WO2019213984A1 - 一种高速公路绿化带修剪车 - Google Patents
一种高速公路绿化带修剪车 Download PDFInfo
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- WO2019213984A1 WO2019213984A1 PCT/CN2018/086785 CN2018086785W WO2019213984A1 WO 2019213984 A1 WO2019213984 A1 WO 2019213984A1 CN 2018086785 W CN2018086785 W CN 2018086785W WO 2019213984 A1 WO2019213984 A1 WO 2019213984A1
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- trimming
- motor
- belt
- cutting mechanism
- vehicle
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/04—Apparatus for trimming hedges, e.g. hedge shears
- A01G3/0426—Machines for pruning vegetation on embankments and road-sides
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/04—Apparatus for trimming hedges, e.g. hedge shears
- A01G3/0435—Machines specially adapted for shaping plants, e.g. topiaries
Definitions
- the invention belongs to a green belt trimming machine and relates to a highway green belt trimming vehicle.
- the main function of the greening of the central divider is to shield the vehicle lights on the opposite side of the lane, so as to avoid the safety of the driver's line of sight caused by the car lights in the opposite direction when driving at night, and also increase the certain aesthetics, but the planting Small trees and shrubs in the separation belt, such as Lagerstroemia, Oleander, Rose, etc., should pay attention to controlling the growth range of the branches during the curing process, and pruning in time to prevent the branches from reaching the roadway and affecting the safety of driving. This is usually done manually for regular trimming to ensure the aesthetics and normal use of the green belt. When the worker trims the green belt, the workers have to stand in the high-speed traffic because of the location of the central green belt. This has great hidden dangers to its personal safety.
- the grass cutting work of the central green belt mainly relies on artificial and only some mechanical arms. Not only consumes a lot of physical strength, but also has low efficiency and poor trimming accuracy, which affects the aesthetics of trimming.
- highway construction has experienced rapid growth in milestones, and more and more attention has been paid to the pruning efficiency and aesthetics of highway green belts.
- the invention provides a highway green belt trimming vehicle to solve the problems that the manual or mechanical arm has low cutting efficiency, the cutting effect is not beautiful, and the cutting branches and leaves cannot be collected in time.
- the invention provides a highway green belt trimming vehicle, comprising two bodies symmetrically arranged and traveling synchronously, wherein the first trimming mechanism, the second cutting mechanism and the third cutting mechanism are arranged in the compartment of the vehicle body;
- the cutting mechanism is installed at the rear of the compartment for trimming the top branches, the second cutting mechanism is installed on the upper part of the compartment for trimming the top branches, the third cutting mechanism is installed in the middle of the compartment for trimming the side branches;
- Two body bodies are driven on both sides of the green belt, and the two sides of the green belt are trimmed by the first cutting mechanism, the second cutting mechanism and the third cutting mechanism on the two bodies.
- the first cutting mechanism comprises: a scissor lifting mechanism, a crank rocker mechanism and a first cutter;
- the scissor lifting mechanism comprises a lifting base, a platform disposed on the lifting base, a first motor and a first threaded screw; the first lifting foot of the lifting base is rotatably connected with the side wall of the vehicle body, and the second lifting foot is provided with a beam
- the first motor is fixed in the compartment of the vehicle body, and one end of the first threaded screw is connected to the output shaft of the first motor and the other end is connected to the beam;
- the crank rocker mechanism includes a second motor, a first belt, a crank and a rocker disposed on the platform; the second motor drives the crank to rotate through the transmission of the first belt, and the crank end is connected with the rocker to drive the rocker to reciprocate ;
- the first cutter includes a first fixed knife, a first movable knife, a third motor, a second belt and a first crank slider
- the first fixed knife includes a cutter head and a shank
- the shank is rotatably connected to the platform.
- a through slot is defined in the handle, the end of the rocker is engaged in the through slot and can slide along the through slot;
- the first movable blade is mounted on a lower portion of the first fixed blade, and the third motor is disposed On the shank of the first fixed knives, the third motor reciprocates the first crank slider by the transmission of the second belt, and the first crank slider drives the first movable knife to reciprocate, the first fixed knife and the first movable knife Interacting and cutting off branches and leaves.
- the second cutting mechanism comprises: a first robot arm, a second robot arm, a third robot arm and a second cutter;
- One end of the first mechanical arm is rotatably connected to the upper part of the vehicle body, the other end is rotatably connected to the second mechanical arm, and the third mechanical arm is rotatably connected with the second mechanical arm;
- the second cutter includes a second fixed knife, a second movable knife, a fourth motor, a third belt and a second crank slider; the second fixed knife is rotatably coupled to the third mechanical arm, and the second movable knife is mounted to the second
- the second motor is disposed on the second fixed knife, the fourth motor drives the second crank slider to reciprocate through the transmission of the third belt, and the second crank slider drives the second movable knife to reciprocate,
- the second fixed knife and the second movable knife cooperate with each other to cut off the branches and leaves.
