CN114223416A - Automatic counterweight hedgerow trimming vehicle and automatic configuration method thereof - Google Patents
Automatic counterweight hedgerow trimming vehicle and automatic configuration method thereof Download PDFInfo
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- CN114223416A CN114223416A CN202111552721.XA CN202111552721A CN114223416A CN 114223416 A CN114223416 A CN 114223416A CN 202111552721 A CN202111552721 A CN 202111552721A CN 114223416 A CN114223416 A CN 114223416A
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- 238000009966 trimming Methods 0.000 title claims abstract description 136
- 238000000034 method Methods 0.000 title claims abstract description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 186
- 239000010813 municipal solid waste Substances 0.000 claims abstract description 55
- 239000003921 oil Substances 0.000 claims description 30
- 238000013138 pruning Methods 0.000 claims description 27
- 230000002262 irrigation Effects 0.000 claims description 18
- 238000003973 irrigation Methods 0.000 claims description 18
- 238000004140 cleaning Methods 0.000 claims description 16
- 238000005507 spraying Methods 0.000 claims description 7
- 230000007246 mechanism Effects 0.000 claims description 5
- 238000005406 washing Methods 0.000 claims description 5
- 239000010720 hydraulic oil Substances 0.000 claims description 3
- 239000003621 irrigation water Substances 0.000 claims description 3
- 239000000575 pesticide Substances 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 description 10
- 238000012423 maintenance Methods 0.000 description 4
- 239000003814 drug Substances 0.000 description 2
- 238000011010 flushing procedure Methods 0.000 description 2
- 241000282193 Cyphocardamum Species 0.000 description 1
- 241001417527 Pempheridae Species 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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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
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B51/00—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus
- A01B51/02—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus propelled by a motor
- A01B51/026—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus propelled by a motor of the automotive vehicle type, e.g. including driver accommodation
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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
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/09—Watering arrangements making use of movable installations on wheels or the like
-
- 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
- A01G3/002—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees for comminuting plant waste
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Wood Science & Technology (AREA)
- Pest Control & Pesticides (AREA)
- Insects & Arthropods (AREA)
- Zoology (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Water Supply & Treatment (AREA)
- Soil Sciences (AREA)
- Harvester Elements (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses an automatic counterweight hedgerow trimming vehicle and an automatic configuration method thereof, wherein the automatic counterweight hedgerow trimming vehicle comprises an automobile chassis, a trimming device, a box body assembly, a waterway system, a fan, a power system and a control system; the box body assembly comprises a garbage can for storing hedge trimming garbage, and the left side and the right side of the garbage can are respectively provided with a small water tank; waterway system includes the water pump, the water pump is connected with inlet tube and outlet pipe, ball valve one-connection inlet tube is passed through to the one end of the little water tank of left side, ball valve two-connection inlet tube is passed through to the one end of the little water tank of right side, the outlet pipe of ball valve five-connection water pump is passed through to the other end of the little water tank of left side, ball valve one, ball valve two, ball valve four, ball valve five and water pump all with control system, control system adjusts the water yield of the little water tank of the left and right sides based on each ball valve of the position control of the relative vehicle chassis of trimming means and water pump, in order to realize automatic counter weight. The hedge trimmer utilizes the self structure of the hedge trimmer to automatically balance the weight, and the whole hedge trimmer is balanced when trimming operation is realized without adding a weight balancing device.
Description
Technical Field
The invention relates to the field of garden maintenance, in particular to an automatic counterweight hedge trimmer and an automatic configuration method thereof.
Background
At present, the hedge trimming of an expressway or an urban road is mainly carried out by manual handheld equipment, so that the efficiency is low and the safety cannot be guaranteed. Along with the development of science and technology, mechanical equipment appears gradually in the market and replaces artifical pruning hedgerow, has improved the operating efficiency to a certain extent and has ensured personnel's safety, but current hedgerow pruning equipment has following several not enough: (1) the equipment can only trim hedgerows in the horizontal direction, and cannot trim hedgerows in the vertical direction; (2) the equipment can only trim one-side hedgerow, and the vehicle needs to run reversely when the other side is trimmed; (3) the equipment has single function and low utilization rate; (4) when the trimming operation is carried out, the gravity center of the whole vehicle deviates to one side, so that the tire burst caused by overlarge single-side tire bearing is easy to cause, and the risk of the overturning of the whole vehicle is also existed. The existing engineering machinery basically maintains the balance of the whole vehicle according to the position of the balancing weight by adding the balancing weight, not only increases the weight of the whole equipment, but also needs to add a moving device to push the balancing weight to move, and the structure is complex.
