CN219046789U

CN219046789U - Hedgerow keeps away barrier and prunes and uses cantilever crane device and prunes operation car

Info

Publication number: CN219046789U
Application number: CN202223502325.9U
Authority: CN
Inventors: 王亚祥; 瞿球雄; 覃先云
Original assignee: Changsha Zoomlion Environmental Industry Co Ltd
Current assignee: Changsha Zoomlion Environmental Industry Co Ltd
Priority date: 2022-12-21
Filing date: 2022-12-21
Publication date: 2023-05-23
Anticipated expiration: 2032-12-21

Abstract

The utility model discloses a hedge obstacle avoidance trimming arm support device and a trimming operation vehicle, wherein the hedge obstacle avoidance trimming arm support device comprises a mounting seat, a sliding mechanism, a working arm mechanism and a telescopic driving piece with an accumulator, wherein the sliding mechanism is arranged on the mounting seat in a left-right movable manner, one end of the working arm mechanism is arranged on the sliding mechanism in a circumferential rotation manner, the other end of the working arm mechanism is used for being connected with the trimming device and performing obstacle avoidance rotation under the condition that the movement of the trimming device is blocked, so that the sliding mechanism can drive the working arm mechanism to perform obstacle avoidance movement, and the telescopic driving piece is arranged on the sliding mechanism and is connected with the working arm mechanism and is used for performing shrinkage energy storage and releasing stored energy to drive the working arm mechanism to reset under the condition that the working arm mechanism is in the obstacle avoidance rotation state.

Description

Hedgerow keeps away barrier and prunes and uses cantilever crane device and prunes operation car

Technical Field

The utility model belongs to the technical field of environmental sanitation equipment, and particularly relates to a hedge obstacle avoidance pruning boom device and a pruning operation vehicle.

Background

After the existing hedge trimming operation vehicle accidentally bumps an obstacle in the operation process, the working arm cannot give way and automatically execute obstacle avoidance action, and in an emergency, a driver needs to make reasonable response action in time, so that the requirement on the driver is extremely high. In the pruning operation process of the hedge pruning operation vehicle, an obstacle recognition blind area exists in the pruning advancing direction of the pruning head, automatic obstacle avoidance action cannot be completed in the blind area, and when an obstacle in the blind area is encountered, the position of the vehicle or the posture of the arm support is required to be adjusted by a driver, and the obstacle is controlled in the recognition area to complete the automatic obstacle avoidance action.

The existing automatic obstacle avoidance mechanism of the hedge trimming operation vehicle is arranged on the trimming head, the trolley type structure is adopted to realize obstacle avoidance, the obstacle avoidance mechanism can only identify an obstacle on one side of the vehicle after being installed, when the trimming head is switched to the operation of the other side of the vehicle body, the obstacle avoidance mechanism needs to be detached and installed on the other side of the vehicle body to have an automatic obstacle avoidance function, the actual operation steps are complicated, and the aim of automatic bidirectional obstacle avoidance cannot be achieved.

Disclosure of Invention

The utility model provides a hedge obstacle avoidance pruning arm support device and a pruning operation vehicle, aiming at solving the technical problems that an obstacle avoidance mechanism is required to be disassembled and installed on the other side of a vehicle body to have an automatic obstacle avoidance function when a pruning head switches the operation side of the vehicle body, and the automatic bidirectional obstacle avoidance function cannot be achieved.

In order to achieve the above object, the present utility model provides a boom device for hedge trimming, which comprises a mounting seat, a sliding mechanism, a working arm mechanism and a telescopic driving piece with an accumulator, wherein the mounting seat is used for being mounted on a trimming operation vehicle, the sliding mechanism is mounted on the mounting seat in a left-right movable manner, one end of the working arm mechanism is mounted on the sliding mechanism in a circumferential rotation manner, the other end of the working arm mechanism is used for being connected with a trimming device and performing obstacle avoidance rotation under the condition that the trimming device is blocked in motion, so that the sliding mechanism can drive the working arm mechanism to perform obstacle avoidance movement, and the telescopic driving piece is mounted on the sliding mechanism and connected with the working arm mechanism and is used for performing shrinkage energy storage and release energy storage under the condition that the working arm mechanism is in the obstacle avoidance rotation state to drive the working arm mechanism to reset.

