CN114916330A - Cutter head with automatic obstacle avoidance system and hedge trimming vehicle - Google Patents
Cutter head with automatic obstacle avoidance system and hedge trimming vehicle Download PDFInfo
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- CN114916330A CN114916330A CN202210599689.9A CN202210599689A CN114916330A CN 114916330 A CN114916330 A CN 114916330A CN 202210599689 A CN202210599689 A CN 202210599689A CN 114916330 A CN114916330 A CN 114916330A
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- 238000009966 trimming Methods 0.000 title description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 103
- 238000000034 method Methods 0.000 claims abstract description 20
- 238000005452 bending Methods 0.000 claims description 39
- 230000004888 barrier function Effects 0.000 claims description 30
- 238000003825 pressing Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 abstract description 16
- 230000009471 action Effects 0.000 description 8
- 238000013519 translation Methods 0.000 description 6
- 238000006073 displacement reaction Methods 0.000 description 5
- 238000005056 compaction Methods 0.000 description 4
- 230000002265 prevention Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000013138 pruning Methods 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000007493 shaping process Methods 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
Abstract
The invention discloses a cutter with an automatic obstacle avoidance system, which comprises a rack, a moving mechanism and a cutter main body, wherein the rack is connected with the moving mechanism, the moving mechanism is connected with the cutter main body, the rack is used for being connected with a vehicle, the moving mechanism is used for driving the cutter main body to move so as to avoid obstacles, a front anti-collision mechanism and a side anti-collision mechanism are arranged on the cutter main body, the front anti-collision mechanism is used for identifying front obstacles in the advancing direction of the cutter main body and driving the cutter main body to avoid the front obstacles through the moving mechanism, the side anti-collision mechanism is used for identifying side obstacles of the cutter main body and driving the cutter main body to avoid the side obstacles through the moving mechanism, and the front anti-collision mechanism and the side anti-collision mechanism are matched to realize that the cutter main body avoids the obstacles at different positions in the advancing process.
Description
Technical Field
The invention relates to the technical field of hedge trimming cutterheads, in particular to a cutterhead with an automatic obstacle avoidance system. In addition, the invention also relates to a hedge trimmer comprising the cutter head with the automatic obstacle avoidance system.
Background
The cutter head of the existing hedge trimming operation vehicle is only provided with a front obstacle recognition device to avoid a front obstacle in the advancing process of the cutter head, but is not provided with a side obstacle recognition device, so that when the cutter head recognizes a first obstacle on the front side through the front obstacle recognition device and translates and avoids the first obstacle, the cutter head cannot effectively recognize whether the side surface of the cutter head has the obstacle or not in the process of restoring to the corresponding trimming position, the cutter head collides with the obstacle on the side surface to cause an accident, and therefore, the front obstacle recognition device alone cannot realize continuous obstacle avoidance work; the existing obstacle recognition device on the front side of the cutter head is arranged on the translation mechanism and cannot translate along with the cutter head, so that the accurate obstacle avoidance cannot be realized; in addition, a large number of hedges close to the obstacle are not trimmed in the obstacle avoidance process of the existing cutter head.
Disclosure of Invention
The invention provides a cutter head with an automatic obstacle avoidance system, which aims to solve the technical problem that the existing cutter head cannot identify whether an obstacle exists on the side surface of the cutter head or not.
The technical scheme adopted by the invention is as follows: comprises a frame, a moving mechanism and a cutter head main body, wherein the frame is connected with the moving mechanism, the moving mechanism is connected with the cutter head main body,
the frame is used for being connected with a vehicle, the moving mechanism is used for driving the cutter head main body to move so as to avoid obstacles,
the cutter head main body is provided with a front anti-collision mechanism and a side anti-collision mechanism, the front anti-collision mechanism is used for identifying a front barrier in the advancing direction of the cutter head main body and driving the cutter head main body to avoid the front barrier through the moving mechanism, the side anti-collision mechanism is used for identifying a side barrier of the cutter head main body and driving the cutter head main body to avoid the side barrier through the moving mechanism,
through the cooperation of the front anti-collision mechanism and the side anti-collision mechanism, the cutter head main body avoids obstacles at different positions in the advancing process.
