrying chassis 1, a main arm frame 2, an auxiliary arm frame 3, a trimming mechanism 4 and a folding hydraulic leg 5.
The crawler-type carrying chassis 1 is used for realizing the walking of the crawler-type trimming robot.
As shown in fig. 2, the main arm frame 2 adopts a length-retractable structure, that is, it includes a first-stage main arm 6, a second-stage main arm 7, and a third-stage main arm 8; wherein, the first-stage main arm 6, the second-stage main arm 7 and the third-stage main arm 8 are sequentially nested.
A first telescopic mechanism is provided in the main arm frame 2 to realize extension and retraction of the second-stage main arm 7 and the third-stage main arm 8.
The first telescoping mechanism is, for example, a hydraulic cylinder.
The main arm frame 2 in this embodiment 1 can effectively realize the expansion of the working radius of the crawler type trimming robot.
A main arm rotary base 9 is arranged above the crawler-type carrying chassis 1.
The main arm rotary base 9 is used for driving the main arm support 2, the auxiliary arm support 3 and the trimming mechanism 4 to horizontally rotate.
Specifically, a main arm hinge hole 10 is formed in the main arm rotary base 9, and the bottom of the first-stage main arm 6 is connected to the main arm rotary base 9 in a hinged manner. A main arm luffing hydraulic cylinder 11 is arranged between the main arm rotary base 9 and the first-stage main arm 6.
The main arm luffing hydraulic cylinder 11 is used for realizing luffing action of the main arm. Wherein, one end of the main arm luffing hydraulic cylinder 11 is hinged on the main arm rotary base 9, and the other end is hinged on (the hinged base 12 of) the first-stage main arm 6, as shown in fig. 2.
The main arm slewing base 9 is provided with a main arm slewing base driving mechanism for driving the main arm slewing base 9 to rotate horizontally.
The main arm rotary base driving mechanism can adopt an existing driving mechanism, and the structure of the driving mechanism is as follows:
the main arm rotary base driving mechanism comprises a hydraulic driving motor and a main arm rotary base driving gear, the main arm rotary base 9 is of a cylindrical structure, and a rack meshed with the main arm rotary base driving gear is arranged on the inner side surface of the main arm rotary base 9;
under the drive of the hydraulic drive motor, the main arm rotary base drives the gear to rotate and drives the main arm rotary base 9 to rotate.
A main arm slewing bearing (not shown) is arranged in the middle of the upper part of the crawler-type carrying chassis 1, and the connection between the main arm slewing base 9 and the upper part of the crawler-type carrying chassis 1 is facilitated through the main arm slewing bearing.
As shown in fig. 2, the auxiliary arm frame 3 adopts a length telescopic structure, that is, comprises a first-stage auxiliary arm 13 and a second-stage auxiliary arm 14; wherein the first-stage auxiliary arm 13 and the second-stage auxiliary arm 14 are sequentially nested.
A second telescopic mechanism is arranged in the auxiliary arm support 3 to realize the extension and retraction of the second-stage auxiliary arm 14.
The second telescoping mechanism is, for example, a hydraulic cylinder.
An auxiliary arm hinge hole 15 is formed in the top of the third-stage main arm 8, and the open end A of the first-stage auxiliary arm is hinged to the third-stage main arm 8; the open end a here refers to the end of the second-stage sub-arm 14 from which it protrudes.
An auxiliary jib amplitude-variable hydraulic cylinder 16 is arranged between the top of the third-stage main jib 8 and the first-stage auxiliary jib 13. The auxiliary boom amplitude-variable hydraulic cylinder 16 is used for adjusting the amplitude of the auxiliary boom, so that the trimming angle can be quickly and finely adjusted, and the working efficiency is improved.
Wherein, one end of the sub-jib amplitude-variable hydraulic cylinder 16 is hinged on the third-stage main jib 8, the other end is hinged on the first-stage sub-jib 13, and the hinged point is positioned in the middle of the first-stage sub-jib 13.
The projecting end of the secondary arm 14 is provided with a flange 17 as shown in figure 2.
Mounted to the projecting end of the second stage sub-arm 14 is a trimming mechanism which, as shown in figure 8, includes a rotary drive socket 18, a trimming cutter 19 and a hydraulic drive motor 20 for driving the trimming cutter.
The rotation driving base 18 is used to rotate the trimmer cutter 19 in a plane perpendicular to the rotation driving base 18, so that the trimmer cutter 19 can be conveniently accommodated below the main arm frame 2 when not in use.
One end of the rotary driving seat 18 is provided with a flange 21 and is connected with the extending end part of the second-stage auxiliary arm 14 through a bolt.
The other end of the rotary drive socket 18 is vertically connected to the mounting end of the trimmer cutter 19.
The flange design is favorable for realizing the quick installation, repair and replacement of the trimming mechanism. The trimming mechanism with different specifications and different sizes can be replaced according to the requirements so as to meet the requirements of different working environments.
As shown in fig. 8, the trimming blade 19 includes a trimming blade 22 and a trimming blade mount 23, and specifically, the other end of the rotation driving base 18 is vertically connected to a mounting end of the trimming blade mount 23.
The hydraulic drive motor 20 is mounted on the trimming blade mounting seat 23 at the same end as the rotary drive seat 18.
