CN206547406U - Snakelike hedge trimming equipment - Google Patents
Snakelike hedge trimming equipment Download PDFInfo
- Publication number
- CN206547406U CN206547406U CN201720242746.2U CN201720242746U CN206547406U CN 206547406 U CN206547406 U CN 206547406U CN 201720242746 U CN201720242746 U CN 201720242746U CN 206547406 U CN206547406 U CN 206547406U
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- Prior art keywords
- snake
- trimming
- snakelike
- hinge
- pruning mechanism
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Abstract
The utility model discloses a kind of snakelike hedge trimming equipment, including moveable car body, for the bionical snake pruning mechanism trimmed to hedgerow and it is arranged at the mechanical arm that the car body is used to drive raw snake pruning mechanism movement；The bionical snake pruning mechanism is set up in parallel including multiple and is hinged to form chain structure snake body successively；Trimming tool is equipped with each snake body, the rotational drive motor for being used for driving two snake bodies to relatively rotate is provided between snake body described in adjacent two, the present apparatus can realize the trimming to hedgerow various shapes, various working, trimming scope is big, trimming stability and reliability relatively strong, automaticity is higher, trimming continuity more preferably and during trimming around hindering the functional unmanned work that will realize hedge trimming.
Description
Technical field
The utility model is related to trimming mechanical arm field, specially a kind of snakelike hedge trimming equipment.
Background technology
With the raising that people's greening and environmental protection is realized, hedgerow everywhere may be used in Greening Urban Road and highway
See, as the one important part in city and highway.It is mainly used in beautifying the environment, green planted city, reduction noise, steady
Determine the structure of roadbed, purify air, conserve water and soil, check winds and fix drifting sand.It can also separate the vehicle of road both sides, prevent car in addition
The dazzle caused when going in the same direction at night with the accident of causing a traffic accident, reduce two cars close to when produced fear to improve
The security of trip.
It is domestic at present that professional sanitationman is mainly carried using the hedgeclipper of hand-held at a high speed by small-sized pick up
The hedgerow of highway central partition is trimmed.There is inefficiency in this trim mode, trimming overlong time, noise be too big,
Labor strength is excessive, energy utilization rate is low, and exhaust pollution environment, the safety of workman can not ensure, can not ensure trimming
Stability and accuracy；In addition also there are a small number of on-vehicle hedge clipping machines to develop, but its technology is also immature, in firm
Starting stage, still suffer from that heavy simple in construction, equipment, performance and reliability are low, function is single, operating space is little, trimmed
In journey around the problems such as barrier ability is poor, trimming is discontinuous, automaticity is relatively low.
Therefore, be solve problem above, it is necessary to which a kind of snakelike hedge trimming equipment, the device can be realized a variety of to hedgerow
The trimming of shape, various working, trimming scope is big, trim stability and reliability relatively by force, automaticity is higher, trimming company
Continuous property more preferably and during trimming around hindering the functional unmanned work that will realize hedge trimming.
Utility model content
In view of this, the purpose of this utility model is that the defect for overcoming prior art can be realized to hedgerow there is provided one kind
The trimming of various shapes, various working, trimming scope is big, trimming stability and reliability relatively strong, automaticity are higher, trim
Continuity more preferably and during trimming around the snakelike hedgerow for hindering the functional unmanned work that will realize hedge trimming
Clipping device.
