CN209882618U - Barrier system is kept away to vehicular header - Google Patents

Barrier system is kept away to vehicular header Download PDF

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Publication number
CN209882618U
CN209882618U CN201920474923.9U CN201920474923U CN209882618U CN 209882618 U CN209882618 U CN 209882618U CN 201920474923 U CN201920474923 U CN 201920474923U CN 209882618 U CN209882618 U CN 209882618U
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China
Prior art keywords
header
obstacle avoidance
vehicle
obstacle
driving
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CN201920474923.9U
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Chinese (zh)
Inventor
张荣兴
张德晖
奉万鑫
刘江
黄逸平
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Fujian Agriculture and Forestry University
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Fujian Agriculture and Forestry University
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Priority to CN201920474923.9U priority Critical patent/CN209882618U/en
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Abstract

The utility model provides a vehicle-mounted header obstacle avoidance system, the header is arranged at a horizontal turntable of a vehicle-mounted platform and carries out trimming operation in the advancing direction of the vehicle-mounted platform by a trimming cutter which extends out of the vehicle-mounted platform, and the obstacle avoidance system comprises an obstacle avoidance driving mechanism, a collision sensor and an obstacle avoidance controller; the obstacle avoidance driving mechanism is arranged at the turntable and can drive the turntable to rotate; the collision sensor comprises a detection rod arranged in front of the cutting edge of the trimming cutter and an obstacle avoidance trigger switch connected with the detection rod; the obstacle avoidance trigger switch is connected with the obstacle avoidance controller; the obstacle avoidance controller is connected with the obstacle avoidance driving mechanism; when an obstacle in front of the cutting edge of the pruning tool collides with the detection rod and triggers the obstacle avoidance trigger switch, the obstacle avoidance controller controls the obstacle avoidance driving mechanism to drive the header to rotate towards the direction of the vehicle-mounted platform so as to avoid the obstacle; the utility model discloses can rely on-vehicle platform to carry out the hedgerow pruning operation, can dodge the barrier automatically moreover.