In order to achieve the corresponding function of the rotary drive seat 18, a rotary drive member, such as a hydraulic motor or the like, is provided in the rotary drive seat 18, and is connected to the trimming blade mounting seat 23 through the rotary drive member, so as to drive the trimming blade 19 to rotate.
The specific structure of trimming blade 22 and trimming blade mount 23 is shown in fig. 8, which is a common cutter structure.
Fig. 2 to 4 show schematic views of the folding hydraulic leg in an unfolded state. As can be seen from fig. 2 to 4, the four folding hydraulic legs 5 are respectively mounted at a position outside the main arm turning base 9.
A square is formed by connecting the four position points, and each position point is positioned on one vertex of the square.
The main arm slewing pedestal 9 is located at the middle position inside a square consisting of four position points.
Through the structural arrangement, the stability of the arm support system composed of the main arm support 2, the auxiliary arm support 3 and the like is favorably ensured.
The four groups of folding hydraulic legs 5 have the same structure, and one group is taken as an example for illustration:
as shown in fig. 3, each set of folding hydraulic legs 5 includes a support swivel base 24, a first leg section 25, a second leg section 26, and an anti-skid support 27. Wherein:
the supporting and revolving base 24 is installed at the corresponding position of the crawler-type carrying chassis 1 and can realize horizontal revolution.
As shown in fig. 9, a folding hydraulic leg mount is provided on the crawler type carrying chassis 1 at a position corresponding to the folding hydraulic leg 5, and includes a vertical mounting shaft 28 and a positioning pin hole 29.
Mounting holes (not shown) are formed in the supporting and rotating base 24, the supporting and rotating base 24 is mounted on the vertical mounting shaft 28, and after the mounting, the horizontal rotation of the stacked hydraulic support legs 5 can be guaranteed.
In addition, a positioning pin hole 30 is also provided in the support swivel base 24, as shown in fig. 4.
When the supporting swivel base 24 is rotated horizontally, if the positioning pin holes 29 and the positioning pin holes 30 are aligned in the up-down direction, the position of the supporting swivel base 24 is fixed by the pins inserted into the two positioning pin holes.
By the structural design, the four groups of folding hydraulic support legs 5 can be quickly retracted and released.
A connecting frame 31 is arranged between the first section of the leg 25 and the second section of the leg 26.
A first section leg hinge connection hole 32 is respectively arranged on the supporting rotary base 24 and one end of the connection frame 31; the first section of legs 25 is hinged at one end to the supporting and revolving base 24 and at the other end to the connecting frame 31.
A first-section supporting leg amplitude-variable hydraulic cylinder 33 is arranged between the supporting rotary base 24 and the first-section supporting leg 25. The first-section support leg amplitude-variable hydraulic cylinder 33 is used for realizing amplitude-variable action of the first-section support leg 25.
One end of the first section of leg variable-amplitude hydraulic cylinder 33 is hinged on the supporting and rotating base 24, the other end is hinged on one end of the connecting frame 31, and the hinged positions of the first section of leg 25 and the first section of leg variable-amplitude hydraulic cylinder 33 on the connecting frame are positioned at the same end.
A second knuckle leg hinge hole 34 is formed at the other end of the link frame 31. One end of the second section of supporting leg 26 is hinged on the connecting frame 31, and the other end of the second section of supporting leg 26 is provided with an anti-skid supporting seat hinged seat 35.
The antiskid supporting seat 27 is hinged at the end of the antiskid supporting seat hinge seat 35 of the second section of supporting leg. The anti-skid supporting seat 27 can ensure that a better anti-skid effect can be achieved when the folding hydraulic supporting leg 5 is in contact with the ground.
A second-section leg amplitude-variable hydraulic cylinder 36 is also arranged between the second-section leg 26 and the other end of the connecting frame 31. The second-section leg amplitude-variable hydraulic cylinder 36 is used for realizing amplitude-variable action of the second-section leg 26.
One end of the second-section leg amplitude-variable hydraulic cylinder 36 is hinged on the second-section leg 26, the other end is hinged on the other end of the connecting frame 31, and the hinged positions of the second-section leg and the second-section leg amplitude-variable hydraulic cylinder on the connecting frame are located at the same end.
Through the synergistic effect of the first-section support leg amplitude-variable hydraulic cylinder 33 and the second-section support leg amplitude-variable hydraulic cylinder 36, each group of folding hydraulic support legs 5 can be unfolded to different angles so as to meet the operation requirements of different working environments.
The state when the four groups of folding hydraulic legs 5 are all folded is shown in figures 5-7. As can be seen from fig. 5-7, when the folding hydraulic legs 5 are retracted, the track-type trimming robot occupies a much reduced space.
The lower surface of the cleat 27 is provided with a plurality of downwardly projecting triangular projections 37, as shown in figure 3. When the anti-skid support 27 is in contact with the ground, the triangular projections 37 can be embedded into the ground to further play a role of anti-skid.
The crawler-type trimming robot in the embodiment adopts intelligent control, that is, the control of the actions of the crawler-type carrying chassis 1, the main arm frame 2, the auxiliary arm frame 3, the trimming mechanism 4, the folding hydraulic support legs 5 and the like is realized through the control panel 38.
