Landscaping pruning device and use method thereof

Abstract

The invention provides a landscaping pruning device and a use method thereof. According to the landscaping trimming device and the using method thereof, the landscaping trimming device comprises a caterpillar band advancing assembly and further comprises a multi-axis mechanical arm and a greening waste collecting frame, the multi-axis mechanical arm and the greening waste collecting frame are both installed on the caterpillar band advancing assembly, and a transverse supporting arm is installed at the end, away from the caterpillar band advancing assembly, of the multi-axis mechanical arm; a grabbing assembly is installed on the transverse supporting arm. The grabbing assembly comprises a collecting sleeve, a light plastic hose is fixedly installed at the lower end of the collecting sleeve, the other end of the light plastic hose is located in the greening waste collecting frame, the end of the light plastic hose is connected with the greening waste collecting frame, and the four tightening mechanisms are fixedly installed outside the collecting sleeve and distributed in an equidistant circumferential array mode. According to the landscaping pruning device and the using method thereof, no matter the shapes and sizes of branches and leaves to be pruned are different, good wrapping can be achieved, and a good collecting effect can be achieved.

Description

Technical Field

[0001] The present invention relates to the field of automated garden pruning equipment, and specifically to a garden greening pruning device and its usage method. Background Art

[0002] As is well known, the maintenance and pruning device for garden greening projects is a device used in the process of maintaining garden plants to prune and beautify the vegetation, trim the vegetation, improve the beauty of the garden, regulate the reasonable distribution of nutrients inside the vegetation through reasonable pruning, and at the same time inhibit the excessive growth of the vegetation, improve the garden aesthetics, and reduce the inconvenience caused by the excessive growth of the vegetation to life.

[0003] In the process of existing technology pruning, the remaining branches and leaves after pruning will be scattered on the surrounding roads and need to be manually cleaned later. When pruning thick branches and large leaves of plants and trimming the branches and leaves to the ground or on the green shrubs, manual collection is relatively simple. However, it is very difficult to completely collect the miscellaneous leaves after pruning small-leaf plants (such as ornamental pine, evergreen). Generally, it requires manual cleaning for a long time or giving up cleaning. For the green belt plants with fruits, when pruning, most of the fruits fall into the greenery, which not only wastes resources but also attracts mosquitoes and pollutes the green belt environment. Summary of the Invention

[0004] Aiming at the deficiencies of the existing technology, the present invention provides a garden greening pruning device, which solves the problems raised in the above background art.

[0005] To achieve the above objectives, the present invention is realized through the following technical solutions: A garden greening pruning device and its usage method, including a crawler traveling component, and also including a multi-axis robotic arm and a green waste collection box. The multi-axis robotic arm and the green waste collection box are both installed on the crawler traveling component. A transverse support arm is installed at one end of the multi-axis robotic arm away from the crawler traveling component, and a grasping component is installed on the transverse support arm.

[0006] The grasping component includes a collection sleeve. A light plastic hose is fixedly installed at the lower end of the collection sleeve. The other end of the light plastic hose is inside the green waste collection box, and the end of the light plastic hose is connected to the green waste collection box. It also includes four tightening mechanisms, which are respectively fixedly installed outside the collection sleeve and are equally spaced and circumferentially arrayed. Before pruning, the four tightening mechanisms are in an open state, and after pruning, the upper ends of the four tightening mechanisms approach each other to wrap the pruned branches and leaves.

[0007] A pruning component is also installed on the transverse support arm, and the output end of the pruning component is above the middle of the four tightening mechanisms.

[0008] Preferably, the tightening mechanism includes an arc-shaped plate, and a placement hole penetrating through the inside and outside is provided at the middle position of the arc-shaped plate.

[0009] It includes a friction wheel. There is a circle of grooves on the outer wall of the friction wheel. Rubber rings are fixedly installed on the outer rings at both ends of the friction wheel, and the diameter of the rubber rings is larger than that of the friction wheel. Motors are fixedly installed on the front and rear inner walls of the placement hole, and the output shafts of the motors act on the main shaft of the friction wheel. The friction wheel and the rubber rings both pass through the placement hole, and the outer ring of the friction wheel is within the inner ring of the arc-shaped plate.