Further, preceding anticollision institution includes preceding crash bar, preceding resetting means and first signal subassembly, preceding crash bar respectively with preceding resetting means and first signal subassembly link to each other, through preceding crash bar contacts with the front side barrier and is supported by the front side barrier and pushes away, and then makes preceding crash bar overcome preceding resetting means's pre-compaction elasticity removes and triggers first signal subassembly, first signal subassembly sends the signal for control module, control module control moving mechanism drives cutterhead main part 2 avoids the barrier, preceding crash bar is kept away from behind the barrier preceding resetting means's pre-compaction elasticity forces preceding crash bar resets.
Furthermore, the front bumper bar comprises a convex bending bar, the first end of the convex bending bar is a free end and is arranged far away from the vehicle, and the second end of the convex bending bar is connected with the first signal component and is arranged close to the vehicle; the shape of the convex bending rod gradually protrudes from the side far away from the vehicle to the vehicle traveling direction and reaches a convex peak near the vehicle side.
Furthermore, the front bumper comprises a convex bending rod and a connecting rod, and the connecting rod is connected with the first signal assembly; the first end of the convex bending rod is a free end and is arranged far away from the vehicle, and the second end of the convex bending rod is connected with the connecting rod and is arranged close to the vehicle; the shape of the convex bending rod gradually protrudes from the side far away from the vehicle to the vehicle traveling direction and reaches a convex peak near the vehicle side.
Further, first signal component includes first mounting bracket and first control switch, the first end of first mounting bracket with the blade disc main part links to each other, the second end of first mounting bracket is connected first control switch, preceding crash bar with first control switch rotates and links to each other, the main part of first mounting bracket through preceding resetting means with preceding crash bar links to each other, through preceding crash bar is supported by the front side barrier and is pushed away the rotation in order to trigger first control switch, first control switch sends a signal for control module, control module control moving mechanism drives the blade disc main part avoids the barrier.
Furthermore, one side of the cutter head main body, which faces the front anti-collision mechanism, is connected with at least one group of first connecting pieces, and the first mounting frame is detachably connected with one group of the first connecting pieces.
Furthermore, side anticollision institution includes side crash bar, side resetting means and second signal subassembly, the side crash bar respectively with side resetting means and second signal subassembly link to each other, through side crash bar and side barrier contact and by the side barrier support push away, and then make the side crash bar overcomes side resetting means's pre-compaction elasticity removes and triggers second signal subassembly, second signal subassembly sends the signal and gives control module, control module control moving mechanism drives the blade disc main part avoids the barrier, the side crash bar is kept away from behind the barrier side resetting means's pre-compaction elasticity forces the side crash bar resets.
Furthermore, the side impact bar comprises a linear portion and an arc portion, the first end of the linear portion and/or the second end of the linear portion are/is provided with the arc portion, and the concave surface of the arc portion faces the cutter head main body.
Furthermore, a second connecting piece is installed on one side of the cutter head main body, which is far away from the vehicle, and one side of the cutter head main body, which is close to the vehicle, and the side anti-collision mechanism is detachably connected with one group of the second connecting pieces.
According to another aspect of the invention, there is also provided a hedge trimmer comprising a cutterhead having an automatic obstacle avoidance system as described above.
