CN115500160B - Garden shrub pruning and arranging robot - Google Patents

Abstract

The invention discloses a garden shrub pruning and treating robot which comprises an elastic sawtooth type chain cutting assembly, a flat-top grass storage assembly, a swinging type side face pruning assembly, a swinging side wall automatic limiting mechanism and a mechanical arm body. The invention belongs to the technical field of shrub pruning, and particularly relates to a garden shrub pruning and managing robot; under the condition that the elastic serrated chain cutting assembly is necessarily subjected to resistance in the cutting process, the swinging type side face trimming assembly and the elastic serrated chain cutting assembly firstly swing as a whole, when the swinging type side face trimming assembly and the elastic serrated chain cutting assembly swing to the limit position limited by the automatic limiting mechanism of the swinging side wall, the elastic serrated chain cutting assembly is used for cutting shrubs, and after the machine is stopped, the swinging type side face trimming assembly naturally sags under the action of gravity, so that the position is convenient to move.

Description

Garden shrub pruning and arranging robot

Technical Field

The invention belongs to the technical field of shrub pruning, and particularly relates to a garden shrub pruning and managing robot.

Background

The shrub pruning is a large part of the daily work of landscaping, the current shrub pruning process is mainly finished by manpower, the modern requirements of people are more and more difficult to be met, the robot for automatically pruning shrubs is not widely developed and applied at present, and the following restriction factors mainly exist:

a: the trimming of the shrub band is not square, but trapezoidal with a large top and a small bottom, so the opening of the trimming mechanism should also be small top and small bottom, but it is difficult to reach and leave the working position of trimming;

b: in general, the shrub belts and the trees are alternately distributed, or the trees are planted in the shrub belts (with uniform intervals), so that the trees need to be frequently avoided in the shrub pruning process, and the use difficulty is increased by combining the restriction factor A;

c: the shrubs are uneven in texture, if the shrub is required to cope with all working conditions, the power of the driving device is increased, the cost and the weight are increased remarkably, and if the driving device is insufficient in power, the situation of unclean cutting is easy to occur.

Disclosure of Invention

Aiming at the situation, in order to overcome the defects of the prior art, the invention provides a garden shrub pruning robot which is used for shrub band pruning, can adaptively droop and incline a side pruning device and can cut shrubs with different hardness through a low-power driving device; in order to solve the contradiction problem between the cost and the effect of the driving device, the invention creatively provides an elastic sawtooth type chain cutting assembly based on the flexible collision principle, and the angle can be automatically changed when the arc cutting piece receives larger resistance through the elastic sheet type base and the arc cutting piece which are arranged on the chain in an array manner, so that the shearing is changed into sawing, the shearing is flexible and resistant, and the shearing effect is achieved and ensured through a mode of multiple sawing.

In order to solve the technical problem that the device is difficult to reach and leave the working position of trimming, the invention creatively provides the automatic limiting mechanism of the swinging side wall, the swinging side trimming assembly is provided with initial swinging adjustment through the flat-top grass storage assembly and the swinging side trimming assembly which are rotationally connected, under the condition that the elastic saw-tooth type chain cutting assembly is necessarily subjected to resistance in the cutting process, the swinging side trimming assembly and the elastic saw-tooth type chain cutting assembly are firstly made to swing as a whole, when the swinging reaches the limiting position limited by the automatic limiting mechanism of the swinging side wall, the elastic saw-tooth type chain cutting assembly is used for cutting shrubs, and after the machine is stopped, the swinging side trimming assembly naturally sags under the action of gravity, so that the position is convenient to move.

The technical scheme adopted by the invention is as follows: the invention provides a garden shrub pruning and arranging robot which comprises an elastic sawtooth type chain cutting assembly, a flat-top grass storage assembly, a swinging type side face pruning assembly, a swinging side wall automatic limiting mechanism and a mechanical arm body, wherein the flat-top grass storage assembly is arranged at the tail end of the mechanical arm body, the swinging type side face pruning assembly is rotatably arranged at the two sides of the flat-top grass storage assembly, the pruning angle of the side face of a shrub can be changed through relative rotation of the swinging type side face pruning assembly and the flat-top grass storage assembly, so that different pruning work requirements are met, the elastic sawtooth type chain cutting assembly is rotatably arranged in the flat-top grass storage assembly and the swinging type side face pruning assembly, the cutting of shrub branches and leaves can be realized through the elastic sawtooth type chain cutting assembly which rotates at a high speed, the branches difficult to cut can be automatically converted into sawing when facing the branches, and the pruning is completed through a circular cutting mode, and the limiting mechanism of the swinging type side wall automatic limiting mechanism is arranged at the tops of the flat-top grass storage assembly and the swinging type side face pruning assembly, and the limiting mechanism can set and limit rotation angle of the swinging type side face pruning assembly, so that the shrub side face pruning assembly can be automatically separated from a machine in a shutdown state and automatically in a small inclined state (in a place in a natural state) when the shrub is in a state and is convenient to pruned in a place.