[0010] It includes a base, the base is fixed to the side of the collection sleeve, a power mechanism is fixedly installed on the base, and mating sleeves are fixedly installed at both ends of the base.

[0011] It further includes two toothed plates. Pin shafts are fixedly installed on both sides of the outer arc surface of the arc-shaped plate where the friction wheel is located. One end of the toothed plate close to the arc-shaped plate is sleeved on the pin shaft and is elastically rotatably connected to the pin shaft. A torsion spring is connected between the two. The other end of the toothed plate penetrates through the mating sleeve and is slidably connected to it. The power mechanism is in transmission connection with the toothed plate.

[0012] It includes an elastic wheel and a housing. The elastic wheel is fixed on the pin shaft, and the housing is fixed on one end of the toothed plate close to the pin shaft. The elastic wheel is within the housing and can rotate relative to it. A steel wire pull rope is fixedly wound on the elastic wheel, and the other end of the steel wire pull rope penetrates through the housing and is fixed to the mating sleeve.

[0013] When the toothed plate slides upward along the mating sleeve to the farthest end, the steel wire pull rope pulls the elastic wheel to rotate until the arc-shaped plate is vertical. When the toothed plate slides downward along the mating sleeve, the elastic wheel rotates under the reaction force of the torsion spring, so that the upper ends of the arc-shaped plates of multiple tightening mechanisms move away from each other and incline.

[0014] Preferably, the power mechanism includes a double-shaft drive machine and gears. There are two gears, which are respectively fixed on the two main shafts of the double-shaft drive machine. The gears are above the toothed plate and mesh with it.

[0015] Preferably, the mating sleeve is inclined, one end of the toothed plate away from the arc-shaped plate is inclined downward, and the steel wire pull rope is arranged parallel to the toothed plate.

[0016] Preferably, the trimming assembly includes longitudinal beams, active walkers, cross beams and a cutting machine. There are two longitudinal beams, two active walkers and two cross beams. The bottom end of the longitudinal beam is fixed to the transverse support arm. The active walkers are installed on the longitudinal beams. The cross beams pass through the active walkers. The cutting machine is between one ends of the two cross beams and is fixed to the two cross beams.

[0017] Preferably, the arc surface of the arc-shaped plate corresponds to the collection sleeve. The arc-shaped plate is always above the collection sleeve. The outer ring of the collection sleeve is fixed to the base through a connecting rod. The upper end of the collection sleeve is a trumpet opening structure.

[0018] Preferably, a cable is installed at one end of the optical plastic hose away from the collection sleeve, and the other end of the cable is fixed to the side of the green waste collection frame. The optical plastic hose can be elastically extended.

[0019] Preferably, the crawler traveling assembly includes a vehicle body, a control box and driving crawlers. There are two groups of driving crawlers, which are respectively installed on both sides of the vehicle body. The control box is fixedly installed on the vehicle body, the green waste collection frame is fixedly installed on the vehicle body, and the multi-axis robotic arm is installed on the vehicle body.

[0020] A method for using a garden greening pruning device includes the following steps: S1: The driving crawlers operate to drive the entire vehicle body to move, and the multi-axis robotic arm can be transferred to the position of the branches and leaves to be pruned according to remote control operation; S2: The active walker cooperates with the position of the arc-shaped plate, dynamically operates and moves the height of the cross beam and moves the cutting machine towards the pruning position of the branches and leaves to be pruned until the branches are cut off; S3: The grasping assembly corresponds to the pruned branches and leaves. After aligning with the pruned branches and leaves, the upper ends of the multiple arc-shaped plates close together. In the posture of gathering and closing, the pruned branches and leaves can be wrapped; S4: The pruned branches and leaves fall between the multiple arc-shaped plates and fall into the collection sleeve, and then move into the green waste collection frame along with the optical plastic hose.

