Pruning vehicle

Abstract

The application discloses a trimming operation vehicle, which comprises a vehicle body, a trimming device, a boom device, a detection device and a control device. The boom device comprises a mounting seat, a sliding mechanism, a working arm mechanism and a first telescopic driving part with an energy accumulator. The mounting seat is mounted on the vehicle body. The sliding mechanism is movably mounted on the mounting seat. One end of the working arm mechanism is rotatably mounted on the sliding mechanism, and the other end is connected with the trimming device. The first telescopic driving part is mounted on the sliding mechanism and connected with the working arm mechanism. The detection device detects the rotation angle of the working arm mechanism relative to the sliding mechanism. The control device is configured to control the sliding mechanism to drive the working arm mechanism to move away from obstacles when the detection device detects that the rotation angle of the working arm mechanism changes. The first telescopic driving part can be compressed by the working arm mechanism to store energy and release energy to drive the working arm mechanism to reset. The trimming operation vehicle can realize efficient and automatic bidirectional obstacle avoidance without disassembling the obstacle avoidance mechanism.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of environmental sanitation equipment, and particularly relates to a trimming work vehicle. BACKGROUND

[0002] After the trimming work vehicle accidentally hits an obstacle during operation, the work arm cannot yield and automatically perform an obstacle avoidance action, and the driver needs to make reasonable responses in time in the event of an emergency, which is extremely demanding for the driver. During the trimming operation of the trimming work vehicle, there is an obstacle identification blind area in the forward direction of the work head, and automatic obstacle avoidance cannot be completed in the blind area. When an obstacle in the blind area is encountered, the driver needs to adjust the vehicle position or adjust the arm posture to control the obstacle in the identification area to complete the automatic obstacle avoidance action.

[0003] The existing hedge trimming work vehicle automatic obstacle avoidance mechanism is arranged on the trimming head and uses a touch rod type structure to achieve obstacle avoidance. After installation, the obstacle avoidance mechanism can only identify obstacles on one side of the vehicle. When the trimming head switches to operation on the other side of the vehicle body, the obstacle avoidance mechanism needs to be disassembled and installed on the other side of the vehicle body to have automatic obstacle avoidance function. The actual operation steps are complicated and cannot achieve automatic bidirectional obstacle avoidance. SUMMARY

[0004] In view of the above defects or deficiencies of the prior art, the present application provides a trimming work vehicle, which aims to solve the technical problem that the obstacle avoidance mechanism needs to be disassembled and installed on the other side of the vehicle body to have automatic obstacle avoidance function when the trimming head switches to the operation side of the vehicle body, and cannot achieve automatic bidirectional obstacle avoidance function.

[0005] In order to achieve the above purpose, the present application provides a trimming work vehicle, wherein the trimming work vehicle comprises a vehicle body, a trimming device, an arm support device, a detection device and a control device. The arm support device comprises a mounting seat, a sliding mechanism, a work arm mechanism and a first telescopic driving member with an energy accumulator. The mounting seat is installed on the vehicle body. The sliding mechanism is movably installed on the mounting seat. One end of the work arm mechanism is rotatably installed on the sliding mechanism. The other end is used to connect the trimming device and to perform obstacle avoidance rotation in the case of trimming device movement obstruction. The first telescopic driving member is installed on the sliding mechanism and connected with the work arm mechanism, and is used to store energy in the case of work arm mechanism obstacle avoidance rotation and release energy to drive the work arm mechanism to reset. The detection device is used to detect the rotation angle of the work arm mechanism relative to the sliding mechanism. The control device is communicatively connected with the detection device and the sliding mechanism, and is configured to control the sliding mechanism to drive the work arm mechanism to move and reset in the case of detection device detecting that the rotation angle of the work arm mechanism changes.

[0006] In the embodiment of the present application, the working arm mechanism comprises a working arm body, a rotating shaft and a handle, the rotating shaft is installed on the sliding mechanism in a circumferential rotating manner, one end of the working arm body is fixed on the rotating shaft, the other end of the working arm body is used for connecting the trimming device, two ends of the handle are connected with the rotating shaft and the one end of the first telescopic driving member away from the sliding mechanism respectively, and the detection device is used for detecting the rotating angle of the rotating shaft relative to the sliding mechanism.

[0007] In the embodiment of the present application, the control device is further configured to: after the detection device detects that the rotating angle of the rotating shaft increases in the forward direction, control the sliding mechanism to drive the working arm mechanism to move leftward for obstacle avoidance, and then further comprise: after the detection device detects that the rotating angle of the rotating shaft decreases in the reverse direction, control the sliding mechanism to drive the working arm mechanism to move rightward for reset; and after the detection device detects that the rotating angle of the rotating shaft increases in the reverse direction, control the sliding mechanism to drive the working arm mechanism to move rightward for obstacle avoidance, and then further comprise: after the detection device detects that the rotating angle of the rotating shaft decreases in the forward direction, control the sliding mechanism to drive the working arm mechanism to move leftward for reset.

[0008] In the embodiment of the present application, the sliding mechanism comprises a sliding frame installed on the mounting seat in a left-right movable manner and a driving assembly for driving the sliding frame to move on the mounting seat, the rotating shaft is installed on the sliding frame in a circumferential rotating manner, and the working arm body is fixed on the upper end of the rotating shaft extending out of the sliding frame, and the handle is fixed on the lower end of the rotating shaft extending out of the sliding frame away from the one end of the first telescopic driving member.

[0009] In the embodiment of the present application, the sliding frame comprises a sliding seat installed on the mounting seat in a left-right movable manner and a tripod body provided on the upper part of the sliding seat, the rotating shaft is installed on the outwardly arranged corner of the tripod body in a circumferential rotating manner, and the one end of the first telescopic driving member away from the handle is installed on the lower part of the sliding seat.

