Multi-purpose pruning device capable of avoiding obstacles

Abstract

The invention discloses a multi-purpose pruning device capable of avoiding obstacles, and relates to the technical field of pruning devices, comprising: a walking mechanism, wherein a lifting mechanism is arranged above the walking mechanism, the lifting mechanism is connected to the walking mechanism through a rotating mechanism, and the rotating mechanism comprises an elastic component and an electric locking mechanism; a horizontal telescopic mechanism, one end of which is connected to the lifting mechanism; a rotating mechanism, the rotating mechanism comprises an XZ plane rotating structure and an XY plane rotating structure; two tool mechanisms; an obstacle avoiding mechanism, which is connected to a slewing block, and the obstacle avoiding mechanism comprises an elastic telescopic rod, a touch structure is arranged on the outer end of the elastic telescopic rod when the rod is rotated, and a dynamometer is arranged inside the elastic telescopic rod; a control unit, which is electrically connected to the dynamometer and the electric locking mechanism, and when the measured value of the dynamometer is greater than the set value, the control unit controls the electric locking mechanism to unlock; the problem that the existing pruning devices in the prior art have a single function and cannot avoid obstacles autonomously is solved.

Description

Technical Field

[0001] The invention belongs to the technical field of pruning devices, and more specifically, relates to a multi-purpose pruning device capable of avoiding obstacles. Background Art

[0002] Currently, the pruning devices used in gardens can be divided into three categories: lawn pruning devices, hedge pruning devices, and branch pruning devices. Since the branch pruning devices have a single function, it is difficult to meet the pruning requirements of different heights and widths during the pruning process, and it is difficult to perform shaping pruning. Some existing pruning devices are even not as convenient as manually operating electric saws to prune branches, which greatly limits the promotion and use of branch pruning devices. In addition, the existing pruning devices cannot achieve the function of autonomous obstacle avoidance. Summary of the invention

[0003] The purpose of the present invention is to provide a multi-purpose pruning device capable of avoiding obstacles in view of the deficiencies in the prior art, so as to solve the problem that the existing pruning devices in the prior art have a single function and cannot avoid obstacles autonomously.

[0004] In order to achieve the above object, the present invention provides a multi-purpose pruning device capable of avoiding obstacles, the device comprising:

[0005] A walking mechanism, wherein a lifting mechanism is arranged above the walking mechanism, wherein the lifting mechanism is connected to the walking mechanism via a rotating mechanism, wherein the rotating mechanism comprises an elastic component and an electric locking mechanism, wherein the electric locking mechanism can lock and unlock the relative rotation between the lifting mechanism and the walking mechanism, and when the lifting mechanism rotates, the elastic component stores energy and the energy stored by the elastic component can cause the lifting mechanism to rotate and reset;

[0006] A horizontal telescopic mechanism, one end of which is connected to the lifting mechanism;

[0007] A rotation mechanism, the rotation mechanism comprising an XZ plane rotation structure and an XY plane rotation structure, the XZ plane rotation structure being connected to the other end of the horizontal telescopic mechanism;

[0008] A slewing block connected to the XY plane rotating structure, with connecting rods disposed at both ends of the slewing block;

[0009] Two tool mechanisms are respectively connected to the two connecting rods;

[0010] An obstacle avoidance mechanism connected to the slewing block, the obstacle avoidance mechanism comprising an elastic telescopic rod, an outer end of the elastic telescopic rod being rotatably provided with a touch structure, the touch structure being used to contact an obstacle, and a dynamometer being provided inside the elastic telescopic rod;

[0011] A control unit is electrically connected to the dynamometer and the electric locking mechanism. When the measured value of the dynamometer is greater than a set value, the control unit controls the electric locking mechanism to unlock.

[0012] Optionally, the walking mechanism includes a walking trolley, and the walking trolley is provided with wheels, a driving mechanism and a rotating frame, the driving mechanism can drive the wheels to rotate, and the rotating frame is arranged on the upper side of the walking trolley.

[0013] Optionally, the lifting mechanism comprises:

[0014] A disc base, the disc base is rotatably connected to the rotating frame;

[0015] A fixed tripod is arranged above the disc base;

[0016] A lifting base plate is vertically arranged on one side of the fixed tripod, a slide rail and a screw rod are vertically arranged side by side on the lifting base plate, a slider and a threaded block are respectively arranged on the slide rail and the screw rod, the slider and the threaded block are connected by a connecting plate, and the connecting plate is connected to the horizontal telescopic mechanism;

[0017] The first driving motor is used to drive the screw to rotate.

