Branch pruning robot

Abstract

The utility model relates to the technical field of branch pruning, and discloses a branch pruning robot which comprises a machine body, a mechanical arm is fixedly arranged on one side of the machine body, a pruning mechanism is arranged on one side of the mechanical arm, and a crushing device is arranged in the machine body. The trimming mechanism comprises a trimming body, a fixed clamp, a movable clamp, a movable blade, sawteeth, an annular groove, a sliding block, a connecting rod, a driving motor, a semicircular gear, a rotating rod, a rotating block, a movable block, a lead screw, a rotating blade, a rack, a cam and a rotating motor. The pruning mechanism has excellent adaptability, can meet the pruning requirements of branches of various sizes, does not need to replace specific tools when pruning tasks are executed, can accurately select a proper pruning mode regardless of the thickness of the branches, ensures that the pruning effect is accurate, can efficiently and accurately complete pruning operation of various branches, and is high in practicability. The pruning efficiency is improved, the operation process is simplified, and meanwhile excellent adaptability and practicability are shown.

Description

Technical Field

[0001] The utility model relates to the technical field of branch pruning, in particular to a branch pruning robot. Background Art

[0002] In the garden landscape maintenance and forest management system, branch pruning occupies a vital position. It profoundly shapes the height balance and canopy structure of trees, ensuring that trees remain healthy and symmetrical while showing unified and beautiful morphological characteristics. In terms of resisting natural disasters such as storms, reasonable branch pruning constitutes the core part of the defense mechanism. According to scientific and systematic pruning specifications, the spatial layout of trees can be effectively adjusted, thereby providing a basis for formulating reasonable planting density strategies, and effectively promoting the improvement of productivity and optimization of ecological environmental quality in the entire forest area.

[0003] In traditional branch pruning work, people mostly rely on manual skills and a variety of shearing tools to perform detailed trimming of branches. The pruning process not only consumes a lot of physical strength and time resources, but also greatly limits the improvement of the overall pruning work efficiency. Although pruning robots have begun to be used in some places to improve pruning efficiency, when dealing with branches of different thicknesses, most pruning robots need to frequently replace the matching pruning tools, which weakens their actual work efficiency.

[0004] Therefore, the utility model provides a branch pruning robot to solve the problems raised in the above background technology. Utility Model Content

[0005] The purpose of the utility model is to solve the shortcomings existing in the prior art, and a branch pruning robot is proposed, which realizes the pruning operation on the branches through the pruning mechanism on the mechanical arm of the body. When facing branches of different sizes, there is no need to replace the pruning tools, so that when pruning branches, no matter how thick the branches are, the pruning task can be completed quickly and accurately.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] A branch pruning robot comprises a body, a mechanical arm is fixedly arranged on one side of the body, a pruning mechanism is arranged on one side of the mechanical arm, and a crushing device is arranged inside the body;

[0008] The trimming mechanism includes a trimming body, a fixed clamp, a movable clamp, a movable blade, saw teeth, an annular groove, a slider, a connecting rod, a driving motor, a semicircular gear, a rotating rod, a rotating block, a moving block, a screw rod, a rotating blade, a rack, a cam and a rotating motor. The rear end of the trimming body is fixedly arranged on one side of the mechanical arm, the rear end of the fixed clamp is fixedly arranged on the front end of the trimming body, the rear end of the screw rod is fixedly arranged on the output end of the driving motor, the internal thread of the moving block is connected to the outside of the screw rod, one side of the rotating rod is rotatably arranged on one side of the moving block, the other side of the rotating rod is rotatably arranged on one side of the rotating block, the outside of the rotating block is rotatably arranged inside the trimming body, the other side of the rotating block is fixedly arranged at the rear end of the movable clamp, one side of the rack is fixedly arranged on one side of the moving block, one side of the rack is meshed and connected to one side of the semicircular gear, one side of the semicircular gear is fixedly arranged on the rear end of one side of the rotating blade, and the rear end of the rotating blade rotates The cam is rotatably arranged on the upper end of the rotary motor, and the outer end of the rotary motor is fixedly arranged on the lower end of the rotary motor, and the outer end of the rotary motor is fixedly arranged on the lower end of the rotary motor, and the inner end of the rotary motor is fixedly arranged on the upper end of the rotary motor, and the inner end of the rotary motor is fixedly arranged on the lower end of the rotary motor, and the inner end of the rotary motor is fixedly arranged on the lower end of the rotary motor, and the inner end of the rotary motor is fixedly arranged on the lower end of the rotary motor, and the inner end of the rotary motor is fixedly arranged on the lower end of the rotary motor, and the inner end of the rotary motor is fixedly arranged on the upper ... upper end of the rotary motor, and the inner end of the rotary motor is fixedly arranged on the upper end of the rotary motor, and the inner end of the rotary motor is fixedly arranged on the upper end of the rotary motor, and the inner end of the rotary motor is fixedly arranged on the upper end of the rotary motor, and the inner end of the rotary motor is fixedly arranged on the upper end of the rotary motor, and the inner end of the rotary motor is fixedly arranged on the upper end of the rotary motor, and the inner end of the rotary motor is fixed