[0010] In the embodiment of the present application, the driving assembly comprises a rotating driving member, a matching strip and a transmission wheel, the matching strip is fixedly installed on the mounting seat, the transmission wheel is arranged on the sliding frame and engaged with the matching strip, and the rotating driving member is arranged on the sliding frame and drivingly connected with the transmission wheel.

[0011] In the embodiment of the present application, the normal projection of the working arm mechanism in the sliding plane and the sliding mechanism is set to an angle of 5°-20°.

[0012] In the embodiment of the present application, the trimming device comprises a trimming head and a rotating mechanism, the rotating mechanism comprises a rotating pair, a connecting arm and a second telescopic driving element with an energy accumulator, the connecting arm is installed at the end of the working arm mechanism, the rotating pair is connected with the first end of the connecting arm and the trimming head for deflecting the trimming head to avoid obstacles when the movement of the trimming head is blocked, and the two ends of the second telescopic driving element are connected with the trimming head and the second end of the connecting arm one by one for energy storage when the movement of the trimming head is blocked.

[0013] In the embodiment of the present application, the trimming head is provided with a mounting assembly, the mounting assembly comprises a connecting frame arranged on the back of the trimming head and a connecting seat arranged on the trimming head and connected with the connecting frame, the rotating pair is installed on the connecting seat, and the two ends of the second telescopic driving element are connected with the connecting seat and the second end of the connecting arm one by one.

[0014] In the embodiment of the present application, the connecting frame comprises a first connecting plate and two second connecting plates, the two second connecting plates are oppositely arranged on the back of the trimming head, the first connecting plate connects the two second connecting plates and extends from one end of the trimming head, and the connecting seat is installed on the side of the first connecting plate away from the two second connecting plates.

[0015] Through the above technical solution, the trimming work vehicle provided by the embodiment of the present application has the following beneficial effects:

[0016] When the trimming work vehicle is used, since the trimming work vehicle comprises a vehicle body, a trimming device, an arm support device, a detection device and a control device, the arm support device comprises a mounting base, a sliding mechanism, a working arm mechanism and a first telescopic driving member with an energy accumulator, the mounting base is mounted on the vehicle body, the sliding mechanism is movably mounted on the mounting base, one end of the working arm mechanism is rotatably mounted on the sliding mechanism, the other end is used for connecting the trimming device, the first telescopic driving member is mounted on the sliding mechanism and connected with the working arm mechanism, when the trimming device of the trimming work vehicle touches an obstacle during operation, the working arm mechanism is pressed by the obstacle to rotate to avoid the obstacle, the first telescopic driving member can store energy by the rotation of the working arm mechanism, after the detection device detects that the working arm mechanism generates a rotation angle change, the sliding mechanism drives the working arm mechanism to move to avoid the obstacle through the control device until the trimming device completely avoids the obstacle, the resistance acting on the working arm mechanism disappears, the first telescopic driving member releases energy to elongate and drives the working arm mechanism to rotate to reset, then after the detection device detects that the working arm mechanism generates a rotation angle change again, the sliding mechanism drives the working arm mechanism to move to reset through the control device, when the trimming work vehicle changes the trimming side, the working arm mechanism and the trimming device are deflected to the trimming side through the first telescopic driving member, and the first telescopic driving member and the sliding mechanism can realize obstacle avoidance for the obstacle again through the above process, so that the purpose of bidirectional automatic obstacle avoidance is achieved, compared with the existing technology which adopts a touch rod type structure to realize obstacle avoidance, the obstacle avoidance mechanism can only identify obstacles on one side of the trimming work vehicle after installation, when the trimming head switches to the other side of the vehicle body for operation, the obstacle avoidance mechanism needs to be disassembled and installed on the other side of the vehicle body to have the function of automatic obstacle avoidance, bidirectional obstacle avoidance is realized in the present application, the obstacle avoidance mechanism does not need to be disassembled and installed, and the efficiency of trimming operation is improved.

[0017] Other features and advantages of the present application will be described in detail in the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings are included to provide a further understanding of the application, and are incorporated in and constitute a part of this specification, illustrate embodiments of the application, and together with the description serve to explain the principles of the application. In the drawings:

[0019] Figure 1 is a schematic view of part of the trimming work vehicle according to an embodiment of the present application;

[0020] Figure 2 is a schematic view of the structure of the arm support device according to an embodiment of the present application;

[0021] Figure 3 is Figure 2 is a partial enlarged view of I in FIG. 8;

[0022] Figure 4is a structural schematic view of a trimming device according to an embodiment of the present application;

[0023] Figure 5 is Figure 4 a partial enlarged view of II in

[0024] Figure 6 is Figure 4 a plan view of

[0025] Figure 7 is a first use state view of a trimming work vehicle according to an embodiment of the present application;

[0026] Figure 8 is a second use state view of a trimming work vehicle according to an embodiment of the present application;

[0027] Figure 9 is a third use state view of a trimming work vehicle according to an embodiment of the present application;

[0028] Figure 10 is a fourth use state view of a trimming work vehicle according to an embodiment of the present application;

[0029] Figure 11 is a fifth use state view of a trimming work vehicle according to an embodiment of the present application.