[0018] Optionally, the electric locking mechanism comprises:

[0019] A support plate, the support plate is arranged on the other side of the fixed tripod, and a latch seat is arranged on the support plate;

[0020] A latch pin is vertically slidably disposed in the latch pin seat, one side of the latch pin is connected to a transmission rod, and a nut is disposed at the outer end of the transmission rod;

[0021] a second drive motor connected to the support plate, wherein a screw matched with the nut thread is disposed on an output end of the second drive motor, and the second drive motor is electrically connected to the control unit;

[0022] The disc base is provided with a through hole capable of accommodating the insertion of the latch pin, and the latch pin can pass through the through hole and be inserted into the rotating frame to lock the rotating frame and the disc base.

[0023] Optionally, the elastic component is a torsion spring, which is arranged between the disc base and the rotating frame, and the inner end and the outer end of the torsion spring are respectively connected to the disc base and the rotating frame.

[0024] Optionally, the horizontal telescopic mechanism includes a support rod, a horizontal telescopic rod and a guide rod connected side by side to one side of the horizontal telescopic rod, a guide sleeve is slidably provided on the guide rod, one end of the support rod is hinged to the guide sleeve, a sliding seat is slidably provided on the slide rail, and the other end of the support rod is hinged to the sliding seat.

[0025] Optionally, the XZ plane rotation structure includes:

[0026] a first connecting seat, the first connecting seat being connected to the horizontal telescopic mechanism, the first connecting seat being provided with a third driving motor, a first worm and a first worm wheel, the third driving motor driving the first worm to rotate, and the first worm wheel meshing with the first worm;

[0027] a rotating shaft, one end of which is connected to the first worm gear;

[0028] The XY plane rotation structure comprises:

[0029] a second connecting seat, the second connecting seat being connected to the other end of the rotating shaft;

[0030] A fourth driving motor is arranged in the second connecting seat, and an output end of the fourth driving motor is connected to the top surface of the rotating block, so as to drive the rotating block to rotate in the XY plane;

[0031] The electromagnetic brake is arranged between the rotating block and the second connecting seat, and the electromagnetic brake is sleeved on the outer periphery of the output end of the fourth driving motor.

[0032] Optionally, the tool mechanism comprises:

[0033] A motor support plate, connected to the connecting rod via a rod member perpendicular to the connecting rod, and a tool shaft connecting plate is provided on the motor support plate;

[0034] A fifth drive motor is arranged on the motor support plate, and a second worm is arranged on an output end of the fifth drive motor;

[0035] A tool shaft is rotatably inserted into the tool shaft connecting plate and exposed at both ends, and the tool shaft sleeve is provided with a second worm gear meshing with the second worm;

[0036] Two tool connecting rods, one end of the two tool connecting rods is connected to the exposed end of the tool shaft, and the other end of the two tool connecting rods is connected to a tool mounting plate;

[0037] A tool is arranged on the tool mounting plate and driven by a sixth driving motor.

[0038] Optionally, the elastic telescopic rod includes a cylinder and a rod body with one end slidably arranged in the cylinder, a spring is arranged between the cylinder and the rod body, the force gauge is arranged between the spring and the rod body, a wall of the rod body is provided with a protrusion, and the inner wall of the cylinder is provided with a groove that slides with the protrusion.

[0039] Optionally, a seat plate is provided below the cylinder, a limit block is provided on one side of the seat plate, a crank-connecting rod mechanism is rotatably provided on one side of the limit block, the touch structure includes an arc-shaped touch strip, the arc-shaped touch strip is connected to the other end of the rod body, and the crank-connecting rod mechanism is hinged at the connection between the arc-shaped touch strip and the rod body.

[0040] The invention provides a multi-purpose pruning device capable of avoiding obstacles, and the beneficial effects are as follows: the device is provided with a walking mechanism, which can drive two tool mechanisms to walk along a pruning path to realize automatic pruning; during the pruning process, the lifting mechanism can conveniently adjust the height of the tool to adapt to different pruning heights; the horizontal telescopic mechanism can drive the tool to move in the horizontal direction to facilitate the adjustment of the pruning position; the rotating mechanism comprises an XZ plane rotating structure and an XY plane rotating structure, and the pruning orientation and pruning action of the tool are more flexible through the rotation of two dimensions, so that wall-shaped hedges, spherical hedges, tower-shaped trees and lawns can be pruned; and the device is provided with an obstacle avoiding mechanism, when the touch structure touches an obstacle, the elastic telescopic rod retracts, and if the measured value of the dynamometer is greater than the set value, it is determined that the obstacle is touched, at this time the electric locking mechanism is unlocked, the rotating mechanism rotates, and the touch structure slides along the outer periphery of the obstacle to realize automatic obstacle avoiding, and at the same time the elastic component stores energy, so that after the obstacle is avoided, the stored energy of the elastic component is used to make the lifting structure rotate and reset to cope with the next obstacle avoiding.

[0041] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.

[0043] Figure 1 A schematic structural diagram of a multi-purpose pruning device capable of avoiding obstacles according to an embodiment of the present invention is shown.

