CN210928717U

CN210928717U - Mechanical hand is pruned to trunk collateral branch

Info

Publication number: CN210928717U
Application number: CN201920640428.0U
Authority: CN
Inventors: 张晓飞; 孙宏志; 陈卫江; 王永胜
Original assignee: Zhejiang YAT Electrical Appliance Co Ltd
Current assignee: Zhejiang YAT Electrical Appliance Co Ltd
Priority date: 2019-05-07
Filing date: 2019-05-07
Publication date: 2020-07-07
Anticipated expiration: 2029-05-07

Abstract

The utility model discloses a trunk collateral branch pruning manipulator, including cantilever crane device and trimming means, the cantilever crane device is including the straight arm subassembly of adjusting the support subassembly of vertical elevating height, adjusting horizontal extension length and the crank arm subassembly that is used for dodging the trunk, straight arm subassembly is connected between support subassembly and crank arm subassembly, crank arm subassembly links to each other with trimming means. The utility model discloses a manipulator is adjusted to the side branch position of required pruning to the cantilever crane device, then presss from both sides tightly and cuts the side branch through trimming means, stacks the limit position through trimming means and cantilever crane device combination with the side branch that cuts off from the trunk on at last, and whole process need not manpower cutting and transport, prevents the incident that manpower cutting and transport caused, safe and reliable more.

Description

Mechanical hand is pruned to trunk collateral branch

Technical Field

The utility model belongs to the garden instrument field, concretely relates to trunk collateral branch pruning manipulator.

Background

With the development of urban construction, urban greening has formed a very big industry, and daily maintenance relies on garden instrument to accomplish, regularly prunes the trunk lateral branch of length at present, all climbs to the tree to prune through handheld electric saw of staff carrying the ladder, and the people that not only prune is unsafe, and the pedestrian that passes under from the tree also easily the lateral branch drops suddenly and is injured or the fish tail.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that a trunk side branch pruning manipulator safe in utilization is provided.

In order to solve the technical problem, the utility model adopts the following technical scheme: the utility model provides a trunk collateral branch pruning manipulator, includes cantilever crane device and trimming means, and the cantilever crane device is including adjusting the support subassembly of vertical elevating height, adjusting the straight arm subassembly of horizontal extension length and being used for dodging the bent arm subassembly of trunk, and the straight arm subassembly is connected between support subassembly and bent arm subassembly, and bent arm subassembly links to each other with trimming means.

Furthermore, the crank arm assembly comprises a crank arm and a crank arm rotating mechanism for controlling the crank arm to rotate, and the crank arm rotating mechanism is connected with the straight arm.

Furthermore, crank arm rotation mechanism includes slewing bearing and motor, and slewing bearing includes inner circle and the outer lane of rotation connection, and inner circle fixed connection is on straight arm, and outer lane fixed connection is on crank arm, and the motor links to each other with the outer lane in order to drive the outer lane and rotate.

Furthermore, the outer ring is provided with driving teeth, and the motor drives the outer ring to rotate through a gear meshed with the outer ring.

Furthermore, a reduction gearbox is connected between the gear and the motor.

Further, trimming means includes centre gripping subassembly and cutting assembly, and cutting assembly connects in centre gripping subassembly one side to with the tight side branch of centre gripping subassembly cutting separation with the trunk, the centre gripping subassembly includes the grip slipper, embraces and press from both sides and first linear drive ware, embraces and press from both sides including connecting rod and two jack catchs, two jack catchs pass through the connecting rod interlock, one of them jack catch rotates to be connected on the grip slipper, first linear drive ware links to each other with two jack catchs respectively and presss from both sides tightly or unclamp the side branch with two jack catchs of drive.

Further, the centre gripping subassembly still includes the base of being connected and the second linear drive ware of adjusting the base tilt angle on the base with the grip slipper rotation, and second linear drive ware rotates with base and grip slipper respectively and is connected.

