A hedge trimmer mechanical arm broken branch collecting vehicle

Abstract

The application discloses a kind of hedge pruning mechanical arm broken leaf branch collection vehicle, including four-wheel omni-directional chassis, broken leaf branch collection mechanism, electric control box, belt conveying mechanism, in-store air blowing mechanism, mechanical arm position adjusting mechanism, hedge pruning mechanical arm, visual mechanism, broken leaf brush fall mechanism, vehicle body;The belt conveying mechanism and the broken leaf brush fall mechanism of the application cooperate with each other, and the broken leaves and branches generated by the hedge pruning mechanical arm after pruning are all collected through the feedback of visual mechanism and sensor ground.This application not only can cooperate with hedge pruning mechanical arm to prune, but also can collect the broken leaves or branches fallen by pruning into the collection bin through the belt conveying mechanism on the collection vehicle, and cooperate with the broken leaf brush fall mechanism to brush off and collect the broken leaves attached to the hedge, solve the problem that broken leaves and branches cannot be collected timely and efficiently while pruning the hedge.

Description

TECHNICAL FIELD

[0001] The present application relates to agricultural machinery, in particular to a hedge pruning mechanical arm broken branch collection vehicle. BACKGROUND

[0002] Hedges play an important role in urban landscaping, which are mostly planted with shrubs or small trees at close spacing, and are planted into single or double rows. These hedges planted into single or double rows have the functions of separating space, blocking vision, reducing noise, beautifying the environment, and have high ornamental value, so they are mostly planted on both sides of roads in various cities. In spring and summer, hedges grow very fast and are susceptible to diseases and pests, but in order to maintain their neatness and health, they need to be frequently pruned and arranged. The broken leaves and branches pruned from the hedges will fall on the road surface, affecting the city appearance, so the broken leaves and branches pruned from the hedges need to be collected and transported in time to ensure the environment is clean; the broken leaves and branches with diseases and pests should be collected and treated in time to prevent the spread of diseases and pests.

[0003] Based on the prior art, it is found that many automatic pruning machines use hedge pruning mechanical arms, but the broken leaves and branches pruned from the hedges are mainly cleaned by manual labor; although road sweepers are used in cities to clean the road surface to relieve the pressure on manual labor, they cannot collect the broken leaves and branches pruned from the hedges in time; one point that is often overlooked in the current collection process is that some broken leaves will adhere to the hedges and not be cleaned; some small hedge pruning and collection vehicles use wind suction to collect broken leaves and branches, but the collection efficiency of wind suction is not high, and it cannot ensure that the broken leaves pruned and adhered to the hedges can be sucked into the fan, and it cannot collect large branches. In order to overcome the above problems, it is necessary to design a hedge pruning mechanical arm broken branch collection vehicle to improve the collection efficiency and automation of the broken leaves and branches pruned from the hedges, improve the neatness of the road surface after pruning, and reduce the labor intensity.

[0004] The Chinese utility model patent with publication number CN 216492150 U discloses a hedge trimmer with a collection function, and its technical content is as follows: the hedge trimmer with a collection function comprises a rack device (1), a conveying device (2), a main pruning device (3), and a side pruning device (4). The problems of the hedge trimmer are as follows: the main pruning device and the side pruning device are on one side of the conveying device, the pruning surface and the conveying surface are not related, the broken leaves and branches cannot be conveyed to the collection box through the conveying device during pruning, the ideal broken leaf and branch collection effect cannot be achieved, and the broken leaves adhered to the hedges after pruning cannot be collected. There is no power wheel and visual mechanism, and the automation degree is not high.

[0005] The utility model discloses a kind of waste collection structures of hedge trimmer, its technical content is: the utility model discloses a kind of waste collection structures of hedge trimmer, including box, the box outer top wall is provided with electric hedge trimmer, the upper portion of the electric hedge trimmer is provided with adsorption mechanism, the middle part of the box is provided with comminution mechanism;The adsorption mechanism includes dust absorption cover, dust absorption pipe, fan, connecting cover, filter screen, collection chamber and connecting pipe, and the dust absorption cover middle part is installed in dust absorption pipe one end.It has the problems: driving fan is used, and the mode of wind suction is used to suck broken leaf into collection chamber, and the collection capacity of this method is not strong, and broken leaf often cannot be sucked, and fallen branch cannot be collected after pruning.Collecting chamber is smaller, and the time of once collection work is short. SUMMARY

[0006] The technical problem solved by the present application is to provide a hedge pruning mechanical arm broken leaf branch collection vehicle that can not only cooperate with the hedge pruning mechanical arm for pruning, but also collect the broken leaves or branches that fall after pruning into the collection bin through the belt conveying mechanism on the collection vehicle, and collect the broken leaves that adhere to the hedge by cooperating with the broken leaf brush falling mechanism, thereby solving the problem of not being able to collect the broken leaves and branches generated during hedge pruning in a timely and efficient manner.

[0007] To solve the above technical problems, the present application adopts the following technical means:

[0008] The invention discloses a hedge pruning mechanical arm broken branch collecting vehicle which comprises a four-wheel omnidirectional chassis, a broken branch collecting mechanism, an electric control box, a belt conveying mechanism, an in-warehouse air blowing mechanism, a mechanical arm position adjusting mechanism, a hedge pruning mechanical arm, a visual mechanism, a broken branch brushing mechanism and a vehicle body.

[0009] Compared with the prior art, the hedge pruning mechanical arm broken branch collecting vehicle has the following advantages:

[0010] Firstly, the four-wheel omnidirectional chassis can drive the vehicle to move horizontally, which can facilitate the adhesion of the working surface of the vehicle body to the hedge working surface and greatly improve the flexibility of the vehicle.

[0011] Secondly, the broken branch collecting mechanism can store the broken branches.