Of course, the crawler-type trimming robot in this embodiment may also be configured with a remote controller to perform remote control. Through remote control, the precise control of the actions of the crawler-type trimming robot can be realized.
In addition, the crawler-type trimming robot in the embodiment adopts a pure hydraulic driving mode, that is, the crawler-type carrying chassis 1, the main arm frame 2, the auxiliary arm frame 3, the trimming mechanism 4, the folding hydraulic legs, the main arm rotary base and the like are all driven by hydraulic pressure.
A single-cylinder diesel engine provides power for a hydraulic station (not shown), and the hydraulic station supplies oil to the crawler-type carrying chassis 1, the main arm frame 2, the auxiliary arm frame 3, the trimming mechanism 4, the folding hydraulic support legs 5 and the executing mechanism of the main arm rotary base 9.
In particular, the hydraulic station is mounted on a tracked carrier chassis 1.
Further, the present embodiment provides a specific structure of the crawler type carrying chassis 1, as shown in fig. 9.
The crawler type carrying chassis 1 comprises a chassis frame 39 and a group of crawler assemblies respectively arranged at the left and right sides of the chassis frame 39; wherein the main arm slewing pedestal 9 is mounted above the chassis frame 39.
The above two sets of track assemblies are symmetrical in structure, and one of the two sets of track assemblies is taken as an example for explanation: each set of track assemblies includes a track 40, a drive wheel 41, a driven wheel 42, a support beam 43, a bogie wheel 44, and a idler wheel 45.
A plurality of equally spaced, parallel aligned spur racks, such as spur rack 46, are disposed around the inside surface of track 40. Each spur rack 46 extends in a direction perpendicular to the circumference of the inside surface of the track 40 (i.e., in and out of the paper in fig. 10).
The crawler 40 in this embodiment 1 is a rubber crawler, and the outer side of the rubber crawler is provided with anti-slip threads.
The support beams 43 are located inboard of the tracks 40 and are mounted to respective (left or right) sides of the chassis frame.
The support cross-members 43 are arranged in the front-rear direction of the crawler type carrying chassis 1.
The driving wheel 41 is mounted at the front end of the supporting beam 43, teeth meshed with the spur rack 46 are arranged on the outer circumference of the driving wheel 41, and the driving wheel 41 is connected with a power part of the trimming robot and drives the crawler 40 to rotate.
The driven pulley 42 is attached to the rear end of the support beam 43, and the driven pulley 43 is provided with a driven pulley front-rear adjustment mechanism. The tightness of the track 40 can be adjusted by the driven wheel fore-aft adjustment mechanism.
As shown in fig. 10, the driven wheel forward-backward adjustment mechanism includes a mounting sleeve 47 and a driven wheel support bracket 48. A mounting sleeve 47 (welded) is attached to the rear end upper portion of the support cross member 43 and is arranged in the front-rear direction of the crawler type carrying chassis.
A locking screw hole (not shown) is provided at a side portion (e.g., an upper side portion) of the mounting sleeve 47.
The driven wheel support bracket 48 includes a mounting rod 49 and an annular bushing (not shown) connected to the mounting rod 49; wherein the mounting rod 49 is inserted into the mounting sleeve 47 and fastened by a locking bolt inserted into a locking screw hole.
The driven wheel 42 has two and is coaxially mounted inside and outside the annular shaft sleeve. The inner driven pulley 42 is located inside the mounting position of the spur rack 46, and the outer driven pulley 42 is located outside the mounting position of the spur rack 46.
Two rows of bearing wheels are arranged below the supporting beam 43; one row of bearing wheels is positioned at the outer side of the installation position of the spur rack 46, and the other row of bearing wheels 44 is positioned at the inner side of the installation position of the spur rack; the two rows of bearing wheels have the same structure.
Taking the outer bearing wheel as an example, each row of bearing wheels comprises a plurality of bearing wheels arranged along the front-back direction.
The bearing wheels 44 positioned at the front lower part and the rear lower part of the supporting beam 43 are respectively arranged at the lower part of the supporting beam 43 through bearing wheel brackets 50; wherein the upper end of the bearing wheel bracket 50 is welded to the lower portion of the support cross member 43.
Each of the bearing wheel brackets 50 is provided at a lower portion thereof with a mounting hole (not shown) in which the bearing wheel 44 is mounted through a shaft.
The middle lower part of the supporting beam 43 is provided with at least two bearing wheel obstacle-avoiding guide plates 51.
Each bearing wheel keeps away barrier guide plate 51 and all is "V" type down, and the bearing wheel keeps away the upper end of barrier guide plate 51 and is connected on supporting beam 43 through the axle, keeps away the preceding lower extreme of barrier guide plate, sets up a shaft hole respectively at the bearing wheel.
The plurality of bearing wheels 44 located in the middle of the supporting beam 43 are respectively connected to the front lower end and the rear lower end of each bearing wheel obstacle avoidance guide plate 51. The bearing wheel obstacle avoidance guide plate 51 can ensure that the crawler-type carrying chassis 1 has a good obstacle avoidance effect.
Two sets of carrier rollers 45 are provided and are respectively located above the front side and above the rear side of the support beam 43.
An upward idler wheel bracket 52 is arranged at the position (welded) corresponding to each set of idler wheels at the upper part of the supporting beam 43. A mounting shaft hole (not shown) is provided on the idler holder 52.