Further, the trimming device also comprises a rotating assembly connected with the base, and the rotating assembly is connected with the crank arm assembly.

Further, first linear actuator and second linear actuator are hydraulic cylinder, and the gyration subassembly is the slewing motor, and the slewing motor supplies oil to first linear actuator or second linear actuator through advancing oil pipe and returning oil pipe.

Further, the cutting assembly comprises a cutting saw and an electric push rod, wherein the cutting saw and the electric push rod are rotatably connected to the clamping seat, and the electric push rod is connected with the cutting saw to push the cutting saw to cut.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model discloses a manipulator is adjusted to the side branch position of required pruning to the cantilever crane device, then presss from both sides tightly and cuts the side branch through trimming means, stacks the limit position through trimming means and cantilever crane device combination with the side branch that cuts off from the trunk on at last, and whole process need not manpower cutting and transport, prevents the incident that manpower cutting and transport caused, safe and reliable more. Make the manipulator need not with the help of other mechanical device who adjusts the direction through pivoted support subassembly, can prune the side branch of the trunk of support subassembly week, the crank arm subassembly makes the manipulator can not take place under the circumstances of the ascending displacement of horizontal direction at the support subassembly, bypasses the trunk through the crank arm, prunes the trunk and keeps away from the side branch of support subassembly one side, improves pruning efficiency, and it is more convenient to use.

Drawings

The invention will be further described with reference to the accompanying drawings and specific embodiments:

FIG. 1 is a schematic view of a trunk side branch trimming robot;

FIG. 2 is a schematic view of a pedestal assembly;

FIG. 3 is a schematic view of a crank arm assembly;

FIG. 4 is a schematic view of a perspective of the trimming device;

FIG. 5 is a schematic view of the trimming device from another perspective;

fig. 6 is an exploded view of the trimming device.

Wherein: 1. a seat assembly; 11. supporting a tube; 12. a lifting rod; 13. a first linear drive mechanism; 14. a support slewing mechanism; 2. a straight arm assembly; 21. an outer tube; 22. a telescopic rod; 23. a second linear drive mechanism; 24. a third linear drive mechanism; 3. a crank arm assembly; 31. a crank arm; 311. a connecting portion; 312. an avoidance part; 32. a crank arm slewing mechanism; 321. a slewing bearing; 3211. an inner ring; 3212. an outer ring; 4. a clamping assembly; 41. a clamping seat; 411. a side plate; 412. a connecting plate; 413. a base plate; 4131. a through hole; 42. clamping; 421. a first jaw; 422. a second jaw; 423. a connecting rod; 424. clamping teeth; 425. clamping a plate; 426. a connecting rod; 427. a rotating shaft; 43. a first linear driver; 44. a base; 45. a second linear driver; 5. a cutting assembly; 51. cutting and sawing; 52. an electric push rod; 6. a swivel assembly; 61. an oil inlet pipe; 62. an oil outlet pipe.

Detailed Description

The utility model provides a trunk collateral branch pruning manipulator, includes cantilever crane device and trimming means, and the cantilever crane device is including adjusting support subassembly 1 of vertical elevating height, adjusting the straight arm subassembly 2 of horizontal extension length and being used for dodging the bent arm subassembly 3 of trunk, and straight arm subassembly 2 is connected between support subassembly 1 and bent arm subassembly 3, and bent arm subassembly 3 links to each other with trimming means. The utility model discloses a manipulator is adjusted to the side branch position of required pruning to the cantilever crane device, then presss from both sides tightly and cuts the side branch through trimming means, stacks the limit position through trimming means and cantilever crane device combination with the side branch that cuts off from the trunk on at last, and whole process need not manpower cutting and transport, prevents the incident that manpower cutting and transport caused, safe and reliable more. Make the manipulator need not with the help of other mechanical device who adjusts the direction through pivoted support subassembly 1, can prune the side branch of the trunk of support subassembly 1 week, crank arm assembly 3 makes the manipulator can not take place under the circumstances of the ascending displacement of horizontal direction at support subassembly 1, bypasses the trunk through crank arm 31, prunes the trunk and keeps away from the side branch of support subassembly 1 one side, improves pruning efficiency, and it is more convenient to use.