The invention has the following beneficial effects:
1. the front anti-collision mechanism and the side anti-collision mechanism are arranged on the cutter head main body, so that the front anti-collision mechanism and the side anti-collision mechanism move along with the cutter head, the phenomenon that the cutter head main body and the anti-collision mechanism are staggered due to the fact that only the cutter head main body moves but the anti-collision mechanisms (the front anti-collision mechanism and the side anti-collision mechanism) do not move is avoided, obstacles in a staggered interval are not required to be avoided, the obstacles are identified and avoided, and part of areas which need to be trimmed are not trimmed due to the avoidance behavior; the anti-collision mechanism is arranged to move along with the cutter head main body, so that a dislocation state cannot exist between the anti-collision mechanism and the cutter head main body, an invalid obstacle avoidance identification interval (a dislocation interval) does not exist, the phenomenon of mistaken touch can be prevented, the action of a redundant cutter head is reduced, and an uncut hedge area is greatly reduced; meanwhile, the vehicle drives the cutter head main body to advance, and when the front collision avoidance mechanism in front of the cutter head main body detects a front obstacle, the moving mechanism drives the cutter head main body to transversely move so as to avoid the front obstacle; after the place ahead barrier is avoidable, the moving mechanism drives the cutter head main body to recover to the in-process of pruning the position, when the side anticollision institution of cutter head main body side detects that there is the barrier in the position of side, control module control moving mechanism drives the cutter head main body lateral shifting once more in order to avoid the barrier in the side, make in the in-process that the vehicle drove the cutter head main body and march, avoid the front side barrier through preceding anticollision institution, avoid the side barrier through side anticollision institution, realize through cooperation between them that the vehicle gos forward in-process and realize effective discernment and can carry out continuous obstacle avoidance to the barrier in different positions, prevent collision damage and machine fault that this device leads to because of can not effectively keeping away the barrier.
2. The front anti-collision rod is arranged into a convex bending structure, so that the front anti-collision rod gradually protrudes forwards from the side far away from the vehicle to the side close to the vehicle and reaches the peak at the position of the cutter head close to the side of the vehicle; when the obstacle is positioned at a position close to the vehicle, the transverse displacement which needs to be executed by the cutter head main body is long so as to completely avoid the obstacle, so that the cutter head main body has sufficient time to continue to advance to reduce the distance between the cutter head main body and the front anti-collision rod, and the hedge between the cutter head main body and the front anti-collision rod is fully trimmed by the cutter head main body; when the obstacle is located far away from the vehicle, the transverse displacement of the cutterhead main body is shorter, if the front impact bar is configured as a straight bar or other non-convex configuration, there is insufficient time for the cutterhead body to advance to reduce the distance between the cutterhead body and the front impact bar, then there will be a significant amount of hedge area that is not trimmed, therefore, a part of the front bumper bar is arranged to be a convex bending bar, the shape of the convex bending bar gradually protrudes towards the vehicle advancing direction from the side far away from the vehicle and reaches a convex peak at the position close to the vehicle, so that the cutter head body has sufficient traveling time when meeting front obstacles at different positions to shorten the distance between the cutter head body and the front anti-collision rod, thereby achieving the aim of reducing the hedge area around the obstacle which should be trimmed but is not trimmed due to the obstacle avoidance action.
3. By arranging the front anti-collision mechanism and the side anti-collision mechanisms in a detachable connection mode with the cutter head main body, when the hedge trimming device meets the condition that the hedge trimming tool consumption is large (when the height of the trimmed hedge is larger than the obstacle identification monitoring height), the obstacle existing can be always identified, the obstacle avoiding action is continuously executed, and the normal trimming operation cannot be carried out; because both sides of the road and the middle isolation belt can be provided with hedges, and the front anti-collision rod adopted by the device is a convex bending piece, the arc-shaped protrusion of the side anti-collision rod faces one side of the advancing direction (namely, both the arc-shaped protrusion and the middle isolation belt need to have specific orientations to realize corresponding functions), therefore, the device adopts the mode that the front anti-collision mechanism mounting components are symmetrically arranged on one side of the cutter head body facing the advancing direction, the side anti-collision mechanism mounting components are arranged on one side of the cutter head body far away from the vehicle and close to the vehicle, so that the anti-collision mechanisms can be detached and mounted at different positions on the cutter head body, users can conveniently and effectively and well trim the hedges on both sides of the vehicle, and the phenomena that collision occurs in the trimming process and the hedges which should be trimmed are not trimmed are prevented.