Snakelike hedge trimming equipment disclosed in the utility model, including moveable car body, for being trimmed to hedgerow
Bionical snake pruning mechanism and be arranged at the mechanical arm that the car body is used to drive the movement of raw snake pruning mechanism；The bionical snake
Pruning mechanism is set up in parallel including multiple and is hinged to form chain structure snake body successively；Pruning shear is equipped with each snake body
The rotational drive motor for being used for driving two snake bodies to relatively rotate is provided between tool, snake body described in adjacent two；
Further, the mechanical arm includes shoulder, arm, ancon and bracket；The shoulder is described including being fixed on
The bracket of car body, the connecting rod for being articulated with by the first hinge bracket, the quarter butt of the connecting rod is articulated with by the second hinge, is passed through
3rd hinge be articulated with the quarter butt joint block, for drive the connecting rod relative to carriage turns the first motor, be used for
Drive the quarter butt relative to the second motor of link rotatable and for drive that the joint block rotates relative to quarter butt
Three motors；First hinge, the second hinge and the mutual spatial vertical of the 3rd hinge are set；The arm is fixed on joint block,
The snake body of the bionical snake pruning mechanism most minor details is articulated with wrist, the ancon front end be articulated with the arm and wrist it
Between；
Further, the ancon includes the preceding elbow and rear elbow being longitudinally rotatably connected along mechanical arm and described for driving
Preceding elbow is relative to the ancon motor that rear elbow is rotated；The wrist is articulated with preceding elbow, and the arm is articulated with rear elbow；
Further, the car body is provided with and the one-to-one cutter drive motor of the snake body, each cutter drives electricity
Machine drives the trimming tool to rotate by a Universal flexible shaft；
Further, two hinge vertical interlaceds between each snake body and the snake body of its both sides are set；
Further, the trimming tool includes discoid cutter hub and along the circumferentially distributed sawtooth of cutter hub；
Further, the snake body is rectangular block architecture, is installed integrally formed with being used for of being parallel to each other on the end face of snake body
Two otic placodes of hinge；
Snakelike hedge trimming equipment of the present utility model, in addition to control system；The control system includes：Angle sensor
Device, one-to-one corresponding is arranged on the machine shaft in the mechanical arm and bionical snake pruning mechanism；Range sensor, is arranged at car
Side side, the distance for measuring car body and isolation strip；Vision sensor, is arranged at car body rear and front end, for measuring trimming
During each Obstacle Position and monitor surrounding environment, controller, for receive the angular transducer, range sensor and
The signal of vision sensor is used for the action for controlling the car body, mechanical arm and bionical snake pruning mechanism.
The beneficial effects of the utility model are：Snakelike hedge trimming equipment of the present utility model, mechanical arm can be according to trimming
It needs to be determined that its free degree and arm exhibition, it is ensured that pruning mechanism, which can be realized to move freely in space, realizes comprehensive trimming, together
When can be trimmed for various hedgerows of different shapes, bionical pruning mechanism includes the snake body of chain structure, whole snake body
It is hinged and is formed by multiple snake bodies, can freely distorted according to actual environment, it has good obstacle detouring, therefore the utility model
Hedgerow band under complex environment can continuously be trimmed, simultaneously for hedgerow band of different shapes, snake body can be deformed in advance
Into the shape that matches with hedgerow band so as to once trimming shaping, in addition, binocular vision sensor on car body is by surrounding environment
Information rapid feedback realizes the real-time control to mechanical arm and pruning mechanism to controller, to ensure the reliability and height of work
Efficiency saves the energy, and the present apparatus is applied to the environmental sanitation greening work of various greenbelts, with huge social and economic benefit.
Brief description of the drawings
The utility model is further described with reference to the accompanying drawings and examples：
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation of shoulder of the present utility model；
Fig. 3 is the axonometric drawing of shoulder of the present utility model；
Fig. 4 is the structural representation of mechanical arm of the present utility model；
Fig. 5 is the structural representation of bionical snake pruning mechanism of the present utility model.