The technical solutions of the embodiments of the present invention are explained and explained below with reference to the drawings of the embodiments of the present invention, but the embodiments described below are only preferred embodiments of the present invention, and not all embodiments. Based on the embodiments in the embodiment, other embodiments obtained by those skilled in the art without any creative work belong to the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "a plurality" means two or more unless explicitly defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The first embodiment is as follows:

a trunk side branch pruning manipulator comprises an arm support device and a pruning device, wherein the arm support device comprises a support component 1 for adjusting vertical lifting height, a straight arm component 2 for adjusting horizontal extension length and a bent arm component 3 for avoiding a trunk, one end of the bent arm component 3 is connected to the straight arm component 2, and the other end of the bent arm component is connected with the pruning device.

In this embodiment, the support assembly 1 includes a support tube 11, a lifting rod 12 sleeved in the support tube 11, a first linear driving mechanism 13 and a support swing mechanism 14 capable of rotating, a bottom of the support tube 11 is fixed on the support swing mechanism 14 and can rotate along with the support swing mechanism 14, preferably, a rotation axis of the support swing mechanism 14 coincides with a central axis of the support tube 11, that is, the support swing mechanism 14 can drive the support tube 11 to rotate around a central axis of the support tube 11, the support swing mechanism 14 is stressed more evenly and rotates more stably, the first linear driving mechanism 13 is installed on the support tube 11, an output shaft of the first linear driving mechanism 13 is connected with the lifting rod 12 to drive the lifting rod 12 to lift in the support tube 11, and a height of the boom device in a vertical direction is adjusted.

In the present embodiment, the straight arm assembly 2 includes an outer tube 21, a telescopic rod 22 sleeved inside the outer tube 21, and a second linear driving mechanism 23, the second linear driving mechanism 23 is installed on the outer tube 21, an output shaft of the second linear driving mechanism 23 is connected to the telescopic rod 22, the second linear driving mechanism 23 realizes retraction or extension of the telescopic rod 22 into or out of the outer tube 21 by extension and shortening of the output shaft, so as to adjust the length of the arm support in the horizontal direction; the end of the outer pipe 21 is hinged with the top of the lifting rod 12, a third linear driving mechanism 24 is connected between the outer pipe 21 and the lifting rod 12, a shell and an output shaft of the third linear driving mechanism 24 are respectively hinged with the lifting rod 12 and the outer pipe 21, the extension or retraction of the output shaft of the third linear driving mechanism 24 can drive the straight arm assembly 2 to rotate along the hinged part, the angle between the straight arm assembly 2 and the support assembly 1 is adjusted, the height of the arm frame in the vertical direction can be adjusted while the length of the arm frame in the horizontal direction is adjusted by the straight arm assembly 2, supplementary adjustment is formed on the support assembly 1, and the lateral branch trimming requirement in a higher range can be met by the manipulator.

