CN211861181U

CN211861181U - Pruning robot

Info

Publication number: CN211861181U
Application number: CN202020132283.6U
Authority: CN
Inventors: 李华忠; 何涛
Original assignee: Shenzhen Institute of Information Technology
Current assignee: Shenzhen Institute of Information Technology
Priority date: 2020-01-17
Filing date: 2020-01-17
Publication date: 2020-11-06
Anticipated expiration: 2030-01-17

Abstract

The utility model is suitable for a robotechnology field provides a pruning robot, and this pruning robot includes: a moving assembly; the lifting assembly is connected with the moving assembly and is driven by the moving assembly to move; the manipulator assembly is arranged at the top end of the lifting assembly; the controller is respectively connected with the moving assembly, the lifting assembly and the manipulator assembly and can respectively control the moving assembly, the lifting assembly and the manipulator assembly; and a remote control element, wirelessly connected with the controller, for providing a control signal to the controller; the mobile assembly can allow the trimming robot to freely move, the lifting assembly can lift the manipulator assembly to a higher position and trim any required position, the operation range is expanded, remote control can be performed through the controller and the remote control element, operation is further facilitated, and the trimming robot has wider applicability.

Description

Pruning robot

Technical Field

The utility model relates to the technical field of robots, in particular to pruning robot.

Background

As is well known, landscaping is an important embodiment of urban environment landscape. The urban garden construction is accelerated, the urban ecological environment is improved, the quality of the living environment is improved, and pruning, shaping and beautifying of garden plants are indispensable and important links of garden construction. However, the current trimming robot is not widely applicable, mainly because the trimming robot has the problems of high cost, heavy and complex structure and the like, and most importantly, the problem of limited working range.

SUMMERY OF THE UTILITY MODEL

An object of the embodiment of the utility model is to provide a prune robot aims at solving the limited technical problem of operation scope that current garden robot exists.

The embodiment of the utility model provides a realize like this, a pruning robot, include:

a moving assembly;

the lifting assembly is connected with the moving assembly and is driven by the moving assembly to move;

the manipulator assembly is arranged at the top end of the lifting assembly;

the controller is respectively connected with the moving assembly, the lifting assembly and the manipulator assembly and can respectively control the moving assembly, the lifting assembly and the manipulator assembly; and

and the remote control element is wirelessly connected with the controller and is used for providing a control signal to the controller.

In one embodiment, the moving assembly comprises a plurality of drive wheels, each of the drive wheels comprising a mounting plate, a rotary drive mounted on the mounting plate, and a rotary wheel body, an output end of the rotary drive being connected to the drive wheel body; the lifting assembly is connected to each of the mounting plates.

In one embodiment, each of the driving wheels further comprises a first gear connected with the output end of the rotary driving member, a second gear meshed with the first gear, and a mounting shaft coaxial with and fixedly connected with the driving wheel body and the second gear; the installation axle rotates install in on the mounting panel.

In one embodiment, each of the driving wheels further comprises a first bearing, a first bearing seat, a second bearing and a second bearing seat, the first bearing is mounted on the first bearing seat, the second bearing is mounted on the second bearing seat, and the mounting shaft penetrates through the first bearing and the second bearing; the first bearing seat is fixedly connected with the mounting plate, and the second bearing seat is fixedly connected with the mounting plate.

In one embodiment, the trimming robot further comprises a plurality of shock-absorbing assemblies respectively mounted on the driving wheels; damping component includes at least one support column and at least one spring part, the both ends of support column connect respectively in the mounting panel with lifting unit, the spring part cover is located on the support column.

In one embodiment, the trimming robot further comprises a chassis connected to an end of each of the support posts facing away from the mounting plate, and the lifting assembly is mounted to a side of the chassis facing away from the support posts.

In one embodiment, the middle of the bottom plate is recessed downwards to form a containing groove, and the controller is arranged in the containing groove.