Embodiment
Fig. 1 be structural representation of the present utility model, as illustrated, the snakelike hedge trimming equipment of the present embodiment include can
Mobile car body, for the bionical snake pruning mechanism trimmed to hedgerow and it is arranged at the car body and is used to drive bionical snake
The mechanical arm of pruning mechanism movement；The bionical snake pruning mechanism is set up in parallel including multiple and is hinged to form chain structure successively
Snake body 10；Being equipped with to be provided between trimming tool 8, snake body 10 described in adjacent two in each snake body 10 is used to drive two snake bodies
10 rotational drive motors 9 relatively rotated, the snakelike hedge trimming equipment of the present embodiment, mechanical arm has 7 degree of freedom, protects
Card pruning mechanism 10, which can be realized to move freely in space, realizes comprehensive trimming, while can be directed to various of different shapes
Hedgerow is trimmed, and bionical pruning mechanism 10 includes the snake body of chain structure, and whole snake body is hinged by multiple snake bodies 10 and formed, phase
It is set to relatively rotate and lock the relative position of two snake bodies 10 after rotation by a rotational drive motor 9 between adjacent snake body 10
It is fixed, the hedgerow shape that snake body 10 is trimmed according to actual needs is distorted, it has good obstacle detouring, therefore this reality
Hedgerow band under complex environment can continuously be trimmed with new, simultaneously for hedgerow band of different shapes, snake body can be carried
Preceding distortion forms the shape matched with hedgerow band and is molded so as to once trim, and the environmental sanitation that the present apparatus is applied to various greenbelts is green
Chemical industry is made, with huge social and economic benefit.
In the present embodiment, the mechanical arm includes shoulder 3, arm 4, ancon and bracket；The shoulder 3 includes fixing
It is bracket 22 in the car body (including bearing chassis 14 and vehicle body 2), the connecting rod 21 for being articulated with by the first hinge bracket 22, logical
The second hinge is crossed to be articulated with the quarter butt 20 of the connecting rod 21, the joint block 19 of the quarter butt 20 is articulated with by the 3rd hinge, is used
In the driving connecting rod 21 relative to the first motor that bracket 22 is rotated, for driving the quarter butt 20 to be rotated relative to connecting rod 21
The second motor and for driving the joint block 19 relative to the 3rd motor that quarter butt 20 is rotated；First hinge,
Two hinges and the mutual spatial vertical of the 3rd hinge are set, and the arm 4 is fixed on joint block 19, therefore, whole shoulder 3 equivalent to
One spherical pair, arm 4 can freely be rotated in space by shoulder 3 relative to car body, and the mechanical arm of the present embodiment has
The hinge of three mutual spatial verticals at 7 degree of freedom, shoulder 3 has 3 frees degree, by three motors (the first motor,
Second motor and the 3rd motor) cooperate driving shoulder joint execution, and the elbow joint that the ancon is hinged with arm 4 is set
There is a motor 17, and rotated by the motor direct-drive ancon relative to arm 4, ancon is divided into preceding elbow 6 and rear elbow 5, preceding
Longitudinally it is rotatably connected along mechanical arm between elbow 6 and rear elbow 5, and preceding elbow 6 and relative turn of rear elbow 5 is driven provided with a motor 16
Dynamic, the front end of wrist 7 is hinged with last snake body 10 of snake body, and the rear end of wrist 7 is hinged with preceding elbow 6, and respectively by motor
15 driving wrists 7 are relatively rotated relative to preceding elbow 6 and snake body 10.
In the present embodiment, the car body is provided with and the one-to-one cutter drive motor 13 of the snake body 10, each knife
Tool motor 13 drives the trimming tool 8 to rotate by a Universal flexible shaft 11, and Universal flexible shaft 11 can adapt to mechanical arm
Act and bend, and can still transmit after bending power.
In the present embodiment, two hinge vertical interlaceds between each snake body 10 and the snake body 10 of its both sides are set, this
It is matching that kind arrangement ensures that whole snake body can be bent to form according to the shape of the hedgerow of required trimming in space
Shape.
In the present embodiment, the trimming tool 8 includes discoid cutter hub and along the circumferentially distributed sawtooth of cutter hub, cutter hub
Size and adjacent two cutter hub between spacing can be determined according to the species of the hedgerow of required trimming.
