Active obstacle avoidance hedge pruning execution mechanism

Abstract

The invention provides an active obstacle avoidance hedgerow pruning executing mechanism. The active obstacle avoidance hedgerow pruning executing mechanism comprises a collision self-sensing pruning cutter, an electric telescopic sleeve assembly, a steering device, a shear fork type lifting mechanism and an obstacle avoidance control box. The collision self-sensing trimming cutter comprises a fan blade, a collision sensor and the like, and collision is sensed through an elastically suspended collision shell and the sensor; the electric telescopic sleeve assembly and the steering device cooperate to form a multi-degree-of-freedom obstacle avoidance kinematic chain; the scissor-fork type lifting mechanism is used for adjusting the operation height and is linked with the steering device to realize three-dimensional obstacle avoidance; the obstacle avoidance control box integrally controls and coordinates all the components to avoid obstacles. The mechanism combines collision sensing and multi-degree-of-freedom obstacle avoidance, is low in cost, safe and reliable, long in telescopic distance of the telescopic sleeve pipe, good in trimming effect of the trimming cutter, easy to maintain and high in applicability, and can be mounted on a platform trolley or engineering machinery for edge trimming.

Description

Technical Field

[0001] The present invention relates to the technical field of greening pruning equipment, and specifically refers to an active obstacle avoidance hedge pruning actuator. Background Art

[0002] In urban greening maintenance and hedge pruning work on both sides of roads, the efficiency and safety of hedge pruning operations are of crucial importance. Traditional hedge pruning methods, such as manually holding pruning tools for pruning, have high labor intensity, low work efficiency, and it is difficult to ensure the consistency and aesthetic degree of pruning. With the improvement of mechanization level, equipment such as vehicle-mounted hedge trimmers has been gradually widely used. Although it has greatly improved in work efficiency and pruning quality, there are still some problems.

[0003] On the one hand, most of the existing hedge pruning equipment lacks an effective active obstacle avoidance function. There are often some obstacles in the hedge, such as utility poles, lamp posts, broken branches or tree trunks, etc. During the pruning process, it is difficult for the driver to completely rely on the naked eye to detect all obstacles in advance, especially for some hidden or hard-to-detect obstacles. When the pruning tool directly hits these obstacles, it is easy to cause tool damage, equipment failure, and even may trigger safety accidents. On the other hand, some existing obstacle avoidance devices have limitations. For example, the method of using camera vision recognition may have problems such as inaccurate recognition and small obstacle avoidance range; while the structure that relies on simple mechanical collision to trigger obstacle avoidance may have an obstacle avoidance blind area, and the impact force on the obstacle during obstacle avoidance is large, which is easy to damage the obstacle or the equipment itself.

[0004] In addition, with the continuous improvement of urban greening level and the increasing requirements for environmental protection, the requirements for the refinement and intelligence of hedge pruning are also getting higher and higher. There is a need for a hedge pruning mechanism that can automatically and accurately identify and avoid obstacles without affecting the pruning efficiency and quality to meet the needs of modern urban greening maintenance work. Therefore, researching and developing an active obstacle avoidance hedge pruning actuator has important practical significance, which can effectively solve the problems existing in the prior art and improve the safety, efficiency and intelligence level of hedge pruning work.

[0005] At present, the Chinese patent document with the publication number CN202210492599.X discloses a side-mounted gantry hedge trimming mechanism and its usage method, which mainly includes a parallelogram linkage mechanism, a limit hinge, a camera, a side-mounted gantry adjustable cutter group, a wire-controlled chassis, a power supply system, a whole machine controller, etc. Adopting a side-mounted structure, it can walk on the side of the hedge during operation: the wire-controlled chassis is mainly used to carry each component of the mechanism for trimming operations. However, this mechanism is mainly designed for rectangular hedges. When facing complex greening scenarios with irregular shapes and a large number of obstacles, such as statues and small-scale buildings around the hedges in the park, the operation of its parallelogram linkage mechanism, side-mounted gantry adjustable cutter group, and wire-controlled chassis may be hindered. Since it needs to travel along the center line of the hedge, it is difficult to accurately judge and adjust the trimming path when encountering situations such as hedge interruption and local shape mutation, resulting in an inability to achieve an ideal trimming effect. Summary of the Invention

[0006] In view of the above technical problems, the present invention provides an active obstacle avoidance hedge trimming actuator, which can efficiently complete the hedge trimming task. It innovatively invents a self-sensing trimming knife that can real-time monitor the external collision situation during trimming. The mechanical structure adopted is more stable and reliable than the camera algorithm, and it can quickly move around the obstacle point when a collision occurs. Combined with a movable chassis, it can achieve border trimming of irregular hedge boundaries. It improves the trimming efficiency and simplifies the trimming process.