In the embodiment of the utility model, the hedge obstacle avoidance trimming arm support device further comprises an angle sensor, wherein the angle sensor is used for detecting the rotation angle of the working arm mechanism relative to the sliding mechanism so as to control the sliding mechanism according to the detection result.

In the embodiment of the utility model, the working arm mechanism comprises a working arm body, a rotating shaft and a rocking handle, wherein the rotating shaft is installed on the sliding mechanism in a circumferential rotation manner, one end of the working arm body is fixedly arranged on the rotating shaft, the other end of the working arm body is used for being connected with the trimming device, two ends of the rocking handle are respectively connected with the rotating shaft and one end of the telescopic driving piece, which is far away from the sliding mechanism, and the angle sensor is used for detecting the rotation angle of the rotating shaft relative to the sliding mechanism.

In the embodiment of the utility model, one end of the rocking handle is fixedly sleeved at the end part of the rotating shaft, and the other end of the rocking handle extends out to be provided with a connecting pin shaft which is rotationally connected with the end part of the telescopic driving piece.

In the embodiment of the utility model, the sliding mechanism comprises a sliding frame which can be installed on the installation seat in a left-right moving way and a driving component which drives the sliding frame to move on the installation seat, the rotating shaft can be penetrated on the sliding frame in a circumferential rotating way, the working arm body is fixedly arranged at the upper end of the rotating shaft extending out of the sliding frame, and one end of the rocking handle, which is far away from the telescopic driving piece, is fixedly arranged at the lower end of the rotating shaft extending out of the sliding frame.

In the embodiment of the utility model, the sliding frame comprises a sliding seat and a tripod body, wherein the sliding seat is arranged on the mounting seat in a left-right movable way, the tripod body is arranged at the upper part of the sliding seat, the rotating shaft can be circumferentially and rotationally arranged on one corner of the tripod body, which is outwards arranged, and one end of the telescopic driving piece, which is far away from the rocking handle, is arranged at the lower part of the sliding seat.

In the embodiment of the utility model, the sliding seat comprises a seat body and two sliding plates which are arranged on the seat body at intervals in an up-down opposite way, and the sliding plates are provided with V-shaped sliding grooves for the sliding seat to be movably arranged on the mounting seat.

In the embodiment of the utility model, the driving assembly comprises a rotary driving piece, a matching strip and a driving wheel, wherein the matching strip is fixedly arranged on the mounting seat, the driving wheel is arranged on the sliding frame and meshed with the matching strip, and the rotary driving piece is arranged on the sliding frame and is in driving connection with the driving wheel.

In the embodiment of the utility model, the angle between the front projection of the working arm mechanism in the normal working state on the sliding plane and the sliding mechanism is set to be 5-20 degrees.

In order to achieve the above purpose, the utility model also provides a pruning operation vehicle, wherein the pruning operation vehicle comprises the hedge obstacle avoidance pruning arm support device.

Through the technical scheme, the arm support device for hedge obstacle avoidance pruning has the following beneficial effects:

when the hedge obstacle avoidance pruning boom device is used by the pruning operation vehicle, the hedge obstacle avoidance pruning boom device comprises a mounting seat, a sliding mechanism, a working arm mechanism and a telescopic driving piece with an accumulator, wherein the sliding mechanism is arranged on the mounting seat in a left-right movable manner, one end of the working arm mechanism is arranged on the sliding mechanism in a circumferential rotation manner, the other end of the working arm mechanism is used for connecting a pruning device, the telescopic driving piece is arranged on the sliding mechanism and is connected with the working arm mechanism, when the pruning device touches an obstacle to cause the obstacle to be blocked in movement, the working arm mechanism is extruded by the obstacle to avoid the obstacle, the telescopic driving piece can realize compression energy storage due to the rotation of the working arm mechanism, the sliding mechanism can drive the working arm mechanism to do sliding movement on the mounting seat until the pruning device on the working arm mechanism avoids the obstacle, the resistance acting on the working arm mechanism disappears, the telescopic driving piece releases compressed energy to stretch, the working arm mechanism rotates to reset, the sliding mechanism slides to reset, when the pruning operation vehicle changes the pruning side, the telescopic driving piece drives the working arm mechanism and the pruning device to deflect towards the pruning side, the telescopic driving piece and the sliding mechanism can realize obstacle avoidance again through repeating the working process, so that the aim of bidirectional automatic obstacle avoidance is achieved.