[0044] Figure 2 A schematic structural diagram of a walking mechanism of a multi-purpose pruning device capable of avoiding obstacles according to an embodiment of the present invention is shown.

[0045] Figure 3A schematic structural diagram of a lifting mechanism of a multi-purpose trimming device capable of avoiding obstacles according to an embodiment of the present invention is shown.

[0046] Figure 4 A schematic structural diagram of an electric locking mechanism of a multi-purpose pruning device capable of avoiding obstacles according to an embodiment of the present invention is shown.

[0047] Figure 5 A schematic structural diagram of a horizontal telescopic mechanism of a multi-purpose pruning device capable of avoiding obstacles according to an embodiment of the present invention is shown.

[0048] Figure 6 A schematic structural diagram of a rotating mechanism of a multi-purpose trimming device capable of avoiding obstacles according to an embodiment of the present invention is shown.

[0049] Figure 7 A schematic structural diagram of a cutter mechanism of a multi-purpose trimming device capable of avoiding obstacles according to an embodiment of the present invention is shown.

[0050] Figure 8 A schematic structural diagram of an obstacle avoidance mechanism of a multi-purpose pruning device capable of avoiding obstacles according to an embodiment of the present invention is shown.

[0051] Fig. 9 A schematic structural diagram of an obstacle avoidance mechanism of a multi-purpose pruning device capable of avoiding obstacles during an obstacle avoidance process according to an embodiment of the present invention is shown.

[0052] Fig.10 A schematic structural diagram of an obstacle avoidance mechanism of a multi-purpose pruning device capable of avoiding obstacles during an obstacle avoidance process according to an embodiment of the present invention is shown.

[0053] Fig.11 A schematic diagram of a posture of a multi-purpose pruning device capable of avoiding obstacles pruning the side of a hedge according to an embodiment of the present invention is shown.

[0054] Fig.12 A schematic diagram of a posture of a multi-purpose pruning device capable of avoiding obstacles according to an embodiment of the present invention pruning the top surface of a hedge is shown.

[0055] Fig.13 A schematic diagram of a posture of a multi-purpose pruning device capable of avoiding obstacles pruning a spherical hedge according to an embodiment of the present invention is shown.

[0056] Fig.14 A schematic diagram of a posture of a multi-purpose mowing device capable of avoiding obstacles while mowing a lawn according to an embodiment of the present invention is shown.

[0057] Fig.15A schematic diagram of a posture of a multi-purpose pruning device capable of avoiding obstacles according to an embodiment of the present invention pruning a tower-shaped tree is shown.

[0058] Fig.16 A schematic diagram of the posture of a multi-purpose pruning device capable of avoiding obstacles during an obstacle avoidance process according to an embodiment of the present invention is shown.

[0059] Description of reference numerals:

[0060] 1. Walking mechanism; 2. Lifting mechanism; 3. Electric locking mechanism; 4. Horizontal telescopic mechanism; 5. Rotating mechanism; 6. Rotating block; 7. Connecting rod; 8. Cutter mechanism; 9. Obstacle avoidance mechanism; 10. Touch structure; 11. Trolley; 12. Wheel; 13. Rotating frame; 14. Disc base; 15. Fixed tripod; 16. Lifting bottom plate; 17. Slide rail; 18. Screw rod; 19. Slider; 20. Threaded block; 21. Support plate; 22. Pin seat; 23. Pin; 24. Nut; 25. Screw rod; 26. Through hole; 27. Support rod; 28. Horizontal telescopic rod; 29. ​​Guide rod; 30. Guide sleeve; 31. Sliding seat; 32. First connecting seat; 3 3. First worm; 34. First worm wheel; 35. Second connecting seat; 36. Fourth drive motor; 37. Electromagnetic brake; 38. Motor support plate; 39. Tool shaft connecting plate; 40. Second worm; 41. Tool shaft; 42. Second worm wheel; 43. Tool connecting rod; 44. Tool mounting plate; 45. Tool; 46. Sixth drive motor; 47. Cylinder; 48. Rod; 49. Bump; 50. Groove; 51. Seat plate; 52. Limit block; 53. Crank-connecting rod mechanism; 54. Arc-shaped touch strip; 55. Arc-shaped slideway; 56. Arc-shaped slider; 57. First connecting rod; 58. Second connecting rod; 59. Third connecting rod; 60. Sliding column. DETAILED DESCRIPTION

[0061] The preferred embodiments of the present invention will be described in more detail below. Although the preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0062] like Figure 1 As shown, the present invention provides a multi-purpose pruning device capable of avoiding obstacles, the device comprising:

[0063] A traveling mechanism 1, a lifting mechanism 2 is arranged above the traveling mechanism 1, the lifting mechanism 2 is connected to the traveling mechanism 1 through a rotating mechanism, the rotating mechanism includes an elastic component and an electric locking mechanism 3, the electric locking mechanism 3 can lock and unlock the relative rotation between the lifting mechanism 2 and the traveling mechanism 1, when the lifting mechanism 2 rotates, the elastic component stores energy and the energy stored in the elastic component can make the lifting mechanism 2 rotate and reset;

[0064] A horizontal telescopic mechanism 4, one end of which is connected to the lifting mechanism 2;

[0065] The rotating mechanism 5 includes an XZ plane rotating structure and an XY plane rotating structure, and the XZ plane rotating structure is connected to the other end of the horizontal telescopic mechanism 4;

[0066] The rotating block 6 is connected to the XY plane rotating structure, and connecting rods 7 are respectively provided at both ends of the rotating block 6;

[0067] Two tool mechanisms 8 are connected to two connecting rods 7 respectively;

[0068] The obstacle avoidance mechanism 9 is connected to the rotating block 6. The obstacle avoidance mechanism 9 includes an elastic telescopic rod. The outer end of the elastic telescopic rod is rotatably provided with a touch structure 10. The touch structure 10 is used to contact obstacles. A dynamometer is provided inside the elastic telescopic rod.

[0069] The control unit is electrically connected to the dynamometer and the electric locking mechanism 3 . When the measured value of the dynamometer is greater than a set value, the control unit controls the electric locking mechanism 3 to unlock.

[0070] Specifically, in order to solve the problem that the existing pruning devices in the prior art have a single function and cannot avoid obstacles autonomously, the multi-purpose pruning device with obstacle avoidance provided by the present invention has a walking mechanism 1, which can drive two tool mechanisms 8 to walk along the pruning path to realize automatic pruning. During the pruning process, the lifting mechanism 2 can easily adjust the height of the tool to adapt to different pruning heights. The horizontal telescopic mechanism 4 can drive the tool to move in the horizontal direction to facilitate the adjustment of the pruning position. The rotating mechanism 5 includes an XZ plane rotating structure and an XY plane rotating structure. Through the rotation in two dimensions, the pruning orientation and pruning action of the tool are more accurate. The device is more flexible and can trim wall-shaped hedges, spherical hedges, tower-shaped trees and lawns, etc. The moving direction of the trolley 11 is the positive direction of the X-axis, the Y-axis is perpendicular to the X-axis, and the vertical direction is the Z-axis. In addition, the device has an obstacle avoidance mechanism 9. When the touch structure touches an obstacle, the elastic telescopic rod retracts. If the measured value of the dynamometer is greater than the set value, it is determined that an obstacle is encountered. At this time, the electric locking mechanism 3 is unlocked, the rotating mechanism rotates, and the touch structure 10 slides along the periphery of the obstacle to achieve automatic obstacle avoidance. At the same time, the elastic component stores energy so that after avoiding the obstacle, the energy stored in the elastic component can be used to rotate and reset the lifting structure to cope with the next obstacle avoidance.

[0071] Optionally, the traveling mechanism 1 includes a traveling trolley 11 , on which wheels 12 , a driving mechanism and a rotating frame 13 are provided. The driving mechanism can drive the wheels 12 to rotate, and the rotating frame 13 is provided on the upper side of the traveling trolley 11 .

[0072] Specifically, Figure 2 As shown, the wheel 12 can be an omnidirectional wheel or a Mecanum wheel to achieve flexible movement of the trolley 11, and the rotating frame 13 is used to rotate with the lifting mechanism 2.

[0073] Optionally, the lifting mechanism 2 includes:

[0074] A disc base 14, the disc base 14 is rotatably connected to the rotating frame 13;

[0075] A fixed tripod 15 is arranged above the disc base 14;

[0076] A lifting base plate 16 is vertically arranged on one side of the fixed tripod 15, and a slide rail 17 and a screw rod 18 are vertically arranged side by side on the lifting base plate 16. A slider 19 and a threaded block 20 are respectively arranged on the slide rail 17 and the screw rod 18. The slider 19 and the threaded block 20 are connected by a connecting plate, and the connecting plate is connected to the horizontal telescopic mechanism 4;

[0077] The first driving motor is used to drive the screw rod 18 to rotate.

[0078] Specifically, Figure 3 As shown, the first drive motor can drive the screw rod 18 to rotate. Through the cooperation between the screw rod 18 and the threaded block 20 and the connection between the slider 19 and the threaded block 20, the slider 19 and the threaded block 20 can move along the slide rail 17 to achieve lifting. The lifting mechanism 2 can drive the horizontal telescopic mechanism 4 to lift and lower, thereby adjusting the height of the tool.