[0007] To achieve the above object, the technical solution adopted by the present invention is: to provide an active obstacle avoidance hedge trimming actuator, including:

[0008] A collision self-sensing trimming tool, which is used to sense obstacle collisions and perform cutting actions;

[0009] An electric telescopic sleeve assembly, connected to the collision self-sensing trimming tool, providing an axial obstacle avoidance displacement in response to a collision signal;

[0010] A steering device, linked with the collision self-sensing trimming tool, driving its multi-directional angle adjustment to achieve obstacle avoidance path planning;

[0011] A scissor lift mechanism, fixed to an external support plane, adjusting the working height of the collision self-sensing trimming tool through lifting drive;

[0012] An obstacle avoidance control box, integrating a control unit and communicating with the collision self-sensing trimming tool, the electric telescopic sleeve assembly, the steering device, and the scissor lift mechanism, used to coordinate the execution of obstacle avoidance actions by each component according to the collision signal;

[0013] Among them, the electric telescopic sleeve assembly and the steering device cooperate to form a multi-degree-of-freedom obstacle avoidance motion chain, and the scissor lift mechanism realizes three-dimensional space obstacle avoidance through linkage with the steering device via a lifting drive.

[0014] Further, the collision self-sensing pruning tool includes:

[0015] Fan blade, fixed tool holder, rotating fixture, transition connecting piece, collision housing, collision sensor, sensor mounting bracket, support connecting piece, motor, tool connecting transition shaft and tension spring;

[0016] The sensor mounting bracket is a central mounting base body, and several of the collision sensors are embedded in the mounting holes reserved on the sensor mounting bracket, and the motor is concentrically fixed in the reserved opening of the sensor mounting bracket by bolts;

[0017] The tool connecting transition shaft is connected to the D-shaped output shaft of the motor through a coupling and penetrates through the central through hole of the transition connecting piece;

[0018] The fixed tool holder is installed on the surface of the transition connecting piece through countersunk head bolts, the rotating fixture is screwed onto the end of the tool connecting transition shaft through internal threads, and axial and circumferential constraints are achieved through a flange and a pin;

[0019] The fan blades symmetrically arranged up and down are respectively fixed in the mounting seats of the fixed tool holder and the rotating fixture through screws to form a shear pair structure;

[0020] The collision housing is elastically suspended around the support connecting piece through a tension spring and maintains a clearance from the collision sensor.

[0021] Further, the collision sensor is a block-shaped pressure sensor, which is circumferentially arrayed and embedded in the mounting holes of the sensor mounting bracket, and is spaced 0.5 - 2 mm from the inner surface of the collision housing.

[0022] Further, the D-shaped output shaft of the motor and the coupling are in keyway fit, the tool connecting transition shaft and the coupling are fixed by a setscrew, and the end is provided with an external thread for screwing with the internal thread of the rotating fixture.

[0023] Further, the collision housing is a double-layer cylindrical shell, the inner and outer layers are connected by radial rib plates, and the inner layer shell surface is provided with an array of arc-shaped mounting holes, and forms an elastic suspension structure with the corresponding holes of the support connecting piece through tension springs.

[0024] Further, the inner hole of the disk of the rotating fixture extends outward to form an axial boss with an internal thread, the flange is sleeved on the end of the tool connecting transition shaft through interference fit, and circumferential limitation is achieved by a pin penetrating through the side hole of the flange and the radial hole of the transition shaft.

[0025] Furthermore, the fan blade is a detachable sector blade, and the screw passes through the central hole of the blade and locks with the threaded hole of the fixed tool holder or the rotating fixture.