[0030] BRIEF DESCRIPTION OF THE DRAWINGS

[0031] 100 trimming head 101 work arm mechanism

[0032] 102 rotating mechanism 103 rotating pair

[0033] 104 connecting arm 105 second telescopic driving member

[0034] 106 mounting assembly 107 connecting frame

[0035] 108 connecting seat 109 hinged part

[0036] 110 first connecting pin shaft 111 bolt

[0037] 112 gasket 113 second connecting pin shaft

[0038] 114 connecting bottom plate 115 connecting side plate

[0039] 116 first rotating shaft 117 second rotating shaft

[0040] 118 reinforcing block 119 first connecting plate

[0041] 120 second connecting plate 200 mounting seat

[0042] 201 sliding mechanism 202 first telescopic driving member

[0043] 203 detection device 204 working arm body

[0044] 205 rotating shaft 206 handle

[0045] 207 connecting pin shaft 208 sliding frame

[0046] 209 driving assembly 210 V-shaped sliding groove

[0047] 211 matching strip 212 transmission wheel

[0048] 213 trimming device 214 sliding seat

[0049] 215 tripod body 216 seat body

[0050] 217 sliding plate 300 arm support device DETAILED DESCRIPTION

[0051] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to illustrate and explain the present application, and are not intended to limit the present application.

[0052] After the trimming work vehicle accidentally hits an obstacle during operation, the working arm cannot yield and automatically perform an obstacle avoidance action. In the event of an emergency, the driver needs to take timely and reasonable action, which is extremely demanding for the driver. During the trimming operation of the trimming work vehicle, there is an obstacle identification blind area in the forward direction of the working head. Automatic obstacle avoidance cannot be completed in the blind area. When an obstacle in the blind area is encountered, the driver needs to adjust the vehicle position or adjust the arm posture to control the obstacle in the identification area to complete the automatic obstacle avoidance action.

[0053] The existing hedge trimming work vehicle automatic obstacle avoidance mechanism is arranged on the trimming head and uses a touch rod type structure to achieve obstacle avoidance. The obstacle avoidance mechanism can only identify obstacles on one side of the vehicle after installation. When the trimming head switches to work on the other side of the vehicle body, the obstacle avoidance mechanism needs to be disassembled and installed on the other side of the vehicle body to have automatic obstacle avoidance function. The actual operation steps are complicated and cannot achieve automatic bidirectional obstacle avoidance.

[0054] Therefore, the embodiments of the present application provide a trimming work vehicle to solve the technical problem that the trimming head needs to be disassembled and installed on the other side of the vehicle body to have automatic obstacle avoidance function when switching to work on the other side of the vehicle body, and cannot achieve automatic bidirectional obstacle avoidance function.

[0055] The trimming work vehicle according to the present application will be described below with reference to the accompanying drawings.

[0056] AsFigure 1 and Figure 2 As shown in FIGS. 1-2, in an embodiment of the present application, a trimming work vehicle is provided, wherein the trimming work vehicle comprises:

[0057] a vehicle body;

[0058] a trimming device 213;

[0059] an arm support device 300, comprising a mounting base 200, a sliding mechanism 201, a working arm mechanism 101, and a first telescopic driving member 202 with an energy accumulator, the mounting base 200 is mounted on the vehicle body, the sliding mechanism 201 is movably mounted on the mounting base 200, one end of the working arm mechanism 101 is rotatably mounted on the sliding mechanism 201, the other end is used for connecting the trimming device 213 and for obstacle avoidance rotation in the case of movement obstruction of the trimming device 213, the first telescopic driving member 202 is mounted on the sliding mechanism 201 and connected with the working arm mechanism 101, and is used for energy storage in the case of obstacle avoidance rotation of the working arm mechanism 101 and for energy release to drive the working arm mechanism 101 to reset;

[0060] a detection device 203, used for detecting the rotation angle of the working arm mechanism 101 relative to the sliding mechanism 201;

[0061] a control device, in communication connection with the detection device 203 and the sliding mechanism 201 respectively, and configured to:

[0062] in the case of detecting that the rotation angle of the working arm mechanism 101 changes by the detection device 203, control the sliding mechanism 201 to drive the working arm mechanism 101 to move for obstacle avoidance and reset.

[0063] When the trimming work vehicle is used, since the trimming work vehicle comprises a vehicle body, a trimming device 213, an arm support device 300, a detection device 203 and a control device, the arm support device 300 comprises a mounting base 200, a sliding mechanism 201, a working arm mechanism 101 and a first telescopic driving member 202 with an energy accumulator, the mounting base 200 is mounted on the vehicle body, the sliding mechanism 201 is movably mounted on the mounting base 200, one end of the working arm mechanism 101 is rotatably mounted on the sliding mechanism 201, and the other end is used for connecting the trimming device 213, and the first telescopic driving member 202 is mounted on the sliding mechanism 201 and connected with the working arm mechanism 101, when the trimming device 213 of the trimming work vehicle touches an obstacle during operation, the working arm mechanism 101 is pressed by the obstacle to rotate to avoid the obstacle, the first telescopic driving member 202 can store energy due to the rotation of the working arm mechanism 101, and after the detection device 203 detects that the working arm mechanism 101 generates a change in rotation angle, the sliding mechanism 201 is controlled by the control device to drive the working arm mechanism 101 to move to avoid the obstacle until the trimming device 213 completely avoids the obstacle, the resistance acting on the working arm mechanism 101 disappears, the first telescopic driving member 202 releases energy to elongate and drive the working arm mechanism 101 to rotate to reset, and then after the detection device 203 detects that the working arm mechanism 101 generates a change in rotation angle again, the sliding mechanism 201 is controlled by the control device to drive the working arm mechanism 101 to move to reset. When the trimming work vehicle changes the trimming side, the working arm mechanism 101 and the trimming device 213 are deflected to the trimming side by the first telescopic driving member 202, and the first telescopic driving member 202 and the sliding mechanism 201 can realize obstacle avoidance for the obstacle again through the above process, so as to achieve the purpose of bidirectional automatic obstacle avoidance. Compared with the prior art which adopts a feeler rod structure to realize obstacle avoidance, the obstacle avoidance mechanism can only identify obstacles on one side of the trimming work vehicle after installation, and when the trimming head 100 switches to operate on the other side of the vehicle body, the obstacle avoidance mechanism needs to be disassembled and installed on the other side of the vehicle body to have the function of automatic obstacle avoidance. In the present application, bidirectional obstacle avoidance is realized, and the obstacle avoidance mechanism does not need to be disassembled and installed, thereby improving the efficiency of trimming work.