Each set of carrier rollers comprises two carrier rollers 45 and are coaxially mounted on a carrier roller support 52. One of the carrier rollers 45 is located inside the spur rack mounting position, and the other carrier roller 45 is located outside the spur rack mounting position.
The crawler-type carrying chassis 1 is adopted in the embodiment, and the trafficability characteristic of the crawler-type trimming robot can be effectively improved.
The crawler-type pruning robot provided by the embodiment 1 overcomes the defects of small pruning range and narrow application range of the traditional greening maintenance tool, and well meets the pruning requirements of greening vegetation of three-dimensional large-scale plant clusters with arc-shaped surfaces.
Example 2
The embodiment 2 describes a three-dimensional plant cluster trimming method with an arc-shaped surface, which is implemented based on the trimming robot in the embodiment 1, and the trimming robot in the embodiment 1 is intelligently controlled, so that the three-dimensional plant cluster with the arc-shaped surface can be trimmed accurately and efficiently in different shapes and different spatial levels.
As shown in fig. 11, a method for pruning a three-dimensional plant cluster with a cambered surface comprises the following steps:
I. the crawler-type trimming robot firstly runs to a three-dimensional plant cluster with an arc-shaped surface to be trimmed and then stops.
Manually unscrew each folding hydraulic leg 5 horizontally outwards.
After the alignment pin holes 30 of each folding hydraulic leg are aligned up and down with the alignment pin holes 29 on the corresponding location of the tracked carrier chassis, each folding hydraulic leg 5 is secured to the corresponding location of the tracked carrier chassis by a pin.
The first leg amplitude hydraulic cylinder 33 and the second leg amplitude hydraulic cylinder 36 of each folding hydraulic leg act cooperatively, the angle of amplitude of the first leg 25 and the second leg 26 changes, and the folding hydraulic legs are unfolded and supported on the ground.
And III, the main arm luffing hydraulic cylinder 11 acts to lift and incline the main arm frame 2 to the Mth working angle.
Wherein M is a natural number greater than 1.
The trimmer cutter 19 rotates in a plane perpendicular to the rotation driving base 18 by the rotation driving base 18, and further, is rotated out from below the main arm frame 2 and tilted upward.
And IV, the main arm rotary base 9 drives the main arm support 2, the auxiliary arm support 3 and the trimming mechanism 4 to form a whole, and the whole rotates to an initial trimming position state from a state (original state) facing the front of the crawler-type trimming robot.
Next, the main arms of the respective stages are sequentially extended, so that the auxiliary arm support 3 and the trimming mechanism 4 reach the nth trimming height position.
Wherein N is a natural number greater than 1.
V. the clipping method at the nth clipping height position can be determined, for example, by human operation.
If the greening vegetation at the Nth pruning height position needs to be pruned in an inclined mode through judgment, executing the step VI; and if the greening vegetation at the Nth height position needs to be vertically trimmed after judgment, executing the step VII.
And VI, the hydraulic drive motor 20 drives the trimming cutter 19 to work, the trimming cutter 19 runs along an arc-shaped track under the drive of the main arm rotary base 9, and obliquely trims the greening vegetation at the Nth trimming height position until the trimming end position stops.
Then the main arm rotary base 9 rotates reversely and drives the main arm support, the auxiliary arm support and the trimming mechanism to return to the initial trimming position;
step VIII is performed.
And VII, the second-stage auxiliary arm 14 extends out of the first-stage auxiliary arm, then the inclination angle of the auxiliary arm frame 3 is changed under the driving of the auxiliary arm amplitude-changing hydraulic cylinder 16, and meanwhile, the trimming cutter 19 is driven to move to a vertically upward state.
The hydraulic drive motor 20 drives the pruning tool 19 to work, the pruning tool runs along an arc-shaped track under the rotation drive of the main arm rotary base 9, and vertically prunes the greening vegetation at the Nth pruning height position until the pruning end position is stopped.
The main arm rotary base 9 rotates reversely and drives the main arm support, the auxiliary arm support and the trimming mechanism to return to the initial trimming position; subsequently, the sub-boom variable amplitude hydraulic cylinder 16 is operated, the second-stage sub-boom 14 is retracted, and the trimming cutter 19 is returned to the initial inclined state.
Step VIII is performed.
And VIII, the main arm amplitude-variable hydraulic cylinder 11 acts to enable the main arm frame 2 to incline to the next working angle, and meanwhile, the telescopic lengths of all stages of main arms of the main arm frame 2 are changed, so that the auxiliary arm frame 3 and the trimming mechanism 4 reach the next trimming height position.
And repeating the steps V to VII until the greening vegetation at all the pruning height positions are pruned.
IX. the main arms of the main arm support 2 are retracted completely, the main arm rotary base 9 drives the main arm support 2, the auxiliary arm support 3 and the trimming mechanism 4 to return to the state (original state) towards the front of the crawler type trimming robot from the original trimming position state.
The rotary driving seat 18 drives the pruning tool to rotate reversely, so that the pruning tool rotates to the lower part of the main arm support to be stored. The main arm luffing hydraulic cylinder 11 acts to restore the main arm frame 2 from the last working angle to the original horizontal state.