Disclosure of Invention
The invention aims to provide an automatic counterweight hedge trimming vehicle and an automatic configuration method thereof.
The technical scheme adopted by the invention is as follows:
the automatic counterweight hedge trimming vehicle comprises an automobile chassis, a trimming device, a box assembly, a waterway system, a fan, a power system and a control system, wherein the trimming device is fixed on the automobile chassis and used for trimming hedges, the box assembly is used for storing irrigation water and hedge garbage, the waterway system is used for irrigating the hedges and cleaning the box body, the fan is used for sucking and picking up the hedge garbage, the power system is used for providing a power source for the trimming device and the fan, and the control system is used for controlling the working states of the trimming device, the grinder and the fan; the box body assembly comprises a garbage can for storing hedge trimming garbage, and the left side and the right side of the garbage can are respectively provided with a small water tank for storing water for cleaning the garbage can and irrigating the hedge; waterway system includes the water pump, the water pump is connected with inlet tube and outlet pipe, ball valve one-connection inlet tube is passed through to the one end of the little water tank of left side, ball valve two-connection inlet tube is passed through to the one end of the little water tank of right side, the outlet pipe of ball valve four-connection water pump is passed through to the other end of the little water tank of left side, ball valve one, ball valve two, ball valve four, ball valve five and water pump all with control system, control system controls the water yield of each ball valve and water pump in order to adjust the little water tank of the left and right sides based on the relative position of the relative vehicle chassis of trimming means, and then the counter weight of control hedgerow trimming car.
Furthermore, the waterway system also comprises a front automatic watering device and a garbage can cleaning device; the water inlet end of the front automatic irrigation device is connected with the water outlet pipe of the water pump through a ball valve six, and the front automatic irrigation device is arranged at the front end position of the automobile chassis corresponding to the automobile head; the water inlet end of the dustbin cleaning device is connected with a water outlet pipe of the water pump through a ball valve III, the dustbin cleaning device is arranged on the side wall of the dustbin to clean the dustbin, and the ball valve III are connected with the control system.
Furthermore, the water pump is driven by a power takeoff at the side of the automobile chassis, the front automatic irrigation device can rotate by 360 degrees and is used for irrigation of green belts at two sides of a road, pesticide spraying and other curing, and the garbage can cleaning device is used for washing a garbage can.
Furthermore, the positions of the control switch valve of the front automatic watering device and the control ball valve of the garbage can cleaning device need to be arranged in the region outside the connection position of the small water tank and the water outlet pipeline of the water pump.
Further, the small water tank and the garbage can are integrally formed.
Furthermore, the trimming device comprises a mechanical arm support arranged on the automobile chassis and a trimming seat connected to the tail end of the mechanical arm support, wherein the mechanical arm support is used for realizing each trimming posture of the trimming seat, and the trimming seat is used for trimming hedges;
the mechanical arm frame comprises a rotary drive used for the left-right rotation of the whole arm frame, a first arm and a second arm used for realizing the pitching of the trimming seat, a first oil cylinder and a second oil cylinder used for driving the first arm and the second arm to move, a turning seat and a third oil cylinder used for realizing the turning of the trimming seat and a cycloid motor used for realizing the independent rotation of the trimming seat;
the rotary drive is arranged on an automobile chassis, a base of a first oil cylinder is connected with the rotary drive, a telescopic end of the first oil cylinder is hinged with the inner side of the middle section of a first arm, one end of the first arm is hinged with the rotary drive, the other end of the first arm is rotatably connected with one end of a second arm, a base of the second oil cylinder is hinged with the outer side of the middle section of the first arm, and a telescopic end of the second oil cylinder is hinged with one end of the second arm and drives the second arm to rotate by taking the connecting point of the first arm and the second arm as a fulcrum; the outer side of the middle section of the second arm is connected with a base of a third oil cylinder, and the telescopic end of the third oil cylinder is hinged with the overturning seat and drives the overturning seat to overturn through the hinged point of the second arm and the overturning seat; the cycloidal motor is arranged on the overturning seat, and the output end of the cycloidal motor is connected with the trimming seat and drives the trimming seat to rotate independently.