Additional features and advantages of the utility model will be set forth in the detailed description which follows.

Drawings

The accompanying drawings are included to provide an understanding of the utility model, and are incorporated in and constitute a part of this specification, illustrate the utility model and together with the description serve to explain, without limitation, the utility model. In the drawings:

FIG. 1 is a schematic view of a part of a boom apparatus for hedge obstacle avoidance pruning according to an embodiment of the present utility model;

FIG. 2 is an enlarged view of a portion of FIG. 1 at I;

FIG. 3 is a schematic structural view of a boom apparatus for hedge obstacle avoidance pruning according to an embodiment of the present utility model;

FIG. 4 is a first state of use of the hedge obstacle avoidance trimming boom apparatus according to an embodiment of the present utility model;

fig. 5 is a second usage state diagram of the hedge obstacle avoidance trimming boom device according to an embodiment of the present utility model.

Description of the reference numerals

102. Working arm mechanism 200 mounting seat

201. Telescopic driving piece of sliding mechanism 202

203. Angle sensor 204 working arm body

205. Rotating shaft 206 rocking handle

207. Connecting pin 208 sliding frame

209. Driving assembly 210V type chute

211. Driving wheel for matching strip 212

213. Clipping device 214 sliding seat

215. Tripod 216 seat body

217. Sliding plate

Detailed Description

Specific embodiments of the present utility model will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for purposes of illustration and explanation only and are not intended to limit the present utility model.

Based on this, the embodiment of the application provides a hedgerow keeps away barrier and prunes with cantilever crane device and prunes operation car, aims at solving and need dismantle when pruning the head and keep away barrier mechanism and install to the automobile body opposite side and just can have automatic obstacle avoidance function, can't reach automatic two-way technical problem who keeps away the barrier function.

The following describes a hedge obstacle avoidance trimming boom device and a trimming operation vehicle according to the present utility model with reference to the accompanying drawings.

As shown in fig. 1 to 3, in an embodiment of the present utility model, there is provided a hedge obstacle avoidance trimming boom apparatus, wherein the hedge obstacle avoidance trimming boom apparatus includes:

a mounting base 200 for mounting on a pruning work vehicle;

a sliding mechanism 201 mounted on the mounting base 200 so as to be movable left and right;

the working arm mechanism 102, one end of the working arm mechanism 102 is installed on the sliding mechanism 201 in a circumferential rotation manner, and the other end of the working arm mechanism 102 is used for being connected with the trimming device 213 and performing obstacle avoidance rotation under the condition that the trimming device 213 is blocked from moving, so that the sliding mechanism 201 can drive the working arm mechanism 102 to perform obstacle avoidance movement;

the telescopic driving piece 202 with the energy accumulator is arranged on the sliding mechanism 201, is connected with the working arm mechanism 102 and is used for carrying out shrinkage energy storage and releasing the stored energy to drive the working arm mechanism 102 to reset when the working arm mechanism 102 is in an obstacle avoidance rotation state.

When the hedge obstacle avoidance trimming boom device is used by the trimming operation vehicle, since the hedge obstacle avoidance trimming boom device comprises the mounting seat 200, the sliding mechanism 201, the working arm mechanism 102 and the telescopic driving piece 202 with the energy accumulator, the sliding mechanism 201 is movably mounted on the mounting seat 200 left and right, one end of the working arm mechanism 102 is circumferentially rotatably mounted on the sliding mechanism 201, the other end of the working arm mechanism is used for being connected with the trimming device 213, the telescopic driving piece 202 is mounted on the sliding mechanism 201 and is connected with the working arm mechanism 102, when the trimming device 213 touches an obstacle to cause the movement of the obstacle to be blocked, the working arm mechanism 102 is extruded by the obstacle to perform obstacle avoidance rotation, the telescopic driving piece 202 can realize compression energy storage due to the rotation of the working arm mechanism 102, and the sliding mechanism 201 can drive the working arm mechanism 102 to perform sliding movement on the mounting seat 200, until the trimming device 213 on the working arm mechanism 102 avoids the obstacle, the resistance acting on the working arm mechanism 102 disappears, the telescopic driving piece 202 releases compressed energy to extend, the working arm mechanism 102 rotates to reset, the sliding mechanism 201 slides to reset, when the trimming side is replaced by the trimming operation vehicle, the working arm mechanism 102 and the trimming device 213 are driven by the telescopic driving piece 202 to deflect towards the trimming side, the telescopic driving piece 202 and the sliding mechanism 201 can realize obstacle avoidance again by repeating the working process, thereby achieving the purpose of bidirectional automatic obstacle avoidance, compared with the prior art that the obstacle avoidance is realized by adopting a trolley type structure, the obstacle avoidance mechanism can only identify the obstacle on one side of the vehicle after being installed, the trimming head can only have the function of automatic obstacle avoidance when being required to be detached and installed on the other side of the vehicle body when being switched to operate on the other side of the vehicle body, the efficiency of pruning operation is improved.

