CN212306181U - Automatic obstacle avoidance mechanism suitable for being matched with under-tree weeding operation machine in orchard - Google Patents
Automatic obstacle avoidance mechanism suitable for being matched with under-tree weeding operation machine in orchard Download PDFInfo
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- CN212306181U CN212306181U CN202020986893.2U CN202020986893U CN212306181U CN 212306181 U CN212306181 U CN 212306181U CN 202020986893 U CN202020986893 U CN 202020986893U CN 212306181 U CN212306181 U CN 212306181U
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Abstract
The utility model discloses an automatic obstacle-avoiding mechanism suitable for orchard under-tree weeding operation machines are supporting, including the link, the tip of link one side is provided with keeps away the obstacle hydro-cylinder. This kind of be applicable to supporting automatic obstacle-avoiding mechanism of weeding operation machines under orchard tree, through keeping away the barrier hydro-cylinder, keep away barrier induction rod and keep away barrier controlling means's cooperation and use, make and keep away after the barrier induction rod touches the trunk, keep away barrier controlling means and give external host computer with the signal transmission, the hydraulic control valve on the host computer control hydraulic station, the control valve responds fast, the hydraulic oil of keeping away the barrier hydro-cylinder is taken out, realize keeping away the quick withdrawal of piston rod of barrier hydro-cylinder, at first linkage board, the second linkage board, the weeding cutter is withdrawed fast under the parallel four-bar linkage's that third linkage board and link are constituteed drive, avoid the tree pole, and then realize the obstacle-avoiding function of weeding cutter operation in-process, both realized the function of weeding under the tree, can prevent again that the weeding cutter from damaging because of.
Description
Technical Field
The utility model relates to an automatic keep away barrier mechanism specifically is a be applicable to the supporting automatic obstacle mechanism of keeping away of weeding operation machines under orchard tree.
Background
The mower is a mechanical tool for trimming lawns, vegetations and the like, and comprises a cutter head, an engine, a traveling wheel, a traveling mechanism, blades, a handrail and a control part, wherein the cutter head is arranged on the traveling wheel, the engine is arranged on the cutter head, the blades are arranged on an output shaft of the engine, and the blades are greatly increased in speed by utilizing the high-speed rotation of the engine, so that the operation time of weeding workers is saved, and a large amount of manpower resources are reduced.
At present, weeds are cut regularly in most orchards, and because of a plurality of fruit trees in the orchards, when people use equipment such as a mower to cut the weeds, a weeding knife on the mower is easy to touch with trees, and then the mowing knife is damaged or the trees are damaged. Therefore, the automatic obstacle avoidance mechanism is improved, and is suitable for being matched with weeding operation machines under orchard trees.
SUMMERY OF THE UTILITY MODEL
For solving the defect that prior art exists, the utility model provides a be applicable to the supporting automatic obstacle-avoiding mechanism of weeding operation machines under the orchard tree.
In order to solve the technical problem, the utility model provides a following technical scheme:
the utility model relates to an automatic obstacle avoidance mechanism suitable for being matched with weeding operation machines under orchard trees, which comprises a connecting frame, the tip of one side of the connecting frame is provided with an obstacle avoidance oil cylinder, the tip of the connecting frame is provided with an obstacle avoidance control device, the obstacle avoidance control device is provided with a reset spring, a proximity switch, a cam mechanism, a connecting rod and a bracket, the bottom of the connecting rod is provided with an obstacle avoidance induction rod, the middle part of the connecting frame is articulated with a first linkage plate, the tip of the first linkage plate is articulated with a second linkage plate, the tip of the second linkage plate is articulated with a third linkage plate, the tip of the third linkage plate is articulated with one end of the connecting frame, the middle part of the top end of the third linkage plate is articulated with one side of the bottom end of the bracket, the middle part of the bottom end of the third linkage plate is provided with a weeding cutter, the weeding cutter, the proximity switch is in signal connection with an external host, the external host is in signal connection with an external hydraulic control valve, and the hydraulic motor is connected with an external hydraulic station through an oil pipe and driven to rotate by the external hydraulic station.
As a preferred technical scheme of the utility model, keep away barrier hydro-cylinder fixed mounting at the tip of link one side, keep away the barrier hydro-cylinder and pass through oil pipe and be connected with external hydraulic pressure station.
As a preferred technical scheme of the utility model, support fixed mounting is in one side of link, cam mechanism sets up the middle part at the support, cam mechanism's one end and the one end fixed connection of connecting rod.
As a preferred technical scheme of the utility model, the connecting rod is kept away from cam mechanism's one end and is kept away the one end fixed connection of barrier response pole, keep away the barrier response pole and be located one side of weeding cutter.