- the third cutting mechanism comprises: a bracket arm member, a third cutter, a horizontal position adjusting mechanism, and a tilt angle adjusting mechanism;
- bracket arm member is mounted on the side wall of the vehicle body by a long bolt and is slidable and rotatable along the long bolt, and a slot is provided in the bracket arm member;
- the third cutter includes: a saw blade and a fifth motor; the saw blade and the fifth motor are both mounted on the other side of the bracket arm member, and the fifth motor drives the saw blade to rotate to realize trimming the side branches;
- the horizontal position adjusting mechanism comprises: a pushing rod, a sixth motor, a threaded rod, a slider and a fourth belt; the sixth motor is fixedly mounted on the upper part of the slider, and the internal threaded rod is installed in the middle of the slider, and the rod sleeve is pushed inside In the threaded rod, the other end of the push rod is slidably connected to the slot in the bracket arm member, and the sixth motor is driven by the fourth belt to drive the internal threaded rod to rotate, and under the action of the thread, the telescopic rod is telescoped, thereby implementing the bracket. Adjustment of the horizontal position of the arm member;
- the tilt angle adjusting mechanism includes: a seventh motor and a second threaded screw; the slider of the horizontal position adjusting mechanism is mounted on the second threaded screw, and the seventh motor drives the second threaded rod to rotate, thereby realizing the horizontal movement of the slider, Further, the change in the inclination angle of the bracket arm member is achieved.
- a paddle for sweeping off the trimmed leaves on the bracket arm member of the third cutting mechanism.
- a conveyor belt for conveying the branches the conveyor belt is disposed in parallel under the third cutter, and a slidable chute is arranged below the top of the conveyor belt, and the branches and leaves are dropped into the slidable chute through the conveyor belt, and then passed through the slidable chute Slide into the trash can below the slidable chute.
- the trimming vehicle is provided with a processor, an ultrasonic sensor and an RUPS system; the upper ends of the two bodies are respectively provided with a pneumatic telescopic rod, and a magnetic table seat is arranged at the end of the pneumatic telescopic
- the two body connections are realized by the magnetic watch stand; the ultrasonic detector is disposed on the top of the vehicle body.
- the ultrasonic probe sends a signal to the processor, and the processor controls the magnet rotation in the magnetic watch base according to the signal.
- the two bodies separate and pass through the obstacle as the pneumatic telescopic rod contracts.
- an infrared sensor is installed at the front end of the vehicle to identify the indication line on the left side of the highway super lane.
- an ultrasonic sensor is mounted on a wheel axle of the vehicle body adjacent to the green belt to realize real-time ranging of the roadside.
- the trimming vehicle is provided with a GPS system.
- the trimming vehicle is provided with a solar panel.
- the expressway green belt trimming vehicle of the invention is suitable for roads of different types of expressways, and can realize the custom shape trimming of the road green belt, the trimming process is automatically completed and the degree of automation is high, and most of the cut branches and leaves are collected to improve the high speed.
- the green belt trimming vehicle has the characteristics of reducing the labor intensity of the hedgerow seedling trimming, improving the work efficiency and the aesthetics of the green belt. Easy to operate and control, energy efficient. High safety factor and good stability. High degree of automation and high resource utilization, suitable for the ecological construction of smart city highways. High-efficiency all-round trimming and pattern trimming process to enhance the aesthetics of the expressway and promote the construction of green ecological culture. The collection and disposal of waste leaves is timely, which not only ensures the cleanliness of the road, but also enables the pruning and environmental protection of the waste leaves.
- FIG. 1 is a schematic overall view of a highway green belt trimming vehicle of the present invention
- Figure 2 is a front elevational view of a highway green belt trimming vehicle of the present invention
- Figure 3 is an internal layout view of the vehicle body of the present invention.
- FIG. 4 is a schematic structural view of a first cutting mechanism of the present invention.
- Figure 5 is an enlarged view of A in Figure 4.
- Figure 6 is a schematic structural view of a second cutting mechanism of the present invention.
- Figure 7 is an enlarged view of B in Figure 6;
- Figure 8 is a schematic structural view of a third cutting mechanism of the present invention.
- Figure 9 is a schematic illustration of a horizontal position adjustment mechanism of a third cutting mechanism of the present invention.
- a highway green belt trimming vehicle of the present invention comprises: two bodies 10 which are symmetrically arranged and synchronously driven, and the body 10 is entirely hollowed out by a truss, and the bottom is made of a steel having a higher density.
- the cabin is made of a material having a low density and high strength, thereby maintaining the stability of the body 10 while maintaining the stability of the body 10.
- the vehicle body of the vehicle body 10 is provided with three sets of branching and cutting mechanisms, which are divided into a cutting for the side branches and a cutting of the top branches and leaves. These include two sets of top leaf cutting mechanisms and a set of side leaf cutting mechanisms, which can be used as needed.
- the first cutting mechanism 100, the second cutting mechanism 200, and the third cutting mechanism 300 are included.
- the first cutting mechanism 100 is mounted to the rear of the compartment for trimming the top foliage
- the second cutting mechanism 200 is mounted to the upper portion of the compartment for trimming the top foliage
- the third cutting mechanism 300 is mounted to the middle of the compartment for trimming the lateral foliage.
- the two bodies 10 are driven on both sides of the green belt, and the trimming on both sides of the green belt is realized by the first cutting mechanism 100, the second cutting mechanism 200 and the third cutting mechanism 300 on the two bodies 10.
- the three sets of cutting and cutting mechanisms are capable of quickly retracting the interior of the compartment, thus ensuring that the two bodies 10 do not roll over when they are separated from each other and thus avoid obstacles.
- the first cutting mechanism 100 includes a scissor lift mechanism, a crank rocker mechanism, and a first cutter.
- the scissor lifting mechanism includes a lifting base 101, a platform 102 disposed on the lifting base, a first motor 103, and a first threaded screw 104.
- the first lifting foot of the lifting base 101 is rotatably connected to the side wall of the vehicle body 10, and the second lifting foot is provided with a beam; the first motor 103 is fixed in the compartment of the vehicle body 10, and the first threaded screw 104 is connected to the first motor 103.
- the output shaft is connected to the other end and connected to the beam.