[0064] Specifically, the first telescopic driving member 202 with an energy accumulator can be a hydraulic cylinder or a pneumatic cylinder with an accumulator. The accumulator is an energy storage device in a hydraulic or pneumatic system. The accumulator stores energy as compressed energy or potential energy at an appropriate time, and releases the compressed energy or potential energy to supply the system again when the system needs it. When the pressure of the system instantaneously increases, the accumulator can absorb part of the energy to ensure the normal pressure of the entire system.

[0065] Referring to Figure 2 and Figure 3In the embodiment of the present application, the working arm mechanism 101 comprises a working arm body 204, a rotating shaft 205 and a handle 206, the rotating shaft 205 is installed on the sliding mechanism 201 in a circumferential rotating manner, one end of the working arm body 204 is fixed on the rotating shaft 205, the other end of the working arm body 204 is used for connecting the trimming device 213, two ends of the handle 206 are connected with the rotating shaft 205 and the end of the first telescopic driving member 202 away from the sliding mechanism 201 respectively, and the detection device 203 is used for detecting the rotating angle of the rotating shaft 205 relative to the sliding mechanism 201. That is, the working arm body 204 plays a role of installing and adjusting the trimming device 213, the impact force borne by the trimming device 213 can be transmitted to the working arm body 204 to make the working arm body 204 deflect, the deflection movement of the working arm body 204 can be transmitted to the rotating shaft 205 and the handle 206, so that the rotating shaft 205 and the handle 206 rotate, the end of the handle 206 away from the rotating shaft 205 compresses the first telescopic driving member 202, so as to realize the contraction of the first telescopic driving member 202.

[0066] Specifically, one end of the handle 206 is fixedly sleeved on the end of the rotating shaft 205, and the other end of the handle 206 is provided with a connecting pin shaft 207 which is rotatably connected with the end of the first telescopic driving member 202. That is, the handle 206 is detachably connected with the rotating shaft 205 and the first telescopic driving member 202 respectively, so as to facilitate the maintenance and replacement of the handle 206, and the handle 206 can ensure smooth rotation by connecting the first telescopic driving member 202 through the connecting pin shaft 207.

[0067] Specifically, the detection device 203 is an angle sensor, which is used for detecting the rotating angle of the working arm mechanism 101 relative to the sliding mechanism 201, so as to control the movement of the sliding mechanism 201 through the control device according to the detection result.

[0068] Referring to Figure 2 and Figure 3 In the embodiment of the present application, the control device is further configured to:

[0069] In the case that the detection device 203 detects that the rotating angle of the rotating shaft 205 increases in a forward direction, the sliding mechanism 201 is controlled to drive the working arm mechanism 101 to move leftward for obstacle avoidance.

[0070] In the case that the detection device 203 detects that the rotating angle of the rotating shaft 205 increases in a reverse direction, the sliding mechanism 201 is controlled to drive the working arm mechanism 101 to move rightward for obstacle avoidance.

[0071] Specifically, the trimming device 213 can be in normal trimming operation, the initial rotation angle of the rotating shaft 205 relative to the sliding mechanism 201 is zero degree, when the trimming device 213 collides with an obstacle on the right side during trimming, due to the force applied by the obstacle in front, the working arm mechanism 101 is deflected clockwise, the first telescopic drive 202 stores energy, the rotating shaft 205 is rotated clockwise away from the initial position, that is, the rotation angle is increased in the forward direction, the control device controls the sliding mechanism 201 to drive the working arm mechanism 101 to move to the left side of the trimming vehicle to avoid the obstacle until the trimming device 213 is completely separated from the obstacle. When the trimming device 213 collides with an obstacle on the left side during trimming, due to the force applied by the obstacle in front, the working arm mechanism 101 is deflected counterclockwise, the first telescopic drive 202 stores energy, the rotating shaft 205 is rotated counterclockwise away from the initial position, that is, the rotation angle is increased in the reverse direction, the control device controls the sliding mechanism 201 to drive the working arm mechanism 101 to move to the right side of the trimming vehicle to avoid the obstacle until the trimming device 213 is completely separated from the obstacle.

[0072] Referring to Figure 2 and Figure 3 In the embodiment of the present application, after the detection device 203 detects that the rotation angle of the rotating shaft 205 is increased in the forward direction, the control device controls the sliding mechanism 201 to drive the working arm mechanism 101 to move to the left to avoid the obstacle, and then the detection device 203 detects that the rotation angle of the rotating shaft 205 is decreased in the reverse direction, the control device controls the sliding mechanism 201 to drive the working arm mechanism 101 to move to the right to reset. That is, after the trimming device 213 moves to the left and completes the obstacle avoidance, the first telescopic drive 202 releases the stored energy and pushes the working arm mechanism 101 to rotate away from the vehicle body side, that is, counterclockwise, the detection device 203 detects that the rotation angle of the rotating shaft 205 gradually approaches the first original zero degree, that is, the rotation angle of the rotating shaft 205 is decreased in the reverse direction, and the control device controls the sliding mechanism 201 to drive the working arm mechanism 101 to move to the right side of the trimming vehicle until it is completely reset.