In the present embodiment, the snake body 10 is rectangular block architecture, integrally formed with being parallel to each other on the end face of snake body 10
Two otic placodes for installing hinge, otic placode is provided with pin-and-hole, and insertion bearing pin is realized after the otic placode of adjacent two snake body 10 cooperates
The two is hinged, and trimming tool 8 is arranged on the side of snake body 10, in addition, the size of trimming tool 8 should ensure that snake body bends
After will not interfere, it is ensured that this clipping device work reliability.
Snakelike hedge trimming equipment of the present utility model, in addition to control system；The control system includes：Angle sensor
Device, one-to-one corresponding is arranged on the machine shaft in the mechanical arm and bionical snake pruning mechanism；Motor in the present embodiment is
Servomotor, the corner of each servomotor is gathered so that it is determined that the shape of mechanical arm and pruning mechanism 10 by angular transducer
State；Range sensor 12 is arranged at car body side, the distance for measuring car body and isolation strip, is ensured by range sensor 12
This clipping device keeps appropriate spacing with hedgerow isolation strip all the time during trimming, and vision sensor 1 is arranged at before car body
Afterwards in the vertical rod at two ends, for measuring each Obstacle Position during trimming and monitoring surrounding environment, when vision sensor 1 is examined
When measuring barrier, the parking of control car body or cut-through thing, it is to avoid occur security incident；Controller is used to receive the angle
The signal of degree sensor, range sensor 12 and vision sensor 1 is used to control the car body, mechanical arm and bionical snake trimmer
The action of structure, the signal input part of controller can receive the signal that each sensor is sent by way of wireless telecommunications, and its is defeated
Go out each motor that end signal is connected in mechanical arm and bionical snake pruning mechanism and car body driving wheel, and then control machinery
Arm, the trimming of bionical snake and cartwheel.
Finally illustrate, above example is only unrestricted to illustrate the technical solution of the utility model, although ginseng
The utility model is described in detail according to preferred embodiment, it will be understood by those within the art that, can be to this
The technical scheme of utility model is modified or equivalent substitution, without departing from the objective and model of technical solutions of the utility model
Enclose, it all should cover among right of the present utility model.
Claims (8)
1. a kind of snakelike hedge trimming equipment, it is characterised in that：It is imitative including moveable car body, for what is trimmed to hedgerow
Raw snake pruning mechanism and it is arranged at the mechanical arm that the car body is used to drive the movement of bionical snake pruning mechanism；
The bionical snake pruning mechanism is set up in parallel including multiple and is hinged to form chain structure snake body successively；Each snake body
On be equipped between trimming tool, snake body described in adjacent two be provided be used for drive two snake bodies relatively rotate rotational drive motor.
2. snakelike hedge trimming equipment according to claim 1, it is characterised in that：The mechanical arm include shoulder,
Arm, ancon and bracket；The shoulder includes the company be fixed on the bracket of the car body, bracket is articulated with by the first hinge
Bar, the quarter butt for being articulated with by the second hinge the connecting rod, the joint block of the quarter butt is articulated with, for driving by the 3rd hinge
Move the connecting rod relative to carriage turns the first motor, for drive the quarter butt relative to link rotatable the second motor with
And for driving the joint block relative to the 3rd motor that quarter butt is rotated；First hinge, the second hinge and the 3rd hinge
Mutual spatial vertical is set；The arm is fixed on joint block, and the snake body of the bionical snake pruning mechanism most minor details is articulated with wrist
Portion, the ancon front end is articulated between the arm and wrist.
3. snakelike hedge trimming equipment according to claim 2, it is characterised in that：The ancon is included along mechanical arm longitudinal direction
The preceding elbow and rear elbow that are rotatably connected and for driving the preceding elbow relative to the ancon motor that rear elbow is rotated；The wrist hinge
Preceding elbow is connected to, the arm is articulated with rear elbow.