Further, elasticity sawtooth type chain cutting assembly includes chain drive assembly and elasticity cutting assembly, chain drive assembly rotates to locate flat top grass storage assembly and sways in the side trimming module, chain drive assembly includes driving sprocket, driven sprocket and drive chain, drive chain is connected with driving sprocket and driven sprocket meshing transmission simultaneously, driving sprocket is connected with the external world through the mode of rigid coupling, driven sprocket is connected with the external world through rotary contact's mode, and though drive chain wholly is flexible, has the transmission characteristics of local rigidity, consequently can rigid coupling shell fragment formula base and arc cutting piece on every independent chain link, both firm and not influence the motion.

Preferably, the elastic cutting assembly comprises a spring piece base and an arc-shaped cutting piece, wherein the spring piece base is provided with a spring piece fixing part, the spring piece base is fixedly connected to the side face of the transmission chain through the spring piece fixing part, the spring piece base is also provided with a spring piece movable part, the spring piece movable part is folded towards the spring piece fixing part when receiving high pressure, and the included angle between the cutting edge part of the cutting piece and the moving direction can be reduced, so that the cutting is changed into a saw, and the cutting is completed in a flexible rigid manner through multiple sawing manners; the damage probability of arc cutting piece has been reduced to above-mentioned process on the one hand, and on the other hand then increases the success rate and the stability of cuting the branch, arc cutting piece rigid coupling is on shell fragment movable part, the outside of arc cutting piece is equipped with cutting piece cutting edge, arc cutting piece is equipped with the cutting piece sawtooth at cutting piece cutting edge on the arc array.

Further, the flat-top grass storage assembly comprises a T-shaped top shell and a symmetrical driving assembly, wherein the T-shaped top shell is fixedly connected to the tail end of the mechanical arm body, top shell wing parts are symmetrically arranged on the T-shaped top shell, top shell tail holes are formed in the top shell wing parts of the T-shaped top shell, a top shell discharging door capable of being opened is arranged on the back of the T-shaped top shell, and the symmetrical driving assembly is fixedly connected to two sides of the T-shaped top shell.

Preferably, the symmetrical driving assembly comprises a side baffle cover and a driving motor, wherein the side baffle cover is fixedly connected to the wing part of the top shell, a baffle cover guide vane with a shape corresponding to the inner wall of the T-shaped top shell is arranged on the inner side of the side baffle cover, the baffle cover guide vane is attached to the inner side of the side wall of the T-shaped top shell, a baffle cover round hole is formed in the side baffle cover, the driving motor is fixedly connected to the side baffle cover, and an output shaft of the driving motor is positioned in the baffle cover round hole and the tail hole of the top shell.

Further, the swing type side trimming assembly comprises a single-notch side shell, a top supporting bearing and a bottom driven supporting assembly, wherein a side shell wing part is arranged on the single-notch side shell, a side shell tail hole round table is arranged on the back of the side shell wing part of the single-notch side shell, the top supporting bearing is clamped in the side shell tail hole round table, an output shaft of the driving motor is clamped in the top supporting bearing, and a side shell discharging door is arranged on the back of the single-notch side shell.

Preferably, the bottom driven support assembly comprises a bottom blocking cover and a bottom driven rotating shaft, the bottom blocking cover is fixedly connected to the bottom of the single-notch side surface shell, a blocking cover straight guide vane and a blocking cover annular round table are arranged on the bottom blocking cover, the bottom driven rotating shaft is fixedly connected in the blocking cover annular round table, when an arc-shaped cutting piece in the swinging side surface trimming assembly is subjected to resistance of branches in the moving process, transmission of a transmission chain is necessarily blocked, and in a state that the transmission chain cannot or is difficult to transmit, the swinging side surface trimming assembly and the elastic sawtooth-shaped chain cutting assembly in the swinging side surface trimming assembly are converted into a whole body to rotate around an output shaft of the driving motor until a limit position defined by the automatic limiting mechanism of the swinging side wall is reached.