- the crank rocker mechanism includes a second motor 105 disposed on the platform 102, a first belt 106, a crank 107, and a rocker 108; the second motor 105 rotates the crank 107 through the transmission of the first belt 106, and the end of the crank 107 is
- the rocker 108 is coupled to drive the rocker 108 to reciprocate.
- the first tool includes a first fixed blade 109, a first movable blade 110, a third motor 111, a second belt 112, and a first crank slider 113.
- the first fixed blade 109 includes a cutter head and a shank.
- the shank is rotatably connected to the platform 102.
- the shank is provided with a through slot.
- the end of the rocker 108 is engaged in the through slot and can slide along the through slot.
- the first movable blade 110 is mounted on the lower portion of the first fixed blade 109, the third motor 111 is disposed on the shank of the first fixed blade 109, and the third motor 111 is driven by the transmission of the second belt 112.
- a crank slider 113 reciprocates, and the first crank slider 113 drives the first movable blade 110 to reciprocate, and the first fixed blade 109 and the first movable blade 110 cooperate with each other to cut off the branches and leaves.
- the first cutting mechanism 100 can be used for work.
- the car blade can be used to cut the top leaves and the rear of the first movable blade 110. With the paddles 114, the cut leaves can be swept to the lower conveyor belt 401 while the first tool is rotated and cut, thereby completing the collection.
- the second cutting mechanism 200 includes a first robot arm 201, a second robot arm 202, a third robot arm 203, and a second cutter.
- the first mechanical arm 201 is rotatably connected to the upper portion of the vehicle body 10 at one end, the other end is rotatably coupled to the second mechanical arm 202, and the third mechanical arm 203 is rotatably coupled to the second mechanical arm 202.
- the second cutter includes a second fixed knife 204, a second movable knife 205, a fourth motor 206, a third belt 207, and a second crank slider 208.
- the second fixed knife 204 is rotatably connected to the third mechanical arm 203
- the second movable knife 205 is mounted on the lower portion of the second fixed knife 204
- the fourth motor 206 is disposed on the second fixed knife 204.
- the fourth motor 206 is disposed.
- the second crank slider 208 reciprocates by the driving of the third belt 207
- the second crank slider 208 drives the second movable knife 205 to reciprocate, and the second fixed knife 204 and the second movable knife 205 cooperate with each other to cut off the branches and leaves.
- the second cutting mechanism 200 can be used for work.
- the second cutting mechanism 200 is composed of three mechanical arms, which can realize multi-degree of freedom to adjust the position of the tool, so that not only can we trim
- the car can be used in more situations, and it can also trim more beautiful green belts.
- there is a paddle 114 which can sweep the cut branches to the lower conveying belt 401 while the second cutter is being cut, thereby completing the collection.
- the third cutting mechanism 300 includes a bracket arm member 301, a third cutter, a horizontal position adjustment mechanism, and a tilt angle adjustment mechanism.
- One side of the bracket arm member 301 is mounted on the side wall of the vehicle body 10 by a long bolt and is slidable and rotatable along a long bolt, and a slot hole 302 is provided in the bracket arm member 301.
- the third cutter includes: a saw blade 303 and a fifth motor 304; the saw blade 303 and the fifth motor 304 are both mounted on the other side of the bracket arm member 301, and the fifth motor 304 drives the saw blade 303 to rotate to realize trimming the side branches.
- the horizontal position adjustment mechanism includes a push rod 305, a sixth motor 306, an internally threaded rod 307, a slider 308, and a fourth belt 309.
- the sixth motor 306 is fixedly mounted above the slider 308, the internally threaded rod 307 is mounted in the middle of the slider 308, the push rod 305 is sleeved in the threaded rod 307, and the other end of the push rod 305 is slidably coupled to the slot on the bracket arm member 301.
- the sixth motor 306 is driven by the fourth belt 309 to drive the internal threaded rod 307 to rotate. Under the action of the thread, the expansion and contraction of the push rod 305 is realized, thereby adjusting the horizontal position of the bracket arm member 301.
- the tilting angle adjusting mechanism includes a seventh motor 310 and a second threaded screw 311.
- the slider 308 of the horizontal position adjusting mechanism is mounted on the second threaded screw 311, and the seventh motor 310 drives the second threaded rod 311 to rotate.
- the horizontal movement of the slider 308, in turn, causes a change in the tilt angle of the bracket arm member 301.
- the third cutting mechanism 300 adopts a saw blade structure, has a simple structure and is relatively light, and at the same time, the cutter can adjust the tilt angle under the action of the second threaded screw 311, and can also change the horizontal position of the cutter under the pushing of the horizontal position adjusting mechanism. Adjust the trim width and avoid obstacles.
- a paddle 114 for sweeping the trimmed leaves is provided on the first movable blade 110 and the second movable blade 205, and a conveyor belt 401 for conveying the branches is provided on the bracket arm 301 of the third cutting mechanism 300,
- the conveyor belt 401 is disposed in parallel under the third cutter, and a slidable chute 402 is disposed under the top of the conveyor belt 401.
- the slidable chute 402 can be controlled by the rack and pinion transmission to expand and contract, after the branches are conveyed to the highest point of the conveyor belt 401. It falls into the slidable chute 402 and finally slides into the trash can 405 below the slidable chute 402 through the slidable chute 402.
- infrared sensors are installed at the front ends of the two vehicle bodies 10 to clearly identify the indication lines on the left side of the highway free lanes on both sides.
- ultrasonic sensors are respectively installed on the shafts of the wheels of the two bodies close to the green belt to realize real-time ranging of the roadsides, and the correct walking path of the trimming vehicles is ensured.
- the trimming vehicle of the present invention adopts a body separation and obstacle avoidance method.