The pruning base is connected to a cycloid motor on the overturning base at the tail end of the arm support, the pruning base comprises a pruning base main body, 3 groups of pruning cutters, a motor for driving the 3 groups of cutters to rotate and an obstacle avoidance device for automatically avoiding obstacles, the 3 groups of cutters are arranged in a staggered manner in a shape of Chinese character 'pin', the rotating directions of the left and right groups of cutters are opposite, and the left cutter rotates clockwise and the right cutter rotates anticlockwise; when the obstacle avoidance device touches an obstacle, the cycloidal motor drives the trimming seat to rotate by 90 degrees to avoid the obstacle, and the cycloidal motor drives the trimming seat to automatically rotate to an operation position before the obstacle avoidance after the obstacle is avoided.
Further, the fan is fixed on the automobile chassis and used for sucking and picking up the hedgerow garbage which is trimmed by the trimming seat, the fan adopts a direct-suction fan, the air inlet of the fan is connected with the trimming seat through a hose, the air outlet of the fan is connected with the garbage can, and the fan directly discharges the sucked and picked hedgerow garbage to the garbage can.
Furthermore, the power system adopts a secondary engine to drive a hydraulic pump, and pressure hydraulic oil generated by the hydraulic pump drives a fan motor, a crusher motor, a cycloid motor, a trimming cutter motor and an oil cylinder mechanism to move.
Further, the control system mainly comprises a controller, an angle sensor, a camera and the like. The angle sensors are arranged on the first arm, the second arm and the trimming seat, so that the angle information of the arm support and the trimming seat can be read in real time, the height and the horizontal distance of the trimming seat are controlled by controlling the angles of the first arm and the second arm, and the trimming inclination angle of the trimming seat is controlled by controlling the angle of the trimming seat. The high-definition camera and the ranging sensor are mounted on the trimming seat, so that the trimming picture can be monitored in real time, and the distance from the trimming seat to the hedgerow can be measured.
The invention also provides an automatic counterweight method of the automatic counterweight hedge trimmer, which comprises the following steps:
step 1, acquiring a trimming working side of a current trimming device through a control system to determine the position of an arm support of the trimming device relative to a vehicle;
step 2, controlling the work of each ball valve and each water pump through a control system based on the position of the arm support of the trimming device relative to the vehicle to adjust the balance weight of the water tanks on the left side and the right side: the details are as follows
A. When the left side of the hedge trimming vehicle is trimmed: when the arm support is on the left side, the system automatically controls the control switch valve between the left small water tank and the water inlet pipeline of the water pump and the control switch valve between the right small water tank and the water outlet pipeline of the water pump to be opened, and the other control development valves are closed. Water in the left water tank enters the water pump, and the water pump is started to convey the water to the right water tank, so that the problem that the whole vehicle inclines to the left side due to the fact that the arm frame rotates to the left side is solved, and the left side and the right side of the whole vehicle are basically kept horizontal when the whole vehicle is trimmed;
B. when the right side of the hedge trimming vehicle is trimmed: when the arm support is on the right side, the system automatically controls the control switch valve between the right small water tank and the water inlet pipeline of the water pump and the control switch valve between the left small water tank and the water outlet pipeline of the water pump to be opened, and the other control development valves are closed. Water in the right water tank enters the water pump, and the water pump is started to convey the water to the left water tank, so that the problem that the whole vehicle inclines to the right side due to the fact that the arm frame rotates to the right side is solved, and the left side and the right side of the whole vehicle are basically kept horizontal when the whole vehicle is trimmed;
C. when hedge trimming is not performed: when the mode is smashed to the branch promptly, the control switch valve between the little water tank in system automatic control right side and the water pump water inlet pipe, the control switch valve between little water tank in left side and the water pump water inlet pipe are opened, and all the other control development valves are all closed, make the little water tank in left side and the little water tank in right side intercommunication, realize that the water level is unanimous to maintain whole car balance.