In one embodiment, the lifting mechanism comprises a telescopic member and a parallelogram hinge structure comprising a plurality of rods, one end of the parallelogram hinge structure is connected to the moving assembly, and the other end of the parallelogram hinge structure is connected to the manipulator assembly; the telescopic part is connected between the moving assembly and any one of the rods of the parallelogram hinge structure, or the telescopic part is connected between any two rods of the parallelogram hinge structure which are parallel to each other.

In one embodiment, the manipulator assembly includes a first rotating member, a second rotating member, a first arm, a third rotating member, a second arm, a fourth rotating member, a third arm, and a trimming element, which are connected in sequence, the first rotating member is mounted on the top end of the lifting assembly, the first rotating member can drive the second rotating member to rotate in a horizontal plane, the second rotating member can drive the first arm to rotate in a vertical plane, the third rotating member can drive the second arm to rotate in a vertical plane relative to the first arm, and the fourth rotating member can drive the third arm and the trimming element to rotate in a vertical plane relative to the second arm.

In one embodiment, the trimming robot further comprises a solar cell assembly comprising a battery and a photovoltaic panel mounted between the top end of the lifting assembly and the robot assembly; the battery is electrically connected with the controller, the moving assembly, the lifting assembly and the manipulator assembly.

The embodiment of the utility model provides a pruning robot's beneficial effect lies in:

the trimming robot comprises a moving assembly, a lifting assembly, a manipulator assembly, a controller and a remote control element, wherein the moving assembly can allow the trimming robot to freely move, the lifting assembly can lift the manipulator assembly to a higher position, so that the trimming robot can be trimmed to any required position, the operation range is obviously expanded, the moving assembly, the lifting assembly and the manipulator assembly can be remotely controlled through the controller and the remote control element, operation is further facilitated, and the trimming robot has wider applicability.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic overall structure diagram of a trimming robot provided in an embodiment of the present invention;

FIG. 2 is an exploded perspective view of the trimming robot shown in FIG. 1;

FIG. 3 is a schematic structural view of the drive wheels and shock absorbing assembly of the trimming robot of FIG. 1;

fig. 4 is a schematic structural view of a robot arm assembly of the trimming robot shown in fig. 1.

The designations in the figures mean:

100-a trimming robot;

1-moving assembly, 11-driving wheel, 110-rotary driving element, 111-mounting plate, 112-rotary wheel body, 113-first gear, 114-second gear, 115-mounting shaft, 116-first bearing, 117-first bearing seat, 118-second bearing, 119-second bearing seat;

2-lifting assembly, 21-parallelogram hinge structure, 22-telescopic member;

3-robot assembly, 31-first rotation element, 32-second rotation element, 33-first arm, 34-third rotation element, 35-second arm, 36-fourth rotation element, 37-third arm, 38-trimming element, 381-third gear, 382-shearing claw, 383-fifth rotation element;

4-chassis, 40-containing groove; 51-support column, 52-spring; 6-photovoltaic panel.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly or indirectly secured to the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "upper", "lower", "left", "right", 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, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the patent. The terms "first", "second" and "first" are used merely for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "plurality" is two or more unless specifically limited otherwise.

In order to explain the technical solution of the present invention, the following detailed description is made with reference to the specific drawings and examples.

Referring to fig. 1 and 2, an embodiment of the present invention provides a trimming robot 100, which includes a moving assembly 1, a lifting assembly 2, a manipulator assembly 3, a controller (not shown), and a remote control element (not shown), wherein the lifting assembly 2 is connected to the moving assembly 1, the lifting assembly 2 is driven by the moving assembly 1 to move, the manipulator assembly 3 is mounted on a top end of the lifting assembly 2, and the manipulator assembly 3 is lifted to a high place along with the lifting assembly 2; the controller is respectively connected with the moving assembly 1, the lifting assembly 2 and the manipulator assembly 3 and can respectively control the movement of the moving assembly 1, the movement of the lifting assembly 2 and the movement of the manipulator assembly 3, so that the movement, the lifting and the trimming actions are respectively realized; the remote control element is wirelessly connected with the controller for providing a control signal to the controller.