Further, the automatic swing side wall limiting mechanism comprises a swing limiting assembly and a hinged connecting rod assembly, the swing limiting assembly is arranged on the flat-top grass storage assembly and the swing type side surface trimming assembly, and the hinged connecting rod assembly is arranged between the single-notch side surface shells.

Preferably, the swing limiting assembly comprises a labyrinth type multistage limiting block and a side wall swing driving frame, the labyrinth type multistage limiting block is fixedly connected to the upper portion of the T-shaped top shell, transverse labyrinth sliding grooves are formed in the labyrinth type multistage limiting block in an array mode, limiting positions of sliding pin shafts can be limited by the transverse labyrinth sliding grooves arranged in an array mode, when the sliding pin shafts slide in different transverse labyrinth sliding grooves, limiting swing positions which can be reached by the side wall swing driving frame are different, limiting swing angles of the swing type side face trimming assembly are different, an L-shaped sliding groove is formed in the upper portion of the transverse labyrinth type multistage limiting block, a vertical adjusting groove used for connecting the L-shaped sliding groove is further formed in the labyrinth type multistage limiting block, the side wall swing driving frame is fixedly connected to the single-notch side face shell, and a bracket top round hole is formed in the top of the side wall swing driving frame.

As a further preferable mode of the invention, the hinged connecting rod assembly comprises a hinged connecting rod body, a hinged pin shaft and a sliding pin shaft, wherein two ends of the hinged connecting rod body are fixedly connected with the sliding pin shaft and the hinged pin shaft respectively, the hinged pin shaft is rotatably arranged in a round hole at the top of the bracket, and the sliding pin shaft is slidably arranged in the transverse labyrinth chute.

Preferably, the elastic serrated chain cutting assembly is located in the flat-top grass storage assembly and the swinging side surface trimming assembly respectively, the elastic serrated chain cutting assembly located in the flat-top grass storage assembly is arranged on an output shaft of the driving motor through a driving sprocket in a clamping mode, the elastic serrated chain cutting assembly located in the flat-top grass storage assembly is arranged on the output shaft of the driving motor through a driven sprocket in a rotating mode, the elastic serrated chain cutting assembly located in the swinging side surface trimming assembly is arranged on the output shaft of the driving motor through a driving sprocket in a clamping mode, the elastic serrated chain cutting assembly located in the swinging side surface trimming assembly is arranged on a bottom driven rotating shaft through a driven sprocket in a rotating mode, and output rotating directions of the symmetrically arranged driving motors are opposite, so that the driving chains can move along the working direction of the cutting blade.

The beneficial effects obtained by the invention by adopting the structure are as follows:

(1) The pruning angle of the side face of the shrub can be changed through the relative rotation of the swinging side face pruning assembly and the flat-top grass storage assembly, so that different pruning work requirements are met;

(2) The elastic sawtooth type chain cutting assembly capable of rotating at a high speed can cut branches and leaves of shrubs, when the branches difficult to cut are faced, the branches are automatically converted into sawing, and pruning is completed in a circular cutting mode;

(3) The limiting rotation angle of the swinging type side face trimming assembly can be set and limited through the automatic limiting mechanism of the swinging side wall, so that the swinging type side face trimming assembly naturally sags (is convenient to take place and separate) in a stop state, and automatically tilts inwards in a working state (ensures that the trimmed shrubs are big up and small down);

(4) Although the whole transmission chain is flexible, the transmission chain has the characteristic of partial rigidity, so that the elastic sheet type base and the arc-shaped cutting sheet can be fixedly connected to each independent chain link, thereby being firm and not influencing the movement;

(5) When receiving large pressure, the elastic sheet movable part is folded towards the elastic sheet fixed part, so that the included angle between the cutting blade part and the moving direction can be reduced, the cutting is changed into sawing, and the cutting is completed in a soft and rigid mode through multiple times of sawing;

(6) The process reduces the damage probability of the arc-shaped cutting piece on one hand, and increases the success rate and stability of cutting branches on the other hand;

(7) When the arc-shaped cutting piece in the swinging type side trimming assembly is subjected to the resistance of branches in the movement process, the transmission of the transmission chain is inevitably blocked, and in the state that the transmission chain cannot or is difficult to transmit, the swinging type side trimming assembly and the elastic sawtooth-type chain cutting assembly in the swinging type side trimming assembly are converted into a whole to rotate around the output shaft of the driving motor until the limit position defined by the swinging side wall automatic limiting mechanism is reached;

(8) The limit positions of the sliding pin shafts can be limited by the transverse labyrinth sliding grooves arranged in the array, when the sliding pin shafts slide in different transverse labyrinth sliding grooves, the limit swinging positions which can be reached by the side wall swinging driving frame are different, and the limit swinging angles of the swinging type side face trimming assembly are also different.