[0012] Thirdly, the electric control box is provided with a box door which can be conveniently opened and closed, thereby facilitating the programming and maintenance in the later period.

[0013] Fourthly, the belt conveying mechanism has high stability and can convey the broken branches fallen from the hedge pruning, thereby avoiding the fallen broken branches on the road and keeping the road clean.

[0014] Fifthly, the mechanical arm position adjusting mechanism can exert the flexibility of the mechanical arm pruning and the adaptability of the pruning in multiple scenes.

[0015] Sixth: visual mechanism for the collection of the car provides image recognition function, realize its automatic driving and in the collection of leaves and branches when the fit work surface.

[0016] Seventh: the leaves brush off mechanism can be timely collected by the belt conveying.

[0017] Further preferred technical solutions are as follows:

[0018] The leaf branch collection mechanism is provided with a collection bin, a bin door, a bin top plate, a bin bending plate and a bin overhanging seat. The collection bin is fixed on the four-wheel omnidirectional chassis and used for receiving the fallen leaves and branches conveyed by the collection plate. The bin top plate closes the top end of the collection bin. The bin bending plate closes the front end of the collection bin. The bin door is connected to the rear of the collection bin through a hinge and used for opening and closing the collection bin. The collection bin left arm is provided with a collection opening matched with the output end of the belt conveying mechanism.

[0019] The above arrangement has the advantages that the closed collection bin is used for temporarily storing the fallen leaves and branches of the hedge trimmer, can avoid the fallen leaves and branches from being blown away by the wind, and completely encloses the fallen leaves and branches with diseases and pests to avoid the spread of the diseases and pests. The two doors not only have the function of completely closing the collection bin, but also can be opened by hinge rotation, facilitating the subsequent cleaning of the fallen leaves and branches in the collection bin by the cleaning personnel.

[0020] The electric control box is provided with a box body and a box door. The bottom of the box body is fixed behind the bin top plate, and the inside is provided with an electric control assembly. The box door is fixed on the box body.

[0021] The above arrangement has the advantages that the electric control box is located at the rear of the whole vehicle, the box door can be conveniently opened and closed, and the operation personnel can conveniently control the programming and maintenance in the later period.

[0022] The belt conveying mechanism is provided with a conveying support part, a collection plate, a rotating brush shaft, a rotating brush, a belt motor, a first synchronous belt, a second synchronous belt, a speed reducer, a rotating shaft seat, a rotating brush shaft synchronous wheel, a worm and gear mechanism fixing cover, a worm, a worm gear, a worm motor, a belt and a conveying support part rotating shaft. The belt motor is fixed on the conveying support part and connected with the first synchronous belt for power transmission. The first synchronous belt is connected with the speed reducer through a synchronous wheel for power transmission. The speed reducer is connected with the belt for power transmission to realize the belt conveying work. The top end of the collection plate is arranged at the top end of the belt. The collection plate is arranged in the leaf branch collection mechanism to guide the fallen leaves and branches conveyed by the belt into the collection bin.

[0023] The second synchronous belt and the reducer are connected through a synchronous wheel to transmit power to the rotating brush shaft through the rotating brush shaft synchronous wheel, and the rotating brush shaft is connected in the left and right side holes in the cover on the upper part of the conveying support part; the rotating brush is connected with the rotating brush shaft to realize the rotating work of the rotating brush, and the rotating brush sweeps the broken leaves and branches at the belt into the collecting plate; the worm motor is fixed on the worm gear mechanism fixed cover, and is connected with the worm for power transmission; the worm gear mechanism fixed cover is fixed on the symmetrically arranged outer bin extension seat; the worm and the worm gear are engaged to form a worm gear transmission mechanism, which is arranged in the worm gear fixed cover; the worm gear is connected with the conveying support part, and the rotation of the worm gear drives the rotating shaft of the conveying support part to rotate, so that the conveying support part rotates, and the inclination angle of the conveying support part is adjusted.

[0024] The above arrangement has the advantages that the belt is used to convey the broken leaves and branches, avoiding the problems of missing collection and large branches that cannot be collected when the fan generates negative pressure for collection. The rotating brush at the top of the belt sweeps all the leaves and branches remaining on the belt into the collecting plate. The entire belt conveying mechanism is rotated by the belt rotating shaft, which adapts to the road edge height of different hedge growth and adjusts the entire belt conveying mechanism to fit the road edge, avoiding the broken leaves and branches falling on the clean road during hedge pruning.

[0025] The air blowing mechanism in the bin is provided with an air inlet, a blower cover, a blower, an air duct, and a cover top plate. The blower cover serves as the left wall of the collecting bin, and a ventilation slot is formed on the side of the blower cover facing the bin. The blower is arranged in the blower cover, and the blower outlet is directly opposite the ventilation slot. One end of the air duct is connected to the blower outlet, and the other end passes through the ventilation slot and is directly opposite the bottom of the collecting plate. The air inlet is formed on one side of the blower cover, and one end of the air inlet is in communication with the atmosphere and the other end is in communication with the inside of the blower cover. The cover top plate is fixed on the blower cover to close the top.

[0026] The above arrangement has the advantages that the assembly of the blower and the air duct blows the broken leaves and branches accumulated on the collecting plate by the blower outlet, blows them into the collecting bin, and avoids bottom blockage. The air inlet provides sufficient air compression for the blower outlet, which can greatly improve the working efficiency of the blower.

[0027] The mechanical arm position adjustment mechanism is provided with a push rod motor, a scissor lifting platform, a lifting platform push rod motor, and a mechanical arm fixing seat. The scissor lifting platform is fixed at the front end of the bending plate of the collecting bin. The lifting platform push rod motor is connected with the scissor lifting platform through a hinge for power transmission, and the scissor lifting platform is lifted. The push rod motor is fixed on the scissor lifting platform. The mechanical arm fixing seat is connected with the push rod of the push rod motor, and the push rod motor drives the mechanical arm fixing seat to stretch forward or shrink backward.