In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be described in further detail below with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification. In the drawings:
FIG. 1 is a schematic perspective view of a preferred embodiment of the present invention;
FIG. 2 is a schematic structural view of a front impact mechanism in accordance with a preferred embodiment of the present invention;
FIG. 3 is a schematic structural view of a side impact mechanism in accordance with a preferred embodiment of the present invention;
FIG. 4 is a schematic diagram of a continuous obstacle avoidance structure according to a preferred embodiment of the present invention;
FIG. 5 is a schematic diagram of the top view mechanism of the preferred embodiment of the present invention;
fig. 6 is a schematic structural view of a preferred embodiment of the front impact beam of the present invention.
The reference numbers indicate:
1. a frame; 2. a cutter head main body; 3. a moving mechanism; 4. an obstacle; 5. a front anti-collision mechanism; 6. a side anti-collision mechanism;
21. a first connecting member; 22. a second connecting member;
51. a front bumper bar; 52. a front reset device; 53. a first signal component;
61. a side impact beam; 62. a side reset device; 63. a second signal component;
510. a convex bending pole; 511. a connecting rod;
530. a first control switch; 531. a first mounting bracket;
630. a second control switch; 631. a second mounting bracket.
Detailed Description
It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Referring to fig. 1 and 5, a preferred embodiment of the present invention provides a cutter head with an automatic obstacle avoidance system, including a frame 1 for connecting to a vehicle body, a cutter head body 2 for trimming hedges, and a moving mechanism 3 for controlling the cutter head body 2 to move so as to avoid an obstacle 4, where the frame 1 is connected to the moving mechanism 3, the moving mechanism 3 is connected to the cutter head body 2, the cutter head body 2 is connected to a front anti-collision mechanism 5 and a side anti-collision mechanism 6, the front anti-collision mechanism 5 is used to identify a front obstacle 4 in a traveling direction of the cutter head body 2 and control the cutter head body 2 to avoid through the moving mechanism 3, and the side anti-collision mechanism 6 is used to identify a side obstacle 4 of the cutter head body 2 and control the cutter head 2 to avoid through the moving mechanism 3; when the device works, a vehicle drives the cutter head main body 2 to move forwards, when the front anti-collision mechanism 5 in front of the cutter head main body 2 detects a front obstacle, the front anti-collision mechanism 5 sends a signal to the control module, and the control module controls the moving mechanism 3 to drive the cutter head main body 2 to move transversely so as to avoid the front obstacle 4; after the front obstacle is avoided, the moving mechanism 3 drives the cutter head main body 2 to move and restore to the trimming position, when the side collision prevention mechanism 6 on the side surface of the cutter head main body 2 detects a side obstacle, the side collision prevention mechanism 6 sends a signal to the control module, the control module controls the moving mechanism 3 to drive the cutter head main body 2 to transversely move again so as to avoid the side obstacle, in the process that the vehicle drives the cutter head main body 2 to move, the front obstacle is arranged through the front collision prevention mechanism 5, the side obstacle is avoided through the side collision prevention mechanism 6, and continuous identification and obstacle avoidance of the obstacles at different positions in the advancing process of the vehicle can be realized through the matching of the front obstacle and the side obstacle avoidance, as shown in fig. 4.
As shown in fig. 1, a front anti-collision mechanism 5 of the device is mounted on a cutter head main body 2, and is different from the prior art that an anti-collision rod is mounted on a translation mechanism, in the trimming operation process and the cutter head translation process, the anti-collision rod does not move in translation along with the cutter head, the anti-collision rod and the cutter head generate a staggered interval, obstacles in the interval do not need to be avoided, but can be identified and avoided, so that a false touch phenomenon is caused, and a part of an area to be trimmed is generated in an untrimmed area due to the avoidance; the front bumper bar is arranged on the cutter head main body and moves along with the cutter head, a dislocation state does not exist between the front bumper bar and the cutter head main body, an invalid obstacle avoidance identification interval (a dislocation interval) does not exist, the phenomenon of mistaken touch can be prevented, the action of redundant cutter heads is reduced, and no region which is not trimmed exists.