The embodiment of the utility model provides a trimming robot 100, it is including removing subassembly 1, lifting unit 2, manipulator assembly 3, a controller, the remote control component, it can allow this trimming robot 100 to freely remove to remove subassembly 1, lifting unit 2 can lift manipulator assembly 3 to higher position department, can prune any required position department like this, the operation scope has obviously been expanded, can be to removing subassembly 1 through controller and remote control component, lifting unit 2, manipulator assembly 3 carries out remote control, further make things convenient for the operation of operation, this trimming robot 100 has wider suitability.

In one embodiment, the trimming robot 100 further comprises a communication module (not shown) connected to the controller for receiving wireless signals from the remote control element and converting the wireless signals into current signals to be provided to the controller. Therefore, the controller can perform corresponding control actions according to different current signals.

Referring to fig. 2, in one embodiment, the trimming robot 100 further includes a chassis 4 installed between the moving assembly 1 and the lifting assembly 2. Specifically, the side of the chassis 4 facing the ground is connected with the moving assembly 1, and the side of the chassis 4 far from the ground is connected with the lifting assembly 2.

Referring to fig. 1 and 2, in one embodiment, the moving assembly 1 includes a plurality of driving wheels 11. It will be appreciated that the number of drive wheels 11 in the moving assembly 1 is three or more to enable the trimming robot 100 to be balanced. In one implementation, the number of the driving wheels 11 of the trimming robot 100 may be four.

Specifically, referring to fig. 3, each driving wheel 11 includes a mounting plate 111, a rotary driving member 110 and a rotary wheel body 112, the rotary driving member 110 is mounted on the mounting plate 111, and an output end of the rotary driving member 110 is connected to the rotary wheel body 112 to drive the rotary wheel body 112 to rotate. The chassis 4 is connected to each mounting plate 111. When the rotary driving element 110 is operated, the rotary wheel bodies 112 can be rotated, and thus the plurality of rotary wheel bodies 112 can be simultaneously moved forward or backward. In a particular application, the rotary drive 110 may be an electric motor, such as a 24V high torque DC reduction motor. The motor may be mounted on the mounting plate 111 by a mounting base (not shown). The rotational drive 110 is connected to and controlled by a controller.

The mounting plates 111 of the plurality of drive wheels 11 may be provided independently, as shown in fig. 1 and 2, which facilitates assembly of each of the drive wheels 11. In other alternative embodiments, the mounting plates 111 of the driving wheels 11 can be connected to each other as a single plate, and each mounting plate 111 is a part of the single plate, which does not affect the installation of the rotary driving members 110 and the rotary wheel bodies 112, and the integrity and connection stability between the driving wheels 11 are better.

Further, with reference to fig. 3, in an embodiment, each driving wheel 11 further includes a first gear 113, a second gear 114 and a mounting shaft 115, the first gear 113 is connected to the output end of the rotary driving member 110, the second gear 114 is meshed with the first gear 113, the mounting shaft 115 is coaxially and fixedly connected to the rotary wheel body 112 and the second gear 114, and the mounting shaft 115 is rotatably mounted on the mounting plate 111. When the rotary driving member 110 rotates, the rotary wheel body 112 is driven to rotate through the transmission of the first gear 113, the second gear 114 and the mounting shaft 115. The transmission ratio of the first gear 113 and the second gear 114 is smaller than 1, which has the advantage that a relatively large angular velocity of the rotary drive element 110 can be converted into a relatively small angular velocity of the second gear 114 and the rotary wheel body 112, avoiding that the rotary wheel body 112 rotates too fast and thus its movement cannot be easily controlled.