[0079] Optionally, the electric locking mechanism 3 comprises:

[0080] A support plate 21, the support plate 21 is arranged on the other side of the fixed tripod 15, and a latch seat 22 is arranged on the support plate 21;

[0081] A latch pin 23 is vertically slidably disposed in the latch pin seat 22, one side of the latch pin 23 is connected to a transmission rod, and a nut 24 is disposed at the outer end of the transmission rod;

[0082] A second drive motor is connected to the support plate 21. A screw 25 threadably matched with the nut 24 is disposed on the output end of the second drive motor. The second drive motor is electrically connected to the control unit.

[0083] The disc base 14 is provided with a through hole 26 capable of accommodating the insertion of the latch 23 . The latch 23 can pass through the through hole 26 and be inserted into the rotating frame 13 to lock the rotating frame 13 and the disc base 14 .

[0084] Specifically, Figure 4 As shown, the second driving motor can drive the screw 25 to rotate under the control of the control unit, and drive the pin 23 to move up and down through the cooperation of the screw 25 and the nut 24. The pin 23 passes through the through hole 26 and is inserted into the rotating frame 13, so as to lock the relative position relationship between the rotating frame 13 and the disc base 14.

[0085] Optionally, the elastic component is a torsion spring, which is disposed between the disc base 14 and the rotating frame 13 , and the inner end and the outer end of the torsion spring are connected to the disc base 14 and the rotating frame 13 , respectively.

[0086] Specifically, a torsion spring is used as an elastic component and is arranged between the disc base 14 and the rotating frame 13. After the latch 23 is pulled out from the rotating frame 13 to unlock the electric locking mechanism 3, the disc base 14 can rotate relative to the walking mechanism 1 as the walking mechanism 1 moves during the obstacle avoidance process. The torsion spring can store energy during the rotation process, so that the disc base 14 can be rotated and reset by using the stored energy of the torsion spring after the obstacle avoidance is completed, so as to avoid the obstacle next time.

[0087] Optionally, the horizontal telescopic mechanism 4 includes a support rod 27, a horizontal telescopic rod 28 and a guide rod 29 connected side by side to one side of the horizontal telescopic rod 28, a guide sleeve 30 is slidably provided on the guide rod 29, one end of the support rod 27 is hinged to the guide sleeve 30, a slide seat 31 is slidably provided on the slide rail 17, and the other end of the support rod 27 is hinged to the slide seat 31.

[0088] Specifically, Figure 5 As shown, the horizontal telescopic mechanism 4 is connected to the lifting mechanism 2, and the lifting mechanism 2 has not only a slider 19 but also a slide seat 31. The horizontal telescopic rod 28 of the horizontal telescopic mechanism 4 is connected to the slider 19, and the support rod 27 is hinged to the slide seat 31. At the same time, the guide sleeve 30 hinged at the other end of the support rod 27 is used to slide relative to the guide rod 29, so that the support rod 27 supports the horizontal telescopic mechanism 4 during the lifting process.

[0089] Optionally, the XZ plane rotation structure includes:

[0090] A first connecting seat 32, the first connecting seat 32 is connected to the horizontal telescopic mechanism 4, a third driving motor, a first worm 33 and a first worm wheel 34 are arranged on the first connecting seat 32, the third driving motor drives the first worm 33 to rotate, and the first worm wheel 34 meshes with the first worm 33;

[0091] A rotating shaft, one end of which is connected to the first worm gear 34;

[0092] The XY plane rotation structure includes:

[0093] A second connecting seat 35, the second connecting seat 35 is connected to the other end of the rotating shaft;

[0094] The fourth driving motor 36 is arranged in the second connecting seat 35, and the output end of the fourth driving motor 36 is connected to the top surface of the rotating block 6, so as to drive the rotating block 6 to rotate in the XY plane;

[0095] The electromagnetic brake 37 is disposed between the rotary block 6 and the second connecting seat 35 , and the electromagnetic brake 37 is sleeved on the outer periphery of the output end of the fourth driving motor 36 .

[0096] Specifically, Figure 6 As shown, the third drive motor drives the first worm 33 to cooperate with the first worm wheel 34 for transmission, so that the second connecting seat 35 can rotate in the XZ plane relative to the first connecting seat 32. The fourth drive motor 36 can be directly connected to the rotating block 6 or connected to the rotating block 6 through a reducer, and drives the rotating block 6 to rotate in the XY plane relative to the second connecting seat 35; the electromagnetic brake 37 is connected to the second connecting seat 35, which can limit the rotation of the output end of the fourth drive motor 36, and thereby limit the rotation of the rotating block 6 relative to the second connecting seat 35.

[0097] In this embodiment, the electromagnetic brake 37 is electrically connected to the control unit. When the touch structure 10 touches an obstacle and the measured value is greater than the set value, the control unit also controls the electromagnetic brake 37 to unlock the output end of the fourth drive motor 36, so that the rotating block 6 can rotate relative to the second connecting seat 35 to participate in obstacle avoidance.