[0009] Through the above technical scheme, a mechanical arm is provided on one side of the machine body, which is convenient for pruning operations at different angles. When pruning, the pruning body, fixed clamp, movable clamp, movable blade, saw teeth, annular groove, slider, connecting rod, driving motor, semicircular gear, rotating rod, rotating block, moving block, lead screw, rotating blade, rack, cam and rotating motor in the pruning mechanism on one side of the mechanical arm are used to realize the pruning operation of branches of different sizes. The driving motor is operated to drive the movable block to move, and the movement of the movable block is synchronized with the rotating rod and the rotating block to adjust the position of the movable clamp, so that the movable clamp and the fixed clamp can cooperate closely to clamp the branches to be pruned, ensuring that the pruning process is stable and not shaking, thereby improving the accuracy and safety of pruning. When the moving block moves, the rack connected to it will drive the semicircular gear to rotate, thereby rotating the rotating blade, so that the rotating blade performs a shearing action, thereby realizing fast and effective cutting of the clamped branches, and when facing large and small branches, the movable clamp can be cut quickly and effectively. When pruning larger branches, the rotating motor drives the cam to rotate, so that the connecting rod pushes the slider to reciprocate along the fixed rod, and then the moving blade moves along the trajectory of the annular groove, so that the saw teeth on one side of the moving blade can prune the larger branches. There is no need to replace the tool, and the operation is convenient. By fixing the rotating motor and the drive motor inside the pruning body, the pruning operation of branches of different sizes can be realized. The external sensor can detect the position and size of the branches, thereby preventing excessive damage to the trees. The rubber pads on the movable clamp and the fixed clamp increase the friction and cushioning of the contact part with the branches, protecting the branches from mechanical stress damage. The blades on the rotating blade and the moving blade ensure the high efficiency of pruning, thereby completing the branch pruning task quickly and accurately. The solar panel provides green energy for the entire robot, which is stored in the battery for use by various components of the robot, reflecting the concept of energy saving and environmental protection. The mobile device facilitates the movement of the body and improves maneuverability.

[0010] The utility model has the following beneficial effects:

[0011] 1. The utility model proposes a branch pruning robot. When pruning, the driving motor in the pruning mechanism is operated, and the screw rod is rotated to drive the moving block to move outside it, and then the rotating rod and the rotating block connected thereto are rotated, so as to accurately adjust the position of the movable clamp. When the movable clamp moves to a suitable position, it can fit with the fixed clamp and grasp the branch to be pruned, ensuring that the branch is stable and does not swing during the pruning process, thereby improving the pruning accuracy. When the moving block moves, it will drive the rack to move, causing the semicircular gear meshing with it to rotate, and prompting the rotating blade to perform a rotary shearing action, resulting in the clamped branch being fixed by the movable clamp and the fixed clamp. The rotating blade is quickly and accurately cut off, thereby realizing the efficient execution of the entire branch pruning process.

