CN111972151A - Automatic obstacle-avoiding urban hedge trimmer - Google Patents
Automatic obstacle-avoiding urban hedge trimmer Download PDFInfo
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- CN111972151A CN111972151A CN202010799190.3A CN202010799190A CN111972151A CN 111972151 A CN111972151 A CN 111972151A CN 202010799190 A CN202010799190 A CN 202010799190A CN 111972151 A CN111972151 A CN 111972151A
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- guide rail
- trimming
- urban
- hedge trimmer
- bottom plate
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- 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
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- Biodiversity & Conservation Biology (AREA)
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- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
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Abstract
The invention discloses an urban hedge trimmer capable of automatically avoiding obstacles, which is characterized in that: the automatic obstacle avoidance device comprises a walking device and a trimming device, wherein the trimming device comprises a guide rail platform, an adjustable working arm, a trimming mechanism, a hydraulic system and a power system, the trimming mechanism is connected with the guide rail platform through the adjustable working arm, the guide rail platform is arranged on the walking device, and an automatic obstacle avoidance module is configured on the walking device. The automatic obstacle avoidance module measures distance to realize the advancing and obstacle avoidance of the machine, the adjustable working arm adjusts the angle of the mechanical arm to realize the trimming of hedgerows in different shapes, the operation is simple, the labor force is saved, and the working efficiency is improved.
Description
Technical Field
The invention belongs to the field of hedge trimming, and particularly relates to an urban hedge trimmer device capable of automatically avoiding obstacles.
Background
The hedgerow plays an important role in greening of highways and urban roads, and the development of the highways and the improvement of environmental awareness of people enable the hedgerow to become an indispensable organic part of the highways. The main function of the central road isolation belt is to isolate vehicles to run in different lanes, reduce dizziness caused by high-speed running of the vehicles, avoid string lights of the vehicles running at night and guarantee the high-speed running safety of the vehicles. In order to achieve the purposes, people put forward higher and higher standards on the shape, height, levelness and even trimming speed of the hedgerow, and the traditional manual trimming mode cannot meet the trimming requirements of urban hedgerows due to high working strength, low efficiency and high risk. Therefore, it is urgently required to develop a hedge trimming machine with a high automation level to improve the trimming efficiency and ensure the working safety.
Disclosure of Invention
The invention aims to solve the technical problem of providing the urban hedge trimmer which is simple in operation and high in working efficiency and can automatically avoid obstacles aiming at the defects in the prior art.
The technical scheme adopted by the invention is as follows: the utility model provides a can keep away city hedge trimmer of barrier automatically which characterized in that: the automatic obstacle avoidance device comprises a walking device and a trimming device, wherein the trimming device comprises a guide rail platform, an adjustable working arm, a trimming mechanism, a hydraulic system and a power system, the trimming mechanism is connected with the guide rail platform through the adjustable working arm, the guide rail platform is arranged on the walking device, and an automatic obstacle avoidance module is configured on the walking device.
According to the technical scheme, the adjustable working arm comprises at least two machine arms, the two adjacent machine arms are hinged and are hinged with a hydraulic cylinder, the hydraulic cylinder at the foremost end is connected with the trimming mechanism, the machine arm at the rearmost end is connected with the guide rail seat of the guide rail platform through the bottom plate supporting arm, and the hydraulic cylinder is hinged between the machine arm at the rearmost end and the bottom plate supporting arm.
According to the technical scheme, the walking device comprises a bottom plate, wherein the two sides of the bottom plate are symmetrically provided with the worm and gear speed reducing motor, the motor support and the trundles, the worm and gear speed reducing motor is fixed through the motor support, and the output shaft of the worm and gear speed reducing motor is connected with the trundles.
According to the technical scheme, the automatic obstacle avoidance module comprises a plurality of ultrasonic sensors arranged on a bottom plate of the walking device.
According to the technical scheme, the guide rail platform comprises a box body, a guide rail is arranged on the box body, a guide rail seat is movably arranged on the guide rail in a matched mode, and the guide rail seat is driven by a driving device.
According to the technical scheme, the driving device comprises a hydraulic motor and a gear rack transmission mechanism connected with an output shaft of the hydraulic motor, and a rack of the gear rack transmission mechanism is connected with the guide rail seat.
According to the technical scheme, the guide rail seat and the guide rail are configured through the roller.