- the upper ends of the two bodies are respectively provided with a pneumatic telescopic rod 403, and a magnetic head holder 404 is arranged at the end of the pneumatic telescopic rod 403, and the two body bodies are connected by the magnetic watch holder 404.
- the ultrasonic sensor is disposed on the top of the vehicle body 10.
- the ultrasonic sensor sends a signal to the processor, and the processor controls the magnet in the magnetic watch base 404 to rotate 90 degrees according to the signal, so that the two bodies will follow the pneumatic telescopic rod.
- the contraction of 403 separates through the obstacle.
- the two sides mutually detect the position to ensure that the body fits perfectly after passing the obstacle.
- the trimming vehicle is also provided with a GPS system. The manager can observe the operation of the trimming vehicle and the working place at any time for real-time monitoring. When the trimming vehicle fails or encounters a highway emergency, the power will be cut off immediately and the GPS system will be used to send a signal to the manager.
- the trimming vehicle control circuit of the present invention is used as a main control device to ensure that the vehicle body can perform the corresponding work according to a certain command.
- the battery is used as the main energy device, and the solar panel is used as an auxiliary energy device to ensure that the trimming vehicle has sufficient power supply.
- An infrared sensor is installed at the front end of the body, and an ultrasonic sensor is mounted on the wheel to ensure that the two bodies can advance along the white line safety zone along the left side of the highway. Taking into account the obstacle problem of the expressway, an ultrasonic sensor is also installed at the front end of the vehicle body 10, and the road condition at the front end of the vehicle body is evaluated to ensure that the trimming vehicle is safe enough.
- the conveyor belt in the vehicle body collects the branches and leaves into the garbage can of the vehicle body, and after being packed by the garbage can, it is lightly placed on the road surface.
- the highway maintenance vehicles on the market mainly use manual operation, control the mechanical arm to trim the green belt, or directly trim it manually.
- the trimming vehicle of the present invention has many innovations, and the green belt trimming and waste leaf collection can be carried out in a completely automated manner, and the saw-toothed unsupported trimming device is provided to facilitate the construction and modeling of the green belt by the machine. And can achieve the purpose of environmental protection and energy conservation.
