Green plant pruning machine

Abstract

The invention relates to the technical field of green plant pruning, in particular to a green plant pruning machine which comprises an intelligent trolley and a pruning knife and further comprises a lifting table, a swing arm, a pruning knife arm and an auxiliary pruning knife, the tail end of the swing arm is pivoted to the lifting table, and a limiting device for limiting 90-degree and 180-degree positions is arranged between the swing arm and the lifting table; the swing arm is vertically connected with the trimming cutter arm, and the trimming cutter is movably arranged on the trimming cutter arm; a base is arranged at the bottom of the pruning knife, an auxiliary pruning knife is arranged on the outer side face of the base, and orthographic projections of the upper end of the auxiliary pruning knife and the lower end of the pruning knife on the side face are overlapped. The two sides of the intelligent trolley are each provided with a distance measuring device used for sensing road edge stones. An obstacle detection device is arranged at the front end of the intelligent trolley; a handrail is movably connected to the rear portion of the intelligent trolley. The green plant strip trimming device can realize trimming based on road edge stones, trimming is thorough, and trimming conversion between the top and the side vertical face of a green plant strip is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of green plant pruning, and specifically to a green plant pruning machine. Background Art

[0002] The green belts on both sides of the road need to be regularly trimmed and maintained. The current trimming tools mainly include hand-held and vehicle-mounted types. The vehicle-mounted type is mainly applicable to green plant belts with low trimming accuracy requirements and relatively large plants. For small or medium-sized green plant belts on urban roads, manual hand-held small trimming machines are generally used. This trimming method has problems such as low efficiency and high labor intensity.

[0003] With the development of artificial intelligence, the application of small intelligent vehicles in green plant trimming operations has become possible. For example, the Chinese invention patent with publication number CN119054528A discloses a multi-faceted automatic hedge trimming machine with all-round adjustment, which includes a lifting mechanism, a translation mechanism, a swinging mechanism, a rotating mechanism, a trimming mechanism, a carrier vehicle, and a control system. By using the carrier vehicle instead of manual hand-held trimming machines, the work efficiency is improved and the labor force is reduced. Another example is the Chinese invention patent with publication number CN118402393A, which discloses an intelligent obstacle avoidance type hedge trimming machine. A distance sensing component electrically connected to the adjustment mechanism is provided on the trimming mechanism, and a vision system electrically connected to the adjustment mechanism is provided on the machine body. By means of the distance sensing component and the vision system, collisions with obstacles are avoided, and obstacles can be quickly and accurately detected and corresponding actions can be taken, thereby improving the accuracy and efficiency of obstacle avoidance, reducing manual intervention, and improving the automation level.

[0004] However, the influence of the curbstone on both sides of the road on green plant trimming has not been considered in the prior art. During trimming, there are the following two situations: The first is that the side elevation of the trimmed green plant belt is located on the outer side of the curbstone; the second is that the side elevation of the trimmed green plant belt is located on the inner side of the curbstone. In the first situation, the aesthetics is poor, and some unconscientious sanitation workers will pour the dust on the road surface into the green plant belt when cleaning the road surface. Since it is not easy to be discovered, a large amount of dust accumulates in the green plant belt, making the later cleaning difficult. In the second situation, the trimmed green plant belt is beautiful and can prevent sanitation workers from pouring dust into the green plant belt when cleaning the road surface, but the trimming difficulty is high.

[0005] In the above prior art, the function of trimming green plants based on the curbstone is not realized. It is difficult to trim the branches close to the curbstone, and the trimming conversion between the top and the side elevation of the green plant belt cannot be achieved. Summary of the Invention

[0006] Aiming at the deficiencies of the above prior art, the present invention provides a green plant trimming machine that can perform trimming based on the curbstone as a reference, with thorough trimming and realizing the trimming conversion between the top and the side elevation of the green plant belt.

[0007] The technical solution adopted by the present invention to solve its technical problems is as follows:

[0008] A green plant trimming machine includes an intelligent trolley and a trimming knife. It further includes a lifting platform, a swing arm, a trimming knife arm and a trimming auxiliary knife. The end of the swing arm is pivotally connected to the lifting platform, and a limiting device for limiting positions at 90° and 180° is provided between the swing arm and the lifting platform; the swing arm is perpendicularly connected to the trimming knife arm, and the trimming knife is movably arranged on the trimming knife arm;

[0009] A base is arranged at the bottom of the trimming knife, a trimming auxiliary knife is arranged on the outer side of the base, and the upper end of the trimming auxiliary knife overlaps with the lower end of the trimming knife in the front projection on the side;

[0010] Range measuring devices for sensing the curb are arranged on both sides of the intelligent trolley; an obstacle detection device is arranged at the front end of the intelligent trolley; a handrail is movably connected behind the intelligent trolley.