The pin shaft of each folding hydraulic support leg 5 is manually detached, and each folding hydraulic support leg 5 is restored to the initial storage state under the cooperative action of the first-section support leg amplitude-changing hydraulic cylinder 33 and the second-section support leg amplitude-changing hydraulic cylinder 36.
By the method, the three-dimensional plant clusters with cambered surface shapes can be intelligently, accurately and efficiently trimmed at different shapes and different spatial levels after one trimming operation is finished, and the method is wide in trimming range and application range.
It should be understood, however, that the description herein of specific embodiments is not intended to limit the invention to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.
Claims (1)
1. A three-dimensional plant cluster trimming method with an arc-shaped surface is realized based on a crawler-type trimming robot;
characterized in that, the tracked trimming robot comprises:
the crawler-type carrying chassis comprises a main arm support, an auxiliary arm support, a trimming mechanism and a folding hydraulic support leg;
the main arm support adopts a length telescopic structure, namely comprises a first-stage main arm, a second-stage main arm and a third-stage main arm; the first-stage main arm, the second-stage main arm and the third-stage main arm are sequentially nested;
a first telescopic mechanism for driving the second-stage main arm and the third-stage main arm to extend out and retract is arranged in the main arm frame;
a main arm rotary base is arranged above the crawler-type carrying chassis;
a main arm hinge hole is formed in the main arm rotary base, and the bottom of the first-stage main arm is hinged to the main arm rotary base;
a main arm amplitude-variable hydraulic cylinder is arranged between the main arm rotary base and the first-stage main arm;
one end of the main arm luffing hydraulic cylinder is hinged to the main arm rotary base, and the other end of the main arm luffing hydraulic cylinder is hinged to the first-stage main arm;
a main arm slewing bearing is arranged in the middle of the upper part of the crawler-type carrying chassis;
the main arm rotary base is connected with the upper part of the crawler-type carrying chassis through the main arm rotary bearing;
the auxiliary arm frame adopts a length telescopic structure, namely comprises a first-stage auxiliary arm and a second-stage auxiliary arm; the first-stage auxiliary arm and the second-stage auxiliary arm are sequentially nested;
a second telescopic mechanism for driving the second-stage auxiliary arm to extend and retract is arranged in the auxiliary arm frame;
an auxiliary arm hinge hole is formed in the top of the third-stage main arm, and the open end of the first-stage auxiliary arm is hinged to the third-stage main arm;
an auxiliary boom amplitude-variable hydraulic cylinder is arranged between the top of the third-stage main boom and the first-stage auxiliary boom;
one end of the auxiliary boom amplitude-variable hydraulic cylinder is hinged to the third-stage main boom, and the other end of the auxiliary boom amplitude-variable hydraulic cylinder is hinged to the middle position of the first-stage auxiliary boom;
the extending end part of the second-stage auxiliary arm is provided with a flange plate;
the pruning mechanism comprises a rotary driving seat, a pruning cutter and a hydraulic driving motor for driving the pruning cutter;
one end of the rotary driving seat is provided with a flange plate and is connected with the extending end part of the second-stage auxiliary arm through a bolt;
the other end of the rotary driving seat is vertically connected with the mounting end part of the trimming cutter and is configured to drive the trimming cutter to rotate in a plane vertical to the rotary driving seat;
the hydraulic drive motor is arranged on the pruning cutter and is positioned at the same end of the pruning cutter as the rotary drive seat;
the four groups of the folding hydraulic support legs are respectively arranged on one position point on the outer side of the main arm rotary base; a square is formed by connecting lines of four position points, and each position point is positioned on one vertex of the square;
the main arm rotary base is positioned in the middle of the square inner part consisting of the four position points;
the four groups of folding hydraulic support legs have the same structure;
each group of folding hydraulic support legs respectively comprises a supporting rotary base, a first section of support leg, a second section of support leg and an anti-skid support seat;
the supporting rotary base is arranged at a corresponding position of the crawler-type carrying chassis and can realize horizontal rotation;
positioning pin holes are respectively arranged at corresponding positions of the supporting rotary base and the crawler type carrying chassis, and when the two positioning pin holes are aligned in the vertical direction, the supporting rotary base is fixed at the position of the crawler type carrying chassis through a pin shaft;
a connecting frame is arranged between the first section of supporting leg and the second section of supporting leg;
a first section supporting leg hinging hole is respectively formed in the supporting rotary base and one end of the connecting frame;
one end of the first section of supporting leg is hinged on the supporting rotary base, and the other end of the first section of supporting leg is hinged on the connecting frame;
a first section of supporting leg variable-amplitude hydraulic cylinder is arranged between the supporting rotary base and the first section of supporting leg;
one end of the first section of supporting leg variable-amplitude hydraulic cylinder is hinged to the supporting rotary base, the other end of the first section of supporting leg variable-amplitude hydraulic cylinder is hinged to one end of the connecting frame, and the hinged positions of the first section of supporting leg and the first section of supporting leg variable-amplitude hydraulic cylinder on the connecting frame are located at the same end of the connecting frame;