[0012] 2. The utility model proposes a branch pruning robot. When pruning larger branches, the rotating motor inside the body is activated and drives the cam to rotate, and drives the connecting rod to rotate, so that the slider connected to it performs reciprocating linear motion. When the slider moves, it will drive the moving blade to move along the path of the annular groove. The serrations on the edge of the moving blade can effectively cut larger branches. Branches of different thicknesses can be easily handled without replacing any pruning tools, which simplifies the operation process and improves work efficiency. When pruning is completed, large branch fragments are placed in the crushing device inside the body to crush the branches into smaller fragments, thereby facilitating subsequent transportation and disposal and improving the recycling rate of branch pruning waste. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is an axonometric schematic diagram of the utility model;

[0014] Figure 2 It is a partial side view schematic diagram of the utility model;

[0015] Figure 3 It is a top view schematic diagram of the trimming mechanism of the utility model;

[0016] Figure 4 It is a top view schematic diagram of the trimming mechanism of the utility model close to the movable blade;

[0017] Figure 5 It is a side view schematic diagram of the trimming mechanism of the utility model.

[0018] Legend:

[0019] 1. Trimming mechanism; 2. Robotic arm; 3. Solar panel; 4. Machine body; 5. Moving device; 6. Battery; 7. Crushing device; 101. Trimming body; 102. Fixed clamp; 103. Rubber pad; 104. Blade; 105. Movable clamp; 106. Moving blade; 107. Sawtooth; 108. Annular groove; 109. Slider; 110. Connecting rod; 111. Fixed rod; 112. Driving motor; 113. Semicircular gear; 114. Rotating rod; 115. Rotating block; 116. Moving block; 117. Screw; 118. Rotating blade; 119. Rack; 120. Cam; 121. Rotating motor; 122. Sensor. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0021] Reference Figure 1-5 , an embodiment provided by the utility model:

[0022] A branch pruning robot comprises a body 4, a mechanical arm 2 is fixedly arranged on one side of the body 4, a pruning mechanism 1 is arranged on one side of the mechanical arm 2, a crushing device 7 is arranged inside the body 4, a solar panel 3 is fixedly arranged on the upper end of the body 4, a battery 6 is fixedly arranged on the front end of the body 4, and a moving device 5 is fixedly arranged on the lower end of the body 4;

[0023] A mechanical arm 2 is provided on one side of the body 4, and a pruning mechanism 1 is provided on one side of the mechanical arm 2. The mechanical arm 2 facilitates the robot to perform pruning operations at different angles. The solar panel 3 on the upper end of the body 4 can collect solar energy and convert it into electrical energy and store it in the internal battery 6, so that the body 4 can continue to operate without an external power supply, reducing operating costs while also embodying the values ​​of energy conservation and environmental protection. The moving device 5 is composed of a base and a Mecanum wheel, and can independently achieve translation and rotation movements without changing the direction of its own axis. This enables the branch pruning robot to achieve flexible movement and on-the-spot turning in all directions without dead ends, greatly enhancing its maneuverability and operational flexibility in complex forest environments, thereby giving the robot good maneuverability and greatly improving the work efficiency and range coverage of forest pruning. The crushing device 7 inside the body 4 is composed of a servo motor and a crushing roller. The cut branches are directly crushed after entering the crushing device 7, which not only saves space, but also realizes the preliminary treatment and resource utilization of waste.

[0024] The trimming mechanism 1 includes a trimming body 101, a fixed clamp 102, a movable clamp 105, a movable blade 106, a sawtooth 107, an annular groove 108, a slider 109, a connecting rod 110, a driving motor 112, a semicircular gear 113, a rotating rod 114, a rotating block 115, a moving block 116, a screw rod 117, a rotating blade 118, a rack 119, a cam 120 and a rotating motor 121. The rear end of the trimming body 101 is fixedly arranged on one side of the mechanical arm 2, the rear end of the fixed clamp 102 is fixedly arranged on the front end of the trimming body 101, the rear end of the screw rod 117 is fixedly arranged on the output end of the driving motor 112, and the movable blade 118 is fixedly arranged on the rack 119. The cam 120 and the rotating motor 121 are provided. The inner thread of the block 116 is connected to the outer part of the screw rod 117, one side of the rotating rod 114 is rotatably arranged on one side of the moving block 116, the other side of the rotating rod 114 is rotatably arranged on one side of the rotating block 115, the outer side of the rotating block 115 is rotatably arranged inside the trimming body 101, the other side of the rotating block 115 is fixedly arranged at the rear end of the movable clamp 105, one side of the rack 119 is fixedly arranged on one side of the moving block 116, one side of the rack 119 is meshedly connected to one side of the semicircular gear 113, one side of the semicircular gear 113 is fixedly arranged on the rear end of one side of the rotating blade 118, and the rear end of the rotating blade 118 is rotatably arranged inside the trimming body 101;