Further, with continued reference to fig. 3, in one embodiment, each driving wheel 11 further includes a first bearing 116, a first bearing seat 117, a second bearing 118 and a second bearing seat 119, the first bearing 116 is mounted on the first bearing seat 117, the second bearing 118 is mounted on the second bearing seat 119, the mounting shaft 115 passes through the first bearing 116 and the second bearing 118, and thus the mounting shaft 115 is rotatably mounted on the mounting plate 111 via the first bearing 116 and the second bearing 118. The first bearing seat 117 is fixedly connected to the mounting plate 111, the second bearing seat 119 is fixedly connected to the chassis 4, and the chassis 4 is fixedly connected to the mounting plate 111, that is, the second bearing seat 119 is also substantially fixedly connected to the mounting plate 111. This has the advantage that the forward movement of the turning wheel body 112 and the chassis 4 can be better balanced, so that the turning wheel body 112 and the chassis 4 are kept as perpendicular as possible in the spatial plane, and the coaxial guidance of the first bearing 116 and the second bearing 119 can enable better meshing between the first gear 113 and the second gear 114.

Referring to fig. 3, in one embodiment, the trimming robot 100 further includes a plurality of shock absorbing members respectively mounted on each driving wheel 11 for damping the shock of the driving wheel 11 during the movement process. Specifically, each shock absorption assembly comprises at least one supporting column 51 and at least one spring 52, two ends of the supporting column 51 are respectively connected to the mounting plate 111 and the chassis 4, so that the mounting plate 111 and the chassis 4 are fixedly connected, and the spring 52 is sleeved on the supporting column 51 and compressed between the chassis 4 and the mounting plate 111. When the mounting plate 111 jounces during the movement of the driving wheel 11, the spring 52 acts in a reverse direction to the mounting plate 111, thereby absorbing the shock.

As shown in FIG. 3, in one embodiment, each shock assembly includes three support posts 51 and three spring 52 members. Of course, this is merely an example and not a limitation.

As shown in fig. 2, in one embodiment, the middle portion of the bottom plate 4 is recessed downward to form a containing groove 40, and the controller can be disposed in the containing groove 40.

Referring to fig. 1 and 2, in one embodiment, the lifting assembly 2 includes a telescopic member 22 and a parallelogram hinge structure 21 formed by a plurality of rods, one end of the parallelogram hinge structure 21 is connected to the chassis 4, and the other end of the parallelogram hinge structure 21 is connected to the robot assembly 3; the telescopic member 22 may be connected between the chassis 4 and any one of the rods of the parallelogram hinge structure 21, or between any two rods of the parallelogram hinge structure 21 parallel to each other, as shown in fig. 2. Telescoping member 22 is connected to and controlled by a controller. When the telescopic member 22 is extended, the parallelogram hinge structure 21 as a whole is extended in the vertical direction; when the telescopic member 22 is shortened, the parallelogram hinge structure 21 is compressed in the vertical direction as a whole. The lift mechanism 2 may be used as an elevator in a particular application to allow for manually assisted trimming.

Referring to fig. 4, in an embodiment, the manipulator assembly 3 includes a first rotating member 31, a second rotating member 32, a first arm 33, a third rotating member 34, a second arm 35, a fourth rotating member 36, a third arm 37 and a trimming element 38, which are connected in sequence, the first rotating member 31 is mounted on a top end of the lifting assembly 2, the first rotating member 31 can drive the second rotating member 32 to rotate in a horizontal plane, the second rotating member 32 can drive the first arm 33 to rotate in a vertical plane, the third rotating member 34 can drive the second arm 35 to rotate in a vertical plane relative to the first arm 33, and the fourth rotating member 36 can drive the third arm 37 and the trimming element 38 to rotate in a vertical plane relative to the second arm 35. The cutting elements 38 work in a scissor-like fashion to cut branches and the like. In this manner, the robot assembly 3 includes multiple degrees of freedom to provide free and convenient access to any desired location for trimming.

Further, the cutting element 38 may comprise a fifth rotational member 383 and two cutting jaws 382 which are in meshing connection via a third gear 381, wherein one third gear 381 is connected with an output of the fifth rotational member 383. When the two third gears 381 are meshed to rotate, the two cutting claws 382 can be opened or closed relatively, so that the trimming function can be still realized.