By adopting the technical scheme, the hedgerow trimming machine can trim hedgerows on the left side and the right side of a road in an all-dimensional manner, meanwhile, trimmed hedgerow garbage can be sucked and picked up to the garbage can, manual or auxiliary sweeping vehicles are not needed for clearing the hedgerow garbage, the hedgerow trimming cost is saved, the trimming efficiency is greatly improved, and the operation safety is ensured. Meanwhile, the hedgerow irrigation device has a low-pressure irrigation function, and can perform maintenance operations such as watering and irrigating the hedgerow, spraying medicine and the like. The automatic counterweight method provided by the invention fully utilizes the self structure of the hedge trimmer to automatically counterweight, and can realize the balance of the whole hedge trimmer during trimming operation without adding a counterweight device and a counterweight mechanism. The pruning vehicle has rich functions, and has the functions of trimming hedges in all directions, irrigating and spraying the hedges, collecting garbage of the trimmed hedges and automatically balancing the weight distribution of the whole vehicle by weight.
Drawings
The invention is described in further detail below with reference to the accompanying drawings and the detailed description;
FIG. 1 is a schematic structural view of a multifunctional greening comprehensive automatic counterweight hedge trimmer according to the present invention;
FIG. 2 is a schematic view of a trimming apparatus for an automatic counterweight hedge trimmer according to the present invention;
FIG. 3 is a schematic view of a housing assembly for an automatic counterweight hedge trimmer according to the present invention;
FIG. 4 is a schematic view of a cutting base for an automatic counterweight hedge trimmer according to the present invention;
FIG. 5 is a schematic view of a self-ballasted hedge trimmer according to the present invention;
fig. 6 is a schematic diagram of a waterway of the automatic counterweight hedge trimmer according to the present invention.
The various reference symbols in the drawings: 1. an automotive chassis; 2. a trimming device; 3. a box body assembly; 4. a fan; 5. a waterway system; 6. A power system.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application
As shown in fig. 1 to fig. 6, the automatic counterweight hedge trimmer according to the present invention comprises a chassis 1, a trimming device 2 fixed on the chassis for trimming hedges, a tank assembly 3 for storing irrigation water and hedge trash, a waterway system 5, a fan 4 for sucking and picking up hedge trash, a power system 6 for providing power source for the trimming device and the fan, and a control system for controlling the working states of the trimming device 2 and the fan 4.
The box body assembly comprises a garbage can 31 for storing hedge trimming garbage, and small water tanks (32, 33) for storing water for cleaning the garbage can 31 and irrigating hedges are respectively arranged at the left side and the right side of the garbage can 31; waterway system includes the water pump, the water pump is connected with inlet tube and outlet pipe, the inlet tube is connected through ball valve 54 to the one end of left side little water tank 32, the inlet tube is connected through ball valve two 55 to the one end of right side little water tank 33, the outlet pipe of water pump is connected through ball valve five 58 to the other end of left side little water tank 32, the outlet pipe of water pump is connected through ball valve four 57 to the other end of right side little water tank 33, ball valve one 54, ball valve two 55, ball valve four 57, ball valve five 58 and water pump 51 all with control system, control system controls each ball valve and water pump 51 with the water yield in order to adjust the left and right sides little water tank based on the relative position of the relative vehicle chassis of trimming means, and then the counter weight of control hedge trimmer.