[0028] The above arrangement has the advantages that the scissor type lifting platform is used to move the mechanical arm fixed on the mechanical arm fixing base up and down, the range of the hedge trimming mechanical arm for trimming hedges of different heights is expanded, and the push rod motor and the mechanical arm fixing base are used to realize the hedge trimming mechanical arm for trimming hedges of different widths.

[0029] The leaf brush falling mechanism is provided with a first driving motor, a first screw rod sliding table, a first sliding block screw rod nut assembly, a third driving motor, a third screw rod, a T-shaped beam screw rod nut, a first connecting plate, a second guide rail, a second sliding block, a T-shaped beam, a second driving motor, a second screw rod sliding table, a second connecting plate, a reciprocating linear mechanism protective cover, a leaf brush, a fourth driving motor, a third guide rail, a third sliding block, a fourth sliding block screw rod nut assembly, an eccentric wheel connecting rod, a piston type movement mechanism, an eccentric wheel, a fourth guide rail, a fifth sliding block, an elbow pipe, an eccentric wheel fixing base and a buffer spring. The first screw rod sliding table is fixed in the middle of the warehouse top plate, the first driving motor is fixedly connected with the first screw rod sliding table to realize power transmission, the first sliding block screw rod nut assembly is connected with the first screw rod sliding table to realize power transmission and thus realize first screw rod sliding table transmission, the second connecting plate is fixed on the first sliding block screw rod nut assembly, the third driving motor is fixed on the second connecting plate and is in power transmission with the third screw rod through a bevel gear, the third screw rod is fixed on the second connecting plate and is in power transmission with the T-shaped beam screw rod nut, the T-shaped beam screw rod nut is connected on the third screw rod and the optical axis arranged symmetrically and drives the T-shaped beam to move up and down, the T-shaped beam is fixed on the T-shaped beam screw rod nut, the first connecting plate is fixed on the T-shaped beam screw rod nut, the second guide rail is arranged symmetrically on the top of the inner side of the vehicle body to realize second sliding block sliding, the second sliding block is connected with the first connecting plate and drives the first connecting plate to slide, thus realizing first screw rod sliding table movement, the second driving motor is arranged symmetrically on the bottom of the second screw rod sliding table and is in power transmission with the second screw rod sliding table through a bevel gear, the second screw rod sliding table is arranged symmetrically on the front end of the first screw rod sliding table and is fixed on the warehouse top plate and is in power transmission with the symmetric fourth sliding block screw rod nut assembly, the third sliding block is symmetrically connected with the symmetric fourth sliding block screw rod nut assembly to realize power transmission, the third guide rail is fixed on the T-shaped beam, the third sliding block drives the third guide rail to move up and down, thus realizing T-shaped beam up and down movement, and the third sliding block is constrained in the front and back movement direction and the third guide rail slides through the third sliding block, thus realizing first screw rod sliding table movement.

[0030] The above arrangement has the advantages that the leaf brush falling mechanism can brush off leaves on hedges of different heights and widths, the symmetric screw rod sliding table mechanism is arranged at the end of the T-shaped beam to provide vertical direction counterforce, the large deformation of the cantilever beam is avoided as much as possible, and the shear bending moment is reduced.

[0031] The reciprocating linear mechanism protection cover is fixed at the front end of the T-shaped beam, and is outside the vehicle body as a whole, and has a notch on the outside; the fourth driving motor is fixed on the reciprocating linear mechanism protection cover and is in power transmission with the eccentric wheel; the eccentric wheel fixing base is fixed on the inner side of the reciprocating linear mechanism protection cover; the fourth guide rail is fixed on the inner side of the reciprocating linear mechanism protection cover; the eccentric wheel is connected to the eccentric wheel fixing base, one end of the eccentric wheel connecting rod is connected to the inner wheel edge of the eccentric wheel through a roller, and the other end is connected to the outer wheel edge of the eccentric wheel through a roller and is in power transmission with the outer wheel edge; the piston type movement mechanism is in power transmission with the eccentric wheel connecting rod through hinged connection; one end of the elbow pipe is fixed on the fifth sliding block, and the other end is connected to the leaf brush through the notch; the fifth sliding block is in power transmission with the piston type movement mechanism through hinged connection and reciprocates linearly on the fourth guide rail, so that the reciprocating linear movement of the leaf brush is realized; the buffer spring is arranged in the piston type movement mechanism, and the moving speed of the fifth sliding block is reduced during the reciprocating movement of the leaf brush.

[0032] The above arrangement has the advantages that the eccentric wheel fixing base is arranged to reduce vibration when the eccentric wheel rotates, so that the mechanism works stably; the buffer spring is arranged to reduce the speed, so that the leaf brush is fully brushed off when the leaf brush brushes off the hedge leaf, and the mechanism is buffered and damped. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 It is a rear view schematic diagram of the overall structure of the embodiment of the application.

[0034] Figure 2 It is a structure schematic diagram of the leaf and branch collecting mechanism of the embodiment of the application.

[0035] Figure 3 It is a structure schematic diagram of the electric control box of the embodiment of the application.

[0036] Figure 4 It is a main view schematic diagram of the belt conveying mechanism structure of the embodiment of the application.

[0037] Figure 5 It is a side view schematic diagram of the belt conveying mechanism structure of the embodiment of the application.

[0038] Figure 6 It is a structure schematic diagram of the air blowing mechanism in the bin of the embodiment of the application.

[0039] Figure 7 It is a structure schematic diagram of the mechanical arm position adjusting mechanism of the embodiment of the application.

[0040] Figure 8 It is a front view schematic diagram of the overall structure of the embodiment of the application.

[0041] Figure 9Structure schematic diagram of leaf crushing and brushing mechanism of the embodiment of the present application.