Description

Barrier system is kept away to vehicular header
Technical Field
The utility model belongs to the technical field of horticulture equipment technique and specifically relates to a barrier system is kept away to vehicular header.
Background
At present, the pruning mode of the central green belt of the expressway in China basically adopts the traditional manual pruning as the main mode and the hand-held hedge pruning machine as the auxiliary mode, and the waste is manually and subsequently cleared. Firstly, the manual trimming has high labor intensity and is easy to cause safety accidents, and the labor cost is too high. The hand-held hedge trimmer overcomes some defects of manual trimming, the working efficiency is improved, but trimmed waste materials are easy to generate potential safety hazards to passing vehicles, and if the hedge trimmer is installed on a vehicle-mounted platform, how to deal with obstacles in a hedge roadway is also a problem needing to be researched.
Disclosure of Invention
The utility model provides a barrier system is kept away to vehicular header can rely on vehicle-mounted platform to carry out the hedgerow and prune the operation, can dodge the barrier automatically moreover.
The utility model adopts the following technical scheme.
The vehicle-mounted header obstacle avoidance system is characterized in that a header is arranged at a horizontal rotary table of a vehicle-mounted platform and carries out trimming operation in the advancing direction of the vehicle-mounted platform by a trimming cutter which extends out of the vehicle-mounted platform, and the obstacle avoidance system comprises an obstacle avoidance driving mechanism, a collision sensor and an obstacle avoidance controller; the obstacle avoidance driving mechanism is arranged at the turntable and can drive the turntable to rotate; the collision sensor comprises a detection rod arranged in front of the cutting edge of the pruning cutter and an obstacle avoidance trigger switch (12) connected with the detection rod; the obstacle avoidance trigger switch is connected with the obstacle avoidance controller; the obstacle avoidance controller is connected with the obstacle avoidance driving mechanism; when an obstacle in front of the cutting edge of the pruning tool collides with the detection rod and triggers the obstacle avoidance trigger switch, the obstacle avoidance controller controls the obstacle avoidance driving mechanism to drive the header to rotate towards the direction of the vehicle-mounted platform so as to avoid the obstacle.
When the obstacle avoidance action enables the obstacle not to press the detection rod any more, the obstacle avoidance trigger switch resets, and the obstacle avoidance controller controls the obstacle avoidance driving mechanism to drive the header to rotate back to the original trimming operation position to continue trimming operation.
The detection rod is an angle-shaped detection rod; the detection rod is arranged on the periphery side of the trimming cutter in a semi-surrounding manner.
The cutting table is hinged to a cutting table hinging point (6) of a cutting table mounting cross beam (5) at the turntable; the obstacle avoidance driving mechanism comprises a hydraulic pump station (24) and an obstacle avoidance hydraulic cylinder (23) which is connected with the hydraulic pump station and is arranged at the position of the header mounting cross beam; a hydraulic driving rod of the obstacle avoidance hydraulic cylinder is connected with the header; and the obstacle avoidance controller controls the obstacle avoidance hydraulic cylinder through a two-position three-way electromagnetic directional valve so as to control the obstacle avoidance driving mechanism.
The pruning cutter is driven by a hydraulic motor (10) through a gear box (19); the hydraulic motor is fixed at a header vertical beam (9) and a header cross beam (14) of the header; the trimming cutter comprises a horizontal cutter (18) and a vertical cutter (20); the horizontal cutters are fixed at the position of the header crossbeam and are parallel to the header crossbeam, and the vertical cutters are fixed at the position of the vertical beam of the header and are parallel to the vertical beam of the header.
The header crossbeam and the header vertical beam are vertically crossed and fixed to form a right-angle knife rest; the right-angle knife rest is hinged to a knife rest hinged point (8) of a header installation cross beam (5) at the turntable; the header mounting cross beam is hinged to a top hinged point (3) of a header mounting upright post (2) at the turntable; and a height hydraulic cylinder (4) is arranged at the header mounting upright post to support the header mounting cross beam so as to adjust the height of the right-angle knife rest.
The vehicular header is the header that is used for pruning the hedgerow.
The utility model discloses owing to possess automatic obstacle-avoiding function, consequently can eliminate the potential safety hazard of hedgerow pruning process effectively, improve pruning quality and efficiency, reduced staff's intensity of labour moreover simultaneously.
Drawings
The invention will be described in further detail with reference to the following drawings and detailed description:
figure 1 is a schematic view of the vehicle-mounted header of the present invention;
figure 2 is a schematic side view of the vehicle-mounted header of the present invention;
fig. 3 is a schematic front view of the vehicle-mounted header of the present invention;
fig. 4 is a schematic top view of the vehicle-mounted header of the present invention;
fig. 5 is a schematic elevation view of the header;
fig. 6 is a side schematic view of the header;
fig. 7 is a schematic top view of the header;
fig. 8 is a schematic diagram of an obstacle avoidance system;
fig. 9 is a schematic diagram of an obstacle avoidance process of the obstacle avoidance system;