As shown in fig. 2, the trimming device 2 includes a boom 22 mounted on the chassis 1 of the vehicle and a trimming seat 21 connected to a distal end of the boom. The mechanical arm support 22 is used for realizing each trimming posture of the trimming seat 21, and the trimming seat 21 is used for trimming hedges;
the mechanical arm support 22 comprises a rotary drive 221 for enabling the whole arm support to rotate left and right, a first arm 222 and a second arm 223 for realizing pitching of the trimming seat 21, a first oil cylinder 225 and a second oil cylinder 226 for driving the first arm 222 and the second arm 223 to move, a turning seat 224 and a third oil cylinder 227 for realizing turning of the trimming seat 21, and a cycloid motor 23 for realizing independent rotation of the trimming seat 21; a first angle sensor 228 for detecting an angle of the first arm 222; a second angle sensor 229 for detecting an angle of the second arm 223;
the rotary drive 221 is mounted on the automobile chassis 1, the base of the first oil cylinder 225 is connected with the rotary drive 221, the telescopic end of the first oil cylinder 225 is hinged with the middle section of the first arm 222, one end of the first arm 222 is hinged with the rotary drive 221, the other end of the first arm 222 is rotatably connected with one end of the second arm 223, the base of the second oil cylinder 226 is hinged with the middle section of the first arm 222, the telescopic end of the second oil cylinder 226 is hinged with one end of the second arm 223, and the second arm 223 is driven to rotate by taking the connecting point of the first arm 222 and the second arm 223 as a fulcrum; the middle section of the second arm 223 is connected with the base of the third oil cylinder 227, the telescopic end of the third oil cylinder 227 is hinged with the turning seat 244, and the turning seat 244 is driven to turn over by the hinged point of the second arm 223 and the turning seat 244; the turning seat 244 is provided with a cycloid motor 23, and the output end of the cycloid motor 23 is connected with the cutting seat 21 and drives the cutting seat 21 to rotate independently.
As shown in fig. 3, the container assembly 3 includes a garbage can 3131 for storing hedge trimming garbage, a left small water tank 32 and a right small water tank 33 for storing water for bin washing and hedge irrigation.
As shown in fig. 4, the trimming seat 21 is connected to the cycloid motor 23 on the turning seat at the end of the arm support, and includes a trimming seat body 211, three groups of trimming cutters 212, a motor 216 for driving the three groups of cutters to rotate, and an obstacle avoidance device 214 for automatically avoiding obstacles. Wherein, three group's cutters 212 present "article" style of calligraphy dislocation arrangement, and two sets of cutters rotation direction on the left and right sides are opposite, and left side cutter clockwise, right side cutter anticlockwise rotation. When the obstacle avoidance device 214 touches an obstacle, the obstacle drives the obstacle avoidance device 214 to rotate, when the obstacle avoidance device is rotated to the triggering of the travel switch 215, the cycloid motor 23 starts to work and drives the trimming seat 21 to rotate for 90 degrees to avoid the obstacle, and the cycloid motor 23 drives the trimming seat 21 to automatically rotate to the operation angle before the obstacle avoidance after the obstacle is avoided.
The waterway system 5 includes a water pump 51, a front automatic watering device 52 and a trash can washing device 53. The water pump 51 is driven by a power takeoff at the side of the automobile chassis, the front automatic irrigation device 52 can rotate 360 degrees and is used for irrigation of green belts at the two sides of a road, pesticide spraying and other maintenance, and the garbage can cleaning device 53 is used for washing the garbage can 31. The invention also comprises a plurality of ball valves for controlling actions, and the pneumatic cut-off valve is adopted for controlling.
Furthermore, the water inlet end of the front automatic irrigation device 52 is connected with the water outlet pipe of the water pump 51 through a ball valve six 59, and the front automatic irrigation device 52 is arranged at the front end position of the automobile chassis corresponding to the automobile head; the water inlet end of the flushing device of the dustbin 31 is connected with the water outlet pipe of the water pump 51 through a third ball valve 56, the dustbin flushing device is arranged on the side wall of the dustbin 31 to flush the dustbin 31, and the third ball valve 56 and a sixth ball valve 59 are connected with the control system.
The fan 4 is fixed on the automobile chassis 1 and used for sucking and picking up the hedge garbage which is trimmed by the trimming seat. The fan 4 adopts a direct suction type fan, the air inlet of the fan is connected with the pruning seat through a hose, the air outlet of the fan is connected with the garbage can 31, and the fan directly discharges the sucked and picked hedgerow garbage to the garbage can 31.
The power system adopts an auxiliary engine to drive a hydraulic pump, and pressure hydraulic oil generated by the hydraulic pump drives a fan motor, a crusher motor, a cycloid motor, a trimming cutter motor, an oil cylinder and other mechanisms to move.