[0011] Further, a branch picker is arranged on the side of the trimming auxiliary knife and is inclined downward. The upper part of the branch picker is an inclined surface that is lower in the front and higher in the rear. The trimming auxiliary knife and the branch picker form a V shape in the front projection on the side.

[0012] Furthermore, the rear end of the branch picker is arranged on the mounting rod through an angle adjustable part. The angle adjustable part includes a tooth column on the mounting rod and a tooth sleeve that cooperates with the tooth column at the rear end of the branch picker.

[0013] Preferably, the range measuring device includes a traveling wheel, a horizontal telescopic rod, a buffer rod and a displacement detector. The traveling wheel is fixed at the top of the buffer rod. The bottom of the buffer rod is located inside the horizontal telescopic rod, and a buffer spring is arranged between the bottom of the buffer rod and the horizontal telescopic rod. The bottom of the horizontal telescopic rod is fixed on the intelligent trolley, and the displacement detector is located at the bottom of the horizontal telescopic rod for detecting the displacement of the bottom of the buffer rod.

[0014] Further, the trimming knife is connected to a power source arranged on the intelligent trolley through a transmission flexible shaft.

[0015] Preferably, the trimming auxiliary knife is a circular blade. The trimming auxiliary knife is connected to a motor located inside the base, and the motor is connected to the power supply of the intelligent trolley through a pluggable power cord.

[0016] Further, the end of the swing arm is arranged on the lifting platform through a rotating shaft, and both ends of the rotating shaft can slide up and down in vertical strip-shaped holes; a support platform is arranged on one side of the lifting platform, and a spring for supporting the swing arm is arranged on the top of the support platform; rollers for contacting the curb are arranged at the bottom of the base.

[0017] Further, the limiting device includes positioning holes provided on the swing arm and the lifting table.

[0018] Preferably, a driving mechanism for driving the swing arm to swing is provided between the swing arm and the lifting table.

[0019] Further, the armrest is connected to the intelligent trolley through a rotating shaft, and positioning holes and positioning pins are provided on the rotating shaft.

[0020] The beneficial effects of the present invention are as follows:

[0021] It realizes trimming the green plants based on the curbstone, and the branches close to the curbstone are trimmed thoroughly, and it can also realize the trimming conversion between the top and the side elevation of the green plant belt. Specifically, the trimming auxiliary knife and the branch collector are used in cooperation to thoroughly clean the green plants that cannot be trimmed by the trimming knife near the curbstone. The walking wheel type distance measuring device can avoid the interference of sundries on the driving of the intelligent trolley during the trimming process. The connection mode between the swing arm and the lifting table adopts a rotating shaft and a strip-shaped hole and is matched with a support table, which ensures that the trimming knife will not shake along with the slight bumps of the intelligent trolley, improving the trimming quality. Description of the Drawings

[0022] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 is a rear view schematic diagram when the trimming knife of the present invention is in a vertical state;

[0024] Figure 3 is a rear view schematic diagram when the trimming knife of the present invention is in a horizontal state;

[0025] Figure 4 is a schematic diagram of the structure of the distance measuring device of the present invention;

[0026] Figure 5 is a schematic diagram of the structure of the branch collector of the present invention;

[0027] Figure 6 is Figure 1 the partial enlarged view at A in

[0028] In the figure, 1 is an intelligent trolley; 101 is a power source; 2 is a pruning knife; 201 is a base; 202 is a roller; 3 is a lifting platform; 301 is a strip hole; 302 is a support platform; 303 is a spring; 304 is a positioning hole II; 4 is a swing arm; 401 is a positioning hole I; 5 is a pruning knife arm; 6 is a pruning auxiliary knife; 7 is a handrail; 701 is a rotating shaft; 702 is a positioning hole; 703 is a positioning pin; 8 is a ranging device; 801 is a walking wheel; 802 is a horizontal telescopic rod; 803 is a buffer rod; 804 is a displacement detector; 805 is a buffer spring; 806 is a locking nut; 9 is a branch collector; 901 is a mounting rod; 902 is a tooth column; 903 is a tooth sleeve; 904 is a nut. Detailed implementation mode