According to the technical scheme, the trimming mechanism comprises a trimming shell, a rolling shaft, an axial hydraulic pump and a plurality of blade sets, wherein the blade sets are uniformly distributed on the rolling shaft, and the rolling shaft is driven by the axial hydraulic pump.
According to the technical scheme, the trimming shell is also internally provided with an overload protection device.
The beneficial effects obtained by the invention are as follows: the automatic obstacle avoidance module is used for ranging, so that the machine can travel and avoid obstacles, the adjustable working arm is used for adjusting the angle of the mechanical arm to trim hedgerows in different shapes, the operation is simple, the labor force is saved, and the working efficiency is improved.
Drawings
FIG. 1 is a schematic structural diagram of an urban hedge trimmer capable of automatically avoiding obstacles according to an embodiment of the present invention;
FIG. 2 is a schematic view of a walking device in an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a rail seat according to an embodiment of the present invention;
FIG. 4 is a three-dimensional schematic view of a trimming mechanism in an embodiment of the present invention;
FIG. 5 is a schematic representation of a rack and pinion configuration in an embodiment of the present invention.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1 to 5, the embodiment provides an urban hedge trimmer capable of automatically avoiding obstacles, which includes a walking device and a trimming device, where the trimming device includes a guide rail platform, an adjustable working arm, a trimming mechanism, a hydraulic system, and a power system, the trimming mechanism is connected to the guide rail platform through the adjustable working arm, the guide rail platform is installed on the walking device, and the walking device is configured with an automatic obstacle avoiding module.
The adjustable working arm comprises at least two machine arms, the two adjacent machine arms are hinged, a hydraulic cylinder is hinged between the two machine arms, the hydraulic cylinder at the foremost end is connected with the trimming mechanism, the machine arm at the rearmost end is connected with the guide rail seat of the guide rail platform through the bottom plate supporting arm, and the hydraulic cylinder is hinged between the machine arm at the rearmost end and the bottom plate supporting arm. In this embodiment, three working arms are taken as an example for illustration, as shown in the figure, the adjustable working arm includes a first hydraulic cylinder, a second hydraulic cylinder, a third hydraulic cylinder, and a first boom 14, a second boom 13, and a third boom 11 which are hinged in sequence, the third boom 11 is connected to the guide rail seat of the guide rail platform through a bottom plate support arm 10, two ends of the first hydraulic cylinder are hinged to the first boom 14 and the second boom 13, two ends of the second hydraulic cylinder are hinged to the second boom 13 and the third boom 11, two ends of the third hydraulic cylinder are hinged to the third boom 11 and the bottom plate support arm 10, respectively, a low-speed high-torque hydraulic motor 18 is fixed at a lower end of the first boom 14, and an output shaft of the motor 18 is connected to the trimming mechanism.
The walking device comprises a bottom plate 31, a first worm and gear reducing motor 3-1, a second worm and gear reducing motor 3-2, a third worm and gear reducing motor 3-3, a fourth worm and gear reducing motor 3-4, a first motor support 2-1, a second motor support 2-2, a third motor support 2-3, a fourth motor support 2-4, a first caster 1-1, a second caster 1-2, a third caster 1-3, a fourth caster 1-4, a frame 5 and a control room 4, wherein the motor support is fixed on the bottom plate 31, the worm and gear reducing motor is fixed with the motor support, and an output shaft of the motor is connected with the casters.
The automatic obstacle avoidance module comprises a first ultrasonic sensor 26-1, a second ultrasonic sensor 26-2 and a third ultrasonic sensor 26-3 which are arranged on the bottom plate 31, and the travelling and obstacle avoidance of the machine are realized through the distance measurement of the ultrasonic sensors.
The guide rail platform comprises a box body 8, a guide rail is arranged on the box body 8, a guide rail seat is movably arranged on the guide rail in a matched mode, and the guide rail seat is driven by a driving device. The driving device comprises a hydraulic motor 9, a gear 33 and a rack 34, wherein the hydraulic motor 9 is fixed on a hydraulic motor cover 32, an output shaft of the hydraulic motor 9 is connected with a gear shaft 33, the gear 33 is meshed with the rack 34, and the rack 34 is fixedly connected with the guide rail seat. Specifically, as shown in fig. 1, the guide rail is divided into a first guide rail 6 and a second guide rail 7, the two guide rails are arranged in a mountain-down parallel manner and are arranged on one side of the box body 8, and the guide rail seat is fixedly connected with the bottom plate support arm 10.