[0073] In the embodiment of the present application, after the detection device 203 detects that the rotation angle of the rotating shaft 205 is increased in the forward direction, the control device controls the sliding mechanism 201 to drive the working arm mechanism 101 to move to the left to avoid the obstacle, and then the detection device 203 detects that the rotation angle of the rotating shaft 205 is decreased in the reverse direction, the control device controls the sliding mechanism 201 to drive the working arm mechanism 101 to move to the right to reset. That is, after the trimming device 213 moves to the left and completes the obstacle avoidance, the first telescopic drive 202 releases the stored energy and pushes the working arm mechanism 101 to rotate away from the vehicle body side, that is, counterclockwise, the detection device 203 detects that the rotation angle of the rotating shaft 205 gradually approaches the first original zero degree, that is, the rotation angle of the rotating shaft 205 is decreased in the reverse direction, and the control device controls the sliding mechanism 201 to drive the working arm mechanism 101 to move to the right side of the trimming vehicle until it is completely reset.

[0074] Referring to Figure 2 and Figure 3 In the embodiment of the present application, the sliding mechanism 201 comprises a sliding frame 208 movably mounted on the mounting base 200 and a driving assembly 209 for driving the sliding frame 208 to move on the mounting base 200, the rotating shaft 205 is peripherally rotatable penetrating through the sliding frame 208, and the working arm body 204 is fixedly arranged on the upper end of the rotating shaft 205 extending out of the sliding frame 208, and the handle 206 is fixedly arranged on the lower end of the rotating shaft 205 extending out of the sliding frame 208 away from one end of the first telescopic driving member 202. That is, the sliding frame 208 serves as a bearing for the rotating shaft 205, and the driving assembly 209 is used for driving the sliding frame 208 to move on the mounting base 200, so that the working arm mechanism 101 mounted on the sliding frame 208 can slide along the mounting base 200, and further the trimming device 213 mounted on the working arm body 204 can avoid obstacles, the working arm body 204 is arranged on the upper end of the rotating shaft 205, so that the working arm body 204 will not be interfered by the sliding frame 208 when it rotates upward relative to the rotating shaft 205, and the handle 206 is arranged on the lower end of the rotating shaft 205, so that the sliding frame 208 can shield and protect the handle 206 to a certain extent.

[0075] Referring to Figure 2 and Figure 3 In the embodiment of the present application, the sliding frame 208 comprises a sliding seat 214 movably mounted on the mounting base 200 and a triangular frame body 215 arranged on the upper part of the sliding seat 214, the rotating shaft 205 is peripherally rotatable penetrating through one outwardly arranged corner of the triangular frame body 215, and the first telescopic driving member 202 is mounted on the lower part of the sliding seat 214 away from the handle 206. That is, the upper part of the sliding frame 208 serves as a bearing for the rotating shaft 205, and the lower part of the sliding frame 208 serves as a bearing for the handle 206, so that the rotating shaft 205 and the handle 206 are separated from each other to avoid interference, and meanwhile the weight of the sliding frame 208 is reduced, so that the energy consumption of the driving assembly 209 can be reduced.

[0076] Specifically, the two outer sides of the triangular frame body 215 are both provided with weight-reducing holes, which are used for reducing the weight of the triangular frame body 215, i.e. the sliding frame 208, so as to reduce the energy consumption of the driving assembly 209.

[0077] Specifically, the sliding seat 214 comprises a seat body 216 and two sliding plates 217 oppositely arranged on the seat body 216, and a V-shaped sliding groove 210 is formed on the sliding plate 217 for movably mounting the sliding seat 214 on the mounting seat 200. That is, the V-shaped sliding groove 210 can limit the sliding frame 208 to only slide left and right on the mounting seat 200. The mounting seat 200 is formed with a V-shaped guide rail corresponding to the V-shaped sliding groove 210 on the upper and lower sides of the V-shaped sliding groove 210 to match the V-shaped sliding groove 210. The sliding frame 208 cannot move in the up-down direction and the front-back direction relative to the mounting seat 200, avoiding the sliding frame 208 from being separated from the mounting seat 200, and ensuring the stability of the working arm mechanism 101 during operation.

[0078] Referring to Figures 1 to 3 In the embodiment of the present application, the driving assembly 209 comprises a rotating driving member, a matching strip 211 and a transmission wheel 212. The matching strip 211 is fixedly mounted on the mounting seat 200, the transmission wheel 212 is arranged on the sliding frame 208 and engaged with the matching strip 211, and the rotating driving member is arranged on the sliding frame 208 and drivingly connected with the transmission wheel 212. When the trimming device 213 touches an obstacle on one side of the trimming working vehicle, the working arm mechanism 102 rotates to avoid the obstacle. The rotating driving member drives the transmission wheel 212 to rotate forward under the action of the controller, so that the sliding mechanism 201 mounted with the transmission wheel 212 slides away from the side of the mounting seat 200 where the obstacle is located, thereby achieving the purpose of avoiding the obstacle. When the trimming device 213 completely avoids the obstacle, the rotating driving member drives the transmission wheel 212 to rotate reversely under the action of the controller, and the sliding mechanism 201 can slide back to the original position along the mounting seat 200.

[0079] Referring to Figure 1 In the embodiment of the present application, the angle between the normal projection of the working arm mechanism 101 in the sliding plane and the sliding mechanism 201 is set to 5°-20° in the normal working state. When the trimming device 213 touches an obstacle in the forward direction of the working operation, the working arm mechanism 101 deflects backward under the buffering action, that is, the working arm mechanism 101 has a 5°-20° collapse space, so as to prevent the trimming device 213 and the working arm mechanism 101 from colliding with the trimming working vehicle when moving on the sliding mechanism 201.