[0042] Figure 10 Structure schematic diagram of leaf crushing and brushing mechanism of the embodiment of the present application.

[0043] Figure 11 Structure schematic diagram of leaf crushing and brushing mechanism of the embodiment of the present application.

[0044] Figure 12 Structure schematic diagram of leaf crushing and brushing mechanism of the embodiment of the present application.

[0045] In the embodiment of the present application, the reference signs are as follows in combination with the drawings:

[0046] 1 - four-wheel drive omnidirectional chassis

[0047] 2 - leaf and branch collecting mechanism; 201 - collecting bin; 202 - bin door; 203 - bin top plate; 204 - bin bending plate; 205 - bin overhanging seat

[0048] 3 - electric control box; 301 - box body; 302 - box door

[0049] 4 - belt conveying mechanism; 401 - conveying support part; 402 - collecting plate; 403 - rotating brush shaft; 404 - rotating brush; 405 - belt motor; 406 - first synchronous belt; 407 - second synchronous belt; 408 - speed reducer; 409 - rotating shaft seat; 410 - rotating brush shaft synchronous wheel; 411 - worm and gear mechanism fixing cover; 412 - worm; 413 - worm wheel; 414 - worm motor; 415 - belt; 416 - conveying support part rotating shaft

[0050] 5 - bin internal air blowing mechanism; 501 - air inlet; 502 - air blower cover; 503 - air blower; 504 - air duct; 505 - cover top plate

[0051] 6 - mechanical arm position adjusting mechanism; 601 - push rod motor; 602 - scissor lifting platform; 603 - lifting platform push rod motor; 604 - mechanical arm fixing seat

[0052] 7 - hedge pruning mechanical arm

[0053] 8 - vision mechanism; 801 - front end camera; 802 - side camera

[0054] 9—Leaf brushing mechanism; 901—First drive motor; 902—First lead screw slide; 903—First slider lead screw nut assembly; 904—Third drive motor; 905—Third lead screw; 906—T-beam lead screw nut; 907—First connecting plate; 908—Second guide rail; 909—Second slider; 910—T-beam; 911—Second drive motor; 912—Second lead screw slide; 913—Second connecting plate; 914—Reciprocating linear mechanism protective cover; 915—Leaf brush; 916—Fourth drive motor; 917—Third guide rail; 918—Third slider; 919—Fourth slider lead screw nut assembly; 920—Eccentric wheel connecting rod; 921—Piston motion mechanism; 922—Eccentric wheel; 923—Fourth guide rail; 924—Fifth slider; 925—Bent tube; 926—Eccentric wheel fixing seat; 927—Buffer spring;

[0055] 10—Body of the vehicle. Detailed Implementation

[0056] The present invention will be further described below with reference to the embodiments.

[0057] like Figure 1 As shown in Figure 12, the present invention provides a twig and leaf collection vehicle for a hedge trimming robotic arm, which consists of a four-wheel drive omnidirectional chassis 1, a twig and leaf collection mechanism 2, an electrical control box 3, a belt conveyor mechanism 4, an in-cabin blower mechanism 5, a robotic arm position adjustment mechanism 6, a hedge trimming robotic arm 7, a vision mechanism 8, a twig and leaf brushing mechanism 9, and a vehicle body 10.

[0058] The four-wheel drive omnidirectional chassis 1 serves as the mounting base for other mechanisms and the drive unit for the vehicle; the leaf and branch collection mechanism 2 is rigidly connected to the four-wheel drive omnidirectional chassis 1.

[0059] The electrical control box 3 is located between the top of the cargo box 203 and the top of the vehicle body 10, at the rear of the drive vehicle. The electrical control box 3 includes a box body 301 and a box door 302. The bottom of the box body 301 is fixed to the rear of the cargo box 203, and the box body 301 is equipped with electrical control components. The box door 302 is fixed to one side of the box body 301.

[0060] The belt conveyor mechanism 4 is located at the lower left of the collection bin and is connected to the bin extension seat 205 via a rotating shaft seat 409; the belt conveyor mechanism 4 transports the fallen leaf and branch fragments to the leaf and branch fragment collection mechanism 2.

[0061] The blower mechanism 5 inside the chamber is located on the upper left of the collection chamber 201; the blower mechanism 5 inside the chamber blows the broken leaves and branches transported by the belt conveyor to the broken leaf and branch collection mechanism 2 into the interior of the chamber to prevent blockage of the inlet.

[0062] The mechanical arm position adjusting mechanism 6 is arranged on the four-wheel omnidirectional chassis 1 and at the front end of the warehouse bending plate 204; the hedge trimming mechanical arm 7 is arranged on the mechanical arm fixing seat 604.

[0063] The visual mechanism 8 is arranged on the vehicle body 10 and is electrically connected with the electric control box 3 to deliver image information to the electric control box 3.

[0064] The leaf brushing mechanism 9 is arranged outside the side of the vehicle body 10 and is on the same side as the belt conveying mechanism 4, and is used for brushing off the leaves and branches attached to the trimmed hedge, so that the leaves and branches are dropped on the belt conveying mechanism 4 and then conveyed to the leaf and branch collecting mechanism 2.

[0065] The vehicle body 10 covers the leaf brushing mechanism 9 and the mechanical arm position adjusting mechanism 6 to form the appearance of the whole vehicle.

[0066] As shown in Figure 1 It can be seen that the four-wheel omnidirectional chassis 1 is provided with four motor-driven wheels, which are electrically connected with the electric control box 3 and controlled by the electric control box 3 to realize forward movement, backward movement, turning and the like.