[0029] To better understand the present invention, the following will combine Figures 1-6 to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0030] It should be noted that for the sake of clear view, some structures in the drawings are not drawn, such as the transmission flexible shaft, the cable, and Figure 2 and Figure 3 the handrail in

[0031] The first embodiment:

[0032] The green plant trimming machine of the present invention includes an intelligent trolley 1 and a pruning knife 2. The intelligent trolley 1 preferably uses a lithium battery, and the intelligent trolley 1 can be a four-wheel intelligent walking trolley in the prior art, which will not be elaborated too much. The pruning knife 2 is installed on the intelligent trolley 1. Specifically, the pruning knife 2 is installed on the intelligent trolley 1 through a lifting platform 3, a swing arm 4, and a pruning knife arm 5. For the power source 101 of the pruning knife 2, a motor can be used, and the motor shares the battery with the intelligent trolley 1. A diesel engine can also be used. The pruning knife 2 is connected to the power source 101 arranged on the intelligent trolley 1 through a transmission flexible shaft (not drawn for clear view). For the connection method of the transmission flexible shaft, the detachable connection method of the existing backpack type green plant trimming machine can be adopted. The lifting platform 3 can adopt either an electric lifting or a hydraulic lifting mechanism.

[0033] The end of the swing arm 4 is pivotally connected to the lifting platform 3, and there is a setting between the swing arm 4 and the lifting platform 3 at 90° (such as Figure 2 shown in the state when trimming the side of the green plant belt) and 180° (such as Figure 3As shown, a position-limiting device for position-limiting when trimming the top of the green plant belt. To reduce costs and be able to adapt to road surface bumps and prevent the trimming knife from swinging when the intelligent vehicle jolts, the swinging mode of the swing arm 4 is preferably adopted as the following manual operation structure: The rear end of the swing arm 4 is arranged on the lifting platform 3 through a rotating shaft, and both ends of the rotating shaft can slide up and down in the vertical strip-shaped hole 301. On one side of the lifting platform 301, a support platform 302 is arranged, and a spring 303 for supporting the swing arm 4 is arranged on the top of the support platform 302. The bottom of the base 201 is provided with rollers 202. As Figure 1 In this state, the base 201 lands on the upper surface of the curbstone and contacts the upper surface of the curbstone through the rollers 202. The limiting device includes a positioning hole I 401 arranged on the swing arm 4 and a positioning hole II 304 arranged on the lifting platform 3. There are two positioning holes II 304, one is arranged at the upper end of the strip-shaped hole 301 and the other is arranged on the right side. In the trimming situation where the base 201 of the trimming knife 2 does not contact the curbstone, the swing arm 4 and the lifting platform 3 are positioned at 90° by using the positioning hole II on the right side. In the trimming situation where the base 201 of the trimming knife 2 contacts the top surface of the curbstone, the positioning hole II is not used, the rotating shaft of the swing arm 4 is located at the middle position of the strip-shaped hole 301, and the base 201 of the trimming knife 2 lands on the top surface of the curbstone by gravity (the contact between the base 201 of the trimming knife 2 and the curbstone is realized by adjusting the lifting platform 3). At the same time, the spring 303 on the top of the support platform 302 supports the swing arm 4.

[0034] The swing arm 4 is perpendicularly connected to the trimming knife arm 5, and the specific connection method can be adopted as Figures 1-3 shown in the figure for fixed connection. Of course, in order to be able to realize the angle inclination of the trimming knife, a pivot connection can also be adopted, and a driving component such as a hydraulic cylinder or a motor for driving the trimming knife arm 5 to rotate around the pivot point is arranged between the swing arm 4 and the trimming knife arm 5. The trimming knife 2 is movably arranged on the trimming knife arm. As a preferred embodiment of the trimming knife arm 5, as Figure 1 adopted in the figure, a lead screw drive structure is used. The trimming knife arm 5 includes a longitudinal beam, a lead screw, a motor, and a sliding seat. The base 201 of the trimming knife 2 is fixedly connected to the sliding seat. Of course, the trimming knife arm 5 can also adopt an electric telescopic rod, and the base 201 of the trimming knife 2 is fixed on the top of the electric telescopic rod.