[0026] Furthermore, the scissors lift mechanism includes:

[0027] A bottom support frame;

[0028] A set of square plates symmetrically folded on the bottom support frame, forming an expandable node through a round shaft;

[0029] A lead screw sliding table, whose expansion and contraction are controlled by a lifting drive motor;

[0030] A rectangular truss, connected to the top of the set of square plates and carrying the steering device.

[0031] Furthermore, the steering device includes:

[0032] A steering device seat, which is rotatably arranged above the rectangular truss through a steering shaft, and a steering gear is sleeved on the steering shaft;

[0033] An electric telescopic cylinder, which is fixed above the rectangular truss through a mounting fixed seat and is driven by a drive motor;

[0034] A rack, which is connected to the output end of the electric telescopic cylinder through a rack connecting plate and an L-shaped transition connecting plate, and the rack meshes with the steering gear for transmission.

[0035] Furthermore, the electric telescopic sleeve assembly includes an electric telescopic cylinder main body, the electric telescopic cylinder main body is connected above the steering shaft through a transition connecting plate, the telescopic sleeve tube at its output end is driven by a telescopic drive motor, and the end of the telescopic sleeve tube is connected to the support connecting piece through an L-shaped connecting plate.

[0036] The advantages of the present invention compared with the prior art are as follows:

[0037] 1. For the active obstacle avoidance hedge trimming execution mechanism of the present invention, the combination of a collision housing and circumferentially arrayed collision sensors is used to sense external collision situations. During the task, active obstacle avoidance can be achieved during the trimming operation without human intervention. When obstacles such as trees and vehicles appear in the trimming path, after the obstacles can be sensed in the perceived direction, the tool trajectory can be adjusted to retract the telescopic sleeve and the electric telescopic push rod or stop the operation to avoid collision accidents, ensuring the safety of personnel and equipment. This design scheme has a low cost, is safe and reliable in use, and is suitable for use in different outdoor environments.

[0038] 2. The present invention uses a telescopic sleeve tube to achieve hedge trimming and obstacle avoidance in the horizontal direction. The telescopic distance of the sleeve can reach 2m, and the telescopic distance is far, enabling a wide range of hedge trimming.

[0039] 3. The self-sensing pruning tool of the present invention is designed with a contact obstacle avoidance module composed of a sensor fixing bracket and a contact sensor. The tool is installed below the disc-shaped fixing. When the contact sensor detects a collision with an external object, the telescopic sleeve connected to the tool and the rotating platform move in combination to avoid collisions with obstacles during pruning. The pruning tool is divided into a fixed blade group and a rotating blade group. The pruning process imitates the pruning process of scissors, with a fast pruning speed, good pruning effect, simple blade structure, and low cost.

[0040] 4. The pruning tool part of the present invention adopts a combined design of a tool holder and a blade. The tool holder is divided into a fixed tool holder and a rotating tool holder. The tool holder is provided with circumferentially arrayed blade mounting seats, and the blades are installed on the blade mounting seats through bolts. When some blades are severely worn and need to be replaced during use, the damaged blades can be quickly replaced. The lower rotating blade and the motor shaft are fixed by a pin, which is convenient for disassembly and easy to maintain.

[0041] 5. The mechanism of the present invention has good applicability and expandability, and can be installed on a platform trolley or construction machinery for combined use to achieve edge trimming of the pruning area. Description of the Drawings

[0042] Figure 1 It is a schematic structural diagram of the active obstacle avoidance hedge trimming actuator for the preferred embodiment;

[0043] Figure 2 It is a schematic structural diagram of the collision self-sensing pruning tool for the preferred embodiment;

[0044] Figure 3 It is an exploded view of the device of the collision self-sensing pruning tool for the preferred embodiment;

[0045] Figure 4 It is a schematic diagram of the fixed tool holder and blade installation for the preferred embodiment;

[0046] Figure 5 It is a schematic diagram of the sleeve telescopic structure for the preferred embodiment;

[0047] Figure 6 It is a schematic diagram of the steering device;

[0048] Figure 7 It is a schematic structural diagram of the collision housing for the preferred embodiment;

[0049] Figure 8 It is a schematic structural diagram of the support connecting piece for the preferred embodiment;

[0050] Figure 9 It is a schematic diagram of the scissor lift device for the preferred embodiment;