[0080] Referring to Figure 1 and Figure 4In the embodiment of the present application, the trimming device 213 comprises the trimming head 100 and the rotating mechanism 102, the rotating mechanism 102 comprises the rotating pair 103, the connecting arm 104 and the second telescopic driving member 105 with an energy accumulator, the connecting arm 104 is installed at the end of the working arm mechanism 101, the rotating pair 103 connects the trimming head 100 and the first end of the connecting arm 104, so as to drive the trimming head 100 to deflect and avoid obstacles in the case that the movement of the trimming head 100 is blocked, and the two ends of the second telescopic driving member 105 are connected with the trimming head 100 and the second end of the connecting arm 104 respectively and correspondingly, and are used for storing energy in the case that the movement of the trimming head 100 is blocked. The trimming head 100 is used for performing trimming, and the rotating mechanism 102 is used for changing the trimming angle of the trimming head 100 to adapt to different trimming conditions, that is, the trimming head 100 is connected with the connecting arm 104 through the rotating pair 103, so that the trimming head 100 can perform deflection movement relative to the connecting arm 104, and the second telescopic driving member 105 can be compressed to store energy, at this time, the deflection of the trimming head 100 can realize the buffering effect of the trimming head 100 and the obstacles and avoid the obstacles, when the trimming head 100 is no longer in contact with the obstacles, the second telescopic driving member 105 releases the stored energy to push the trimming head 100 to reset and realize the direct trimming.

[0081] Specifically, the second telescopic driving member 105 with an energy accumulator can also be a hydraulic cylinder or a pneumatic cylinder with an energy accumulator.

[0082] Referring to Figure 4 In the embodiment of the present application, the mounting assembly 106 is arranged on the trimming head 100, the mounting assembly 106 comprises the connecting frame 107 arranged on the back of the trimming head 100 and the connecting seat 108 connected with the connecting frame 107 and arranged outside the trimming head 100, the rotating pair 103 is installed on the connecting seat 108, and the two ends of the second telescopic driving member 105 are connected with the connecting seat 108 and the second end of the connecting arm 104 respectively and correspondingly. That is, the connecting frame 107 can fix the whole mounting assembly 106 on the back of the trimming head 100, and the connecting seat 108 arranged outside the trimming head 100 can facilitate the arrangement of the rotating pair 103, the connecting arm 104 and the second telescopic driving member 105.

[0083] Specifically, the connecting frame 107 is arranged on the side of the back of the trimming head 100, and the mounting seat 108 is arranged on the side of the connecting frame 107 away from the center of the trimming head 100, so as to avoid the interference between the second telescopic driving member 105 connected with the mounting seat 108 and the connecting arm 104 arranged on the rotating pair 103 during movement and the trimming head 100. Further, the rotating pair 103 comprises the first rotating disc fixedly connected to the top surface of the mounting seat 108 and the second rotating disc fixedly connected to the bottom of the connecting arm 104, and the first rotating disc and the second rotating disc can rotate relative to each other.

[0084] Specifically, referring toFigure 5 The hinged lug part 109 is arranged on the lateral side of the mounting base 108 away from the connecting frame 107, and one end of the second telescopic driving part 105 extends into the hinged lug part 109 and is connected with the hinged lug part 109 in series through the first connecting pin shaft 110. That is, the connecting position of the second telescopic driving part 105 with the mounting base 108 is arranged away from the connecting frame 107, and the hinged lug part 109 is additionally arranged on the mounting base 108 to realize the rotatable arrangement of the second telescopic driving part 105 on the mounting base 108.

[0085] Further, the mounting base 108 and the connecting frame 107 are detachably connected. That is, the connecting frame 107 together with the trimming head 100 can be detached from the mounting base 108, facilitating the maintenance of the trimming head 100 and the replacement of different trimming heads 100 to improve the applicability of the hedge obstacle-avoiding trimming device.

[0086] Further, threaded holes are arranged on the corresponding positions of the mounting base 108 and the connecting frame 107, the bolt 111 is sequentially arranged in the threaded holes of the mounting base 108 and the threaded holes of the connecting frame 107, and the head of the bolt 111 is arranged with the gasket 112 between the mounting base 108. Of course, the present application is not limited to this, and the mounting base 108 and the connecting frame 107 can also be detachably connected through other ways.

[0087] Referring to Figure 4 In the embodiment of the present application, the connecting frame 107 comprises a first connecting plate 119 and two second connecting plates 120, the two second connecting plates 120 are oppositely arranged on the back of the trimming head 100, the first connecting plate 119 connects the two second connecting plates 120 and extends from one end of the trimming head 100, and the mounting base 108 is arranged on the side of the first connecting plate 119 away from the two second connecting plates 120. That is, the first connecting plate 119 can provide more stable mounting conditions for the mounting base 108, and the second connecting plates 120 can increase the connection contact area with the trimming head 100, further improving the stability of the connection between the mounting base 108 and the trimming head 100.

[0088] Specifically, referring to Figure 4 and Figure 5 The second end of the connecting arm 104 is arranged with the second connecting pin shaft 113 extending downward, and the end of the second telescopic driving part 105 away from the mounting base 108 is rotatably connected with the second connecting pin shaft 113. That is, the second connecting pin shaft 113 arranged on the second end of the connecting arm 104 can provide a larger compression stroke for the second telescopic driving part 105 to ensure that the second telescopic driving part 105 can store enough energy, and the second connecting pin shaft 113 is rotatably connected with the second telescopic driving part 105 to ensure the normal rotation and telescoping of the second telescopic driving part 105.

[0089] Further, the second connecting pin shaft 113 is vertically arranged at the bottom of the connecting arm 104 to be in the same vertical plane as the first connecting pin shaft 110, and the second telescopic driving member 105 connected between the first connecting pin shaft 110 and the second connecting pin shaft 113 is located in the vertical plane where the first connecting pin shaft 110 and the second connecting pin shaft 113 are located, so as to ensure that when the positions and distances of the first connecting pin shaft 110 and the second connecting pin shaft 113 change, the second telescopic driving member 105 can smoothly realize the rotation and telescopic movement.