Specifically, the telescopic driving element 202 with the accumulator may be a hydraulic cylinder or an air cylinder with the accumulator, the accumulator is an energy storage device in a hydraulic system and a pneumatic system, the accumulator changes the energy in the system into compression energy or potential energy at a proper time to store the compression energy or potential energy, when the system is needed, the compression energy or potential energy is converted into energy such as hydraulic pressure or air pressure to release the compression energy or potential energy, and the compression energy or potential energy is supplied to the system again, when the instantaneous pressure of the system increases, the energy of the part can be absorbed, so that the pressure of the whole system is ensured to be normal.

Referring to fig. 1 and 2, in the embodiment of the present utility model, the hedge obstacle avoidance trimming boom apparatus further includes an angle sensor 203, where the angle sensor 203 is configured to detect a rotation angle of the working arm mechanism 102 relative to the sliding mechanism 201, so as to control the sliding mechanism 201 according to a detection result. That is, the angle sensor 203 is used for monitoring whether the working arm mechanism 102 rotates, and when the working arm mechanism 102 does not rotate and the angle detection result does not change, the working arm mechanism 102 is proved to be in a normal working state; when the working arm mechanism 102 rotates, i.e. touches an obstacle, the angle detection result changes and transmits a signal to the controller, and the controller controls the sliding mechanism 201 to move on the mounting seat 200 so as to achieve the purpose of obstacle avoidance.

Referring to fig. 1 and 2, in the embodiment of the present utility model, the working arm mechanism 102 includes a working arm body 204, a rotating shaft 205 and a rocking handle 206, the rotating shaft 205 is installed on the sliding mechanism 201 in a manner that the rotating shaft 205 can rotate circumferentially, one end of the working arm body 204 is fixedly arranged on the rotating shaft 205, the other end of the working arm body 204 is used for connecting the trimming device 213, two ends of the rocking handle 206 are respectively connected with the rotating shaft 205 and one end of the telescopic driving member 202 far away from the sliding mechanism 201, and the angle sensor 203 is used for detecting the rotation angle of the rotating shaft 205 relative to the sliding mechanism 201. That is, the working arm body 204 plays a role in installing and adjusting the trimming position of the trimming device 213, the impact force received by the trimming device 213 can be transmitted to the working arm body 204 to deflect the trimming device, the deflection motion of the working arm body 204 can be transmitted to the rotating shaft 205 and the rocking handle 206, so that the rotating shaft 205 and the rocking handle 206 do rotation motion, the end part of the rocking handle 206 far away from the rotating shaft 205 compresses the telescopic driving piece 202, thereby realizing shrinkage energy storage of the telescopic driving piece 202, in the process, along with the rotation of the rotating shaft 205, the first sensing part of the angle sensor 203 installed at the lower end of the rotating shaft 205 can synchronously rotate along with the rotating shaft 205, the second sensing part of the angle sensor 203 installed on the sliding mechanism 201 relatively stands still on the sliding mechanism, and therefore, the angle sensor 203 can measure the rotation angle of the rotating shaft 205 relative to the sliding mechanism 201.