In a specific application, the first rotating member 31, the second rotating member 32, the third rotating member 34, the fourth rotating member 36 and the fifth rotating member 383 may each include one or more steering gears. The first rotating member 31, the second rotating member 32, the third rotating member 34, the fourth rotating member 36 and the fifth rotating member 383 are all connected with and controlled by the controller.

Furthermore, in one embodiment, the trimming robot 100 further comprises a solar cell module including a battery (not shown) and a photovoltaic panel 6, the photovoltaic panel 6 is installed between the top end of the lifting assembly 2 and the manipulator assembly 3, and as shown in fig. 1 and 2, the first rotating member 31 of the manipulator assembly 3 may be installed on the photovoltaic panel 6. Thus, the photovoltaic panel 6 can receive the irradiation of the sunlight conveniently. Of course, in a specific application, the robot assembly 3 is preferably installed without damaging other positions of the photovoltaic panel 6. The battery is connected to the controller, the rotary driving member 110, the telescopic member 22, and the first to fifth rotating members 31 to 383, so as to respectively provide the electric energy required by the operations to these structures.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. A trimming robot, characterized by comprising:

a moving assembly;

the manipulator assembly is arranged at the top end of the lifting assembly;

2. The trimmer robot of claim 1, wherein the movement assembly includes a plurality of drive wheels, each of the drive wheels including a mounting plate, a rotary drive mounted on the mounting plate, and a rotary wheel body, an output of the rotary drive being connected to the drive wheel body; the lifting assembly is connected to each of the mounting plates.

3. The trimmer robot of claim 2, wherein each of the drive wheels further includes a first gear coupled to the output end of the rotary drive member, a second gear in mesh with the first gear, and a mounting shaft coaxial with and fixedly coupled to the drive wheel body and the second gear; the installation axle rotates install in on the mounting panel.

4. The trimmer robot of claim 3, wherein each of the drive wheels further includes a first bearing, a first bearing mount, a second bearing, and a second bearing mount, the first bearing being mounted on the first bearing mount and the second bearing being mounted on the second bearing mount, the mounting shaft passing through the first bearing and the second bearing; the first bearing seat is fixedly connected with the mounting plate, and the second bearing seat is fixedly connected with the mounting plate.

5. The trimmer robot of claim 2, further comprising a plurality of shock assemblies mounted to each of the drive wheels; damping component includes at least one support column and at least one spring part, the both ends of support column connect respectively in the mounting panel with lifting unit, the spring part cover is located on the support column.

6. The trimmer robot of claim 5, further comprising a chassis coupled to an end of each of the support posts facing away from the mounting plate, the lift assembly being mounted to a side of the chassis facing away from the support posts.

7. The robot as claimed in claim 6, wherein the central portion of the chassis is recessed downward to form a receiving groove, and the controller is disposed in the receiving groove.

8. The pruning robot of any one of claims 1-7, wherein the lifting assembly comprises a telescopic member and a parallelogram hinge structure comprising a plurality of rods, one end of the parallelogram hinge structure being connected to the moving assembly and the other end of the parallelogram hinge structure being connected to the robot assembly; the telescopic part is connected between the moving assembly and any one of the rods of the parallelogram hinge structure, or the telescopic part is connected between any two rods of the parallelogram hinge structure which are parallel to each other.

9. The clipping robot of any one of claims 1 to 7, wherein the manipulator assembly includes a first rotating member, a second rotating member, a first arm, a third rotating member, a second arm, a fourth rotating member, a third arm, and a clipping element connected in series, the first rotating member being mounted on a top end of the lifting assembly and being capable of rotating the second rotating member in a horizontal plane, the second rotating member being capable of rotating the first arm in a vertical plane, the third rotating member being capable of rotating the second arm in a vertical plane with respect to the first arm, and the fourth rotating member being capable of rotating the third arm and the clipping element in a vertical plane with respect to the second arm.

10. The mowing robot according to any one of claims 1 to 7, further comprising a solar cell assembly including a battery and a photovoltaic panel mounted between a top end of the lifting assembly and the robot assembly; the battery is electrically connected with the controller, the moving assembly, the lifting assembly and the manipulator assembly.