CN112106548B - Plant trimming manipulator - Google Patents
Plant trimming manipulator Download PDFInfo
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- CN112106548B CN112106548B CN202010977983.XA CN202010977983A CN112106548B CN 112106548 B CN112106548 B CN 112106548B CN 202010977983 A CN202010977983 A CN 202010977983A CN 112106548 B CN112106548 B CN 112106548B
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- trimming
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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
- A01G3/0435—Machines specially adapted for shaping plants, e.g. topiaries
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Abstract
The invention discloses a plant trimming mechanical arm which comprises a support, a moving frame, a trimming mechanism and a trimming driving mechanism, wherein the trimming mechanism and the trimming driving mechanism are arranged on the moving frame; the first swing driving mechanism is arranged on the moving frame, and the second swing driving mechanism and the vertical driving mechanism are arranged on the bracket; the pruning mechanism comprises a rotary cutter and a rotary driving mechanism for driving the rotary cutter to rotate. The invention can automatically trim the outer contour of the plant into a specified shape, has good flexibility, is beneficial to improving the diversity of the outer contour shape of the plant and has high trimming efficiency.
Description
Technical Field
The invention relates to greening pruning equipment, in particular to a plant pruning manipulator.
Background
In order to increase the road environment purification and reduce the waste gas pollution, green belts are generally planted on the two sides and the middle of a road, and meanwhile, the road green belts are generally trimmed into a semicircular shape for the regularity and the beauty of the green belts; in addition, greening plants in outdoor parks are often trimmed to various shapes to catch the eye and enhance park features. However, the outer contour of the plant is generally formed by manual trimming, which requires a high level of skill for the trimmer, and is inefficient, making it difficult to maintain a uniform trimmed shape of the plant.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a plant trimming manipulator which can automatically trim the outer contour of a plant into a specified shape, has good flexibility, is beneficial to improving the diversity of the outer contour shape of the plant and has high trimming efficiency.
The purpose of the invention is realized by the following technical scheme:
the plant trimming mechanical arm is characterized by comprising a support, a moving frame, a trimming mechanism and a trimming driving mechanism, wherein the trimming mechanism and the trimming driving mechanism are arranged on the moving frame; the first swing driving mechanism is arranged on the moving frame, and the second swing driving mechanism and the vertical driving mechanism are both arranged on the bracket; the pruning mechanism comprises a rotary cutter and a rotary driving mechanism for driving the rotary cutter to rotate.
The working principle of the plant trimming mechanical arm is as follows:
when in trimming, the trimming mechanism is started, the rotary driving mechanism drives the rotary cutter to rotate, and the trimming mechanism trims the outer contour of the plant according to a specified path under the driving of the trimming driving mechanism. Under the drive of the vertical driving mechanism, the motion frame drives the trimming mechanism to move in the vertical direction, so that trimming in the vertical direction is realized; meanwhile, the first swing driving mechanism drives the pruning mechanism to swing and is matched with the second swing driving mechanism to drive the moving frame to swing, multi-directional movement of the rotary cutter of the pruning mechanism on the same cross section is achieved, and therefore plant pruning with a specified contour is achieved.
In a preferred embodiment of the present invention, the moving frame includes a moving rod, a mounting plate is disposed at a lower end of the moving rod, the trimming mechanism is rotatably connected to one side of the mounting plate, and the first swing driving mechanism is rotatably connected to the other side of the mounting plate.
Preferably, the second swing driving mechanism comprises a swing power source and a swing driving arm, and the swing driving arm comprises an intermediate connecting rod, a power source connecting rod and a swing driving rod; one ends of the power source connecting rod and the swing driving rod are respectively connected to two ends of the middle connecting rod, the other ends of the power source connecting rod and the swing driving rod extend oppositely, and the power source connecting rod and the swing driving rod are both arranged perpendicular to the middle connecting piece; the power source connecting rod is connected with a power output shaft of the swinging power source, a swinging sliding groove is formed in the moving rod, and the swinging driving rod extends into the swinging sliding groove.