Drawings

Fig. 1 is a perspective view of a garden shrub pruning and treating robot provided by the invention;

fig. 2 is a front view of a garden shrub pruning robot according to the present invention;

FIG. 3 is a cross-sectional view taken along section line A-A of FIG. 2;

FIG. 4 is a cross-sectional view taken along section line B-B in FIG. 3;

FIG. 5 is a cross-sectional view taken along section line C-C in FIG. 2;

FIG. 6 is a cross-sectional view taken along section line D-D in FIG. 3;

FIG. 7 is a schematic view of the combined construction of an elastic serrated chain cutting assembly and a flat top grass storage assembly;

FIG. 8 is a schematic view of the combined structure of an elastic serrated chain cutting assembly and a rocking side trimming assembly;

fig. 9 is a schematic structural view of an automatic swing sidewall limiting mechanism of a garden shrub pruning and treating robot according to the present invention;

FIG. 10 is an enlarged view of a portion of the portion I of FIG. 3;

FIG. 11 is an enlarged view of a portion of the portion II of FIG. 6;

FIG. 12 is an enlarged view of a portion of III in FIG. 5;

fig. 13 is an enlarged view of a portion at iv in fig. 4.

Wherein, 1, elasticity sawtooth type chain cutting assembly, 2, flat top grass storage assembly, 3, rocking type side trimming assembly, 4, rocking side wall automatic stop mechanism, 5, the arm body, 6, chain drive assembly, 7, elasticity cutting assembly, 8, driving sprocket, 9, driven sprocket, 10, drive chain, 11, shell fragment base, 12, arc cutting piece, 13, shell fragment fixed part, 14, shell fragment movable part, 15, cutting piece blade part, 16, cutting piece sawtooth, 17, T-shaped top casing, 18, symmetrical driving assembly, 19, top casing wing part, 20, top casing tail hole, 21, top casing discharge door, 22, side blocking cover, 23, driving motor, 24, blocking cover guide piece, 25, blocking cover round hole, 26, single notch side casing, 27, top support bearing, 28, bottom driven support assembly, 29, side casing wing part, 30, side casing tail hole, 31, side casing discharge door, 32, bottom blocking cover, 33, bottom driven assembly, 34, blocking cover straight guide piece, 35, blocking cover round hole, 35, annular blocking cover round hole, 36, hinge bracket, 37, round pin, hinge bracket, round pin, 43, horizontal hinge bracket, 44, horizontal hinge bracket, 43, horizontal hinge bracket, 44, hinge bracket, horizontal hinge bracket, side bracket, and pin, 43.

The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention; all other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate orientation or positional relationships based on those shown in the drawings, merely to facilitate description of the invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.

As shown in fig. 1-13, the invention provides a garden shrub pruning robot, which comprises an elastic sawtooth type chain cutting assembly 1, a flat-top grass storage assembly 2, a swinging type side face pruning assembly 3, a swinging type side wall automatic limiting mechanism 4 and a mechanical arm body 5, wherein the flat-top grass storage assembly 2 is arranged at the tail end of the mechanical arm body 5, the swinging type side face pruning assembly 3 is rotationally arranged at two sides of the flat-top grass storage assembly 2, and the pruning angles of shrub side faces can be changed through relative rotation of the swinging type side face pruning assembly 3 and the flat-top grass storage assembly 2, so that different pruning work requirements are met, the elastic sawtooth type chain cutting assembly 1 is rotationally arranged in the flat-top grass storage assembly 2 and the swinging type side face pruning assembly 3, the cutting of shrub branches and leaves can be realized through the elastic sawtooth type chain cutting assembly 1 which rotates at a high speed, when the branches which are difficult to cut are automatically converted into sawing cuts in a circulating cutting mode, the swinging type side wall automatic limiting mechanism 4 is arranged at the top of the flat-top grass storage assembly 2 and the swinging type side face pruning assembly 3, the side face pruning can be automatically carried out through the swinging type side face automatic limiting mechanism 4, the side face pruning angle of the flat-top grass storage assembly 3 can be set to be inclined in a small position under the state (the shrub pruning state is convenient to be in a small in place) and the state when the shrub pruning is in a small position and inclined down state.