the other end of the connecting frame is provided with a second section supporting leg hinging hole;
one end of the second section of supporting leg is hinged on the connecting frame, and the other end of the second section of supporting leg is provided with an anti-skidding supporting seat hinged seat;
the anti-skid supporting seat is hinged to the hinged seat end of the anti-skid supporting seat of the second section of supporting leg;
a second section of supporting leg amplitude-variable hydraulic cylinder is arranged between the second section of supporting leg and the other end of the connecting frame;
one end of the second section of supporting leg variable-amplitude hydraulic cylinder is hinged to the second section of supporting leg, the other end of the second section of supporting leg variable-amplitude hydraulic cylinder is hinged to the other end of the connecting frame, and the hinged positions of the second section of supporting leg and the second section of supporting leg variable-amplitude hydraulic cylinder on the connecting frame are located at the same end of the connecting frame;
the lower surface of the antiskid supporting seat is provided with a plurality of triangular protrusions protruding downwards; the crawler-type carrying chassis, the main arm support, the auxiliary arm support, the trimming mechanism, the folding hydraulic support legs and the main arm rotary base are all driven by hydraulic pressure;
the crawler-type pruning robot further comprises a hydraulic station for supplying oil to the crawler-type carrying chassis, the main arm support, the auxiliary arm support, the pruning mechanism, the folding hydraulic support legs and the executing mechanism of the main arm rotary base, and the hydraulic station is arranged on the crawler-type carrying chassis;
a folding hydraulic support leg mounting seat is arranged at the mounting position of the crawler-type carrying chassis corresponding to the folding hydraulic support leg;
the folding hydraulic support leg mounting seat comprises a vertical mounting shaft; a mounting hole is formed in the supporting rotary base of each folding hydraulic support leg, and the mounting hole of the supporting rotary base is mounted on the vertical mounting shaft;
the crawler type carrying chassis comprises a chassis framework and a group of crawler assemblies respectively arranged on the left side part and the right side part of the chassis framework;
the two groups of crawler assemblies are symmetrical in structure;
each group of crawler assemblies comprises a crawler, a driving wheel, a driven wheel, a supporting beam, a bearing wheel and a supporting belt wheel;
the inner side surface circumference of the crawler belt is provided with a plurality of spur racks which are arranged in parallel at equal intervals; each spur rack extends in a direction perpendicular to the circumference of the inner side surface of the crawler;
the supporting cross beams are positioned on the inner sides of the crawler belts and are arranged on the corresponding side parts of the chassis framework;
the supporting cross beams are arranged along the front-back direction of the crawler-type carrying chassis;
the driving wheel is arranged at the front end of the supporting beam, and teeth meshed with the spur racks are arranged on the outer circumference of the driving wheel;
the driven wheel is arranged at the rear end of the supporting beam and is provided with a driven wheel front-back adjusting mechanism;
two rows of bearing wheels are arranged below the supporting beam; one row of the bearing wheels are positioned on the outer side of the installation position of the straight rack, and the other row of the bearing wheels are positioned on the inner side of the installation position of the straight rack; the two rows of bearing wheels have the same structure;
each row of the bearing wheels comprises a plurality of bearing wheels arranged along the front-back direction; wherein:
the bearing wheels positioned at the front lower part and the rear lower part of the supporting cross beam are respectively arranged at the lower part of the supporting cross beam through bearing wheel brackets;
the middle lower part of the supporting cross beam is provided with at least two bearing wheel obstacle avoidance guide plates;
each bearing wheel obstacle avoidance guide plate is in an inverted V shape, wherein the upper end of each bearing wheel obstacle avoidance guide plate is connected to the support cross beam through a shaft, and the front lower end and the rear lower end of each bearing wheel obstacle avoidance guide plate are respectively provided with a shaft hole;
a plurality of bearing wheels positioned in the middle of the supporting cross beam are respectively connected to the front lower end and the rear lower end of each bearing wheel obstacle avoidance guide plate;
two groups of supporting belt wheels are arranged and are respectively positioned above the front side and the rear side of the supporting beam;
an upward belt supporting wheel bracket is arranged at the position, corresponding to each group of belt supporting wheels, of the upper part of the supporting beam; the belt supporting wheel bracket is provided with a mounting shaft hole; each group of carrier rollers comprises two carrier rollers which are coaxially arranged on the carrier roller bracket;
one of the belt supporting wheels is positioned on the inner side of the installation position of the spur rack, and the other belt supporting wheel is positioned on the outer side of the installation position of the spur rack;
the front-back adjusting mechanism of the driven wheel comprises a mounting sleeve and a driven wheel supporting frame;
the mounting sleeve is connected to the upper part of the rear end of the supporting cross beam and arranged along the front-rear direction of the crawler-type carrying chassis;