As a preferred technical scheme of the utility model, proximity switch fixed mounting just is located one side of cam mechanism at the middle part of support, reset spring's both ends respectively with one side on support top and cam mechanism's top fixed connection.
As a preferred technical scheme of the utility model, the top of adjustable shelf is articulated with the middle part of third adjustable shelf bottom, hydraulic motor fixed mounting is at the top of adjustable shelf bottom, hydraulic motor's output shaft pass the adjustable shelf the bottom and with the middle part fixed connection on weeding sword top.
The utility model has the advantages that: the automatic obstacle avoidance mechanism matched with the weeding operation machine tool under the orchard tree is characterized in that after the obstacle avoidance cylinder, the obstacle avoidance induction rod and the obstacle avoidance control device are matched for use, the obstacle avoidance induction rod touches the trunk, the obstacle avoidance control device transmits signals to the external host, the host controls the hydraulic control valve on the hydraulic station, the control valve responds quickly, hydraulic oil in the obstacle avoidance cylinder is pumped out to realize quick retraction of a piston rod of the obstacle avoidance cylinder, the weeding cutter is quickly retracted under the driving of a parallel four-link mechanism consisting of the first linkage plate, the second linkage plate, the third linkage plate and the connecting frame to avoid the tree rod, further the obstacle avoidance function in the operation process of the weeding cutter is realized, the function of weeding under the tree is realized, the weeding cutter can be prevented from being damaged due to collision, and when the obstacle avoidance induction rod leaves the trunk, the obstacle avoidance control device also transmits signals to the external host, the host controls the hydraulic control valve on the hydraulic station to respond, so that the piston rod of the obstacle avoidance cylinder extends out quickly, and the weeding cutter connected to the parallel four-bar mechanism can complete weeding under the tree.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural view of an automatic obstacle avoidance mechanism suitable for being matched with an under-tree weeding operation machine of an orchard;
fig. 2 is a schematic view of an extending structure of a weeding cutter of an automatic obstacle avoidance mechanism suitable for an orchard under-tree weeding operation machine;
fig. 3 is a schematic structural view of a retracting process of a weeding cutter of the automatic obstacle avoidance mechanism matched with the weeding operation machine under the orchard tree;
fig. 4 is a schematic structural view of the narrowest state of the retracting weeding cutter of the automatic obstacle avoidance mechanism matched with the weeding operation machine under the orchard tree;
fig. 5 is a schematic structural view of the utility model of a weeding cutter of an automatic obstacle avoidance mechanism suitable for an orchard under-tree weeding operation machine;
fig. 6 is a schematic structural view of the automatic obstacle avoidance mechanism of the utility model, which is suitable for an orchard under-tree weeding operation machine and is suitable for the structure that the weeding cutter continuously extends to the widest state;
fig. 7 is a schematic structural view of an obstacle avoidance control device of an automatic obstacle avoidance mechanism suitable for being matched with an under-orchard weeding operation machine;
fig. 8 is a control block diagram schematic diagram of the automatic obstacle-avoiding mechanism suitable for being matched with an orchard under-tree weeding operation machine.
In the figure: 1. an obstacle avoidance oil cylinder; 2. a connecting frame; 3. an obstacle avoidance control device; 4. an obstacle avoidance induction rod; 5. a weeding cutter; 6. a first linkage plate; 7. a second linkage plate; 8. a third linkage plate; 9. a return spring; 10. a proximity switch; 11. a cam mechanism; 12. a connecting rod; 13. and (4) a bracket.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.
Example (b): as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7 and fig. 8, the automatic obstacle avoidance mechanism suitable for being matched with an orchard under-tree weeding operation machine comprises a connecting frame 2, an obstacle avoidance cylinder 1 is arranged at the end part of one side of the connecting frame 2, an obstacle avoidance control device 3 is arranged at the end part of the connecting frame 2, the obstacle avoidance control device 3 comprises a reset spring 9, a proximity switch 10, a cam mechanism 11, a connecting rod 12 and a bracket 13, an obstacle avoidance induction rod 4 is arranged at the bottom end of the connecting rod 12, a first linkage plate 6 is hinged at the middle part of the connecting frame 2, a second linkage plate 7 is hinged at the end part of the first linkage plate 6, a third linkage plate 8 is hinged at the end part of the second linkage plate 7, the end part of the third linkage plate 8 is hinged at one end of the connecting frame 2, the middle part of the top end of the third linkage plate 8 is hinged at one side of the, the weeding cutter 5 consists of a movable frame, a hydraulic motor and a weeding cutter, wherein the proximity switch is in signal connection with an external host, the external host is in signal connection with an external hydraulic control valve, and the hydraulic motor is connected with an external hydraulic station through an oil pipe and driven to rotate by the external hydraulic station.
