CN208675852U - Pruning car and its clipping device - Google Patents
Pruning car and its clipping device Download PDFInfo
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- CN208675852U CN208675852U CN201821179609.XU CN201821179609U CN208675852U CN 208675852 U CN208675852 U CN 208675852U CN 201821179609 U CN201821179609 U CN 201821179609U CN 208675852 U CN208675852 U CN 208675852U
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- mechanical arm
- rack
- clipping device
- driving motor
- installation axle
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Abstract
The utility model discloses a kind of pruning car and its clipping devices.Clipping device includes hydraulic manipulator, five axis robots and pruning mechanism.Hydraulic manipulator is set on car body.Five axis robots are set in hydraulic manipulator, and the telescopic moving of hydraulic manipulator can adjust the position of five axis robots.Pruning mechanism includes rack, driving motor and cutter.Rack is set in five axis robots, and driving motor is set in rack, and cutter is removably set on driving motor.The movement of five axis robots is able to drive cutter movement, and driving motor drives tool motion, to trim to object.The shape that trimming is completed is guaranteed that the kinematic accuracy of five axis robots is higher by the motion profile of five axis robots, therefore trimming quality is higher, and shape regularity, aesthetics are preferable.Also, pruning car can be trimmed to obtain the shapes such as spherical, cone, cylindrical, plane or inclined-plane, and it is wider to try out range.
Description
Technical field
The utility model relates to branch pruning technical fields, and in particular to a kind of pruning car and its clipping device.
Background technique
Currently, whole to the trimming of green plants on Urban Parks, road green belt, the moulding of landscape nursery stock and highway
Shape mainly relies on the operation experience of worker and uses various hedgeclippers.Wherein, using more generally hand-held or
Person's backpack trimmer, such machinery weight is heavier, and operator is constantly in prudent state when operation, especially trimming low level or
When high-order hedgerow, operator must also bend over or lift trimmer progress, large labor intensity, and trimmer work when machine
The vibration of generation and noise are also larger, and long-time operation is not conducive to good health.Also, operator leans on completely during trimming
Experience is trimmed, and is trimmed second-rate.
Also accordingly occur some full-automatic trimmers on the market, which can be realized road green belt, Landscape
A variety of model forms trimming of trees is seen, trimming process is automatically performed, and the degree of automation is higher, can reduce hedgerow pruning
Labor intensity, improve working efficiency.But these trimmers are during trimming, that trims out second-rate, Bu Nengman
Sufficient customer demand.
Utility model content
Based on this, it is necessary to which it is inconvenient to adjust for traditional trimmer, trims second-rate problem, provides one kind and repair
Cut vehicle and its clipping device.
A kind of clipping device, comprising:
Hydraulic manipulator, for being set to car body；
Five axis robots are set in the hydraulic manipulator, and the telescopic moving of the hydraulic manipulator can adjust institute
State the position of five axis robots；And
Pruning mechanism, including rack, driving motor and cutter, the rack is set in five axis robot, described
Driving motor is set in the rack, and the cutter is removably set on the driving motor, five axis robot
Movement be able to drive that the cutter is mobile, and the driving motor drives the tool motion, to trim to object.
The hydraulic manipulator includes pedestal, first mechanical arm, second mechanical arm, third in one of the embodiments,
Mechanical arm, the first telescopic cylinder, the second telescopic cylinder and third telescopic cylinder, the pedestal are used to be set to the car body,
The first mechanical arm is hinged with the pedestal, the both ends of first telescopic cylinder respectively with the pedestal and described first
Mechanical arm is hinged, and the second mechanical arm is hinged with the first mechanical arm, the both ends of second telescopic cylinder respectively with
The first mechanical arm and second mechanical arm are hinged, and the third mechanical arm is hinged with the second mechanical arm, the third
The both ends of telescopic cylinder are hinged with the second mechanical arm and the third mechanical arm respectively, and five axis robot is set to
On the third mechanical arm.
Five axis robot includes mounting base, rotating seat, swing arm, installation axle and connection in one of the embodiments,
Axis, the mounting base are set in the hydraulic manipulator, and the rotating seat is rotatablely arranged in the mounting base, described
Rotating seat is equipped with the first servo hydraulic cylinder, and to drive the rotating seat to rotate, the swing arm and the rotating seat are rotatablely connected,
The installation axle and the swing arm are rotatablely connected, and the connecting shaft and the installation axle are rotatablely connected, the rotating seat, the pendulum
It is equipped with the second servo hydraulic cylinder in arm and the installation axle, to respectively drive the swing arm, the installation axle and the connection
Axis rotary oscillation, the rack are set in the connecting shaft.