The flat-top grass storage component 2 comprises a T-shaped top shell 17 and a symmetrical driving component 18, wherein the T-shaped top shell 17 is fixedly connected to the tail end of the mechanical arm body 5, top shell wing parts 19 are symmetrically arranged on the T-shaped top shell 17, top shell tail holes 20 are formed in the top shell wing parts 19 of the T-shaped top shell 17, an openable top shell discharging door 21 is arranged on the back of the T-shaped top shell 17, and the symmetrical driving component 18 is fixedly connected to two sides of the T-shaped top shell 17.

The symmetrical driving assembly 18 comprises a side baffle cover 22 and a driving motor 23, wherein the side baffle cover 22 is fixedly connected to the wing part 19 of the top shell, a baffle cover guide vane 24 with a shape corresponding to the inner wall of the T-shaped top shell 17 is arranged on the inner side of the side baffle cover 22, the baffle cover guide vane 24 is attached to the inner side of the side wall of the T-shaped top shell 17, a baffle cover round hole 25 is formed in the side baffle cover 22, the driving motor 23 is fixedly connected to the side baffle cover 22, and an output shaft of the driving motor 23 is positioned in the baffle cover round hole 25 and the tail hole 20 of the top shell.

The swinging type side trimming assembly 3 comprises a single-notch side shell 26, a top supporting bearing 27 and a bottom driven supporting assembly 28, wherein a side shell wing part 29 is arranged on the single-notch side shell 26, a side shell tail hole round table 30 is arranged on the back of the side shell wing part 29 of the single-notch side shell 26, the top supporting bearing 27 is clamped in the side shell tail hole round table 30, an output shaft of the driving motor 23 is clamped in the top supporting bearing 27, and a side shell discharging door 31 is arranged on the back of the single-notch side shell 26.

The bottom driven support assembly 28 comprises a bottom baffle cover 32 and a bottom driven rotating shaft 33, the bottom baffle cover 32 is fixedly connected to the bottom of the single-notch side surface shell 26, a baffle cover straight guide vane 34 and a baffle cover annular round table 35 are arranged on the bottom baffle cover 32, the bottom driven rotating shaft 33 is fixedly connected in the baffle cover annular round table 35, when the arc-shaped cutting piece 12 in the swinging type side surface trimming assembly 3 receives resistance of branches in the moving process, the transmission of the transmission chain 10 can be blocked necessarily, and in the state that the transmission chain 10 cannot or is difficult to transmit, the swinging type side surface trimming assembly 3 and the elastic sawtooth-shaped chain cutting assembly 1 in the swinging type side surface trimming assembly 3 can be converted into a whole body to rotate around the output shaft of the driving motor 23 until the limit position defined by the swinging type side wall automatic limiting mechanism 4 is reached.

The elastic serrated chain cutting assembly 1 comprises a chain transmission assembly 6 and an elastic cutting assembly 7, wherein the chain transmission assembly 6 is rotationally arranged in the flat-top grass storage assembly 2 and the swinging type side trimming assembly 3, the chain transmission assembly 6 comprises a driving chain wheel 8, a driven chain wheel 9 and a transmission chain 10, the transmission chain 10 is simultaneously meshed and connected with the driving chain wheel 8 and the driven chain wheel 9 in a transmission manner, the driving chain wheel 8 is connected with the outside in a fixedly connected manner, the driven chain wheel 9 is connected with the outside in a rotationally contacted manner, and the transmission chain 10 is wholly flexible but has a locally rigid transmission characteristic, so that the elastic sheet type base 11 and the arc cutting sheet 12 can be fixedly connected on each independent chain link, and the movement is not influenced.

The elastic cutting assembly 7 comprises an elastic sheet type base 11 and an arc-shaped cutting sheet 12, wherein an elastic sheet fixing part 13 is arranged on the elastic sheet type base 11, the elastic sheet type base 11 is fixedly connected to the side face of the transmission chain 10 through the elastic sheet fixing part 13, an elastic sheet movable part 14 is also arranged on the elastic sheet type base 11, the elastic sheet movable part 14 is folded towards the elastic sheet fixing part 13 when receiving high pressure, and the included angle between the cutting edge part 15 and the moving direction can be reduced, so that cutting is changed into sawing, and cutting is completed in a flexible rigid mode through multiple sawing modes; the above-mentioned process has reduced the damage probability of arc cutting piece 12 on the one hand, and on the other hand then increases the success rate and the stability of cutting the branch, and arc cutting piece 12 rigid coupling is on shell fragment movable part 14, and the outside of arc cutting piece 12 is equipped with cutting piece cutting part 15, and arc cutting piece 12 is equipped with cutting piece sawtooth 16 on cutting piece cutting part 15 arc array.