Preferably, the swing driving rod is provided with a rotating wheel, and the rotating wheel is positioned in the swing sliding groove.
Preferably, an auxiliary sliding groove is further provided on the moving rod, and the auxiliary sliding groove is provided below the swinging sliding groove.
According to a preferable scheme of the invention, the vertical driving mechanism comprises a vertical power source and a gear-rack transmission mechanism, a gear of the gear-rack transmission mechanism is connected with a power output shaft of the vertical power source, a rack of the gear-rack transmission mechanism is arranged on one side of the moving rod, and the rack is connected with the gear in a matching manner.
In a preferred embodiment of the present invention, the trimming mechanism further comprises a rotary cutter holder; the rotary cutter rest is provided with an installation cavity, the rotary cutter is rotatably connected to one end of the rotary cutter rest, and the other end of the rotary cutter rest is provided with a connecting plate; the connecting plate is connected in a rotating mode on the mounting plate, and the rotating driving mechanism is arranged in the mounting cavity of the rotary tool rest.
In a preferred embodiment of the present invention, the support extends laterally, the support includes a back plate and a protective frame, the second swing driving mechanism and the vertical driving mechanism are both disposed on the back plate, and the moving rod is disposed between the back plate and the protective frame.
In a preferred embodiment of the present invention, there are two of the moving frame, the trimming mechanism and the trimming driving mechanism.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention can automatically trim the outer contour of the plant into a designated shape (on the same section) without manual participation, and has high trimming efficiency; in addition, the plant trimming manipulator of the invention can be installed on a trimming car or a conveying device, and the trimming manipulator can move along the length direction of the plant, so that the overall trimming of the outer contour of the plant is realized.
2. According to the plant trimming manipulator, the trimming mechanism trims the outer contour of the plant in all directions by matching the swinging of the moving frame and the swinging of the trimming mechanism, the flexibility is good, the outer contour of the plant can be trimmed into various shapes according to a set program, and the shape of the outer contour of the plant is more diversified.
Drawings
Fig. 1-2 are schematic structural views of one embodiment of a plant trimming manipulator according to the present invention, wherein fig. 1 is a front view, and fig. 2 is a perspective view.
Fig. 3 to 4 are schematic views without a bracket, in which fig. 3 is a front view and fig. 4 is a perspective view.
Detailed Description
The present invention will be further described with reference to the following examples and drawings, but the embodiments of the present invention are not limited thereto.
Referring to fig. 1 to 4, the plant trimming manipulator of the embodiment includes a support 4a, a moving frame, a trimming mechanism disposed on the moving frame, and a trimming driving mechanism, wherein the moving frame is disposed on the support 4a, the trimming driving mechanism includes a first swing driving mechanism 7 for driving the trimming mechanism to swing, a second swing driving mechanism for driving the moving frame to swing, and a vertical driving mechanism for driving the moving frame to move vertically, and the trimming mechanism is rotatably connected to a lower end of the moving frame; the first swing driving mechanism 7 is arranged on the moving frame, and the second swing driving mechanism and the vertical driving mechanism are both arranged on the bracket 4 a; the pruning mechanism comprises a rotary cutter 2 and a rotary driving mechanism 3 for driving the rotary cutter 2 to rotate.
Referring to fig. 1-2, there are two of the moving frame, the trimming mechanism and the trimming driving mechanism of the present embodiment. Therefore, the outer contour of the plant can be trimmed more conveniently, and the trimming efficiency can be effectively improved; in addition, the two trimming mechanisms can respectively begin to trim from two sides of the plant, so that the movement swing amplitude of each trimming mechanism is reduced, the trimming precision is improved, and the outer contour of the trimmed plant is more attractive.