As shown in fig. 2, the front anti-collision mechanism 5 includes a front anti-collision bar 51, a front reset device 52 and a first signal component 53, the front anti-collision bar 51 is respectively connected with the front reset device 52 and the first signal component 53, after the front anti-collision bar 51 abuts against an obstacle during the process of traveling, the front anti-collision bar 51 does not advance any more, the cutterhead body 2 continues to advance under the driving of the vehicle so as to overcome the pre-pressing elastic force of the front reset device 52 and shorten the distance between the front anti-collision bar 51 and the cutterhead body 2, the signal is recognized by the first signal component 53 and is sent to the control module, the control module controls the moving mechanism 3 to drive the front anti-collision mechanism 5 to move transversely to approach the vehicle and to be away from the obstacle, when the front anti-collision bar 51 does not abut against the obstacle any more, the pre-pressing elastic force of the front reset device 52 resets the front anti-collision bar 52, the signal of the front anti-collision bar 51 is recognized by the first signal component 53 and is sent to the control module, the control module controls the moving mechanism 3 to drive the front bumper bar 51 to move transversely away from the vehicle until the trimming position is restored.
As shown in fig. 2, the first signal assembly 53 includes a first control switch 530 and a first mounting bracket 531, one end of the first mounting bracket 531 is connected to the cutter head main body 2, and the other end of the first mounting bracket 531 is connected to the first control switch 530; the front bumper bar 51 rotates around the first control switch 530 and triggers the first control switch 530 after being blocked by an obstacle in the traveling process, the first control switch 530 sends a signal to the control module, and the control module controls the moving mechanism to drive the cutter head main body 2 to execute an avoiding action; the main body of the first mounting bracket 531 is connected to the front impact beam 51 through the front return device 52, and the front impact beam 51 is smoothly returned after being released from the blocking by providing a sufficient displacement space for the front impact beam 51 through the front return device 52.
As shown in fig. 6, one embodiment of the front impact beam 51 is that the front impact beam 51 includes a convex bending beam 510, a first end of the convex bending beam 510 is a free end, and a second end of the convex bending beam is connected to the first signal component 53; a first control switch on the first signal assembly 53 is triggered by movement of the second end of the male bending lever 510; the first end of the convex bending rod 510 is far away from the vehicle, the second end of the convex bending rod 510 is near the vehicle, and the shape of the convex bending rod 510 gradually protrudes from the side far away from the vehicle to the vehicle traveling direction and reaches a protruding peak near the vehicle (as shown in fig. 5 and 6); the front anti-collision rod 51 gradually protrudes forwards from the side far away from the vehicle to the side close to the vehicle, and reaches the peak when the cutter head is close to the side of the vehicle. The vehicle driving speed is constant in the trimming operation process, the cutter head main body moves in a translation mode towards the vehicle side direction to avoid obstacles, the translation speed is fixed, the shortest identification distance of the obstacle far away from the vehicle side in front of the avoiding cutter head is longer than the obstacle close to the vehicle side in front of the cutter head, and the shortest identification distance forms a right-angled triangular minimum identification area in front of the cutter head; designing a convex structure for the front anti-collision rod, enabling the area enclosed by the front anti-collision rod and the cutter head to be similar to the minimum identification area, and enabling the obstacle avoidance action to be executed as late as possible, so that the area (hedgerow) around the obstacle which needs to be trimmed and is not trimmed due to the obstacle avoidance action is reduced; in a popular way, when an obstacle is located at a position close to a vehicle, as shown in fig. 5 (an arrow in fig. 5 points to a vehicle moving direction), the lateral displacement that the cutterhead body 2 needs to perform is long to completely avoid the obstacle, so that the cutterhead body 2 has sufficient time to continue to advance to reduce the distance between the cutterhead body 2 and the front anti-collision rod 51, and therefore, hedges between the cutterhead body and the front anti-collision rod are sufficiently pruned through the cutterhead body 2; and when the obstacle is located at a position away from the vehicle, the lateral displacement that the cutter head main body 2 needs to perform at this time is short, if the front impact bar is provided as a straight bar or other non-convex configuration, there is insufficient time for the cutterhead body 2 to advance to reduce the distance between the cutterhead body 2 and the front impact bar 51, there will be a large amount of hedge areas that are not trimmed, a part of the front impact beam 51 is thus provided as a convex bent beam 510, and the shape of the convex bent beam 510 gradually bulges from the side away from the vehicle toward the vehicle traveling direction and reaches a convex peak near the vehicle, so that the cutterhead body 2 can have sufficient travel time when encountering front obstacles at different positions to shorten the distance between the cutterhead body 2 and the front bumper bar 51, thereby reducing the hedge area around the obstacle which should be pruned but not pruned due to the obstacle avoidance behavior.