[0067] As shown in Figure 2 It can be seen that the leaf and branch collecting mechanism 2 is provided with a collecting warehouse 201, a warehouse door 202, a warehouse top plate 203, a warehouse bending plate 204 and a warehouse extension seat 205; the collecting warehouse 201 is fixed on the four-wheel omnidirectional chassis 1 and is used for receiving the leaves and branches conveyed by the collecting plate 402; the warehouse top plate 203 closes the top end of the collecting warehouse 201; the warehouse bending plate 204 closes the front end of the collecting warehouse 201; the warehouse door 202 is connected to the rear of the collecting warehouse 201 through a hinge and is used for opening and closing the collecting warehouse 201; the warehouse extension seat 205 is fixed outside the collecting warehouse 201 and is located on the left side thereof, and is rigidly connected with the rotating shaft seat 409; the left arm of the collecting warehouse 201 is provided with a collecting opening which is matched with the output end of the belt conveying mechanism 4.

[0068] As shown in Figure 4 — Figure 6It can be known that the belt conveying mechanism is provided with a conveying support part 401, a collecting plate 402, a rotating brush shaft 403, a rotating brush 404, a belt motor 405, a first synchronous belt 406, a second synchronous belt 407, a speed reducer 408, a rotating shaft base 409, a rotating brush shaft synchronous wheel 410, a worm gear mechanism fixed cover 411, a worm 412, a worm gear 413, a worm motor 414, a belt 415 and a conveying support part rotating shaft 416; the belt motor 405 is fixed on the conveying support part 401 and is connected with the first synchronous belt 406 to drive power transmission, the first synchronous belt 406 is connected with the speed reducer 408 through a synchronous wheel to drive power transmission, the speed reducer 408 drives power transmission to the belt 415 to realize the belt 415 conveying work, the top end of the collecting plate 402 is arranged at the top end of the belt 415, and the collecting plate 402 is arranged in the leaf branch collecting mechanism 2 in an inclined mode to guide the leaf branches conveyed by the belt 415 into the collecting bin 201; the second synchronous belt 407 is connected with the speed reducer 408 through a synchronous wheel to drive power transmission to the rotating brush shaft 403 through the rotating brush shaft synchronous wheel 410, the rotating brush shaft 403 is connected in the left and right side holes in the cover on the upper part of the conveying support part 401; the rotating brush 404 is connected with the rotating brush shaft 403 to realize the rotating work of the rotating brush 404, and the rotating brush 404 sweeps the leaf branches at the belt 415 onto the collecting plate 402; the worm motor 414 is fixed on the worm gear mechanism fixed cover 411 and is connected with the worm 412 to drive power transmission, the worm gear mechanism fixed cover 411 is fixed on the bin outer extension base 205 arranged in a symmetrical mode; the worm 412 is engaged with the worm gear 413 to form a worm gear transmission mechanism, which is arranged in the worm gear fixed cover 411, the worm gear 413 is connected with the conveying support part 401, the worm gear 413 drives the conveying support part rotating shaft 416 to rotate, thereby driving the conveying support part 401 to rotate and adjusting the inclination angle of the conveying support part 401.

[0069] Referring to Figure 6 It can be known that the bin inner air blowing mechanism 5 is provided with an air inlet 501, an air blower cover 502, an air blower 503, an air guide pipe 504 and a cover top plate 505; the air blower cover 502 is a left wall of the collecting bin 201, and a ventilation slot is formed in the side of the air blower cover 502 facing the bin; the air blower 503 is arranged in the air blower cover 502, and the output port of the air blower 503 faces the ventilation slot; one end of the air guide pipe 504 is connected to the output port of the air blower 503, and the other end passes through the ventilation slot and faces the bottom of the collecting plate 402; the air inlet 501 is formed in one side of the air blower cover 502, one end of the air inlet 501 is communicated with the atmosphere, and the other end is communicated with the air blower cover 502; and the cover top plate 505 is fixed on the air blower cover 502 to close the top.

[0070] Referring to Figure 7It can be known that the mechanical arm position adjusting mechanism 6 is provided with a push rod motor 601, a scissor lifting platform 602, a lifting platform push rod motor 603 and a mechanical arm fixing seat 604; the push rod motor 601 is fixed on the scissor lifting platform 602; the scissor lifting platform 602 is fixed at the bottom of the collection bin 201 and located at the front end of the bin bending plate 204; the lifting platform push rod motor 603 is connected with the scissor lifting platform 602 through a hinged connection for power transmission, so as to realize the lifting of the scissor lifting platform 602; the mechanical arm fixing seat 604 is connected with the push rod of the push rod motor 601, and the push rod motor 601 pushes the mechanical arm fixing seat 604 to stretch forward or shrink backward.

[0071] Referring to Figure 1 , Figure 8 , the visual mechanism 8 includes a front-end camera 801 and a side camera 802; the front-end camera 801 is fixed at the front end of the vehicle body 10; the side camera 802 is fixed at the side of the vehicle body 10 and is located at the same side as the belt conveying mechanism 4. The front-end camera 801 and the side camera 802 are respectively electrically connected with the electric control box 3 and convey image information to the electric control box 3.