[0035] A base 201 is arranged at the bottom of the trimming knife 2, and a trimming auxiliary knife 6 is arranged on the outer side of the base 201. The upper end of the trimming auxiliary knife 6 overlaps with the lower end of the trimming knife 2 in the side orthographic projection, so as to ensure that the trimming surfaces of the trimming knife 2 and the trimming auxiliary knife 6 are continuous. Preferably, the trimming auxiliary knife 6 is a circular blade, and the trimming auxiliary knife 6 is detachably connected to the output shaft of the motor located in the base 202, and the motor is connected to the power supply in the intelligent vehicle 1 through a pluggable power cord.

[0036] On both sides of the intelligent vehicle 1, there are ranging devices for sensing the distance between the intelligent vehicle 1 and the curb. In this embodiment, the preferred solution of the ranging device 8 is as follows: It includes a traveling wheel 801, a transverse telescopic rod 802, a buffer rod 803, and a displacement detector 804. The displacement detector 804 preferably uses an infrared sensor. The traveling wheel 801 is arranged at the top of the buffer rod 803. The bottom of the buffer rod 803 is located inside the transverse telescopic rod 802, and a buffer spring 805 is arranged between the bottom of the buffer rod 803 and the transverse telescopic rod 802. The front end of the buffer spring 805 is fixedly connected to the bottom of the buffer rod 803, and the rear end of the buffer spring 805 is fixedly connected inside the transverse telescopic rod 802. The bottom of the outer rod of the transverse telescopic rod 802 is fixed to the intelligent vehicle 1 by screws, and the ranging device can be disassembled. An annular baffle for blocking the inner rod from moving downward further is arranged below the inner part of the outer rod of the transverse telescopic rod 802, and the displacement detector 804 is fixedly arranged behind the annular baffle. The two telescopic rods of the transverse telescopic rod 802 are locked by a locking nut 806 as shown in Figure 4 . The locking nut 806 has the same structural principle as a common telescopic rod (such as a mop telescopic rod), so it will not be elaborated here. When working, the intelligent vehicle is pushed to the position of the green plant belt to be trimmed, the traveling wheel 801 of the ranging device 8 is attached to the outer side of the curb, and the buffer rod 803 is pressed in by a certain amount. During the movement of the intelligent vehicle, the displacement detector 804 always monitors the movement state of the buffer rod 803. By controlling the path of the intelligent vehicle, the movement amplitude of the buffer rod 803 is controlled within 0.5 cm to ensure the neatness when the trimming knife trims the side. Of course, the ranging device can also use radar, but there will be signal interference when using radar, so it is not the preferred solution.

[0037] An obstacle detection device is arranged at the front end of the intelligent vehicle, and the obstacle detection device also uses radar. To ensure safety, a person needs to be present when the present invention is used. A handrail 7 is arranged at the rear of the intelligent vehicle 1. The handrail 7 is movably connected to the intelligent vehicle 1. Specifically, the handrail 7 is connected to the intelligent vehicle through a rotating shaft 701. The rotating shaft 701 includes a fixed shaft and a rotating shaft. The rotating shaft is connected to the handrail 7, and the fixed shaft is fixed on the intelligent vehicle. A positioning hole 702 and a positioning pin 703 are arranged on the rotating shaft 701. The positioning pin 703 is suspended on the rotating shaft 701 by a hanging rope. When in use, it is inserted into the positioning holes on the fixed shaft and the rotating shaft of the rotating shaft 701. When the intelligent vehicle 1 moves forward, a person holds the handrail 7. At this time, the positioning pin 703 is not inserted into the positioning hole 702, and the handrail 7 is in a freely rotatable state. When it is necessary for a person to push the intelligent vehicle, the positioning pin 703 is inserted into the positioning hole 702. During work, if an emergency occurs, the parking button on the handrail can be pressed. When it is necessary to turn or turn around, the intelligent vehicle 1 can be controlled through the operation buttons on the handrail 7. The control buttons on the handrail 7 can be in a wireless remote control mode or connected to the intelligent vehicle in a wired mode.