Referring to fig. 1 and 2, in the embodiment of the present utility model, one end of a rocking handle 206 is fixedly sleeved on the end of a rotating shaft 205, and the other end of the rocking handle 206 is penetrated with a connecting pin 207 rotatably connected with the end of a telescopic driving member 202. Namely, the rocking handle 206 is detachably connected with the rotating shaft 205 and the telescopic driving piece 202 respectively, so that the rocking handle 206 is convenient to maintain and replace, and the rocking handle 206 is connected with the telescopic driving piece 202 through the connecting pin shaft 207, so that smooth rotation can be ensured.

Referring to fig. 1 and 2, in the embodiment of the present utility model, the sliding mechanism 201 includes a sliding frame 208 movably mounted on the mounting base 200 in a left-right direction and a driving component 209 for driving the sliding frame 208 to move on the mounting base 200, the rotating shaft 205 is rotatably penetrating through the sliding frame 208 in a circumferential direction, the working arm body 204 is fixedly disposed on the rotating shaft 205 and extends out of an upper end of the sliding frame 208, and an end of the rocking handle 206 remote from the telescopic driving component 202 is fixedly disposed on the rotating shaft 205 and extends out of a lower end of the sliding frame 208. That is, the sliding frame 208 plays a role of installing and bearing the rotating shaft 205, the driving component 209 is used for driving the sliding frame 208 to move on the mounting seat 200, so that the working arm mechanism 102 installed on the sliding frame 208 can do sliding motion along the mounting seat 200, further, the trimming device 213 installed on the working arm body 204 can avoid obstacles, the working arm body 204 is arranged at the upper end of the rotating shaft 205, so that the working arm body 204 can not be interfered by the sliding frame 208 when rotating upwards relative to the rotating shaft 205, the rocking handle 206 is arranged at the lower end of the rotating shaft 205, and the sliding frame 208 can play a certain shielding protection role on the rocking handle 206.

Referring to fig. 1 and 2, in the embodiment of the present utility model, the sliding frame 208 includes a sliding seat 214 movably mounted on the mounting seat 200 in a left-right direction and a tripod body 215 disposed on an upper portion of the sliding seat 214, and the rotating shaft 205 is rotatably disposed on a corner of the tripod body 215 disposed outwards in a circumferential direction, and one end of the telescopic driving member 202 away from the rocking handle 206 is mounted on a lower portion of the sliding seat 214. That is, the upper portion of the sliding frame 208 plays a role in rotatably mounting the rotating shaft 205, and the lower portion of the sliding frame 208 plays a role in mounting the rocking handle 206, so that the rotating shaft 205 is separated from the rocking handle 206 to avoid interference, and meanwhile, the weight of the sliding frame 208 is reduced, and the energy consumption of the driving assembly 209 can be reduced.

Specifically, the two outer sides of the tripod body 215 are provided with lightening holes, and the lightening holes are used for lightening the weight of the tripod body 215, namely the sliding frame 208, so as to reduce the energy consumption of the driving assembly 209.

Referring to fig. 1 and 2, in the embodiment of the present utility model, the sliding seat 214 includes a seat body 216 and two sliding plates 217 disposed on the seat body 216 at opposite intervals up and down, and V-shaped sliding grooves 210 for movably mounting the sliding seat 214 on the mounting seat 200 are formed on the sliding plates 217. That is, the V-shaped chute 210 can limit the sliding frame 208 to only slide left and right along the mounting seat 200, and the V-shaped rails with cross sections are formed on the upper and lower sides of the mounting seat 200 corresponding to the V-shaped chute 210 to match the V-shaped chute 210, so that the sliding frame 208 cannot move up and down and forward and backward relative to the mounting seat 200, the sliding frame 208 is prevented from being separated from the mounting seat 200, and the stability of the working arm mechanism 102 during the working sliding is ensured.

Referring to fig. 3, in an embodiment of the present utility model, the driving assembly 209 includes a rotary driving member, a mating bar 211, and a driving wheel 212, the mating bar 211 being fixedly mounted on the mounting base 200, the driving wheel 212 being disposed on the sliding frame 208 and engaged with the mating bar 211, the rotary driving member being disposed on the sliding frame 208 and in driving connection with the driving wheel 212. When the trimming device 213 touches an obstacle at one side of the trimming operation vehicle, the working arm mechanism 102 performs obstacle avoidance rotation, the rotary driving piece drives the driving wheel 212 to rotate forward under the action of the controller, so that the sliding mechanism 201 provided with the driving wheel 212 slides along one side of the mounting seat 200 away from the obstacle, thereby achieving the purpose of avoiding the obstacle, and after the trimming device 213 completely avoids the obstacle, the rotary driving piece drives the driving wheel 212 to rotate reversely under the action of the controller, and the sliding mechanism 201 can slide and reset along the mounting seat 200.