4. snakelike hedge trimming equipment according to claim 3, it is characterised in that：The car body is provided with and the snake body
One-to-one cutter drive motor, each cutter drive motor drives the trimming tool to rotate by a Universal flexible shaft.
5. snakelike hedge trimming equipment according to claim 4, it is characterised in that：Each snake body and the snake of its both sides
Two hinge vertical interlaceds between body are set.
6. snakelike hedge trimming equipment according to claim 1, it is characterised in that：The trimming tool includes discoid
Cutter hub and along the circumferentially distributed sawtooth of cutter hub.
7. snakelike hedge trimming equipment according to claim 1, it is characterised in that：The snake body is rectangular block architecture, snake
Integrally formed with two otic placodes for being used to install hinge being parallel to each other on the end face of body.
8. snakelike hedge trimming equipment according to claim 1, it is characterised in that：Also include control system；The control
System includes：
Angular transducer, one-to-one corresponding is arranged on the machine shaft in the mechanical arm and bionical snake pruning mechanism；
Range sensor, is arranged at car body side, the distance for measuring car body and isolation strip；
Vision sensor, is arranged at car body rear and front end, for measuring each Obstacle Position during trimming and monitoring surrounding
Environment；
Controller, is used to control the car for receiving the signal of the angular transducer, range sensor and vision sensor
The action of body, mechanical arm and bionical snake pruning mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720242746.2U CN206547406U (en) | 2017-03-10 | 2017-03-10 | Snakelike hedge trimming equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720242746.2U CN206547406U (en) | 2017-03-10 | 2017-03-10 | Snakelike hedge trimming equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206547406U true CN206547406U (en) | 2017-10-13 |
Family
ID=60364564
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720242746.2U Expired - Fee Related CN206547406U (en) | 2017-03-10 | 2017-03-10 | Snakelike hedge trimming equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206547406U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106718168A (en) * | 2017-03-10 | 2017-05-31 | 重庆交通大学 | Bionical snake hedge trimming device |
| CN108113636A (en) * | 2017-12-04 | 2018-06-05 | 楚善斌 | A kind of snakelike arm Multifunction anal colonoscopy system |
| CN108934530A (en) * | 2018-09-28 | 2018-12-07 | 天津尚吉液压设备有限公司 | Flexible hedge trimmer |
| CN109091736A (en) * | 2018-07-27 | 2018-12-28 | 西安交通大学医学院第附属医院 | A kind of intelligent assisted breathing system |
| CN114241047A (en) * | 2021-12-02 | 2022-03-25 | 广西大学 | Binocular vision identification and positioning method for garden hedgerow trimming |
| CN114342681A (en) * | 2021-11-25 | 2022-04-15 | 王婧 | A trimming means for gardens nursery stock |
-
2017
- 2017-03-10 CN CN201720242746.2U patent/CN206547406U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106718168A (en) * | 2017-03-10 | 2017-05-31 | 重庆交通大学 | Bionical snake hedge trimming device |
| CN108113636A (en) * | 2017-12-04 | 2018-06-05 | 楚善斌 | A kind of snakelike arm Multifunction anal colonoscopy system |
| CN109091736A (en) * | 2018-07-27 | 2018-12-28 | 西安交通大学医学院第附属医院 | A kind of intelligent assisted breathing system |
| CN109091736B (en) * | 2018-07-27 | 2020-10-02 | 西安交通大学医学院第一附属医院 | Intelligent auxiliary respiratory system |
| CN108934530A (en) * | 2018-09-28 | 2018-12-07 | 天津尚吉液压设备有限公司 | Flexible hedge trimmer |
| CN114342681A (en) * | 2021-11-25 | 2022-04-15 | 王婧 | A trimming means for gardens nursery stock |
| CN114241047A (en) * | 2021-12-02 | 2022-03-25 | 广西大学 | Binocular vision identification and positioning method for garden hedgerow trimming |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171013 Termination date: 20180310 |