[0038] Second Embodiment:

[0039] Since the trimming auxiliary knife 6 cannot trim the branches below it, in order to trim the green plant branches bent inside the curbstone, in this embodiment, on the basis of the first embodiment, a branch picker 9 as shown in Figure 5 is designed. The body of the branch picker 9 is formed by bending steel bars. Of course, the branch picker 9 can also adopt a plate-like structure with a similar shape. Specifically, a downwardly inclined branch picker 9 is provided on the side of the trimming auxiliary knife 6. The upper part of the branch picker 9 is an inclined surface that is lower in the front and higher in the rear. The trimming auxiliary knife 6 and the branch picker 9 form a V shape in the front projection on the side, so that the branches picked up by the branch picker 9 enter the trimming range of the trimming auxiliary knife 6. The rear end of the branch picker 9 is arranged on the mounting rod through an angle adjustable part. The angle adjustable part includes a tooth column 902 on the mounting rod 901 and a tooth sleeve 903 that cooperates with the tooth column 902 at the rear end of the branch picker 9. One side of the tooth column 902 of the mounting rod 901 is a threaded end. After the tooth sleeve 903 is sleeved on the tooth column 902, it is locked by a nut 904. One end of the mounting rod 901 is fixed to the side of the base 201.

[0040] Other Embodiments: For some local improvements of the present invention, for example, between the swing arm 4 and the lifting table 3 of the present invention, the manual operation structure in the first embodiment may not be adopted, and the automatic swing of the swing arm 4 can be realized through a driving mechanism. The driving mechanism can adopt conventional structures such as hydraulic cylinders and gear drives.

[0041] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A green plant pruning machine, comprising an intelligent vehicle and a pruning knife, characterized in that: It also includes a lifting platform, a swing arm, a pruning knife arm and a pruning auxiliary knife. The end of the swing arm is pivotally connected to the lifting platform, and a limiting device is provided between the swing arm and the lifting platform for limiting positions at 90° and 180°; the swing arm is vertically connected to the pruning knife arm, and the pruning knife is movably arranged on the pruning knife arm; A base is provided at the bottom of the pruning knife, and a pruning auxiliary knife is provided on the outer side of the base, and the upper end of the pruning auxiliary knife overlaps with the orthographic projection of the lower end of the pruning knife on the side; Both sides of the smart car are provided with distance measuring devices for sensing curbstones; the front end of the smart car is provided with an obstacle detection device; and a handrail is movably connected at the rear of the smart car.

2. A green plant trimmer according to claim 1, characterized in that: A branch picker is arranged on the side of the pruning auxiliary knife and is tilted downward. The upper part of the branch picker is a slope that is lower in the front and higher in the back. The orthographic projections of the pruning auxiliary knife and the branch picker on the side are V-shaped.

3. A green plant trimmer according to claim 2, characterized in that: The rear end of the branch picker is arranged on the mounting rod through an angle-adjustable part, and the angle-adjustable part comprises a tooth column on the mounting rod and a tooth sleeve matched with the tooth column at the rear end of the branch picker.

4. A green plant trimmer according to claim 1, characterized in that: The distance measuring device includes a walking wheel, a transverse telescopic rod, a buffer rod and a displacement detector, the walking wheel is fixed to the top of the buffer rod, the bottom of the buffer rod is located in the transverse telescopic rod, and a buffer spring is arranged between the bottom of the buffer rod and the transverse telescopic rod, the bottom of the transverse telescopic rod is fixed on the smart car, and the displacement detector is located at the bottom of the transverse telescopic rod, and is used to detect the bottom displacement of the buffer rod.

5. A green plant trimmer according to claim 1, characterized in that: The trimming knife is connected to a power source arranged on the intelligent vehicle through a transmission flexible shaft.

6. A green plant trimmer according to claim 1, characterized in that: The auxiliary pruning knife is a circular blade, which is connected to a motor located in the base, and the motor is connected to a power source of the smart car through a pluggable power cord.

7. A green plant trimmer according to any one of claims 1 to 6, characterized in that: The end of the swing arm is arranged on the lifting platform through a rotating shaft, and the two ends of the rotating shaft can be slid up and down in the vertical strip hole; a support platform is arranged on one side of the lifting platform, and a spring supporting the swing arm is arranged on the top of the support platform; a roller in contact with the curbstone is arranged at the bottom of the base.

8. A green plant trimmer according to claim 7, characterized in that: The limiting device includes positioning holes arranged on the swing arm and the lifting platform.

9. A green plant trimmer according to any one of claims 1 to 6, characterized in that: A driving mechanism for driving the swing arm to swing is arranged between the swing arm and the lifting platform.

10. The green plant trimmer according to claim 1, characterized in that: The armrest is connected to the intelligent vehicle via a rotating shaft, and a positioning hole and a positioning pin are provided on the rotating shaft.

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