The swing side wall automatic limiting mechanism 4 comprises a swing limiting assembly 36 and a hinged connecting rod assembly 37, the swing limiting assembly 36 is arranged on the flat-top grass storage assembly 2 and the swing side trimming assembly 3, and the hinged connecting rod assembly 37 is arranged between the single-notch side shells 26.

The swing limiting assembly 36 comprises a labyrinth type multistage limiting block 38 and a side wall swing driving frame 39, the labyrinth type multistage limiting block 38 is fixedly connected above the T-shaped top shell 17, transverse labyrinth sliding grooves 43 are formed in the labyrinth type multistage limiting block 38 in an array mode, the transverse labyrinth sliding grooves 43 arranged in an array mode can limit the limit positions of sliding pins 42, when the sliding pins 42 slide in different transverse labyrinth sliding grooves 43, the limit swing positions which can be reached by the side wall swing driving frame 39 are different, the limit swing angles of the swing type side face trimming assembly 3 are different, an L-shaped sliding groove 44 is formed in the upper portion of the transverse labyrinth type multistage limiting block 38, a vertical adjusting groove 45 used for being connected with the L-shaped sliding groove 44 is further formed in the labyrinth type multistage limiting block 38, the side wall swing driving frame 39 is fixedly connected to the single-notch side face shell 26, and a bracket top round hole 46 is formed in the top of the side wall swing driving frame 39.

The hinge connecting rod assembly 37 comprises a hinge connecting rod body 40, a hinge pin 41 and a sliding pin 42, wherein two ends of the hinge connecting rod body 40 are fixedly connected with the sliding pin 42 and the hinge pin 41 respectively, the hinge pin 41 is rotatably arranged in a circular hole 46 at the top of the bracket, and the sliding pin 42 is slidably arranged in a transverse labyrinth chute 43.

The elastic serrated chain cutting assembly 1 is respectively located in the flat-top grass storage assembly 2 and the swinging type side trimming assembly 3, the elastic serrated chain cutting assembly 1 located in the flat-top grass storage assembly 2 is clamped on the output shaft of the driving motor 23 through the driving sprocket 8, the elastic serrated chain cutting assembly 1 located in the flat-top grass storage assembly 2 is rotationally arranged on the output shaft of the driving motor 23 through the driven sprocket 9, the elastic serrated chain cutting assembly 1 located in the swinging type side trimming assembly 3 is clamped on the output shaft of the driving motor 23 through the driving sprocket 8, the elastic serrated chain cutting assembly 1 located in the swinging type side trimming assembly 3 is rotationally arranged on the bottom driven rotating shaft 33 through the driven sprocket 9, and the output rotating directions of the symmetrically arranged driving motors 23 are opposite, so that the transmission chain 10 can move along the working direction of the cutting blade edge 15.

When the flat-top grass storage module is specifically used, firstly, a user needs to manually slide the sliding pin shaft 42 into the corresponding transverse labyrinth chute 43 through the L-shaped chute 44 according to a set side trimming inclination angle, and then conveys the flat-top grass storage module 2 to a starting position from above through the mechanical arm body 5;

then, the driving motors 23 are started, the two groups of driving motors 23 rotate at the same time and in the same speed in opposite directions, the elastic serrated chain cutting assembly 1 positioned in the flat-top grass storage assembly 2 moves through the rotation movement of one group of driving motors 23 with the driving sprocket 8, the output shaft of the other group of driving motors 23 serves as a rotation supporting shaft of the driven sprocket 9, and the driving chain 10 moves with the elastic cutting assembly 7, so that branches and leaves of shrubs are cut and trimmed;

in the trimming process, a certain included angle exists between the cutting blade edge part 15 and the moving direction, and the fine branches and leaves are cut off directly through the cutting blade edge part 15;