[0021] Compared with the prior art, the present invention has the following beneficial effects: 1. For the garden greening pruning device and its using method, by setting the multi-axis robotic arm and the grasping assembly, the multi-axis robotic arm can reach the designated pruning position according to the detection of the vision module or the operation of the staff. Before contacting the branches and leaves to be pruned, the arc-shaped plates of the multiple tightening mechanisms are far away from each other. After aligning with the branches and leaves to be pruned, the multiple arc-shaped plates start to approach each other under the drive of the gears. When they move, their upper ends will also be tightened by the steel wire ropes, so that the upper ends of the multiple arc-shaped plates close together. In the posture of gathering and closing, the pruned branches and leaves can be wrapped. No matter the shape and size of the pruned branches and leaves are different, good wrapping can be achieved. Cooperating with the pruning assembly, after the pruning assembly finishes pruning the branches and leaves and then wraps them, a good collection effect can be achieved. After increasing the rotation speed of the friction wheel, the small-leaf plants are also easily concentrated after pruning, and after slowing down the rotation speed, it can also be applied to collecting fruits.

[0022] 2. For the garden greening pruning device and its using method, the collection sleeve and the optical plastic hose are set. When the pruned branches and leaves fall between the multiple arc-shaped plates, they can fall into the collection sleeve, and then move into the green waste collection frame along with the optical plastic hose. Since the inner wall of the optical plastic hose is smooth, the pruned branches and leaves can fall into the green waste collection frame when freely falling, without additional manual secondary collection. Description of the Drawings

[0023] Figure 1 is a schematic structural diagram of the present invention; Figure 2 is a front view of the structure of the present invention; Figure 3 is a schematic diagram of a partial structure of the present invention; Figure 4 is a structural diagram of the trimming component of the present invention; Figure 5 is a structural diagram of the grasping component of the present invention; Figure 6 is a structural diagram of the tightening mechanism and the collection sleeve of the present invention; Figure 7 is a front view of the structure of the tightening mechanism of the present invention; Figure 8 is a schematic structural diagram of the tightening mechanism of the present invention; Figure 9 is a structural diagram of the arc plate and the friction wheel of the present invention.

[0024] In the figure: 1. Track traveling assembly; 101. Vehicle body; 102. Control box; 103. Driving track; 2. Multi-axis robotic arm; 3. Green waste collection box; 4. Horizontal support arm; 5. Grasping component; 501. Collection sleeve; 502. Optical plastic hose; 503. Tightening mechanism; 5031. Arc plate; 5032. Placing hole; 5033. Friction wheel; 5034. Groove; 5035. Rubber ring; 5036. Motor; 5037. Base; 5038. Power mechanism; 50381. Biaxial drive motor; 50382. Gear; 5039. Matching type collar; 50310. Tooth plate; 50311. Pin shaft; 50312. Elastic wheel; 50313. Housing; 50314. Steel wire pull rope; 504. Connecting rod; 505. Cable; 6. Trimming component; 601. Longitudinal beam; 602. Active walker; 603. Cross beam; 604. Cutting machine. Specific embodiments

[0025] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0026] AsFigures 1 - 9 As shown in the figure, a landscaping pruning device includes a crawler traveling assembly 1, and also includes a multi-axis robotic arm 2 and a green waste collection box 3. The multi-axis robotic arm 2 and the green waste collection box 3 are both installed on the crawler traveling assembly 1. A transverse support arm 4 is installed at one end of the multi-axis robotic arm 2 away from the crawler traveling assembly 1, and a grasping assembly 5 is installed on the transverse support arm 4.

[0027] The grasping assembly 5 includes a collection sleeve 501. A light plastic hose 502 is fixedly installed at the lower end of the collection sleeve 501. The other end of the light plastic hose 502 is inside the green waste collection box 3, and the end of the light plastic hose 502 is connected to the green waste collection box 3. It also includes four tightening mechanisms 503, which are respectively fixedly installed outside the collection sleeve 501 and are evenly distributed in a circumferential array. Before pruning, the four tightening mechanisms 503 are in an open state. After pruning, the upper ends of the four tightening mechanisms 503 approach each other to wrap the pruned branches and leaves.

[0028] A pruning assembly 6 is also installed on the transverse support arm 4, and the output end of the pruning assembly 6 is above the middle of the four tightening mechanisms 503.