Wherein, the obstacle-avoiding oil cylinder 1 is fixedly arranged at the end part of one side of the connecting frame 2, the obstacle-avoiding oil cylinder 1 is connected with an external hydraulic station through an oil pipe, after the obstacle avoidance induction rod 4 touches the trunk through the cooperation of the obstacle avoidance oil cylinder 1, the obstacle avoidance induction rod 4 and the obstacle avoidance control device 3, the obstacle avoidance control device 3 transmits signals to an external host, the host controls a hydraulic control valve on a hydraulic station, the control valve responds quickly to draw out hydraulic oil to the obstacle avoidance cylinder 1 to realize quick retraction of a piston rod of the obstacle avoidance cylinder 1, the weeding cutter 5 is quickly retracted under the driving of a parallel four-bar linkage mechanism consisting of a first linkage plate 6, a second linkage plate 7, a third linkage plate 8 and a connecting frame 2 to avoid the tree pole, and then realize the obstacle avoidance function in the operation process of the weeding cutter 5, not only realize the function of weeding under the tree, but also prevent the weeding cutter 5 from being damaged due to collision.
Wherein, support 13 fixed mounting is in one side of link 2, cam mechanism 11 sets up the middle part at support 13, the one end of cam mechanism 11 and the one end fixed connection of connecting rod 12, when keeping away barrier sensing rod 4 and touch the trunk, it drives cam mechanism 11 through connecting rod 12 and rotates together to keep away barrier sensing rod 4, when cam mechanism 11 is rotatory, its and proximity switch 10 go up the clearance between the sensing face and can change, the change of clearance size can make proximity switch 10 take place the response switching of switch-on or disconnection, the supporting hydraulic control valve on the host computer can be transmitted to the signal of telecommunication that proximity switch 10 break-make produced simultaneously, realize the flexible control to keeping away barrier hydro-cylinder 1 through the hydraulic control valve, the automatic obstacle-avoiding function of final realization weeding cutter 5.
Wherein, the one end that cam mechanism 11 was kept away from to connecting rod 12 and the one end fixed connection of keeping away from barrier response pole 4, keep away barrier response pole 4 and be located one side of weeding cutter 5, guaranteed to keep away barrier response pole 4 and touch trees earlier than weeding cutter 5.
Wherein, proximity switch 10 fixed mounting just is located one side of cam mechanism 11 in the middle part of support 13, and return spring 9's both ends respectively with one side on support 13 top and cam mechanism 11's top fixed connection, through return spring 9, when making to keep away barrier sensing rod 4 and keep away the trunk, return spring 9's pulling force can pull back cam mechanism 11 normal position, and proximity switch 10's signal of telecommunication is interrupted.
The top end of the movable frame is hinged to the middle of the bottom end of the third linkage plate 8, the hydraulic motor is fixedly installed at the top of the bottom end of the movable frame, an output shaft of the hydraulic motor penetrates through the bottom end of the movable frame and is fixedly connected with the middle of the top end of the weeding knife, and the output shaft of the hydraulic motor can drive the weeding knife to rotate to cut small grass when rotating through the hydraulic motor and the weeding knife.
When the multifunctional weeding cutter device works, the output shaft of the hydraulic motor is controlled to rotate through the hydraulic station, the output shaft of the hydraulic motor drives the mowing cutter to rotate to cut weeds in an orchard, when the weeding cutter device encounters fruit trees, the obstacle avoidance induction rod 4 firstly touches a trunk, the obstacle avoidance induction rod 4 drives the cam mechanism 11 to rotate together through the connecting rod 12, when the cam mechanism 11 rotates, the gap between the cam mechanism 11 and the induction surface on the proximity switch 10 changes, the proximity switch 10 is switched on due to the change of the size of the gap, meanwhile, an electric signal generated after the proximity switch 10 is switched on is transmitted to the host machine, the host machine feeds back the signal to the hydraulic control valve matched with the hydraulic station, the hydraulic control valve extracts hydraulic oil in the rod cavity of the obstacle avoidance oil cylinder 1 to realize the quick retraction of the piston rod of the obstacle avoidance oil cylinder 1, and the weeding cutter 5 is quickly retracted under the driving of the parallel four-bar mechanism consisting of the first linkage plate 6, the second, the tree pole is avoided, the obstacle avoidance function in the operation process of the weeding cutter 5 is further realized, when the tree trunk is separated from the obstacle avoidance induction rod 4, the cam mechanism 11, the connecting rod 12 and the obstacle avoidance induction rod 4 are pulled back to the original position by the tensile force of the reset spring 9, the electric signal of the proximity switch 10 is interrupted, the host machine feeds the signal back to a hydraulic control valve matched with the hydraulic station, the hydraulic control valve performs oil injection on the rod-free cavity of the obstacle avoidance oil cylinder 1, the piston rod of the obstacle avoidance oil cylinder 1 extends, the weeding cutter 5 is driven to extend out under the transmission of a parallel four-bar linkage mechanism consisting of the first linkage plate 6, the second linkage plate 7, the third linkage plate 8 and the connecting frame 2, after mowing is finished, the power source of the hydraulic station is cut.