[0072] Referring to Figure 9 , Figure 10It can be known that the broken leaf brush falling mechanism 9 is above the warehouse top plate 203, and is provided with a first driving motor 901, a first screw sliding table 902, a first sliding block screw nut assembly 903, a third driving motor 904, a third screw rod 905, a T-shaped beam screw nut 906, a first connecting plate 907, a second guide rail 908, a second sliding block 909, a T-shaped beam 910, a second driving motor 911, a second screw sliding table 912, a second connecting plate 913, a reciprocating linear mechanism protective cover 914, a broken leaf brush 915, a fourth driving motor 916, a third guide rail 917, a third sliding block 918, a fourth sliding block screw nut assembly 919, an eccentric wheel connecting rod 920, a piston type motion mechanism 921, an eccentric wheel 922, a fourth guide rail 923, a fifth sliding block 924, a bent pipe 925, an eccentric wheel fixing seat 926 and a buffer spring 927. The first screw sliding table 902 is fixed in the middle of the warehouse top plate 203, the first driving motor 901 is fixedly connected with the first screw sliding table 902 for power transmission, the first sliding block screw nut assembly 903 is connected with the first screw sliding table 902 for power transmission, so that the first screw sliding table 902 is driven; the second connecting plate 913 is fixed on the first sliding block screw nut assembly 903; the third driving motor 904 is fixed on the second connecting plate 913 and is in power transmission with the third screw rod 905 through a bevel gear, the third screw rod 905 is fixed on the second connecting plate 913 and is in power transmission with the T-shaped beam screw nut 906, the T-shaped beam screw nut 906 is connected on the third screw rod 905 and an optical axis arranged symmetrically, and drives the T-shaped beam 910 to move up and down; the T-shaped beam 910 is fixed on the T-shaped beam screw nut 906, the first connecting plate 907 is fixed on the T-shaped beam screw nut 906, the second guide rail 908 is arranged symmetrically on the top of the inner side of the vehicle body 10, and the second sliding block 909 is realized to slide; the second sliding block 909 is connected with the first connecting plate 907 and drives the first connecting plate 907 to slide, so as to cooperate with the first screw sliding table 902 to move; the second driving motor 911 is arranged symmetrically at the bottom of the second screw sliding table 912 arranged symmetrically, is in power transmission with the second screw sliding table 912 through a bevel gear, the second screw sliding table 912 is arranged symmetrically at the front end of the first screw sliding table 902, is fixed on the warehouse top plate 203, is connected with the fourth sliding block screw nut assembly 919 arranged symmetrically for power transmission; the third sliding block 918 is connected with the fourth sliding block screw nut assembly 919 arranged symmetrically for power transmission, the third guide rail 917 is fixed on the T-shaped beam 910, the third sliding block 918 drives the third guide rail 917 to move up and down, so as to realize the lifting of the T-shaped beam 910; the third sliding block 918 is constrained in the front and back movement directions, the third guide rail 917 slides through the third sliding block 918, so as to cooperate with the first screw sliding table 902 to move.

[0073] Referring to Figure 11 , Figure 12It can be known that the reciprocating linear mechanism protective cover 914 is fixed at the front end of the T-shaped beam 910, and the whole is outside the vehicle body 10, and a notch is opened on the outside; the fourth driving motor 916 is fixed on the reciprocating linear mechanism protective cover 914, and power transmission is performed with the eccentric wheel 922; the eccentric wheel fixing seat 926 is fixed on the inner side of the reciprocating linear mechanism protective cover 914; the fourth guide rail 923 is fixed on the inner side of the reciprocating linear mechanism protective cover 914; the eccentric wheel 922 is connected to the eccentric wheel fixing seat 926; one end of the eccentric wheel connecting rod 920 is connected to the inner wheel of the eccentric wheel 922 through a roller, and the other end is connected to the outer wheel of the eccentric wheel 922 through a roller and performs power transmission with the outer wheel; the piston type movement mechanism 921 performs power transmission with the eccentric wheel connecting rod 920 through hinged connection; one end of the elbow pipe 925 is fixed on the fifth sliding block 924, and the other end is connected to the leaf brush 915 through the notch; the fifth sliding block 924 performs power transmission with the piston type movement mechanism 921 through hinged connection and reciprocating linear motion on the fourth guide rail 923, so that the reciprocating linear motion of the leaf brush 915 is realized; the buffer spring 927 is arranged in the piston type movement mechanism 921, and the moving speed of the fifth sliding block 924 is reduced during the reciprocating motion of the leaf brush 915. The arrangement of the eccentric wheel 922 makes the leaf brush 915 reciprocate and swing at the same time, which helps to make the hedge sway and the broken branches on the surface of the hedge fall down and be better collected.

[0074] The working process of the present application is as follows:

[0075] Step one:

[0076] The operator controls the collection vehicle to reach the hedge road through the electric control box 3, starts the visual mechanism 8, and the visual mechanism 8 and the sensor start collecting information, starts the push rod motor 601 and the lifting platform push rod motor 603, adjusts the hedge pruning mechanical arm 7 to the appropriate position for pruning the hedge through the information feedback of the side camera 802 and the sensor. The sensor is arranged at the front end of the conveying support part 401, which is convenient for sensing the road edge and fitting the road edge. The sensor is arranged on the leaf brush, which senses the distance information of the hedge and is convenient for fitting the working surface of the hedge.

[0077] Step two:

[0078] After the first step is completed, first, according to the sensor and visual information feedback, the worm motor 414 starts to work, the worm gear 413 rotates to drive the conveying support part 401 to rotate, adjusts the inclination angle of the conveying support part 401, so that the bottom end is attached above the road edge, and the fallen leaves and branches after pruning are more conveniently received. Second, the hedge pruning mechanical arm 7 starts to prune the hedge; the leaves and branches conveyed by the belt 415 are introduced into the collecting bin 201; the air blowing mechanism 5 in the bin blows the leaves and branches conveyed by the belt conveying mechanism to the inside of the bin, preventing the entrance from being blocked. When the hedge pruning mechanical arm 7 prunes the hedge, the side camera 802 and the sensor collect images and process them, and feed back to the first drive motor 901, the third drive motor 904, the second drive motor 911 symmetrically arranged, and adjust the working surface of the leaf brush 915 to adhere to the surface of the hedge according to the visual and sensor information. Then, the sensor feedback information starts the fourth drive motor 916 to work, so that the leaf brush 915 performs small amplitude reciprocating linear motion, so that the leaf brush falls to the belt 415 below to complete the work of the leaf brush falling mechanism 9.

[0079] Step three:

[0080] The collecting vehicle drives along the hedge road until the pruning is completed.

[0081] The above only describes the preferred embodiments of the present application, and does not limit the scope of the present application, and any equivalent structural changes made by applying the content of the present application specification and drawings are included in the scope of the present application.