As shown in fig. 2, in the present embodiment, the crank arm assembly 3 includes a crank arm 31 and a crank arm rotating mechanism 32, the crank arm assembly 3 is connected to the crank arm rotating mechanism 32, the crank arm rotating mechanism 32 drives the crank arm 31 to rotate, and the crank arm assembly 3 enables the manipulator to bypass the trunk through the crank arm 31 without displacement of the support assembly 1 in the horizontal direction, so as to trim the lateral branches of the trunk far from the support assembly 1, thereby improving the trimming efficiency and facilitating the use. The crank arm 31 comprises a connecting part 311 and an arc-shaped avoiding part 312, the avoiding part 312 is connected to the crank arm rotating mechanism 32 through the connecting part 311, and the arc-shaped avoiding part 312 enables the crank arm 31 to have a better avoiding effect on the trunk and can avoid trunks with various thicknesses. As shown in fig. 3, the crank arm rotating mechanism 32 includes a rotating support 321, a gear, a motor and a reduction box, the rotating support 321 includes an inner ring 3211 and an outer ring 3212 which are rotatably connected, the inner ring 3211 and the outer ring 3212 can rotate relatively around a central axis of the rotating support 321, the inner ring 3211 is fixedly connected to an end of the telescopic rod 22 and extends and retracts on the outer tube 21 along with the telescopic rod 22, the outer ring 3212 is fixedly connected to a connecting portion 311 of the crank arm 31 to drive the crank arm 31 to rotate, a driving gear is circumferentially arranged on an outer side wall of the outer ring 3212, the motor is connected to the reduction box, an output shaft of the reduction box is connected to the gear box, and the outer ring 321. An output shaft of the motor rotates to drive the reduction gearbox to work, the reduction gearbox decelerates, then the output shaft of the reduction gearbox drives the gear to rotate, the gear drives the outer ring 3212 to rotate, the outer ring 3212 drives the crank arm 31 to rotate, so that the crank arm 31 can avoid a trunk through rotation and cling to the trunk as much as possible, and a trimming device at the end part of the crank arm 31 can accurately reach the position below a lateral branch to be trimmed; the reducing gear box reduces the speed to the fast speed rotation of the output shaft of motor and becomes the slow speed rotation of gear for crank arm 31 takes place the slow speed rotation under outer lane 3212's drive, prevent crank arm 31 because of rotate too fast and bump with the trunk, and the slow speed rotates and makes crank arm 31's regulation precision higher, the more accurate side branch of treating the pruning of aiming at, the reducing gear box can also not have auto-lock under the condition of auto-lock structure at the motor, make crank arm rotation mechanism 32's use safer.

The first linear driving mechanism 13, the second linear driving mechanism 23 and the third linear driving mechanism 24 in this embodiment are all hydraulic oil cylinders, and as the hydraulic oil cylinders are high-power elements, the hydraulic oil cylinders have the advantages of large output force, stable and reliable performance and long service life, so that the manipulator can stably work for a long time, the working efficiency is improved, and the maintenance and replacement costs are reduced.

When the lateral branches of the trunk facing to one side of the arm support device need to be trimmed, the operation process of the arm support device is as follows:

1. rotating through the support slewing mechanism 14 so that the straight arm assembly 2 and the curved arm assembly 3 rotate to face the trunk;

2. first linear actuating mechanism 13 adjusts straight arm subassembly 2 to suitable height through promoting lifter 12, second linear actuating mechanism 23 adjusts crank arm subassembly 3 to suitable horizontal position through promoting telescopic link 22, make the trimming means who connects on the crank arm subassembly 3 just be located the below of waiting to prune the lateral branch root, if the high first linear actuating mechanism who waits to prune the lateral branch can't reach, then the work of third linear actuating mechanism is in order to adjust the contained angle between straight arm subassembly 2 and the support subassembly 1, form the replenishment in the direction of height, make the application height scope of cantilever crane device wider.

3. The crank arm 31 is rotated by the crank arm rotating mechanism 32, so that the trimming device connected to the crank arm assembly 3 is just above the root of the lateral branch to be trimmed for trimming.

When the lateral branches of the trunk back to one side of the arm support device need to be trimmed, the operation process of the arm support device is as follows:

1. the straight arm assembly 2 and the crank arm assembly 3 are rotated to a direction toward the trunk side by the rotation of the support swing mechanism 14.