As shown in fig. 2, another embodiment of the front impact beam 51 is that the front impact beam 51 includes a convex bending beam 510 and a connecting rod 511, a first end of the connecting rod 511 is connected with the first signal component 53, a second end of the connecting rod 511 is connected with a first end of the convex bending beam 510, and a second end of the convex bending beam 510 is a free end; the first end of the convex bending rod 510 is close to the vehicle, the second end of the convex bending rod 510 is far away from the vehicle, and the shape of the convex bending rod 510 gradually bulges towards the vehicle traveling direction from the side far away from the vehicle and reaches a convex peak near the vehicle (as shown in fig. 2 and 5); preferably, the connection rod 511 is a diagonal rod, a first end of the diagonal rod is connected to the convex bending rod 510, a second end of the diagonal rod is rotatably connected to the first control switch 530, and the diagonal rod is rotatably connected to the first control switch 530, so that the front impact bar 51 can rotate smoothly after abutting against the obstacle, and the impact force with the obstacle 4 is reduced.
The convex bending rod 510 can be welded with the connecting rod 511, so that the process is simple and the connection is reliable; convex bending pole 510 also can be integrated into one piece design with connecting rod 511, directly adopts the shaping of bending, has reduced welding process, does not have the welding seam, and is more pleasing to the eye. Preferably, the front anti-collision mechanism 5 and the side anti-collision mechanism 6 are detachably mounted on the cutter head main body 2, so that the front anti-collision mechanism 5 and the side anti-collision mechanism 6 are convenient to store and transport, and the front anti-collision mechanism 5 and the side anti-collision mechanism 6 are convenient to detach and maintain after being damaged; when the hedgerow trimming cutting amount is large (when the height of the hedgerow to be trimmed is larger than the obstacle identification monitoring height), the front anti-collision mechanism always identifies the existence of the obstacle, and continuously executes obstacle avoidance action, so that normal trimming operation cannot be carried out; preferably, the detachable connection is a bolt connection.
As shown in fig. 5, the first connecting pieces 21 are respectively connected to the side of the cutter head main body 2 facing the traveling direction thereof away from the vehicle and the side thereof close to the vehicle, and the first mounting bracket 531 is detachably connected to any one of the first connecting pieces 21; the first mounting frame 531 is connected with different first connecting pieces 21, so that the convex bending rods 510 can be mounted to corresponding positions when the cutter head main body 2 trims hedges on different sides of a vehicle, and obstacles in the advancing process of the cutter head main body 2 can be effectively identified and avoided.
As shown in fig. 3, the side impact mechanism 6 includes a side impact bar 61, a side reset device 62 and a second signal component 63, the side impact bar 61 is respectively connected with the side reset device 62 and the second signal component 63, the side impact bar 61 is pushed by the obstacle to move against the pre-pressing elastic force of the side reset device 62 and trigger the second signal component 63, and the pre-pressing elastic force of the side reset device 62, which is away from the obstacle, of the side impact bar 61 forces and pushes the side impact bar 61 to reset; preferably, the side impact bar 61 comprises a linear portion and an arc portion, the first end of the linear portion and/or the second end of the linear portion are/is provided with the arc portion, the concave surface of the arc portion faces the cutter head main body (2), and the arc portion abuts against the obstacle to prevent the side impact mechanism 6 from being damaged.