[0025] When performing branch pruning operations, the driving motor 112 inside the robot starts to run, and by driving the screw rod 117 connected to its output end to rotate, the rotation of the screw rod 117 drives the moving block 116 threadedly connected to it to move precisely along the screw rod 117. As the moving block 116 moves, the rotating rod 114 and the rotating block 115 connected thereto are linked accordingly, thereby accurately adjusting the position of the movable clamp 105, so that it fits tightly with the fixed clamp 102 and firmly clamps the branches to be pruned, ensuring that the branches remain stable and motionless throughout the pruning process, thereby greatly improving the accuracy and safety of pruning. At the same time, as the moving block 116 moves, the rack 119 fixed thereto will also move accordingly, and the movement of the rack 119 drives the semicircular gear 113 meshing therewith to rotate, and transmits it to the rotating blade 118, so that it starts to rotate and cut inside the pruning body 101, so that the clamped branches can be cut quickly and effectively, achieving efficient and accurate branch pruning tasks.

[0026] One side of the movable blade 106 is fixedly arranged on one side of the sawtooth 107, the rear end of the movable blade 106 is fixedly arranged on the front end of the slider 109, and the fixing rods 111 are slidably arranged inside the two sides of the slider 109, the upper end of the slider 109 is rotatably arranged on the front end of the connecting rod 110, the rear end of the connecting rod 110 is rotatably arranged on the upper end of the cam 120, and the lower end of the cam 120 is rotatably arranged on the upper end of the rotating motor 121, the annular groove 108 is externally arranged inside the movable blade 106 at the rear end, the rotating motor 121 is externally fixedly arranged inside the trimming body 101 at the lower end, the driving motor 112 is externally fixedly arranged inside the trimming body 101, and the upper end of the trimming body 101 is fixedly arranged with a sensor 122, the movable clamp 105 is fixedly arranged with a rubber pad 103 on the side opposite to the fixed clamp 102, and the rotating blade 118 is fixedly arranged with a blade 104 on the side opposite to the movable blade 106;

[0027] The sensor 122 installed externally can monitor and identify the position and size information of the branches to be pruned in real time. When the sensor 122 detects a larger branch, it will start the rotating motor 121 inside the body 4, drive the cam 120 to rotate, and make the connecting rod 110 pull the slider 109 to slide, so that it can move back and forth smoothly between the two fixed rods 111. When the slider 109 moves, it will drive the moving blade 106 to move along the predetermined trajectory inside the annular groove 108, and the saw teeth 107 on the moving blade 106 can move regularly. The robot can powerfully cut larger branches, so that it can cope with branches of different sizes without changing pruning tools, thereby improving work efficiency. In addition, there is a rubber pad 103 between the movable clamp 105 and the fixed clamp 102, which can increase the friction and buffering effect of the contact surface with the branch, effectively reducing the mechanical impact force on the branch during pruning and protecting the tree from additional damage. The rotating blade 118 and the sharp blade 104 on the moving blade 106 jointly ensure the efficiency and accuracy of the pruning process. Regardless of the thickness of the branch, the pruning task can be completed quickly and accurately.