2. The crank arm 31 is rotated by the crank arm slewing mechanism 32, so that the crank arm 31 is horizontally placed;

3. the first linear driving mechanism 13 adjusts the straight arm component 2 to a proper height by pushing the lifting rod 12, the second linear driving mechanism 23 adjusts the crank arm component 3 to a proper horizontal position by pushing the telescopic rod 22, if the first linear driving mechanism to be trimmed and cut the lateral branches cannot reach the first linear driving mechanism, the third linear driving mechanism works to adjust an included angle between the straight arm component 2 and the support component 1, supplement is formed in the height direction, the trimming device and the root part of the lateral branches to be trimmed are located on the same horizontal plane, and at the moment, the concave side of the arc-shaped avoiding part 312 faces towards the trunk.

4. The support rotating mechanism 14 rotates until the avoiding portion 312 is tightly attached to the side wall of the trunk, and at this time, the trimming device connected to the crank arm assembly 3 is just below the root of the lateral branch to be trimmed.

5. The crank arm 31 is rotated by the crank arm rotating mechanism 32, so that the trimming device connected to the crank arm assembly 3 is just above the root of the lateral branch to be trimmed for trimming.

The operation process is a conventional operation process of the arm support, is not a unique operation process, and can be repeated or exchanged according to actual conditions so as to more accurately trim the lateral branches.

In this embodiment, the trimming device comprises a clamping assembly 4 and a cutting assembly 5, wherein the cutting assembly 5 is connected to one side of the clamping assembly 4 so as to cut the lateral branches clamped by the clamping assembly 4. The clamping assembly 4 comprises a clamping seat 41, a holding clamp 42 and a first linear driver 43, wherein the clamping seat 41 comprises two oppositely arranged side plates 411, a connecting plate 412 for connecting the two side plates 411 and a bottom plate 413 arranged at the bottom of the side plates 411, and the side plates 411, the connecting plate 412 and the bottom plate 413 form a clamping groove for accommodating the holding clamp 42 and the first linear driver 43; the clasping clamp 42 is partially positioned in the clamping groove, the clasping clamp 42 comprises two clamping jaws which are matched to clamp the side branches, the two clamping jaws are respectively a first clamping jaw 421 and a second clamping jaw 422, the first clamping jaw 421 and the second clamping jaw 422 are respectively connected with the two ends of the connecting rod 423 to be interlocked through the connecting rod 423, one end of the connecting rod 423 is rotatably connected with the end part of the first clamping jaw 421 positioned in the clamping groove, the other end of the connecting rod 423 is rotatably connected with the middle part of the second clamping jaw 422, the middle part of the first clamping jaw 421 is rotatably connected on the side plate 411 of the clamping seat 41, one end of the first clamping jaw 421 positioned in the clamping groove and one end of the second clamping jaw 422 positioned in the clamping groove are respectively connected with the outer shell and, when the output shaft of the first linear driver 43 is elongated, the first jaw 421 and the second jaw 422 are simultaneously rotated, so that the ends of the first jaw 421 and the second jaw 422 outside the clamping groove are relatively close together to simultaneously form a clamp for the side branch. This embodiment links together two jack catchs through connecting rod 423 and realizes the interlock for only can realize opening the card simultaneously and be closed of embracing two jack catchs of clamp 42 through a linear actuator 43, it is effectual to the centre gripping of side branch.

As shown in fig. 4 to 6, the clamping jaws in this embodiment include two clamping plates 425 arranged in parallel and a connecting rod 426 connected between the two clamping plates 425, the connecting rod 426 fixes the two clamping plates 425, the connecting rod 426 may be provided with one or more (including two), it is preferable in this embodiment that the connecting rod 426 is provided with two, the two connecting rods 426 are respectively connected with the ends of the two clamping plates 425 to prevent the ends of the clamping plates 425 from shaking, a rotating shaft 427 penetrates through the middle parts of the two clamping plates 425 to enable the clamping jaws to rotate around the rotating shaft 427, the rotating shaft 427 of the first clamping jaw 421 is connected with the side plate 411, the rotating shaft 427 of the second clamping jaw 422 is connected with the connecting rod 423, and the two clamping plates 425 arranged in parallel can clamp the. At least one of the two claws is provided with a latch 424, the latch 424 is positioned on the clamping plate 425, and when the claws clamp the lateral branch, the latch 424 is partially embedded into the lateral branch under the action of force, so that the lateral branch is better fixed, and the lateral branch is prevented from rotating between the two claws.