[0051] Figure 10Schematic diagram of the degrees of freedom of the active obstacle avoidance hedge trimming actuator for the preferred embodiment;

[0052] Figure 11 Schematic diagram of another embodiment structure of the active obstacle avoidance hedge trimming actuator for the preferred embodiment;

[0053] As shown in the figure: 1. Collision self-sensing trimming tool assembly; 11. Support connecting piece; 12. Collision outer shell; 13. Sensor mounting bracket; 14. Motor; 15. Transition connecting piece; 16. Coupling; 17. Tool connecting transition shaft; 18. Tension spring; 19. Fixed tool holder; 110. Rotating fixture; 111. Flange; 112. Pin; 113. Collision sensor; 114. Fan blade; 115. Bolt;

[0054] 2. Electric telescopic sleeve assembly; 21. L-shaped connecting plate; 22. Telescopic sleeve tube; 23. Telescopic drive motor; 24. Transition connecting plate; 25. Collision control box;

[0055] 3. Steering device; 31. Electric telescopic cylinder; 32. Drive motor; 33. Bearing seat; 34. Rack connecting plate; 35. L-shaped transition connecting plate; 36. Rack; 37. Steering device seat; 38. Steering shaft; 39. Steering gear; 310. Reinforcing rib; 311. Installation and fixing seat;

[0056] 4. Scissor lift mechanism: 41. Lift drive motor; 42. Bottom support frame; 43. Square plate group; 44. Round shaft; 45. Box-shaped truss; 46. Lead screw slide table. Detailed implementation manners

[0057] The present invention will be further described in detail below with reference to the drawings.

[0058] The specific implementation manners of the present invention will be further described below with reference to the drawings. The same components are denoted by the same reference numerals.

[0059] It should be noted that the terms "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to the directions in the drawings, and the terms "inner" and "outer" respectively refer to the directions towards or away from the geometric center of a specific component.

[0060] In order to make the content of the present invention more clearly understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.

[0061] Refer to the attached Figure 1 - attached Figure 11 , the present application provides an active obstacle avoidance hedge trimming actuator, including:

[0062] The collision self-sensing pruning cutter 1, as the core component of the actuator that directly contacts the hedge and performs the pruning and collision sensing functions, is ingeniously installed at the front end of the entire mechanism. During the pruning process, once it encounters an obstacle collision, it can not only keenly sense it but also immediately execute the shearing action, and at the same time send the collision situation to the obstacle avoidance control box 25 in real time and accurately. The obstacle avoidance control box 25 will carefully number the collision sensors 113 in the annular array. Based on the numbers and data values of the collected collision sensors 113, it can accurately judge the collision direction and the magnitude of the collision force, and then control the combined movement of the electric telescopic sleeve 2 and the steering device 3 to cleverly bypass the obstacle point and ensure the continuity of the pruning operation.

[0063] The electric telescopic sleeve assembly 2 is closely connected to the collision self-sensing pruning cutter 1. When a collision occurs, it can quickly respond to the collision signal and provide an axial obstacle avoidance displacement, providing a flexible telescopic adjustment space for the entire mechanism when encountering an obstacle, as Figure 5 shown.

[0064] The steering device 3 is linked with the collision self-sensing pruning cutter 1. By driving the cutter to make multi-directional angle adjustments, it can accurately plan the obstacle avoidance path, enabling the mechanism to flexibly bypass obstacles of various shapes and positions, as Figure 6 shown.

[0065] The scissor lift mechanism 4 is firmly fixed to the external support plane, such as the working platform of a pruning vehicle. It precisely adjusts the working height of the collision self-sensing pruning cutter 1 through a lifting drive device to meet the pruning requirements of hedges at different heights, as Figure 9 shown.

[0066] The obstacle avoidance control box 25, as the "brain" of the entire actuator, integrates a control unit and maintains communication connections with the collision self-sensing pruning cutter 1, the electric telescopic sleeve assembly 2, the steering device 3, and the scissor lift mechanism 4. According to the collision signal, it quickly coordinates the components to execute the obstacle avoidance action to ensure the efficient and safe progress of the entire pruning process.