[0029] The multi-axis robotic arm 2 has multiple degrees of freedom. Its bottom end and upper end can both rotate and swing. A visual communication module is installed at the upper end of the multi-axis robotic arm 2, which can identify the shape of the branches and leaves to be pruned. A central processing module and a control system are installed inside the machine. Photos of the branches and leaves to be pruned are taken and uploaded daily to learn about the equipment. The camera of the visual communication module first captures an image, then extracts the external contour of the branches and leaves to be pruned, and compares it with the database. Thus, it can easily identify the difference between the branches and leaves to be pruned and the branches, and can accurately locate the position of the branches and leaves to be pruned. After locating the position of the branches and leaves to be pruned, the central processing module sends a signal to the control system to drive the multi-axis robotic arm 2 to operate until the grasping assembly 5 corresponds to the branches and leaves to be pruned.

[0030] In another implementation, the operation of the multi-axis robotic arm 2 can be manually controlled using a remote control. When facing tall trees, there is no need to use a long pole for pruning, reducing the manual labor. Moreover, when the equipment is pruning, the operator can stay away from the operating equipment, which is safer.

[0031] The collection sleeve 501 is preferably made of plastic. The sloped opening structure at its upper end can smoothly allow the pruned branches and leaves to fall. The light plastic hose 502 is a soft plastic pipe (PA66 nylon material can be used), and it can also be stretched itself. The friction between the light plastic hose 502 and the pruned branches and leaves will not cause the pruned branches and leaves to stay inside it. If the extension position of the multi-axis robotic arm 2 is relatively low and there is a bent position in the middle of the light plastic hose 502, then the multiple pruned branches and leaves picked can accumulate at one position of the light plastic hose 502. Then, when the multi-axis robotic arm 2 extends to a certain height, the light plastic hose 502 will be stretched, and thus the pruned branches and leaves accumulated inside it will still be smoothly discharged.

[0032] As Figures 6 - 9 shown, in an optional embodiment, the tightening mechanism 503 includes an arc-shaped plate 5031, and a placement hole 5032 penetrating through inside and outside is provided at the middle position of the arc-shaped plate 5031; It includes a friction wheel 5033. A groove 5034 is provided on the outer wall of the friction wheel 5033. Rubber rings 5035 are fixedly installed on the outer rings at both ends of the friction wheel 5033, and the diameter of the rubber rings 5035 is larger than that of the friction wheel 5033; Electric motors 5036 are fixedly installed at the front and rear inner walls of the placement hole 5032, and the output shafts of the electric motors 5036 act on the main shaft of the friction wheel 5033. The friction wheel 5033 and the rubber rings 5035 both pass through the placement hole 5032, and the outer ring of the friction wheel 5033 is located inside the inner ring of the arc-shaped plate 5031; It includes a base 5037. The base 5037 is fixed to the side of the collection sleeve 501. A power mechanism 5038 is fixedly installed on the base 5037, and mating sleeves 5039 are fixedly installed at both ends of the base 5037; It further includes two toothed plates 50310. Pin shafts 50311 are fixedly installed on both sides of the outer arc surface of the arc-shaped plate 5031. One end of the toothed plate 50310 close to the arc-shaped plate 5031 is sleeved on the pin shaft 50311 and is elastically rotatably connected to the pin shaft 50311. A torsion spring is connected between the two. The other end of the toothed plate 50310 penetrates through the mating sleeve 5039 and is slidably connected to it. The power mechanism 5038 is in transmission connection with the toothed plate 50310; It includes an elastic wheel 50312 and a housing 50313. The elastic wheel 50312 is fixed on the pin shaft 50311, and the housing 50313 is fixed on one end of the toothed plate 50310 close to the pin shaft 50311. The elastic wheel 50312 is located inside the housing 50313 and can rotate relative to it. A steel wire pull rope 50314 is fixedly wound on the elastic wheel 50312, and the other end of the steel wire pull rope 50314 penetrates through the housing 50313 and is fixed to the mating sleeve 5039; When the toothed plate 50310 slides upward along the mating ferrule 5039 to the farthest end, the wire rope 50314 pulls the elastic wheel 50312 to rotate until the arc plate 5031 is vertical. When the toothed plate 50310 slides downward along the mating ferrule 5039, the elastic wheel 50312 rotates under the reaction force of the torsion spring, so that the upper ends of the arc plates 5031 of the plurality of tightening mechanisms 503 are inclined away from each other.