The control system mainly comprises a controller, an angle sensor, a camera and the like. The angle sensor I228 for measuring the angle of the first arm is arranged on the first arm 222, the angle sensor II 229 for measuring the angle of the second arm 223 is arranged on the second arm 223, and the angle sensor III 217 for measuring the angle of the trimming base 21 is arranged on the trimming base 21, so that the angle information of the arm support and the trimming base can be read in real time, the height and horizontal distance of the trimming base 21 can be controlled by controlling the angles of the first arm 222 and the second arm 223, and the trimming inclination angle of the trimming base 21 can be controlled by controlling the angle of the trimming base 21. The high-definition camera and the distance measuring sensor 218 are installed on the trimming seat 21, and can monitor the trimming image and measure the distance from the trimming seat 21 to the hedge in real time. Wherein the distance measuring sensors 218 are symmetrically arranged one on each of the left and right sides of the trimming seat 21.
The invention also provides an automatic counterweight method of the automatic counterweight hedge trimming vehicle, which comprises the following steps:
step 1, acquiring a trimming working side of a current trimming device through a control system to determine the position of an arm support of the trimming device relative to a vehicle;
and 2, controlling the work of each ball valve and the water pump 51 through a control system based on the position of the arm support of the trimming device relative to the vehicle to adjust the balance weights of the water tanks on the left side and the right side: the details are as follows
A. Pruning the left side of the hedge pruning vehicle: namely, when the mechanical arm support 22 of the trimming seat 21 is on the left side, the system automatically controls the first ball valve 54 between the left small water tank 32 and the water inlet pipeline of the water pump 51 and the fourth ball valve 57 between the right small water tank 33 and the water outlet pipeline of the water pump 51 to be opened, and the rest ball valves are closed. Water in the left small water tank 32 enters the water pump 51, and the water pump 51 is started to convey the water to the right small water tank 33, so that the problem that the whole vehicle inclines to the left side due to the fact that the arm frame rotates to the left side is solved, and the left side and the right side of the whole vehicle are basically kept horizontal during pruning;
B. pruning the right side of the hedge pruning vehicle: namely, when the mechanical arm support 22 of the trimming seat 21 is on the right side, the system automatically controls the second ball valve 55 between the right small water tank 33 and the water inlet pipeline of the water pump 51 and the fifth ball valve 58 between the left small water tank 32 and the water outlet pipeline of the water pump 51 to be opened, and the rest ball valves are closed. Water in the right water tank 33 enters the water pump 51, and the water pump 51 is started to convey the water to the left water tank 32, so that the problem that the whole vehicle inclines to the right due to the fact that the arm support rotates to the right is solved, and the left side and the right side of the whole vehicle are basically kept horizontal when the whole vehicle is trimmed;
C. hedge trimming is not performed: the system automatically controls the first ball valve 54 between the left small water tank 32 and the water inlet pipeline of the water pump 51 and the second ball valve 55 between the right small water tank 33 and the water inlet pipeline of the water pump 51 to be opened, and other control development valves are closed, so that the left small water tank 32 is communicated with the right small water tank 33, the water level is consistent, and the balance of the whole vehicle is maintained.
By adopting the technical scheme, the hedgerow trimming machine can trim hedgerows on the left side and the right side of a road in an all-dimensional manner, meanwhile can suck and pick the trimmed hedgerow garbage to the garbage can 31, does not need manual work or an auxiliary sweeper to clean the hedgerow garbage, saves the hedgerow trimming cost, greatly improves the trimming efficiency and ensures the operation safety. Meanwhile, the hedgerow irrigation device has a low-pressure irrigation function, and can perform maintenance operations such as watering and irrigating the hedgerow, spraying medicine and the like. The automatic counterweight method provided by the invention fully utilizes the self structure of the hedge trimmer to automatically counterweight, and can realize the balance of the whole hedge trimmer during trimming operation without adding a counterweight device and a counterweight mechanism. The pruning vehicle has rich functions, and has the functions of trimming hedges in all directions, irrigating and spraying the hedges, collecting garbage of the trimmed hedges and automatically balancing the weight distribution of the whole vehicle by weight.