[0067] Among them, the electric telescopic sleeve assembly 2 and the steering device 3 work together, as Figure 10 shown, to form a multi-degree-of-freedom obstacle avoidance motion chain, enabling the mechanism to flexibly adjust its posture in the horizontal and vertical directions; the scissor lift mechanism 4 is linked with the steering device 3 through a lifting drive to achieve three-dimensional space obstacle avoidance, allowing the mechanism to cope with various complex pruning environments.

[0068] In one embodiment, the collision self-sensing pruning cutter 1 includes:

[0069] The fan blade 114, the fixed tool holder 19, the rotating fixture 110, the transition connector 15, the collision shell 12, the collision sensor 113, the sensor mounting bracket 13, the supporting connector 11, the motor 14, the tool connection transition shaft 17 and the tension spring 18;

[0070] The sensor mounting bracket 13 is a central mounting base, and a plurality of collision sensors 113 are embedded in the mounting holes reserved in the sensor mounting bracket 13. The motor 14 is concentrically fixed in the reserved opening of the sensor mounting bracket 13 by bolts to provide power support for the entire tool.

[0071] The tool connection transition shaft 17 is connected to the D-shaped output shaft of the motor 14 through the coupling 16 and passes through the central through hole of the transition connector 15 to ensure stable transmission of power.

[0072] The fixed tool holder 19 is installed on the surface of the transition connector 15 by countersunk bolts, and the rotating fixture 110 is screwed to the end of the tool connection transition shaft 17 by internal threads, and axial and circumferential constraints are achieved by flange 111 and pin 112 to ensure the stability of the tool during operation.

[0073] The upper and lower symmetrical fan blades 114 are respectively fixed in the mounting seats of the fixed tool holder 19 and the rotating clamp 110 by screws 115 to form a shearing sub-structure; when the motor 14 drives the rotating clamp 110 below to rotate, the upper and lower fan blades are equivalent to a scissors pruning process, generating shear force to continuously shear the hedge below. On the one hand, this design reduces production costs, and on the other hand, when a part of the fan blade is worn, the damaged fan blade can be replaced quickly and targetedly, greatly improving maintenance efficiency.

[0074] The collision shell 12 is elastically suspended on the periphery of the supporting connector 11 by a tension spring 18, and maintains an avoidance gap with the collision sensor 113. One of the functions of the transition connector 15 is to act on the installation of the fixed tool holder 19. The surface of the fixed tool holder 19 has a countersunk hole. The bolts connect the fixed tool holder 19 to the transition connector 15 through the countersunk hole without protruding out of the fixture surface to cause friction. The rotating tool holder 110 is similar in appearance to the fixed tool holder 19. Both are disc-shaped with a circular hole in the middle. However, the inner hole of the rotating tool holder 110 protrudes outward for a distance and has a threaded inner surface. It is installed on the tool connection transition shaft 17 through threads. The outer side of the transition shaft is axially constrained by a flange 111, such as Figure 7 As shown. Figure 2 As shown, the pin 112 passes through the small hole on the side of the flange and through the small hole reserved on the transition shaft to perform circumferential constraint.

[0075] In one embodiment, the collision sensor 113 is a block pressure sensor, which is embedded in the mounting hole of the sensor mounting bracket 13 in a circumferential array and is spaced 0.5-2mm from the inner surface of the collision shell 12. In the present application, the collision sensor 113 is a self-resetting micro switch, specifically model AB-15AP, and has 8 circumferential arrays. Each micro switch is spaced 45 degrees apart, and can be used to collect circumferential switch signals. The circumferentially distributed micro switches have a collision shell on the outside. When the collision shell contacts an external obstacle, the collision shell will shrink inward under the pressure of the obstacle, and then press the micro switch near the corresponding direction. The closed signal of the micro switch is transmitted to the main control board, which is a common stm32 single-chip microcomputer on the market. The present application numbers the micro switches of different interfaces in advance, and determines the direction of the collision according to the triggered switch number.

[0076] In one embodiment, the D-shaped output shaft of the motor 14 and the coupling 16 are key-matched, and this matching method can ensure the stability and accuracy of power transmission. The tool connection transition shaft 17 is fixed to the coupling 16 by a top screw, and the end is provided with an external thread that is screwed with the internal thread of the rotating fixture 110. This connection method is simple and reliable, easy to install and disassemble, and also ensures the stability of the tool during operation.