[0033] In this embodiment, the arc plates 5031 of the four tightening mechanisms 503 have the same radian, and the upper ends of the arc plates 5031 are rounded to avoid damaging the fruits to be picked when the multi-axis robotic arm 2 is operating. The friction wheel 5033 is preferably made of plastic, and the grooves 5034 on its outer ring can collect a series of light-quality plants such as debris, dust, and petals of small-leaf plants when the rotation speed is increased, and can also increase the frictional contact force with the surface of the branches and leaves to be pruned. The rubber ring 5035 is in an outward-expanded shape, and the diameter of its outermost end is larger than that of the friction wheel 5033. Thus, the friction wheel 5033 and the two rubber rings 5035 form a circle with an annular groove, and this annular groove can adapt to the shape of the branches and leaves to be pruned (such as hard branches and soft leaves). When contacting the branches and leaves to be pruned, the rubber ring 5035 is made to contact the branches and leaves to be pruned first (increasing the frictional force). If the rubber ring 5035 is compressed and deformed, the friction wheel 5033 then contacts the pruned branches and leaves. Before the whole contacts the branches and leaves to be pruned, the motor 5036 ensures that the friction wheel 5033 rotates at a low speed. A pressure sensor is installed inside the main shaft of the rubber ring 5035 or the friction wheel 5033. If the rubber ring 5035 is compressed after contacting the pruned branches and leaves, the motor 5036 increases the rotation speed. At this time, the plurality of friction wheels 5033 rotate downward together, and at this time, the branches and leaves to be pruned can be pulled, and the branches and leaves to be pruned are pulled into the collection sleeve 501.

[0034] As Figure 8 shown, in an alternative embodiment, the power mechanism 5038 includes a biaxial drive 50381 and gears 50382. There are two gears 50382, which are respectively fixed on the two main shafts of the biaxial drive 50381. The gears 50382 are located above the toothed plate 50310 and mesh with it.

[0035] In this embodiment, the biaxial drive 50381 is driven by a servo drive and controlled by a control system, and can rotate a certain angle precisely, so as to precisely control the position of the arc plate 5031. Once the pruned branches and leaves are pressed, the friction wheel 5033 increases the rotation speed, and then the arc plate 5031 starts to stabilize its position and no longer continues to squeeze the branches and leaves to be pruned, avoiding blockage.

[0036] The mating ferrule 5039 is inclined, the end of the toothed plate 50310 away from the arc plate 5031 is inclined downward, and the wire rope 50314 is arranged parallel to the toothed plate 50310.

[0037] The inclined setting enables multiple arc plates 5031 to gather together from bottom to top. When gathering, the upper ends of the arc plates 5031 can approach each other, assuming a gesture of hands closing, for concentrating the pruned branches, leaves, fruits, etc.

[0038] As Figure 4 shown, in an optional embodiment, the pruning assembly 6 includes a longitudinal beam 601, a driving walker 602, a cross beam 603, and a cutting machine 604. There are two longitudinal beams 601, two driving walkers 602, and two cross beams 603. The bottom end of the longitudinal beam 601 is fixed to the horizontal support arm 4. The driving walker 602 is installed on the longitudinal beam 601. The cross beam 603 passes through the driving walker 602. The cutting machine 604 is located between one ends of the two cross beams 603 and is fixed to the two cross beams 603.

[0039] In this embodiment, two servo motors are installed on the driving walker 602, which can control its own movement along the longitudinal beam 601 and can also drive the cross beam 603 to move along itself. Tooth grooves are provided in both the cross beam 603 and the longitudinal beam 601 to cooperate with the servo motors of the driving walker 602. The cutting machine 604 is a combination of a motor and a saw blade, which rotates at a high speed during daily use and can easily cut the branches of the branches to be pruned.