[0098] Optionally, the tool mechanism 8 comprises:

[0099] The motor support plate 38 is connected to the connecting rod 7 through a rod member perpendicular to the connecting rod 7, and a tool shaft connecting plate 39 is provided on the motor support plate 38;

[0100] A fifth drive motor is arranged on the motor support plate 38, and a second worm 40 is arranged on the output end of the fifth drive motor;

[0101] The tool shaft 41 is rotatably inserted into the tool shaft connecting plate 39 and exposed at both ends. The tool shaft 41 is sleeved with a second worm gear 42 meshing with the second worm 40;

[0102] Two tool connecting rods 43, one end of the two tool connecting rods 43 is connected to the exposed end of the tool shaft 41, and the other end of the two tool connecting rods 43 is connected to the tool mounting plate 44;

[0103] The tool 45 is arranged on the tool mounting plate 44 and is driven by a sixth driving motor 46 .

[0104] Specifically, Figure 7As shown, the fifth drive motor, the second worm 40, the second worm wheel 42, the tool shaft 41, the two tool connecting rods 43 and the tool mounting plate 44 form a tilting and swinging mechanism. The second worm wheel 42 is connected to the tool shaft 41. The meshing transmission between the second worm wheel 42 and the second worm 40 can drive the tool shaft 41 and the tool connecting rod 43 to tilt and swing, so as to flexibly adjust the inclination angle and trimming angle of the tool to adapt to different working conditions.

[0105] In this embodiment, the cutter 45 is a pruning electric saw.

[0106] Furthermore, the device can change the position of the tool relative to the hedge to be trimmed through the lifting mechanism 2, the horizontal telescopic mechanism 4 and the tilting and swinging mechanism to achieve the trimming of hedges of different heights and widths; it can complete the trimming of vertical and horizontal surfaces and the shaping of hedges by changing the posture of the tool; it can change the downward-working tool to an upward-working tool through the rotating mechanism 5 to achieve the trimming of the side branches of low trees; when encountering an obstacle, the obstacle avoidance mechanism 9 can drive the tool to deflect, and the lifting mechanism 2 can deflect relative to the walking mechanism 1 to achieve the avoidance of the obstacle.

[0107] Optionally, the elastic telescopic rod includes a cylinder 47 and a rod 48 with one end slidably disposed in the cylinder 47, a spring is disposed between the cylinder 47 and the rod 48, a force gauge is disposed between the spring and the rod 48, a protrusion 49 is disposed on one wall of the rod 48, and the inner wall of the cylinder 47 is disposed with a groove 50 that slides with the protrusion 49.

[0108] Specifically, Figure 8 As shown, after the touch structure 10 at the front end of the rod body 48 touches the obstacle, the spring is compressed, so that the rod body 48 retracts relative to the cylinder 47 to provide an avoidance space, and at the same time the disc base 14 rotates relative to the rotating frame 13, the torsion spring stores energy, and the electromagnetic brake 37 is unlocked, and the slewing block 6 rotates relative to the second connecting seat 35 to provide an avoidance angle, and the touch structure 10 slides along the periphery of the obstacle until it bypasses the obstacle and disengages from the obstacle. At this time, the spring recovers to extend the rod body 48, the torsion spring releases the stored energy, the disc base 14 rotates and resets, and the fourth drive motor 36 also drives the slewing block 6 to rotate and reset.

[0109] Optionally, a seat plate 51 is provided below the cylinder 47, a limit block 52 is provided on one side of the seat plate 51, a crank-connecting rod mechanism 53 is rotatably provided on one side of the limit block 52, and the touch structure 10 includes an arc-shaped touch strip 54, which is connected to the other end of the rod body 48, and the crank-connecting rod mechanism 53 is hinged at the connection between the arc-shaped touch strip 54 and the rod body 48.

[0110] Specifically, a support seat is provided on the upper side of the seat plate 51, the cylinder 47 is connected to the support seat, the seat plate 51 is connected to the rotary block 6 through the plate body, and the crank-connecting rod mechanism 53 includes a crank and a connecting rod hinged to each other, and an angle is formed between the crank and the connecting rod, such as Fig. 9 and Fig.10 As shown, as the rod body 48 retracts relative to the cylinder body 47, the angle between the crank and the connecting rod becomes smaller until the crank collides with the limit block 52. The collision between the crank and the limit block 52 generates a transmission of collision force, so that the direction of the collision force acting on the collision mechanism is biased to one side relative to the rotation axis of the rotating block 6, thereby making the rotating block 6 rotate only in one direction, thereby ensuring stable obstacle avoidance.