As shown in fig. 3, the second signal assembly 63 includes a second control switch 630 and a second mounting bracket 631, one end of the second mounting bracket 631 is connected to the cutter head main body 2, the other end of the second mounting bracket 631 is connected to the second control switch 630, the side impact bar 61 is respectively connected to the second control switch 630 and the side reset device 62, the side impact bar 61 overcomes the pre-pressing elastic force of the side reset device 62 to move after being blocked so as to trigger the second control switch 630, and sends a signal to the control module through the second control switch 630, and the control module controls the cutter head main body 2 to execute an avoidance operation; the side impact bar 61 is released to prevent the pre-pressing elasticity of the rear side resetting device 62 from forcing the side impact bar 61 to reset, the second control switch 630 is triggered and sends a signal to the control module, and the control module controls the cutter head main body 2 to return to the trimming position; the second mounting bracket 631 may be plural to facilitate the side impact bar 61 to perform a stable linear motion.
Further, the first control switch and the second control switch can be a micro switch, a travel switch, a proximity switch, and the like.
Further, keep away from one side of vehicle and be close to one side of vehicle on blade disc main part 2 and all install second connecting piece 22, side anticollision institution 6 can dismantle with a set of second connecting piece 22 wherein and be connected for this device can realize all fully pruning the hedgerow of road both sides through offside anticollision institution 6's simple dismouting.
The moving mechanism 3 can adopt an electric sliding rail and sliding block assembly, and can also adopt moving elements such as a hydraulic cylinder, an air cylinder and the like.
It should be noted that the front return device 52 and the side return device 62 can be elastic members such as springs, torsion springs or elastic telescopic rods, and therefore, the manufacturing cost is low and the assembly is simple.
Further, according to another aspect of the invention, the hedge trimmer comprises the cutter head with the automatic obstacle avoidance system.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A cutter head with an automatic obstacle avoidance system is characterized by comprising a machine frame (1), a moving mechanism (3) and a cutter head main body (2),
the frame (1) is connected with the moving mechanism (3), the moving mechanism (3) is connected with the cutter head main body (2),
the frame (1) is used for being connected with a vehicle, the moving mechanism (3) is used for driving the cutter head main body (2) to move so as to avoid obstacles,
anticollision institution (5) and side anticollision institution (6) before setting up on blade disc main part (2), preceding anticollision institution (5) are used for right the front side barrier of blade disc main part (2) advancing direction is discerned and is passed through moving mechanism (3) drive blade disc main part (2) are evaded the front side barrier, side anticollision institution (6) are used for right the side barrier of blade disc main part (2) is discerned and is passed through moving mechanism (3) drive blade disc main part (2) are evaded the side barrier, through preceding anticollision institution (5) and the cooperation of side anticollision institution (6) is realized blade disc main part (2) are evaded the barrier that is in different positions at the advancing in-process.
2. The cutter head with the automatic obstacle avoidance system according to claim 1, the front anti-collision mechanism (5) comprises a front anti-collision rod (51), a front resetting device (52) and a first signal component (53), the front bumper bar (51) is respectively connected with the front reset device (52) and the first signal component (53), the front bumper bar (51) is contacted with the front barrier and is pushed by the front barrier, so that the front bumper bar (51) overcomes the pre-pressing elasticity of the front reset device (52) to move and trigger the first signal component (53), the first signal component (53) sends a signal to the control module, the control module controls the moving mechanism (3) to drive the cutter head main body 2 to avoid obstacles, after the front anti-collision rod (51) is far away from the obstacle, the pre-pressing elastic force of the front resetting device (52) forces the front anti-collision rod (51) to reset.