It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. The embodiments and features of the embodiments in the present application may be combined with each other without conflict. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the detailed description of the embodiments of the present application is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Claims (10)
1. The automatic counterweight hedge trimming vehicle comprises an automobile chassis, a trimming device, a box assembly, a waterway system, a fan, a power system and a control system, wherein the trimming device is fixed on the automobile chassis and used for trimming hedges, the box assembly is used for storing irrigation water and hedge garbage, the waterway system is used for irrigating the hedges and cleaning the box body, the fan is used for sucking and picking up the hedge garbage, the power system is used for providing a power source for the trimming device and the fan, and the control system is used for controlling the working states of the trimming device, the grinder and the fan; the method is characterized in that: the box body assembly comprises a garbage can for storing hedge trimming garbage, and the left side and the right side of the garbage can are respectively provided with a small water tank for storing water for cleaning the garbage can and irrigating the hedge; waterway system includes the water pump, the water pump is connected with inlet tube and outlet pipe, ball valve one-connection inlet tube is passed through to the one end of the little water tank of left side, ball valve two-connection inlet tube is passed through to the one end of the little water tank of right side, the outlet pipe of ball valve four-connection water pump is passed through to the other end of the little water tank of left side, ball valve one, ball valve two, ball valve four, ball valve five and water pump all with control system, control system controls the water yield of each ball valve and water pump in order to adjust the little water tank of the left and right sides based on the relative position of the relative vehicle chassis of trimming means, and then the counter weight of control hedgerow trimming car.
2. An automatic counterweight hedge trimmer according to claim 1 wherein: the waterway system also comprises a front automatic irrigation device and a garbage can cleaning device; the water inlet end of the front automatic irrigation device is connected with the water outlet pipe of the water pump through a ball valve six, and the front automatic irrigation device is arranged at the front end position of the automobile chassis corresponding to the automobile head; the water inlet end of the dustbin cleaning device is connected with a water outlet pipe of the water pump through a ball valve III, the dustbin cleaning device is arranged on the side wall of the dustbin to clean the dustbin, and the ball valve III are connected with the control system.
3. An automatic counterweight hedge trimmer according to claim 1 wherein: the water pump is driven by a power takeoff at the side of the automobile chassis, the front automatic irrigation device can rotate by 360 degrees and is used for irrigation of green belts at two sides of a road, pesticide spraying and other curing, and the garbage can cleaning device is used for washing a garbage can.
4. An automatic counterweight hedge trimmer according to claim 1 wherein: the positions of a control switch valve of the front automatic watering device and a control ball valve of the garbage can cleaning device need to be arranged in the region outside the connection position of the small water tank and the water outlet pipeline of the water pump.
5. An automatic counterweight hedge trimmer according to claim 1 wherein: the pruning device comprises a mechanical arm support arranged on the automobile chassis and a pruning seat connected to the tail end of the mechanical arm support, wherein the mechanical arm support is used for realizing each pruning posture of the pruning seat, and the pruning seat is used for pruning hedges; the mechanical arm frame comprises a rotary drive used for the left-right rotation of the whole arm frame, a first arm and a second arm used for realizing the pitching of the trimming seat, a first oil cylinder and a second oil cylinder used for driving the first arm and the second arm to move, a turning seat and a third oil cylinder used for realizing the turning of the trimming seat and a cycloid motor used for realizing the independent rotation of the trimming seat;
the rotary drive is arranged on an automobile chassis, a base of a first oil cylinder is connected with the rotary drive, a telescopic end of the first oil cylinder is hinged with the inner side of the middle section of a first arm, one end of the first arm is hinged with the rotary drive, the other end of the first arm is rotatably connected with one end of a second arm, a base of the second oil cylinder is hinged with the outer side of the middle section of the first arm, and a telescopic end of the second oil cylinder is hinged with one end of the second arm and drives the second arm to rotate by taking the connecting point of the first arm and the second arm as a fulcrum; the outer side of the middle section of the second arm is connected with a base of a third oil cylinder, and the telescopic end of the third oil cylinder is hinged with the overturning seat and drives the overturning seat to overturn through the hinged point of the second arm and the overturning seat; the cycloidal motor is arranged on the overturning seat, and the output end of the cycloidal motor is connected with the trimming seat and drives the trimming seat to rotate independently.