Claims

1. A hedge pruning mechanical arm debris branch collection vehicle, comprising a four-wheel omnidirectional chassis (1), a debris branch collection mechanism (2), an electric control box (3), a belt conveying mechanism (4), an in-warehouse air blowing mechanism (5), a mechanical arm position adjusting mechanism (6), a hedge pruning mechanical arm (7), a visual mechanism (8), a debris brush falling mechanism (9), and a vehicle body (10), characterized in that: the four-wheel omnidirectional chassis (1) serves as the mounting base of other mechanisms and the driving part of the collection vehicle; the debris branch collection mechanism (2) is rigidly connected to the four-wheel omnidirectional chassis (1), and is provided with a collection warehouse (201); the electric control box (3) is arranged between the warehouse top plate (203) and the top of the vehicle body (10), at the rear of the collection vehicle, and comprises a box body (301) and a box door (302); the box body (301) is fixed at the rear of the warehouse top plate (203), and is internally provided with an electric control assembly; the box door (302) is arranged on the box body (301); the belt conveying mechanism (4) is arranged at the lower left of the collection warehouse (201), and conveys the debris branches falling thereon to the debris branch collection mechanism (2); the in-warehouse air blowing mechanism (5) is arranged at the upper left of the collection warehouse (201), and blows the debris branches conveyed by the belt conveying mechanism to the debris branch collection mechanism (2) to the inside of the collection warehouse (201); the mechanical arm position adjusting mechanism (6) is arranged on the four-wheel omnidirectional chassis (1), and drives to adjust the height and horizontal position of the hedge pruning mechanical arm (7); the hedge pruning mechanical arm (7) is arranged on a mechanical arm fixing seat (604), and the working end of the hedge pruning mechanical arm (7) is provided with a shearing mechanism; the visual mechanism (8) is arranged on the vehicle body (10), and is electrically connected to the electric control box (3) to convey image information to the electric control box (3); the debris brush falling mechanism (9) is arranged on one side of the vehicle body (10), and is provided with a debris brush (915) driven to move vertically and horizontally, and is located on the same side as the belt conveying mechanism (4); the debris brush (915) is used for brushing off the debris branches attached to the pruned hedge, so that the debris branches fall on the belt conveying mechanism (4) and are then conveyed to the debris branch collection mechanism (2); and the vehicle body (10) is a box body structure. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The belt conveying mechanism (4) is provided with a conveying support part (401), a collecting plate (402), a rotating brush shaft (403), a rotating brush (404), a belt motor (405), a first synchronous belt (406), a second synchronous belt (407), a speed reducer (408), a rotating shaft base (409), a rotating brush shaft synchronous wheel (410), a worm gear mechanism fixing cover (411), a worm gear (412), a worm wheel (413), a worm gear motor (414), a belt (415), a conveying support part rotating shaft (416); the belt motor (405) is fixed on the conveying support part (401), is connected with the first synchronous belt (406) to perform power transmission, the first synchronous belt (406) is connected with the speed reducer (408) through a synchronous wheel to perform power transmission, the speed reducer (408) is connected with the belt (415) to perform power transmission, so that the belt (415) conveying work is realized; the top end of the collecting plate (402) is arranged at the top end of the belt (415), and the collecting plate (402) is arranged in the leaf branch collecting mechanism (2) in an inclined manner, so that the leaf branches conveyed by the belt (415) are guided into the collecting bin (201); The second synchronous belt (407) is connected with the speed reducer (408) through a synchronous wheel to transmit power to the rotating brush shaft (403) through the rotating brush shaft synchronous wheel (410), and the rotating brush shaft (403) is connected in the left and right side holes in the cover on the upper part of the conveying support part (401); the rotating brush (404) is connected with the rotating brush shaft (403) to realize the rotating work of the rotating brush (404), and the rotating brush (404) sweeps the leaf branches at the belt (415) onto the collecting plate (402); the worm gear motor (414) is fixed on the worm gear mechanism fixing cover (411), is connected with the worm gear (412) to perform power transmission, and the worm gear mechanism fixing cover (411) is fixed on the symmetrically arranged bin outer extension base (205); the worm gear (412) is engaged with the worm wheel (413) to form a worm gear transmission mechanism, which is arranged in the worm gear mechanism fixing cover (411), the worm wheel (413) is connected with the conveying support part (401), the worm wheel (413) rotates to drive the conveying support part rotating shaft (416) to rotate, so that the conveying support part (401) is rotated, and the inclination angle of the conveying support part (401) is adjusted; The air blowing mechanism (5) is provided with an air inlet (501), an air blower cover (502), an air blower (503), an air duct (504), and a cover top plate (505). The air blower cover (502) is a left wall of the collecting bin (201), and a ventilation slot is formed on the side of the air blower cover (502) facing the bin. The air blower (503) is arranged in the air blower cover (502), and the outlet of the air blower (503) faces the ventilation slot. One end of the air duct (504) is connected to the outlet of the air blower (503), and the other end of the air duct (504) passes through the ventilation slot and faces the bottom of the collecting plate (402). The air inlet (501) is formed on one side of the air blower cover (502), and one end of the air inlet (501) is in communication with the atmosphere, and the other end of the air inlet (501) is in communication with the air blower cover (502). The cover top plate (505) is fixed to the air blower cover (502) to close the top.

2. The hedge trimmer robot arm debris collection vehicle of claim 1, wherein: The leaf and branch collecting mechanism (2) is provided with a collecting bin (201), a bin door (202), a bin top plate (203), a bin bending plate (204), and a bin extension seat (205). The collecting bin (201) is fixed to the four-wheel omnidirectional chassis (1) and is used for receiving the leaf and branch fragments delivered by the collecting plate (402). The bin top plate (203) closes the top end of the collecting bin (201). The bin bending plate (204) closes the front end of the collecting bin (201). The bin door (202) is connected to the rear of the collecting bin by a hinge and is used for opening and closing the collecting bin (201). The bin extension seat (205) is fixed to the outside of the collecting bin (201) and is located on the left side of the collecting bin (201). The bin extension seat (205) is rigidly connected to the rotating shaft seat (409). The left arm of the collecting bin (201) is provided with a collecting opening, and the collecting opening is matched with the output end of the belt conveying mechanism (4).