in the figure: 1-a vehicle-mounted platform; 2, mounting an upright post on the header; 3-top hinge point; 4-height hydraulic cylinder; 5, mounting a cross beam on the header; 6-the hinge point of the header; 7-leveling hydraulic cylinder; 8-tool holder hinge point; 9-vertical beam of the header; 10-a hydraulic motor; 12-obstacle avoidance trigger switch; 13-an angle sensor; 14-header beam; 15-air supply pipe; 16-a cutting table; 17-air guiding opening; 18-horizontal knife; 19-a gearbox; 20-vertical cutters; 21-a collecting device; 22-branch and leaf recovery pipeline; 23-obstacle avoidance hydraulic cylinders; 24-a hydraulic pump station; 25-ground margin; 26-a latch; 27-a turntable; 28-a collection box; 30-a fan; 31-an air intake duct; 32-a base; 33-a collection plate; 34-hedgerow; 100-probe rod.
Detailed Description
As shown in fig. 1-9, the vehicle-mounted header obstacle avoidance system is provided, the header is arranged at a horizontal turntable 27 of a vehicle-mounted platform 1 and performs trimming operation in the traveling direction of the vehicle-mounted platform by using a trimming cutter which extends out of the vehicle-mounted platform, and the obstacle avoidance system comprises an obstacle avoidance driving mechanism, a collision sensor and an obstacle avoidance controller; the obstacle avoidance driving mechanism is arranged at the turntable and can drive the turntable to rotate; the collision sensor comprises a detection rod 100 arranged in front of the cutting edge of the trimming cutter and an obstacle avoidance trigger switch 12 connected with the detection rod; the obstacle avoidance trigger switch is connected with the obstacle avoidance controller; the obstacle avoidance controller is connected with the obstacle avoidance driving mechanism; when an obstacle in front of the cutting edge of the pruning tool collides with the detection rod and triggers the obstacle avoidance trigger switch, the obstacle avoidance controller controls the obstacle avoidance driving mechanism to drive the header to rotate towards the direction of the vehicle-mounted platform so as to avoid the obstacle.
When the obstacle avoidance action enables the obstacle not to press the detection rod any more, the obstacle avoidance trigger switch resets, and the obstacle avoidance controller controls the obstacle avoidance driving mechanism to drive the header to rotate back to the original trimming operation position to continue trimming operation.
The detection rod 100 is an angled detection rod; the detection rod is arranged on the periphery side of the trimming cutter in a semi-surrounding manner.
The cutting table is hinged at a cutting table hinging point 6 of a cutting table mounting cross beam 5 at the turntable; the obstacle avoidance driving mechanism comprises a hydraulic pump station 24 and an obstacle avoidance hydraulic cylinder 23 connected with the hydraulic pump station and arranged at the position of the header mounting cross beam; a hydraulic driving rod of the obstacle avoidance hydraulic cylinder is connected with the header; and the obstacle avoidance controller controls the obstacle avoidance hydraulic cylinder through a two-position three-way electromagnetic directional valve so as to control the obstacle avoidance driving mechanism.
The trimming cutter is driven by a hydraulic motor 10 through a gear box 19; the hydraulic motor is fixed at a header vertical beam 9 and a header cross beam 14 of the header; the trimming cutter comprises a horizontal cutter 18 and a vertical cutter 20; the horizontal cutters are fixed at the position of the header crossbeam and are parallel to the header crossbeam, and the vertical cutters are fixed at the position of the vertical beam of the header and are parallel to the vertical beam of the header.
The header crossbeam and the header vertical beam are vertically crossed and fixed to form a right-angle knife rest; the right-angle knife rest is hinged at a knife rest hinged point 8 of the header mounting cross beam 5 at the turntable; the header mounting cross beam is hinged to a hinge point 3 at the top of the header mounting upright post 2 at the turntable; and a height hydraulic cylinder 4 is arranged at the header mounting upright post to support the header mounting cross beam so as to adjust the height of the right-angle knife rest.
The vehicle-mounted header is a header for trimming hedges 34.
Example (b):
the pruning vehicle is used for bearing the header, when hedge pruning operation is started, the rotary table is rotated to enable the header to reach an operation position, then the height of the right-angle tool rest is adjusted according to the expected hedge pruning height, the cutting edge of the horizontal tool is enabled to be parallel to the horizontal pruning surface of the hedge to be pruned, the pruning tool can be started to prune, and the hedge in the advancing direction can be pruned by the pruning tool along with the advancing of the pruning vehicle.
When an obstacle in front of the cutting edge of a trimming cutter collides with the detection rod to form pressure on the obstacle avoidance trigger switch and trigger the obstacle avoidance trigger switch in the process of advancing the trimming vehicle and trimming the hedgerow, the obstacle avoidance controller controls the obstacle avoidance driving mechanism to drive the header to rotate towards the direction of the vehicle-mounted platform so as to avoid the obstacle; after the obstacle is bypassed, the obstacle does not press the detection rod any more, the obstacle avoidance trigger switch resets, and the obstacle avoidance controller controls the obstacle avoidance driving mechanism to drive the header to rotate to the original trimming operation position to continue hedge trimming.
In this example, the hydraulic motor 10 is fixed to the hydraulic motor mount 11 and is powered by the generator set 29.