when the shrub with thick or hard texture is encountered, the cutting blade edge part 15 cannot cut off once, at this time, the movable part 14 of the shrapnel can fold towards the fixed part 13 of the shrapnel under the action of the extrusion force of the branches, the included angle between the cutting blade edge part 15 and the moving direction becomes smaller in the process, at this time, the sawing of the branches is completed through the cutting blade saw teeth 16, and because the elastic deformation of the shrapnel base 11 can occur, when the arc-shaped cutting blades 12 receive the resistance of the branches, the branches are cut off through the circular sawing of the cutting blade saw teeth 16 of the plurality of groups of arc-shaped cutting blades 12;

the branches automatically enter the T-shaped top shell 17 for temporary storage after being cut off;

the working principle of the elastic serrated chain cutting assembly 1 positioned in the swinging type side trimming assembly 3 is the same as that of the elastic serrated chain cutting assembly 1 positioned in the flat-top grass storage assembly 2, but is different from the fixed structure of the flat-top grass storage assembly 2, when the elastic serrated chain cutting assembly 1 positioned in the swinging type side trimming assembly 3 is blocked by branches, the elastic serrated chain cutting assembly 1 and the swinging type side trimming assembly 3 can swing as a whole around the output shaft of the driving motor 23 in the same direction as the rotation direction of the output shaft until the swinging type side trimming assembly 3 swings to the limit position defined by the swinging side wall automatic limiting mechanism 4 because the transmission process of the transmission chain 10 is blocked;

fragments cut by the elastic serrated chain cutting assembly 1 in the swing type side trimming assembly 3 can also fall directly into the single-notch side housing 26 for temporary storage; when cleaning is needed, the top shell discharging door 21 and the side shell discharging door 31 are opened respectively after stopping;

when the driving motor 23 is powered off after trimming is finished, the driving motor 23 losing power can not provide the force for tilting the swing type side trimming assembly 3 any more, and at the moment, the swing type side trimming assembly 3 naturally sags, and the shrubs which are trimmed can not be damaged when the mechanical arm body 5 is lifted upwards.

The whole working flow of the invention is just the above, and the step is repeated when the invention is used next time.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

The invention and its embodiments have been described above with no limitation, and the actual construction is not limited to the embodiments of the invention as shown in the drawings. In summary, if one of ordinary skill in the art is informed by this disclosure, a structural manner and an embodiment similar to the technical solution should not be creatively devised without departing from the gist of the present invention.

Claims (5)

1. The utility model provides a gardens bush pruning reason robot, includes arm body (5), its characterized in that: the automatic side wall limiting mechanism (4) is arranged at the top of the flat-top grass storage component (2) and the top of the swing side wall trimming component (3); the elastic serrated chain cutting assembly (1) comprises a chain transmission assembly (6) and an elastic cutting assembly (7), the chain transmission assembly (6) is rotationally arranged in the flat-top grass storage assembly (2) and the swinging type side surface trimming assembly (3), the chain transmission assembly (6) comprises a driving sprocket (8), a driven sprocket (9) and a transmission chain (10), the transmission chain (10) is simultaneously meshed and connected with the driving sprocket (8) and the driven sprocket (9) in a transmission manner, the driving sprocket (8) is connected with the outside in a fixedly connected manner, and the driven sprocket (9) is connected with the outside in a rotationally contacted manner;

the elastic cutting assembly (7) comprises an elastic sheet type base (11) and an arc-shaped cutting sheet (12), wherein an elastic sheet fixing part (13) is arranged on the elastic sheet type base (11), the elastic sheet type base (11) is fixedly connected to the side face of a transmission chain (10) through the elastic sheet fixing part (13), an elastic sheet movable part (14) is further arranged on the elastic sheet type base (11), the arc-shaped cutting sheet (12) is fixedly connected to the elastic sheet movable part (14), a cutting sheet edge part (15) is arranged on the outer side of the arc-shaped cutting sheet (12), and cutting sheet saw teeth (16) are arranged on the arc-shaped cutting sheet edge part (15) in an arc array mode;

the flat-top grass storage assembly (2) comprises a T-shaped top shell (17) and a symmetrical driving assembly (18), and the symmetrical driving assembly (18) comprises a driving motor (23);

the swinging type side trimming assembly (3) comprises a single-notch side shell (26), a top supporting bearing (27) and a bottom driven supporting assembly (28), wherein a side shell wing part (29) is arranged on the single-notch side shell (26), a side shell tail hole round table (30) is arranged on the back of the side shell wing part (29) of the single-notch side shell (26), the top supporting bearing (27) is clamped in the side shell tail hole round table (30), an output shaft of the driving motor (23) is clamped in the top supporting bearing (27), and a side shell discharging door (31) is arranged on the back of the single-notch side shell (26);