3. The hedge trimmer robot arm debris collection vehicle of claim 1, wherein: The mechanical arm position adjusting mechanism (6) is provided with a push rod motor (601), a scissor lifting platform (602), a lifting platform push rod motor (603), and a mechanical arm fixing seat (604). The scissor lifting platform (602) is fixed to the bottom of the collecting bin (201) and is located at the front end of the bin bending plate (204). The lifting platform push rod motor (603) is power-connected to the scissor lifting platform (602) through a hinge connection to realize the lifting of the scissor lifting platform (602). The push rod motor (601) is fixed to the scissor lifting platform (602). The mechanical arm fixing seat (604) is connected to the push rod of the push rod motor (601), and the push rod motor (601) drives the mechanical arm fixing seat (604) to stretch forward or shrink backward.

4. The hedge-trimming robot debris collection vehicle of claim 1, wherein: The leaf crushing brush falling mechanism (9) is provided with a first driving motor (901), a first screw sliding table (902), a first sliding block screw nut assembly (903), a third driving motor (904), a third screw rod (905), a T-shaped beam screw nut (906), a first connecting plate (907), a second guide rail (908), a second sliding block (909), a T-shaped beam (910), a second driving motor (911), a second screw sliding table (912), a second connecting plate (913), a reciprocating linear mechanism protective cover (914), a leaf crushing brush (915), a fourth driving motor (916), a third guide rail (917), a third sliding block (918), a fourth sliding block screw nut assembly (919), an eccentric wheel connecting rod (920), a piston type movement mechanism (921), an eccentric wheel (922), a fourth guide rail (923), a fifth sliding block (924), a bent pipe (925), an eccentric wheel fixing seat (926), and a buffer spring (927). The first screw sliding table (902) is fixed in the middle of the warehouse top plate (203), the first driving motor (901) is fixedly connected with the first screw sliding table (902) for power transmission, the first sliding block screw nut assembly (903) is connected with the first screw sliding table (902) for power transmission, so that the first screw sliding table (902) is driven; the second connecting plate (913) is fixed on the first sliding block screw nut assembly (903); the third driving motor (904) is fixed on the second connecting plate (913) and is in power transmission with the third screw rod (905) through a bevel gear, the third screw rod (905) is fixed on the second connecting plate (913) and is in power transmission with the T-shaped beam screw nut (906), the T-shaped beam screw nut (906) is connected on the third screw rod (905) and the optical axis arranged symmetrically, and drives the T-shaped beam (910) to move up and down; the T-shaped beam (910) is fixed on the T-shaped beam screw nut (906); the first connecting plate (907) is fixed on the T-shaped beam screw nut (906), the second guide rail (908) is arranged symmetrically on the top of the inner side of the vehicle body (10), and the second sliding block (909) is realized to slide; the second sliding block (909) is connected with the first connecting plate (907) and drives the first connecting plate (907) to slide, so as to cooperate with the first screw sliding table (902) to move; the second driving motor (911) is arranged symmetrically at the bottom of the symmetrical second screw sliding table (912) and is in power transmission with the second screw sliding table (912) through a bevel gear, the second screw sliding table (912) is arranged symmetrically at the front end of the first screw sliding table (902) and is fixed on the warehouse top plate (203), and is in power transmission with the symmetrical fourth sliding block screw nut assembly (919); the third sliding block (918) is symmetrically connected with the symmetrical fourth sliding block screw nut assembly (919) and moves up and down with the fourth sliding block screw nut assembly (919), the third guide rail (917) is fixed on the T-shaped beam (910), the third sliding block (918) drives the third guide rail (917) to move up and down, so as to realize the lifting of the T-shaped beam (910).The third slider (918) is constrained in the front and back movement direction, and the third guide rail (917) slides through the third slider (918), thereby cooperating with the first screw sliding table (902) to move.

5. The hedge trimming mechanical arm leaf and branch collecting vehicle according to claim 4, characterized in that: The reciprocating linear mechanism protection cover (914) is fixed at the front end of the T-shaped beam (910), and is outside the vehicle body (10) as a whole, and has a notch on the outside; the fourth driving motor (916) is fixed on the reciprocating linear mechanism protection cover (914) and is in power transmission with the eccentric wheel (922); the eccentric wheel fixing seat (926) is fixed on the inner side of the reciprocating linear mechanism protection cover (914); the fourth guide rail (923) is fixed on the inner side of the reciprocating linear mechanism protection cover (914); the eccentric wheel (922) is connected to the eccentric wheel fixing seat (926), one end of the eccentric wheel connecting rod (920) is connected to the inner wheel of the eccentric wheel (922) through a roller along the edge, the other end is connected to the outer wheel of the eccentric wheel (922) through a roller along the edge and is in power transmission with the outer wheel, the piston type movement mechanism (921) is in power transmission with the eccentric wheel connecting rod (920) through hinged connection, one end of the elbow pipe (925) is fixed on the fifth sliding block (924), the other end is connected to the leaf crushing brush (915) through the notch; the fifth sliding block (924) is in power transmission with the piston type movement mechanism (921) through hinged connection and reciprocating linearly moves on the fourth guide rail (923), so that the reciprocating linear movement of the leaf crushing brush (915) is realized; the buffer spring (927) is arranged in the piston type movement mechanism (921), and the moving speed of the fifth sliding block (924) is slowed down in the reciprocating movement process of the leaf crushing brush (915).

Images