[0040] The arc surface of the arc plate 5031 corresponds to the collection sleeve 501. The arc plate 5031 is always above the collection sleeve 501. The outer ring of the collection sleeve 501 is fixed to the base 5037 through a connecting rod 504. The upper end of the collection sleeve 501 is of a trumpet opening structure.

[0041] A cable 505 is installed at one end of the optical plastic hose 502 away from the collection sleeve 501. The other end of the cable 505 is fixed to the side surface of the green waste collection box 3. The optical plastic hose 502 can elastically stretch.

[0042] The optical plastic hose 502 will not leave the green waste collection box 3 when the multi-axis robotic arm 2 is operating, so as to ensure that every pruned branch and leaf falls into the green waste collection box 3.

[0043] The crawler traveling assembly 1 includes a vehicle body 101, a control box 102, and driving crawlers 103. There are two groups of driving crawlers 103, which are respectively installed on both sides of the vehicle body 101. The control box 102 is fixedly installed on the vehicle body 101. The green waste collection box 3 is fixedly installed on the vehicle body 101. The multi-axis robotic arm 2 is installed on the vehicle body 101.

[0044] A method for using a landscaping pruning device includes the following steps: Step 1: Drive the crawler 103 to operate to drive the entire vehicle body 101 to move, and the multi-axis robotic arm 2 can be transferred to the position of the branches and leaves to be trimmed according to remote control operation.

[0045] Step 2: The active walker 602 cooperates with the position of the arc plate 5031, dynamically operates and moves the height of the cross beam 603 and moves the cutting machine 604 to the trimming position of the branches and leaves to be trimmed until the branches are cut off.

[0046] Step 3: The grasping component 5 trims the branches and leaves. After trimming the branches and leaves, the upper ends of the multiple arc plates 5031 close together. In the posture of gathering and closing, the trimmed branches and leaves can be wrapped.

[0047] Step 4: The trimmed branches and leaves fall between the multiple arc plates 5031 and fall into the collection sleeve 501, and move to the green waste collection box 3 along the optical plastic hose 502.

[0048] During use, when the crawler 103 operates, it can drive the entire vehicle body 101 to move. Different operating speeds of the two crawlers 103 can achieve turning or dropping in place. Moreover, the crawler 103 can adapt to move on asphalt roads, cement roads, stone slab roads, gravel roads, and even in green belts. It can especially drive on rough roads. Cooperating with the multi-axis robotic arm 2, the stability of the grasping component 5 can be always guaranteed. When pruning, the multi-axis robotic arm 2 can be transferred to the position of the branches and leaves to be trimmed according to remote control operation. The active walker 602 cooperates with the position of the arc plate 5031, dynamically operates and moves the height of the cross beam 603 and moves the cutting machine 604 to the trimming position of the branches and leaves to be trimmed until the branches are cut off, quickly disconnecting the connection between the branches and leaves to be trimmed and the leaf tree.

[0049] In this process, the grasping component 5 corresponds to the branches and leaves to be trimmed. Before contacting the trimmed branches and leaves, the arc plates 5031 of the multiple tightening mechanisms 503 are far away from each other. After aligning with the trimmed branches and leaves, the double-axis drive motor 50381 starts to operate to drive the toothed plate 50310 to move, so that the multiple arc plates 5031 start to approach each other under the drive of the gear 50382. When they move, their upper ends will also be tightened by the steel wire pulling rope 50314, so that the upper ends of the multiple arc plates 5031 close together. In the posture of gathering and closing, the trimmed branches and leaves can be wrapped. No matter the shapes and sizes of the branches and leaves to be trimmed are different, good wrapping can be achieved. When wrapping, the friction wheels 5033 are in a rotating state, and the operation of the multiple friction wheels 5033 can pull the trimmed branches and leaves.