[0090] Specifically, referring to Figure 2 、 Figure 5 and Figure 6 , the connecting arm 104 comprises a connecting bottom plate 114 and two connecting side plates 115, the two connecting side plates 115 are oppositely and spacedly arranged and respectively fixed on the rotating pair 103, the connecting bottom plate 114 connects the two connecting side plates 115 and extends from one end of the rotating pair 103, the bottom of the connecting bottom plate 114 is provided with the second connecting pin shaft 113, and the first rotating shaft 116 and the second rotating shaft 117 respectively connected with the end of the working arm mechanism 101 are arranged between the two connecting side plates 115. That is, the connecting bottom plate 114 plays a role of mounting the second connecting pin shaft 113 and spacing the two connecting side plates 115, the length of the connecting bottom plate 114 is less than the length of the connecting side plate 115, the connecting bottom plate 114 is arranged only in the area where the upper end of the second connecting pin shaft 113 is located, and the first rotating shaft 116 and the second rotating shaft 117 can play a role of connecting the two side plates to improve stability while providing mounting for the working arm mechanism 101.

[0091] Specifically, the two connecting side plates 115 are further provided with the reinforcing blocks 118 connected with the rotating pair 103. That is, the reinforcing blocks 118 play a role of reinforcing the stability of the connection between the connecting arm 104 and the rotating pair 103 by being connected to the connecting arm 104 and the rotating pair 103.

[0092] Specifically, the cylinder end of the second telescopic driving member 105 is rotationally connected with the trimming head 100, and the piston rod end of the second telescopic driving member 105 is rotationally connected with the connecting arm 104. That is, when the trimming head 100 is deflected due to collision, the trimming head 100 connected with the cylinder of the second telescopic driving member 105 makes a deflection movement, so that the cylinder of the second telescopic driving member 105 moves to the direction of the piston rod of the second telescopic driving member 105 to realize energy storage.

[0093] Specifically, the right trimming automatic obstacle avoidance process of the trimming work vehicle provided by the present application can be as follows: the work vehicle drives forward, the obstacle hits the trimming head 100 and pushes back the working arm body 204, at this time, as Figure 7As shown, the working arm body 204 deflects to the vehicle body side, i.e. deflects clockwise, the first telescopic driving member 202 is retracted to store energy, the rotation angle of the rotating shaft 205 gradually increases in the clockwise direction, and the detection device 203 detects that the rotation angle of the rotating shaft 205 increases in the same direction. Under the condition that the control device controls the sliding mechanism 201 to drive the working arm mechanism 101 to move to the left side of the mowing vehicle to avoid obstacles, at the same time, as shown, Figures 9 to 11 As shown, due to the impact of the obstacle, the mowing head 100 and the connecting arm 104 are relatively deflected through the rotating pair 103, and because the connecting arm 104 and the working arm body 204 have the same motion state, i.e. the mowing head 100 can be deflected relative to the working arm body 204 at the end of the working arm body 204, the deflection motion of the mowing head 100 can compress the second telescopic driving member 105 to store energy and can achieve buffering with the obstacle, and the sliding mechanism 201 drives the working arm mechanism 101 to move so that the mowing head 100 can avoid the obstacle. When the obstacle is completely avoided, the first telescopic driving member 202 releases the stored energy and pushes the working arm mechanism 101 to rotate away from the vehicle body side, i.e. counterclockwise, the detection device 203 detects that the rotation angle of the rotating shaft 205 decreases in the reverse direction. Under the condition that the control device controls the sliding mechanism 201 to drive the working arm mechanism 101 to move to the right side of the mowing vehicle, at the same time, the second telescopic driving member 105 releases the stored energy to push the mowing head 100 to make a rotation motion relative to the end of the working arm body 204, and finally the mowing head 100 and the working arm mechanism 101 are completely reset to realize normal mowing operation.

[0094] Specifically, the automatic obstacle avoidance process of the mowing vehicle during left side mowing can be: the mowing vehicle drives forward, the obstacle hits the mowing head 100 and pushes back the working arm body 204, at this time, as shown, Figure 8As shown, the working arm body 204 deflects to the vehicle body side, i.e. counterclockwise, the first telescopic driving member 202 contracts to store energy, the rotation angle of the rotating shaft 205 gradually increases in the counterclockwise direction, the detection device 203 detects that the rotation angle of the rotating shaft 205 reversely increases, and controls the sliding mechanism 201 to drive the working arm mechanism 101 to move to the right side of the trimming working vehicle to avoid obstacles. At the same time, the impact of the obstacles causes the trimming head 100 and the connecting arm 104 to relatively deflect through the rotating pair 103. Since the connecting arm 104 and the working arm body 204 have the same motion state, i.e. the trimming head 100 can deflect relative to the working arm body 204 at the end of the working arm body 204, the deflection motion of the trimming head 100 can compress the second telescopic driving member 105 to store energy and achieve buffering with the obstacles, and the sliding mechanism 201 drives the working arm mechanism 101 to move so that the trimming head 100 can avoid the obstacles. When the obstacles are completely avoided, the first telescopic driving member 202 releases the stored energy and pushes the working arm mechanism 101 to rotate away from the vehicle body side, i.e. clockwise, the detection device 203 detects that the rotation angle of the rotating shaft 205 reversely decreases, and controls the sliding mechanism 201 to drive the working arm mechanism 101 to move to the left side of the trimming working vehicle. At the same time, the second telescopic driving member 105 releases the stored energy to push the trimming head 100 to rotate relative to the end of the working arm body 204, and finally the trimming head 100 and the working arm mechanism 101 are completely reset to achieve normal trimming work.