Five axis robot further includes mounting rack in one of the embodiments, and the mounting rack is set to the peace
It fills on axis, the connecting shaft is rotatablely arranged on the mounting rack by shaft, is set to described in the installation axle
Second servo hydraulic cylinder is set in the mounting rack, and second servo hydraulic cylinder passes through transmission component and the shaft phase
Connection.
The transmission component includes driving wheel, driven wheel and belt, the driving wheel installation in one of the embodiments,
In on second servo hydraulic cylinder, the driven wheel is sheathed in the shaft, the belt by the driving wheel with it is described
Driven wheel is connected.
Be arranged with torque spring in the shaft in one of the embodiments, the both ends of the torque spring respectively with
The connecting shaft and the mounting rack are connected.
The side and bottom surface of the rack are provided with the driving motor, the cutter in one of the embodiments,
It could alternatively be mounted on two driving motors.
A kind of pruning car, comprising:
Car body；And
Clipping device as described in above-mentioned any one.
It in one of the embodiments, further include suction unit, the suction unit is set in the hydraulic manipulator,
The suction unit is for aspirating the branch and leaf collected and trimmed.
Above-mentioned pruning car and its clipping device, when trimming the objects such as road green belt, landscape nursery stock, first by pruning car
It is moved to the suitable position of object, manipulates hydraulic manipulator, the end of hydraulic manipulator is made to reach vertex or specified point.Five
Axis robot adjusts the position of cutter, makes cutter close to object.Driving motor drives tool motion, and five axis robots are according to setting
Fixed track band cutter is mobile, to trim to object, to trim out the shape of customer demand.Pruning car trimming
Process is automatically performed, and the shape for trimming completion is guaranteed by the motion profile of five axis robots, the kinematic accuracy of five axis robots
It is higher, therefore trimming quality is higher, shape regularity, aesthetics are preferable.Also, pruning car can be trimmed to obtain spherical, circular cone
It is wider to try out range for the shapes such as shape, cylinder, plane or inclined-plane.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of pruning car in an embodiment；
Fig. 2 is the partial structural diagram of pruning car shown in Fig. 1；
Fig. 3 is the structural schematic diagram of five axis robots in Fig. 2；
Fig. 4 gets rid of the structural schematic diagram of side wall for the mounting rack in five axis robots.
Specific embodiment
To keep the above objects, features, and advantages of the utility model more obvious and easy to understand, with reference to the accompanying drawing to this
The specific embodiment of utility model is described in detail.Many details are explained in the following description in order to abundant
Understand the utility model.But the utility model can be implemented with being much different from other way described herein, this field
Technical staff can do similar improvement without prejudice to the utility model connotation, therefore utility model is not by described below
Specific implementation limitation.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement for illustrative purposes only, are not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used herein are led with the technology for belonging to the utility model
The normally understood meaning of the technical staff in domain is identical.Terminology used in the description of the utility model herein only be
The purpose of description specific embodiment, it is not intended that in limitation the utility model.
Referring to Fig. 1, the pruning car 10 in an embodiment, including car body 100 and clipping device 200, clipping device 200
It is set on car body 100, for clipping device 200 for trimming the objects such as road green belt, landscape nursery stock, trimming process is automatically complete
At trimming quality is higher.
Referring to Figure 2 together, specifically, car body 100 can according to need the lorry of selection dimension.Clipping device
200 include hydraulic manipulator 210, five axis robots 220 and pruning mechanism 230.Hydraulic manipulator 210 is for being set to car body
On 100.In one embodiment, hydraulic manipulator 210 includes pedestal 212, first mechanical arm 214, second mechanical arm 216, third
Mechanical arm 218, the first telescopic cylinder (not shown), the second telescopic cylinder (not shown) and third telescopic cylinder (not shown).
Pedestal 212 is for being set to car body 100.First mechanical arm 214 is hinged with pedestal 212.First telescopic cylinder
Both ends be hinged respectively with pedestal 212 and first mechanical arm 214, the flexible of the first telescopic cylinder can drive first mechanical arm
214 rotate relative to pedestal 212.Second mechanical arm 216 is hinged with first mechanical arm 214, the both ends difference of the second telescopic cylinder
It is hinged with first mechanical arm 214 and second mechanical arm 216.The flexible of second telescopic cylinder can drive second mechanical arm 216
The relative rotation between first mechanical arm 214.Third mechanical arm 218 is hinged with second mechanical arm 216, third telescopic cylinder
Both ends are hinged with second mechanical arm 216 and third mechanical arm 218 respectively, and the flexible of third telescopic cylinder can drive third machine
Relative rotation between tool arm 218 and second mechanical arm 216.In one embodiment, first mechanical arm 214, second mechanical arm 216 and
Third mechanical arm 218 is I-steel, and the weight of hydraulic manipulator 210 can be reduced in the case where guaranteeing enough intensity.