Referring to fig. 3 to 5, in the embodiment of the present utility model, the angle between the front projection of the working arm mechanism 102 in the normal working state and the sliding mechanism 201 in the sliding plane is set to be 5 ° to 20 °. When the clipping device 213 touches an obstacle in the working forward direction, the working arm mechanism 102 deflects backward under the buffering action, that is, the working arm mechanism 102 has a collapsing space of 5 ° to 20 °, so that the clipping device 213 and the working arm mechanism 102 are prevented from colliding with the clipping working vehicle when moving on the sliding mechanism 201.

During the right side trimming process of the trimming operation vehicle, the trimming operation vehicle runs forward, the trimming head of the trimming device 213 impacts the obstacle, the working arm body 204 is retracted, the telescopic driving member 202 is retracted, the energy accumulator starts to store energy, at this time, as shown in fig. 4, the working arm body 204 rotates clockwise along the rotating shaft 205, after the angle sensor 203 senses the angle change at the rotating shaft 205, the controller activates the sliding mechanism 201 to slide leftwards along the mounting seat 200, and the trimming operation vehicle continuously runs forward. When the pruning head passes over an obstacle, the resistance acting on the working arm body 204 disappears, the energy accumulator starts to release energy to enable the telescopic driving piece 202 to stretch, the working arm body 204 rotates anticlockwise along the rotating shaft 205 to reset, meanwhile, after the angle sensor 203 at the rotating shaft 205 senses the angle change, the controller is used for exciting the sliding mechanism 201 to slide and reset to the right along the mounting seat 200, and finally the working arm mechanism 102 and the sliding mechanism 201 are restored to the state before the obstacle collides, and the automatic obstacle avoidance process is completed.

During left side trimming of the trimming operation vehicle, the trimming operation vehicle moves forwards, the obstacle impacts the trimming head, the working arm body 204 is retracted, the telescopic driving piece 202 is retracted, the energy accumulator starts to store energy, at this time, as shown in fig. 5, the working arm body 204 rotates anticlockwise along the rotating shaft 205, and after the angle sensor 203 senses the angle change at the rotating shaft 205, the controller activates the sliding mechanism 201 to slide rightwards along the mounting seat 200. The pruning operation vehicle continuously runs forwards, after the pruning head passes over an obstacle, the resistance acting on the working arm body 204 disappears, the energy accumulator starts to release energy to enable the telescopic driving piece 202 to stretch, the working arm body 204 rotates clockwise along the rotating shaft 205 to reset, meanwhile, after the angle sensor 203 at the rotating shaft 205 senses the angle change, the controller is used for exciting the sliding mechanism 201 to slide leftwards along the mounting seat 200 to reset, finally, the working arm mechanism 102 and the sliding mechanism 201 are restored to the state before the obstacle collides, the automatic obstacle avoidance process is completed, and the pruning operation vehicle can perform continuous pruning operation during the automatic obstacle avoidance process.

In addition, the utility model also provides a hedge trimming vehicle, wherein the hedge trimming vehicle comprises the arm support device for hedge obstacle avoidance trimming. The hedge trimmer adopts all the technical schemes of the above embodiments, so that the hedge trimmer has at least all the beneficial effects brought by the technical schemes of the above embodiments, and the technical schemes are not repeated here.

In the description of the present utility model, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present utility model, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

While embodiments of the present utility model have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the utility model, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the utility model.