a locking screw hole is formed in the side part of the mounting sleeve;
the driven wheel support frame comprises a mounting rod and an annular shaft sleeve connected to the mounting rod;
the mounting rod extends into the mounting sleeve and is fastened through a locking bolt inserted into the locking screw hole;
the driven wheels are two and are coaxially arranged at the inner side and the outer side of the annular shaft sleeve;
the inner driven wheel is positioned on the inner side of the installation position of the spur rack, and the outer driven wheel is positioned on the outer side of the installation position of the spur rack;
the three-dimensional plant cluster trimming method with the arc-shaped modeling comprises the following steps:
I. the crawler-type trimming robot firstly runs to a three-dimensional plant cluster with an arc-shaped surface to be trimmed and then stops;
manually screwing out each folding hydraulic support leg horizontally and outwards;
after a positioning pin hole on a supporting rotary base of each folding hydraulic support leg is vertically aligned with a positioning pin hole on a corresponding position of the crawler-type carrying chassis, each folding hydraulic support leg is fixed at the corresponding position of the crawler-type carrying chassis by using a pin shaft;
the first section of leg amplitude-variable hydraulic cylinder and the second section of leg amplitude-variable hydraulic cylinder of each folding hydraulic leg act cooperatively, and the amplitude angle of the first section of leg and the second section of leg changes, so that the folding hydraulic legs are unfolded and supported on the ground;
III, the main arm amplitude-variable hydraulic cylinder acts to enable the main arm frame to be lifted and inclined to the Mth working angle; under the drive of the rotary driving seat, the pruning cutter rotates in a plane vertical to the rotary driving seat, and then is screwed out from the lower part of the main arm frame and inclines upwards;
wherein M is a natural number greater than or equal to 1;
IV, the main arm rotary base drives the main arm support, the auxiliary arm support and the trimming mechanism to form a whole, and the whole rotates to an initial trimming position from a state of facing the front of the crawler-type trimming robot;
each level of main arm of the main arm support extends out in sequence, so that the auxiliary arm support and the trimming mechanism reach the Nth trimming height position;
v, judging a pruning mode of the Nth pruning height position, if the greening vegetation at the Nth pruning height position needs to be pruned in an inclined mode, executing the step VI, and if the greening vegetation at the Nth pruning height position needs to be pruned vertically, executing the step VII;
wherein N is a natural number greater than or equal to 1;
VI, the hydraulic drive motor drives the pruning cutter to work, the pruning cutter runs along an arc-shaped track under the rotation drive of the main arm rotary base, and greening vegetation at the Nth pruning height position is pruned in an inclined mode until the pruning end position;
the main arm rotary base rotates reversely and drives the main arm support, the auxiliary arm support and the trimming mechanism to return to the initial trimming position;
step VIII is executed;
VII, extending a second-stage auxiliary arm of the auxiliary arm frame from the inside of the first-stage auxiliary arm, and then driving the auxiliary arm frame to change the inclination angle under the driving of an auxiliary arm amplitude-variable hydraulic cylinder and simultaneously driving a trimming cutter to move to a vertically upward state;
the hydraulic drive motor drives the pruning tool to work, the pruning tool runs along an arc-shaped track under the rotation drive of the main arm rotary base, and vertically prunes the greening vegetation at the Nth pruning height position until the pruning end position;
the main arm rotary base rotates reversely and drives the main arm support, the auxiliary arm support and the trimming mechanism to return to the initial trimming position;
then, the sub-arm amplitude-variable hydraulic cylinder acts, and the second-stage sub-arm retracts, so that the trimming cutter is restored to the initial inclined state;
step VIII is executed;
the main arm amplitude-variable hydraulic cylinder acts to enable the main arm frame to incline to the next working angle, and meanwhile, the telescopic lengths of all levels of main arms of the main arm frame are changed, so that the auxiliary arm frame and the trimming mechanism reach the next trimming height position;
repeating the steps V to VII until the pruning of the greening vegetation at all the pruning height positions is finished;
IX. the main arms of the main arm support at all levels are completely retracted, and the main arm rotary base drives the main arm support, the auxiliary arm support and the trimming mechanism to integrally return to the state towards the front of the crawler-type trimming robot from the initial trimming position state;
the rotary driving seat drives the pruning tool to rotate reversely, so that the pruning tool rotates to the lower part of the main arm frame to be stored;
the main arm amplitude-variable hydraulic cylinder acts to restore the main arm frame to the original horizontal state from the last working angle;
manually detaching the pin shaft of each folding hydraulic support leg, and restoring each folding hydraulic support leg to an initial accommodating state under the cooperative action of the amplitude-variable hydraulic cylinder of the first section of support leg and the amplitude-variable hydraulic cylinder of the second section of support leg;