- the trimming machine of the invention adopts a reciprocating cutting mode, and in the selection of the indefinite tool, the supporting condition includes two forms, namely, a supporting cutting mode and an unsupported cutting mode.
- the cutting speed required by the support cutting method of the invention is slow.
- the hydraulic motor acts as an input power source, reducing production costs.
- the degree of wear of the moving blade is lowered, which is advantageous for extending the service life of the moving blade. Therefore, this design selects the pruning method combining reciprocating cutting with low-speed supported cutting.
Abstract
一种高速公路绿化带修剪车，包括两个对称设置且同步行驶的车身（10），车身包括整体支撑机构和设置在整体支撑机构侧壁上的第一剪裁机构（100）、第二剪裁机构（200）和第三剪裁机构（300）。修剪车作业时，两个车身（10）行驶在绿化带两侧，通过两个车身（10）上的剪裁机构（100,200,300）实现对绿化带两侧的修剪。该高速公路绿化带修剪车可以实现道路绿化带的自定义造型修剪，修剪过程自动完成，收集大部分剪下的枝叶，提高了高速公路绿化带修剪工作的安全性，降低了修剪的劳动强度、提高了工作效率和绿化带美观性。
Description
本发明属于绿化带修剪机械，涉及一种高速公路绿化带修剪车。
近年来，随着我国社会和经济的发展，高速公路的通车里程在全国不断地延伸，几乎遍布全国的各个省市，以北京首都为中心的高速公路网正在快速形成，然而高速公路的保养维护工作量同样也在不断的加大，其中包括对中央绿化带的保养工作。
中央分隔带绿化的主要作用是用来遮挡另侧对向车道的车辆灯光，以免对夜间行车时对面方向的汽车灯光干扰驾驶员视线引发安全事故，同时也能增加一定的美观性，但是配植在分隔带中的小乔木、灌木，如紫薇、夹竹桃、月季等，在养护过程中要注意控制它的枝条生长范围，适时进行修剪，防止枝条伸到路面行车道上空，影响行车安全。这通常要人工来进行定期修剪，以保证绿化带的美观和正常使用，当工人在对绿化带进行修剪时，由于中央绿化带所处的位置原因，工人们不得不站立在高速穿行的车流中，这对其人身安全有着极大的隐患，同时人工剪裁存在着不能及时收集剪下的枝叶等问题，枝叶容易被风吹到道路上，也是潜在的安全隐患。但若不对中央绿化带进行修剪，不但其美观性大大降低，而且会影响车辆驾驶人员的视线，存在很大的安全隐患。
目前对中央绿化带的剪草工作主要还是依靠人工和仅有的一些机械手臂。不仅消耗大量体力，而且效率较低、修剪精度较差，影响了修剪的美观性。现如今，高速公路建设呈现里程碑式快速增长，对高速公路绿化带的修剪效率及其美观性也越来越重视，迫切需要一种新型的且高效节能的修剪机器人。
发明内容
本发明提供一种高速公路绿化带修剪车，以解决人工或机械臂剪裁效率低、剪裁效果不美观和剪裁枝叶不能及时收集等问题。
本发明提供一种高速公路绿化带修剪车，包括两个对称设置且同步行驶的车身，所述车身的车厢内设置有第一剪裁机构、第二剪裁机构和第三剪裁机构；所述第一剪裁机构安装于车厢后部用于修剪顶部枝叶，所述第二剪裁机构安装于车厢上部用于修剪顶部枝叶，所述第三剪裁机构安装于车厢中部用于修剪侧边枝叶；修剪车作业时，两个车身行驶在绿化带两侧，通过两个车身上的第一剪裁机构、第二剪裁机构和第三剪裁机构实现对绿化带两侧的修剪。
在本发明的高速公路绿化带修剪车中，所述第一剪裁机构包括：剪式升降机构、曲柄摇杆机构和第一刀具；
所述剪式升降机构包括升降底座、设置于升降底座上的平台、第一电机和第一螺纹螺杆；所述升降底座的第一升降脚与车身侧壁转动连接，第二升降脚设有横梁；第一电机固定在车身的车厢内，第一螺纹螺杆一端与第一电机的输出轴连接另一端与横梁相连接；
所述曲柄摇杆机构包括设置于平台上的第二电机、第一皮带、曲柄和摇杆；第二电机通过第一皮带的传动带动曲柄旋转，曲柄末端与摇杆连接进而带动摇杆往复运动；
所述第一刀具包括第一定刀、第一动刀、第三电机、第二皮带和第一曲柄滑块，所述第一定刀包括刀头和刀柄，刀柄与平台旋转连接，刀柄上开设有通槽，所述摇杆末端卡设在所述通槽且可沿通槽滑动；所述第一动刀安装于第一定刀的刀头下部，所述第三电机设置在第一定刀的刀柄上，第三电机通过第二皮带的传动带动第一曲柄滑块往复运动，第一曲柄滑块带动第一动刀往复运动，第一定刀和第一动刀相互配合剪除枝叶。
在本发明的高速公路绿化带修剪车中，第二剪裁机构包括：第一机械臂、第二机械臂、第三机械臂和第二刀具；
第一机械臂一端转动连接于车身上部，另一端与第二机械臂转动连接，第三机械臂与第二机械臂转动连接；
第二刀具包括第二定刀、第二动刀、第四电机、第三皮带和第二曲柄滑块；第二定刀与第三机械臂转动连接，所述第二动刀安装于第二定刀的下部，所述第四电机设置在第二定刀上，第四电机通过第三皮带的传动带动第二曲柄滑块往复运动，第二曲柄滑块带动第二动刀往复运动，第二定刀和第二动刀相互配合剪除枝叶。
在本发明的高速公路绿化带修剪车中，第三剪裁机构包括：支架臂构件、第三刀具、水平位置调节机构、和倾斜角度调节机构；