the automatic swing side wall limiting mechanism (4) comprises a swing limiting assembly (36) and a hinged connecting rod assembly (37), wherein the swing limiting assembly (36) is arranged on the flat-top grass storage assembly (2) and the swing side surface trimming assembly (3), and the hinged connecting rod assembly (37) is arranged between the single-notch side surface shells (26);

the swinging limiting assembly (36) comprises a labyrinth multi-stage limiting block (38) and a side wall swinging driving frame (39), the labyrinth multi-stage limiting block (38) is fixedly connected to the upper portion of the flat-top grass storage assembly (2), transverse labyrinth sliding grooves (43) are formed in an array mode on the labyrinth multi-stage limiting block (38), L-shaped sliding grooves (44) are formed in the upper portion of the transverse labyrinth sliding grooves (43) of the labyrinth multi-stage limiting block (38), vertical adjusting grooves (45) used for connecting the L-shaped sliding grooves (44) are further formed in the labyrinth multi-stage limiting block (38), the side wall swinging driving frame (39) is fixedly connected to the single-notch side face shell (26), and support top round holes (46) are formed in the top of the side wall swinging driving frame (39);

the hinge connecting rod assembly (37) comprises a hinge connecting rod body (40), a hinge pin shaft (41) and a sliding pin shaft (42), wherein two ends of the hinge connecting rod body (40) are fixedly connected with the sliding pin shaft (42) and the hinge pin shaft (41) respectively, the hinge pin shaft (41) is rotationally arranged in a round hole (46) at the top of the support, and the sliding pin shaft (42) is slidingly arranged in a transverse labyrinth chute (43).

2. A garden brush pruning and management robot according to claim 1, wherein: t font top casing (17) rigid coupling is in the end of arm body (5), symmetry is equipped with top casing wing portion (19) on T font top casing (17), be equipped with top casing tail-hole (20) on top casing wing portion (19) T font top casing (17), the back of T font top casing (17) is equipped with top casing discharge door (21) that can open, symmetry drive assembly (18) rigid coupling is in the both sides of T font top casing (17).

3. A garden brush pruning and management robot according to claim 2, wherein: the symmetrical driving assembly (18) further comprises a side baffle cover (22), the side baffle cover (22) is fixedly connected to the top shell wing part (19), a baffle cover guide vane (24) with the shape corresponding to the inner wall of the T-shaped top shell (17) is arranged on the inner side of the side baffle cover (22), the baffle cover guide vane (24) is attached to the inner side of the side wall of the T-shaped top shell (17), a baffle cover round hole (25) is formed in the side baffle cover (22), a driving motor (23) is fixedly connected to the side baffle cover (22), and an output shaft of the driving motor (23) is located in the baffle cover round hole (25) and the top shell tail hole (20).

4. A garden brush pruning and management robot according to claim 3, wherein: the bottom driven support assembly (28) comprises a bottom baffle cover (32) and a bottom driven rotating shaft (33), the bottom baffle cover (32) is fixedly connected to the bottom of the single-notch side surface shell (26), a baffle cover straight guide vane (34) and a baffle cover annular round table (35) are arranged on the bottom baffle cover (32), and the bottom driven rotating shaft (33) is fixedly connected in the baffle cover annular round table (35).

5. A garden brush pruning and management robot as defined in claim 4, wherein: the utility model provides a cutting blade, including flat top grass storage subassembly (2) and formula of swaing side trimming subassembly (3), elastic zigzag formula chain cutting subassembly (1) that is arranged in flat top grass storage subassembly (2) is located on the output shaft of driving motor (23) through driving sprocket (8) block, elastic zigzag formula chain cutting subassembly (1) that is arranged in flat top grass storage subassembly (2) is located on the output shaft of driving motor (23) through driven sprocket (9) rotation, elastic zigzag formula chain cutting subassembly (1) that is arranged in swaing side trimming subassembly (3) is located on the output shaft of driving motor (23) through driving sprocket (8) block, elastic zigzag formula chain cutting subassembly (1) that is arranged in swaing side trimming subassembly (3) is located on bottom driven shaft (33) through driven sprocket (9) rotation, the output rotation direction of driving motor (23) of symmetry setting is opposite for driving chain (10) homoenergetic along the direction of operation of cutting blade portion (15).

Images