In this embodiment, the guide rail seat and the guide rail are configured by rollers, specifically, the guide rail seat includes a first roller 28-1, a second roller 28-2, a third roller 28-3, a fourth roller 28-4, a first pin 29-1, a second pin 29-2, a third pin 29-3, a fourth pin 29-4, and a guide rail plate 27, which are installed on the guide rail plate 27, each roller is connected with the guide rail plate 27 by a pin, the guide rail plate 27 is connected with the bottom plate support arm 10, and the rollers on the guide rail plate are configured by rolling with the corresponding guide rail.
In this embodiment, the trimming mechanism includes a trimming housing 16, an overload protection device 15, a roller 30, an axial hydraulic pump 17, and thirteen blade sets, where the blade set is composed of a first blade 35, a second blade 36, screws, and nuts, the first blade and the second blade are connected by four sets of screws and nuts, the thirteen blade sets are uniformly arranged on the roller 30, and the roller 30 is driven by the axial hydraulic pump 17.
The invention realizes the advancing and obstacle avoidance of the machine by ranging through the ultrasonic sensor, realizes the trimming of hedgerows in different shapes by adjusting the angle of the mechanical arm through the hydraulic cylinder, has simple operation, saves labor force and improves the working efficiency.
Claims (9)
1. The utility model provides a can keep away city hedge trimmer of barrier automatically which characterized in that: the automatic obstacle avoidance device comprises a walking device and a trimming device, wherein the trimming device comprises a guide rail platform, an adjustable working arm, a trimming mechanism, a hydraulic system and a power system, the trimming mechanism is connected with the guide rail platform through the adjustable working arm, the guide rail platform is arranged on the walking device, and an automatic obstacle avoidance module is configured on the walking device.
2. An urban hedge trimmer capable of automatically avoiding obstacles according to claim 1, characterized in that: the adjustable working arm comprises at least two machine arms, the two adjacent machine arms are hinged and are hinged with a hydraulic cylinder, the hydraulic cylinder at the foremost end is connected with the trimming mechanism, the machine arm at the rearmost end is connected with the guide rail seat of the guide rail platform through the bottom plate supporting arm, and the hydraulic cylinder is hinged between the machine arm at the rearmost end and the bottom plate supporting arm.
3. An urban hedge trimmer according to claim 1 or 2, characterized in that: the walking device comprises a bottom plate, wherein worm and gear speed reducing motors, a motor support and trundles are symmetrically arranged on two sides of the bottom plate, the worm and gear speed reducing motors are fixed through the motor support, and output shafts of the worm and gear speed reducing motors are connected with the trundles.
4. An urban hedge trimmer according to claim 1 or 2, characterized in that: the automatic obstacle avoidance module comprises a plurality of ultrasonic sensors arranged on a bottom plate of the walking device.
5. An urban hedge trimmer according to claim 1 or 2, characterized in that: the guide rail platform comprises a box body, a guide rail is arranged on the box body, a guide rail seat is movably arranged on the guide rail in a matched mode, and the guide rail seat is driven by a driving device.
6. An urban hedge trimmer according to claim 5, characterized in that: the driving device comprises a hydraulic motor and a gear rack transmission mechanism connected with an output shaft of the hydraulic motor, and a rack of the gear rack transmission mechanism is connected with the guide rail seat.
7. An urban hedge trimmer according to claim 5, characterized in that: the guide rail seat and the guide rail are configured through a roller.
8. An urban hedge trimmer according to claim 1 or 2, characterized in that: the trimming mechanism comprises a trimming shell, a rolling shaft, an axial hydraulic pump and a plurality of blade sets, wherein the blade sets are uniformly distributed on the rolling shaft, and the rolling shaft is driven by the axial hydraulic pump.