Referring to fig. 1 to 4, the moving frame includes a moving bar 1, a mounting plate 5 is provided at a lower end of the moving bar 1, the trimming mechanism is rotatably coupled to one side of the mounting plate 5, and the first swing driving mechanism 7 is rotatably coupled to the other side of the mounting plate 5. The mode of adopting motion bar 1 realizes with the installation of pruning mechanism, simple structure, the installation of being convenient for to be favorable to reducing weight, flexibility when improving the pruning. The first swing drive mechanism 7 of the present embodiment is constituted by a motor.
Referring to fig. 1 to 4, the second swing driving mechanism includes a swing power source 16 and a swing driving arm including an intermediate connecting rod 17, a power source connecting rod 21 and a swing driving rod 20; one ends of the power source connecting rod 21 and the swing driving rod 20 are respectively connected to two ends of the middle connecting rod 17, the other ends of the power source connecting rod 21 and the swing driving rod 20 extend oppositely, and the power source connecting rod 21 and the swing driving rod 20 are both arranged vertically to the middle connecting piece; the power source connecting rod 21 is connected with a power output shaft of the swinging power source 16, the moving rod 1 is provided with a swinging sliding slot 12, and the swinging driving rod 20 extends into the swinging sliding slot 12. Under the driving of the swing power source 16, the swing driving arm swings left and right, so that the swing driving rod 20 drives the moving rod 1 to swing left and right, thereby realizing the swing of the trimming mechanism, and during the swing of the moving rod 1, the swing driving rod 20 slides in the swing sliding groove 12. Through setting up such swing actuating mechanism, simple structure can effectively drive motion pole 1 swing to adjustment trimming means's pruning direction and position, so as to prune out corresponding plant profile. The swinging power source 16 of the present embodiment is a motor.
Referring to fig. 1-4, the swing driving rod 20 is provided with a rotating wheel 23, and the rotating wheel 23 is located in the swing sliding slot 12. Through the setting of runner 23 for swing actuating lever 20 is more smooth and easy when driving motion pole 1 swing, reduces the friction, makes motion pole 1 swing more gentle and agreeable, is favorable to improving trimming mechanism's pruning precision, makes the plant profile after the pruning more pleasing to the eye.
Referring to fig. 1 to 4, an auxiliary sliding slot 11 is further provided on the moving rod 1, and the auxiliary sliding slot 11 is provided below the swinging sliding slot 12. The arrangement of the auxiliary sliding slot 11 increases the connecting position of the moving rod 1 and the swinging driving arm so as to adapt to different plant trimming requirements.
Referring to fig. 1 to 4, the vertical driving mechanism includes a vertical power source 19 and a rack and pinion transmission mechanism, a gear 18 of the rack and pinion transmission mechanism is connected with a power output shaft of the vertical power source 19, a rack 10 of the rack and pinion transmission mechanism is disposed on one side of the motion rod 1, and the rack 10 is connected with the gear 18 in a matching manner. The vertical driving of the motion rod 1 is realized by adopting a gear rack transmission mechanism, the structure is simple, the design is ingenious, and even if the motion rod 1 swings, the gear 18 and the rack 10 in the motion rod can be always meshed with each other, so that the vertical movement of the motion rod 1 is ensured. The vertical power source 19 of the present embodiment is constituted by a motor.
Referring to fig. 1-4, a protection assembly is also included, including a swing protector and a swing guide 14; the swing protection piece comprises a protection frame 15 and a guide rod 22 arranged on one side of the protection frame 15, the motion rod 1 is arranged in the protection frame 15, and the other side of the protection frame 15 is connected with a rotating shaft on the gear; the swing guide 14 is arranged on the support 4a, the swing guide 14 is provided with an arc-shaped guide groove 13 which is arranged in an arc shape and corresponds to the swing radian of the moving rod 1, and the guide rod 22 extends into the arc-shaped guide groove 13. The position precision of the motion rod 1 is effectively protected through the arrangement of the protection component; under the action of the swing protection piece, the rack on the moving rod 1 can be always meshed with the gear when the moving rod 1 swings, and the driving in the vertical direction is prevented from being influenced by the separation; by providing the swing guide 14, the motion lever 1 is made more stable when swinging, which is advantageous for improving the trimming accuracy.