In this embodiment, the clamping assembly 4 further includes a base 44 and a second linear actuator 45 rotatably connected to the clamping base 41, the second linear actuator 45 is respectively connected to the base 44 and the clamping base 41, the inclination angle of the clamping base 41 on the base 44 is adjusted by the extension and retraction of the output shaft of the second linear actuator 45, the first linear actuator 43 and the second linear actuator 45 are both hydraulic cylinders, because the hydraulic cylinders are high-power elements, the manipulator has the advantages of large output force, stable and reliable performance and long service life, so that the manipulator can stably work for a long time, the working efficiency is improved, and the maintenance and replacement costs are reduced.

The trimming device in this embodiment further includes a rotation assembly 6 connected to the base 44, the rotation assembly 6 is connected to one end of the crank arm 31 far away from the crank arm rotation mechanism 32, and drives the base 44 to rotate on the crank arm 31, the rotation assembly 6 is preferably a rotation motor, an output shaft of the rotation motor is connected to an oil inlet pipe 61 and an oil outlet pipe 62, the first linear actuator 43 or the second linear actuator 45 is connected to the rotation motor through the oil inlet pipe 61 and the oil outlet pipe 62, the rotation motor supplies oil to a hydraulic cylinder as the first linear actuator 43 or a hydraulic cylinder as the second linear actuator 45 through the oil inlet pipe 61 and the oil outlet pipe 62, when the clamping assembly 4 rotates along with the rotation motor, the oil inlet pipe 61 and the oil outlet pipe 62 rotate along with the output shaft of the rotation motor, and cannot be twisted due to the rotation of the clamping assembly 4, thereby ensuring stable oil supply to the rotation motor. Be provided with through-hole 4131 on the bottom plate 413 of grip slipper 41, when advancing oil pipe 61 and go out oil pipe 62 and link to each other with first linear actuator 43, can pass through-hole 4131 earlier, then be connected to first linear actuator 43 on, it is more convenient to connect, offers through-hole 4131 simultaneously on bottom plate 413 and is favorable to losing weight to grip slipper 41, reduces the bearing of cantilever crane device, prolongs the life of manipulator.

The cutting assembly 5 in this embodiment includes a cutting saw 51 rotatably connected to the holder 41 and an electric push rod 52, and a driving shaft of the electric push rod 52 extends and retracts to drive the cutting saw 51 to continuously cut the lateral branches, and a chain saw is preferably used in this embodiment.

When the lateral branches need to be cut, the operation process of the pruning device is as follows:

1. the rotating component 6 drives the base 44 to rotate, so that the opening of the holding clamp 42 is aligned with the side branch, and the two clamping jaws are aligned with the side wall of the side branch;

2. the driving shaft of the second linear driver 45 extends and retracts, and the inclination angle of the clamping seat 41 on the base 44 is adjusted, so that the central axis of the rotating shaft 427 is parallel to the central axis of the side branch;

3. the driving shaft of the first linear driver 43 is extended to make the first jaw 421 and the second jaw 422 rotate simultaneously, and the ends of the first jaw 421 and the second jaw 422 outside the clamping groove are relatively close to each other so as to simultaneously clamp the side branches;

4. the cutting saw 51 cuts the lateral branches, and the extension of the output shaft of the electric push rod 52 simultaneously pushes the cutting saw 51 to rotate around the clamping seat 41 so as to continuously and deeply cut the lateral branches until the lateral branches are cut off from the trunk.