[0077] like Figure 3 As shown, the inner and outer circles of the collision shell 12 are both supported by an array of ribs in the middle of the cylindrical shell, and the inner surface of the outer shell is preset with a protruding arc-shaped mounting hole. The support connector 11 installed above the sensor mounting bracket 13 is a hollow cylinder with a flange-like protrusion on the top, and the outer surface is reserved with the same-shaped mounting holes that circumferentially correspond to the arc-shaped mounting holes reserved on the collision shell 12. Therefore, in order to ensure that the collision shell transmits the external collision force to the collision pressure sensor installed in the circumferential array, there is no direct contact between the collision shell and the support connector 11. Instead, the tension spring 18 is passed through the reserved arc-shaped mounting hole to concentrically restrict the collision shell to the support connector 11, so that the inner surface of the collision shell maintains a certain slight gap with the collision sensor 113 without direct contact, as shown in FIG. Figure 8 This design can not only sensitively detect the direction and size of external collisions, but also eliminate the interference caused by the tool's own shaking during the trimming process.

[0078] In one embodiment, the inner hole of the disc of the rotating fixture 110 extends outward to form an axial boss with internal threads. This design increases the length of the threaded connection and improves the stability of the connection. The flange 111 is sleeved on the end of the tool connection transition shaft 17 through an interference fit, and the pin 112 penetrates the side hole of the flange and the radial hole of the transition shaft to achieve circumferential limitation, ensuring that the rotating fixture 110 will not be displaced circumferentially during the rotation process, thereby ensuring the accuracy of tool shearing.

[0079] The fan blade 114 is a detachable fan-shaped blade, and this design facilitates the replacement and maintenance of the blade. The screw 115 passes through the blade center hole and is locked with the threaded hole of the fixed tool holder 19 or the rotating fixture 110. The connection method is simple and reliable, and the stability of the blade during operation can be guaranteed.

[0080] In one embodiment, the scissor-type lifting mechanism 4 comprises:

[0081] The bottom support frame 42, as the supporting base of the entire lifting mechanism, can be stably fixed on the external supporting plane.

[0082] The square plate group 43 symmetrically folded on the bottom support frame 42 forms an expandable node through the circular shaft 44. This structure enables the lifting mechanism to flexibly adjust its shape during the lifting process to achieve smooth lifting movement.

[0083] The lead screw slide 46 is controlled to extend and retract by the lifting drive motor 41 to provide power support for the lifting movement.

[0084] The U-shaped truss 45 is connected to the top of the square plate group 43 and carries the steering device 3. It transmits the lifting movement to the steering device 3, and then drives the entire trimming actuator to adjust the height.

[0085] The function of the steering device 3 is to move in combination with the electric telescopic sleeve assembly 2 to cross the obstacle point after the self-sensing pruning tool detects a collision. Specifically, the steering device 3 includes:

[0086] The steering device seat 37 is rotatably arranged above the U-shaped truss 45 through a steering shaft 38. A steering gear 39 is sleeved on the steering shaft 38 to provide support and transmission basis for the steering movement.

[0087] The electric telescopic cylinder 31 is fixed on the top of the U-shaped truss 45 through the mounting base 311 and is driven by the driving motor 32 to provide power for the steering movement.

[0088] The rack 36 is connected to the output end of the electric telescopic cylinder 31 through the rack connecting plate 34 and the L-shaped transition connecting plate 35, and the rack 36 is meshed with the steering gear 39 for transmission. The telescopic movement of the electric telescopic cylinder 31 drives the rack 36 to move, and then drives the steering gear 39 to rotate, thereby realizing the steering function of the steering device 3.

[0089] In one embodiment, the electric telescopic sleeve assembly includes an electric telescopic cylinder body, which is connected to the top of the steering shaft 38 through a transition connecting plate 24, and the telescopic sleeve tube 22 at the output end thereof is driven by a telescopic drive motor 23, and the end of the telescopic sleeve tube 22 is connected to the support connector 11 through an L-shaped connecting plate 21 (such as Figure 4As shown). The telescopic sleeve tube 22 can achieve a telescopic stroke of 2m. When the self-sensing tool detects an external collision, the obstacle avoidance control box 25 can control the telescopic rod to retract according to the collision information (the direction of the collision) until the collision is detected to be separated, so as to cross the obstacle point. This design enables the mechanism to react quickly when encountering obstacles, flexibly adjust its position, and avoid collision damage.