Referring to fig. 1-4, the trimming mechanism further includes a rotary cutter head 4; the rotary knife rest 4 is provided with an installation cavity 8, the rotary knife 2 is rotatably connected to one end of the rotary knife rest 4, and the other end of the rotary knife rest 4 is provided with a connecting plate 9; the connecting plate 9 is rotatably connected to the mounting plate 5, and the rotary driving mechanism 3 is arranged in the mounting cavity 8 of the rotary tool rest 4.
Referring to fig. 1 to 4, the bracket 4a extends transversely, the bracket 4a includes a back plate 24 and a protective frame 6, the second swing driving mechanism and the vertical driving mechanism are both disposed on the back plate 24, and the motion bar 1 is disposed between the back plate 24 and the protective frame 6. The laterally extending brackets 4a make it easier for the motion bar 1 and thus the pruning mechanism to prune the plant.
Referring to fig. 1 to 4, the working principle of the plant trimming robot of the present embodiment is:
when in trimming, the trimming mechanism is started, the rotary driving mechanism 3 drives the rotary cutter 2 to rotate, and the trimming mechanism trims the outer contour of the plant according to a specified path under the driving of the trimming driving mechanism. Under the drive of the vertical driving mechanism, the moving frame drives the trimming mechanism to move in the vertical direction, so that trimming in the vertical direction is realized; meanwhile, the first swing driving mechanism 7 drives the pruning mechanism to swing and is matched with the second swing driving mechanism to drive the moving frame to swing, so that the rotary cutter 2 of the pruning mechanism can move in multiple directions on the same cross section, and plants with specified outlines can be pruned.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and equivalents thereof, which are intended to be included in the scope of the present invention.
Claims (7)
1. The plant trimming mechanical arm is characterized by comprising a support, a moving frame, a trimming mechanism and a trimming driving mechanism, wherein the trimming mechanism and the trimming driving mechanism are arranged on the moving frame; the first swing driving mechanism is arranged on the moving frame, and the second swing driving mechanism and the vertical driving mechanism are both arranged on the bracket; the pruning mechanism comprises a rotary cutter and a rotary driving mechanism for driving the rotary cutter to rotate;
the moving frame comprises a moving rod, the lower end of the moving rod is provided with a mounting plate, the trimming mechanism is rotatably connected to one side of the mounting plate, and the first swing driving mechanism is rotatably connected to the other side of the mounting plate;
the second swing driving mechanism comprises a swing power source and a swing driving arm, and the swing driving arm comprises a middle connecting rod, a power source connecting rod and a swing driving rod; one ends of the power source connecting rod and the swing driving rod are respectively connected to two ends of the middle connecting rod, the other ends of the power source connecting rod and the swing driving rod extend oppositely, and the power source connecting rod and the swing driving rod are both arranged vertically to the middle connecting piece; the power source connecting rod is connected with a power output shaft of the swinging power source, a swinging sliding groove is formed in the moving rod, and the swinging driving rod extends into the swinging sliding groove.
2. The plant trimming robot of claim 1, wherein the swing drive lever is provided with a wheel positioned in the swing runner.
3. The plant trimming robot as claimed in claim 1 or 2, wherein an auxiliary sliding groove is further provided on the moving bar, the auxiliary sliding groove being provided below the swing sliding groove.
4. The plant trimming manipulator according to claim 1, wherein the vertical driving mechanism includes a vertical power source and a rack and pinion transmission mechanism, a gear of the rack and pinion transmission mechanism is connected with a power output shaft of the vertical power source, a rack of the rack and pinion transmission mechanism is disposed on one side of the moving rod, and the rack is connected with the gear in a matching manner.