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The automatic obstacle avoidance mechanism suitable for being matched with an orchard under-tree weeding operation machine is characterized by comprising a connecting frame (2), an obstacle avoidance oil cylinder (1) is arranged at the end part of one side of the connecting frame (2), an obstacle avoidance control device (3) is arranged at the end part of the connecting frame (2), the obstacle avoidance control device (3) is composed of a reset spring (9), a proximity switch (10), a cam mechanism (11), a connecting rod (12) and a support (13), an obstacle avoidance induction rod (4) is arranged at the bottom end of the connecting rod (12), a first linkage plate (6) is hinged to the middle part of the connecting frame (2), a second linkage plate (7) is hinged to the end part of the first linkage plate (6), a third linkage plate (8) is hinged to the end part of the second linkage plate (7), and the end part of the third linkage plate (8) is hinged to one end of the connecting frame (2), the middle part on third linkage board (8) top is articulated with one side of support (13) bottom, the middle part of third linkage board (8) bottom is provided with weeding cutter (5), weeding cutter (5) comprise adjustable shelf, hydraulic motor and weeding sword, proximity switch and external host computer signal connection, external host computer and external hydraulic control valve signal connection, hydraulic motor passes through oil pipe and is connected with external hydraulic pressure station, and it is rotatory by external hydraulic pressure station drive.
2. The automatic obstacle avoidance mechanism suitable for being matched with an orchard under-tree weeding operation machine tool is characterized in that the obstacle avoidance cylinder (1) is fixedly installed at the end part of one side of the connecting frame (2), and the obstacle avoidance cylinder (1) is connected with an external hydraulic station through an oil pipe.
3. The automatic obstacle avoidance mechanism suitable for being matched with an orchard under-tree weeding operation machine tool is characterized in that the support (13) is fixedly installed on one side of the connecting frame (2), the cam mechanism (11) is arranged in the middle of the support (13), and one end of the cam mechanism (11) is fixedly connected with one end of the connecting rod (12).
4. The automatic obstacle avoidance mechanism suitable for being matched with an orchard under-tree weeding operation machine tool is characterized in that one end, far away from the cam mechanism (11), of the connecting rod (12) is fixedly connected with one end of the obstacle avoidance induction rod (4), and the obstacle avoidance induction rod (4) is located on one side of the weeding cutter (5).
5. The automatic obstacle avoidance mechanism suitable for being matched with an orchard under-tree weeding operation machine tool is characterized in that the proximity switch (10) is fixedly installed in the middle of the support (13) and located on one side of the cam mechanism (11), and two ends of the return spring (9) are fixedly connected with one side of the top end of the support (13) and the top of the cam mechanism (11) respectively.
6. The automatic obstacle avoidance mechanism suitable for being matched with an orchard under-tree weeding operation machine tool is characterized in that the top end of the movable frame is hinged to the middle of the bottom end of the third linkage plate (8), the hydraulic motor is fixedly installed at the top of the bottom end of the movable frame, and an output shaft of the hydraulic motor penetrates through the bottom end of the movable frame and is fixedly connected with the middle of the top end of the weeding cutter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020986893.2U CN212306181U (en) | 2020-06-03 | 2020-06-03 | Automatic obstacle avoidance mechanism suitable for being matched with under-tree weeding operation machine in orchard |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020986893.2U CN212306181U (en) | 2020-06-03 | 2020-06-03 | Automatic obstacle avoidance mechanism suitable for being matched with under-tree weeding operation machine in orchard |
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| CN212306181U true CN212306181U (en) | 2021-01-08 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113016326A (en) * | 2021-03-08 | 2021-06-25 | 中国农业科学院果树研究所 | Robot-type sweeping mower |
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2020
- 2020-06-03 CN CN202020986893.2U patent/CN212306181U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113016326A (en) * | 2021-03-08 | 2021-06-25 | 中国农业科学院果树研究所 | Robot-type sweeping mower |
| CN113016326B (en) * | 2021-03-08 | 2022-06-07 | 中国农业科学院果树研究所 | Robot-type sweeping mower |
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