Claims

1. The utility model provides a hedge keeps away barrier and prunes and use cantilever crane device which characterized in that, hedge keeps away barrier and prunes and use cantilever crane device includes:

a mounting base (200) for mounting on a pruning work vehicle;

a sliding mechanism (201) which is mounted on the mounting seat (200) in a manner of being capable of moving left and right;

the working arm mechanism (102), one end of the working arm mechanism (102) is installed on the sliding mechanism (201) in a circumferential rotation manner, the other end of the working arm mechanism is used for being connected with the trimming device (213) and used for carrying out obstacle avoidance rotation under the condition that the trimming device (213) is blocked from moving, so that the sliding mechanism (201) can drive the working arm mechanism (102) to carry out obstacle avoidance movement;

the telescopic driving piece (202) with the energy accumulator is arranged on the sliding mechanism (201) and connected with the working arm mechanism (102), and is used for carrying out shrinkage energy storage and releasing the stored energy to drive the working arm mechanism (102) to reset when the working arm mechanism (102) is in an obstacle avoidance rotation state.

2. The hedge obstacle avoidance trimming boom device according to claim 1, further comprising an angle sensor (203), wherein the angle sensor (203) is configured to detect a rotation angle of the working arm mechanism (102) with respect to the sliding mechanism (201), so that the sliding mechanism (201) can be controlled according to the detection result.

3. The hedge obstacle avoidance trimming boom device according to claim 2, wherein the working arm mechanism (102) comprises a working arm body (204), a rotating shaft (205) and a rocking handle (206), the rotating shaft (205) is installed on the sliding mechanism (201) in a circumferential rotation manner, one end of the working arm body (204) is fixedly arranged on the rotating shaft (205), the other end of the working arm body (204) is used for being connected with the trimming device (213), two ends of the rocking handle (206) are respectively connected with the rotating shaft (205) and one end, far away from the sliding mechanism (201), of the telescopic driving piece (202), and the angle sensor (203) is used for detecting the rotation angle of the rotating shaft (205) relative to the sliding mechanism (201).

4. A hedge obstacle avoidance trimming boom apparatus according to claim 3, wherein one end of the rocking handle (206) is fixedly sleeved at the end of the rotating shaft (205), and the other end of the rocking handle (206) is provided with a connecting pin (207) which is rotatably connected with the end of the telescopic driving member (202) in a protruding manner.

5. A hedge obstacle avoidance trimming boom apparatus according to claim 3, wherein the sliding mechanism (201) comprises a sliding frame (208) movably mounted on the mounting base (200) and a driving assembly (209) for driving the sliding frame (208) to move on the mounting base (200), the rotating shaft (205) is rotatably penetrating through the sliding frame (208) in a circumferential direction, the working arm body (204) is fixedly arranged at the upper end of the rotating shaft (205) extending out of the sliding frame (208), and one end of the rocking handle (206) away from the telescopic driving member (202) is fixedly arranged at the lower end of the rotating shaft (205) extending out of the sliding frame (208).

6. The hedge obstacle avoidance trimming boom device according to claim 5, wherein the sliding frame (208) comprises a sliding seat (214) movably mounted on the mounting seat (200) and a tripod body (215) arranged on the upper portion of the sliding seat (214), the rotating shaft (205) is rotatably arranged on a corner of the tripod body (215) which is arranged outwards in a penetrating manner, and one end of the telescopic driving piece (202) away from the rocking handle (206) is mounted on the lower portion of the sliding seat (214).

7. The hedge obstacle avoidance trimming boom apparatus as described in claim 6 wherein said slide base (214) comprises a base body (216) and two slide plates (217) disposed on said base body (216) in spaced relation up and down, said slide plates (217) having V-shaped runners (210) formed thereon for said slide base (214) to be movably mounted on said mounting base (200).

8. The hedge obstacle avoidance trimming boom apparatus of claim 5 wherein said drive assembly (209) comprises a rotary drive member, a mating bar (211) and a drive wheel (212), said mating bar (211) being fixedly mounted to said mounting block (200), said drive wheel (212) being disposed on said slip frame (208) and engaged with said mating bar (211), said rotary drive member being disposed on said slip frame (208) and in driving connection with said drive wheel (212).

9. The boom device for hedge obstacle avoidance trimming according to any of claims 1 to 8, wherein the angle between the normal projection of the working arm mechanism (102) in the sliding plane and the sliding mechanism (201) in the normal operation state is set to 5 ° to 20 °.

10. A pruning work vehicle, characterized in that it comprises a hedge obstacle avoidance pruning boom device according to any one of claims 1 to 9.