6. An automatic counterweight hedge trimmer according to claim 5 wherein: the pruning base is connected to a cycloid motor on the overturning base at the tail end of the arm support, the pruning base comprises a pruning base main body, 3 groups of pruning cutters, a motor for driving the 3 groups of cutters to rotate and an obstacle avoidance device for automatically avoiding obstacles, the 3 groups of cutters are arranged in a staggered manner in a shape of Chinese character 'pin', the rotating directions of the left and right groups of cutters are opposite, and the left cutter rotates clockwise and the right cutter rotates anticlockwise; when the obstacle avoidance device touches an obstacle, the cycloidal motor drives the trimming seat to rotate by 90 degrees to avoid the obstacle, and the cycloidal motor drives the trimming seat to automatically rotate to an operation position before the obstacle avoidance after the obstacle is avoided.
7. An automatic counterweight hedge trimmer according to claim 1 wherein: the fan is fixed on the automobile chassis and used for sucking and picking the trimming seat to trim the hedgerow garbage, the fan adopts a direct-suction fan, the air inlet of the fan is connected with the trimming seat through a hose, the air outlet of the fan is connected with the garbage can, and the fan directly discharges the sucked and picked hedgerow garbage to the garbage can.
8. An automatic counterweight hedge trimmer according to claim 1 wherein: the power system adopts an auxiliary engine to drive a hydraulic pump, and pressure hydraulic oil generated by the hydraulic pump drives a fan motor, a crusher motor, a cycloid motor, a trimming cutter motor and an oil cylinder mechanism to move.
9. An automatic counterweight hedge trimmer according to claim 1 wherein: the control system comprises a controller, an angle sensor and a camera; the controller controls the height and horizontal distance of the trimming seat by controlling the angles of the first arm and the second arm frame, and controls the angle of the trimming seat to control the trimming inclination angle of the trimming seat; the high-definition camera and the ranging sensor are mounted on the pruning seat, and the pruning picture is monitored in real time, and the distance between the pruning seat and the hedgerow is measured.
10. An automatic counterweight method for an automatic counterweight hedge trimmer, using the automatic counterweight hedge trimmer of any one of claims 1 to 9, characterized in that: the method comprises the following steps:
step 1, acquiring a trimming working side of a current trimming device through a control system to determine the position of an arm support of the trimming device relative to a vehicle;
step 2, controlling the work of each ball valve and each water pump through a control system based on the position of the arm support of the trimming device relative to the vehicle to adjust the balance weight of the water tanks on the left side and the right side: the details are as follows
A. When the left side of the hedge trimming vehicle is trimmed: when the arm support is on the left side, a first ball valve between the left small water tank and a water inlet pipeline of the water pump and a fourth ball valve between the right small water tank and a water outlet pipeline of the water pump are controlled to be opened, and the rest control development valves are all closed; water in the left water tank enters the water pump, and the water pump is started to convey the water to the right water tank;
B. when the right side of the hedge trimming vehicle is trimmed: when the arm is erected on the right side, a second ball valve between the right small water tank and a water inlet pipeline of the water pump and a fifth ball valve between the left small water tank and a water outlet pipeline of the water pump are controlled to be opened, and the rest control development valves are all closed; water in the right water tank enters the water pump, and the water pump is started to convey the water to the left water tank;
C. when hedge trimming is not performed: when the branch mode of smashing promptly, the ball valve two between control right side small water tank and the water pump water inlet pipe, the ball valve one between left side small water tank and the water pump water inlet pipe are opened, and all the other control development valves are all closed, make left side small water tank and right side small water tank intercommunication, realize that the water level is unanimous.
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| CN202111552721.XA CN114223416A (en) | 2021-12-17 | 2021-12-17 | Automatic counterweight hedgerow trimming vehicle and automatic configuration method thereof |
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| CN202111552721.XA CN114223416A (en) | 2021-12-17 | 2021-12-17 | Automatic counterweight hedgerow trimming vehicle and automatic configuration method thereof |
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