所述支架臂构件一侧通过长螺栓安装在车身侧壁上且可沿长螺栓滑动和旋转，在支架臂构件上设有槽孔；
所述第三刀具包括：锯条和第五电机；锯条和第五电机都安装在支架臂构件的另一侧，第五电机带动锯条转动，实现修剪侧边枝叶；
所述水平位置调节机构包括：推动杆，第六电机，内螺纹杆，滑块和第四皮带；第六电机固定安装于滑块上方，内螺纹杆安装于滑块中部，推动杆套在内螺纹杆中，推动杆另一端滑动连接于支架臂构件上的槽孔中，第六电机通过第四皮带传动，带动内螺纹杆转动，在螺纹的作用下，实现推动杆的伸缩，进而实现支架臂构件水平位置的调节；
所述倾斜角度调节机构包括：第七电机和第二螺纹螺杆，水平位置调节机构的滑块安装于第二螺纹螺杆上，第七电机带动第二螺纹杆旋转，进而实现滑块的水平移动，进而实现支架臂构件倾斜角度的改变。
在本发明的高速公路绿化带修剪车中，在第一动刀的底部和第二动刀的底部都设有将修剪下的枝叶扫落的拨片，在第三剪裁机构的支架臂构件上设有传送枝叶的传送皮带，所述传送皮带平行设置于第三刀具下方，在传送皮带顶部下方设有可滑动斜槽，枝叶通过传送皮带掉入可滑动斜槽上，再通过可滑动斜槽滑入可滑动斜槽下方的垃圾桶中。
在本发明的高速公路绿化带修剪车中，所述修剪车上设有处理器、超声波传感器和RUPS系统；两个车身的上端分别设有气动伸缩杆，在气动伸缩的末端设有磁力表座，通过磁力表 座实现两个车身的连接；超声波探测器设置于车身顶部当检测到前方有障碍物时，超声波探测器向处理器发出信号，处理器根据信号控制磁力表座中的磁体旋转，进而两个车身会随着气动伸缩杆的收缩而分离通过障碍物。
在本发明的高速公路绿化带修剪车中，所述车上前端安装有红外传感器，以识别两边高速公路超车道左侧的指示线。
在本发明的高速公路绿化带修剪车中，在车身靠近绿化带的车轮轴上安装有超声波传感器以实现对路沿的实时测距。
在本发明的高速公路绿化带修剪车中，所述修剪车上设有GPS系统。
在本发明的高速公路绿化带修剪车中，所述修剪车上设有太阳能电池板。
本发明的高速公路绿化带修剪车适用于不同类型的高速公路的道路，可以实现道路绿化带的自定义造型修剪，修剪过程自动完成且自动化程度高，收集的大部分剪下的枝叶提高了高速公路的安全性。该绿化带修剪车具有降低绿篱苗木修剪的劳动强度、提高工作效率和绿化带的美观性等特点。操作和控制简便，节能高效。安全系数高，稳定性良好。自动化程度高，资源利用率高，适用于智慧城市高速公路的生态化建设。高效率全方位修剪和花样修剪工艺，提升高速公路的美观度，促进绿色生态文化建设。废叶的收集处理及时，既能够保证道路清洁，又能够实现废叶的修剪和环保处理。
图1是本发明的一种高速公路绿化带修剪车的整体示意图；
图2是本发明的一种高速公路绿化带修剪车的主视图；
图3是本发明的车身的内部布局图；
图4是本发明的第一剪裁机构的结构示意图；
图5是图4中A处放大图；
图6是本发明的第二剪裁机构的结构示意图；
图7是图6中B处放大图；
图8是本发明的第三剪裁机构的结构示意图；
图9是本发明的第三剪裁机构的水平位置调节机构的示意图。
参照附图1至9对本发明的一种高速公路绿化带修剪车进行详细说明。
如图1至图3所示，本发明的一种高速公路绿化带修剪车包括：两个对称设置且同步行驶的车身10，车身10整体采用衍架镂空设计，底部采用密度较高的钢材，车厢由密度低强度高的材料制作而成，从而在保证车身10牢固性的同时也能维持车身10的稳定性。所述车身10的车厢内设置有三组枝叶剪裁机构，分为用于侧边枝叶的剪裁和顶部枝叶的剪裁。其中包括两组顶部枝叶剪裁机构和一组侧边枝叶剪裁机构，可根据需求使用合适的枝叶剪裁机构。具体包括，第一剪裁机构100、第二剪裁机构200和第三剪裁机构300。第一剪裁机构100 安装于车厢后部用于修剪顶部枝叶，第二剪裁机构200安装于车厢上部用于修剪顶部枝叶，第三剪裁机构300安装于车厢中部用于修剪侧边枝叶。在修剪车作业时，两个车身10行驶在绿化带两侧，通过两个车身10上的第一剪裁机构100、第二剪裁机构200和第三剪裁机构300实现对绿化带两侧的修剪。三组枝叶剪裁机构都能够快速的收回车厢内部，这样保证了两个车身10从中分开后各自独立前进时不会发生侧翻，也从而避开障碍物。
如图4和图5所示，第一剪裁机构100包括：剪式升降机构、曲柄摇杆机构和第一刀具。所述剪式升降机构包括升降底座101、设置于升降底座上的平台102、第一电机103和第一螺纹螺杆104。所述升降底座101的第一升降脚与车身10的侧壁转动连接，第二升降脚设有横梁；第一电机103固定在车身10的车厢内，第一螺纹螺杆104一端与第一电机103的输出轴连接另一端与横梁相连接。所述曲柄摇杆机构包括设置于平台102上的第二电机105、第一皮带106、曲柄107和摇杆108；第二电机105通过第一皮带106的传动带动曲柄107旋转，曲柄107末端与摇杆108连接进而带动摇杆108往复运动。所述第一刀具包括第一定刀109、第一动刀110、第三电机111、第二皮带112和第一曲柄滑块113。所述第一定刀109包括刀头和刀柄，刀柄与平台102旋转连接，刀柄上开设有通槽，所述摇杆108末端卡设在所述通槽且可沿通槽滑动。所述第一动刀110安装于第一定刀109的刀头下部，所述第三电机111设置在第一定刀109的刀柄上，第三电机111通过第二皮带112的传动带动第一曲柄滑块113往复运动，第一曲柄滑块113带动第一动刀110往复运动，第一定刀109和第一动刀110相互配合剪除枝叶。当只需要将顶部简单的修剪平整时，可用第一剪裁机构100进行作业，第一剪裁机构100工作时，采用汽车雨刷器工作方式，可将顶部枝叶剪裁干净，同时在第一动刀110后方带有拨片114，可在第一刀具旋转剪切的同时将剪下的枝叶扫至下方的传送皮带上401，进而完成收集。
如图6和图7所示，第二剪裁机构200包括：第一机械臂201、第二机械臂202、第三机械臂203和第二刀具。第一机械臂201一端转动连接于车身10上部，另一端与第二机械臂202转动连接，第三机械臂203与第二机械臂202转动连接。