[0050] In the actual pruning process, some green plants have branches and leaves that are pruned together. After pruning, the curved plates 5031 of the four tightening mechanisms 503 are in a state of being away from each other. At this time, the pruned branches and leaves will fall between the four tightening mechanisms 503, but the green plants with branches after pruning are not easy to be directly transported down (especially the existing coniferous plants, thorny shrubs, and ornamental plants with curved branches). Therefore, the curved plates 5031 of the four tightening mechanisms 503 can play the role of gathering these pruned branches and leaves. When the curved plates 5031 of the four tightening mechanisms 503 are close to each other, the branches and leaves can be closed, and some branches can also be broken to make them better transported downward. Because the light plastic hose 502 cannot be set with a larger diameter, it is easier to collect and transport the closed branches and leaves. More importantly, after closing, the friction wheel 5033 can be used to prevent some of the pruned branches and leaves from falling outside the light plastic hose 502, so as to maximize the collection effect.

[0051] After the collection is completed, the double-headed driving machine controls the tooth plate 50310 to move, and the multiple arc plates 5031 begin to separate. After the arc plates 5031 separate, the wire rope 50314 begins to relax. At this time, under the force of the torsion spring, the upper ends of the multiple arc plates 5031 move away from each other, thereby realizing an open state. When the pruned branches and leaves fall from between the multiple curved plates 5031, they can fall into the collection sleeve 501, and then move to the greening waste collection frame 3 along with the light plastic hose 502. Subsequent manual work only needs to collect the pruned branches and leaves from the greening waste collection frame 3 for centralized processing.

[0052] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A gardening and pruning device, comprising a crawler travel assembly (1), characterized in that: It also includes a multi-axis mechanical arm (2) and a greening waste collection frame (3), the multi-axis mechanical arm (2) and the greening waste collection frame (3) are both mounted on the crawler travel assembly (1), a transverse support arm (4) is mounted on one end of the multi-axis mechanical arm (2) away from the crawler travel assembly (1), and a grabbing assembly (5) is mounted on the transverse support arm (4); The grabbing assembly (5) comprises a collecting sleeve (501), a plastic hose (502) is fixedly mounted on the lower end of the collecting sleeve (501), the other end of the plastic hose (502) is located in the greening waste collection frame (3), the end of the plastic hose (502) is connected to the greening waste collection frame (3), and also comprises four tightening mechanisms (503), which are respectively fixedly mounted on the outside of the collecting sleeve (501) and are distributed in an equidistant circular array, the four tightening mechanisms (503) are in an open state before pruning, and the upper ends of the four tightening mechanisms (503) are close to each other after pruning, so as to wrap the pruned branches and leaves; A trimming assembly (6) is also mounted on the transverse support arm (4), and an output end of the trimming assembly (6) is located above and in the middle of the plurality of tightening mechanisms (503).

2. A gardening and pruning device according to claim 1, characterized in that: The tightening mechanism (503) comprises an arc-shaped plate (5031), and a placement hole (5032) penetrating inside and outside is provided in the middle of the arc-shaped plate (5031); The friction wheel (5033) comprises a friction wheel (5033), the outer wall of the friction wheel (5033) is provided with a circle of grooves (5034), the outer rings at both ends of the friction wheel (5033) are fixedly mounted with rubber rings (5035), the diameter of the rubber ring (5035) is larger than the diameter of the friction wheel (5033); the front and rear inner walls of the placement hole (5032) are fixedly mounted with motors (5036), the output shaft of the motor (5036) acts on the main shaft of the friction wheel (5033), the friction wheel (5033) and the rubber ring (5035) both pass through the placement hole (5032), and the outer ring of the friction wheel (5033) is located in the inner ring of the arc plate (5031); It comprises a base (5037), the base (5037) is fixed to the side of the collecting sleeve (501), a power mechanism (5038) is fixedly installed on the base (5037), and matching ferrules (5039) are fixedly installed on both ends of the base (5037); It also includes two tooth plates (50310), the outer arc surface of the arc plate (5031) is located on both sides of the friction wheel (5033) and is fixedly mounted with a pin shaft (50311), one end of the tooth plate (50310) close to the arc plate (5031) is sleeved on the pin shaft (50311) and is elastically rotatably connected to the pin shaft (50311), a torsion spring is connected between the two, the other end of the tooth plate (50310) passes through a matching sleeve (5039) and is slidably connected thereto, and the power mechanism (5038) is transmission-connected to the tooth plate (50310); The invention comprises an elastic wheel (50312) and a housing (50313), wherein the elastic wheel (50312) is fixed on a pin shaft (50311), and the housing (50313) is fixed on one end of a tooth plate (50310) close to the pin shaft (50311). The elastic wheel (50312) is located in the housing (50313) and can rotate relative to the housing. A steel wire rope (50314) is fixedly wound around the elastic wheel (50312), and the other end of the steel wire rope (50314) passes through the housing (50313) and is fixed to a matching ferrule (5039). When the tooth plate (50310) slides upward along the matching sleeve (5039) to the farthest end, the steel wire rope (50314) pulls the elastic wheel (50312) to rotate until the arc plate (5031) is vertical; when the tooth plate (50310) slides downward along the matching sleeve (5039), the elastic wheel (50312) rotates under the reaction force of the torsion spring, so that the upper ends of the arc plates (5031) of the multiple tightening mechanisms (503) are tilted away from each other.