5. The plant trimming robot of claim 1, wherein the trimming mechanism further comprises a turret; the rotary cutter rest is provided with an installation cavity, the rotary cutter is rotatably connected to one end of the rotary cutter rest, and the other end of the rotary cutter rest is provided with a connecting plate; the connecting plate is connected in a rotating mode on the mounting plate, and the rotating driving mechanism is arranged in the mounting cavity of the rotary tool rest.
6. The plant trimming robot of claim 1, wherein the support frame extends laterally, the support frame includes a back plate and a guard frame, the second swing drive mechanism and the vertical drive mechanism are both disposed on the back plate, and the motion frame is disposed between the back plate and the guard frame.
7. The plant trimming robot of claim 1, wherein there are two of the moving frame, the trimming mechanism and the trimming drive mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010977983.XA CN112106548B (en) | 2020-09-16 | 2020-09-16 | Plant trimming manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010977983.XA CN112106548B (en) | 2020-09-16 | 2020-09-16 | Plant trimming manipulator |
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| Publication Number | Publication Date |
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| CN112106548A CN112106548A (en) | 2020-12-22 |
| CN112106548B true CN112106548B (en) | 2022-12-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010977983.XA Active CN112106548B (en) | 2020-09-16 | 2020-09-16 | Plant trimming manipulator |
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| 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 |
| CN103707084A (en) * | 2013-12-19 | 2014-04-09 | 重庆信奇建材机械制造有限公司 | Crank synchronous swing type clamping device |
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| CN108617309A (en) * | 2018-05-11 | 2018-10-09 | 东北大学 | A kind of highway greenbelt pruning car |
| CN108789522A (en) * | 2018-05-25 | 2018-11-13 | 正安县正鲵养殖农民专业合作社 | Giant salamander feed cutter |
| CN110859095A (en) * | 2019-11-22 | 2020-03-06 | 许昌学院 | Garden trimming robot based on image recognition |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2447139A1 (en) * | 1979-01-24 | 1980-08-22 | Fiskars Ab Oy | PRUNING TOOL WITH AUTOMATIC RETENTION |
| DE29506409U1 (en) * | 1995-04-13 | 1995-06-08 | Henning, Peter, 25485 Hemdingen | Device with a motorized chainsaw for pruning and felling trees |
| CN202540972U (en) * | 2011-12-24 | 2012-11-21 | 山东新北洋信息技术股份有限公司 | Magnetic read-write device and slice type medium processing device |
| CN108522058B (en) * | 2018-04-24 | 2020-06-26 | 华南理工大学广州学院 | Electrically driven hedge trimming device and method |
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2020
- 2020-09-16 CN CN202010977983.XA patent/CN112106548B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN103707084A (en) * | 2013-12-19 | 2014-04-09 | 重庆信奇建材机械制造有限公司 | Crank synchronous swing type clamping device |
| CN207252270U (en) * | 2017-10-17 | 2018-04-20 | 李烨 | A kind of Management offorestry vegetation pruning device |
| CN108617309A (en) * | 2018-05-11 | 2018-10-09 | 东北大学 | A kind of highway greenbelt pruning car |
| CN108789522A (en) * | 2018-05-25 | 2018-11-13 | 正安县正鲵养殖农民专业合作社 | Giant salamander feed cutter |
| CN110859095A (en) * | 2019-11-22 | 2020-03-06 | 许昌学院 | Garden trimming robot based on image recognition |
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Effective date of registration: 20221214 Address after: 361000 Room 2, Unit 401, No.1 Qishan Road, Huli District, Xiamen, Fujian Applicant after: Fujian Longtian Ecological Construction Group Co.,Ltd. Address before: 510700 1020, building G1, Dazhuang International Plaza, 601 Kaitai Avenue, Huangpu District, Guangzhou City, Guangdong Province Applicant before: Chen Cuihong |
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