第二刀具包括第二定刀204、第二动刀205、第四电机206、第三皮带207和第二曲柄滑块208。第二定刀204与第三机械臂203转动连接，所述第二动刀205安装于第二定刀204的下部，所述第四电机206设置在第二定刀204上，第四电机206通过第三皮带207的传动带动第二曲柄滑块208往复运动，第二曲柄滑块208带动第二动刀205往复运动，第二定刀204和第二动刀205相互配合剪除枝叶。当需要进一步修剪出一些美观的造型时，可使用第二剪裁机构200进行作业，第二剪裁机构200由3节机械臂组成，可实现多自由度调节刀具位置，这样可以不仅能让我们的修剪车在更多的情况下适用，也能修剪出更加美观的绿化带。同时在第二动刀205下方带有拨片114，可在第二刀具剪切的同时将剪下的枝叶扫至下方的传送皮带上401，进而完成收集。
如图8和图9所示，第三剪裁机构300包括：支架臂构件301、第三刀具、水平位置调 节机构和倾斜角度调节机构。所述支架臂构件301一侧通过长螺栓安装在车身10的侧壁上且可沿长螺栓滑动和旋转，在支架臂构件301上设有槽孔302。所述第三刀具包括：锯条303和第五电机304；锯条303和第五电机304都安装在支架臂构件301的另一侧，第五电机304带动锯条303转动，实现修剪侧边枝叶。所述水平位置调节机构包括：推动杆305，第六电机306，内螺纹杆307，滑块308和第四皮带309。第六电机306固定安装于滑块308上方，内螺纹杆307安装于滑块308中部，推动杆305套在内螺纹杆307中，推动杆305另一端滑动连接于支架臂构件301上的槽孔302中，第六电机306通过第四皮带309传动，带动内螺纹杆307转动，在螺纹的作用下，实现推动杆305的伸缩，进而实现支架臂构件301水平位置的调节。所述倾斜角度调节机构包括：第七电机310和第二螺纹螺杆311，水平位置调节机构的滑块308安装于第二螺纹螺杆311上，第七电机310带动第二螺纹杆311旋转，进而实现滑块308的水平移动，进而实现支架臂构件301倾斜角度的改变。
第三剪裁机构300采用锯条式结构，结构简单，较为轻便，同时该刀具能够在第二螺纹螺杆311的作用下调整倾斜角度，也能在水平位置调节机构的推动下改变刀具的水平位置，进行修剪宽度的调整和避开障碍物。
在第一动刀110和第二动刀205上都设有将修剪下的枝叶扫落的拨片114，在第三剪裁机构300的支架臂301上设有传送枝叶的传送皮带401，所述传送皮带401平行设置于第三刀具下方，在传送皮带401顶部下方设有可滑动斜槽402，可滑动斜槽402可由齿轮齿条传动控制伸缩，当枝叶传送到所述传送皮带401最高点后掉入可滑动斜槽402上，最后通过可滑动斜槽402滑入可滑动斜槽402下方的垃圾桶405中。
为了使车身10正常行进，在两个车身10前端都安装有红外传感器，以清楚地识别两边高速公路超车道左侧的指示线。修剪车在行进过程中还存在着各种不可预知的情况，比如，暴雨等。为了保障修剪车能够应对各种不同的情况，在两个车身靠近绿化带的车轮的轴上分别安装了超声波传感器以实现对路沿的实时测距，保证修剪车的行走路线正确规范。
如图9所示，修剪车在高速公路上行驶，会遇到各种各样的障碍物。如何规避障碍物是一大技术难点。本发明的修剪车采用车身分离避障法。在修剪车上设置处理器、超声波传感器和RUPS系统。两个车身的上端分别设有气动伸缩杆403，在气动伸缩杆403的末端设有磁力表座404，通过磁力表座404实现两个车身的连接。超声波传感器设置于车身10顶部当检测到前方有障碍物时，超声波传感器向处理器发出信号，处理器根据信号控制磁力表座404中的磁体旋转90度，进而两个车身会随着气动伸缩杆403的收缩而分离通过障碍物。在两个车身分开成两部分之后，为了使两边实时同步行进，通过RUPS系统，两边相互检测位置，保证车身通过障碍物之后能够完美的合体。所述修剪车上还设有GPS系统。管理者可随时观察修剪车运作情况以及工作地点，进行实时的监控，当修剪车发生故障或遇到高速公路突发事件时，会立即切断电源，并利用GPS系统向管理者发出信号。
本发明的修剪车用控制电路作为主要的控制装置，保证车身能够按照一定的指令完成相 应的工作。以电池作为主要的能源装置，太阳能板作为辅助能源装置，保障修剪车有足够的电力供应。在车身的前端装有红外传感器，并在车轮上安装超声波传感器，确保两个车身能够在沿着高速公路左侧超车道白线安全区域前行。考虑到高速公路的障碍物问题，在车身10的前端也装有超声波传感器，对车身前端的道路情况进行评估，确保修剪车够安全前行。修剪车进行高速公路绿化带自动修剪过程时，车身内的传送皮带将枝叶收集到车身的垃圾桶内，经垃圾桶打包后，轻放在路面上。
目前，市面上的高速公路保养车主要是采用人工操作的方式，控制机械臂来修剪绿化带，或者直接通过人工的方式进行修剪。相比之下，本发明的修剪车有许多的创新点，能够完全自动化的方式进行绿化带的修剪以及废叶的收集，装有锯齿状无支撑修剪装置，方便机器对绿化带的修建和造型，并能够达到环保节能的目的。
本发明的修剪机采用往复式切割方式，而在有无定刀具的选上，按照支撑条件包括两种形式，分别是有支撑切割方式和无支撑切割方式两种。相对与无支撑切割方式来说，本发明的有支撑切割方式需要的切割速度较慢，在相同切割阻力的情况下，切割的速度越小，所需要的切割功率就越小，可以选择小功率液压马达作为输入的动力源，降低的生产成本。另外，切割速度较低的情况下，对于动刀片的磨损程度就会降低，这有利于延长动刀片的使用寿命。因此本次设计选择往复式切割与低速有支撑切割方式相结合的修剪方式。
以上所述仅为本发明的较佳实施例，并不用以限制本发明的思想，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。
Claims (10)
- 一种高速公路绿化带修剪车，其特征在于，包括两个对称设置且同步行驶的车身，所述车身的车厢内设置有第一剪裁机构、第二剪裁机构和第三剪裁机构；所述第一剪裁机构安装于车厢后部用于修剪顶部枝叶，所述第二剪裁机构安装于车厢上部用于修剪顶部枝叶，所述第三剪裁机构安装于车厢中部用于修剪侧边枝叶；修剪车作业时，两个车身行驶在绿化带两侧，通过两个车身上的第一剪裁机构、第二剪裁机构和第三剪裁机构实现对绿化带两侧的修剪。