[0111] In this embodiment, an arc-shaped slide 55 is arranged inside the arc-shaped touch strip 54, and the rod body 48 is slidably connected to the arc-shaped slide 55 through an arc-shaped slider 56; the crank-connecting rod mechanism 53 is arranged on one side of the elastic telescopic rod, and a multi-link mechanism is arranged on the other side of the elastic telescopic rod, and the multi-link mechanism includes a first link 57, a second link 58 and a third link 59, one end of the first link 57 is slidably connected to the arc-shaped slide 55 through a sliding column 60, the other end of the first link 57 is hinged to the cylinder body 47, one end of the second link 58 is hinged to the middle part of the first link 57, the other end of the second link 58 is hinged to one end of the third link 59, and the other end of the third link 59 is hinged to the rod body 48.

[0112] Specifically, Figures 8 to 10 As shown, the setting of the multi-link mechanism allows the rod body 48 of the touch structure to retract when it encounters an obstacle, and the sliding column 60 drives the arc-shaped touch strip 54 to deflect, converting from contacting the front of the obstacle to contacting the side of the obstacle, and then contacting the back of the obstacle when the walking mechanism 1 moves away from the obstacle, thereby avoiding the situation where corners cannot be trimmed during the deflection and return process of the tool 45.

[0113] In summary, the obstacle-avoiding multi-purpose pruning device provided by the present invention can achieve multiple uses by changing the posture of the cutter. Figures 11 to 16 As shown, Fig.11 The figure is a diagram of the posture of trimming the side of the hedge. The electric locking mechanism 3 locks the position of the lifting mechanism 2, and the walking mechanism 1 moves forward to cooperate with the cutting of the tool to complete the trimming of the side of the hedge. Fig.12 The diagram is a diagram of the posture of trimming the horizontal surface of the top surface of the hedge. The tool mechanism 8 converts the tool in the vertical direction to the horizontal direction under the action of the tilting and swinging mechanism, and the electric locking mechanism 3 also plays a locking role. Fig.13 This is a diagram showing the posture of the hedge when it is shaped into a spherical shape. Fig.13The tilting and swinging mechanism in the tool controls the inward inclination of the tool, and cooperates with the XY plane rotating structure of the rotating mechanism 5 to complete the shaping and pruning of the lower half of the circular hedge; thereafter, the tilting and swinging mechanism can control the outward inclination of the tool, and also completes the shaping and pruning of the upper half of the circular hedge under the horizontal rotation of the XY plane rotating structure of the rotating mechanism 5. Fig.14 The figure is a diagram of the posture of mowing the lawn. The lifting mechanism 2 is used to lower the horizontal tool to the lawn mowing height to achieve lawn mowing. After the walking mechanism 1 drives the tool to complete a trip of mowing the lawn, the telescopic mechanism extends to enable the tool to complete mowing the lawn farther away. Fig.15 The middle tilt swing mechanism is driven by the fifth drive motor to gradually change the outward tilt angle of the cutter and cooperate with the lifting mechanism 2 to complete the shaping and pruning of conical trees. Fig.16 The figure is a schematic diagram of the posture when avoiding obstacles. When encountering an obstacle, the obstacle avoidance mechanism 9 starts to work and drives the tool to deflect. At the same time, the electric locking mechanism 3 releases the limit, the lifting mechanism 2 also starts to deflect, and the walking mechanism 1 continues to move forward so that the entire device can achieve the effect of bypassing the obstacle. After moving away from the obstacle, the spring and the torsion spring return to their original state, so that the entire device returns to the posture when it does not encounter the obstacle.