Also referring to Fig. 3, five axis robots 220 are set in hydraulic manipulator 210.Specifically, five axis robot 220
It is set on third mechanical arm 218.In one embodiment, five axis robots 220 include mounting base 221, rotating seat 222, swing arm
223, installation axle 224 and connecting shaft 225.Mounting base 221 is set in hydraulic manipulator 210.Specifically, mounting base 221 is arranged
In on third mechanical arm 218.Rotating seat 222 is rotatablely arranged in mounting base 221.In one embodiment, rotating seat 222 is logical
Pivoting support is crossed to be rotatablely arranged in mounting base 221.Rotating seat 222 is equipped with the first servo hydraulic cylinder 226, the first servo
Hydraulic cylinder 226 is for driving rotating seat 222 to rotate relative to mounting base 221.
One end of swing arm 223 and rotating seat 222 are rotatablely connected, and rotating seat 222 is equipped with the second servo hydraulic cylinder 227, the
Two servo hydraulic cylinders 227 are for driving 223 relative rotation seat of swing arm, 222 rotary oscillation.Installation axle 224 is set to swing arm 223
The other end, 224 opposed swing arms 223 of installation axle can be rotated.The other end of swing arm 223 is equipped with the second servo hydraulic cylinder 227, and second watches
Hydraulic cylinder 227 is taken for driving 224 opposed swing arms of installation axle, 223 rotary oscillation.Connecting shaft 225 and installation axle 224 are rotatablely connected,
Installation axle 224 is equipped with the second servo hydraulic cylinder 227, and the second servo hydraulic cylinder 227 is for being drivingly connected axis 225 with respect to installation axle
224 rotary oscillations.In one embodiment, the first servo hydraulic cylinder 226 and the second servo hydraulic cylinder 227 are rotating hydraulic cylinder.
Referring to Figure 4 together, in an embodiment, five axis robots 220 further include mounting rack 228, and mounting rack 228 passes through
The fasteners such as screw are set in installation axle 224.Connecting shaft 225 is rotatablely arranged on mounting rack 228 by shaft 229.
The second servo hydraulic cylinder 227 being set in installation axle 224 is set in mounting rack 228, to avoid the second servo hydraulic cylinder 227
Interfere trimming work.Also, the second servo hydraulic cylinder 227 is connected by transmission component 240 with shaft 229, so that second watches
It takes hydraulic cylinder 227 and 225 rotary oscillation of axis is drivingly connected by transmission component 240.Specifically, transmission component 240 includes driving wheel
242, driven wheel 244 and belt 246.Driving wheel 242 is installed on the second servo hydraulic cylinder 227, and driven wheel 244 is sheathed on shaft
On 229, belt 246 is sheathed on driving wheel 242 and driven wheel 244, and driving wheel 242 is connected with driven wheel 244.Shaft
Torque spring (not shown) is arranged on 229, the both ends of torque spring are connected with connecting shaft 225 and mounting rack 228 respectively.It turns round
Power spring can be after pruning mechanism 230 avoids fixed obstacle, and Rapid reset guarantees the pruning efficiency.
Pruning mechanism 230 includes rack 232, driving motor 234 and cutter 236.Rack 232 is set to five axis robots
On 220.Specifically, rack 232 is set in connecting shaft 225.Driving motor 234 is set in rack 232.Cutter 236 can be more
It is set to changing on driving motor 234, so that user, which can according to need, replaces different cutters 236.In one embodiment, machine
The adjacent two sides of frame 232 are provided with driving motor 234, and cutter 236 could alternatively be mounted on two driving motors 234.Two
A driving motor 234 is located at the side and bottom of rack 232, so that pruning car 10 can according to need trimming object
Top and side.Driving motor 234 can drive cutter 236 to move, and trim to realize to object.Specifically, knife
Tool 236 can drive 236 rotary trimmer object of cutter, be also possible to drive 236 bilateral reciprocation of cutter trimming object.
Referring to Fig. 1 and Fig. 2, in an embodiment, pruning car 10 further includes suction unit 300, suction unit 300
It is set in hydraulic manipulator 210.Specifically, suction unit 300 is set on the third mechanical arm 218 of hydraulic manipulator 210.
The branch trimmed, leaf etc. can be directly transported to collecting box by suction unit 300, avoid the sweeper after trimming
Make, efficiency is higher.
The course of work of above-mentioned pruning car 10 specifically:
When pruning car 10 trims the objects such as road green belt, landscape nursery stock, pruning car 10 is moved to object first
Suitable position.Then hydraulic manipulator 210 is manipulated, keeps hydraulic manipulator 210 flexible and bending, by hydraulic manipulator 210
End reaches vertex or specified point.
Then five axis robots 220 are manipulated, five axis robots 220 adjust the position of cutter 236, make cutter 236 close to mesh
Mark object.Controlling driving motor 234 drives cutter 236 to move, and five axis robots 220 are moved according to the track band cutter 236 of setting
It is dynamic, to be trimmed to object.The branch cultivated and leaf etc. are delivered to collecting box by suction unit 300.