- 如权利要求1所述的高速公路绿化带修剪车，其特征在于，所述第一剪裁机构包括：剪式升降机构、曲柄摇杆机构和第一刀具；所述剪式升降机构包括升降底座、设置于升降底座上的平台、第一电机和第一螺纹螺杆；所述升降底座的第一升降脚与车身侧壁转动连接，第二升降脚设有横梁；第一电机固定在车身的车厢内，第一螺纹螺杆一端与第一电机的输出轴连接另一端与横梁相连接；所述曲柄摇杆机构包括设置于平台上的第二电机、第一皮带、曲柄和摇杆；第二电机通过第一皮带的传动带动曲柄旋转，曲柄末端与摇杆连接进而带动摇杆往复运动；所述第一刀具包括第一定刀、第一动刀、第三电机、第二皮带和第一曲柄滑块，所述第一定刀包括刀头和刀柄，刀柄与平台旋转连接，刀柄上开设有通槽，所述摇杆末端卡设在所述通槽且可沿通槽滑动；所述第一动刀安装于第一定刀的刀头下部，所述第三电机设置在第一定刀的刀柄上，第三电机通过第二皮带的传动带动第一曲柄滑块往复运动，第一曲柄滑块带动第一动刀往复运动，第一定刀和第一动刀相互配合剪除枝叶。
- 如权利要求2所述的高速公路绿化带修剪车，其特征在于，第二剪裁机构包括：第一机械臂、第二机械臂、第三机械臂和第二刀具；第一机械臂一端转动连接于车身上部，另一端与第二机械臂转动连接，第三机械臂与第二机械臂转动连接；第二刀具包括第二定刀、第二动刀、第四电机、第三皮带和第二曲柄滑块；第二定刀与第三机械臂转动连接，所述第二动刀安装于第二定刀的下部，所述第四电机设置在第二定刀上，第四电机通过第三皮带的传动带动第二曲柄滑块往复运动，第二曲柄滑块带动第二动刀往复运动，第二定刀和第二动刀相互配合剪除枝叶。
- 如权利要求3所述的高速公路绿化带修剪车，其特征在于，第三剪裁机构包括：支架臂构件、第三刀具、水平位置调节机构、和倾斜角度调节机构；所述支架臂构件一侧通过长螺栓安装在车身侧壁上且可沿长螺栓滑动和旋转，在支架臂构件上设有槽孔；所述第三刀具包括：锯条和第五电机；锯条和第五电机都安装在支架臂构件的另一侧，第五电机带动锯条转动，实现修剪侧边枝叶；所述水平位置调节机构包括：推动杆，第六电机，内螺纹杆，滑块和第四皮带；第六电 机固定安装于滑块上方，内螺纹杆安装于滑块中部，推动杆套在内螺纹杆中，推动杆另一端滑动连接于支架臂构件上的槽孔中，第六电机通过第四皮带传动，带动内螺纹杆转动，在螺纹的作用下，实现推动杆的伸缩，进而实现支架臂构件水平位置的调节；所述倾斜角度调节机构包括：第七电机和第二螺纹螺杆，水平位置调节机构的滑块安装于第二螺纹螺杆上，第七电机带动第二螺纹杆旋转，进而实现滑块的水平移动，进而实现支架臂构件倾斜角度的改变。
- 如权利要求4所述的高速公路绿化带修剪车，其特征在于，在第一动刀的底部和第二动刀的底部都设有将修剪下的枝叶扫落的拨片，在第三剪裁机构的支架臂构件上设有传送枝叶的传送皮带，所述传送皮带平行设置于第三刀具下方，在传送皮带顶部下方设有可滑动斜槽，枝叶通过传送皮带掉入可滑动斜槽上，再通过可滑动斜槽滑入可滑动斜槽下方的垃圾桶中。
- 如权利要求1所述的高速公路绿化带修剪车，其特征在于，所述修剪车上设有处理器、超声波传感器和RUPS系统；两个车身的上端分别设有气动伸缩杆，在气动伸缩的末端设有磁力表座，通过磁力表座实现两个车身的连接；超声波探测器设置于车身顶部当检测到前方有障碍物时，超声波探测器向处理器发出信号，处理器根据信号控制磁力表座中的磁体旋转，进而两个车身会随着气动伸缩杆的收缩而分离通过障碍物。
- 如权利要求1所述的高速公路绿化带修剪车，其特征在于，所述车上前端安装有红外传感器，以识别两边高速公路超车道左侧的指示线。
- 如权利要求1所述的高速公路绿化带修剪车，其特征在于，在车身靠近绿化带的车轮轴上安装有超声波传感器以实现对路沿的实时测距。
- 如权利要求1所述的高速公路绿化带修剪车，其特征在于，所述修剪车上设有GPS系统。
- 如权利要求1所述的高速公路绿化带修剪车，其特征在于，所述修剪车上设有太阳能电池板。
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| CN110050600A (zh) * | 2019-03-27 | 2019-07-26 | 广州席风机电设备工程有限公司 | 一种车载式高速路中央绿化带修剪装置 |
| CN110843956A (zh) * | 2019-11-12 | 2020-02-28 | 广东博智林机器人有限公司 | Agv装置 |
| CN112106548B (zh) * | 2020-09-16 | 2022-12-30 | 福建龙田生态建设集团有限公司 | 一种植物修剪机械手 |
| CN112715187B (zh) * | 2020-12-30 | 2023-04-14 | 厦门鹏岳市政建设有限公司 | 一种园林绿化养护方法 |
| CN113228965A (zh) * | 2021-06-18 | 2021-08-10 | 谢龙 | 一种安全高效的公路绿化隔离带养护机 |
| CN113785712B (zh) * | 2021-09-24 | 2022-09-06 | 山东沃华农业科技股份有限公司 | 一种循环转动割叶装置 |
| CN114766259B (zh) * | 2022-04-22 | 2023-05-05 | 齐鲁工业大学 | 一种地膜铺设机器人及地膜铺设方法 |
| CN117243007B (zh) * | 2023-11-17 | 2024-02-09 | 河南远东大方道路养护设备有限公司 | 一种车载式园林绿化草坪机 |
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| CN107360868A (zh) * | 2017-07-19 | 2017-11-21 | 佛山市广师自动化科技有限公司 | 一种市政园林用全方位绿化带修剪装置 |
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