3. Cutterhead with automatic obstacle avoidance system according to claim 2, characterized in that said front crash bar (51) comprises a convex bending bar (510), the first end of said convex bending bar (510) being free and arranged away from the vehicle, the second end of said convex bending bar (510) being connected to said first signal assembly (53) and arranged close to the vehicle; the convex bending rod (510) is gradually convex in shape from the side far away from the vehicle to the vehicle traveling direction and reaches a convex peak near the vehicle side.
4. Cutterhead with automatic obstacle avoidance system according to claim 2, characterized in that said front crash bar (51) comprises a convex bending bar (510) and a connecting bar (511), said connecting bar (511) being connected to said first signal assembly (53); the first end of the convex bending rod (510) is a free end and is arranged far away from the vehicle, and the second end of the convex bending rod (510) is connected with the connecting rod (511) and is arranged close to the vehicle; the convex bending rod (510) is gradually convex in shape from the side far away from the vehicle to the vehicle traveling direction and reaches a convex peak near the vehicle side.
5. The cutter head with the automatic obstacle avoidance system according to claim 2, the first signal assembly (53) comprises a first mounting bracket (531) and a first control switch (530), the first end of the first mounting rack (531) is connected with the cutter head main body (2), a second end of the first mounting bracket (531) is connected with the first control switch (530), the front bumper bar (51) is rotatably connected with the first control switch (530), the main body part of the first mounting frame (531) is connected with the front bumper bar (51) through a front resetting device (52), the front anti-collision rod (51) is pushed by a front barrier to rotate so as to trigger the first control switch (530), the first control switch (530) sends a signal to the control module, and the control module controls the moving mechanism (3) to drive the cutter head main body (2) to avoid obstacles.
6. A cutterhead with an automatic obstacle avoidance system according to claim 5, wherein at least one set of first connectors (21) is connected to the side of the cutterhead body (2) facing the front collision avoidance mechanism (5), and the first mounting bracket (531) is detachably connected to one set of the first connectors (21).
7. The cutter head with the automatic obstacle avoidance system according to claim 1, the side anti-collision mechanism (6) comprises a side anti-collision rod (61), a side resetting device (62) and a second signal component (63), the side bumper bar (61) is respectively connected with the side reset device (62) and the second signal component (63), the side anti-collision rod (61) contacts with and is pushed by the side barrier, thereby enabling the side impact bar (61) to overcome the pre-pressing elastic force of the side reset device (62) to move and trigger the second signal component (63), the second signal component (63) sends a signal to the control module, the control module controls the moving mechanism (3) to drive the cutter head main body (2) to avoid obstacles, after the side impact bar (61) is far away from the obstacle, the pre-pressing elastic force of the side reset device (62) forces the side impact bar (61) to reset.
8. Cutterhead with automatic obstacle avoidance system according to claim 7, characterized in that said side impact bars (61) comprise a straight portion and an arc portion, the first end of the straight portion and/or the second end of the straight portion being provided with an arc portion, the concavity of the arc portion facing the cutterhead body (2).
9. The cutterhead with the automatic obstacle avoidance system according to claim 8, wherein a second connecting piece (22) is installed on one side of the cutterhead main body (2) far away from the vehicle and one side of the cutterhead main body close to the vehicle, and the side anti-collision mechanism (6) is detachably connected with one group of the second connecting pieces (22).
10. A hedge trimmer comprising a cutterhead having an automatic obstacle avoidance system as claimed in any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210599689.9A CN114916330A (en) | 2022-05-30 | 2022-05-30 | Cutter head with automatic obstacle avoidance system and hedge trimming vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210599689.9A CN114916330A (en) | 2022-05-30 | 2022-05-30 | Cutter head with automatic obstacle avoidance system and hedge trimming vehicle |
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| CN114916330A true CN114916330A (en) | 2022-08-19 |
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| CN202210599689.9A Pending CN114916330A (en) | 2022-05-30 | 2022-05-30 | Cutter head with automatic obstacle avoidance system and hedge trimming vehicle |
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