[0090] The main control board in the obstacle avoidance control box 25 sends instructions to the servo controllers of the electric telescopic cylinder body and the steering device respectively according to the collected collision information (collision direction).

[0091] (1) Obstacle collision feedback

[0092] First, control the servo controller of the telescopic sleeve tube 22 in the speed mode, that is, the motor rotates at a certain speed uniformly to realize the slow retraction of the telescopic sleeve tube 22. At the same time, control the drive motor 32 to move backward in the forward direction until it is detected that the micro switch is no longer triggered, that is, it is judged that the contact with the obstacle has been separated.

[0093] 2 Reset after crossing the obstacle

[0094] After crossing the obstacle, the system controls the telescopic sleeve tube 22 to slowly extend, and at the same time controls the drive motor 32 to slowly turn to the initial position. During this process, the control board program repeatedly judges whether there is a re-contact with the obstacle according to the micro switch information transmitted by the self-sensing trimming tool. If the obstacle collides again, repeat operation 1, and repeat this process multiple times to cross the obstacle point and reset the mechanism.

[0095] Working principle: When the active obstacle avoidance hedge trimming actuator starts to work, the main control unit controls the steering device to rotate to make the electric telescopic sleeve turn to the working position. The telescopic sleeve extends to the trimming area, and the trimming tool starts to work. It can be matched with a moving platform to widen the trimming area. When there is an obstacle in the trimming area, the collision housing will first contact the obstacle and then squeeze the collision sensor. The circumferentially arrayed collision sensors will send the collected pressure information to the processing module in the main control box. According to the collected sensor data, judge the collision direction and collision magnitude, and then control the movement of the telescopic sleeve and the steering device. When the self-sensing hedge trimming tool detects an obstacle, the main control unit adjusts the telescopic sleeve to retract a certain distance and the rotation angle of the steering device according to the collision direction and force collected by the collision sensor, so as to cross the obstacle point and realize the edge trimming operation of the irregular hedge boundary.

[0096] The above describes the present invention and its implementation manners. Such description is not restrictive. What is shown in the drawings is only one of the implementation manners of the present invention, and the actual structure is not limited thereto. In summary, if those of ordinary skill in the art are inspired by it and, without departing from the spirit of the present invention, design similar structural manners and embodiments to this technical solution without creative efforts, they shall fall within the protection scope of the present invention.

Claims

1. An active obstacle avoidance hedge trimming actuator, characterized in that, Including: A collision self-sensing pruning tool (1), which is used to sense obstacle collisions and perform shearing actions; An electric telescopic sleeve assembly (2), connected to the collision self-sensing pruning tool (1), providing an axial obstacle avoidance displacement in response to a collision signal; A steering device (3), linked with the collision self-sensing pruning tool (1), driving its multi-directional angle adjustment to achieve obstacle avoidance path planning; A scissor lift mechanism (4), fixed to an external support plane, adjusting the working height of the collision self-sensing pruning tool (1) through lifting drive; An obstacle avoidance control box (25), integrating a control unit and communicatively connected to the collision self-sensing pruning tool (1), the electric telescopic sleeve assembly (2), the steering device (3) and the scissor lift mechanism (4), for coordinating each component to perform obstacle avoidance actions according to the collision signal; Wherein, the electric telescopic sleeve assembly (2) and the steering device (3) cooperate to form a multi-degree-of-freedom obstacle avoidance motion chain, and the scissor lift mechanism (4) is linked with the steering device (3) through lifting drive to achieve three-dimensional space obstacle avoidance.