[0114] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A multi-purpose pruning device capable of avoiding obstacles, characterized in that: The device includes: A walking mechanism, wherein a lifting mechanism is arranged above the walking mechanism, wherein the lifting mechanism is connected to the walking mechanism via a rotating mechanism, wherein the rotating mechanism comprises an elastic component and an electric locking mechanism, wherein the electric locking mechanism can lock and unlock the relative rotation between the lifting mechanism and the walking mechanism, and when the lifting mechanism rotates, the elastic component stores energy and the energy stored by the elastic component can cause the lifting mechanism to rotate and reset; A horizontal telescopic mechanism, one end of which is connected to the lifting mechanism; A rotation mechanism, the rotation mechanism comprising an XZ plane rotation structure and an XY plane rotation structure, the XZ plane rotation structure being connected to the other end of the horizontal telescopic mechanism; A slewing block connected to the XY plane rotating structure, with connecting rods disposed at both ends of the slewing block; Two tool mechanisms are respectively connected to the two connecting rods; An obstacle avoidance mechanism connected to the slewing block, the obstacle avoidance mechanism comprising an elastic telescopic rod, an outer end of the elastic telescopic rod being rotatably provided with a touch structure, the touch structure being used to contact an obstacle, and a dynamometer being provided inside the elastic telescopic rod; A control unit, electrically connected to the dynamometer and the electric locking mechanism, wherein the control unit controls the electric locking mechanism to unlock when a measured value of the dynamometer is greater than a set value; The XZ plane rotation structure comprises: a first connecting seat, the first connecting seat being connected to the horizontal telescopic mechanism, the first connecting seat being provided with a third driving motor, a first worm and a first worm wheel, the third driving motor driving the first worm to rotate, and the first worm wheel meshing with the first worm; a rotating shaft, one end of which is connected to the first worm gear; The XY plane rotation structure comprises: a second connecting seat, the second connecting seat being connected to the other end of the rotating shaft; A fourth driving motor is arranged in the second connecting seat, and an output end of the fourth driving motor is connected to the top surface of the rotating block, so as to drive the rotating block to rotate in the XY plane; An electromagnetic brake is arranged between the rotary block and the second connecting seat, and the electromagnetic brake is sleeved on the outer periphery of the output end of the fourth driving motor; The elastic telescopic rod comprises a cylinder and a rod body with one end slidably arranged in the cylinder, a spring is arranged between the cylinder and the rod body, the dynamometer is arranged between the spring and the rod body, a convex block is arranged on one wall of the rod body, and a groove slidably matched with the convex block is arranged on the inner wall of the cylinder; A seat plate is arranged below the cylinder body, a limit block is arranged on one side of the seat plate, a crank-connecting rod mechanism is rotatably arranged on one side of the limit block, the touch structure includes an arc-shaped touch strip, the arc-shaped touch strip is connected to the other end of the rod body, and the crank-connecting rod mechanism is hinged at the connection between the arc-shaped touch strip and the rod body.

2. The multi-purpose pruning device capable of avoiding obstacles according to claim 1, characterized in that: The walking mechanism comprises a walking trolley, on which wheels, a driving mechanism and a rotating frame are arranged. The driving mechanism can drive the wheels to rotate, and the rotating frame is arranged on the upper side of the walking trolley.

3. The multi-purpose pruning device capable of avoiding obstacles according to claim 2, characterized in that: The lifting mechanism comprises: A disc base, the disc base is rotatably connected to the rotating frame; A fixed tripod is arranged above the disc base; A lifting base plate is vertically arranged on one side of the fixed tripod, a slide rail and a screw rod are vertically arranged side by side on the lifting base plate, a slider and a threaded block are respectively arranged on the slide rail and the screw rod, the slider and the threaded block are connected by a connecting plate, and the connecting plate is connected to the horizontal telescopic mechanism; The first driving motor is used to drive the screw to rotate.

4. The multi-purpose pruning device capable of avoiding obstacles according to claim 3, characterized in that: The electric locking mechanism comprises: A support plate, the support plate is arranged on the other side of the fixed tripod, and a latch seat is arranged on the support plate; A latch pin is vertically slidably disposed in the latch pin seat, one side of the latch pin is connected to a transmission rod, and a nut is disposed at the outer end of the transmission rod; a second drive motor connected to the support plate, wherein a screw matched with the nut thread is disposed on an output end of the second drive motor, and the second drive motor is electrically connected to the control unit; The disc base is provided with a through hole capable of accommodating the insertion of the latch pin, and the latch pin can pass through the through hole and be inserted into the rotating frame to lock the rotating frame and the disc base.

5. The multi-purpose pruning device capable of avoiding obstacles according to claim 3, characterized in that: The elastic component is a torsion spring, which is arranged between the disc base and the rotating frame, and the inner end and the outer end of the torsion spring are connected to the disc base and the rotating frame respectively.

6. The multi-purpose pruning device capable of avoiding obstacles according to claim 3, characterized in that: The horizontal telescopic mechanism includes a support rod, a horizontal telescopic rod and a guide rod connected in parallel to one side of the horizontal telescopic rod, a guide sleeve is slidably provided on the guide rod, one end of the support rod is hinged to the guide sleeve, a slide seat is slidably provided on the slide rail, and the other end of the support rod is hinged to the slide seat.

7. The multi-purpose pruning device capable of avoiding obstacles according to claim 1, characterized in that: The tool mechanism comprises: A motor support plate, connected to the connecting rod via a rod member perpendicular to the connecting rod, and a tool shaft connecting plate is provided on the motor support plate; A fifth drive motor is arranged on the motor support plate, and a second worm is arranged on an output end of the fifth drive motor; A tool shaft is rotatably inserted into the tool shaft connecting plate and exposed at both ends, and the tool shaft sleeve is provided with a second worm gear meshing with the second worm; Two tool connecting rods, one end of the two tool connecting rods is connected to the exposed end of the tool shaft, and the other end of the two tool connecting rods is connected to a tool mounting plate; A tool is arranged on the tool mounting plate and driven by a sixth driving motor.

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