[0095] In the description of the present application, it should be understood that the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can be explicitly or implicitly included at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0096] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connecting", "connecting", "fixing" and other terms should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or communicate with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0097] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are contained in at least one embodiment or example of the present application. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0098] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary and are not to be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above-described embodiments within the scope of the present application.

Claims

1. A trimmer vehicle, characterized in that The trimming vehicle comprises: a vehicle body; a trimming device (213); an arm support device (300) comprising a mounting base (200), a sliding mechanism (201), a working arm mechanism (101), and a first telescopic drive (202) with an energy accumulator, the mounting base (200) being mounted on the vehicle body, the sliding mechanism (201) being movably mounted on the mounting base (200) in a left-right direction, one end of the working arm mechanism (101) being rotatably mounted on the sliding mechanism (201), the other end of the working arm mechanism (101) being used for connecting the trimming device (213) and for rotating to avoid obstacles in the case that the trimming device (213) is blocked, and the first telescopic drive (202) being mounted on the sliding mechanism (201) and connected with the working arm mechanism (101) and being used for storing energy in the case that the working arm mechanism (101) is in the state of avoiding obstacles and driving the working arm mechanism (101) to reset by releasing the stored energy; a detection device (203) for detecting the rotation angle of the working arm mechanism (101) relative to the sliding mechanism (201); a control device being in communication connection with the detection device (203) and the sliding mechanism (201) and being configured to: control the sliding mechanism (201) to drive the working arm mechanism (101) to move to avoid obstacles and to reset in the case that the detection device (203) detects that the rotation angle of the working arm mechanism (101) changes; the trimming device (213) comprises a trimming head (100) and a rotating mechanism (102), the rotating mechanism (102) comprising a rotating pair (103), a connecting arm (104), and a second telescopic drive (105) with an energy accumulator, the connecting arm (104) being mounted at the end of the working arm mechanism (101), the rotating pair (103) connecting the trimming head (100) and the first end of the connecting arm (104) to drive the trimming head (100) to deflect to avoid obstacles in the case that the trimming head (100) is blocked, and the two ends of the second telescopic drive (105) being connected with the trimming head (100) and the second end of the connecting arm (104) respectively and being used for storing energy in the case that the trimming head (100) is blocked.

2. The trimmer vehicle of claim 1, wherein the working arm mechanism (101) comprises a working arm body (204), a rotating shaft (205), and a handle (206), the rotating shaft (205) being rotatably mounted on the sliding mechanism (201), one end of the working arm body (204) being fixedly arranged on the rotating shaft (205), the other end of the working arm body (204) being used for connecting the trimming device (213), and the two ends of the handle (206) being connected with the rotating shaft (205) and the end of the first telescopic drive (202) away from the sliding mechanism (201) respectively.

3. The trimmer vehicle of claim 2, wherein In the case that the detection device (203) detects that the rotation angle of the rotating shaft (205) increases in the forward direction, the control further comprises: In the case that the detection device (203) detects that the rotation angle of the rotating shaft (205) decreases in the reverse direction, the control further comprises: In the case that the detection device (203) detects that the rotation angle of the rotating shaft (205) increases in the reverse direction, the control further comprises: In the case that the detection device (203) detects that the rotation angle of the rotating shaft (205) decreases in the forward direction, the control further comprises:

4. The trimmer vehicle of claim 2, wherein The sliding mechanism (201) comprises a sliding frame (208) which is left-right movably installed on the mounting base (200), and a driving assembly (209) which drives the sliding frame (208) to move on the mounting base (200), the rotating shaft (205) is circumferentially rotatably arranged on the sliding frame (208), and the working arm body (204) is fixedly arranged on the upper end of the rotating shaft (205) which extends out of the sliding frame (208), and the handle (206) is fixedly arranged on the lower end of the rotating shaft (205) which extends out of the sliding frame (208) and away from the first telescopic driving member (202).

5. The trimmer vehicle of claim 4, wherein The sliding frame (208) comprises a sliding base (214) which is left-right movably installed on the mounting base (200), and a tripod body (215) which is arranged on the upper part of the sliding base (214), the rotating shaft (205) is circumferentially rotatably arranged on one outwardly arranged corner of the tripod body (215), and the first telescopic driving member (202) is installed on the lower part of the sliding base (214) and away from the handle (206).

6. The trimmer vehicle of claim 4, wherein The driving assembly (209) comprises a rotating driving member, a matching strip (211) and a transmission wheel (212), the matching strip (211) is fixedly installed on the mounting base (200), the transmission wheel (212) is arranged on the sliding frame (208) and is in meshing connection with the matching strip (211), and the rotating driving member is arranged on the sliding frame (208) and is in driving connection with the transmission wheel (212).

7. The trimmer vehicle of claim 1, wherein The normal projection of the working arm mechanism (101) in the sliding plane and the sliding mechanism (201) are arranged at an angle of 5°-20°.

8. The trimmer vehicle of claim 1, wherein The trimming head (100) is provided with a mounting assembly (106), the mounting assembly (106) comprises a connecting frame (107) arranged on the back of the trimming head (100) and a connecting seat (108) connected with the connecting frame (107) and arranged on the trimming head (100), the rotating pair (103) is mounted on the connecting seat (108), and the two ends of the second telescopic driving element (105) are connected with the connecting seat (108) and the second end of the connecting arm (104) respectively.

9. The trimmer vehicle of claim 8, wherein, The connecting frame (107) comprises a first connecting plate (119) and two second connecting plates (120), the two second connecting plates (120) are oppositely and spacedly arranged on the back of the trimming head (100), the first connecting plate (119) connects one end of the two second connecting plates (120) and extends from the trimming head (100), and the connecting seat (108) is mounted on the side of the first connecting plate (119) away from the two second connecting plates (120).

Images