2. The active obstacle avoidance hedge trimming actuator according to claim 1, characterized in that, The collision self-sensing pruning tool (1) includes: A fan blade (114), a fixed tool holder (19), a rotating fixture (110), a transition connecting piece (15), a collision housing (12), a collision sensor (113), a sensor mounting bracket (13), a support connecting piece (11), a motor (14), a tool connecting transition shaft (17) and a tension spring (18); The sensor mounting bracket (13) is a central mounting base body, and several collision sensors (113) are embedded in the mounting holes reserved in the sensor mounting bracket (13), and the motor (14) is concentrically fixed in the reserved opening of the sensor mounting bracket (13) by bolts; The tool connecting transition shaft (17) is connected to the D-shaped output shaft of the motor (14) through a coupling (16) and penetrates through the central through hole of the transition connecting piece (15); The fixed tool holder (19) is installed on the surface of the transition connecting piece (15) through countersunk head bolts, and the rotating fixture (110) is screwed onto the end of the tool connecting transition shaft (17) through internal threads, and axial and circumferential constraints are realized through a flange plate (111) and a pin (112); The fan blades (114) symmetrically arranged up and down are respectively fixed in the mounting seats of the fixed tool holder (19) and the rotating fixture (110) through screws (115) to form a shearing pair structure; The collision housing (12) is elastically suspended around the support connecting piece (11) through a tension spring (18), keeping an avoidance gap with the collision sensor (113); The support connecting piece (11) is on the electric telescopic sleeve assembly (2).

3. The active obstacle avoidance hedge trimming actuator according to claim 2, characterized in that, The collision sensor (113) is a block-shaped pressure sensor, circumferentially arrayed and embedded in the mounting holes of the sensor mounting bracket (13), and is spaced 0.5 - 2 mm from the inner surface of the collision housing (12).

4. The active obstacle avoidance hedge trimming actuator according to claim 2, characterized in that, The D-shaped output shaft of the motor (14) and the coupling (16) are in keyway fit, the tool connecting transition shaft (17) and the coupling (16) are fixed by set screws, and the end is provided with external threads for screwing with the internal threads of the rotating fixture (110).

5. The active obstacle avoidance hedge trimming actuator according to claim 2, characterized in that, The collision housing (12) is a double-layer cylindrical shell, with the inner and outer layers connected by radial rib plates. An arc-shaped mounting hole array is provided on the surface of the inner shell, and an elastic suspension structure is formed with the corresponding holes of the support connecting member (11) through tension springs (18).

6. The active obstacle avoidance hedge trimming actuator according to claim 2, characterized in that, The inner hole of the disk of the rotating fixture (110) extends outward to form an axial boss with internal threads. The flange plate (111) is sleeved on the end of the tool connection transition shaft (17) through interference fit, and circumferential limitation is realized by a pin (112) passing through the side hole of the flange plate and the radial hole of the transition shaft.

7. The active obstacle avoidance hedge trimming actuator according to claim 2, characterized in that, The fan blade (114) is a detachable sector blade, and a screw (115) passes through the central hole of the blade and is locked with the threaded hole of the fixed tool holder (19) or the rotating fixture (110).

8. The active obstacle avoidance hedge trimming actuator according to claim 2, characterized in that, The scissor lift mechanism (4) includes: A bottom support frame (42); A square plate group (43) symmetrically folded on the bottom support frame (42), forming an expandable node through a round shaft (44); A lead screw slide table (46), whose expansion and contraction are controlled by a lifting drive motor (41); A rectangular truss (45), connected to the top of the square plate group (43) and carrying the steering device (3).

9. The active obstacle avoidance hedge trimming actuator according to claim 8, characterized in that, The steering device (3) includes: A steering device seat (37), which is rotatably arranged above the rectangular truss (45) through a steering shaft (38), and a steering gear (39) is sleeved on the steering shaft (38); An electric telescopic cylinder (31), which is fixed above the rectangular truss (45) through a mounting fixed seat (311) and a bearing seat (33), and is driven by a drive motor (32); A rack (36), which is connected to the output end of the electric telescopic cylinder (31) through a rack connecting plate (34) and an L-shaped transition connecting plate (35), and the rack (36) meshes with the steering gear (39) for transmission.

10. The active obstacle avoidance hedge trimming actuator according to claim 9, characterized in that, The electric telescopic sleeve assembly includes an electric telescopic cylinder main body, which is connected above the steering shaft (38) through a transition connecting plate (24). The telescopic sleeve tube (22) at its output end is driven by a telescopic drive motor (23), and the end of the telescopic sleeve tube (22) is connected to the support connecting member (11) through an L-shaped connecting plate (21).

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