9. An urban hedge trimmer according to claim 8, characterized in that: an overload protection device is also arranged in the trimming shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010799190.3A CN111972151A (en) | 2020-08-11 | 2020-08-11 | Automatic obstacle-avoiding urban hedge trimmer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010799190.3A CN111972151A (en) | 2020-08-11 | 2020-08-11 | Automatic obstacle-avoiding urban hedge trimmer |
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| CN111972151A true CN111972151A (en) | 2020-11-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010799190.3A Pending CN111972151A (en) | 2020-08-11 | 2020-08-11 | Automatic obstacle-avoiding urban hedge trimmer |
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| CN (1) | CN111972151A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112655400A (en) * | 2020-12-16 | 2021-04-16 | 博景生态环境发展有限公司 | Hedge trimmer for greening maintenance |
| CN114158371A (en) * | 2021-11-30 | 2022-03-11 | 广西机械工业研究院有限责任公司 | Hedgerow trimming device and method |
| CN114946384A (en) * | 2022-07-05 | 2022-08-30 | 牛震杰 | Multifunctional electric weeding machine |
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| CN110178574A (en) * | 2019-05-28 | 2019-08-30 | 浙江亚特电器有限公司 | A kind of garden instrument with evacuation function |
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| CN110405785A (en) * | 2019-07-30 | 2019-11-05 | 南京禹智智能科技有限公司 | Six axis trimming machine cuts people of one kind and working method |
| CN209710794U (en) * | 2019-03-08 | 2019-12-03 | 福建环海环保装备股份有限公司 | A kind of sanitation cart automatic pruning machine structure |
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2020
- 2020-08-11 CN CN202010799190.3A patent/CN111972151A/en active Pending
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| US3731476A (en) * | 1972-02-14 | 1973-05-08 | Shook Alvin L | Hedge trimmer |
| CN102224795A (en) * | 2011-05-04 | 2011-10-26 | 河南省路科威公路机械制造有限公司 | Hedge trimmer |
| CN103222394A (en) * | 2013-05-14 | 2013-07-31 | 广西大学 | Multifunctional green fence pruning manipulator capable of reconfiguring rapidly |
| CN104604546A (en) * | 2015-01-07 | 2015-05-13 | 广西大学 | Obstacle avoidance device of hedge trimming knife rest |
| CN105746192A (en) * | 2016-03-30 | 2016-07-13 | 苏州亚思科精密数控有限公司 | Pruning device for green belts with obstacles |
| CN106688648A (en) * | 2017-03-09 | 2017-05-24 | 长安大学 | Vehicle-mounted hedge trimmer obstacle avoidance device based on CAN (Controller Area Network) bus and control system thereof |
| CN206760076U (en) * | 2017-05-11 | 2017-12-19 | 天津农学院 | A kind of greenbelt intelligence trimming machine cuts people |
| CN106962034A (en) * | 2017-05-25 | 2017-07-21 | 韩登银 | A kind of intelligent trimming machine cuts people of green belt along highway |
| CN207476289U (en) * | 2017-11-29 | 2018-06-12 | 长安大学 | A kind of vehicle-mounted GREEB HEDGE MACHINE of movable highway of platform |
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| CN207820611U (en) * | 2018-01-24 | 2018-09-07 | 兰州交通大学 | A kind of vehicular highway hedgeclipper avoidance structure |
| CN208143905U (en) * | 2018-02-06 | 2018-11-27 | 天津迈克科技发展有限公司 | A kind of 180 ° of hydraulic boom devices of hedgeclipper |
| CN209710794U (en) * | 2019-03-08 | 2019-12-03 | 福建环海环保装备股份有限公司 | A kind of sanitation cart automatic pruning machine structure |
| CN110178574A (en) * | 2019-05-28 | 2019-08-30 | 浙江亚特电器有限公司 | A kind of garden instrument with evacuation function |
| CN110149941A (en) * | 2019-06-04 | 2019-08-23 | 王立仓 | A kind of highway greenbelt trimming machine cuts people |
| CN110178570A (en) * | 2019-06-28 | 2019-08-30 | 广州交投绿化建设有限公司 | A kind of hedge trimming assembly of devices |
| CN110405785A (en) * | 2019-07-30 | 2019-11-05 | 南京禹智智能科技有限公司 | Six axis trimming machine cuts people of one kind and working method |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112655400A (en) * | 2020-12-16 | 2021-04-16 | 博景生态环境发展有限公司 | Hedge trimmer for greening maintenance |
| CN112655400B (en) * | 2020-12-16 | 2023-08-11 | 博景生态环境发展有限公司 | Hedge trimmer for greening maintenance |
| CN114158371A (en) * | 2021-11-30 | 2022-03-11 | 广西机械工业研究院有限责任公司 | Hedgerow trimming device and method |
| CN114158371B (en) * | 2021-11-30 | 2023-12-01 | 广西机械工业研究院有限责任公司 | Hedge trimming device and hedge trimming method |
| CN114946384A (en) * | 2022-07-05 | 2022-08-30 | 牛震杰 | Multifunctional electric weeding machine |
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Application publication date: 20201124 |
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