3. A gardening and pruning device according to claim 2, characterized in that: The power mechanism (5038) comprises a dual-axis driving machine (50381) and gears (50382). Two gears (50382) are provided and are respectively fixed on two main shafts of the dual-axis driving machine (50381). The gears (50382) are located on the gear plate (50310) and meshed therewith.

4. A gardening and pruning device according to claim 3, characterized in that: The matching clamping sleeve (5039) is arranged at an angle, one end of the tooth plate (50310) away from the arc plate (5031) is arranged at an angle downward, and the steel wire rope (50314) is arranged in parallel with the tooth plate (50310).

5. A gardening and pruning device according to claim 2, characterized in that: The trimming assembly (6) comprises a longitudinal beam (601), an active walker (602), a cross beam (603) and a cutter (604); the longitudinal beam (601), the active walker (602) and the cross beam (603) are each provided with two longitudinal beams (601), the bottom end of the longitudinal beam (601) is fixed to the transverse support arm (4), the active walker (602) is mounted on the longitudinal beam (601), the cross beam (603) passes through the active walker (602), and the cutter (604) is located between one end of the two cross beams (603) and is fixed to the two cross beams (603).

6. A gardening and pruning device according to claim 2, characterized in that: The arc surface of the arc plate (5031) corresponds to the collecting sleeve (501), the arc plate (5031) is always located above the collecting sleeve (501), the outer ring of the collecting sleeve (501) is fixed to the base (5037) via a connecting rod (504), and the upper end of the collecting sleeve (501) is a trumpet opening structure.

7. A gardening and pruning device according to claim 2, characterized in that: A cable (505) is installed at one end of the optical plastic hose (502) away from the collecting sleeve (501), and the other end of the cable (505) is fixed to the side of the greening waste collecting frame (3). The optical plastic hose (502) can be elastically stretched.

8. The gardening and pruning device according to claim 1, characterized in that: The crawler travel assembly (1) comprises a vehicle body (101), a control box (102) and a drive crawler (103); the drive crawler (103) is provided with two sets, which are respectively mounted on two sides of the vehicle body (101); the control box (102) is fixedly mounted on the vehicle body (101); the greening waste collection frame (3) is fixedly mounted on the vehicle body (101); and the multi-axis mechanical arm (2) is mounted on the vehicle body (101).

9. A method for using a gardening and pruning device according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1: The driving crawler (103) is driven to drive the entire vehicle body (101) to move, and the multi-axis mechanical arm (2) can be moved to the position where the branches and leaves are to be pruned according to remote control operation; S2: The active walker (602) cooperates with the position of the curved plate (5031) to dynamically operate and move the height of the crossbeam (603) and move the cutting machine (604) to the pruning position of the branches and leaves to be pruned until the branches are cut off; S3: The gripping assembly (5) corresponds to the pruned branches and leaves. After the pruned branches and leaves are aligned, the upper ends of the plurality of arc-shaped plates (5031) are closed together. In the gathered and closed posture, the pruned branches and leaves can be wrapped; S4: The pruned branches and leaves fall from between the plurality of arc-shaped plates (5031) and fall into the collecting sleeve (501), and move along with the plastic hose (502) into the greening waste collection frame (3).

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