The utility model discloses a manipulator is adjusted to the side branch position of required pruning to the cantilever crane device, then presss from both sides tightly and cuts the side branch through trimming means, stacks the limit position through trimming means and cantilever crane device combination with the side branch that cuts off from the trunk on at last, and whole process need not manpower cutting and transport, prevents the incident that manpower cutting and transport caused, safe and reliable more. Make the manipulator need not with the help of other mechanical device who adjusts the direction through pivoted support subassembly 1, can prune the side branch of the trunk of support subassembly 1 week, crank arm assembly 3 makes the manipulator can not take place under the circumstances of the ascending displacement of horizontal direction at support subassembly 1, bypasses the trunk through crank arm 31, prunes the trunk and keeps away from the side branch of support subassembly 1 one side, improves pruning efficiency, and it is more convenient to use.

It is above only the utility model discloses a preferred embodiment, the utility model discloses a scope of protection does not only confine above-mentioned embodiment, the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. The utility model provides a trunk collateral branch pruning manipulator which characterized in that: the tree trunk pruning device comprises an arm support device and a pruning device, wherein the arm support device comprises a support component for adjusting the vertical lifting height, a straight arm component for adjusting the horizontal extension length and a bent arm component for avoiding a tree trunk, the straight arm component is connected between the support component and the bent arm component, and the bent arm component is connected with the pruning device.

2. The mechanical arm for pruning the lateral branches of the trunk according to claim 1, wherein: the crank arm assembly comprises a crank arm and a crank arm swing mechanism for controlling the crank arm to rotate, and the crank arm swing mechanism is connected with the straight arm.

3. The mechanical arm for pruning the lateral branches of the trunk as claimed in claim 2, wherein: the crank arm rotating mechanism comprises a rotating support and a motor, the rotating support comprises an inner ring and an outer ring which are connected in a rotating mode, the inner ring is fixedly connected to the straight arm, the outer ring is fixedly connected to the crank arm, and the motor is connected with the outer ring to drive the outer ring to rotate.

4. The mechanical arm for pruning the lateral branches of the trunk according to claim 3, wherein: the outer ring is provided with driving teeth, and the motor drives the outer ring to rotate through a gear meshed with the outer ring.

5. The mechanical arm for pruning the lateral branches of the trunk as claimed in claim 4, wherein: a reduction gearbox is connected between the gear and the motor.

6. The mechanical arm for pruning the lateral branches of the trunk according to any one of claims 1 to 5, characterized in that: the pruning device comprises a clamping component and a cutting component, wherein the cutting component is connected to one side of the clamping component to cut and separate the lateral branches clamped by the clamping component from the trunk, the clamping component comprises a clamping seat, a holding clamp and a first linear driver, the holding clamp comprises a connecting rod and two clamping jaws, the two clamping jaws are linked through the connecting rod, one clamping jaw is rotatably connected to the clamping seat, and the first linear driver is respectively connected with the two clamping jaws to drive the two clamping jaws to clamp or loosen the lateral branches.

7. The mechanical arm for pruning the lateral branches of the trunk as claimed in claim 6, wherein: the centre gripping subassembly still includes the base of being connected and adjusts the second linear drive of centre gripping seat tilt angle on the base with the centre gripping seat rotates, second linear drive rotates with base and centre gripping seat respectively and is connected.

8. The mechanical arm for pruning the lateral branches of the trunk according to claim 7, wherein: the pruning device also comprises a rotary component connected with the base, and the rotary component is connected with the crank arm component.

9. The mechanical arm for pruning the lateral branches of the trunk of claim 8, wherein: the first linear driver and the second linear driver are both hydraulic oil cylinders, the rotary component is a rotary motor, and the rotary motor supplies oil to the first linear driver or the second linear driver through an oil inlet pipe and an oil return pipe.

10. The mechanical arm for pruning the lateral branches of the trunk as claimed in claim 6, wherein: the cutting assembly comprises a cutting saw and an electric push rod, wherein the cutting saw and the electric push rod are rotatably connected to the clamping seat, and the electric push rod is connected with the cutting saw to push the cutting saw to cut.