Above-mentioned pruning car 10 and its clipping device 200,10 trimming process of pruning car are automatically performed, and trim the process of object
In, the shape for trimming completion is guaranteed by the motion profile of five axis robots 220, rather than the movement of pruning car 10 or hydraulic
The movement of mechanical arm 210 guarantees that the kinematic accuracy of five axis robots 220 is higher, therefore trims that quality is higher, and shape is neatly beautiful
It sees.Pruning car 10 can be trimmed to obtain spherical, cylindrical, cone, plane or inclined-plane etc., and it is wider to try out range.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But it cannot be understood as the limitations to utility model patent range.It should be pointed out that for the common skill of this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The protection scope of the utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.
Claims (9)
1. a kind of clipping device characterized by comprising
Hydraulic manipulator, for being set to car body；
Five axis robots are set in the hydraulic manipulator, and the telescopic moving of the hydraulic manipulator can adjust described five
The position of axis robot；And
Pruning mechanism, including rack, driving motor and cutter, the rack are set in five axis robot, the driving
Motor is set in the rack, and the cutter is removably set on the driving motor, the fortune of five axis robot
Dynamic to be able to drive the cutter movement, the driving motor drives the tool motion, to trim to object.
2. clipping device according to claim 1, which is characterized in that the hydraulic manipulator includes pedestal, the first machinery
Arm, second mechanical arm, third mechanical arm, the first telescopic cylinder, the second telescopic cylinder and third telescopic cylinder, the pedestal are used for
Be set on the car body, the first mechanical arm is hinged with the pedestal, the both ends of first telescopic cylinder respectively with
The pedestal and the first mechanical arm are hinged, and the second mechanical arm is hinged with the first mechanical arm, and described second stretches
The both ends of contracting cylinder are hinged with the first mechanical arm and second mechanical arm respectively, the third mechanical arm and second machinery
Arm is hinged, and the both ends of the third telescopic cylinder are hinged with the second mechanical arm and the third mechanical arm respectively, institute
Five axis robots are stated to be set on the third mechanical arm.
3. clipping device according to claim 1, which is characterized in that five axis robot include mounting base, rotating seat,
Swing arm, installation axle and connecting shaft, the mounting base are set in the hydraulic manipulator, and the rotating seat is rotatablely arranged at
In the mounting base, the rotating seat is equipped with the first servo hydraulic cylinder, to drive the rotating seat to rotate, the swing arm and institute
Rotating seat rotation connection is stated, the installation axle and the swing arm are rotatablely connected, and the connecting shaft and the installation axle are rotatablely connected,
It is equipped with the second servo hydraulic cylinder in the rotating seat, the swing arm and the installation axle, to respectively drive the swing arm, described
Installation axle and the connecting shaft rotary oscillation, the rack are set in the connecting shaft.
4. clipping device according to claim 3, which is characterized in that five axis robot further includes mounting rack, described
Mounting rack is set in the installation axle, and the connecting shaft is rotatablely arranged on the mounting rack by shaft, is set to
Second servo hydraulic cylinder in the installation axle is set in the mounting rack, and second servo hydraulic cylinder passes through biography
Dynamic component is connected with the shaft.
5. clipping device according to claim 4, which is characterized in that the transmission component include driving wheel, driven wheel and
Belt, the driving wheel are installed on second servo hydraulic cylinder, and the driven wheel is sheathed in the shaft, the belt
The driving wheel is connected with the driven wheel.
6. clipping device according to claim 4, which is characterized in that be arranged with torque spring, the torsion in the shaft
The both ends of power spring are connected with the connecting shaft and the mounting rack respectively.
7. clipping device according to claim 1, which is characterized in that the side and bottom surface of the rack are provided with described
Driving motor, the cutter could alternatively be mounted on two driving motors.
8. a kind of pruning car characterized by comprising
Car body；And
Clipping device as described in claim 1~7 any one.
9. pruning car according to claim 8, which is characterized in that further include suction unit, the suction unit is set to
In the hydraulic manipulator, the suction unit is for aspirating the branch and leaf collected and trimmed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821179609.XU CN208675852U (en) | 2018-07-24 | 2018-07-24 | Pruning car and its clipping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821179609.XU CN208675852U (en) | 2018-07-24 | 2018-07-24 | Pruning car and its clipping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208675852U true CN208675852U (en) | 2019-04-02 |
Family
ID=65882144
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821179609.XU Active CN208675852U (en) | 2018-07-24 | 2018-07-24 | Pruning car and its clipping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208675852U (en) |
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2018
- 2018-07-24 CN CN201821179609.XU patent/CN208675852U/en active Active
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