and finishing the trimming operation once, and finishing the trimming operation of the three-dimensional plant cluster with the cambered surface shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010804131.0A CN111837677B (en) | 2020-08-12 | 2020-08-12 | Three-dimensional plant cluster trimming method with cambered surface modeling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010804131.0A CN111837677B (en) | 2020-08-12 | 2020-08-12 | Three-dimensional plant cluster trimming method with cambered surface modeling |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111837677A CN111837677A (en) | 2020-10-30 |
| CN111837677B true CN111837677B (en) | 2022-04-22 |
Family
ID=72972095
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010804131.0A Active CN111837677B (en) | 2020-08-12 | 2020-08-12 | Three-dimensional plant cluster trimming method with cambered surface modeling |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111837677B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113175068B (en) * | 2021-06-28 | 2021-10-15 | 深圳市勘察研究院有限公司 | Drainage pipe detects robot of decontaminating |
| CN114589811A (en) * | 2022-02-18 | 2022-06-07 | 廊坊凯博建设机械科技有限公司 | Material distribution equipment and operation method thereof |
| CN116114491B (en) * | 2023-01-09 | 2024-06-11 | 海南电网有限责任公司电力科学研究院 | All-terrain transmission line tree obstacle cleaning robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2869195A1 (en) * | 2004-04-22 | 2005-10-28 | Signalisation Moderne Autorout | Machine for e.g. mowing, has boom cylinder with single and double-acting jacks having chambers coupled to hydraulic circuit which has valve placed in position in which fluid circulates in two directions and slide in assembled position |
| CN201800806U (en) * | 2010-08-23 | 2011-04-20 | 郭长春 | Crawler-type carrier vehicle capable of walking on rice ridges |
| CN202575767U (en) * | 2012-04-09 | 2012-12-05 | 杭州贝特设备制造有限公司 | Minitype spider-type hoisting machine |
| CN102870608A (en) * | 2012-09-25 | 2013-01-16 | 南宁市合辰科技有限公司 | Five-degree of freedom green fence pruning machine |
| CN108029372A (en) * | 2017-12-27 | 2018-05-15 | 重庆集智创享工业设计有限公司 | A kind of clipping device and its application method |
| CN108370741A (en) * | 2018-04-01 | 2018-08-07 | 郭双伟 | A kind of gardens horticultural machine people |
| CN208549332U (en) * | 2018-07-09 | 2019-03-01 | 三江生态环境有限公司 | A kind of mobile GREEB HEDGE MACHINE |
| CN211076111U (en) * | 2019-09-27 | 2020-07-24 | 内蒙古第一机械集团股份有限公司 | Crawler belt walking device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101982051B (en) * | 2010-08-25 | 2012-11-07 | 广西大学 | Hedgerow pruning manipulator with six degrees of freedom (DOP) |
-
2020
- 2020-08-12 CN CN202010804131.0A patent/CN111837677B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2869195A1 (en) * | 2004-04-22 | 2005-10-28 | Signalisation Moderne Autorout | Machine for e.g. mowing, has boom cylinder with single and double-acting jacks having chambers coupled to hydraulic circuit which has valve placed in position in which fluid circulates in two directions and slide in assembled position |
| CN201800806U (en) * | 2010-08-23 | 2011-04-20 | 郭长春 | Crawler-type carrier vehicle capable of walking on rice ridges |
| CN202575767U (en) * | 2012-04-09 | 2012-12-05 | 杭州贝特设备制造有限公司 | Minitype spider-type hoisting machine |
| CN102870608A (en) * | 2012-09-25 | 2013-01-16 | 南宁市合辰科技有限公司 | Five-degree of freedom green fence pruning machine |
| CN108029372A (en) * | 2017-12-27 | 2018-05-15 | 重庆集智创享工业设计有限公司 | A kind of clipping device and its application method |
| CN108370741A (en) * | 2018-04-01 | 2018-08-07 | 郭双伟 | A kind of gardens horticultural machine people |
| CN208549332U (en) * | 2018-07-09 | 2019-03-01 | 三江生态环境有限公司 | A kind of mobile GREEB HEDGE MACHINE |
| CN211076111U (en) * | 2019-09-27 | 2020-07-24 | 内蒙古第一机械集团股份有限公司 | Crawler belt walking device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111837677A (en) | 2020-10-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111837682B (en) | Crawler-type pruning robot | |
| CN111837677B (en) | Three-dimensional plant cluster trimming method with cambered surface modeling | |
| EP2263964A2 (en) | Fitting vehicle for glass and solar modules | |
| CN219341680U (en) | Rotatable hydraulic lifting platform operation fence | |
| DE102011055574B4 (en) | Device and method for cleaning surfaces | |
| CN109348852B (en) | Novel fruit picking transport vehicle | |
| CN209445021U (en) | A kind of moving lift type fog gun machine | |
| CN205934812U (en) | Guardrail cleaning vehicle | |
| CN112723229A (en) | Lifting device for auto repair | |
| CN114875757A (en) | Chassis adjusting device of wheeled pavement milling machine | |
| KR100483323B1 (en) | A height working car for mending of an electric railway | |
| CN112644226A (en) | High-ground-clearance agricultural mobile platform and using method thereof | |
| CN217147380U (en) | Concrete aggregate belt conveyor | |
| CN111605467A (en) | Take salvage car of excavation function | |
| CN106192830B (en) | A kind of Cleaning vehicle for guardrail | |
| CN103121650B (en) | Jack | |
| CN214560654U (en) | Supporting device for communication engineering | |
| CN219788332U (en) | Combined agricultural robot | |
| CN220182714U (en) | Photovoltaic station overhead working platform | |
| CN113279551B (en) | Ground floating robot | |
| CN212883096U (en) | Production efficient automotive interior working of plastics paint spraying apparatus | |
| CN217298568U (en) | Chassis adjusting device of wheeled pavement milling machine | |
| CN212981672U (en) | Wheel hub grabbing device for automobile maintenance | |
| CN219665608U (en) | Tool for overhauling coal cutter parts | |
| CN221248816U (en) | Agricultural robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231115 Address after: 230000 Room 203, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee after: Hefei Jiuzhou Longteng scientific and technological achievement transformation Co.,Ltd. Address before: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee before: Dragon totem Technology (Hefei) Co.,Ltd. Effective date of registration: 20231115 Address after: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee after: Dragon totem Technology (Hefei) Co.,Ltd. Address before: 256600 No. five, No. 391, the Yellow River Road, Shandong, Binzhou Patentee before: BINZHOU University |