[0028] Working principle: When pruning, the driving motor 112 inside the body 4 is turned on, and the lead screw 117 at its output end is driven to rotate, so that the moving block 116 is driven to move on the lead screw 117. When the moving block 116 moves, it will drive the rotating rod 114 and the rotating block 115 to move, thereby adjusting the position of the movable clamp 105, and then the movable clamp 105 and the fixed clamp 102 are closely matched to clamp the branches to be pruned, so that the branches remain stable and do not shake during the pruning process, thereby improving the accuracy and safety of pruning. When the moving block 116 moves, it will drive the rack 119 connected to it to move. When the rack 119 moves, it will drive the semicircular gear 113 meshing with it to rotate, thereby driving the rotating blade 118 to rotate inside the pruning body 101, so that the rotating blade 118 performs a shearing action, thereby realizing fast and effective cutting of the clamped branches. When the sensor 122 detects that the branches are facing larger sizes, the sensor 122 will detect that the branches are facing larger sizes. When the branches are cut, the rotating motor 121 fixed inside the body 4 is operated, and the cam 120 is driven to rotate, so that the connecting rod 110 drives the slider 109 to perform reciprocating linear motion outside the two fixed rods 111, and drives the movable blade 106 to move along the track inside the annular groove 108, so that the saw teeth 107 on one side of the movable blade 106 can prune larger branches. There is no need to replace the pruning tool, which is convenient for operation. The rubber pads 103 on the movable clamp 105 and the fixed clamp 102 increase the friction and buffering of the contact part with the branches, protecting the branches from mechanical stress damage. The rotating blade 118 and the blade 104 on the movable blade 106 ensure the high efficiency of pruning, so as to quickly and accurately complete the branch pruning task. When the pruned branches enter the crushing device 7, the branches will be strongly squeezed and torn to achieve efficient crushing. The volume of the crushed debris is reduced, which is convenient for subsequent transportation and processing, and the utilization rate of branch pruning waste is improved.

[0029] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A branch pruning robot, comprising a body (4), characterized in that: A mechanical arm (2) is fixedly arranged on one side of the machine body (4), a trimming mechanism (1) is arranged on one side of the mechanical arm (2), and a crushing device (7) is arranged inside the machine body (4); The trimming mechanism (1) comprises a trimming body (101), a fixed clamp (102), a movable clamp (105), a movable blade (106), saw teeth (107), an annular groove (108), a slider (109), a connecting rod (110), a driving motor (112), a semicircular gear (113), a rotating rod (114), a rotating block (115), a moving block (116), a screw rod (117), a rotating blade (118), a rack (119), a cam (120) and a rotating motor (121). The rear end of the trimming body (101) is fixedly arranged on one side of the mechanical arm (2), the rear end of the fixed clamp (102) is fixedly arranged on the front end of the trimming body (101), and the screw rod (117) is fixedly arranged on the front end of the trimming body (101). ) rear end is fixedly arranged at the output end of the driving motor (112), the internal thread of the moving block (116) is connected to the outside of the screw rod (117), one side of the rotating rod (114) is rotatably arranged on one side of the moving block (116), the other side of the rotating rod (114) is rotatably arranged on one side of the rotating block (115), the external part of the rotating block (115) is rotatably arranged inside the trimming body (101), the other side of the rotating block (115) is fixedly arranged at the rear end of the movable clamp (105), one side of the rack (119) is fixedly arranged on one side of the moving block (116), one side of the rack (119) is meshedly connected to one side of the semicircular gear (113), and one side of the semicircular gear (113) is fixedly arranged on the rotating The rear end of one side of the blade (118) is rotatably arranged inside the trimming body (101), one side of the movable blade (106) is fixedly arranged on one side of the sawtooth (107), the rear end of the movable blade (106) is fixedly arranged at the front end of the slider (109), both sides of the slider (109) are internally provided with fixed rods (111) for sliding, the upper end of the slider (109) is rotatably arranged at the front end of the connecting rod (110), the rear end of the connecting rod (110) is rotatably arranged at the upper end of the cam (120), the lower end of the cam (120) is rotatably arranged at the upper end of the rotating motor (121), the outer portion of the annular groove (108) is opened inside the movable blade (106) near the rear end, The rotating motor (121) is externally fixedly arranged inside the trimming body (101) near the lower end, the driving motor (112) is externally fixedly arranged inside the trimming body (101), a sensor (122) is fixedly arranged at the upper end of the trimming body (101), a rubber pad (103) is fixedly arranged on the side opposite to the movable clamp (105) and the fixed clamp (102), a blade (104) is fixedly arranged on the side opposite to the rotating blade (118) and the movable blade (106), a solar panel (3) is fixedly arranged at the upper end of the machine body (4), a storage battery (6) is fixedly arranged inside the machine body (4) near the front end, and a moving device (5) is fixedly arranged at the lower end of the machine body (4).

Images