Claims (7)

1. The utility model provides an obstacle system is kept away to vehicular header, the level that vehicle platform was located to vehicle platform carries out the pruning operation, its characterized in that to carousel department and in the vehicle platform advancing direction with the pruning cutter who explores vehicle platform: the obstacle avoidance system comprises an obstacle avoidance driving mechanism, a collision sensor and an obstacle avoidance controller; the obstacle avoidance driving mechanism is arranged at the turntable and can drive the turntable to rotate; the collision sensor comprises a detection rod arranged in front of the cutting edge of the pruning cutter and an obstacle avoidance trigger switch (12) connected with the detection rod; the obstacle avoidance trigger switch is connected with the obstacle avoidance controller; the obstacle avoidance controller is connected with the obstacle avoidance driving mechanism; when an obstacle in front of the cutting edge of the pruning tool collides with the detection rod and triggers the obstacle avoidance trigger switch, the obstacle avoidance controller controls the obstacle avoidance driving mechanism to drive the header to rotate towards the direction of the vehicle-mounted platform so as to avoid the obstacle.
2. The vehicle-mounted header obstacle avoidance system of claim 1, characterized in that: when the obstacle avoidance action enables the obstacle not to press the detection rod any more, the obstacle avoidance trigger switch resets, and the obstacle avoidance controller controls the obstacle avoidance driving mechanism to drive the header to rotate back to the original trimming operation position to continue trimming operation.
3. The vehicle-mounted header obstacle avoidance system of claim 1, characterized in that: the detection rod is an angle-shaped detection rod; the detection rod is arranged on the periphery side of the trimming cutter in a semi-surrounding manner.
4. The vehicle-mounted header obstacle avoidance system of claim 1, characterized in that: the cutting table is hinged to a cutting table hinging point (6) of a cutting table mounting cross beam (5) at the turntable; the obstacle avoidance driving mechanism comprises a hydraulic pump station (24) and an obstacle avoidance hydraulic cylinder (23) which is connected with the hydraulic pump station and is arranged at the position of the header mounting cross beam; a hydraulic driving rod of the obstacle avoidance hydraulic cylinder is connected with the header; and the obstacle avoidance controller controls the obstacle avoidance hydraulic cylinder through a two-position three-way electromagnetic directional valve so as to control the obstacle avoidance driving mechanism.
5. The vehicle-mounted header obstacle avoidance system of claim 1, characterized in that: the pruning cutter is driven by a hydraulic motor (10) through a gear box (19); the hydraulic motor is fixed at a header vertical beam (9) and a header cross beam (14) of the header; the trimming cutter comprises a horizontal cutter (18) and a vertical cutter (20); the horizontal cutters are fixed at the position of the header crossbeam and are parallel to the header crossbeam, and the vertical cutters are fixed at the position of the vertical beam of the header and are parallel to the vertical beam of the header.
6. The vehicle-mounted header obstacle avoidance system of claim 5, characterized in that: the header crossbeam and the header vertical beam are vertically crossed and fixed to form a right-angle knife rest; the right-angle knife rest is hinged to a knife rest hinged point (8) of a header installation cross beam (5) at the turntable; the header mounting cross beam is hinged to a top hinged point (3) of a header mounting upright post (2) at the turntable; and a height hydraulic cylinder (4) is arranged at the header mounting upright post to support the header mounting cross beam so as to adjust the height of the right-angle knife rest.
7. The vehicle-mounted header obstacle avoidance system of claim 6, characterized in that: the vehicular header is the header that is used for pruning the hedgerow.
CN201920474923.9U 2019-04-10 2019-04-10 Barrier system is kept away to vehicular header Active CN209882618U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201920474923.9U CN209882618U (en) 2019-04-10 2019-04-10 Barrier system is kept away to vehicular header

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201920474923.9U CN209882618U (en) 2019-04-10 2019-04-10 Barrier system is kept away to vehicular header

Publications (1)

Publication Number Publication Date
CN209882618U true CN209882618U (en) 2020-01-03

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ID=69018715

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201920474923.9U Active CN209882618U (en) 2019-04-10 2019-04-10 Barrier system is kept away to vehicular header

Country Status (1)

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CN (1) CN209882618U (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111557177A (en) * 2020-05-15 2020-08-21 北京林业大学 Obstacle detection method suitable for intelligent under-forest shrub cutting device
CN111567253A (en) * 2020-05-15 2020-08-25 北京林业大学 Intelligence under forest bush cuts off device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111557177A (en) * 2020-05-15 2020-08-21 北京林业大学 Obstacle detection method suitable for intelligent under-forest shrub cutting device
CN111567253A (en) * 2020-05-15 2020-08-25 北京林业大学 Intelligence under forest bush cuts off device

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